mission_block: acquire gimbal control also when the command from the gimbal

protocol v2 is parsed

.github/PULL_REQUEST_TEMPLATE.md

@@ -1,17 +1,14 @@
-Please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.
+**How this PR solves the problem**
+Depending on how complex the PR is, something between a line and a few paragraphs with logs and videos.
 
-## Describe problem solved by this pull request
-A clear and concise description of the problem this proposed change will solve. Or, what it will improve.
-E.g. For this use case I ran into...
+**JIRA ID in title, and link here**
+Add a link and the title of the JIRA for context
 
-## Describe your solution
-A clear and concise description of what you have implemented.
+**Upstream/develop PR that this was backported from**
+If applicable, link to PR and/or commit
 
-## Describe possible alternatives
-A clear and concise description of alternative solutions or features you've considered.
+**Critical bug that needs backporting?**
+Yes/No, link to backport PR when applicable
 
-## Test data / coverage
-How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.
-
-## Additional context
+**Additional context**
 Add any other related context or media.

.github/workflows/cflite_batch.yml

@@ -1,34 +0,0 @@
-name: ClusterFuzzLite batch fuzzing
-on:
-  schedule:
-    - cron: '0 6 * * *'  # UTC 6am every day.
-permissions: read-all
-jobs:
-  BatchFuzzing:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        sanitizer:
-        - address
-        - undefined
-        - memory
-    steps:
-    - name: Build Fuzzers (${{ matrix.sanitizer }})
-      id: build
-      uses: google/clusterfuzzlite/actions/build_fuzzers@v1
-      with:
-        sanitizer: ${{ matrix.sanitizer }}
-    - name: Run Fuzzers (${{ matrix.sanitizer }})
-      id: run
-      uses: google/clusterfuzzlite/actions/run_fuzzers@v1
-      with:
-        github-token: ${{ secrets.GITHUB_TOKEN }}
-        fuzz-seconds: 1800 # 30 mins
-        mode: 'batch'
-        sanitizer: ${{ matrix.sanitizer }}
-        # Optional but recommended: For storing certain artifacts from fuzzing.
-        # See later section on "Git repo for storage".
-        # storage-repo: https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/OWNER/STORAGE-REPO-NAME.git
-        # storage-repo-branch: main   # Optional. Defaults to "main"
-        # storage-repo-branch-coverage: gh-pages  # Optional. Defaults to "gh-pages".

.github/workflows/checks.yml

@@ -1,51 +0,0 @@
-name: Checks
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        check: [
-          "check_format",
-          "tests",
-          "tests_coverage",
-          "px4_fmu-v2_default stack_check",
-          "validate_module_configs",
-          "shellcheck_all",
-          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
-          "NO_NINJA_BUILD=1 px4_sitl_default",
-          "BUILD_MICRORTPS_AGENT=1 px4_sitl_rtps",
-          "airframe_metadata",
-          "module_documentation",
-          "parameters_metadata",
-        ]
-    container:
-      image: px4io/px4-dev-nuttx-focal:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: ${{matrix.check}}
-      run: make ${{matrix.check}}
-    - name: upload coverage
-      if: contains(matrix.check, 'coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: unittests
-        file: coverage/lcov.info

.github/workflows/clang-tidy.yml

@@ -1,21 +0,0 @@
-name: Clang Tidy
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: make clang-tidy-quiet
-      run: make clang-tidy-quiet

.github/workflows/compile_linux.yml

@@ -1,54 +0,0 @@
-name: Linux Targets
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2021-09-08
-    strategy:
-      matrix:
-        config: [
-          beaglebone_blue_default,
-          emlid_navio2_default,
-          px4_raspberrypi_default,
-          scumaker_pilotpi_default,
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
-    - name: ccache post-run
-      run: ccache -s

.github/workflows/compile_linux_arm64.yml

@@ -1,51 +0,0 @@
-name: Linux ARM64 Targets
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2021-09-08
-    strategy:
-      matrix:
-        config: [
-          scumaker_pilotpi_arm64,
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
-    - name: ccache post-run
-      run: ccache -s

.github/workflows/compile_macos.yml

@@ -1,56 +0,0 @@
-name: MacOS build
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: macos-10.15
-    strategy:
-      matrix:
-        config: [
-          px4_fmu-v5_default,
-          px4_sitl
-          #tests, # includes px4_sitl
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: setup
-      run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: macos_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: macos_${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 40M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: |
-          ccache -z
-          make ${{matrix.config}}
-          ccache -s

