Merged master

2026-11-05 20:01:35 +08:00 · 2015-12-24 09:11:13 +01:00
parent 424f4a9066 63da175b3f
commit 92f7f0d2c2
1128 changed files with 88343 additions and 22810 deletions
@@ -17,7 +17,9 @@
 .~lock.*
 Archives/*
 Build/*
+Testing/
 build/*
+build_*/
 core
 cscope.out
 Firmware.sublime-workspace
@@ -48,4 +50,13 @@ unittests/build
 .vagrant
 *.pretty
 xcode
+src/platforms/posix/px4_messages/
+src/platforms/posix-arm/px4_messages/
+src/platforms/qurt/px4_messages/
 ROMFS/*/*/rc.autostart
+rootfs/
+*.autosave
+CMakeLists.txt.user
+GPATH
+GRTAGS
+GTAGS
@@ -4,8 +4,8 @@
 [submodule "NuttX"]
 	path = NuttX
 	url = git://github.com/PX4/NuttX.git
-[submodule "libuavcan"]
-	path = src/lib/uavcan
+[submodule "src/modules/uavcan/libuavcan"]
+	path = src/modules/uavcan/libuavcan
 	url = git://github.com/UAVCAN/libuavcan.git
 [submodule "Tools/genmsg"]
 	path = Tools/genmsg
@@ -13,9 +13,21 @@
 [submodule "Tools/gencpp"]
 	path = Tools/gencpp
 	url = https://github.com/ros/gencpp.git
-[submodule "unittests/gtest"]
-	path = unittests/gtest
-	url = https://github.com/sjwilks/gtest.git
-[submodule "src/lib/eigen"]
-	path = src/lib/eigen
-	url = https://github.com/PX4/eigen.git
+[submodule "src/lib/dspal"]
+	path = src/lib/dspal
+	url = https://github.com/ATLFlight/dspal.git
+[submodule "Tools/jMAVSim"]
+	path = Tools/jMAVSim
+	url = https://github.com/PX4/jMAVSim.git
+[submodule "Tools/sitl_gazebo"]
+	path = Tools/sitl_gazebo
+	url = https://github.com/PX4/sitl_gazebo.git
+[submodule "unittests/googletest"]
+	path = unittests/googletest
+	url = https://github.com/google/googletest.git
+[submodule "src/lib/matrix"]
+	path = src/lib/matrix
+	url = https://github.com/PX4/Matrix.git
+[submodule "src/lib/DriverFramework"]
+	path = src/lib/DriverFramework
+	url = https://github.com/PX4/DriverFramework.git
@@ -3,8 +3,14 @@

 language: cpp

-# use travis-ci docker based infrastructure
-sudo: false
+matrix:
+  fast_finish: true
+  include:
+    - os: linux
+      sudo: false
+    - os: osx
+      osx_image: xcode7
+      sudo: true

 cache:
  directories:
@@ -13,16 +19,20 @@ cache:
 addons:
  apt:
    sources:
+    - kubuntu-backports
    - ubuntu-toolchain-r-test
+    - george-edison55-precise-backports
    packages:
    - build-essential
    - ccache
+    - clang-3.5
    - cmake
    - g++-4.8
    - gcc-4.8
    - genromfs
    - libc6-i386
    - libncurses5-dev
+    - ninja-build
    - python-argparse
    - python-empy
    - python-serial
@@ -30,27 +40,54 @@ addons:
    - texinfo
    - zlib1g-dev

+before_install:
+  - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
+         pushd .
+      && cd ~
+      && wget https://launchpadlibrarian.net/186124160/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
+      && tar -jxf gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
+      && exportline="export PATH=$HOME/gcc-arm-none-eabi-4_8-2014q3/bin:\$PATH"
+      && if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
+      && . ~/.profile
+      && popd
+      && git clone git://github.com/PX4/CI-Tools.git
+      && ./CI-Tools/s3cmd-configure
+      && mkdir -p ~/bin
+      && wget -O ~/bin/astyle https://github.com/PX4/astyle/releases/download/2.05.1/astyle-linux && chmod +x ~/bin/astyle
+      && astyle --version
+      && if [ "$CXX" = "g++" ]; then export CXX="g++-4.8" CC="gcc-4.8"; fi
+      ;
+    elif [ "${TRAVIS_OS_NAME}" = "osx" ]; then
+         brew tap PX4/homebrew-px4
+      && brew update; brew update
+      && brew install cmake ninja astyle gcc-arm-none-eabi
+      && brew install genromfs
+      && brew install kconfig-frontends
+      && sudo easy_install pip
+      && sudo pip install pyserial empy
+      ;
+    fi
+
 before_script:
-  - if [ "$CXX" = "g++" ]; then export CXX="g++-4.8" CC="gcc-4.8"; fi
-# General toolchain dependencies
-  - pushd .
-  - cd ~
-  - wget https://launchpadlibrarian.net/186124160/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
-  - tar -jxf gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
-  - exportline="export PATH=$HOME/gcc-arm-none-eabi-4_8-2014q3/bin:\$PATH"
-  - if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
-  - . ~/.profile
-  - popd
 # setup ccache
  - mkdir -p ~/bin
  - ln -s /usr/bin/ccache ~/bin/arm-none-eabi-g++
  - ln -s /usr/bin/ccache ~/bin/arm-none-eabi-gcc
+  - ln -s /usr/bin/ccache ~/bin/arm-none-eabi-size
+  - ln -s /usr/bin/ccache ~/bin/arm-none-eabi-objcopy
+  - ln -s /usr/bin/ccache ~/bin/clang++
+  - ln -s /usr/bin/ccache ~/bin/clang++-3.4
+  - ln -s /usr/bin/ccache ~/bin/clang++-3.5
+  - ln -s /usr/bin/ccache ~/bin/clang
+  - ln -s /usr/bin/ccache ~/bin/clang-3.4
+  - ln -s /usr/bin/ccache ~/bin/clang-3.5
  - ln -s /usr/bin/ccache ~/bin/g++-4.8
  - ln -s /usr/bin/ccache ~/bin/gcc-4.8
  - export PATH=~/bin:$PATH

 env:
  global:
+    - NINJA_BUILD=1
 # AWS KEY: $PX4_AWS_KEY
    - secure: "XknnZHWBbpHbN4f3fuAVwUztdLIu8ej4keC3aQSDofo3uw8AFEzojfsQsN9u77ShWSIV4iYJWh9C9ALkCx7TocJ+xYjiboo10YhM9lH/8u+EXjYWG6GHS8ua0wkir+cViSxoLNaMtmcb/rPTicJecAGANxLsIHyBAgTL3fkbLSA="
 # AWS SECRET: $PX4_AWS_SECRET
@@ -58,36 +95,38 @@ env:
    - PX4_AWS_BUCKET=px4-travis

 script:
-  - ccache -z
+  - make check_format
  - arm-none-eabi-gcc --version
-  - echo 'Running Tests..' && echo -en 'travis_fold:start:script.1\\r'
-  - make tests
-  - cat src/modules/systemlib/mixer/mixer_multirotor.generated.h
-  - echo -en 'travis_fold:end:script.1\\r'
-  - echo 'Building NuttX..' && echo -en 'travis_fold:start:script.2\\r'
-  - make archives
-  - ccache -s
-  - echo -en 'travis_fold:end:script.2\\r'
-  - echo 'Building Firmware..' && echo -en 'travis_fold:start:script.3\\r'
-  - make -j4
-  - ccache -s
-  - echo -en 'travis_fold:end:script.3\\r'
-  - zip Firmware.zip Images/*.px4
+  - echo 'Building POSIX Firmware..' && make posix_sitl_default
+  - echo 'Running Tests..' && make posix_sitl_default test
+  - echo 'Running Unittests..' && cd unittests && ./run_tests.sh
+  - cd ..
+  - echo 'Building UAVCAN node firmware..' && git clone https://github.com/thiemar/vectorcontrol
+  - cd vectorcontrol
+  - BOARD=s2740vc_1_0 make && BOARD=px4esc_1_6 make
+  - ../Tools/uavcan_copy.sh
+  - cd ..
+  - echo 'Building NuttX px4fmu-v1 Firmware..' && make px4fmu-v1_default
+  - echo 'Building NuttX px4fmu-v2 Firmware..' && make px4fmu-v2_default
+  - echo 'Building NuttX px4fmu-v4 Firmware..' && make px4fmu-v4_default
+  - echo 'Running Tests..' && make px4fmu-v2_default test

-after_script:
-  - git clone git://github.com/PX4/CI-Tools.git
-  - ./CI-Tools/s3cmd-configure
-# upload newest build for this branch with s3 index
-  - ./CI-Tools/s3cmd-put Images/px4*.px4 CI-Tools/directory/index.html Firmware/$TRAVIS_BRANCH/
-# archive newest build by date with s3 index
-  - ./CI-Tools/s3cmd-put Firmware.zip archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/
-  - ./CI-Tools/s3cmd-put CI-Tools/directory/index.html archives/Firmware/$TRAVIS_BRANCH/
-# upload top level index.html and timestamp.html
-  - ./CI-Tools/s3cmd-put CI-Tools/index.html index.html
-  - ./CI-Tools/s3cmd-put CI-Tools/timestamp.html timestamp.html
-  - echo ""
-  - echo "Binaries have been posted to:"
-  - echo https://px4-travis.s3.amazonaws.com/archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/Firmware.zip
+after_success:
+  - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
+         cp build_px4fmu-v1_default/src/firmware/nuttx/nuttx-px4fmu-v1-default.px4 px4fmu-v1_default.px4
+      && cp build_px4fmu-v2_default/src/firmware/nuttx/nuttx-px4fmu-v2-default.px4 px4fmu-v2_default.px4
+      && cp build_px4fmu-v4_default/src/firmware/nuttx/nuttx-px4fmu-v4-default.px4 px4fmu-v4_default.px4
+      && zip Firmware.zip px4fmu-v1_default.px4 px4fmu-v2_default.px4 px4fmu-v4_default.px4
+      && ./CI-Tools/s3cmd-put px4fmu-v1_default.px4 px4fmu-v2_default.px4 px4fmu-v4_default.px4 build_px4fmu-v2_default/parameters.xml build_px4fmu-v2_default/airframes.xml CI-Tools/directory/index.html Firmware/$TRAVIS_BRANCH/
+      && ./CI-Tools/s3cmd-put Firmware.zip archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/
+      && ./CI-Tools/s3cmd-put CI-Tools/directory/index.html archives/Firmware/$TRAVIS_BRANCH/
+      && ./CI-Tools/s3cmd-put CI-Tools/index.html index.html
+      && ./CI-Tools/s3cmd-put CI-Tools/timestamp.html timestamp.html
+      && echo ""
+      && echo "Binaries have been posted to:"
+      && echo https://px4-travis.s3.amazonaws.com/archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/Firmware.zip
+      ;
+    fi

 deploy:
  provider: releases
@@ -1,331 +1,366 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(px4)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-add_definitions(-D__PX4_ROS)
-add_definitions(-D__EXPORT=)
-add_definitions(-DMAVLINK_DIALECT=common)
+############################################################################
+#
+# Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################

-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  rospy
-  std_msgs
-  geometry_msgs
-  message_generation
-  cmake_modules
-  gazebo_msgs
-  sensor_msgs
-  mav_msgs
-  libmavconn
-  tf
-)
-find_package(Eigen REQUIRED)
+#=============================================================================
+# CMAKE CODING STANDARD FOR PX4
+#
+# Structure
+# ---------------------------------------------------------------------------
+#
+# * Common functions should be included in px_base.cmake.
+#
+# * OS/ board specific fucntions should be include in
+#	px_impl_${OS}.cmake or px4_impl_${OS}_${BOARD}.cmake.
+#
+# Formatting
+# ---------------------------------------------------------------------------
+#
+# * Use hard indents to match the px4 source code.
+#
+# * All function and script arguments are upper case.
+#
+# * All local variables are lower case.
+#
+# * All cmake functions are lowercase.
+#
+# * For else, endif, endfunction, etc, never put the name of the statement
+#
+#	Instead of the very confusing:
+#		if (${var} STREQUAL "1") <-- condition now becomes if name
+#			# do somthing
+#		elseif (${var} STREQUAL "2") <-- another condition
+#			# do somthing
+#		else (${var} STREQUAL "1") <-- tag is referring to name of if
+#			# do somthing
+#		endif (${var} STREQUAL "1") <-- tag is referring to name of if
+#
+#	Do this:
+#		if (${var} STREQUAL "1") <-- condition now becomes if name
+#			# do somthing
+#		elseif (${var} STREQUAL "2") <-- another condition
+#			# do somthing
+#		else () <-- leave blank
+#			# do somthing
+#		endif () <-- leave blank
+#
+# Functions/Macros
+# ---------------------------------------------------------------------------
+#
+# * Use px4_parse_function_args to parse functions and check for required
+#   arguments. Unless there is only one argument in the function and it is clear.
+#
+# * Never use macros. They allow overwriting global variables and this
+#	makes variable declarations hard to locate.
+#
+# * If a target from add_custom_* is set in a function, explicitly pass it
+#	as an output argument so that the target name is clear to the user.
+#
+# * Avoid use of global variables in functions. Functions in a nested 
+#	scope may use global variables, but this makes it difficult to
+#	resuse functions.
+#
+# Included CMake Files
+# ---------------------------------------------------------------------------
+#
+# * All variables in config files must have the prefix "config_".
+#
+# * Never set global variables in an included cmake file,
+#	you may only define functions. This excludes config and Toolchain files.
+#	This makes it clear to the user when variables are being set or targets
+#	are being created.
+#
+# * Setting a global variable in a CMakeLists.txt file is ok, because
+#	each CMakeLists.txt file has scope in the current directory and all
+#	subdirecties, so it is not truly global.
+#
+# * All toolchain files should be included in the cmake
+#	directory and named Toolchain-"name".cmake.
+#
+# Misc
+# ---------------------------------------------------------------------------
+#
+# * If referencing a string variable, don't put it in quotes.
+#	Don't do "${OS}" STREQUAL "posix",
+#	instead type ${OS} STREQUAL "posix". This will throw an
+#	error when ${OS} is not defined instead of silently
+#	evaluating to false.
+#
+#=============================================================================

-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
+# Warning: Changing this modifies CMake's internal workings
+# and leads to wrong toolchain detection
+cmake_minimum_required(VERSION 2.8 FATAL_ERROR)

+# Use clang
+#SET (CMAKE_C_COMPILER /usr/bin/clang-3.6)
+#SET (CMAKE_CXX_COMPILER /usr/bin/clang++-3.6)

-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
+#=============================================================================
+# parameters
+#

-################################################
-## Declare ROS messages, services and actions ##
-################################################
+set(CMAKE_BUILD_TYPE "" CACHE STRING "build type")
+set_property(CACHE CMAKE_BUILD_TYPE PROPERTY
+	STRINGS ";Debug;Release;RelWithDebInfo;MinSizeRel")
+set(CONFIG "nuttx_px4fmu-v2_default" CACHE STRING "desired configuration")
+file(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake")
+set_property(CACHE CONFIG PROPERTY STRINGS ${configs})
+set(THREADS "4" CACHE STRING
+	"number of threads to use for external build processes")
+set(DEBUG_PORT "/dev/ttyACM0" CACHE STRING "debugging port")

-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependencies might have been
-##     pulled in transitively but can be declared for certainty nonetheless:
-##     * add a build_depend tag for "message_generation"
-##     * add a run_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+#=============================================================================
+# configuration
+#
+# must come before project to set toolchain

-## Generate messages in the 'msg' folder
-add_message_files(
-  FILES
-  rc_channels.msg
-  vehicle_attitude.msg
-  vehicle_attitude_setpoint.msg
-  manual_control_setpoint.msg
-  actuator_controls.msg
-  actuator_controls_0.msg
-  actuator_controls_virtual_mc.msg
-  vehicle_rates_setpoint.msg
-  mc_virtual_rates_setpoint.msg
-  vehicle_attitude.msg
-  vehicle_control_mode.msg
-  actuator_armed.msg
-  parameter_update.msg
-  vehicle_status.msg
-  vehicle_local_position.msg
-  position_setpoint.msg
-  position_setpoint_triplet.msg
-  vehicle_local_position_setpoint.msg
-  vehicle_global_velocity_setpoint.msg
-  offboard_control_mode.msg
-  vehicle_force_setpoint.msg
-)
+string(REPLACE "_" ";" config_args ${CONFIG})
+list(GET config_args 0 OS)
+list(GET config_args 1 BOARD)
+list(GET config_args 2 LABEL)
+set(target_name "${OS}-${BOARD}-${LABEL}")

-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-generate_messages(
-  DEPENDENCIES
-  std_msgs
-  gazebo_msgs
-)
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-  INCLUDE_DIRS src/include
-  LIBRARIES px4
-  CATKIN_DEPENDS message_runtime roscpp rospy std_msgs libmavconn
-  DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-  ${catkin_INCLUDE_DIRS}
-  src/platforms
-  src/platforms/ros/px4_messages
-  src/include
-  src/modules
-  src/
-  src/lib
-  ${EIGEN_INCLUDE_DIRS}
-  integrationtests
-)
-
-## generate multiplatform wrapper headers
-## note that the message header files are generated as in any ROS project with generate_messages()
-set(MULTIPLATFORM_HEADER_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/platforms/ros/px4_messages)
-set(MULTIPLATFORM_TEMPLATE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/msg/templates/px4/ros)
-set(TOPICHEADER_TEMP_DIR ${CMAKE_BINARY_DIR}/topics_temporary)
-set(MULTIPLATFORM_PREFIX px4_)
-add_custom_target(multiplatform_message_headers ALL ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/Tools/px_generate_uorb_topic_headers.py
-	-d ${CMAKE_CURRENT_SOURCE_DIR}/msg -o ${MULTIPLATFORM_HEADER_DIR} -e ${MULTIPLATFORM_TEMPLATE_DIR}
-	-t ${TOPICHEADER_TEMP_DIR} -p ${MULTIPLATFORM_PREFIX})
-
-## Declare a cpp library
-add_library(px4
-  src/platforms/ros/px4_ros_impl.cpp
-  src/platforms/ros/perf_counter.cpp
-  src/platforms/ros/geo.cpp
-  src/lib/mathlib/math/Limits.cpp
-  src/modules/systemlib/circuit_breaker.cpp
-)
-add_dependencies(px4 ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
-
-target_link_libraries(px4
-  ${catkin_LIBRARIES}
-)
-
-## Declare a test publisher
-add_executable(publisher
-	src/examples/publisher/publisher_main.cpp
-	src/examples/publisher/publisher_example.cpp)
-add_dependencies(publisher ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
-target_link_libraries(publisher
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Declare a test subscriber
-add_executable(subscriber
-	src/examples/subscriber/subscriber_main.cpp
-	src/examples/subscriber/subscriber_example.cpp)
-add_dependencies(subscriber ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
-target_link_libraries(subscriber
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## MC Attitude Control
-add_executable(mc_att_control
-	src/modules/mc_att_control_multiplatform/mc_att_control_main.cpp
-	src/modules/mc_att_control_multiplatform/mc_att_control.cpp
-	src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp)
-add_dependencies(mc_att_control ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(mc_att_control
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## MC Position Control
-add_executable(mc_pos_control
-	src/modules/mc_pos_control_multiplatform/mc_pos_control_main.cpp
-	src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp)
-add_dependencies(mc_pos_control ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(mc_pos_control
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Attitude Estimator dummy
-add_executable(attitude_estimator
-	src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp)
-add_dependencies(attitude_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(attitude_estimator
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Position Estimator dummy
-add_executable(position_estimator
-	src/platforms/ros/nodes/position_estimator/position_estimator.cpp)
-add_dependencies(position_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(position_estimator
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Manual input
-add_executable(manual_input
-	src/platforms/ros/nodes/manual_input/manual_input.cpp)
-add_dependencies(manual_input ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(manual_input
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Multicopter Mixer dummy
-add_executable(mc_mixer
-  src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp)
-add_dependencies(mc_mixer ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(mc_mixer
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Commander dummy
-add_executable(commander
-	src/platforms/ros/nodes/commander/commander.cpp)
-add_dependencies(commander ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(commander
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Mavlink dummy
-add_executable(mavlink
-	src/platforms/ros/nodes/mavlink/mavlink.cpp)
-add_dependencies(mavlink ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(mavlink
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Offboard Position Setpoint Demo
-add_executable(demo_offboard_position_setpoints
-	src/platforms/ros/nodes/demo_offboard_position_setpoints/demo_offboard_position_setpoints.cpp)
-add_dependencies(demo_offboard_position_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(demo_offboard_position_setpoints
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Offboard Attitude Setpoint Demo
-add_executable(demo_offboard_attitude_setpoints
-	src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp)
-add_dependencies(demo_offboard_attitude_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(demo_offboard_attitude_setpoints
-  ${catkin_LIBRARIES}
-  px4
-)
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-install(TARGETS ${PROJECT_NAME}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_px4test.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
-
-if(CATKIN_ENABLE_TESTING)
-  find_package(rostest REQUIRED)
-  add_rostest(integrationtests/demo_tests/direct_tests.launch)
-  add_rostest(integrationtests/demo_tests/mavros_tests.launch)
+if("${OS}" STREQUAL "posix")
+	if (APPLE)
+		set(DF_TARGET darwin)
+	else()
+		set(DF_TARGET linux)
+	endif()
+else()
+	set(DF_TARGET ${OS})
 endif()

+message(STATUS "${target_name}")