.github/workflows/compile_nuttx.yml

@@ -1,126 +0,0 @@
-name: Nuttx Targets
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-09-08
-    strategy:
-      fail-fast: false
-      matrix:
-        config: [
-          airmind_mindpx-v2,
-          ark_can-flow,
-          ark_can-gps,
-          ark_can-rtk-gps,
-          ark_cannode,
-          atl_mantis-edu,
-          av_x-v1,
-          bitcraze_crazyflie,
-          bitcraze_crazyflie21,
-          cuav_can-gps-v1,
-          cuav_nora,
-          cuav_x7pro,
-          cubepilot_cubeorange,
-          cubepilot_cubeyellow,
-          diatone_mamba-f405-mk2,
-          freefly_can-rtk-gps,
-          holybro_can-gps-v1,
-          holybro_durandal-v1,
-          holybro_kakutef7,
-          holybro_kakuteh7,
-          holybro_pix32v5,
-          matek_gnss-m9n-f4,
-          matek_h743,
-          matek_h743-mini,
-          matek_h743-slim,
-          modalai_fc-v1,
-          modalai_fc-v2,
-          mro_ctrl-zero-f7,
-          mro_ctrl-zero-f7-oem,
-          mro_ctrl-zero-h7,
-          mro_ctrl-zero-h7-oem,
-          mro_pixracerpro,
-          mro_x21,
-          mro_x21-777,
-          nxp_fmuk66-e,
-          nxp_fmuk66-v3,
-          nxp_fmurt1062-v1,
-          nxp_ucans32k146,
-          omnibus_f4sd,
-          px4_fmu-v2,
-          px4_fmu-v3,
-          px4_fmu-v4,
-          px4_fmu-v4pro,
-          px4_fmu-v5,
-          px4_fmu-v5x,
-          px4_fmu-v6c,
-          px4_fmu-v6u,
-          px4_fmu-v6x,
-          raspberrypi_pico,
-          sky-drones_smartap-airlink,
-          spracing_h7extreme,
-          uvify_core
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 120M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make all_variants_${{matrix.config}}
-      run: make all_variants_${{matrix.config}}
-      timeout-minutes: 45
-    - name: make ${{matrix.config}} bloaty_compileunits
-      run: make ${{matrix.config}} bloaty_compileunits || true
-    - name: make ${{matrix.config}} bloaty_inlines
-      run: make ${{matrix.config}} bloaty_inlines || true
-    - name: make ${{matrix.config}} bloaty_segments
-      run: make ${{matrix.config}} bloaty_segments || true
-    - name: make ${{matrix.config}} bloaty_symbols
-      run: make ${{matrix.config}} bloaty_symbols || true
-    - name: make ${{matrix.config}} bloaty_templates
-      run: make ${{matrix.config}} bloaty_templates || true
-    - name: make ${{matrix.config}} bloaty_ram
-      run: make ${{matrix.config}} bloaty_ram || true
-    - name: make ${{matrix.config}} bloaty_compare_master
-      run: make ${{matrix.config}} bloaty_compare_master || true
-    - name: ccache post-run
-      run: ccache -s
-
-    - name: Upload px4 package
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_package_${{matrix.config}}
-        path: |
-          build/**/*.px4
-          build/**/*.bin

.github/workflows/deploy_all.yml

@@ -1,54 +0,0 @@
-name: Deploy metadata for all targets
-
-on:
-  push:
-    branches:
-    - 'master'
-    - 'release/*'
-    - 'pr-metadata-test'
-
-jobs:
-  enumerate_targets:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    outputs:
-      matrix: ${{ steps.set-matrix.outputs.matrix }}
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-    - id: set-matrix
-      run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py)"
-  build:
-    runs-on: ubuntu-latest
-    needs: enumerate_targets
-    strategy:
-      matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
-    container: px4io/px4-dev-${{ matrix.container }}:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: make ${{matrix.target}}
-      run: make ${{matrix.target}}
-
-    - name: parameter & events metadata
-      run: |
-        make ${{matrix.target}} ver_gen events_json actuators_json
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
-        cd build/${{ matrix.target }}
-        mkdir _metadata || true
-        cp parameters.* events/*.xz actuators.json* _metadata
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
-        DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
-

.github/workflows/ekf_functional_change_indicator.yml

@@ -1,21 +0,0 @@
-name: EKF Change Indicator
-
-on: pull_request
-
-jobs:
-  unit_tests:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v2.3.1
-      with:
-        fetch-depth: 0
-    - name: checkout newest version of branch
-      run: |
-        git fetch origin pull/${{github.event.pull_request.number}}/head:${{github.head_ref}}
-        git checkout ${GITHUB_HEAD_REF}
-    - name: main test
-      run: make tests TESTFILTER=EKF
-    - name: Check if there is a functional change
-      run: git diff --exit-code
-      working-directory: src/modules/ekf2/test/change_indication

.github/workflows/ekf_update_change_indicator.yml

@@ -1,29 +0,0 @@
-name: EKF Update Change Indicator
-
-on: push
-
-jobs:
-  unit_tests:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    env:
-      GIT_COMMITTER_EMAIL: bot@px4.io
-      GIT_COMMITTER_NAME: PX4BuildBot
-    steps:
-    - uses: actions/checkout@v2.3.1
-      with:
-        fetch-depth: 0
-    - name: main test updates change indication files
-      run: make tests TESTFILTER=EKF
-    - name: Check if there exists diff and save result in variable
-      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_ENV
-      working-directory: src/modules/ekf2/test/change_indication
-    - name: auto-commit any changes to change indication
-      uses: stefanzweifel/git-auto-commit-action@v4
-      with:
-        commit_message: '[AUTO COMMIT] update change indication'
-        commit_user_name: ${GIT_COMMITTER_NAME}
-        commit_user_email: ${GIT_COMMITTER_EMAIL}
-    - if: ${{env.CHANGE_INDICATED}}
-      name: if there is a functional change, fail check
-      run: exit 1

.github/workflows/mavros_mission_tests.yml

@@ -1,139 +0,0 @@
-name: MAVROS Mission Tests
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          - {vehicle: "iris",          mission: "MC_mission_box",  build_type: "RelWithDebInfo"}
-          - {vehicle: "rover",         mission: "rover_mission_1", build_type: "RelWithDebInfo"}
-          #- {vehicle: "plane",         mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
-          #- {vehicle: "plane_catapult",mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
-          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "Coverage"}
-          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "AddressSanitizer"}
-          #- {vehicle: "tailsitter",    mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
-          #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
-
-    container:
-      image: px4io/px4-dev-ros-melodic:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4 and sitl_gazebo
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        ccache -z
-        make px4_sitl_default
-        make px4_sitl_default sitl_gazebo
-        ccache -s
-
-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run SITL tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        export
-        ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
-      timeout-minutes: 45
-
-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: coredump
-        path: px4.core
-
-    - name: ecl EKF analysis
-      if: always()
-      run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
-
-    - name: Upload logs to flight review
-      if: always()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
-
-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
-
-    - name: Store PX4 log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_log
-        path: ~/.ros/log/*/*.ulg
-
-    - name: Store ROS log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: ros_log
-        path: ~/.ros/**/rostest-*.log
-
-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      if: contains(matrix.config.build_type, 'Coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavros_mission
-        file: coverage/lcov.info

.github/workflows/mavros_offboard_tests.yml

@@ -1,134 +0,0 @@
-name: MAVROS Offboard Tests
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          - {test_file: "mavros_posix_tests_offboard_posctl.test",    vehicle: "iris", build_type: "RelWithDebInfo"}
-          #- {test_file: "mavros_posix_tests_offboard_attctl.test",    vehicle: "iris", build_type: "RelWithDebInfo"}
-          #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
-
-    container:
-      image: px4io/px4-dev-ros-melodic:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4 and sitl_gazebo
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        ccache -z
-        make px4_sitl_default
-        make px4_sitl_default sitl_gazebo
-        ccache -s
-
-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run SITL tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        export
-        ./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
-      timeout-minutes: 45
-
-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: coredump
-        path: px4.core
-
-    - name: ecl EKF analysis
-      if: always()
-      run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
-
-    - name: Upload logs to flight review
-      if: always()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
-
-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
-
-    - name: Store PX4 log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_log
-        path: ~/.ros/log/*/*.ulg
-
-    - name: Store ROS log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: ros_log
-        path: ~/.ros/**/rostest-*.log
-
-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      if: contains(matrix.config.build_type, 'Coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavros_offboard
-        file: coverage/lcov.info