+# switch to ros CMake file if building ros
+if (${OS} STREQUAL "ros")
+	include("cmake/ros-CMakeLists.txt")
+else()  # otherwise use the rest of this file
+
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
+set(config_module "configs/${CONFIG}")
+include(${config_module})
+
+# cmake modules
+include(ExternalProject)
+
+# require px4 module interface
+set(px4_required_interface
+	px4_os_prebuild_targets
+	px4_os_add_flags
+	)
+foreach(cmd ${px4_required_interface})
+	if(NOT COMMAND ${cmd})
+		message(FATAL_ERROR "${config_module} must implement ${cmd}")
+	endif()
+endforeach()
+set(px4_required_config
+	config_module_list
+	)
+foreach(conf ${px4_required_config})
+	if(NOT DEFINED ${conf})
+		message(FATAL_ERROR "cmake/${config_module} must define ${conf}")
+	endif()
+endforeach()
+
+#=============================================================================
+# project definition
+#
+project(px4 CXX C ASM)
+if (NOT ${CMAKE_VERSION} VERSION_LESS 3.0.0)
+	cmake_policy(SET CMP0045 NEW) # error on non-existent target in get prop
+	cmake_policy(SET CMP0046 NEW) # no non-existent targets as dependencies
+	cmake_policy(SET CMP0025 OLD) # still report AppleClang as Clang
+endif()
+if (NOT ${CMAKE_VERSION} VERSION_LESS 3.1.0)
+	cmake_policy(SET CMP0054 NEW) # don't dereference quoted variables
+endif()
+
+set(version_major 1)
+set(version_minor 0)
+set(version_patch 1)
+set(version "${version_major}.${version_minor}.${version_patch}")
+set(package-contact "px4users@googlegroups.com")
+
+#=============================================================================
+# programs
+#
+find_package(PythonInterp REQUIRED)
+
+#=============================================================================
+# cmake modules
+#
+enable_testing()
+
+#=============================================================================
+# check required toolchain variables
+#
+set(required_variables
+	CMAKE_C_COMPILER_ID
+	)
+foreach(var ${required_variables})
+	if (NOT ${var})
+		message(FATAL_ERROR "Toolchain/config must define ${var}")
+	endif()
+endforeach()
+
+#=============================================================================
+# git
+#
+px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
+px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
+px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
+px4_add_git_submodule(TARGET git_gtest PATH "unittets/gtest")
+px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")
+px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
+px4_add_git_submodule(TARGET git_dspal PATH "src/lib/dspal")
+px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
+px4_add_git_submodule(TARGET git_jmavsim PATH "Tools/jMAVSim")
+px4_add_git_submodule(TARGET git_gazebo PATH "Tools/sitl_gazebo")
+px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
+
+add_custom_target(submodule_clean
+	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+	COMMAND git submodule deinit -f .
+	COMMAND rm -rf .git/modules/*
+	)
+
+#=============================================================================
+# misc targets
+#
+add_custom_target(check_format
+	COMMAND Tools/check_code_style.sh
+	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+	)
+
+add_custom_target(config
+	COMMAND cmake-gui .
+	WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+	)
+
+#=============================================================================
+# external libraries
+#
+px4_os_prebuild_targets(OUT prebuild_targets
+	BOARD ${BOARD}
+	THREADS ${THREADS})
+
+#=============================================================================
+# build flags
+#
+px4_os_add_flags(
+	BOARD ${BOARD}
+	C_FLAGS c_flags
+	CXX_FLAGS cxx_flags
+	EXE_LINKER_FLAGS exe_linker_flags
+	INCLUDE_DIRS include_dirs
+	LINK_DIRS link_dirs
+	DEFINITIONS definitions)
+
+px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${exe_linker_flags}" GLUE " ")
+px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags}" GLUE " ")
+px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags}" GLUE " ")
+
+include_directories(${include_dirs})
+link_directories(${link_dirs})
+add_definitions(${definitions})
+
+#=============================================================================
+# source code generation
+#
+file(GLOB_RECURSE msg_files msg/*.msg)
+px4_generate_messages(TARGET msg_gen
+	MSG_FILES ${msg_files}
+	OS ${OS}
+	DEPENDS git_genmsg git_gencpp
+	)
+px4_generate_parameters_xml(OUT parameters.xml BOARD ${BOARD})
+px4_generate_airframes_xml(OUT airframes.xml BOARD ${BOARD})
+add_custom_target(xml_gen
+	DEPENDS parameters.xml airframes.xml)
+
+#=============================================================================
+# external projects
+#
+
+set(ep_base ${CMAKE_BINARY_DIR}/external)
+set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})
+
+# add external project install folders to build
+link_directories(${ep_base}/Install/lib)
+include_directories(${ep_base}/Install/include)
+# add the directories so cmake won't warn
+execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/lib)
+execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/include)
+
+#=============================================================================
+# subdirectories
+#
+set(module_libraries)
+foreach(module ${config_module_list})
+	add_subdirectory(src/${module})
+	px4_mangle_name(${module} mangled_name)
+	list(APPEND module_libraries ${mangled_name})
+	#message(STATUS "adding module: ${module}")
+endforeach()
+
+add_subdirectory(src/firmware/${OS})
+
+add_subdirectory(src/lib/DriverFramework/framework/src)
+#add_dependencies(df_driver_framework nuttx_export_${CONFIG}.stamp)
+if (NOT "${OS}" STREQUAL "nuttx")
+endif()
+
+if (config_io_board)
+	add_subdirectory(src/modules/px4iofirmware)
+endif()
+
+#=============================================================================
+# generate git version
+#
+px4_create_git_hash_header(HEADER ${CMAKE_BINARY_DIR}/build_git_version.h)
+
+#=============================================================================
+# packaging
+#
+# Important to having packaging at end of cmake file.
+#
+set(CPACK_PACKAGE_VERSION ${version})
+set(CPACK_PACKAGE_CONTACT ${package_contact})
+set(CPACK_GENERATOR "ZIP")
+set(CPACK_SOURCE_GENERATOR "ZIP")
+include(CPack)
+
+endif() # ros alternative endif
+
+# vim: set noet fenc=utf-8 ff=unix ft=cmake :
@@ -0,0 +1,98 @@
+[TOC]
+
+# Introduction
+
+The HIL architecture allows you to test the flight stack replacing the real physical vehicle and sensors with a simulator of vehicle dynamics and sensor outputs.  The flight stack "is not aware" that it is not on a real vehicle.  This is a powerful tool for develping and testing code rapidly in a benchtop environment. 
+
+The flight stack can be run anywhere that supports a network connection to the simulator (with sufficient bandwidth and latency to transport the sensor and actuator messages).  This can be on a standard linux workstation, an on-target linux image, or the on-target DSP image.  These modes can be selected based on the goals of the testing.  Workstation is useful for rapid testing in a tool-rich environment.  DSP image testing is the closest to the final implementation, so is useful for testing actual HW operation, other than the physical sensing and actuation.
+
+## Px4 High-level HIL Architecture
+
+A diagram of the setup described is shown here.  Note that UDP port numbers are only displayed on the socket server and are left blank on the socket client. 
+
+(???NOTES:  This diagram needs to be updated to use control inputs over UDP, either from QGC or from other)
+
+![SITL Diagram](./SITL_Diagram_QGC.png "SITL Diagram")  
+
+## Requirements
+The simulator that is currently supported is jMAVSim.  The setup described here requires PX4 and jMAVSim installed and running.  qGroundControl (QGC) is also required because it is the supported method of providing manual control commands.  
+
+## Assumptions
+
+# Compiling Code
+
+## JMAVSim
+
+### Platform Requirements
+Linux with java-1.7.x or greater
+
+### Build Instructions
+In a clean directory
+```
+> git clone https://github.com/PX4/jMAVSim.git
+> cd jMAVSim
+> git submodule init
+> git submodule update
+> ant
+```
+
+## qGroundControl
+
+### Platform Requirements
+Windows 7
+Logitech Gamepad F310 joystick controller
+
+### Download/Install Instructions
+Download QGC from http://qgroundcontrol.org/downloads and install using the windows executable.
+
+
+## PX4
+
+### Platfrom Requirements
+Linux or Eagle with a working IP interface (?? does this need further instructions?)
+
+### Build Host Requirements
+(???Notes:  Windows?)
+
+### Download & Build Instructions
+
+### Installing binaries on the Qualcomm Target
+
+# Running PX4 in HIL Mode
+
+## Starting PX4 on Qualcomm Eagle
+
+```
+> adb shell
+# bash
+root@linaro-developer:/# cd ???
+root@linaro-developer:/# ./mainapp
+App name: mainapp
+Enter a command and its args:
+uorb start
+muorb start
+mavlink start -u 14556
+simulator start -p
+```
+
+## Starting jMAVSim
+In the directory where jMAVSim is installed
+```
+ java -cp lib/*:out/production/jmavsim.jar me.drton.jmavsim.Simulator -udp <IPADDR>:14560 -n 100
+```
+replacing <IPADDR> with the IP address of the machine running PX4 (Eagle).  This can be found by running "ifconfig" on that machine.
+
+## Starting qGroundControl
+Launch the qGroundControl application
+1. Set up the communication to the flight stack.  In the menu File:Settings:CommLinks, select Add.  Enter a Link Name of your choice.  Select Link Type: UDP.  Set the listening port to an unused port (example: 14561).  Select Add.  Enter the IP address and port of the PX4 Mavlink app, which is <IPADDR>:14556 with <IPADDR> being the IP address of the Eagle board. Select OK.
+1. Set up the joystick.  Plug in the joystick to your Windows machine.  In the menu File:Settings:CommLinks, check Enable Controllers.  Select "Gamepad F310".  Select "Manual".  Set the axes/channel mapping to 0:Yaw, 1:Throttle, 2:unset, 3:Pitch, 4:Roll.  Seletct "Inverted" for the throttle axis.  Click "Calibrate range".  Move the right joystick through its full range of motion.  Move the left joystick full left then full right.  Move the left joystick full forward (but not full backward).  Click "end calibration."
+1. Connect to the flight stack.  Click Analyze.  Click the "Connect" button in the upper right, and select the connection that you created in the first step.
+
+You should now be connected to the flight stack.  You can see incoming Mavlink packets using the MAVLink Instpector (from Advanced:Tool Widgets)
+
+
+## Controlling PX4 flight in HIL Mode
+The joystick can now be used to fly the simulated vehicle.  The jMAVSim world visualization gives a FPV view, and QGC can be used to display instruments such as artificial horizon and maps (if GPS simulation is enabled).
+
+
+# Debugging/FAQ
@@ -33,7 +33,20 @@
 	{
 		"tab_size": 8,
 		"translate_tabs_to_spaces": false,
-	       "highlight_line": true
+		"highlight_line": true,
+		"AStyleFormatter":
+		{
+			"options_c":
+			{
+				"use_only_additional_options": true,
+				"additional_options_file": "${project_path}/Tools/astylerc"
+			},
+			"options_c++":
+			{
+				"use_only_additional_options": true,
+				"additional_options_file": "${project_path}/Tools/astylerc"
+			}
+		}
 	},
 	"build_systems":
 	[
@@ -50,6 +63,13 @@
 			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
 			"cmd": ["make upload px4fmu-v2_default -j8"],
 			"shell": true
+		},
+		{
+			"name": "PX4: make posix",
+			"working_dir": "${project_path}",
+			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"cmd": ["make posix"],
+			"shell": true
 		}
 	]
 }
@@ -0,0 +1,12 @@
+{
+    "board_id": 11,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the PX4FMUv4 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4FMUv4",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -3,7 +3,7 @@ to be made under the same license. Any exception to this general rule is listed

 	/****************************************************************************
 	 *
-	 *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+	 *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
 	 *
 	 * Redistribution and use in source and binary forms, with or without
 	 * modification, are permitted provided that the following conditions
@@ -38,4 +38,4 @@ to be made under the same license. Any exception to this general rule is listed
  - PX4 middleware: BSD 3-clause
  - PX4 flight control stack: BSD 3-clause
  - NuttX operating system: BSD 3-clause
-  - Exceptions: Currently only this [400 LOC file](https://github.com/PX4/Firmware/blob/master/src/lib/external_lgpl/tecs/tecs.cpp) remains LGPL, but will be replaced with a BSD implementation.
+  - Exceptions: Currently only this [400 LOC file](https://github.com/PX4/Firmware/blob/master/src/lib/external_lgpl/tecs/tecs.cpp) remains LGPL, but will be replaced with a BSD implementation.
@@ -1,5 +1,6 @@
+############################################################################
 #
-#   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -28,349 +29,178 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 #
+############################################################################

+# Enforce the presence of the GIT repository
 #
-# Top-level Makefile for building PX4 firmware images.
-#
-
-#
-# Get path and tool configuration
-#
-export PX4_BASE		 := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))/
-include $(PX4_BASE)makefiles/setup.mk
-
-#
-# Get a version string provided by git
-# This assumes that git command is available and that
-# the directory holding this file also contains .git directory
-#
-GIT_DESC := $(shell git log -1 --pretty=format:%H)
-ifneq ($(words $(GIT_DESC)),1)
-    GIT_DESC := "unknown_git_version"
+# We depend on our submodules, so we have to prevent attempts to
+# compile without it being present.
+ifeq ($(wildcard .git),)
+    $(error YOU HAVE TO USE GIT TO DOWNLOAD THIS REPOSITORY. ABORTING.)
 endif

-GIT_DESC_SHORT := $(shell echo $(GIT_DESC) | cut -c1-16)
-
-#
-# Canned firmware configurations that we (know how to) build.
-#
-KNOWN_CONFIGS		:= $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)config_*.mk))))
-CONFIGS			?= $(KNOWN_CONFIGS)
-
-#
-# Boards that we (know how to) build NuttX export kits for.
-#
-KNOWN_BOARDS		:= $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)board_*.mk))))
-BOARDS			?= $(KNOWN_BOARDS)
-
-#
-# Debugging
-#
-MQUIET			 = --no-print-directory
-#MQUIET			 = --print-directory
-
-################################################################################
-# No user-serviceable parts below
-################################################################################
-
-#
-# If the user has listed a config as a target, strip it out and override CONFIGS.
-#
-FIRMWARE_GOAL		 = firmware
-EXPLICIT_CONFIGS	:= $(filter $(CONFIGS),$(MAKECMDGOALS))
-ifneq ($(EXPLICIT_CONFIGS),)
-CONFIGS			:= $(EXPLICIT_CONFIGS)
-.PHONY:			$(EXPLICIT_CONFIGS)
-$(EXPLICIT_CONFIGS):	all
-
-#
-# If the user has asked to upload, they must have also specified exactly one
-# config.
-#
-ifneq ($(filter upload,$(MAKECMDGOALS)),)
-ifneq ($(words $(EXPLICIT_CONFIGS)),1)
-$(error In order to upload, exactly one board config must be specified)
-endif
-FIRMWARE_GOAL		 = upload
-.PHONY: upload
-upload:
-	@:
-endif
+CMAKE_VER := $(shell Tools/check_cmake.sh; echo $$?)
+ifneq ($(CMAKE_VER),0)
+    $(warning Not a valid CMake version or CMake not installed.)
+    $(warning On Ubuntu, install or upgrade via:)
+    $(warning )
+    $(warning 3rd party PPA:)
+    $(warning sudo add-apt-repository ppa:george-edison55/cmake-3.x -y)
+    $(warning sudo apt-get update)
+    $(warning sudo apt-get install cmake)
+    $(warning )
+    $(warning Official website:)
+    $(warning wget https://cmake.org/files/v3.3/cmake-3.3.2-Linux-x86_64.sh)
+    $(warning chmod +x cmake-3.3.2-Linux-x86_64.sh)
+    $(warning sudo mkdir /opt/cmake-3.3.2)
+    $(warning sudo ./cmake-3.3.2-Linux-x86_64.sh --prefix=/opt/cmake-3.3.2 --exclude-subdir)
+    $(warning export PATH=/opt/cmake-3.3.2/bin:$$PATH)
+    $(warning )
+    $(error Fatal)
 endif

+# Help
+# --------------------------------------------------------------------
+# Don't be afraid of this makefile, it is just passing
+# arguments to cmake to allow us to keep the wiki pages etc.
+# that describe how to build the px4 firmware
+# the same even when using cmake instead of make.
 #
-# Built products
+# Example usage:
 #
-DESIRED_FIRMWARES 	 = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
-STAGED_FIRMWARES	 = $(foreach config,$(KNOWN_CONFIGS),$(IMAGE_DIR)$(config).px4)
-FIRMWARES		 = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)
+# make px4fmu-v2_default 			(builds)
+# make px4fmu-v2_default upload 	(builds and uploads)
+# make px4fmu-v2_default test 		(builds and tests)
+#
+# This tells cmake to build the nuttx px4fmu-v2 default config in the
+# directory build_nuttx_px4fmu-v2_default and then call make
+# in that directory with the target upload.

-all:	$(DESIRED_FIRMWARES)
+#  explicity set default build target
+all: px4fmu-v2_default

-#
-# Copy FIRMWARES into the image directory.
-#
-# XXX copying the .bin files is a hack to work around the PX4IO uploader
-#     not supporting .px4 files, and it should be deprecated onced that
-#     is taken care of.
-#
-$(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
-	@$(ECHO) %% Copying $@
-	$(Q) $(COPY) $< $@
-	$(Q) $(COPY) $(patsubst %.px4,%.bin,$<) $(patsubst %.px4,%.bin,$@)
+# Parsing
+# --------------------------------------------------------------------
+# assume 1st argument passed is the main target, the
+# rest are arguments to pass to the makefile generated
+# by cmake in the subdirectory
+ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
+j ?= 4

-#
-# Generate FIRMWARES.
-#
-.PHONY: $(FIRMWARES)
-$(BUILD_DIR)%.build/firmware.px4: config   = $(patsubst $(BUILD_DIR)%.build/firmware.px4,%,$@)
-$(BUILD_DIR)%.build/firmware.px4: work_dir = $(BUILD_DIR)$(config).build/
-$(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:	checkgitversion generateuorbtopicheaders checksubmodules
-	@$(ECHO) %%%%
-	@$(ECHO) %%%% Building $(config) in $(work_dir)
-	@$(ECHO) %%%%
-	$(Q) $(MKDIR) -p $(work_dir)
-	$(Q) $(MAKE) -r -C $(work_dir) \
-		-f $(PX4_MK_DIR)firmware.mk \
-		CONFIG=$(config) \
-		WORK_DIR=$(work_dir) \
-		$(FIRMWARE_GOAL)
-
-#
-# Make FMU firmwares depend on the corresponding IO firmware.
-#
-# This is a pretty vile hack, since it hard-codes knowledge of the FMU->IO dependency
-# and forces the _default config in all cases. There has to be a better way to do this...
-#
-FMU_VERSION		 = $(patsubst px4fmu-%,%,$(word 1, $(subst _, ,$(1))))
-define FMU_DEP
-$(BUILD_DIR)$(1).build/firmware.px4: $(IMAGE_DIR)px4io-$(call FMU_VERSION,$(1))_default.px4
-endef
-FMU_CONFIGS		:= $(filter px4fmu%,$(CONFIGS))
-$(foreach config,$(FMU_CONFIGS),$(eval $(call FMU_DEP,$(config))))
-
-#
-# Build the NuttX export archives.
-#
-# Note that there are no explicit dependencies extended from these
-# archives. If NuttX is updated, the user is expected to rebuild the
-# archives/build area manually. Likewise, when the 'archives' target is
-# invoked, all archives are always rebuilt.
-#
-# XXX Should support fetching/unpacking from a separate directory to permit
-#     downloads of the prebuilt archives as well...
-#
-NUTTX_ARCHIVES		 = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export)
-.PHONY:			archives
-archives:		checksubmodules $(NUTTX_ARCHIVES)
-
-# We cannot build these parallel; note that we also force -j1 for the
-# sub-make invocations.
-ifneq ($(filter archives,$(MAKECMDGOALS)),)
-.NOTPARALLEL:
-endif
-
-J?=1
-
-$(ARCHIVE_DIR)%.export:	board = $(notdir $(basename $@))
-$(ARCHIVE_DIR)%.export:	configuration = nsh
-$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
-	@$(ECHO) %% Configuring NuttX for $(board)
-	$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
-	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) distclean
-	$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(board) .)
-	$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
-	@$(ECHO) %% Exporting NuttX for $(board)
-	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
-	$(Q) $(MKDIR) -p $(dir $@)
-	$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
-	$(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board))
-
-#
-# The user can run the NuttX 'menuconfig' tool for a single board configuration with
-# make BOARDS=<boardname> menuconfig
-#
-ifeq ($(MAKECMDGOALS),menuconfig)
-ifneq ($(words $(BOARDS)),1)
-$(error BOARDS must specify exactly one board for the menuconfig goal)
-endif
-BOARD			 = $(BOARDS)
-menuconfig: $(NUTTX_SRC)
-	@$(ECHO) %% Configuring NuttX for $(BOARD)
-	$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
-	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) distclean
-	$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(BOARD) .)
-	$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(BOARD)/nsh)
-	@$(ECHO) %% Running menuconfig for $(BOARD)
-	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
-	@$(ECHO) %% Saving configuration file
-	$(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig
+NINJA_BUILD := $(shell ninja --version 2>/dev/null)
+ifdef NINJA_BUILD
+    PX4_CMAKE_GENERATOR ?= "Ninja"
+    PX4_MAKE = ninja
+    PX4_MAKE_ARGS =
 else
-menuconfig:
-	@$(ECHO) ""
-	@$(ECHO) "The menuconfig goal must be invoked without any other goal being specified"
-	@$(ECHO) ""
+
+ifdef SYSTEMROOT
+	# Windows
+	PX4_CMAKE_GENERATOR ?= "MSYS Makefiles"
+else
+	PX4_CMAKE_GENERATOR ?= "Unix Makefiles"
+endif
+    PX4_MAKE = make
+    PX4_MAKE_ARGS = -j$(j) --no-print-directory
 endif

-$(NUTTX_SRC): checkgitversion checksubmodules
+# Functions
+# --------------------------------------------------------------------
+# describe how to build a cmake config
+define cmake-build
+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(PWD)/build_$@/Makefile ]; then rm -rf $(PWD)/build_$@; fi
+@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then git submodule update --init --recursive --force && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1); fi
+$(PX4_MAKE) -C $(PWD)/build_$@ $(PX4_MAKE_ARGS) $(ARGS)
+endef

-$(UAVCAN_DIR):
-	$(Q) (./Tools/check_submodules.sh)
+# create empty targets to avoid msgs for targets passed to cmake
+define cmake-targ
+$(1):
+	@#
+.PHONY: $(1)
+endef

+# ADD CONFIGS HERE
+# --------------------------------------------------------------------
+#  Do not put any spaces between function arguments.

-ifeq ($(PX4_TARGET_OS),nuttx)
-# TODO
-# Move the above nuttx specific rules into $(PX4_BASE)makefiles/firmware_nuttx.mk
-endif
-ifeq ($(PX4_TARGET_OS),posix)
-include $(PX4_BASE)makefiles/firmware_posix.mk
-endif
-ifeq ($(PX4_TARGET_OS),posix-arm)
-include $(PX4_BASE)makefiles/firmware_posix.mk
-endif
-ifeq ($(PX4_TARGET_OS),qurt)
-include $(PX4_BASE)makefiles/firmware_qurt.mk
-endif
+px4fmu-v1_default:
+	$(call cmake-build,nuttx_px4fmu-v1_default)

-#
-# Versioning
-#
+px4fmu-v2_default:
+	$(call cmake-build,nuttx_px4fmu-v2_default)

-GIT_VER_FILE = $(PX4_VERSIONING_DIR).build_git_ver
-GIT_HEADER_FILE = $(PX4_VERSIONING_DIR)build_git_version.h
+px4fmu-v4_default:
+	$(call cmake-build,nuttx_px4fmu-v4_default)

-$(GIT_VER_FILE) :
-	$(Q) if [ ! -f $(GIT_VER_FILE) ]; then \
-		$(MKDIR) -p $(PX4_VERSIONING_DIR); \
-		$(ECHO) "" > $(GIT_VER_FILE); \
-	fi
+px4fmu-v2_simple:
+	$(call cmake-build,nuttx_px4fmu-v2_simple)

-.PHONY: checkgitversion
-checkgitversion: $(GIT_VER_FILE)
-	$(Q) if [ "$(GIT_DESC)" != "$(shell cat $(GIT_VER_FILE))" ]; then \
-		$(ECHO) "/* Auto Magically Generated file */" > $(GIT_HEADER_FILE); \
-		$(ECHO) "/* Do not edit! */" >> $(GIT_HEADER_FILE); \
-		$(ECHO) "#define PX4_GIT_VERSION_STR  \"$(GIT_DESC)\"" >> $(GIT_HEADER_FILE); \
-		$(ECHO) "#define PX4_GIT_VERSION_BINARY 0x$(GIT_DESC_SHORT)" >> $(GIT_HEADER_FILE); \
-		$(ECHO) $(GIT_DESC) > $(GIT_VER_FILE); \
-	fi
+px4fmu-v2_lpe:
+	$(call cmake-build,nuttx_px4fmu-v2_lpe)

-#
-# Submodule Checks
-#
+nuttx_sim_simple:
+	$(call cmake-build,$@)

-.PHONY: checksubmodules
-checksubmodules:
-	$(Q) ($(PX4_BASE)/Tools/check_submodules.sh)
+posix_sitl_default:
+	$(call cmake-build,$@)

-.PHONY: updatesubmodules
-updatesubmodules:
-	$(Q) (git submodule init)
-	$(Q) (git submodule update)
+posix_sitl_lpe:
+	$(call cmake-build,$@)

-MSG_DIR = $(PX4_BASE)msg
-UORB_TEMPLATE_DIR = $(PX4_BASE)msg/templates/uorb
-MULTIPLATFORM_TEMPLATE_DIR = $(PX4_BASE)msg/templates/px4/uorb
-TOPICS_DIR = $(PX4_BASE)src/modules/uORB/topics
-MULTIPLATFORM_HEADER_DIR = $(PX4_BASE)src/platforms/nuttx/px4_messages
-MULTIPLATFORM_PREFIX = px4_
-TOPICHEADER_TEMP_DIR = $(BUILD_DIR)topics_temporary
-MULTI_TOPICHEADER_TEMP_DIR = $(BUILD_DIR)multi_topics_temporary
-GENMSG_PYTHONPATH = $(PX4_BASE)Tools/genmsg/src
-GENCPP_PYTHONPATH = $(PX4_BASE)Tools/gencpp/src
+ros_sitl_default:
+	$(call cmake-build,$@)

-.PHONY: generateuorbtopicheaders
-generateuorbtopicheaders: checksubmodules
-	@$(ECHO) "Generating uORB topic headers"
-	$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH):$(PYTHONPATH) $(PYTHON) \
-		$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \
-		-d $(MSG_DIR) -o $(TOPICS_DIR) -e $(UORB_TEMPLATE_DIR) -t $(TOPICHEADER_TEMP_DIR))
-	@$(ECHO) "Generating multiplatform uORB topic wrapper headers"
-	$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH):$(PYTHONPATH) $(PYTHON) \
-		$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \
-		-d $(MSG_DIR) -o $(MULTIPLATFORM_HEADER_DIR) -e $(MULTIPLATFORM_TEMPLATE_DIR) -t $(MULTI_TOPICHEADER_TEMP_DIR) -p $(MULTIPLATFORM_PREFIX))
+qurt_eagle_travis:
+	$(call cmake-build,$@)

-#
-# Testing targets
-#
-testbuild:
-	$(Q) (cd $(PX4_BASE) && $(MAKE) distclean && $(MAKE) archives && $(MAKE) -j8)
-	$(Q) (zip -r Firmware.zip $(PX4_BASE)/Images)
+qurt_eagle_release:
+	$(call cmake-build,$@)

-#
-# Unittest targets. Builds and runs the host-level
-# unit tests.
-.PHONY: tests
-tests:	generateuorbtopicheaders
-	$(Q) (mkdir -p $(PX4_BASE)/unittests/build && cd $(PX4_BASE)/unittests/build && cmake .. && $(MAKE) unittests)
+posix_eagle_release:
+	$(call cmake-build,$@)

-.PHONY: format check_format
+posix: posix_sitl_default
+
+sitl_deprecation:
+	@echo "Deprecated. Use 'make posix_sitl_default jmavsim' or"
+	@echo "'make posix_sitl_default gazebo' if Gazebo is preferred."
+
+run_sitl_quad: sitl_deprecation
+run_sitl_plane: sitl_deprecation
+run_sitl_ros: sitl_deprecation
+
+# Other targets
+# --------------------------------------------------------------------
 check_format:
-	$(Q) (./Tools/check_code_style.sh | sort -n)
+	@./Tools/check_code_style.sh

-#
-# Cleanup targets.  'clean' should remove all built products and force
-# a complete re-compilation, 'distclean' should remove everything
-# that's generated leaving only files that are in source control.
-#
-.PHONY:	clean
 clean:
-	@echo > /dev/null
-	$(Q) $(RMDIR) $(BUILD_DIR)*.build
-	$(Q) $(RMDIR) $(PX4_VERSIONING_DIR)
-	$(Q) $(REMOVE) $(IMAGE_DIR)*.px4
-	$(Q) $(RMDIR) $(TOPICHEADER_TEMP_DIR)
-	$(Q) $(RMDIR) $(MULTI_TOPICHEADER_TEMP_DIR)
+	@rm -rf build_*/
+	@(cd NuttX && git clean -d -f -x)
+	@(cd src/modules/uavcan/libuavcan && git clean -d -f -x)
+	@(git submodule sync)

-.PHONY:	distclean
-distclean: clean
-	@echo > /dev/null
-	$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export
-	$(Q) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean
-	$(Q) (cd $(NUTTX_SRC)/configs && $(FIND) . -maxdepth 1 -type l -delete)
+# targets handled by cmake
+cmake_targets = test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak \
+	run_cmake_config config gazebo gazebo_gdb gazebo_lldb jmavsim \
+	jmavsim_gdb jmavsim_lldb gazebo_gdb_iris gazebo_lldb_tailsitter gazebo_iris gazebo_tailsitter
+$(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))

+.PHONY: clean
+
+CONFIGS:=$(shell ls cmake/configs | sed -e "s~.*/~~" | sed -e "s~\..*~~")
+
+# Future:
+#$(CONFIGS):
+##	@cd Build/$@ && cmake ../.. -DCONFIG=$@
+#	@cd Build/$@ && make
 #
-# Print some help text
+#clean-all:
+#	@rm -rf Build/*
 #
-.PHONY: help
-help:
-	@$(ECHO) ""
-	@$(ECHO) " PX4 firmware builder"
-	@$(ECHO) " ===================="
-	@$(ECHO) ""
-	@$(ECHO) "  Available targets:"
-	@$(ECHO) "  ------------------"
-	@$(ECHO) ""
-	@$(ECHO) "  archives"
-	@$(ECHO) "    Build the NuttX RTOS archives that are used by the firmware build."
-	@$(ECHO) ""
-	@$(ECHO) "  all"
-	@$(ECHO) "    Build all firmware configs: $(CONFIGS)"
-	@$(ECHO) "    A limited set of configs can be built with CONFIGS=<list-of-configs>"
-	@$(ECHO) ""
-	@for config in $(CONFIGS); do \
-		$(ECHO) "  $$config"; \
-		$(ECHO) "    Build just the $$config firmware configuration."; \
-		$(ECHO) ""; \
-	done
-	@$(ECHO) "  clean"
-	@$(ECHO) "    Remove all firmware build pieces."
-	@$(ECHO) ""
-	@$(ECHO) "  distclean"
-	@$(ECHO) "    Remove all compilation products, including NuttX RTOS archives."
-	@$(ECHO) ""
-	@$(ECHO) "  upload"
-	@$(ECHO) "    When exactly one config is being built, add this target to upload the"
-	@$(ECHO) "    firmware to the board when the build is complete. Not supported for"
-	@$(ECHO) "    all configurations."
-	@$(ECHO) ""
-	@$(ECHO) "  testbuild"
-	@$(ECHO) "    Perform a complete clean build of the entire tree."
-	@$(ECHO) ""
-	@$(ECHO) "  Common options:"
-	@$(ECHO) "  ---------------"
-	@$(ECHO) ""
-	@$(ECHO) "  V=1"
-	@$(ECHO) "    If V is set, more verbose output is printed during the build. This can"
-	@$(ECHO) "    help when diagnosing issues with the build or toolchain."
-	@$(ECHO) ""
+#help:
+#	@echo
+#	@echo "Type 'make ' and hit the tab key twice to see a list of the available"
+#	@echo "build configurations."
+#	@echo
@@ -4,17 +4,19 @@

 [![Gitter](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/PX4/Firmware?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)

-This repository contains the PX4 Flight Core, with the main applications located in the src/modules directory. It also contains the PX4 Drone Platform, which contains drivers and middleware to run drones. 
+This repository contains the [PX4 Flight Core](http://px4.io), with the main applications located in the src/modules directory. It also contains the PX4 Drone Platform, which contains drivers and middleware to run drones.