.github/workflows/metadata.yml

@@ -1,157 +0,0 @@
-name: Metadata
-
-on:
-  push:
-    branches:
-    - 'master'
-    - 'release/*'
-    - 'pr-metadata-test'
-
-jobs:
-
-  airframe:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: airframe metadata
-      run: |
-        make airframe_metadata
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
-        cd build/px4_sitl_default/docs
-      # TODO: deploy to userguide gitbook
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/px4_sitl_default/docs/'
-        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
-
-  module:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: module documentation
-      run: |
-        make module_documentation
-        cd build/px4_sitl_default/docs
-        ls -ls *
-      # TODO: deploy to userguide gitbook and s3
-
-  parameter:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: parameter metadata
-      run: |
-        make parameters_metadata
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/px4_sitl_default/docs/'
-        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
-
-  events:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: events metadata
-      run: |
-        make extract_events
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
-        cd build/px4_sitl_default
-        mkdir _events_full || true
-        cp events/all_events_full.json.xz _events_full/all_events.json.xz
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/px4_sitl_default/_events_full/'
-        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
-
-  uorb_graph:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: uORB graph
-      run: |
-        make uorb_graphs
-        cd Tools/uorb_graph
-        ls -ls *
-      # TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/
-
-  micrortps_agent:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: microRTPS agent
-      run: |
-        make px4_sitl_rtps
-        git clone https://github.com/PX4/micrortps_agent.git
-        cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent
-
-  ROS_msgs:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: PX4 ROS msgs
-      run: |
-        git clone https://github.com/PX4/px4_msgs.git
-        python3 msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/
-
-  ROS2_bridge:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: PX4 ROS2 bridge
-      run: |
-        git clone https://github.com/PX4/px4_ros_com.git
-        ./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml

.github/workflows/python_checks.yml

@@ -1,25 +0,0 @@
-name: Python CI Checks
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-    - name: Install Python3
-      run: sudo apt-get install python3 python3-setuptools python3-pip -y
-    - name: Install tools
-      run: pip3 install --user mypy types-requests flake8
-    - name: Check MAVSDK test scripts with mypy
-      run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
-    - name: Check MAVSDK test scripts with flake8
-      run: $HOME/.local/bin/flake8 test/mavsdk_tests/*.py

.github/workflows/sitl_tests.yml

@@ -1,135 +0,0 @@
-name: SITL Tests
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          - {model: "iris",          latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
-          - {model: "standard_vtol", latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer" } # Australia
-          - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
-          - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
-
-    container:
-      image: px4io/px4-dev-simulation-focal:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: Download MAVSDK
-      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
-    - name: Install MAVSDK
-      run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: check environment
-      env:
-        PX4_HOME_LAT: ${{matrix.config.latitude}}
-        PX4_HOME_LON: ${{matrix.config.longitude}}
-        PX4_HOME_ALT: ${{matrix.config.altitude}}
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: make px4_sitl_default
-    - name: ccache post-run px4/firmware
-      run: ccache -s
-    - name: Build SITL Gazebo
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: make px4_sitl_default sitl_gazebo
-    - name: ccache post-run sitl_gazebo
-      run: ccache -s
-    - name: Build MAVSDK tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        DONT_RUN: 1
-      run: make px4_sitl_default gazebo mavsdk_tests
-    - name: ccache post-run mavsdk_tests
-      run: ccache -s
-
-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run SITL tests
-      env:
-        PX4_HOME_LAT: ${{matrix.config.latitude}}
-        PX4_HOME_LON: ${{matrix.config.longitude}}
-        PX4_HOME_ALT: ${{matrix.config.altitude}}
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
-      timeout-minutes: 45
-
-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: coredump
-        path: px4.core
-
-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
-
-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      if: contains(matrix.config.build_type, 'Coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavsdk
-        file: coverage/lcov.info

.gitmodules

@@ -1,6 +1,6 @@
 [submodule "src/modules/mavlink/mavlink"]
 	path = src/modules/mavlink/mavlink
-	url = https://github.com/mavlink/mavlink.git
+	url = https://github.com/Auterion/mavlink.git
 	branch = master
 [submodule "src/drivers/uavcan/libuavcan"]
 	path = src/drivers/uavcan/libuavcan
@@ -12,8 +12,8 @@
 	branch = master
 [submodule "Tools/sitl_gazebo"]
 	path = Tools/sitl_gazebo
-	url = https://github.com/PX4/PX4-SITL_gazebo.git
-	branch = master
+	url = git@github.com:Auterion/sitl_gazebo.git
+	branch = develop
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/PX4-GPSDrivers.git

CMakeLists.txt

@@ -191,6 +191,18 @@ if(${PX4_PLATFORM} STREQUAL "posix")
 	endif()
 endif()
 
+
+option(PX4_RESTRICTED_BUILD "Enable restricted build (limit param access)" OFF)
+if(PX4_RESTRICTED_BUILD)
+	add_definitions(-DPX4_RESTRICTED_BUILD)
+	message(STATUS "Enabling restricted build")
+endif()
+
+if(PX4_EXPORT_CONTROLLED_BUILD)
+	add_definitions(-DPX4_EXPORT_CONTROLLED_BUILD)
+	message(STATUS "Enabling export controlled build (with flight time and wind restrictions)")
+endif()
+
 # external modules
 set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location")
 

Makefile

@@ -129,6 +129,22 @@ else
 	BUILD_DIR_SUFFIX :=
 endif
 
+ifdef PX4_RESTRICTED_BUILD
+	CMAKE_ARGS += -DPX4_RESTRICTED_BUILD=ON
+	BUILD_DIR_SUFFIX := $(BUILD_DIR_SUFFIX)_restricted
+endif
+
+# pass the PX4_EXPORT_CONTROLLED_BUILD on to CMAKE_ARGS, and set it to 0 (OFF) by default
+PX4_EXPORT_CONTROLLED_BUILD ?= 0
+ifeq ($(PX4_EXPORT_CONTROLLED_BUILD),1)
+	CMAKE_ARGS += -DPX4_EXPORT_CONTROLLED_BUILD=ON
+	BUILD_DIR_SUFFIX := $(BUILD_DIR_SUFFIX)_export_controlled
+else ifeq ($(PX4_EXPORT_CONTROLLED_BUILD),0)
+	CMAKE_ARGS += -DPX4_EXPORT_CONTROLLED_BUILD=OFF
+else
+        $(error ERROR: Invalid value of flag PX4_EXPORT_CONTROLLED_BUILD, has to be '0' or '1')
+endif
+
 # additional config parameters passed to cmake
 ifdef EXTERNAL_MODULES_LOCATION
 	CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
@@ -245,6 +261,12 @@ define deprecation_warning
 	$(warning $(1) has been deprecated and will be removed, please use $(2)!)
 endef
 
+skynode:
+	$(MAKE) px4_fmu-v5x $(ARGS)
+
+skynode_rtps:
+	$(MAKE) px4_fmu-v5x_rtps $(ARGS)
+
 # All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
 .PHONY: all px4_sitl_default all_config_targets all_default_targets
 
@@ -314,7 +336,9 @@ uorb_graphs:
 	@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
 	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
 
-px4io_update: px4_io-v2_default cubepilot_io-v2_default
+px4io_update:
+	@$(MAKE) --no-print-directory px4_io-v2_default
+	@$(MAKE) --no-print-directory cubepilot_io-v2_default
 	# px4_io-v2_default
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/pix32v5/extras/px4_io-v2_default.bin

README.md

@@ -6,38 +6,38 @@
 
 [![Slack](/.github/slack.svg)](https://join.slack.com/t/px4/shared_invite/zt-si4xo5qs-R4baYFmMjlrT4rQK5yUnaA)
 
-This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
+This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
 
 PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.
 
 * Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
-* [Supported airframes](https://docs.px4.io/main/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
-  * [Multicopters](https://docs.px4.io/main/en/frames_multicopter/)
-  * [Fixed wing](https://docs.px4.io/main/en/frames_plane/)
-  * [VTOL](https://docs.px4.io/main/en/frames_vtol/)
-  * [Autogyro](https://docs.px4.io/main/en/frames_autogyro/)
-  * [Rover](https://docs.px4.io/main/en/frames_rover/)
+* [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
+  * [Multicopters](https://docs.px4.io/master/en/frames_multicopter/)
+  * [Fixed wing](https://docs.px4.io/master/en/frames_plane/)
+  * [VTOL](https://docs.px4.io/master/en/frames_vtol/)
+  * [Autogyro](https://docs.px4.io/master/en/frames_autogyro/)
+  * [Rover](https://docs.px4.io/master/en/frames_rover/)
   * many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
 * Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
 
 
 ## Building a PX4 based drone, rover, boat or robot
 
-The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4.
-See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
+The [PX4 User Guide](https://docs.px4.io/master/en/) explains how to assemble [supported vehicles](https://docs.px4.io/master/en/airframes/airframe_reference.html) and fly drones with PX4.
+See the [forum and chat](https://docs.px4.io/master/en/#support) if you need help!
 