 *   Official Website: http://px4.io
-*   License: BSD 3-clause (see LICENSE.md)
+*   License: BSD 3-clause (see [LICENSE.md](https://github.com/PX4/Firmware/blob/master/LICENSE.md))
 *   Supported airframes (more experimental are supported):
  * [Multicopters](http://px4.io/platforms/multicopters/start)
  * [Fixed wing](http://px4.io/platforms/planes/start)
  * [VTOL](http://px4.io/platforms/vtol/start)
 *   Binaries (always up-to-date from master):
  * [Downloads](http://px4.io/firmware/downloads)
-*   Mailing list: [Google Groups](http://groups.google.com/group/px4users)
+*   Releases
+  * [Downloads](https://github.com/PX4/Firmware/releases)
+*   Forum / Mailing list: [Google Groups](http://groups.google.com/group/px4users)

 ### Users ###

@@ -26,16 +28,22 @@ Contributing guide:
  * [CONTRIBUTING.md](https://github.com/PX4/Firmware/blob/master/CONTRIBUTING.md)
  * [PX4 Contribution Guide](http://px4.io/dev/contributing)

+Software in the Loop guide:
+Use software in the loop [to get started with the codebase](https://pixhawk.org/dev/simulation/native_sitl).
+
 Developer guide:
-http://px4.io/dev/
+http://dev.px4.io

 Testing guide:
 http://px4.io/dev/unit_tests

 This repository contains code supporting these boards:
+  * [Snapdragon Flight](http://dev.px4.io/hardware-snapdragon.html)
  * FMUv1.x
-  * FMUv2.x
+  * FMUv2.x ([Pixhawk](http://dev.px4.io/hardware-pixhawk.html), Pixhawk 2 and [Pixfalcon](http://dev.px4.io/hardware-pixfalcon.html))
+  * FMUv4.x (Pixhawk X and [Pixracer](http://dev.px4.io/hardware-pixracer.html))
  * AeroCore (v1 and v2)
+  * STM32F4Discovery (basic support) [Tutorial](https://pixhawk.org/modules/stm32f4discovery)

 ## NuttShell (NSH) ##

@@ -39,8 +39,5 @@ then
 	param set FW_RR_P 0.3
 fi

-# Enable gamepad / joystick support
-param set COM_RC_IN_MODE 2
-
 set HIL yes
 set MIXER AERT
@@ -28,11 +28,3 @@ fi
 set MIXER quad_w

 set PWM_OUT 1234
-set PWM_MIN 1200
-
-set MIXER_AUX pass
-set PWM_AUX_RATE 50
-set PWM_AUX_OUT 1234
-set PWM_AUX_DISARMED 1000
-set PWM_AUX_MIN 1000
-set PWM_AUX_MAX 2000
@@ -32,6 +32,3 @@ fi
 set MIXER quad_w

 set PWM_OUT 1234
-
-set PWM_MIN 1200
-set PWM_MAX 1950
@@ -30,7 +30,4 @@ fi

 set MIXER quad_w

-set PWM_MIN 1210
-set PWM_MAX 2100
-
 set PWM_OUT 1234
@@ -30,7 +30,6 @@ fi
 set MIXER sk450_deadcat

 set PWM_OUT 1234
-set PWM_MIN 1050

 set PWM_AUX_OUT 1234
 # set PWM_AUX_MIN 900
@@ -11,7 +11,4 @@ sh /etc/init.d/rc.mc_defaults

 set MIXER quad_x

-# Enable gamepad / joystick support
-param set COM_RC_IN_MODE 2
-
 set HIL yes
@@ -1,6 +1,6 @@
 #!nsh
 #
-# @name 3DR Iris DIY Quad
+# @name 3DR DIY Quad
 #
 # @type Quadrotor x
 #
@@ -11,7 +11,6 @@ sh /etc/init.d/rc.mc_defaults

 if [ $AUTOCNF == yes ]
 then
-	# TODO tune roll/pitch separately
 	param set MC_ROLL_P 6.5
 	param set MC_ROLLRATE_P 0.08
 	param set MC_ROLLRATE_I 0.1
@@ -11,7 +11,4 @@ sh /etc/init.d/rc.mc_defaults

 set MIXER quad_+

-# Enable gamepad / joystick support
-param set COM_RC_IN_MODE 2
-
 set HIL yes
@@ -11,7 +11,4 @@ sh /etc/init.d/rc.fw_defaults

 set HIL yes

-# Enable gamepad / joystick support
-param set COM_RC_IN_MODE 2
-
 set MIXER AERT
@@ -36,8 +36,5 @@ fi

 set HIL yes

-# Enable gamepad / joystick support
-param set COM_RC_IN_MODE 2
-
 # Set the AERT mixer for HIL (even if the malolo is a flying wing)
 set MIXER AERT
@@ -4,6 +4,17 @@
 #
 # @type Hexarotor Coaxial
 #
+# @output MAIN1 front right top, CW; angle:60; direction:CW
+# @output MAIN2 front right bottom, CCW; angle:60; direction:CCW
+# @output MAIN3 back top, CW; angle:180; direction:CW
+# @output MAIN4 back bottom, CCW; angle:180; direction:CCW
+# @output MAIN5 front left top, CW; angle:-60; direction:CW
+# @output MAIN6 front left bottom, CCW;angle:-60; direction:CCW 
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #

@@ -46,5 +46,6 @@ set PWM_AUX_MAX 2000
 set MAV_TYPE 21

 param set VT_MOT_COUNT 6
+param set VT_FW_MOT_OFF 23
 param set VT_IDLE_PWM_MC 1080
 param set VT_TYPE 1
@@ -1,6 +1,6 @@
 #!nsh
 #
-# @name Generic AAERT tailplane airframe with Quad VTOL.
+# @name Fun Cub Quad VTOL.
 #
 # @type Standard VTOL
 #
@@ -0,0 +1,50 @@
+#!nsh
+#
+# @name Generic quad delta VTOL.
+#
+# @type Standard VTOL
+#
+# @maintainer Simon Wilks <simon@uaventure.com>
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF == yes ]
+then
+	param set VT_TYPE 2
+	param set VT_MOT_COUNT 4
+	param set VT_TRANS_THR 0.75
+
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.002
+	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_FF 0.0
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.12
+	param set MC_PITCHRATE_I 0.002
+	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_FF 0.0
+	param set MC_YAW_P 2.8
+	param set MC_YAW_FF 0.5
+	param set MC_YAWRATE_P 0.22
+	param set MC_YAWRATE_I 0.02
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_FF 0.0
+fi
+
+set MIXER vtol_quad_x
+set PWM_OUT 12345678
+
+set MIXER_AUX vtol_delta
+set PWM_AUX_RATE 50
+set PWM_AUX_OUT 1234
+set PWM_AUX_DISARMED 1000
+set PWM_AUX_MIN 1000
+set PWM_AUX_MAX 2000
+
+set MAV_TYPE 22
+
+param set VT_MOT_COUNT 4
+param set VT_IDLE_PWM_MC 1080
+param set VT_TYPE 2
@@ -0,0 +1,51 @@
+#!nsh
+#
+# @name Generic AAVVT v-tail plane airframe with Quad VTOL.
+#
+# @type Standard VTOL
+#
+# @maintainer Sander Smeets <sander@droneslab.com>
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF == yes ]
+then
+	param set VT_TYPE 2
+	param set VT_MOT_COUNT 4
+	param set VT_TRANS_THR 0.75
+
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.002
+	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_FF 0.0
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.12
+	param set MC_PITCHRATE_I 0.002
+	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_FF 0.0
+	param set MC_YAW_P 2.8
+	param set MC_YAW_FF 0.5
+	param set MC_YAWRATE_P 0.22
+	param set MC_YAWRATE_I 0.02
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_FF 0.0
+	
+fi
+
+set MIXER vtol_quad_x
+set PWM_OUT 12345678
+
+set MIXER_AUX vtol_AAVVT
+set PWM_AUX_RATE 50
+set PWM_AUX_OUT 1234
+set PWM_AUX_DISARMED 1000
+set PWM_AUX_MIN 1000
+set PWM_AUX_MAX 2000
+
+set MAV_TYPE 22
+
+param set VT_MOT_COUNT 4
+param set VT_IDLE_PWM_MC 1080
+param set VT_TYPE 2
@@ -0,0 +1,65 @@
+#!nsh
+#
+# @name Coaxial Helicopter (such as Esky Lama v4 or Esky Big Lama)
+#
+# @type Coaxial Helicopter
+# 
+# @output MAIN1 Left swashplate servomotor, pitch axis
+# @output MAIN2 Right swashplate servomotor, roll axis
+# @output MAIN3 Upper rotor (CCW)
+# @output MAIN4 Lower rotor (CW)
+#
+# @maintainer Emmanuel Roussel
+#
+
+set VEHICLE_TYPE mc
+
+if [ $AUTOCNF == yes ]
+then
+	param set PE_VELNE_NOISE 0.5
+	param set PE_VELD_NOISE 0.35
+	param set PE_POSNE_NOISE 0.5
+	param set PE_POSD_NOISE 1.25
+
+	param set NAV_ACC_RAD 2.0
+	param set RTL_RETURN_ALT 30.0
+	param set RTL_DESCEND_ALT 10.0
+
+	param set PWM_DISARMED 900
+	param set PWM_MIN 1075
+	param set PWM_MAX 1950
+
+	param set MC_ROLL_P 6.5
+	param set MC_ROLLRATE_P 0.17
+	param set MC_ROLLRATE_I 0.05
+	param set MC_ROLLRATE_D 0.005
+	param set MC_ROLLRATE_FF 0
+	param set MC_PITCH_P 6.5
+	param set MC_PITCHRATE_P 0.17
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCHRATE_D 0.005
+	param set MC_PITCHRATE_FF 0
+	param set MC_YAW_P 2
+	param set MC_YAW_FF 0.5
+	param set MC_YAWRATE_P 0.1
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_FF 0
+fi
+
+set MIXER coax
+# use PWM parameters for throttle channel
+set PWM_OUT 34
+set PWM_RATE 400
+set PWM_DISARMED p:PWM_DISARMED
+set PWM_MIN p:PWM_MIN
+set PWM_MAX p:PWM_MAX
+
+# This is the gimbal pass mixer
+set MIXER_AUX pass
+set PWM_AUX_RATE 50
+set PWM_AUX_OUT 1234
+set PWM_AUX_DISARMED 1500
+set PWM_AUX_MIN 1000
+set PWM_AUX_MAX 2000
+
@@ -6,8 +6,8 @@
 #
 # @output MAIN1 aileron
 # @output MAIN2 elevator
-# @output MAIN4 rudder
-# @output MAIN3 throttle
+# @output MAIN3 rudder
+# @output MAIN4 throttle
 # @output MAIN5 flaps
 #
 # @output AUX1 feed-through of RC AUX1 channel
@@ -20,3 +20,9 @@
 sh /etc/init.d/rc.fw_defaults

 set MIXER AERT
+
+# use PWM parameters for throttle channel
+set PWM_OUT 4
+set PWM_DISARMED p:PWM_DISARMED
+set PWM_MIN p:PWM_MIN
+set PWM_MAX p:PWM_MAX
@@ -20,3 +20,9 @@
 sh /etc/init.d/rc.fw_defaults

 set MIXER AETR
+
+# use PWM parameters for throttle channel
+set PWM_OUT 3
+set PWM_DISARMED p:PWM_DISARMED
+set PWM_MIN p:PWM_MIN
+set PWM_MAX p:PWM_MAX
@@ -0,0 +1,50 @@
+#!nsh
+#
+# @name Bormatec Maja
+#
+# @type Standard Plane
+#
+# @output MAIN1 aileron
+# @output MAIN2 aileron
+# @output MAIN3 elevator
+# @output MAIN4 rudder
+# @output MAIN5 throttle
+# @output MAIN6 wheel
+# @output MAIN7 flaps
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Andreas Antener <andreas@uaventure.com>
+#
+
+sh /etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF == yes ]
+then
+    param set FW_AIRSPD_MIN 10
+    param set FW_AIRSPD_TRIM 15
+    param set FW_AIRSPD_MAX 20
+
+    param set FW_MAN_P_MAX 55
+    param set FW_MAN_R_MAX 55
+    param set FW_R_LIM 55
+
+    param set FW_WR_FF 0.2
+    param set FW_WR_I 0.2
+    param set FW_WR_IMAX 0.8
+    param set FW_WR_P 1
+    param set FW_W_RMAX 0
+
+    # set disarmed value for the ESC
+    param set PWM_DISARMED 1000
+fi
+
+set MIXER AAERTWF
+
+# use PWM parameters for throttle channel
+set PWM_OUT 5
+set PWM_DISARMED p:PWM_DISARMED
+set PWM_MIN p:PWM_MIN
+set PWM_MAX p:PWM_MAX
@@ -0,0 +1,51 @@
+#!nsh
+#
+# @name Applied Aeronautics Albatross
+#
+# @type Standard Plane
+#
+# @output MAIN1 aileron right
+# @output MAIN2 aileron left
+# @output MAIN3 v-tail right
+# @output MAIN4 v-tail left
+# @output MAIN5 throttle
+# @output MAIN6 wheel
+# @output MAIN7 flaps right
+# @output MAIN8 flaps left
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Andreas Antener <andreas@uaventure.com>
+#
+
+sh /etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF == yes ]
+then
+    param set FW_AIRSPD_MIN 10
+    param set FW_AIRSPD_TRIM 15
+    param set FW_AIRSPD_MAX 20
+
+    param set FW_MAN_P_MAX 55
+    param set FW_MAN_R_MAX 55
+    param set FW_R_LIM 55
+
+    param set FW_WR_FF 0.2
+    param set FW_WR_I 0.2
+    param set FW_WR_IMAX 0.8
+    param set FW_WR_P 1
+    param set FW_W_RMAX 0
+
+    # set disarmed value for the ESC
+    param set PWM_DISARMED 1000
+fi
+
+set MIXER AAVVTWFF
+
+# use PWM parameters for throttle channel
+set PWM_OUT 5
+set PWM_DISARMED p:PWM_DISARMED
+set PWM_MIN p:PWM_MIN
+set PWM_MAX p:PWM_MAX
@@ -14,7 +14,7 @@
 # @output AUX2 feed-through of RC AUX2 channel
 # @output AUX3 feed-through of RC AUX3 channel
 #
-# @maintainer Simon Wilks <simon@px4.io>
+# @maintainer Lorenz Meier <lorenz@px4.io>
 #

 sh /etc/init.d/rc.fw_defaults
@@ -39,6 +39,9 @@ then
 	param set FW_RR_P 0.04
 fi

+# Configure this as plane
+set MAV_TYPE 1
+# Set mixer
 set MIXER wingwing
 # Provide ESC a constant 1000 us pulse
 set PWM_OUT 4
@@ -0,0 +1,36 @@
+#!nsh
+#
+# @name Lumenier QAV250
+#
+# @type Quadrotor x
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Mark Whitehorn <kd0aij@gmail.com>
+#
+
+sh /etc/init.d/4001_quad_x
+
+if [ $AUTOCNF == yes ]
+then
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.05
+	param set MC_ROLLRATE_I 0.05
+	param set MC_ROLLRATE_D 0.002
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.08
+	param set MC_PITCHRATE_I 0.1
+	param set MC_PITCHRATE_D 0.003
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0.0
+	param set PWM_MIN 980
+	param set MPC_THR_MIN 0.06
+	param set MPC_MANTHR_MIN 0.06
+	param set MC_ROLLRATE_MAX 360.0
+	param set MC_PITCHRATE_MAX 360.0
+	param set MC_YAWRATE_MAX 200.0
+fi
@@ -15,13 +15,12 @@ sh /etc/init.d/4001_quad_x

 if [ $AUTOCNF == yes ]
 then
-	# TODO REVIEW
 	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.16
+	param set MC_ROLLRATE_P 0.15
 	param set MC_ROLLRATE_I 0.05
 	param set MC_ROLLRATE_D 0.01
 	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.16
+	param set MC_PITCHRATE_P 0.15
 	param set MC_PITCHRATE_I 0.05
 	param set MC_PITCHRATE_D 0.01
 	param set MC_YAW_P 2.8
@@ -16,8 +16,6 @@ then
 	param set PE_VELD_NOISE 0.35
 	param set PE_POSNE_NOISE 0.5
 	param set PE_POSD_NOISE 1.0
-	param set PE_GBIAS_PNOISE 0.000001
-	param set PE_ABIAS_PNOISE 0.0002
 fi

 # This is the gimbal pass mixer
@@ -103,7 +103,7 @@ then
 	set MIXER_AUX none
 fi

-if [ $MIXER_AUX != none ]
+if [ $MIXER_AUX != none -a $AUX_MODE != none ]
 then
 	#
 	# Load aux mixer
@@ -123,9 +123,9 @@ then
 		fi
 	fi

-	if [ $MIXER_AUX_FILE != none -a $FMU_MODE == pwm ]
+	if [ $MIXER_AUX_FILE != none ]
 	then
-		if fmu mode_pwm
+		if fmu mode_$AUX_MODE
 		then
 			if [ -e $OUTPUT_AUX_DEV ]
 			then
@@ -9,21 +9,16 @@
 # filter by setting INAV_ENABLED = 0
 if param compare INAV_ENABLED 1
 then
-	# The system is defaulting to EKF_ATT_ENABLED = 1
-	# and uses the older EKF filter. However users can
-	# enable the new quaternion based complimentary
-	# filter by setting EKF_ATT_ENABLED = 0.
-	# Note that on FMUv1, the EKF att estimator is not
-	# available and the Q estimator runs instead.
-	if param compare EKF_ATT_ENABLED 1
-	then
-		attitude_estimator_ekf start
-	else
-		attitude_estimator_q start
-	fi
+	attitude_estimator_q start
 	position_estimator_inav start
 else
-	ekf_att_pos_estimator start
+	if param compare LPE_ENABLED 1
+	then
+		attitude_estimator_q start
+		local_position_estimator start
+	else
+		ekf_att_pos_estimator start
+	fi
 fi

 if mc_att_control start
@@ -8,8 +8,6 @@ then
 	param set PE_VELD_NOISE 0.35
 	param set PE_POSNE_NOISE 0.5
 	param set PE_POSD_NOISE 1.25
-	param set PE_GBIAS_PNOISE 0.000001
-	param set PE_ABIAS_PNOISE 0.0001

 	param set NAV_ACC_RAD 2.0
 	param set RTL_RETURN_ALT 30.0
@@ -3,8 +3,20 @@
 # Standard startup script for PX4FMU v1, v2, v3 onboard sensor drivers.
 #

-if ms5611 start
+if ver hwcmp PX4FMU_V1
 then
+	if ms5611 start
+	then
+	fi
+else
+	if ms5611 -s start
+	then
+	fi
+
+	# Blacksheep telemetry
+	if bst start
+	then
+	fi
 fi

 if adc start
@@ -67,32 +79,55 @@ then
 		fi
 	fi
 else
-	# FMUv1
-	if mpu6000 start
+	if ver hwcmp PX4FMU_V4
 	then
-	fi
+		# External I2C bus
+		if hmc5883 -C -T -X start
+		then
+		fi

-	if l3gd20 start
-	then
-	fi
+		# Internal SPI bus is rotated 90 deg yaw
+		if hmc5883 -C -T -S -R 2 start
+		then
+		fi

-	# MAG selection
-	if param compare SENS_EXT_MAG 2
-	then
-		if hmc5883 -C -I start
+		# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
+		if mpu6000 -R 2 -T 20608 start
+		then
+		fi
+
+		# Internal SPI bus mpu9250 is rotated 90 deg yaw
+		if mpu9250 -R 2 start
 		then
 		fi
 	else
-		# Use only external as primary
-		if param compare SENS_EXT_MAG 1
+		# FMUv1
+		if mpu6000 start
 		then
-			if hmc5883 -C -X start
+		fi
+
+		if l3gd20 start
+		then
+		fi
+
+		# MAG selection
+		if param compare SENS_EXT_MAG 2
+		then
+			if hmc5883 -C -I start
 			then
 			fi
 		else
-		# auto-detect the primary, prefer external
-			if hmc5883 start
+			# Use only external as primary
+			if param compare SENS_EXT_MAG 1
 			then
+				if hmc5883 -C -X start
+				then
+				fi
+			else
+			# auto-detect the primary, prefer external
+				if hmc5883 start
+				then
+				fi
 			fi
 		fi
 	fi
@@ -110,12 +145,8 @@ else
 	fi
 fi

-if ll40ls start
+# Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
+usleep 20000
+if sensors start
 then
 fi
-
-#
-# Start sensors
-#
-sensors start
-
@@ -3,26 +3,10 @@
 # UAVCAN initialization script.
 #

-#
-# Mirriring the UAVCAN_ENABLE param value to an eponymous environment variable.
-# TODO there should be a smarter way.
-#
-set UAVCAN_ENABLE 0
-if param compare UAVCAN_ENABLE 1
-then
-	set UAVCAN_ENABLE 1
-fi
-if param compare UAVCAN_ENABLE 2
-then
-	set UAVCAN_ENABLE 2
-fi
-
-echo "[i] UAVCAN_ENABLE is $UAVCAN_ENABLE"
-
 #
 # Starting stuff according to UAVCAN_ENABLE value
 #
-if [ $UAVCAN_ENABLE -ge 1 ]
+if param greater UAVCAN_ENABLE 0
 then
 	if uavcan start
 	then
@@ -33,7 +17,7 @@ then
 	fi
 fi

-if [ $UAVCAN_ENABLE -ge 2 ]
+if param greater UAVCAN_ENABLE 1
 then
 	if uavcan start fw
 	then
@@ -43,10 +27,3 @@ then
 		tone_alarm $TUNE_ERR
 	fi
 fi
-
-if [ $UAVCAN_ENABLE -ge 1 ]
-then
-	# First sensor publisher to initialize takes lowest instance ID
-	# This delay ensures that UAVCAN-interfaced sensors will be allocated on lowest instance IDs
-	sleep 8
-fi
@@ -13,3 +13,9 @@ mc_att_control start
 mc_pos_control start
 fw_att_control start
 fw_pos_control_l1 start
+
+#
+# Start Land Detector
+# Multicopter for now until we have something for VTOL
+#
+land_detector start vtol
@@ -37,7 +37,6 @@ then
 	param set PE_VELD_NOISE 0.3
 	param set PE_POSNE_NOISE 0.5
 	param set PE_POSD_NOISE 1.25
-	param set PE_GBIAS_PNOISE 0.000001
 	param set PE_ABIAS_PNOISE 0.0001
 fi

@@ -89,6 +89,70 @@ then
 		fi
 	fi

+	# Compare existing params and save defaults
+	# this only needs to be in for 1-2 releases
+	if param compare RC_MAP_THROTTLE 0
+	then
+		# So this is a default setup,
+		# now lets find out if channel 3
+		# is calibrated
+		if param compare RC3_MIN 1000
+		then
+			# This is default, do nothing
+		else
+			# Set old default
+			param set RC_MAP_THROTTLE 3
+		fi
+	fi
+
+	# Compare existing params and save defaults
+	# this only needs to be in for 1-2 releases
+	if param compare RC_MAP_ROLL 0
+	then
+		# So this is a default setup,
+		# now lets find out if channel 1
+		# is calibrated
+		if param compare RC1_MIN 1000
+		then
+			# This is default, do nothing
+		else
+			# Set old default
+			param set RC_MAP_ROLL 1
+		fi
+	fi
+
+	# Compare existing params and save defaults
+	# this only needs to be in for 1-2 releases
+	if param compare RC_MAP_PITCH 0
+	then
+		# So this is a default setup,
+		# now lets find out if channel 2
+		# is calibrated
+		if param compare RC2_MIN 1000
+		then
+			# This is default, do nothing
+		else
+			# Set old default
+			param set RC_MAP_PITCH 2
+		fi
+	fi
+
+	# Compare existing params and save defaults
+	# this only needs to be in for 1-2 releases
+	if param compare RC_MAP_YAW 0
+	then
+		# So this is a default setup,
+		# now lets find out if channel 4
+		# is calibrated
+		if param compare RC4_MIN 1000
+		then
+			# This is default, do nothing
+		else
+			# Set old default
+			param set RC_MAP_YAW 4
+		fi
+	fi
+
 	#
 	# Start system state indicator
 	#
@@ -127,6 +191,7 @@ then
 	set FAILSAFE_AUX none
 	set MK_MODE none
 	set FMU_MODE pwm
+	set AUX_MODE pwm
 	set MAVLINK_F default
 	set EXIT_ON_END no
 	set MAV_TYPE none
@@ -152,7 +217,12 @@ then
 	#
 	if param compare SYS_USE_IO 1
 	then
-		set USE_IO yes
+		if ver hwcmp PX4FMU_V4
+		then
+			set USE_IO no
+		else
+			set USE_IO yes
+		fi
 	else
 		set USE_IO no
 	fi
@@ -168,6 +238,13 @@ then
 	fi
 	unset MODE

+	#
+	# Wipe incompatible settings for boards not having two outputs
+	if ver hwcmp PX4FMU_V4
+	then
+		set MIXER_AUX none
+	fi
+
 	#
 	# Override parameters from user configuration file
 	#
@@ -195,11 +272,11 @@ then
 		#
 		# Check if PX4IO present and update firmware if needed
 		#
-		if [ -f /etc/extras/px4io-v2_default.bin ]
+		if [ -f /etc/extras/px4io-v2.bin ]
 		then
-			set IO_FILE /etc/extras/px4io-v2_default.bin
+			set IO_FILE /etc/extras/px4io-v2.bin
 		else
-			set IO_FILE /etc/extras/px4io-v1_default.bin
+			set IO_FILE /etc/extras/px4io-v1.bin
 		fi

 		if px4io checkcrc ${IO_FILE}
@@ -300,11 +377,6 @@ then
 	then
 	fi

-	#
-	# UAVCAN
-	#
-	sh /etc/init.d/rc.uavcan
-
 	#
 	# Sensors System (start before Commander so Preflight checks are properly run)
 	#
@@ -331,6 +403,14 @@ then
 	#
 	set TTYS1_BUSY no

+	#
+	# Check if UAVCAN is enabled, default to it for ESCs
+	#
+	if param greater UAVCAN_ENABLE 2
+	then
+		set OUTPUT_MODE uavcan_esc
+	fi
+
 	# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
 	if [ $OUTPUT_MODE != none ]
 	then
@@ -404,12 +484,12 @@ then

 		if [ $OUTPUT_MODE == hil ]
 		then
-			if hil mode_port2_pwm8
+			if pwm_out_sim mode_port2_pwm8
 			then
-				echo "[i] HIL output started"
+				echo "[i] PWM SIM output started"
 			else
-				echo "[i] ERROR: HIL output start failed"
-				echo "ERROR: HIL output start failed" >> $LOG_FILE
+				echo "[i] ERROR: PWM SIM output start failed"
+				echo "ERROR: PWM SIM output start failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 		fi
@@ -469,8 +549,14 @@ then
 			# Exit from nsh to free port for mavlink
 			set EXIT_ON_END yes
 		else
-			# Start MAVLink on default port: ttyS1
 			set MAVLINK_F "-r 1200"
+			# Avoid using ttyS1 for MAVLink on FMUv4
+			if ver hwcmp PX4FMU_V4
+			then
+				set MAVLINK_F "-r 1200 -d /dev/ttyS2"
+				# Start MAVLink on Wifi (ESP8266 port)
+				mavlink start -r 800000 -b 921600 -d /dev/ttyS0
+			fi
 		fi
 	fi

@@ -496,8 +582,30 @@ then
 		then
 			mavlink start -d /dev/ttyS2 -b 57600 -m osd -r 1000
 		fi
+		if param compare SYS_COMPANION 257600
+		then
+			mavlink start -d /dev/ttyS2 -b 57600 -m magic -r 5000 -x
+		fi
+		# Sensors on the PWM interface bank
+		# clear pins 5 and 6
+		if param compare SENS_EN_LL40LS 1
+		then
+			set AUX_MODE pwm4
+		fi
+		if param greater TRIG_MODE 0
+		then
+			# Get FMU driver out of the way
+			set MIXER_AUX none
+			set AUX_MODE none
+			camera_trigger start
+		fi
 	fi

+	#
+	# UAVCAN
+	#
+	sh /etc/init.d/rc.uavcan
+
 	#
 	# Logging
 	#
@@ -719,6 +827,17 @@ unset TUNE_ERR
 # Boot is complete, inform MAVLink app(s) that the system is now fully up and running
 mavlink boot_complete

+# Sensors on the PWM interface bank
+if param compare SENS_EN_LL40LS 1
+then
+	if pwm_input start
+	then
+		if ll40ls start pwm
+		then
+		fi
+	fi
+fi
+
 if ver hwcmp PX4FMU_V2
 then
 	# Check for flow sensor - as it is a background task, launch it last
@@ -0,0 +1,96 @@
+Aileron/rudder/elevator/throttle/wheel/flaps mixer for PX4FMU
+=======================================================
+
+This file defines mixers suitable for controlling a fixed wing aircraft with
+aileron, rudder, elevator, throttle and steerable wheel controls using PX4FMU.
+The configuration assumes the aileron servo(s) are connected to PX4FMU servo
+output 0 and 1, the elevator to output 2, the rudder to output 3, the throttle
+to output 4 and the wheel to output 5.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
+
+Aileron mixer (roll + flaperon)
+---------------------------------
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 6 -10000 -10000      0 -10000  10000
+
+Elevator mixer
+------------
+Two scalers total (output, roll).
+
+This mixer assumes that the elevator servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+O:       10000   10000      0 -10000  10000
+S: 0 1  -10000  -10000      0 -10000  10000
+
+Rudder mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the rudder servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 2  10000  10000      0 -10000  10000
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+Wheel mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the wheel servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 2  10000  10000      0 -10000  10000
+
+
+Flaps / gimbal / payload mixer for last three channels,
+using the payload control group
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 0  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 2  10000  10000      0 -10000  10000
@@ -0,0 +1,84 @@
+Aileron/v-tail/throttle/wheel/flaps mixer for PX4FMU
+=======================================================
+
+This file defines mixers suitable for controlling a fixed wing aircraft with
+aileron, v-tail (rudder, elevator), throttle, steerable wheel and flaps
+using PX4FMU.
+The configuration assumes the aileron servos are connected to PX4FMU servo
+output 0 and 1, the tail servos to output 2 and 3, the throttle
+to output 4, the wheel to output 5 and the flaps to output 6 and 7.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
+
+Aileron mixer (roll + flaperon)
+---------------------------------
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 6 -10000 -10000      0 -10000  10000
+
+V-tail mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two tail servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 2  -7000  -7000      0 -10000  10000
+S: 0 1  -8000  -8000      0 -10000  10000
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 2  -7000  -7000      0 -10000  10000
+S: 0 1   8000   8000      0 -10000  10000
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+Wheel mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the wheel servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 2 -10000 -10000      0 -10000  10000
+
+Flaps mixer
+------------
+Flap servos are physically reversed.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4      0   5000 -10000 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4      0  -5000  10000 -10000  10000
+
@@ -34,7 +34,7 @@ collection of mixers in order to achieve a specific pattern of actuator outputs.

 The null mixer definition has the form:

-  Z:
+	Z:

 #### Simple Mixer ####

@@ -44,8 +44,8 @@ applying an output scaler.

 A simple mixer definition begins with:

-  M: <control count>
-  O: <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
+	M: <control count>
+	O: <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>

 If <control count> is zero, the sum is effectively zero and the mixer will
 output a fixed value that is <offset> constrained by <lower limit> and <upper
@@ -59,7 +59,7 @@ offset of -0.5 is encoded as -5000.
 The definition continues with <control count> entries describing the control
 inputs and their scaling, in the form:

-  S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
+	S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>

 The <group> value identifies the control group from which the scaler will read,
 and the <index> value an offset within that group.  These values are specific to
@@ -81,16 +81,16 @@ into a set of actuator outputs intended to drive motor speed controllers.

 The mixer definition is a single line of the form:

-R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband>
+	R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband>

 The supported geometries include:

-  4x - quadrotor in X configuration
-  4+ - quadrotor in + configuration
-  6x - hexcopter in X configuration
-  6+ - hexcopter in + configuration
-  8x - octocopter in X configuration
-  8+ - octocopter in + configuration
+ * 4x - quadrotor in X configuration
+ * 4+ - quadrotor in + configuration
+ * 6x - hexcopter in X configuration
+ * 6+ - hexcopter in + configuration
+ * 8x - octocopter in X configuration
+ * 8+ - octocopter in + configuration
  
 Each of the roll, pitch and yaw scale values determine scaling of the roll,
 pitch and yaw controls relative to the thrust control.  Whilst the calculations
@@ -102,4 +102,4 @@ thrust input ranges from 0.0 to 1.0.  Output for each actuator is in the
 range -1.0 to 1.0.

 In the case where an actuator saturates, all actuator values are rescaled so that 
-the saturating actuator is limited to 1.0.
+the saturating actuator is limited to 1.0.
@@ -0,0 +1,33 @@
+Coaxial helicopter mixer
+- Two servomotors act on the swashplate (90° angle on the swashplate, decoupled effect on roll and pitch).
+- No collective pitch.
+- One motor per rotor.
+===========================
+
+Left swashplate servomotor, pitch axis
+-------------
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 1  -10000  -10000      0 -10000  10000
+
+Right swashplate servomotor, roll axis
+-------------
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 0  10000  10000      0 -10000  10000
+
+Upper rotor (CCW)
+Mixing between yaw and thrust
+-------------
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 2  10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+Lower rotor (CW)
+Mixing between yaw and thrust
+-------------
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 2  -10000  -10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
@@ -0,0 +1,26 @@
+Multirotor mixer for PX4FMU
+===========================
+
+This file defines a single mixer for a quadrotor in the H configuration.  All controls
+are mixed 100%.
+
+R: 4h 10000 10000 10000 0
+
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000
@@ -9,10 +9,10 @@ R: 4x 10000 10000 10000 0
 #mixer for the elevons
 M: 2
 O:      10000  10000      0 -10000  10000
-S: 1 0  10000  10000      0 -10000  10000
-S: 1 1  10000  10000      0 -10000  10000
+S: 1 0  5000  5000      0 -10000  10000
+S: 1 1  5000  5000      0 -10000  10000

 M: 2
 O:       10000   10000    0 -10000  10000
-S: 1 0   10000   10000    0 -10000  10000
-S: 1 1  -10000  -10000    0 -10000  10000
+S: 1 0   5000   5000    0 -10000  10000
+S: 1 1  -5000  -5000    0 -10000  10000
@@ -0,0 +1,59 @@
+Aileron/v-tail/throttle VTOL mixer for PX4FMU
+=======================================================
+
+This file defines mixers suitable for controlling a fixed wing aircraft with
+aileron, v-tail (rudder, elevator) and throttle using PX4FMU.
+The configuration assumes the aileron servos are connected to PX4FMU 
+AUX servo output 0 and 1, the tail servos to output 2 and 3, the throttle
+to output 4.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
+
+Aileron mixer (roll + flaperon)
+---------------------------------
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 0  10000  10000      0 -10000  10000
+S: 1 6  10000  10000      0 -10000  10000
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 0  10000  10000      0 -10000  10000
+S: 1 6 -10000 -10000      0 -10000  10000
+
+
+V-tail mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two tail servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 2  -7000  -7000      0 -10000  10000
+S: 1 1  -8000  -8000      0 -10000  10000
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 2  -7000  -7000      0 -10000  10000
+S: 1 1   8000   8000      0 -10000  10000
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 1 3      0  20000 -10000 -10000  10000
+
@@ -0,0 +1,39 @@
+Delta-wing VTOL mixer
+=====================
+
+This file defines mixers suitable for controlling a delta wing VTOL aircraft using
+PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
+AUX servo outputs 0 and 1 and the motor speed control to output 2.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+Elevon mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two elevon servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 0  -6000  -6000      0 -10000  10000
+S: 1 1   6500   6500      0 -10000  10000
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 0  -6000  -6000      0 -10000  10000
+S: 1 1  -6500  -6500      0 -10000  10000
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 1 3      0  20000 -10000 -10000  10000
@@ -55,11 +55,11 @@ else
 	echo "[param] FAILED loading $PARAM_FILE"
 fi

-if [ -f /etc/extras/px4io-v2_default.bin ]
+if [ -f /etc/extras/px4io-v2.bin ]
 then
-	set io_file /etc/extras/px4io-v2_default.bin
+	set io_file /etc/extras/px4io-v2.bin
 else
-	set io_file /etc/extras/px4io-v1_default.bin
+	set io_file /etc/extras/px4io-v1.bin
 fi

 if px4io start
@@ -0,0 +1,13 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<airframes>
+  <version>1</version>
+  <airframe_group name="StandardPlane" image="AirframeStandardPlane.png">
+  	<airframe name="Multiplex Easystar 1/2" id="2100"/>
+  	<airframe name="Generic AERT" id="2101"/>
+  </airframe_group>
+  <airframe_group name="QuadRotorX" image="AirframeQuadRotorX.png">
+  	<airframe name="Generic 10 inch Quad" id="4001"/>
+  	<airframe name="DJI F330 8 inch Quad" id="4010"/>
+  	<airframe name="DJI F450 10 inch Quad" id="4011"/>
+  </airframe_group>
+</airframes>
@@ -0,0 +1,18 @@
+indent=force-tab=8
+style=linux
+indent-preprocessor
+indent-cases
+break-blocks=all
+pad-oper
+pad-header
+unpad-paren
+keep-one-line-blocks
+keep-one-line-statements
+align-pointer=name
+align-reference=name
+-n #--suffix=none
+ignore-exclude-errors-x
+lineend=linux
+exclude=EASTL
+add-brackets
+max-code-length=120
@@ -0,0 +1,14 @@
+#!/bin/bash
+cmake_ver=`cmake --version`
+
+if [[ $cmake_ver == "" ]]
+then
+  exit 1;
+fi
+
+if [[ $cmake_ver == *"2.8"* ]] || [[ $cmake_ver == *"2.9"* ]] || [[ $cmake_ver == *"3.0"* ]] || [[ $cmake_ver == *"3.1"* ]]
+then
+  exit 1;
+fi
+
+exit 0;
@@ -1,16 +1,56 @@
 #!/usr/bin/env bash
 set -eu
 failed=0
-for fn in $(find . -path './src/lib/uavcan' -prune -o \
-                   -path './src/lib/mathlib/CMSIS' -prune -o \
-                   -path './src/lib/eigen' -prune -o \
-                   -path './src/modules/attitude_estimator_ekf/codegen' -prune -o \
-                   -path './NuttX' -prune -o \
+for fn in $(find src/examples \
+                 src/systemcmds \
+                 src/include \
+                 src/drivers \
+                 src/platforms \
+                 src/firmware \
+                 src/lib/launchdetection \
+                 src/lib/geo \
+                 src/lib/geo_lookup \
+                 src/lib/conversion \
+                 src/lib/rc \
+                 src/lib/version \
+                 src/modules/attitude_estimator_q \
+                 src/modules/fw_att_control \
+                 src/modules/gpio_led \
+                 src/modules/land_detector \
+                 src/modules/muorb \
+                 src/modules/px4iofirmware \
+                 src/modules/param \
+                 src/modules/sensors \
+                 src/modules/simulator \
+                 src/modules/uORB \
+                 src/modules/bottle_drop \
+                 src/modules/dataman \
+                 src/modules/fixedwing_backside \
+                 src/modules/segway \
+                 src/modules/local_position_estimator \
+                 src/modules/unit_test \
+                 src/modules/systemlib \
+                 src/modules/controllib \
                   -path './Build' -prune -o \
                   -path './mavlink' -prune -o \
-                   -path './unittests/gtest' -prune -o \
+                   -path './NuttX' -prune -o \
+                   -path './src/lib/eigen' -prune -o \
+                   -path './src/lib/mathlib/CMSIS' -prune -o \
+                   -path './src/modules/uavcan/libuavcan' -prune -o \
+                   -path './src/modules/attitude_estimator_ekf/codegen' -prune -o \
+                   -path './src/modules/ekf_att_pos_estimator' -prune -o \
+                   -path './src/modules/sdlog2' -prune -o \
+                   -path './src/modules/uORB' -prune -o \
+                   -path './src/modules/vtol_att_control' -prune -o \
                   -path './unittests/build' -prune -o \
-                   -name '*.c' -o -name '*.cpp' -o -name '*.hpp' -o -name '*.h' -type f); do
+                   -path './unittests/gtest' -prune -o \
+                   -name '*.c' -o -name '*.cpp' -o -name '*.hpp' -o -name '*.h' \
+                   -not -name '*generated*' \
+                   -not -name '*uthash.h' \
+                   -not -name '*utstring.h' \
+                   -not -name '*utlist.h' \
+                   -not -name '*utarray.h' \
+                   -type f); do
  if [ -f "$fn" ];
  then
    ./Tools/fix_code_style.sh --quiet < $fn > $fn.pretty
@@ -18,7 +58,7 @@ for fn in $(find . -path './src/lib/uavcan' -prune -o \
    rm -f $fn.pretty
    if [ $diffsize -ne 0 ]; then
      failed=1
-      echo $diffsize $fn
+      echo $fn 'bad formatting, please run "./Tools/fix_code_style.sh' $fn'"'
    fi
  fi
 done
@@ -27,6 +67,6 @@ if [ $failed -eq 0 ]; then
    echo "Format checks passed"
    exit 0
 else
-    echo "Format checks failed; please run ./Tools/fix_code_style.sh on each file"
+    echo "Format checks failed"
    exit 1
 fi
@@ -1,137 +0,0 @@
-#!/bin/sh
-
-[ -n "$GIT_SUBMODULES_ARE_EVIL" ] && {
-    # GIT_SUBMODULES_ARE_EVIL is set, meaning user doesn't want submodules
-    echo "Skipping submodules. NUTTX_SRC is set to $NUTTX_SRC"
-    exit 0
-}
-
-if [ -d NuttX/nuttx ];
-	then
-	STATUSRETVAL=$(git submodule summary | grep -A20 -i "NuttX" | grep "<")
-	if [ -z "$STATUSRETVAL" ]; then
-		echo "Checked NuttX submodule, correct version found"
-	else
-		echo ""
-		echo ""
-		echo "New commits required:"
-		echo "$(git submodule summary)"
-		echo ""
-		echo ""
-		echo "   NuttX sub repo not at correct version. Try 'git submodule update'"
-		echo "   or follow instructions on http://pixhawk.org/dev/git/submodules"
-		echo ""
-		echo "   DO NOT FORGET TO RUN 'make distclean && make archives' AFTER EACH NUTTX UPDATE!"
-		exit 1
-	fi
-else
-	git submodule update --init --recursive
-fi
-
-
-if [ -d mavlink/include/mavlink/v1.0 ];
-	then
-	STATUSRETVAL=$(git submodule summary | grep -A20 -i "mavlink/include/mavlink/v1.0" | grep "<")
-	if [ -z "$STATUSRETVAL" ]; then
-		echo "Checked mavlink submodule, correct version found"
-	else
-		echo ""
-		echo ""
-		echo "New commits required:"
-		echo "$(git submodule summary)"
-		echo ""
-		echo ""
-		echo "mavlink sub repo not at correct version. Try 'git submodule update'"
-		echo "or follow instructions on http://pixhawk.org/dev/git/submodules"
-		exit 1
-	fi
-else
-	git submodule update --init --recursive
-fi
-
-
-if [ -d uavcan ]
-then
-	STATUSRETVAL=$(git submodule summary | grep -A20 -i uavcan | grep "<")
-	if [ -z "$STATUSRETVAL" ]
-	then
-		echo "Checked uavcan submodule, correct version found"
-	else
-		echo ""
-		echo ""
-		echo "New commits required:"
-		echo "$(git submodule summary)"
-		echo ""
-		echo ""
-		echo "uavcan sub repo not at correct version. Try 'git submodule update'"
-		echo "or follow instructions on http://pixhawk.org/dev/git/submodules"
-		exit 1
-	fi
-else
-	git submodule update --init --recursive
-fi
-
-if [ -d src/lib/eigen ]
-then
-	STATUSRETVAL=$(git submodule summary | grep -A20 -i eigen | grep "<")
-	if [ -z "$STATUSRETVAL" ]
-	then
-		echo "Checked Eigen submodule, correct version found"
-	else
-		echo ""
-		echo ""
-		echo "New commits required:"
-		echo "$(git submodule summary)"
-		echo ""
-		echo ""
-		echo "eigen sub repo not at correct version. Try 'git submodule update'"
-		echo "or follow instructions on http://pixhawk.org/dev/git/submodules"
-		exit 1
-	fi
-else
-	git submodule update --init --recursive
-fi
-
-if [ -d Tools/gencpp ]
-then
-	STATUSRETVAL=$(git submodule summary | grep -A20 -i gencpp | grep "<")
-	if [ -z "$STATUSRETVAL" ]
-	then
-		echo "Checked gencpp submodule, correct version found"
-	else
-		echo ""
-		echo ""
-		echo "New commits required:"
-		echo "$(git submodule summary)"
-		echo ""
-		echo ""
-		echo "gencpp sub repo not at correct version. Try 'git submodule update'"
-		echo "or follow instructions on http://pixhawk.org/dev/git/submodules"
-		exit 1
-	fi
-else
-	git submodule update --init --recursive
-fi
-
-if [ -d Tools/genmsg ]
-then
-	STATUSRETVAL=$(git submodule summary | grep -A20 -i genmsg | grep "<")
-	if [ -z "$STATUSRETVAL" ]
-	then
-		echo "Checked genmsg submodule, correct version found"
-	else
-		echo ""
-		echo ""
-		echo "New commits required:"
-		echo "$(git submodule summary)"
-		echo ""
-		echo ""
-		echo "genmsg sub repo not at correct version. Try 'git submodule update'"
-		echo "or follow instructions on http://pixhawk.org/dev/git/submodules"
-		exit 1
-	fi
-else
-	git submodule update --init --recursive
-fi
-
-exit 0
@@ -0,0 +1,123 @@
+#!/usr/bin/env python
+############################################################################
+#
+# Copyright (C) 2015 Mark Charlebois. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+import os
+import subprocess
+
+# The PX4_BACKTRACE() macro can be used to generate backtraces in the
+# running code. These provide the addresses only. This utility can be
+# used to decode the backtrace into a readable form:
+#
+# Example:
+# If the following lines were pasted into the shell after running decode_backtrace.py
+#
+# INFO  Backtrace: 10
+# INFO  ./mainapp(px4_backtrace+0x27) [0x42b212]
+# INFO  ./mainapp() [0x42d608]
+# INFO  ./mainapp() [0x42d57e]
+# INFO  ./mainapp() [0x4ba48d]
+#
+# The output would be:
+#
+# 0x42b212 px4_backtrace (0x42b1eb)
+# 0x42d608 ACCELSIM::devRead(void*, unsigned long) (0x42d600)
+# 0x42d57e ACCELSIM::start() (0x42d578)
+# 0x4ba48d DriverFramework::DevObj::addHandle(DriverFramework::DevHandle&) (0x4ba42e)
+#
+# The output format is:
+# <backtrace address> <function name> (<function address>)
+
+
+def usage():
+	msg = """
+Usage: Tools/decode_backtrace.py <builddir>
+
+This will load the symbols for <builddir>/src/firmware/posix/mainapp
+The user just needs to copy and paste the backtrace into the terminal
+where decode_backtrace.py is running.
+
+"""
+	print msg
+
+funcaddr = []
+func = []
+
+# Load the symbols from the binary
+def load_symbol_map():
+	output = subprocess.check_output(["nm", "-p", "-C", os.sys.argv[1]+"/src/firmware/posix/mainapp"])
+	data = output.split("\n")
+	data.sort()
+
+	i = 0
+	for line in data:
+		if line.startswith("0"):
+			funcaddr.append(int(line[0:16],16))
+			func.append(line[19:])
+			#print(hex(funcaddr[i]), func[i])
+			i = i+1
+
+# Find the function for the specified call stack address
+def lookup(addr):
+	i=1
+	while i < len(funcaddr) and addr > funcaddr[i]:
+		i=i+1
+	if i >= len(funcaddr):
+		return -1
+
+	# return the function before this one
+	return i-1
+
+if len(os.sys.argv) != 2:
+	usage()
+	raise SystemExit
+
+load_symbol_map()
+
+print
+print "Paste the backtrace here. Use Ctrl-C to exit."
+print
+while 1:
+	# Wait for user to paste the backtrace into the shell
+	line = raw_input()
+	tmp = line.split("[")
+	if len(tmp) == 1:
+		if len(line.split("Backtrace:")) > 1:
+			print
+		continue
+	addrstr = tmp[1].split("]")[0]
+	addr = int(addrstr, 16)
+	idx = lookup(addr)
+	if idx >=  0:
+		print hex(addr), func[idx], "({0})".format(hex(funcaddr[idx]))
+
@@ -0,0 +1,23 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<vehicle_configs>
+	<vehicle class="multirotor" rotors="4" geometry="x" propeller_diameter="8" weight="1.0" id="4010">
+		<title>Standard 8" Prop Quadrotor (x)</title>
+		<short_desc>Standard quadrotor configuration in x configuration for 8-" propellers</short_desc>
+		<mixer>/etc/mixers/quad_x.main.mix</mixer>
+	</vehicle>
+	<vehicle class="multirotor" rotors="4" geometry="+" propeller_diameter="8" weight="1.0" id="5001">
+		<title>Standard 8" Prop Quadrotor (+)</title>
+		<short_desc>Standard quadrotor configuration in + configuration for 8-" propellers</short_desc>
+		<mixer>/etc/mixers/quad_+.main.mix</mixer>
+	</vehicle>
+	<vehicle class="multirotor" rotors="4" geometry="x" propeller_diameter="10" weight="1.5" id="4011">
+		<title>Standard 8" Prop Quadrotor (x)</title>
+		<short_desc>Standard quadrotor configuration in x configuration for 8-" propellers</short_desc>
+		<mixer>/etc/mixers/quad_x.main.mix</mixer>
+	</vehicle>
+	<vehicle class="fixed_wing" wingspan="0.85" elevons="yes" ailerons="no" rudder="no" weight="1.5" id="3033">
+		<title>Zeta Science Wing Wing Z-84</title>
+		<short_desc>Configuration for a small flying wing.</short_desc>
+		<mixer>/etc/mixers/wingwing.main.mix</mixer>
+	</vehicle>
+</vehicle_configs>
@@ -1,22 +1,16 @@
-#!/bin/sh
+#!/bin/bash
+
+ASTYLE_VER=`astyle --version`
+ASTYLE_VER_REQUIRED="Artistic Style Version 2.05.1"
+
+if [ "$ASTYLE_VER" != "$ASTYLE_VER_REQUIRED" ]; then
+  echo "Error: you're using ${ASTYLE_VER}, but PX4 requires ${ASTYLE_VER_REQUIRED}"
+  echo "You can get the correct version here: https://github.com/PX4/astyle/releases/tag/2.05.1"
+  exit 1
+fi
+
+DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
 astyle \
-    --style=linux		\
-    --indent=force-tab=8	\
-    --indent-cases		\
-    --indent-preprocessor	\
-    --break-blocks=all		\
-    --pad-oper			\
-    --pad-header		\
-    --unpad-paren		\
-    --keep-one-line-blocks	\
-    --keep-one-line-statements	\
-    --align-pointer=name	\
-    --align-reference=name	\
-    --suffix=none		\
-    --ignore-exclude-errors-x	\
-    --lineend=linux		\
-    --exclude=EASTL		\
-    --add-brackets		\
-    --max-code-length=120	\
+    --options=$DIR/astylerc          \
    --preserve-date             \
    $*
@@ -0,0 +1,206 @@
+#!/usr/bin/python
+
+import glob
+import os
+import sys
+
+# This script is run from Build/<target>_default.build/$(PX4_BASE)/Firmware/src/systemcmds/topic_listener
+
+# argv[1] must be the full path of the top Firmware dir
+
+raw_messages = glob.glob(sys.argv[1]+"/msg/*.msg")
+messages = []
+message_elements = []
+
+
+for index,m in enumerate(raw_messages):
+	temp_list_floats = []
+	temp_list_uint64 = []
+	temp_list_bool = []
+	if("pwm_input" not in m and "position_setpoint" not in m):
+		temp_list = []
+		f = open(m,'r')
+		for line in f.readlines():
+			if ('float32[' in line.split(' ')[0]):
+				num_floats = int(line.split(" ")[0].split("[")[1].split("]")[0])
+				temp_list.append(("float_array",line.split(' ')[1].split('\t')[0].split('\n')[0],num_floats))
+			elif ('float64[' in line.split(' ')[0]):
+				num_floats = int(line.split(" ")[0].split("[")[1].split("]")[0])
+				temp_list.append(("double_array",line.split(' ')[1].split('\t')[0].split('\n')[0],num_floats))
+			elif ('uint64[' in line.split(' ')[0]):
+				num_floats = int(line.split(" ")[0].split("[")[1].split("]")[0])
+				temp_list.append(("uint64_array",line.split(' ')[1].split('\t')[0].split('\n')[0],num_floats))
+			elif(line.split(' ')[0] == "float32"):
+				temp_list.append(("float",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif(line.split(' ')[0] == "float64"):
+				temp_list.append(("double",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif(line.split(' ')[0] == "uint64") and len(line.split('=')) == 1:
+				temp_list.append(("uint64",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif(line.split(' ')[0] == "uint32") and len(line.split('=')) == 1:
+				temp_list.append(("uint32",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif(line.split(' ')[0] == "uint16") and len(line.split('=')) == 1:
+				temp_list.append(("uint16",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif(line.split(' ')[0] == "int64") and len(line.split('=')) == 1:
+				temp_list.append(("int64",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif(line.split(' ')[0] == "int32") and len(line.split('=')) == 1:
+				temp_list.append(("int32",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif(line.split(' ')[0] == "int16") and len(line.split('=')) == 1:
+				temp_list.append(("int16",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif (line.split(' ')[0] == "bool") and len(line.split('=')) == 1:
+				temp_list.append(("bool",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif (line.split(' ')[0] == "uint8") and len(line.split('=')) == 1:
+				temp_list.append(("uint8",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif (line.split(' ')[0] == "int8") and len(line.split('=')) == 1:
+				temp_list.append(("int8",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+
+		f.close()
+		(m_head, m_tail) = os.path.split(m)
+		message = m_tail.split('.')[0]
+		if message != "actuator_controls":
+			messages.append(message)
+			message_elements.append(temp_list)
+		#messages.append(m.split('/')[-1].split('.')[0])
+
+num_messages = len(messages);
+
+print("""
+
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file topic_listener.cpp
+ *
+ * Autogenerated by Tools/generate_listener.py
+ *
+ * Tool for listening to topics when running flight stack on linux.
+ */
+
+#include <px4_middleware.h>
+#include <px4_app.h>
+#include <px4_config.h>
+#include <uORB/uORB.h>
+#include <string.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#define __STDC_FORMAT_MACROS
+#include <inttypes.h>
+
+#ifndef PRIu64
+#define PRIu64 "llu"
+#endif
+
+#ifndef PRId64
+#define PRId64 "lld"
+#endif
+
+""")
+for m in messages:
+	print("#include <uORB/topics/%s.h>" % m)
+
+
+print("""
+extern "C" __EXPORT int listener_main(int argc, char *argv[]);
+
+int listener_main(int argc, char *argv[]) {
+	int sub = -1;
+	orb_id_t ID;
+	if(argc < 3) {
+		printf("need at least two arguments: topic name, number of messages to print\\n");
+		return 1;
+	}
+""")
+print("\tunsigned num_msgs = atoi(argv[2]);")
+print("\tif (strncmp(argv[1],\"%s\",50) == 0) {" % messages[0])
+print("\t\tsub = orb_subscribe(ORB_ID(%s));" % messages[0])
+print("\t\tID = ORB_ID(%s);" % messages[0])
+print("\t\tstruct %s_s container;" % messages[0])
+print("\t\tmemset(&container, 0, sizeof(container));")
+for index,m in enumerate(messages[1:]):
+	print("\t} else if (strncmp(argv[1],\"%s\",50) == 0) {" % m)
+	print("\t\tsub = orb_subscribe(ORB_ID(%s));" % m)
+	print("\t\tID = ORB_ID(%s);" % m)
+	print("\t\tstruct %s_s container;" % m)
+	print("\t\tmemset(&container, 0, sizeof(container));")
+	print("\t\tbool updated;")
+	print("\t\tfor (unsigned i = 0; i < num_msgs; i++) {")
+	print("\t\t\torb_check(sub,&updated);")
+	print("\t\t\tupdated = true;")
+	print("\t\t\tif (updated) {")
+	print("\t\tprintf(\"\\nTOPIC: %s #%%d\\n\", i);" % m)
+	print("\t\t\torb_copy(ID,sub,&container);")
+	for item in message_elements[index+1]:
+		if item[0] == "float":
+			print("\t\t\tprintf(\"%s: %%8.4f\\n\",(double)container.%s);" % (item[1], item[1]))
+		elif item[0] == "float_array":
+			print("\t\t\tprintf(\"%s: \");" % item[1])
+			print("\t\t\tfor (int j = 0; j < %d; j++) {" % item[2])
+			print("\t\t\t\tprintf(\"%%8.4f \",(double)container.%s[j]);" % item[1])
+			print("\t\t\t}")
+			print("\t\t\tprintf(\"\\n\");")
+		elif item[0] == "double":
+			print("\t\t\tprintf(\"%s: %%8.4f\\n\",(double)container.%s);" % (item[1], item[1]))
+		elif item[0] == "double_array":
+			print("\t\t\tprintf(\"%s: \");" % item[1])
+			print("\t\t\tfor (int j = 0; j < %d; j++) {" % item[2])
+			print("\t\t\t\tprintf(\"%%8.4f \",(double)container.%s[j]);" % item[1])
+			print("\t\t\t}")
+			print("\t\t\tprintf(\"\\n\");")
+		elif item[0] == "uint64":
+			print("\t\t\tprintf(\"%s: %%\" PRIu64 \"\\n\",container.%s);" % (item[1], item[1]))
+		elif item[0] == "uint64_array":
+			print("\t\t\tprintf(\"%s: \");" % item[1])
+			print("\t\t\tfor (int j = 0; j < %d; j++) {" % item[2])
+			print("\t\t\t\tprintf(\"%%\" PRIu64 \"\",container.%s[j]);" % item[1])
+			print("\t\t\t}")
+			print("\t\t\tprintf(\"\\n\");")
+		elif item[0] == "int64":
+			print("\t\t\tprintf(\"%s: %%\" PRId64 \"\\n\",container.%s);" % (item[1], item[1]))
+		elif item[0] == "int32":
+			print("\t\t\tprintf(\"%s: %%d\\n\",container.%s);" % (item[1], item[1]))
+		elif item[0] == "uint32":
+			print("\t\t\tprintf(\"%s: %%d\\n\",container.%s);" % (item[1], item[1]))
+		elif item[0] == "uint8":
+			print("\t\t\tprintf(\"%s: %%u\\n\",container.%s);" % (item[1], item[1]))
+		elif item[0] == "bool":
+			print("\t\t\tprintf(\"%s: %%s\\n\",container.%s ? \"True\" : \"False\");" % (item[1], item[1]))
+	print("\t\t\t}")
+	print("\t\t}")
+print("\t} else {")
+print("\t\t printf(\" Topic did not match any known topics\\n\");")
+print("\t}")
+print("\t\torb_unsubscribe(sub);")
+print("\t return 0;")
+
+print("}")
@@ -0,0 +1,138 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<parameters>
+  <version>3</version>
+  <group name="UAVCAN Motor Parameters" no_code_generation="true">
+    <parameter default="75" name="ctl_bw" type="INT32">
+      <short_desc>Speed controller bandwidth</short_desc>
+      <long_desc>Speed controller bandwidth, in Hz. Higher values result in faster speed and current rise times, but may result in overshoot and higher current consumption. For fixed-wing aircraft, this value should be less than 50 Hz; for multirotors, values up to 100 Hz may provide improvements in responsiveness.</long_desc>
+      <unit>Hertz</unit>
+      <min>10</min>
+      <max>250</max>
+    </parameter>
+    <parameter default="1" name="ctl_dir" type="INT32">
+      <short_desc>Reverse direction</short_desc>
+      <long_desc>Motor spin direction as detected during initial enumeration. Use 0 or 1 to reverse direction.</long_desc>
+      <min>0</min>
+      <max>1</max>
+    </parameter>
+    <parameter default="1" name="ctl_gain" type="FLOAT">
+      <short_desc>Speed (RPM) controller gain</short_desc>
+      <long_desc>Speed (RPM) controller gain. Determines controller
+            aggressiveness; units are amp-seconds per radian. Systems with
+            higher rotational inertia (large props) will need gain increased;
+            systems with low rotational inertia (small props) may need gain
+            decreased. Higher values result in faster response, but may result
+            in oscillation and excessive overshoot. Lower values result in a
+            slower, smoother response.</long_desc>
+      <unit>amp-seconds per radian</unit>
+      <decimal>3</decimal>
+      <min>0.00</min>
+      <max>1.00</max>
+    </parameter>
+    <parameter default="3.5" name="ctl_hz_idle" type="FLOAT">
+      <short_desc>Idle speed (e Hz)</short_desc>
+      <long_desc>Idle speed (e Hz)</long_desc>
+      <unit>Hertz</unit>
+      <decimal>3</decimal>
+      <min>0.0</min>
+      <max>100.0</max>
+    </parameter>
+    <parameter default="25" name="ctl_start_rate" type="INT32">
+      <short_desc>Spin-up rate (e Hz/s)</short_desc>
+      <long_desc>Spin-up rate (e Hz/s)</long_desc>
+      <unit>Hz/s</unit>
+      <min>5</min>
+      <max>1000</max>
+    </parameter>
+    <parameter default="0" name="esc_index" type="INT32">
+      <short_desc>Index of this ESC in throttle command messages.</short_desc>
+      <long_desc>Index of this ESC in throttle command messages.</long_desc>
+      <unit>Index</unit>
+      <min>0</min>
+      <max>15</max>
+    </parameter>
+    <parameter default="20034" name="id_ext_status" type="INT32">
+      <short_desc>Extended status ID</short_desc>
+      <long_desc>Extended status ID</long_desc>
+      <min>1</min>
+      <max>1000000</max>
+    </parameter>
+    <parameter default="50000" name="int_ext_status" type="INT32">
+      <short_desc>Extended status interval (µs)</short_desc>
+      <long_desc>Extended status interval (µs)</long_desc>
+      <unit>µs</unit>
+      <min>0</min>
+      <max>1000000</max>
+    </parameter>
+    <parameter default="50000" name="int_status" type="INT32">
+      <short_desc>ESC status interval (µs)</short_desc>
+      <long_desc>ESC status interval (µs)</long_desc>
+      <unit>µs</unit>
+      <max>1000000</max>
+    </parameter>
+    <parameter default="12" name="mot_i_max" type="FLOAT">
+      <short_desc>Motor current limit in amps</short_desc>
+      <long_desc>Motor current limit in amps. This determines the maximum
+            current controller setpoint, as well as the maximum allowable
+            current setpoint slew rate. This value should generally be set to
+            the continuous current rating listed in the motor’s specification
+            sheet, or set equal to the motor’s specified continuous power
+            divided by the motor voltage limit.</long_desc>
+      <unit>Amps</unit>
+      <decimal>3</decimal>
+      <min>1</min>
+      <max>80</max>
+    </parameter>
+    <parameter default="2300" name="mot_kv" type="INT32">
+      <short_desc>Motor Kv in RPM per volt</short_desc>
+      <long_desc>Motor Kv in RPM per volt. This can be taken from the motor’s
+            specification sheet; accuracy will help control performance but
+            some deviation from the specified value is acceptable.</long_desc>
+      <unit>RPM/v</unit>
+      <min>0</min>
+      <max>4000</max>
+    </parameter>
+      <parameter default="0.0" name="mot_ls" type="FLOAT">
+      <short_desc>READ ONLY: Motor inductance in henries.</short_desc>
+      <long_desc>READ ONLY: Motor inductance in henries. This is measured on start-up.</long_desc>
+      <unit>henries</unit>
+      <decimal>3</decimal>
+    </parameter>
+    <parameter default="14" name="mot_num_poles" type="INT32">
+      <short_desc>Number of motor poles.</short_desc>
+      <long_desc>Number of motor poles. Used to convert mechanical speeds to
+            electrical speeds. This number should be taken from the motor’s
+            specification sheet.</long_desc>
+      <unit>Poles</unit>
+      <min>2</min>
+      <max>40</max>
+    </parameter>
+    <parameter default="0.0" name="mot_rs" type="FLOAT">
+      <short_desc>READ ONLY: Motor resistance in ohms</short_desc>
+      <long_desc>READ ONLY: Motor resistance in ohms. This is measured on start-up. When
+            tuning a new motor, check that this value is approximately equal
+            to the value shown in the motor’s specification sheet.</long_desc>
+      <unit>Ohms</unit>
+      <decimal>3</decimal>
+    </parameter>
+    <parameter default="0.5" name="mot_v_accel" type="FLOAT">
+      <short_desc>Acceleration limit (V)</short_desc>
+      <long_desc>Acceleration limit (V)</long_desc>
+      <unit>Volts</unit>
+      <decimal>3</decimal>
+      <min>0.01</min>
+      <max>1.00</max>
+    </parameter>
+    <parameter default="14.8" name="mot_v_max" type="FLOAT">
+      <short_desc>Motor voltage limit in volts</short_desc>
+      <long_desc>Motor voltage limit in volts. The current controller’s
+            commanded voltage will never exceed this value. Note that this may
+            safely be above the nominal voltage of the motor; to determine the
+            actual motor voltage limit, divide the motor’s rated power by the
+            motor current limit.</long_desc>
+      <unit>Volts</unit>
+      <decimal>3</decimal>
+      <min>0</min>
+    </parameter>
+  </group>
+</parameters>
@@ -0,0 +1,2 @@
+handle SIGCONT nostop noprint nopass
+run
@@ -0,0 +1,148 @@
+#!/usr/bin/env python
+############################################################################
+#
+#   Copyright (C) 2015 Mark Charlebois. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+import glob
+builtins = glob.glob("builtin_commands/COMMAND*")
+
+apps = []
+for f in builtins:
+	apps.append(f.split(".")[-1].split("_main")[0])
+
+print("""
+#include <string>
+#include <map>
+
+#define __EXPORT 
+
+#include <px4_tasks.h>
+#include <px4_posix.h>
+#include <stdlib.h>
+
+using namespace std;
+
+extern void px4_show_devices(void);
+
+extern "C" {
+""")
+for app in apps:
+	print("extern int "+app+"_main(int argc, char *argv[]);")
+
+print("""
+static int shutdown_main(int argc, char *argv[]);
+static int list_tasks_main(int argc, char *argv[]);
+static int list_files_main(int argc, char *argv[]);
+static int list_devices_main(int argc, char *argv[]);
+static int list_topics_main(int argc, char *argv[]);
+static int sleep_main(int argc, char *argv[]);
+}
+
+
+static map<string,px4_main_t> app_map(void);
+
+static map<string,px4_main_t> app_map(void)
+{
+	static map<string,px4_main_t> apps;
+""")
+for app in apps:
+	print('\tapps["'+app+'"] = '+app+'_main;')
+
+print('\tapps["shutdown"] = shutdown_main;')
+print('\tapps["list_tasks"] = list_tasks_main;')
+print('\tapps["list_files"] = list_files_main;')
+print('\tapps["list_devices"] = list_devices_main;')
+print('\tapps["list_topics"] = list_topics_main;')
+print('\tapps["sleep"] = sleep_main;')
+print("""
+	return apps;
+}
+
+map<string,px4_main_t> apps = app_map();
+
+static void list_builtins(void)
+{
+	cout << "Builtin Commands:" << endl;
+	for (map<string,px4_main_t>::iterator it=apps.begin(); it!=apps.end(); ++it)
+		cout << '\t' << it->first << endl;
+}
+
+static int shutdown_main(int argc, char *argv[])
+{
+	cout.flush();
+	cout << endl << "Shutting down" << endl;
+	cout.flush();
+	exit(0);
+}
+
+static int list_tasks_main(int argc, char *argv[])
+{
+	px4_show_tasks();
+	return 0;
+}
+
+static int list_devices_main(int argc, char *argv[])
+{
+	px4_show_devices();
+	return 0;
+}
+
+static int list_topics_main(int argc, char *argv[])
+{
+	px4_show_topics();
+	return 0;
+}
+static int list_files_main(int argc, char *argv[])
+{
+	px4_show_files();
+	return 0;
+}
+static int sleep_main(int argc, char *argv[])
+{
+	if (argc != 2) {
+		cout << "Usage: sleep <seconds>" << endl;
+		return 1;
+	}
+	sleep(atoi(argv[1]));
+	return 0;
+}
+static int usleep_main(int argc, char *argv[])
+{
+	if (argc != 2) {
+		cout << "Usage: usleep <microseconds>" << endl;
+		return 1;
+	}
+	usleep(atoi(argv[1]));
+	return 0;
+}
+""")
+
@@ -0,0 +1,3 @@
+run
+pro hand -p true -s false -n false SIGCONT
+continue
@@ -1,5 +1,6 @@
 from xml.sax.saxutils import escape
 import codecs
+import os

 class RCOutput():
    def __init__(self, groups, board):
@@ -30,7 +31,7 @@ class RCOutput():
        for group in groups:
            result += "# GROUP: %s\n\n" % group.GetName()
            for param in group.GetParams():
-                path = param.GetPath().rsplit('/', 1)[1]
+                path = os.path.split(param.GetPath())[1]
                id_val = param.GetId()
                name = param.GetFieldValue("short_desc")
                long_desc = param.GetFieldValue("long_desc")
@@ -1,5 +1,6 @@
 import sys
 import re
+import os

 class ParameterGroup(object):
    """
@@ -151,7 +152,7 @@ class SourceParser(object):
        Returns list of supported file extensions that can be parsed by this
        parser. The parser uses any extension.
        """
-        return [""]
+        return ["", ".hil"]

    def Parse(self, path, contents):
        """
@@ -160,7 +161,7 @@ class SourceParser(object):
        """

        airframe_id = None
-        airframe_id = path.rsplit('/',1)[1].split('_',1)[0]
+        airframe_id = os.path.split(path)[1].split('_',1)[0]

        # Skip if not numeric
        if (not self.IsNumber(airframe_id)):
@@ -16,9 +16,11 @@ class SourceScanner(object):
        extensions = tuple(parser.GetSupportedExtensions())
        for dirname, dirnames, filenames in os.walk(srcdir):
            for filename in filenames:
-                path = os.path.join(dirname, filename)
-                if not self.ScanFile(path, parser):
-                    return False
+                extension = os.path.splitext(filename)[1]
+                if extension in extensions:
+                    path = os.path.join(dirname, filename)
+                    if not self.ScanFile(path, parser):
+                        return False
        return True

    def ScanFile(self, path, parser):
@@ -72,9 +72,13 @@ class XMLOutput():
                            xml_field.text = value
                    for code in param.GetOutputCodes():
                        value = param.GetOutputValue(code)
+                        valstrs = value.split(";")
                        xml_field = ET.SubElement(xml_param, "output")
                        xml_field.attrib["name"] = code
-                        xml_field.text = value
+                        for attrib in valstrs[1:]:
+                            attribstrs = attrib.split(":")
+                            xml_field.attrib[attribstrs[0].strip()] = attribstrs[1].strip()
+                        xml_field.text = valstrs[0]
                if last_param_name != param.GetName():
                    board_specific_param_set = False
        indent(xml_parameters)
@@ -1,5 +1,7 @@
 import sys
 import re
+global default_var
+default_var = {}

 class ParameterGroup(object):
    """
@@ -43,6 +45,7 @@ class Parameter(object):
        "min": 5,
        "max": 4,
        "unit": 3,
+        "decimal": 2,
        # all others == 0 (sorted alphabetically)
    }

@@ -98,11 +101,13 @@ class SourceParser(object):
    re_comment_end = re.compile(r'(.*?)\s*\*\/')
    re_parameter_definition = re.compile(r'PARAM_DEFINE_([A-Z_][A-Z0-9_]*)\s*\(([A-Z_][A-Z0-9_]*)\s*,\s*([^ ,\)]+)\s*\)\s*;')
    re_px4_parameter_definition = re.compile(r'PX4_PARAM_DEFINE_([A-Z_][A-Z0-9_]*)\s*\(([A-Z_][A-Z0-9_]*)\s*\)\s*;')
+    re_px4_param_default_definition = re.compile(r'#define\s*PARAM_([A-Z_][A-Z0-9_]*)\s*([^ ,\)]+)\s*')
    re_cut_type_specifier = re.compile(r'[a-z]+$')
    re_is_a_number = re.compile(r'^-?[0-9\.]')
    re_remove_dots = re.compile(r'\.+$')
+    re_remove_carriage_return = re.compile('\n+')

-    valid_tags = set(["group", "board", "min", "max", "unit"])
+    valid_tags = set(["group", "board", "min", "max", "unit", "decimal"])

    # Order of parameter groups
    priority = {
@@ -113,13 +118,6 @@ class SourceParser(object):
    def __init__(self):
        self.param_groups = {}

-    def GetSupportedExtensions(self):
-        """
-        Returns list of supported file extensions that can be parsed by this
-        parser.
-        """
-        return [".cpp", ".c"]
-
    def Parse(self, contents):
        """
        Incrementally parse program contents and append all found parameters
@@ -188,12 +186,26 @@ class SourceParser(object):
                if last_comment_line:
                    state = "comment-processed"
            else:
+                tp = None
+                name = None
+                defval = ""
                # Non-empty line outside the comment
+                m = self.re_px4_param_default_definition.match(line)
+                if m:
+                    name_m, defval_m = m.group(1,2)
+                    default_var[name_m] = defval_m
                m = self.re_parameter_definition.match(line)
                if m:
                    tp, name, defval = m.group(1, 2, 3)
+                else:
+                    m = self.re_px4_parameter_definition.match(line)
+                    if m:
+                        tp, name = m.group(1, 2)
+                        if (name+'_DEFAULT') in default_var:
+                            defval = default_var[name+'_DEFAULT']
+                if tp is not None:
                    # Remove trailing type specifier from numbers: 0.1f => 0.1
-                    if self.re_is_a_number.match(defval):
+                    if defval != "" and self.re_is_a_number.match(defval):
                        defval = self.re_cut_type_specifier.sub('', defval)
                    param = Parameter(name, tp, defval)
                    param.SetField("short_desc", name)
@@ -202,52 +214,71 @@ class SourceParser(object):
                    group = "Miscellaneous"
                    if state == "comment-processed":
                        if short_desc is not None:
-                            param.SetField("short_desc",
-                                    self.re_remove_dots.sub('', short_desc))
+                            param.SetField("short_desc", self.re_remove_dots.sub('', short_desc))
                        if long_desc is not None:
+                            long_desc = self.re_remove_carriage_return.sub(' ', long_desc)
                            param.SetField("long_desc", long_desc)
                        for tag in tags:
                            if tag == "group":
                                group = tags[tag]
                            elif tag not in self.valid_tags:
-                                sys.stderr.write("Skipping invalid "
-                                        "documentation tag: '%s'\n" % tag)
+                                sys.stderr.write("Skipping invalid documentation tag: '%s'\n" % tag)
+                                return False
                            else:
                                param.SetField(tag, tags[tag])
                    # Store the parameter
                    if group not in self.param_groups:
                        self.param_groups[group] = ParameterGroup(group)
                    self.param_groups[group].AddParameter(param)
-                else:
-                    # Nasty code dup, but this will all go away soon, so quick and dirty (DonLakeFlyer)
-                    m = self.re_px4_parameter_definition.match(line)
-                    if m:
-                        tp, name = m.group(1, 2)
-                        param = Parameter(name, tp)
-                        param.SetField("short_desc", name)
-                        # If comment was found before the parameter declaration,
-                        # inject its data into the newly created parameter.
-                        group = "Miscellaneous"
-                        if state == "comment-processed":
-                            if short_desc is not None:
-                                param.SetField("short_desc",
-                                   self.re_remove_dots.sub('', short_desc))
-                            if long_desc is not None:
-                                param.SetField("long_desc", long_desc)
-                            for tag in tags:
-                                if tag == "group":
-                                    group = tags[tag]
-                                elif tag not in self.valid_tags:
-                                    sys.stderr.write("Skipping invalid "
-                                             "documentation tag: '%s'\n" % tag)
-                                else:
-                                    param.SetField(tag, tags[tag])
-                        # Store the parameter
-                        if group not in self.param_groups:
-                            self.param_groups[group] = ParameterGroup(group)
-                        self.param_groups[group].AddParameter(param)
-                    # Reset parsed comment.
-                    state = None
+                state = None
+        return True
+    
+    def IsNumber(self, numberString):
+        try:
+            float(numberString)
+            return True
+        except ValueError:
+            return False
+
+    def Validate(self):
+        """
+        Validates the parameter meta data.
+        """
+        seenParamNames = []
+        for group in self.GetParamGroups():
+            for param in group.GetParams():
+                name  = param.GetName()
+                board = param.GetFieldValue("board")
+                # Check for duplicates
+                name_plus_board = name + "+" + board
+                for seenParamName in seenParamNames:
+                    if seenParamName == name_plus_board:
+                        sys.stderr.write("Duplicate parameter definition: {0}\n".format(name_plus_board))
+                        return False
+                seenParamNames.append(name_plus_board)
+                # Validate values
+                default = param.GetDefault()
+                min = param.GetFieldValue("min")
+                max = param.GetFieldValue("max")
+                #sys.stderr.write("{0} default:{1} min:{2} max:{3}\n".format(name, default, min, max))
+                if default != "" and not self.IsNumber(default):
+                    sys.stderr.write("Default value not number: {0} {1}\n".format(name, default))
+                    return False
+                if min != "":
+                    if not self.IsNumber(min):
+                        sys.stderr.write("Min value not number: {0} {1}\n".format(name, min))
+                        return False
+                    if default != "" and float(default) < float(min):
+                        sys.stderr.write("Default value is smaller than min: {0} default:{1} min:{2}\n".format(name, default, min))
+                        return False
+                if max != "":
+                    if not self.IsNumber(max):
+                        sys.stderr.write("Max value not number: {0} {1}\n".format(name, max))
+                        return False
+                    if default != "" and float(default) > float(max):
+                        sys.stderr.write("Default value is larger than max: {0} default:{1} max:{2}\n".format(name, default, max))
+                        return False
+        return True

    def GetParamGroups(self):
        """
@@ -13,12 +13,20 @@ class SourceScanner(object):
        Scans provided path and passes all found contents to the parser using
        parser.Parse method.
        """
-        extensions = tuple(parser.GetSupportedExtensions())
+        extensions1 = tuple([".h"])
+        extensions2 = tuple([".cpp", ".c"])
        for dirname, dirnames, filenames in os.walk(srcdir):
            for filename in filenames:
-                if filename.endswith(extensions):
-                        path = os.path.join(dirname, filename)
-                        self.ScanFile(path, parser)
+                if filename.endswith(extensions1):
+                    path = os.path.join(dirname, filename)
+                    if not self.ScanFile(path, parser):
+                        return False
+            for filename in filenames:
+                if filename.endswith(extensions2):
+                    path = os.path.join(dirname, filename)
+                    if not self.ScanFile(path, parser):
+                        return False
+        return True

    def ScanFile(self, path, parser):
        """
@@ -32,4 +40,4 @@ class SourceScanner(object):
                contents = ''
                print('Failed reading file: %s, skipping content.' % path)
                pass
-        parser.Parse(contents)
+        return parser.Parse(contents)
@@ -18,10 +18,14 @@ def indent(elem, level=0):

 class XMLOutput():

-    def __init__(self, groups, board):
+    def __init__(self, groups, board, inject_xml_file_name):
        xml_parameters = ET.Element("parameters")
        xml_version = ET.SubElement(xml_parameters, "version")
        xml_version.text = "3"
+        importtree = ET.parse(inject_xml_file_name)
+        injectgroups = importtree.getroot().findall("group")
+        for igroup in injectgroups:
+            xml_parameters.append(igroup)
        last_param_name = ""
        board_specific_param_set = False
        for group in groups:
@@ -0,0 +1,100 @@
+#!/usr/bin/env python
+import xml.etree.ElementTree as ET
+import os
+
+if len(os.sys.argv) != 2:
+	print("Error in %s" % os.sys.argv[0])
+	print("Usage: %s <parameters.xml>" % os.sys.argv[0])
+	raise SystemExit
+
+fp_header = open("px4_parameters.h", "w")
+fp_src = open("px4_parameters.c", "w")
+
+tree = ET.parse(os.sys.argv[1])
+root = tree.getroot()
+
+# Generate the header file content
+header = """
+#include <stdint.h>
+#include <systemlib/param/param.h>
+
+// DO NOT EDIT
+// This file is autogenerated from parameters.xml
+
+__BEGIN_DECLS
+
+struct px4_parameters_t {
+"""
+start_name = ""
+end_name = ""
+
+for group in root:
+	if group.tag == "group" and "no_code_generation" not in group.attrib:
+		header += """
+	/*****************************************************************
+	 * %s
+	 ****************************************************************/""" % group.attrib["name"]
+		for param in group:
+			if not start_name:
+				start_name = param.attrib["name"]
+			end_name = param.attrib["name"]
+			header += """
+	const struct param_info_s __param__%s;""" % param.attrib["name"]
+header += """
+	const unsigned int param_count;
+};
+
+extern const struct px4_parameters_t px4_parameters;
+"""
+
+# Generate the C file content
+src = """
+#include <px4_parameters.h>
+
+// DO NOT EDIT
+// This file is autogenerated from paramaters.xml
+
+const
+#ifndef __PX4_DARWIN
+__attribute__((used, section("__param")))
+#endif
+struct px4_parameters_t px4_parameters = {
+"""
+i=0
+for group in root:
+	if group.tag == "group" and "no_code_generation" not in group.attrib:
+
+		src += """
+	/*****************************************************************
+	 * %s
+	 ****************************************************************/""" % group.attrib["name"]
+		for param in group:
+			if not start_name:
+				start_name = param.attrib["name"]
+			end_name = param.attrib["name"]
+			val_str = "#error UNKNOWN PARAM TYPE, FIX px_generate_params.py"
+			if (param.attrib["type"] == "FLOAT"):
+				val_str = ".val.f = "
+			elif (param.attrib["type"] == "INT32"):
+				val_str = ".val.i = "
+			i+=1
+			src += """
+	{
+		"%s",
+		PARAM_TYPE_%s,
+		%s%s
+	},
+""" % (param.attrib["name"], param.attrib["type"], val_str, param.attrib["default"])
+src += """
+	%d
+};
+
+//extern const struct px4_parameters_t px4_parameters;
+
+__END_DECLS
+
+""" % i
+
+fp_header.write(header)
+fp_src.write(src)
+
@@ -43,6 +43,11 @@ import shutil
 import filecmp
 import argparse

+import sys
+px4_tools_dir = os.path.dirname(os.path.abspath(__file__))
+sys.path.append(px4_tools_dir + "/genmsg/src")
+sys.path.append(px4_tools_dir + "/gencpp/src")
+
 try:
        import genmsg.template_tools
 except ImportError as e:
@@ -54,7 +59,7 @@ On a Debian/Ubuntu system please run:

  sudo apt-get install python-empy
  sudo pip install catkin_pkg
-  
+
 On MacOS please run:
  sudo pip install empy catkin_pkg

@@ -79,7 +84,7 @@ def convert_file(filename, outputdir, templatedir, includepath):
        """
        Converts a single .msg file to a uorb header
        """
-        print("Generating headers from {0}".format(filename))
+        #print("Generating headers from {0}".format(filename))
        genmsg.template_tools.generate_from_file(filename,
                                                 package,
                                                 outputdir,
@@ -119,18 +124,24 @@ def convert_dir(inputdir, outputdir, templatedir):

        includepath = incl_default + [':'.join([package, inputdir])]
        for f in os.listdir(inputdir):
+                # Ignore hidden files
+                if f.startswith("."):
+                        continue
+
                fn = os.path.join(inputdir, f)
-                if os.path.isfile(fn):
-                        convert_file(
-                            fn,
-                            outputdir,
-                            templatedir,
-                            includepath)
+                # Only look at actual files
+                if not os.path.isfile(fn):
+                        continue
+
+                convert_file(fn,
+                             outputdir,
+                             templatedir,
+                             includepath)

        return True


-def copy_changed(inputdir, outputdir, prefix=''):
+def copy_changed(inputdir, outputdir, prefix='', quiet=False):
        """
        Copies files from inputdir to outputdir if they don't exist in
        ouputdir or if their content changed
@@ -147,7 +158,8 @@ def copy_changed(inputdir, outputdir, prefix=''):
                        fno = os.path.join(outputdir, prefix + f)
                        if not os.path.isfile(fno):
                                shutil.copy(fni, fno)
-                                print("{0}: new header file".format(f))
+                                if not quiet:
+                                    print("{0}: new header file".format(f))
                                continue

                        if os.path.getmtime(fni) > os.path.getmtime(fno):
@@ -155,13 +167,15 @@ def copy_changed(inputdir, outputdir, prefix=''):
                                # only copy if contents do not match
                                if not filecmp.cmp(fni, fno):
                                        shutil.copy(fni, fno)
-                                        print("{0}: updated".format(f))
+                                        if not quiet:
+                                            print("{0}: updated".format(f))
                                        continue

-                        #print("{0}: unchanged".format(f))
+                        if not quiet:
+                            print("{0}: unchanged".format(f))


-def convert_dir_save(inputdir, outputdir, templatedir, temporarydir, prefix):
+def convert_dir_save(inputdir, outputdir, templatedir, temporarydir, prefix, quiet=False):
        """
        Converts all .msg files in inputdir to uORB header files
        Unchanged existing files are not overwritten.
@@ -169,7 +183,7 @@ def convert_dir_save(inputdir, outputdir, templatedir, temporarydir, prefix):
        # Create new headers in temporary output directory
        convert_dir(inputdir, temporarydir, templatedir)
        # Copy changed headers from temporary dir to output dir
-        copy_changed(temporarydir, outputdir, prefix)
+        copy_changed(temporarydir, outputdir, prefix, quiet)

 if __name__ == "__main__":
        parser = argparse.ArgumentParser(
@@ -187,6 +201,9 @@ if __name__ == "__main__":
        parser.add_argument('-p', dest='prefix', default='',
                            help='string added as prefix to the output file '
                            ' name when converting directories')
+        parser.add_argument('-q', dest='quiet', default=False, action='store_true',
+                            help='string added as prefix to the output file '
+                            ' name when converting directories')
        args = parser.parse_args()

        if args.file is not None:
@@ -202,4 +219,5 @@ if __name__ == "__main__":
                    args.outputdir,
                    args.templatedir,
                    args.temporarydir,
-                    args.prefix)
+                    args.prefix,
+                    args.quiet)
@@ -65,6 +65,12 @@ def main():
                        metavar="FILENAME",
                        help="Create XML file"
                             " (default FILENAME: parameters.xml)")
+    parser.add_argument("-i", "--inject-xml",
+                        nargs='?',
+                        const="../Tools/parameters_injected.xml",
+                        metavar="FILENAME",
+                        help="Inject additional param XML file"
+                             " (default FILENAME: ../Tools/parameters_injected.xml)")
    parser.add_argument("-b", "--board",
                         nargs='?',
                         const="",
@@ -115,13 +121,16 @@ def main():

    # Scan directories, and parse the files
    print("Scanning source path " + args.src_path)
-    scanner.ScanDir(args.src_path, parser)
+    if not scanner.ScanDir(args.src_path, parser):
+        sys.exit(1)
+    if not parser.Validate():
+        sys.exit(1)
    param_groups = parser.GetParamGroups()

    # Output to XML file
    if args.xml:
        print("Creating XML file " + args.xml)
-        out = xmlout.XMLOutput(param_groups, args.board)
+        out = xmlout.XMLOutput(param_groups, args.board, os.path.join(args.src_path, args.inject_xml))
        out.Save(args.xml)

    # Output to DokuWiki tables
@@ -40,7 +40,7 @@ Delete all comments and newlines before ROMFS is converted to an image
 """

 from __future__ import print_function
-import argparse
+import argparse, re
 import os


@@ -57,14 +57,14 @@ def main():
        for (root, dirs, files) in os.walk(args.folder):
                for file in files:
                        # only prune text files
-                        if ".zip" in file or ".bin" in file or ".swp" in file or ".data" in file:
+                        if ".zip" in file or ".bin" in file or ".swp" in file or ".data" in file or ".DS_Store" in file:
                                continue

                        file_path = os.path.join(root, file)

                        # read file line by line
                        pruned_content = ""
-                        with open(file_path, "r") as f:
+                        with open(file_path, "rU") as f:
                                for line in f:

                                        # handle mixer files differently than startup files
@@ -74,10 +74,10 @@ def main():
                                        else:
                                                if not line.isspace() and not line.strip().startswith("#"):
                                                        pruned_content += line
-
-                        # overwrite old scratch file
-                        with open(file_path, "w") as f:
-                                f.write(pruned_content)
+                       # overwrite old scratch file
+                        with open(file_path, "wb") as f:
+                                pruned_content = re.sub("\r\n", "\n", pruned_content)
+                                f.write(pruned_content.encode("ascii", errors='strict'))


 if __name__ == '__main__':
@@ -148,6 +148,7 @@ class uploader(object):
        OK              = b'\x10'
        FAILED          = b'\x11'
        INVALID         = b'\x13'     # rev3+
+        BAD_SILICON_REV = b'\x14'     # rev5+

        # command bytes
        NOP             = b'\x00'     # guaranteed to be discarded by the bootloader
@@ -162,11 +163,14 @@ class uploader(object):
        GET_SN          = b'\x2b'     # rev4+  , get a word from SN area
        GET_CHIP        = b'\x2c'     # rev5+  , get chip version
        SET_BOOT_DELAY  = b'\x2d'     # rev5+  , set boot delay
+        GET_CHIP_DES    = b'\x2e'     # rev5+  , get chip description in ASCII
+        MAX_DES_LENGTH  = 20
+
        REBOOT          = b'\x30'
        
        INFO_BL_REV     = b'\x01'        # bootloader protocol revision
-        BL_REV_MIN      = 2             # minimum supported bootloader protocol 
-        BL_REV_MAX      = 4             # maximum supported bootloader protocol 
+        BL_REV_MIN      = 2              # minimum supported bootloader protocol
+        BL_REV_MAX      = 5              # maximum supported bootloader protocol
        INFO_BOARD_ID   = b'\x02'        # board type
        INFO_BOARD_REV  = b'\x03'        # board revision
        INFO_FLASH_SIZE = b'\x04'        # max firmware size in bytes
@@ -235,12 +239,16 @@ class uploader(object):
                    if (self.__recv() != self.INSYNC):
                            #print("unexpected 0x%x instead of INSYNC" % ord(c))
                            return False;
-
-                    if (self.__recv() != self.OK):
+                    c = self.__recv()
+                    if (c == self.BAD_SILICON_REV):
+                        raise NotImplementedError()
+                    if (c != self.OK):
                            #print("unexpected 0x%x instead of OK" % ord(c))
                            return False
                    return True

+                except NotImplementedError:
+                    raise RuntimeError("Programing not supported for this version of silicon!\n See https://pixhawk.org/help/errata")
                except RuntimeError:
                    #timeout, no response yet
                    return False
@@ -274,6 +282,14 @@ class uploader(object):
                value = self.__recv_int()
                self.__getSync()
                return value
+        # send the GET_CHIP command
+        def __getCHIPDes(self):
+                self.__send(uploader.GET_CHIP_DES + uploader.EOC)
+                length = self.__recv_int()
+                value = self.__recv(length)
+                self.__getSync()
+                peices = value.split(",")
+                return peices

        def __drawProgressBar(self, label, progress, maxVal):
                if maxVal < progress:
@@ -467,6 +483,12 @@ class uploader(object):
                                    print(binascii.hexlify(x).decode('Latin-1'), end='') # show user
                            print('')
                            print("chip: %08x" % self.__getCHIP())
+                            if (self.bl_rev >= 5):
+                                des = self.__getCHIPDes()
+                                if (len(des) == 2):
+                                    print("family: %s" % des[0])
+                                    print("revision: %s" % des[1])
+                                    print("flash %d" % self.fw_maxsize)
                    except Exception:
                            # ignore bad character encodings
                            pass
@@ -0,0 +1,137 @@
+#!/usr/bin/env python
+############################################################################
+#
+#   Copyright (C) 2015 Mark Charlebois. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+import glob
+#builtins = glob.glob("../Build/linux_default.build/builtin_commands/COMMAND*")
+builtins = glob.glob("builtin_commands/COMMAND*")
+
+apps = []
+for f in builtins:
+	apps.append(f.split(".")[-1].split("_main")[0])
+
+print
+print """
+#include <string>
+#include <map>
+#include <stdio.h>
+
+#include <px4_tasks.h>
+#include <px4_posix.h>
+#include <px4_log.h>
+#include <stdlib.h>
+
+using namespace std;
+
+extern void px4_show_devices(void);
+
+extern "C" {
+"""
+for app in apps:
+	print "extern int "+app+"_main(int argc, char *argv[]);"
+
+print """
+static int shutdown_main(int argc, char *argv[]);
+static int list_tasks_main(int argc, char *argv[]);
+static int list_files_main(int argc, char *argv[]);
+static int list_devices_main(int argc, char *argv[]);
+static int list_topics_main(int argc, char *argv[]);
+static int sleep_main(int argc, char *argv[]);
+}
+
+
+void init_app_map(map<string,px4_main_t> &apps)
+{
+"""
+for app in apps:
+	print '\tapps["'+app+'"] = '+app+'_main;'
+
+print '\tapps["shutdown"] = shutdown_main;'
+print '\tapps["list_tasks"] = list_tasks_main;'
+print '\tapps["list_files"] = list_files_main;'
+print '\tapps["list_devices"] = list_devices_main;'
+print '\tapps["list_topics"] = list_topics_main;'
+print '\tapps["sleep"] = sleep_main;'
+
+print """
+}
+
+void list_builtins(map<string,px4_main_t> &apps)
+{
+	printf("Builtin Commands:\\n");
+	for (map<string,px4_main_t>::iterator it=apps.begin(); it!=apps.end(); ++it)
+		printf("\\t%s\\n", (it->first).c_str());
+}
+
+static int shutdown_main(int argc, char *argv[])
+{
+	printf("Shutting down\\n");
+	exit(0);
+}
+
+static int list_tasks_main(int argc, char *argv[])
+{
+	px4_show_tasks();
+	return 0;
+}
+
+static int list_devices_main(int argc, char *argv[])
+{
+	px4_show_devices();
+	return 0;
+}
+
+static int list_topics_main(int argc, char *argv[])
+{
+	px4_show_topics();
+	return 0;
+}
+static int list_files_main(int argc, char *argv[])
+{
+	px4_show_files();
+	return 0;
+}
+static int sleep_main(int argc, char *argv[])
+{
+        if (argc != 2) {
+           PX4_WARN( "Usage: sleep <seconds>" );
+           return 1;
+        }
+
+        unsigned long usecs = ( (unsigned long) atol( argv[1] ) ) * 1000 * 1000;
+        PX4_WARN("Sleeping for %s, %ld",argv[1],usecs);
+        usleep( usecs );
+        return 0;
+}
+"""
+
@@ -0,0 +1,118 @@
+#!/bin/bash
+
+rc_script=$1
+debugger=$2
+program=$3
+model=$4
+build_path=$5
+curr_dir=`pwd`
+
+echo SITL ARGS
+echo rc_script: $rc_script
+echo debugger: $debugger
+echo program: $program
+echo model: $model
+echo build_path: $build_path
+
+if [ "$chroot" == "1" ]
+then
+	chroot_enabled=-c
+	sudo_enabled=sudo
+else
+	chroot_enabled=""
+	sudo_enabled=""
+fi
+
+if [ "$model" == "" ] || [ "$model" == "none" ]
+then
+	echo "empty model, setting iris as default"
+	model="iris"
+fi
+
+if [ "$#" != 5 ]
+then
+	echo usage: sitl_run.sh rc_script debugger program model build_path
+	echo ""
+	exit 1
+fi
+
+# kill process names that might stil
+# be running from last time
+pkill gazebo
+pkill mainapp
+jmavsim_pid=`jps | grep Simulator | cut -d" " -f1`
+if [ -n "$jmavsim_pid" ]
+then
+	kill $jmavsim_pid
+fi
+
+set -e
+
+cp Tools/posix_lldbinit $build_path/src/firmware/posix/.lldbinit
+cp Tools/posix.gdbinit $build_path/src/firmware/posix/.gdbinit
+
+SIM_PID=0
+
+if [ "$program" == "jmavsim" ] && [ "$no_sim" == "" ]
+then
+	cd Tools/jMAVSim
+	ant
+	java -Djava.ext.dirs= -cp lib/*:out/production/jmavsim.jar me.drton.jmavsim.Simulator -udp 127.0.0.1:14560 &
+	SIM_PID=`echo $!`
+elif [ "$program" == "gazebo" ] && [ "$no_sim" == "" ]
+then
+	if [ -x "$(command -v gazebo)" ]
+	then
+		# Set the plugin path so Gazebo finds our model and sim
+		export GAZEBO_PLUGIN_PATH=$curr_dir/Tools/sitl_gazebo/Build:${GAZEBO_PLUGIN_PATH}
+		# Set the model path so Gazebo finds the airframes
+		export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:$curr_dir/Tools/sitl_gazebo/models
+		# The next line would disable online model lookup, can be commented in, in case of unstable behaviour.
+		# export GAZEBO_MODEL_DATABASE_URI=""
+		export SITL_GAZEBO_PATH=$curr_dir/Tools/sitl_gazebo
+		mkdir -p Tools/sitl_gazebo/Build
+		cd Tools/sitl_gazebo/Build
+		cmake -Wno-dev ..
+		make -j4
+		gzserver --verbose ../worlds/${model}.world &
+		SIM_PID=`echo $!`
+		gzclient --verbose &
+		GUI_PID=`echo $!`
+	else
+		echo "You need to have gazebo simulator installed!"
+		exit 1
+	fi
+fi
+cd $build_path/src/firmware/posix
+mkdir -p rootfs/fs/microsd
+mkdir -p rootfs/eeprom
+touch rootfs/eeprom/parameters
+
+# Do not exit on failure now from here on because we want the complete cleanup
+set +e
+
+# Start Java simulator
+if [ "$debugger" == "lldb" ]
+then
+	lldb -- mainapp ../../../../${rc_script}_${program}_${model}
+elif [ "$debugger" == "gdb" ]
+then
+	gdb --args mainapp ../../../../${rc_script}_${program}_${model}
+elif [ "$debugger" == "ddd" ]
+then
+	ddd --debugger gdb --args mainapp ../../../../${rc_script}_${program}_${model}
+elif [ "$debugger" == "valgrind" ]
+then
+	valgrind ./mainapp ../../../../${rc_script}_${program}_${model}
+else
+	$sudo_enabled ./mainapp $chroot_enabled ../../../../${rc_script}_${program}_${model}
+fi
+
+if [ "$program" == "jmavsim" ]
+then
+	kill -9 $SIM_PID
+elif [ "$program" == "gazebo" ]
+then
+	kill -9 $SIM_PID
+	kill -9 $GUI_PID
+fi
@@ -0,0 +1,34 @@
+#!/bin/bash
+UAVCANFW=../ROMFS/px4fmu_common/uavcan/fw
+ROMFS_REFIX=_
+echo Removing : $UAVCANFW
+rm -fr $UAVCANFW
+for f in $(find firmware -type f -name "*.*.bin")
+do
+  UAVCAN_NAME=$(echo $f | cut -d"/" -f2 | cut -d. -f1-4 | cut -d- -f1-2)
+  UAVCAN_HW=$(echo $f cut -d/ -f2 | cut -d. -f1-4 | cut -d- -f3)
+  DST=${ROMFS_REFIX}$(echo $f | cut -d. -f3-7 | cut -d- -f1,2,3).$(echo $f | cut -d. -f6,7)
+  # deal with legacy non conforming naming
+  if [[ ${DST:(-7)} == bin.bin ]]
+  then
+    echo " WARNING: Improper name format!!!!!!!!! $f see should be <uavcan_name>-<HW_MAJOR>.<HW_MINOR)-<HW_MAJOR>.<HW_MINOR).<git hash[8]>.bin"
+    DST=${DST%????}
+  fi
+  echo Processing file: $f Length:${#DST}
+  if [ ${#DST} -le 28 ]
+  then
+    if [ -d "${UAVCANFW}/${UAVCAN_NAME}/${UAVCAN_HW}" ]
+    then
+      echo " ERROR: name colision directory ${UAVCANFW}/${UAVCAN_NAME}/${UAVCAN_HW} exits!"
+      exit 2
+    fi
+    echo " Creating Directory ${UAVCANFW}/${UAVCAN_NAME}/${UAVCAN_HW}"
+    mkdir -p ${UAVCANFW}/${UAVCAN_NAME}/${UAVCAN_HW}
+    echo " Copying $f to ${UAVCANFW}/${UAVCAN_NAME}/${UAVCAN_HW}/${DST}"
+    cp $f ${UAVCANFW}/${UAVCAN_NAME}/${UAVCAN_HW}/${DST}
+  else
+    echo " ERROR: $DST is ${#DST} charaters and needs to be less than or equal to 28"
+    exit 1
+  fi
+done
+exit 0
@@ -0,0 +1,106 @@
+# -*- mode: ruby -*-
+# vi: set ft=ruby :
+
+# All Vagrant configuration is done below. The "2" in Vagrant.configure
+# configures the configuration version (we support older styles for
+# backwards compatibility). Please don't change it unless you know what
+# you're doing.
+Vagrant.configure(2) do |config|
+
+  # Every Vagrant development environment requires a box. You can search for
+  # boxes at https://atlas.hashicorp.com/search.
+  config.vm.box = "ubuntu/trusty64"
+
+  # Disable automatic box update checking. If you disable this, then
+  # boxes will only be checked for updates when the user runs
+  # `vagrant box outdated`. This is not recommended.
+  # config.vm.box_check_update = false
+
+  # Create a forwarded port mapping which allows access to a specific port
+  # within the machine from a port on the host machine. In the example below,
+  # accessing "localhost:8080" will access port 80 on the guest machine.
+  # MAVLink telemetry via UDP in SITL mode
+  config.vm.network "forwarded_port", guest: 14556, host: 14556, protocol: "udp"
+  # SITL simulation data
+  config.vm.network "forwarded_port", guest: 14560, host: 14560, protocol: "udp"
+
+  # Create a private network, which allows host-only access to the machine
+  # using a specific IP.
+  config.vm.network "private_network", ip: "192.168.33.10"
+
+  # Create a public network, which generally matched to bridged network.
+  # Bridged networks make the machine appear as another physical device on
+  # your network.
+  # config.vm.network "public_network"
+
+  # Share an additional folder to the guest VM. The first argument is
+  # the path on the host to the actual folder. The second argument is
+  # the path on the guest to mount the folder. And the optional third
+  # argument is a set of non-required options.
+  config.vm.synced_folder ".", "/Firmware", type: "nfs"
+
+  # Provider-specific configuration so you can fine-tune various
+  # backing providers for Vagrant. These expose provider-specific options.
+  # Example for VirtualBox:
+  #
+  config.vm.provider "virtualbox" do |vb|
+    # Display the VirtualBox GUI when booting the machine
+    vb.gui = false
+    vb.customize ["modifyvm", :id, "--ioapic", "on"]
+    vb.customize ["modifyvm", :id, "--cpus", "2"]
+
+    # Since make and other tools freak out if they see timestamps
+    # from the future and we share directories, tightly lock the host and guest clocks together (clock sync if more than 2 seconds off)
+    vb.customize ["guestproperty", "set", :id, "/VirtualBox/GuestAdd/VBoxService/--timesync-set-threshold", 2000]
+    # Do this on start and restore
+    vb.customize ["guestproperty", "set", :id, "/VirtualBox/GuestAdd/VBoxService/--timesync-set-start"]
+    vb.customize ["guestproperty", "set", :id, "/VirtualBox/GuestAdd/VBoxService/--timesync-set-on-restore", "1"]
+
+    # Customize the amount of memory on the VM:
+    vb.memory = "2048"
+  end
+  #
+  # View the documentation for the provider you are using for more
+  # information on available options.
+
+  # Define a Vagrant Push strategy for pushing to Atlas. Other push strategies
+  # such as FTP and Heroku are also available. See the documentation at
+  # https://docs.vagrantup.com/v2/push/atlas.html for more information.
+  # config.push.define "atlas" do |push|
+  #   push.app = "YOUR_ATLAS_USERNAME/YOUR_APPLICATION_NAME"
+  # end
+
+  # Enable provisioning with a shell script. Additional provisioners such as
+  # Puppet, Chef, Ansible, Salt, and Docker are also available. Please see the
+  # documentation for more information about their specific syntax and use.
+  config.vm.provision "shell", privileged: false, inline: <<-SHELL
+    # Ensure we start in the Firmware folder
+    echo "cd /Firmware" >> ~/.bashrc
+    # Install software
+    sudo add-apt-repository ppa:terry.guo/gcc-arm-embedded -y
+    sudo add-apt-repository ppa:george-edison55/cmake-3.x -y
+    sudo apt-get update
+    sudo apt-get install -y build-essential ccache cmake clang-3.5 lldb-3.5 g++-4.8 gcc-4.8 genromfs libc6-i386 libncurses5-dev python-argparse python-empy python-serial s3cmd texinfo zlib1g-dev git-core zip gdb gcc-arm-linux-gnueabihf g++-arm-linux-gnueabihf
+    pushd .
+    cd ~
+    wget -q https://launchpadlibrarian.net/186124160/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
+    tar -jxf gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
+    exportline="export PATH=$HOME/gcc-arm-none-eabi-4_8-2014q3/bin:\$PATH"
+    if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
+    exportline2="export HEXAGON_TOOLS_ROOT=$HOME/Qualcomm/HEXAGON_Tools/7.2.10/Tools"
+    if grep -Fxq "$exportline2" ~/.profile; then echo nothing to do ; else echo $exportline2 >> ~/.profile; fi
+    . ~/.profile
+    popd
+    # setup ccache
+    mkdir -p ~/bin
+    ln -s /usr/bin/ccache ~/bin/arm-none-eabi-g++
+    ln -s /usr/bin/ccache ~/bin/arm-none-eabi-gcc
+    ln -s /usr/bin/ccache ~/bin/g++-4.8
+    ln -s /usr/bin/ccache ~/bin/gcc-4.8
+    export PATH=~/bin:$PATH
+
+    # Configure hardware related bits
+    sudo apt-get -y remove modemmanager
+    sudo usermod -a -G dialout $USER
+  SHELL
+end
@@ -0,0 +1,872 @@
+############################################################################
+#
+# Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#=============================================================================
+#
+#	Defined functions in this file
+#
+# 	utility functions
+#
+#		* px4_parse_function_args
+#		* px4_add_git_submodule
+#		* px4_prepend_string
+#		* px4_join
+#		* px4_add_module
+#		* px4_generate_messages
+#		* px4_add_upload
+#		* px4_add_common_flags
+#
+
+include(CMakeParseArguments)
+
+#=============================================================================
+#
+#	px4_parse_function_args
+#
+#	This function simpliies usage of the cmake_parse_arguments module.
+#	It is inteded to be called by other functions.
+#
+#	Usage:
+#		px4_parse_function_args(
+#			NAME <name>
+#			[ OPTIONS <list> ]
+#			[ ONE_VALUE <list> ]
+#			[ MULTI_VALUE <list> ]
+#			REQUIRED <list>
+#			ARGN <ARGN>)
+#
+#	Input:
+#		NAME		: the name of the calling function
+#		OPTIONS		: boolean flags
+#		ONE_VALUE	: single value variables
+#		MULTI_VALUE	: multi value variables
+#		REQUIRED	: required arguments
+#		ARGN		: the function input arguments, typically ${ARGN}
+#
+#	Output:
+#		The function arguments corresponding to the following are set:
+#		${OPTIONS}, ${ONE_VALUE}, ${MULTI_VALUE}
+#
+#	Example:
+#		function test()
+#			px4_parse_function_args(
+#				NAME TEST
+#				ONE_VALUE NAME
+#				MULTI_VALUE LIST
+#				REQUIRED NAME LIST
+#				ARGN ${ARGN})
+#			message(STATUS "name: ${NAME}")
+#			message(STATUS "list: ${LIST}")
+#		endfunction()
+#
+#		test(NAME "hello" LIST a b c)
+#		
+#		OUTPUT:
+#			name: hello
+#			list: a b c
+#
+function(px4_parse_function_args)
+	cmake_parse_arguments(IN "" "NAME" "OPTIONS;ONE_VALUE;MULTI_VALUE;REQUIRED;ARGN" "${ARGN}")
+	cmake_parse_arguments(OUT "${IN_OPTIONS}" "${IN_ONE_VALUE}" "${IN_MULTI_VALUE}" "${IN_ARGN}")
+	if (OUT_UNPARSED_ARGUMENTS)
+		message(FATAL_ERROR "${IN_NAME}: unparsed ${OUT_UNPARSED_ARGUMENTS}")
+	endif()
+	foreach(arg ${IN_REQUIRED})
+		if (NOT OUT_${arg})
+			message(FATAL_ERROR "${IN_NAME} requires argument ${arg}\nARGN: ${IN_ARGN}")
+		endif()
+	endforeach()
+	foreach(arg ${IN_OPTIONS} ${IN_ONE_VALUE} ${IN_MULTI_VALUE})
+		set(${arg} ${OUT_${arg}} PARENT_SCOPE)
+	endforeach()
+endfunction()
+
+#=============================================================================
+#
+#	px4_add_git_submodule
+#
+#	This function add a git submodule target.
+#
+#	Usage:
+#		px4_add_git_submodule(TARGET <target> PATH <path>)
+#
+#	Input:
+#		PATH		: git submodule path
+#
+#	Output:
+#		TARGET		: git target
+#
+#	Example:
+#		px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
+#
+function(px4_add_git_submodule)
+	px4_parse_function_args(
+		NAME px4_add_git_submodule
+		ONE_VALUE TARGET PATH
+		REQUIRED TARGET PATH
+		ARGN ${ARGN})
+	string(REPLACE "/" "_" NAME ${PATH})
+	add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
+		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		COMMAND git submodule init ${PATH}
+		COMMAND touch ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
+		DEPENDS ${CMAKE_SOURCE_DIR}/.gitmodules
+		)
+	add_custom_target(${TARGET}
+		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		COMMAND git submodule update --recursive ${PATH}
+		DEPENDS ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
+		)
+endfunction()
+
+#=============================================================================
+#
+#	px4_prepend_string
+#
+#	This function prepends a string to a list
+#
+#	Usage:
+#		px4_prepend_string(OUT <output-list> STR <string> LIST <list>)
+#
+#	Input:
+#		STR			: string to prepend
+#		LIST		: list to prepend to
+#
+#	Output:
+#		${OUT}		: prepended list
+#
+#	Example:
+#		px4_prepend_string(OUT test_str STR "path/to/" LIST src/file1.cpp src/file2.cpp)
+#		test_str would then be:
+#			path/to/src/file1.cpp
+#			path/to/src/file2.cpp
+#
+function(px4_prepend_string)
+	px4_parse_function_args(
+		NAME px4_prepend_string
+		ONE_VALUE OUT STR
+		MULTI_VALUE LIST
+		REQUIRED OUT STR LIST
+		ARGN ${ARGN})
+	set(${OUT})
+	foreach(file ${LIST})
+		list(APPEND ${OUT} ${STR}${file})
+	endforeach()
+	set(${OUT} ${${OUT}} PARENT_SCOPE)
+endfunction()
+
+#=============================================================================
+#
+#	px4_join
+#
+#	This function joins a list with a given separator. If list is not
+#	passed, or is sent "", this will return the empty string.
+#
+#	Usage:
+#		px4_join(OUT ${OUT} [ LIST ${LIST} ] GLUE ${GLUE})
+#
+#	Input:
+#		LIST		: list to join
+#		GLUE		: separator to use
+#
+#	Output:
+#		OUT			: joined list
+#
+#	Example:
+#		px4_join(OUT test_join LIST a b c GLUE ";")
+#		test_join would then be:
+#			"a;b;c"
+#
+function(px4_join)
+	px4_parse_function_args(
+		NAME px4_join
+		ONE_VALUE OUT GLUE
+		MULTI_VALUE LIST
+		REQUIRED GLUE OUT
+		ARGN ${ARGN})
+	string (REPLACE ";" "${GLUE}" _TMP_STR "${LIST}")
+	set(${OUT} ${_TMP_STR} PARENT_SCOPE)
+endfunction()
+
+#=============================================================================
+#
+#	px4_add_module
+#
+#	This function builds a static library from a module description.
+#
+#	Usage:
+#		px4_add_module(MODULE <string>
+#			[ MAIN <string> ]
+#			[ STACK <string> ]
+#			[ COMPILE_FLAGS <list> ]
+#			[ INCLUDES <list> ]
+#			[ DEPENDS <string> ]
+#			)
+#
+#	Input:
+#		MODULE			: unique name of module
+#		MAIN			: entry point, if not given, assumed to be library
+#		STACK			: size of stack
+#		COMPILE_FLAGS	: compile flags
+#		LINK_FLAGS		: link flags
+#		SRCS			: source files
+#		INCLUDES		: include directories
+#		DEPENDS			: targets which this module depends on
+#
+#	Output:
+#		Static library with name matching MODULE.
+#
+#	Example:
+#		px4_add_module(MODULE test
+#			SRCS
+#				file.cpp
+#			STACK 1024
+#			DEPENDS
+#				git_nuttx
+#			)
+#
+function(px4_add_module)
+
+	px4_parse_function_args(
+		NAME px4_add_module
+		ONE_VALUE MODULE MAIN STACK PRIORITY
+		MULTI_VALUE COMPILE_FLAGS LINK_FLAGS SRCS INCLUDES DEPENDS
+		REQUIRED MODULE
+		ARGN ${ARGN})
+
+	add_library(${MODULE} STATIC EXCLUDE_FROM_ALL ${SRCS})
+
+	if(MAIN)
+		set_target_properties(${MODULE} PROPERTIES
+			COMPILE_DEFINITIONS PX4_MAIN=${MAIN}_app_main)
+	endif()
+
+	if(INCLUDES)
+		target_include_directories(${MODULE} ${INCLUDES})
+	endif()
+
+	if(DEPENDS)
+		add_dependencies(${MODULE} ${DEPENDS})
+	endif()
+
+	# join list variables to get ready to send to compiler
+	foreach(prop LINK_FLAGS COMPILE_FLAGS)
+		if(${prop})
+			px4_join(OUT ${prop} LIST ${${prop}} GLUE " ")
+		endif()
+	endforeach()
+
+	# store module properties in target
+	# COMPILE_FLAGS and LINK_FLAGS are passed to compiler/linker by cmake
+	# STACK, MAIN, PRIORITY are PX4 specific
+	foreach (prop COMPILE_FLAGS LINK_FLAGS STACK MAIN PRIORITY)
+		if (${prop})
+			set_target_properties(${MODULE} PROPERTIES ${prop} ${${prop}})
+		endif()
+	endforeach()
+
+endfunction()
+
+#=============================================================================
+#
+#	px4_generate_messages
+#
+#	This function generates source code from ROS msg definitions.
+#
+#	Usage:
+#		px4_generate_messages(TARGET <target> MSGS <msg-files>)
+#
+#	Input:
+#		MSG_FILES	: the ROS msgs to generate files from
+#		OS			: the operating system selected
+#		DEPENDS		: dependencies
+#
+#	Output:
+#		TARGET		: the message generation target
+#
+#	Example:
+#		px4_generate_messages(TARGET <target>
+#			MSG_FILES <files> OS <operating-system>
+#			[ DEPENDS <dependencies> ]
+#			)
+#
+function(px4_generate_messages)
+	px4_parse_function_args(
+		NAME px4_generate_messages
+		OPTIONS VERBOSE
+		ONE_VALUE OS TARGET
+		MULTI_VALUE MSG_FILES DEPENDS
+		REQUIRED MSG_FILES OS TARGET
+		ARGN ${ARGN})
+	set(QUIET)
+	if(NOT VERBOSE)
+		set(QUIET "-q")
+	endif()
+	set(msg_out_path ${CMAKE_BINARY_DIR}/src/modules/uORB/topics)
+	set(msg_list)
+	foreach(msg_file ${MSG_FILES})
+		get_filename_component(msg ${msg_file} NAME_WE)
+		list(APPEND msg_list ${msg})
+	endforeach()
+	set(msg_files_out)
+	foreach(msg ${msg_list})
+		list(APPEND msg_files_out ${msg_out_path}/${msg}.h)
+	endforeach()
+	add_custom_command(OUTPUT ${msg_files_out}
+		COMMAND ${PYTHON_EXECUTABLE} 
+			Tools/px_generate_uorb_topic_headers.py
+			${QUIET}
+			-d msg
+			-o ${msg_out_path} 
+			-e msg/templates/uorb
+			-t ${CMAKE_BINARY_DIR}/topics_temporary
+		DEPENDS ${DEPENDS} ${MSG_FILES}
+		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		COMMENT "Generating uORB topic headers"
+		VERBATIM
+		)
+
+	# multi messages for target OS
+	set(msg_multi_out_path
+		${CMAKE_BINARY_DIR}/src/platforms/${OS}/px4_messages)
+	set(msg_multi_files_out)
+	foreach(msg ${msg_list})
+		list(APPEND msg_multi_files_out ${msg_multi_out_path}/px4_${msg}.h)
+	endforeach()
+	add_custom_command(OUTPUT ${msg_multi_files_out}
+		COMMAND ${PYTHON_EXECUTABLE} 
+			Tools/px_generate_uorb_topic_headers.py
+			${QUIET}
+			-d msg
+			-o ${msg_multi_out_path} 
+			-e msg/templates/px4/uorb
+			-t ${CMAKE_BINARY_DIR}/multi_topics_temporary/${OS}
+			-p "px4_"
+		DEPENDS ${DEPENDS} ${MSG_FILES}
+		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		COMMENT "Generating uORB topic multi headers for ${OS}"
+		VERBATIM
+		)
+	add_custom_target(${TARGET}
+		DEPENDS ${msg_multi_files_out} ${msg_files_out})
+endfunction()
+
+#=============================================================================
+#
+#	px4_add_upload
+#
+#	This function generates source code from ROS msg definitions.
+#
+#	Usage:
+#		px4_add_upload(OUT <target> BUNDLE <file.px4>)
+#
+#	Input:
+#		BUNDLE		: the firmware.px4 file
+#		OS			: the operating system
+#		BOARD		: the board
+#
+#	Output:
+#		OUT			: the firmware target
+#
+#	Example:
+#		px4_add_upload(OUT upload
+#			BUNDLE main.px4
+#			)
+#
+function(px4_add_upload)
+	px4_parse_function_args(
+		NAME px4_add_upload
+		ONE_VALUE OS BOARD OUT BUNDLE
+		REQUIRED OS BOARD OUT BUNDLE
+		ARGN ${ARGN})
+	set(serial_ports)
+	if(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Linux")
+		list(APPEND serial_ports
+			/dev/serial/by-id/usb-3D_Robotics*
+			/dev/serial/by-id/pci-3D_Robotics*
+			)
+	elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Darwin")
+		list(APPEND serial_ports
+			/dev/tty.usbmodemPX*,/dev/tty.usbmodem*
+			)
+	elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Windows")
+		foreach(port RANGE 32 0)
+			list(APPEND serial_ports
+				"COM${port}")
+		endforeach()
+	endif()
+	px4_join(OUT serial_ports LIST "${serial_ports}" GLUE ",")
+	add_custom_target(${OUT}
+		COMMAND ${PYTHON_EXECUTABLE}
+			${CMAKE_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${BUNDLE}
+		DEPENDS ${BUNDLE}
+		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+		COMMENT "uploading ${BUNDLE}"
+		VERBATIM
+		USES_TERMINAL
+		)
+endfunction()
+
+#=============================================================================
+#
+#	px4_add_common_flags
+#
+#	Set ths default build flags.
+#
+#	Usage:
+#		px4_add_common_flags(
+#			BOARD <in-string>
+#			C_FLAGS <inout-variable>
+#			CXX_FLAGS <inout-variable>
+#			EXE_LINKER_FLAGS <inout-variable>
+#			INCLUDE_DIRS <inout-variable>
+#			LINK_DIRS <inout-variable>
+#			DEFINITIONS <inout-variable>)
+#
+#	Input:
+#		BOARD					: board
+#
+#	Input/Output: (appends to existing variable)
+#		C_FLAGS					: c compile flags variable
+#		CXX_FLAGS				: c++ compile flags variable
+#		EXE_LINKER_FLAGS		: executable linker flags variable
+#		INCLUDE_DIRS			: include directories
+#		LINK_DIRS				: link directories
+#		DEFINITIONS				: definitions
+#
+#	Example:
+#		px4_add_common_flags(
+#			BOARD px4fmu-v2
+#			C_FLAGS CMAKE_C_FLAGS
+#			CXX_FLAGS CMAKE_CXX_FLAGS
+#			EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS
+#			INCLUDES <list>)
+#
+function(px4_add_common_flags)
+
+	set(inout_vars
+		C_FLAGS CXX_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)
+
+	px4_parse_function_args(
+		NAME px4_add_common_flags
+		ONE_VALUE ${inout_vars} BOARD
+		REQUIRED ${inout_vars} BOARD
+		ARGN ${ARGN})
+
+	set(warnings
+		-Wall
+		-Werror
+		-Wno-sign-compare
+		-Wextra
+		#-Wshadow # very verbose due to eigen
+		-Wfloat-equal
+		-Wpointer-arith
+		-Wmissing-declarations
+		-Wno-unused-parameter
+		-Werror=format-security
+		-Werror=array-bounds
+		-Wfatal-errors
+		-Werror=unused-variable
+		-Werror=reorder
+		-Werror=uninitialized
+		-Werror=init-self
+		#-Wcast-qual  - generates spurious noreturn attribute warnings,
+		#               try again later
+		#-Wconversion - would be nice, but too many "risky-but-safe"
+		#               conversions in the code
+		#-Wcast-align - would help catch bad casts in some cases,
+		#               but generates too many false positives
+		)
+
+	if (${OS} STREQUAL "nuttx")
+		list(APPEND warnings -Wframe-larger-than=1024)
+	endif()
+
+	if (${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")
+		# QuRT 6.4.X compiler identifies as Clang but does not support this option
+		if (NOT ${OS} STREQUAL "qurt")
+			list(APPEND warnings
+				-Wno-unused-const-variable
+				-Wno-varargs
+			)
+		endif()
+	else()
+		list(APPEND warnings
+			-Werror=unused-but-set-variable
+			-Wformat=1
+			#-Wlogical-op # very verbose due to eigen
+			-Wdouble-promotion
+			-Werror=double-promotion
+		)
+	endif()
+
+	set(max_optimization -Os)
+
+	set(optimization_flags
+		-fno-strict-aliasing
+		-fomit-frame-pointer
+		-funsafe-math-optimizations
+		-ffunction-sections
+		-fdata-sections
+		)
+
+	if (NOT ${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")
+		list(APPEND optimization_flags
+			-fno-strength-reduce
+			-fno-builtin-printf
+		)
+	endif()
+
+	set(c_warnings
+		-Wbad-function-cast
+		-Wstrict-prototypes
+		-Wmissing-prototypes
+		-Wnested-externs
+		)
+
+	if (NOT ${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")
+		list(APPEND c_warnings
+			-Wold-style-declaration
+			-Wmissing-parameter-type
+		)
+	endif()
+
+	set(c_compile_flags
+		-g
+		-std=gnu99
+		-fno-common
+		)
+
+	set(cxx_warnings
+		-Wno-missing-field-initializers
+		)
+
+	set(cxx_compile_flags
+		-g
+		-fno-exceptions
+		-fno-rtti
+		-std=gnu++0x
+		-fno-threadsafe-statics
+		-DCONFIG_WCHAR_BUILTIN
+		-D__CUSTOM_FILE_IO__
+		)
+
+	set(visibility_flags
+		-fvisibility=hidden
+		-include visibility.h
+		)
+
+	set(added_c_flags
+		${c_compile_flags}
+		${warnings}
+		${c_warnings}
+		${max_optimization}
+		${optimization_flags}
+		${visibility_flags}
+		)
+
+	set(added_cxx_flags
+		${cxx_compile_flags}
+		${warnings}
+		${cxx_warnings}
+		${max_optimization}
+		${optimization_flags}
+		${visibility_flags}
+		)
+
+	set(added_include_dirs
+		${CMAKE_SOURCE_DIR}/src
+		${CMAKE_BINARY_DIR}
+		${CMAKE_BINARY_DIR}/src
+		${CMAKE_SOURCE_DIR}/src/modules
+		${CMAKE_SOURCE_DIR}/src/include
+		${CMAKE_SOURCE_DIR}/src/lib
+		${CMAKE_SOURCE_DIR}/src/platforms
+		# TODO Build/versioning was in Makefile,
+		# do we need this, how does it work with cmake
+		${CMAKE_SOURCE_DIR}/src/drivers/boards/${BOARD}
+		${CMAKE_BINARY_DIR}
+		${CMAKE_BINARY_DIR}/src/modules/px4_messages
+		${CMAKE_BINARY_DIR}/src/modules
+		${CMAKE_SOURCE_DIR}/mavlink/include/mavlink
+		${CMAKE_SOURCE_DIR}/src/lib/DriverFramework/framework/include
+		)
+
+	list(APPEND added_include_dirs
+		src/lib/matrix
+		)
+
+	set(added_link_dirs) # none used currently
+
+	string(TOUPPER ${BOARD} board_upper)
+	string(REPLACE "-" "_" board_config ${board_upper})
+	set(added_definitions
+		-DCONFIG_ARCH_BOARD_${board_config}
+		)
+
+	if (NOT ${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")
+		set(added_exe_link_flags
+			-Wl,--warn-common
+			-Wl,--gc-sections
+			)
+	else()
+		set(added_exe_link_flags
+			-Wl,--warn-common
+			)
+	endif()
+
+	# output
+	foreach(var ${inout_vars})
+		string(TOLOWER ${var} lower_var)
+		set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
+		#message(STATUS "set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")
+	endforeach()
+
+endfunction()
+
+#=============================================================================
+#
+#	px4_mangle_name
+#
+#	Convert a path name to a module name
+#
+#	Usage:
+#		px4_mangle_name(dirname newname)
+#
+#	Input:
+#		dirname					: path to module dir
+#
+#	Output: 
+#		newname					: module name
+#
+#	Example:
+#		px4_mangle_name(${dirpath} mangled_name)
+#		message(STATUS "module name is ${mangled_name}")
+#
+function(px4_mangle_name dirname newname)
+	set(tmp)
+	string(REPLACE "/" "__" tmp ${dirname})
+	set(${newname} ${tmp} PARENT_SCOPE)
+endfunction()
+
+#=============================================================================
+#
+#	px4_create_git_hash_header
+#
+#	Create a header file containing the git hash of the current tree
+#
+#	Usage:
+#		px4_create_git_hash_header(HEADER ${CMAKE_BUILD_DIR}/git_hash.h)
+#
+#	Input:
+#		HEADER 		: path of the header file to generate
+#
+#	Example:
+#		px4_create_git_hash_header(HEADER ${CMAKE_BUILD_DIR}/git_hash.h)
+#
+function(px4_create_git_hash_header)
+	px4_parse_function_args(
+		NAME px4_create_git_hash_header
+		ONE_VALUE HEADER 
+		REQUIRED HEADER 
+		ARGN ${ARGN})
+	execute_process(
+		COMMAND git rev-parse HEAD
+		OUTPUT_VARIABLE git_desc
+		OUTPUT_STRIP_TRAILING_WHITESPACE
+		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		)
+	message(STATUS "GIT_DESC = ${git_desc}")
+	set(git_desc_short)
+	string(SUBSTRING ${git_desc} 1 16 git_desc_short)
+	configure_file(${CMAKE_SOURCE_DIR}/cmake/templates/build_git_version.h.in ${HEADER} @ONLY)
+endfunction()
+
+#=============================================================================
+#
+#	px4_generate_parameters_xml
+#
+#	Generates a parameters.xml file.
+#
+#	Usage:
+#		px4_generate_parameters_xml(OUT <param-xml_file>)
+#
+#	Input:
+#		BOARD : the board
+#
+#	Output:
+#		OUT	: the generated xml file
+#
+#	Example:
+#		px4_generate_parameters_xml(OUT parameters.xml)
+#
+function(px4_generate_parameters_xml)
+	px4_parse_function_args(
+		NAME px4_generate_parameters_xml
+		ONE_VALUE OUT BOARD
+		REQUIRED OUT BOARD
+		ARGN ${ARGN})
+	set(path ${CMAKE_SOURCE_DIR}/src)
+	file(GLOB_RECURSE param_src_files
+		${CMAKE_SOURCE_DIR}/src/*params.c
+		)
+	add_custom_command(OUTPUT ${OUT}
+		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_process_params.py
+			-s ${path} --board CONFIG_ARCH_${BOARD} --xml --inject-xml
+		DEPENDS ${param_src_files}
+		)
+	set(${OUT} ${${OUT}} PARENT_SCOPE)
+endfunction()
+
+#=============================================================================
+#
+#	px4_generate_parameters_source
+#
+#	Generates a source file with all parameters.
+#
+#	Usage:
+#		px4_generate_parameters_source(OUT <list-source-files> XML <param-xml-file>)
+#
+#	Input:
+#		XML : the parameters.xml file
+#		DEPS : target dependencies
+#
+#	Output:
+#		OUT	: the generated source files
+#
+#	Example:
+#		px4_generate_parameters_source(OUT param_files XML parameters.xml)
+#
+function(px4_generate_parameters_source)
+	px4_parse_function_args(
+		NAME px4_generate_parameters_source
+		ONE_VALUE OUT XML DEPS
+		REQUIRED OUT XML
+		ARGN ${ARGN})
+	set(generated_files
+		${CMAKE_CURRENT_BINARY_DIR}/px4_parameters.h
+		${CMAKE_CURRENT_BINARY_DIR}/px4_parameters.c)
+	set_source_files_properties(${generated_files}
+		PROPERTIES GENERATED TRUE)
+	add_custom_command(OUTPUT ${generated_files}
+		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_generate_params.py ${XML}
+		DEPENDS ${XML} ${DEPS}
+		)
+	set(${OUT} ${generated_files} PARENT_SCOPE)
+endfunction()
+
+#=============================================================================
+#
+#	px4_generate_airframes_xml
+#
+#	Generates airframes.xml
+#
+#	Usage:
+#		px4_generate_airframes_xml(OUT <airframe-xml-file>)
+#
+#	Input:
+#		XML : the airframes.xml file
+#		BOARD : the board
+#
+#	Output:
+#		OUT	: the generated source files
+#
+#	Example:
+#		px4_generate_airframes_xml(OUT airframes.xml)
+#
+function(px4_generate_airframes_xml)
+	px4_parse_function_args(
+		NAME px4_generate_airframes_xml
+		ONE_VALUE OUT BOARD
+		REQUIRED OUT BOARD
+		ARGN ${ARGN})
+	set(process_airframes ${CMAKE_SOURCE_DIR}/Tools/px_process_airframes.py)
+	add_custom_command(OUTPUT ${OUT}
+		COMMAND ${PYTHON_EXECUTABLE} ${process_airframes}
+			-a ${CMAKE_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
+			--board CONFIG_ARCH_BOARD_${BOARD} --xml
+		)
+	set(${OUT} ${${OUT}} PARENT_SCOPE)
+endfunction()
+
+#=============================================================================
+#
+#	px4_copy_tracked
+#
+#	Copy files to a directory and keep track of dependencies.
+#
+#	Usage:
+#		px4_copy_tracked(OUT <dest-files> FILES <in-files> DIR <dir-name>)
+#
+#	Input:
+#		FILES	:  the source files
+#		DEST		:  the directory to copy files to
+#		RELATIVE :  relative directory for source files
+#
+#	Output:
+#		OUT	: the copied files
+#
+#	Example:
+#		px4_copy_tracked(OUT copied_files FILES src_files DEST path RELATIVE path_rel)
+#
+function(px4_copy_tracked)
+	px4_parse_function_args(
+		NAME px4_copy_tracked
+		ONE_VALUE DEST OUT RELATIVE
+		MULTI_VALUE FILES
+		REQUIRED DEST OUT FILES
+		ARGN ${ARGN})
+	set(files)
+	# before build, make sure dest directory exists
+	execute_process(
+		COMMAND cmake -E make_directory ${DEST})
+	# create rule to copy each file and set dependency as source file
+	set(_files_out)
+	foreach(_file ${FILES})
+		if (RELATIVE)
+			file(RELATIVE_PATH _file_path ${RELATIVE} ${_file})
+		else()
+			set(_file_path ${_file})
+		endif()
+		set(_dest_file ${DEST}/${_file_path})
+		#message(STATUS "copy ${_file} -> ${_dest_file}")
+		add_custom_command(OUTPUT ${_dest_file}
+			COMMAND cmake -E copy ${_file} ${_dest_file}
+			DEPENDS ${_file})
+		list(APPEND _files_out ${_dest_file})
+	endforeach()
+	set(${OUT} ${_files_out} PARENT_SCOPE)
+endfunction()
+
+
+# vim: set noet fenc=utf-8 ff=unix nowrap:
@@ -0,0 +1,179 @@
+include(nuttx/px4_impl_nuttx)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	drivers/stm32
+	drivers/stm32/adc
+	drivers/stm32/tone_alarm
+	drivers/led
+	drivers/px4fmu
+	drivers/px4io
+	drivers/boards/px4fmu-v1
+	drivers/ardrone_interface
+	drivers/rgbled
+	drivers/mpu6000
+	drivers/lsm303d
+	drivers/l3gd20
+	drivers/hmc5883
+	drivers/ms5611
+	drivers/mb12xx
+	drivers/sf0x
+	drivers/ll40ls
+	drivers/trone
+	drivers/gps
+	drivers/pwm_out_sim
+	drivers/hott
+	drivers/hott/hott_telemetry
+	drivers/hott/hott_sensors
+	drivers/blinkm
+	drivers/airspeed
+	drivers/ets_airspeed
+	drivers/meas_airspeed
+	drivers/frsky_telemetry
+	modules/sensors
+	drivers/mkblctrl
+	drivers/px4flow
+
+	#
+	# System commands
+	#
+	systemcmds/bl_update
+	systemcmds/mixer
+	systemcmds/param
+	systemcmds/perf
+	systemcmds/pwm
+	systemcmds/esc_calib
+	systemcmds/reboot
+	systemcmds/top
+	systemcmds/config
+	systemcmds/nshterm
+	systemcmds/mtd
+	systemcmds/dumpfile
+	systemcmds/ver
+
+	#
+	# General system control
+	#
+	modules/commander
+	modules/navigator
+	modules/mavlink
+	modules/gpio_led
+	modules/land_detector
+
+	#
+	# Estimation modules (EKF/ SO3 / other filters)
+	#
+	# Too high RAM usage due to static allocations
+	# modules/attitude_estimator_ekf
+	modules/attitude_estimator_q
+	modules/ekf_att_pos_estimator
+	modules/position_estimator_inav
+
+	#
+	# Vehicle Control
+	#
+	# modules/segway # XXX Needs GCC 4.7 fix
+	modules/fw_pos_control_l1
+	modules/fw_att_control
+	modules/mc_att_control
+	modules/mc_pos_control
+	modules/vtol_att_control
+
+	#
+	# Logging
+	#
+	modules/sdlog2
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/controllib
+	modules/uORB
+	modules/dataman
+
+	#
+	# Libraries
+	#
+	#lib/mathlib/CMSIS
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/ecl
+	lib/external_lgpl
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+	lib/launchdetection
+	lib/terrain_estimation
+	lib/runway_takeoff
+	platforms/nuttx
+
+	# had to add for cmake, not sure why wasn't in original config
+	platforms/common 
+	platforms/nuttx/px4_layer
+
+	#
+	# OBC challenge
+	#
+	modules/bottle_drop
+
+	#
+	# Rover apps
+	#
+	examples/rover_steering_control
+
+	#
+	# Demo apps
+	#
+	#examples/math_demo
+	# Tutorial code from
+	# https://px4.io/dev/px4_simple_app
+	#examples/px4_simple_app
+
+	# Tutorial code from
+	# https://px4.io/dev/daemon
+	#examples/px4_daemon_app
+
+	# Tutorial code from
+	# https://px4.io/dev/debug_values
+	#examples/px4_mavlink_debug
+
+	# Tutorial code from
+	# https://px4.io/dev/example_fixedwing_control
+	#examples/fixedwing_control
+
+	# Hardware test
+	#examples/hwtest
+)
+
+set(config_extra_builtin_cmds
+	serdis
+	sercon
+	)
+
+set(config_io_board
+	px4io-v1
+	)
+
+set(config_extra_libs
+	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
+	)
+
+set(config_io_extra_libs
+	#${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM3l_math.a
+	)
+
+add_custom_target(sercon)
+set_target_properties(sercon PROPERTIES
+	MAIN "sercon" STACK "2048")
+
+add_custom_target(serdis)
+set_target_properties(serdis PROPERTIES
+	MAIN "serdis" STACK "2048")
@@ -0,0 +1,191 @@
+include(nuttx/px4_impl_nuttx)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+
+set(config_uavcan_num_ifaces 2)
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	drivers/stm32
+	drivers/stm32/adc
+	drivers/stm32/tone_alarm
+	drivers/led
+	drivers/px4fmu
+	drivers/px4io
+	drivers/boards/px4fmu-v2
+	drivers/rgbled
+	drivers/mpu6000
+	drivers/mpu9250
+	drivers/lsm303d
+	drivers/l3gd20
+	drivers/hmc5883
+	drivers/ms5611
+	drivers/mb12xx
+	drivers/srf02
+	drivers/sf0x
+	drivers/ll40ls
+	drivers/trone
+	drivers/gps
+	drivers/pwm_out_sim
+	drivers/hott
+	drivers/hott/hott_telemetry
+	drivers/hott/hott_sensors
+	drivers/blinkm
+	drivers/airspeed
+	drivers/ets_airspeed
+	drivers/meas_airspeed
+	drivers/frsky_telemetry
+	modules/sensors
+	#drivers/mkblctrl
+	drivers/px4flow
+	drivers/oreoled
+	drivers/gimbal
+	drivers/pwm_input
+	drivers/camera_trigger
+    drivers/bst
+
+	#
+	# System commands
+	#
+	systemcmds/bl_update
+	systemcmds/mixer
+	systemcmds/param
+	systemcmds/perf
+	systemcmds/pwm
+	systemcmds/esc_calib
+	systemcmds/reboot
+	#systemcmds/topic_listener
+	systemcmds/top
+	systemcmds/config
+	systemcmds/nshterm
+	systemcmds/mtd
+	systemcmds/dumpfile
+	systemcmds/ver
+
+	#
+	# General system control
+	#
+	modules/commander
+	modules/navigator
+	modules/mavlink
+	modules/gpio_led
+	modules/uavcan
+	modules/land_detector
+
+	#
+	# Estimation modules (EKF/ SO3 / other filters)
+	#
+	# Too high RAM usage due to static allocations
+	# modules/attitude_estimator_ekf
+	modules/attitude_estimator_q
+	modules/ekf_att_pos_estimator
+	modules/position_estimator_inav
+
+	#
+	# Vehicle Control
+	#
+	# modules/segway # XXX Needs GCC 4.7 fix
+	modules/fw_pos_control_l1
+	modules/fw_att_control
+	modules/mc_att_control
+	modules/mc_pos_control
+	modules/vtol_att_control
+
+	#
+	# Logging
+	#
+	modules/sdlog2
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/controllib
+	modules/uORB
+	modules/dataman
+
+	#
+	# Libraries
+	#
+	#lib/mathlib/CMSIS
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/ecl
+	lib/external_lgpl
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+	lib/launchdetection
+	lib/terrain_estimation
+	lib/runway_takeoff
+	platforms/nuttx
+
+	# had to add for cmake, not sure why wasn't in original config
+	platforms/common 
+	platforms/nuttx/px4_layer
+
+	#
+	# OBC challenge
+	#
+	modules/bottle_drop
+
+	#
+	# Rover apps
+	#
+	examples/rover_steering_control
+
+	#
+	# Demo apps
+	#
+	#examples/math_demo
+	# Tutorial code from
+	# https://px4.io/dev/px4_simple_app
+	#examples/px4_simple_app
+
+	# Tutorial code from
+	# https://px4.io/dev/daemon
+	#examples/px4_daemon_app
+
+	# Tutorial code from
+	# https://px4.io/dev/debug_values
+	#examples/px4_mavlink_debug
+
+	# Tutorial code from
+	# https://px4.io/dev/example_fixedwing_control
+	#examples/fixedwing_control
+
+	# Hardware test
+	#examples/hwtest
+)
+
+set(config_extra_builtin_cmds
+	serdis
+	sercon
+	)
+
+set(config_io_board
+	px4io-v2
+	)
+
+set(config_extra_libs
+	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
+	uavcan
+	uavcan_stm32_driver
+	)
+
+set(config_io_extra_libs
+	#${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM3l_math.a
+	)
+
+add_custom_target(sercon)
+set_target_properties(sercon PROPERTIES
+	MAIN "sercon" STACK "2048")
+
+add_custom_target(serdis)
+set_target_properties(serdis PROPERTIES
+	MAIN "serdis" STACK "2048")
@@ -0,0 +1,5 @@
+include(cmake/configs/nuttx_px4fmu-v2_default.cmake)
+
+list(APPEND config_module_list
+	modules/local_position_estimator
+	)
@@ -0,0 +1,143 @@
+include(nuttx/px4_impl_nuttx)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	drivers/stm32
+	drivers/stm32/adc
+	drivers/stm32/tone_alarm
+	drivers/led
+	drivers/px4fmu
+	drivers/px4io
+	drivers/boards/px4fmu-v2
+	drivers/rgbled
+	drivers/mpu6000
+	drivers/mpu9250
+	drivers/lsm303d
+	drivers/l3gd20
+	drivers/hmc5883
+	drivers/ms5611
+	drivers/mb12xx
+	drivers/sf0x
+	drivers/ll40ls
+	drivers/trone
+	drivers/gps
+	drivers/pwm_out_sim
+	drivers/hott
+	drivers/hott/hott_telemetry
+	drivers/hott/hott_sensors
+	drivers/blinkm
+	drivers/airspeed
+	drivers/ets_airspeed
+	drivers/meas_airspeed
+	drivers/frsky_telemetry
+	modules/sensors
+	drivers/mkblctrl
+	drivers/px4flow
+	drivers/oreoled
+	drivers/gimbal
+	drivers/pwm_input
+	drivers/camera_trigger
+
+	#
+	# System commands
+	#
+	systemcmds/bl_update
+	systemcmds/mixer
+	systemcmds/param
+	systemcmds/perf
+	systemcmds/pwm
+	systemcmds/esc_calib
+	systemcmds/reboot
+	systemcmds/top
+	systemcmds/config
+	systemcmds/nshterm
+	systemcmds/mtd
+	systemcmds/dumpfile
+	systemcmds/ver
+
+	#
+	# Logging
+	#
+	modules/sdlog2
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/controllib
+	modules/uORB
+	modules/dataman
+
+	#
+	# Libraries
+	#
+	#lib/mathlib/CMSIS
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/ecl
+	lib/external_lgpl
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+	lib/launchdetection
+	platforms/nuttx
+
+	# had to add for cmake, not sure why wasn't in original config
+	platforms/common 
+	platforms/nuttx/px4_layer
+
+	#
+	# Demo apps
+	#
+	#examples/math_demo
+	# Tutorial code from
+	# https://px4.io/dev/px4_simple_app
+	examples/px4_simple_app
+
+	# Tutorial code from
+	# https://px4.io/dev/daemon
+	examples/px4_daemon_app
+
+	# Tutorial code from
+	# https://px4.io/dev/debug_values
+	examples/px4_mavlink_debug
+
+	# Tutorial code from
+	# https://px4.io/dev/example_fixedwing_control
+	examples/fixedwing_control
+
+	# Hardware test
+	examples/hwtest
+)
+
+set(config_extra_builtin_cmds
+	serdis
+	sercon
+	)
+
+set(config_io_board
+	px4io-v2
+	)
+
+set(config_extra_libs
+	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
+	)
+
+set(config_io_extra_libs
+	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM3l_math.a
+	)
+
+add_custom_target(sercon)
+set_target_properties(sercon PROPERTIES
+	MAIN "sercon" STACK "2048")
+
+add_custom_target(serdis)
+set_target_properties(serdis PROPERTIES
+	MAIN "serdis" STACK "2048")
@@ -0,0 +1,185 @@
+include(nuttx/px4_impl_nuttx)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+
+set(config_uavcan_num_ifaces 1)
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	drivers/stm32
+	drivers/stm32/adc
+	drivers/stm32/tone_alarm
+	drivers/led
+	drivers/px4fmu
+	drivers/boards/px4fmu-v4
+	drivers/rgbled
+	drivers/mpu6000
+	drivers/mpu9250
+	drivers/hmc5883
+	drivers/ms5611
+	drivers/mb12xx
+	drivers/srf02
+	drivers/sf0x
+	drivers/ll40ls
+	drivers/trone
+	drivers/gps
+	drivers/pwm_out_sim
+	drivers/hott
+	drivers/hott/hott_telemetry
+	drivers/hott/hott_sensors
+	drivers/blinkm
+	drivers/airspeed
+	drivers/ets_airspeed
+	drivers/meas_airspeed
+	drivers/frsky_telemetry
+	modules/sensors
+	drivers/mkblctrl
+	drivers/px4flow
+	drivers/oreoled
+	drivers/gimbal
+	drivers/pwm_input
+	drivers/camera_trigger
+
+	#
+	# System commands
+	#
+	systemcmds/bl_update
+	systemcmds/mixer
+	systemcmds/param
+	systemcmds/perf
+	systemcmds/pwm
+	systemcmds/esc_calib
+	systemcmds/reboot
+	systemcmds/topic_listener
+	systemcmds/top
+	systemcmds/config
+	systemcmds/nshterm
+	systemcmds/mtd
+	systemcmds/dumpfile
+	systemcmds/ver
+	systemcmds/tests
+
+	#
+	# General system control
+	#
+	modules/commander
+	modules/navigator
+	modules/mavlink
+	modules/gpio_led
+	modules/uavcan
+	modules/land_detector
+
+	#
+	# Estimation modules (EKF/ SO3 / other filters)
+	#
+	# Too high RAM usage due to static allocations
+	# modules/attitude_estimator_ekf
+	modules/attitude_estimator_q
+	modules/ekf_att_pos_estimator
+	modules/position_estimator_inav
+
+	#
+	# Vehicle Control
+	#
+	# modules/segway # XXX Needs GCC 4.7 fix
+	modules/fw_pos_control_l1
+	modules/fw_att_control
+	modules/mc_att_control
+	modules/mc_pos_control
+	modules/vtol_att_control
+
+	#
+	# Logging
+	#
+	modules/sdlog2
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/controllib
+	modules/uORB
+	modules/dataman
+
+	#
+	# Libraries
+	#
+	#lib/mathlib/CMSIS
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/rc
+	lib/ecl
+	lib/external_lgpl
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+	lib/launchdetection
+	lib/terrain_estimation
+	lib/runway_takeoff
+	platforms/nuttx
+
+	# had to add for cmake, not sure why wasn't in original config
+	platforms/common
+	platforms/nuttx/px4_layer
+
+	#
+	# OBC challenge
+	#
+	modules/bottle_drop
+
+	#
+	# Rover apps
+	#
+	examples/rover_steering_control
+
+	#
+	# Demo apps
+	#
+	#examples/math_demo
+	# Tutorial code from
+	# https://px4.io/dev/px4_simple_app
+	examples/px4_simple_app
+
+	# Tutorial code from
+	# https://px4.io/dev/daemon
+	#examples/px4_daemon_app
+
+	# Tutorial code from
+	# https://px4.io/dev/debug_values
+	#examples/px4_mavlink_debug
+
+	# Tutorial code from
+	# https://px4.io/dev/example_fixedwing_control
+	#examples/fixedwing_control
+
+	# Hardware test
+	#examples/hwtest
+)
+
+set(config_extra_builtin_cmds
+	serdis
+	sercon
+	)
+
+set(config_extra_libs
+	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
+	uavcan
+	uavcan_stm32_driver
+	)
+
+set(config_io_extra_libs
+	#${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM3l_math.a
+	)
+
+add_custom_target(sercon)
+set_target_properties(sercon PROPERTIES
+	MAIN "sercon" STACK "2048")
+
+add_custom_target(serdis)
+set_target_properties(serdis PROPERTIES
+	MAIN "serdis" STACK "2048")
@@ -0,0 +1,21 @@
+include(nuttx/px4_impl_nuttx)
+
+message(WARNING "this is a work in progress and doesn't build yet")
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
+
+set(config_module_list
+	#platforms/nuttx
+	#platforms/nuttx/px4_layer
+	platforms/common
+	#drivers/led
+	drivers/device
+	#modules/systemlib
+	#modules/uORB
+	#examples/px4_simple_app
+	#lib/mathlib/math/filter
+	#lib/conversion
+	)
+
+set(config_extra_builtin_cmds
+	)
@@ -0,0 +1,48 @@
+include(posix/px4_impl_posix)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+
+set(config_module_list
+	drivers/device
+	drivers/blinkm
+	drivers/pwm_out_sim
+	drivers/rgbled
+	drivers/led
+	drivers/boards/sitl
+
+	systemcmds/param
+	systemcmds/mixer
+	systemcmds/ver
+
+	modules/mavlink
+
+	modules/attitude_estimator_ekf
+	modules/ekf_att_pos_estimator
+
+	modules/mc_pos_control
+	modules/mc_att_control
+
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/sensors
+	modules/dataman
+	modules/sdlog2
+	modules/simulator
+	modules/commander
+	modules/controllib
+
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+	lib/terrain_estimation
+	lib/runway_takeoff
+
+	platforms/common
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+	)
+
@@ -0,0 +1,40 @@
+include(posix/px4_impl_posix)
+
+# Use build stubs unless explicitly set not to
+if("${DSPAL_STUBS_ENABLE}" STREQUAL "")
+	set(DSPAL_STUBS_ENABLE "1")
+endif()
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+
+set(config_module_list
+	drivers/device
+	drivers/boards/sitl
+	drivers/led
+
+	systemcmds/param
+	systemcmds/ver
+
+	modules/mavlink
+
+	modules/param
+	modules/systemlib
+	modules/uORB
+	modules/sensors
+	modules/dataman
+	modules/sdlog2
+	modules/simulator
+	modules/commander
+
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+
+	platforms/common
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+	modules/muorb/krait
+	)
+
@@ -0,0 +1,15 @@
+include(posix/px4_impl_posix)
+
+set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+
+set(config_module_list
+	drivers/device
+
+	modules/uORB
+
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+
+	modules/muorb/krait
+	)
+
--- a/Show More
+++ b/Show More