 
 ## Changing code and contributing
 
-This [Developer Guide](https://docs.px4.io/main/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
+This [Developer Guide](https://docs.px4.io/master/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
 
-Developers should read the [Guide for Contributions](https://docs.px4.io/main/en/contribute/).
-See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
+Developers should read the [Guide for Contributions](https://docs.px4.io/master/en/contribute/).
+See the [forum and chat](https://dev.px4.io/master/en/#support) if you need help!
 
 
 ### Weekly Dev Call
 
-The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/contribute/).
+The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/contribute/#dev_call).
 
 > **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. It includes a QA session for newcomers. All regular calls are listed in the [Dronecode calendar](https://www.dronecode.org/calendar/).
 
@@ -88,43 +88,35 @@ This repository contains code supporting Pixhawk standard boards (best supported
   * FMUv6X and FMUv6U (STM32H7, 2021)
     * Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
   * FMUv5 and FMUv5X (STM32F7, 2019/20)
-    * [Pixhawk 4 (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4.html)
-    * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4_mini.html)
-    * [CUAV V5+ (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_plus.html)
-    * [CUAV V5 nano (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_nano.html)
-    * [Auterion Skynode (FMUv5X)](https://docs.auterion.com/skynode)
+    * [Pixhawk 4 (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
+    * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
+    * [CUAV V5+ (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
+    * [CUAV V5 nano (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
+    * [Auterion Skynode (FMUv5X)](https://docs.px4.io/master/en/flight_controller/auterion_skynode.html)
   * FMUv4 (STM32F4, 2015)
-    * [Pixracer](https://docs.px4.io/main/en/flight_controller/pixracer.html)
-    * [Pixhawk 3 Pro](https://docs.px4.io/main/en/flight_controller/pixhawk3_pro.html)
+    * [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
+    * [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
   * FMUv3 (STM32F4, 2014)
-    * [Pixhawk 2](https://docs.px4.io/main/en/flight_controller/pixhawk-2.html)
-    * [Pixhawk Mini](https://docs.px4.io/main/en/flight_controller/pixhawk_mini.html)
-    * [CUAV Pixhack v3](https://docs.px4.io/main/en/flight_controller/pixhack_v3.html)
+    * [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
+    * [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
+    * [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
   * FMUv2 (STM32F4, 2013)
-    * [Pixhawk](https://docs.px4.io/main/en/flight_controller/pixhawk.html)
-    * [Pixfalcon](https://docs.px4.io/main/en/flight_controller/pixfalcon.html)
+    * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
+    * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
 
 ### Manufacturer and Community supported
-  * [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html)
-  * [Hex Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
-  * [Hex Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
+  * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
+  * [Hex Cube Orange](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_orange.html)
+  * [Hex Cube Yellow](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_yellow.html)
   * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
   * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
-  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/main/en/complete_vehicles/crazyflie2.html)
-  * [Omnibus F4 SD](https://docs.px4.io/main/en/flight_controller/omnibus_f4_sd.html)
-  * [Holybro Kakute F7](https://docs.px4.io/main/en/flight_controller/kakutef7.html)
-  * [Raspberry PI with Navio 2](https://docs.px4.io/main/en/flight_controller/raspberry_pi_navio2.html)
+  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/complete_vehicles/crazyflie2.html)
+  * [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
+  * [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
+  * [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)
 
-Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
+Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/master/en/flight_controller/).
 
 ## Project Roadmap
 
 A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).
-
-## Project Governance
-
-The PX4 Autopilot project including all of its trademarks is hosted under [Dronecode](https://www.dronecode.org/), part of the Linux Foundation.
-
-<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://mavlink.io/assets/site/logo_dronecode.png" alt="Dronecode Logo" width="110px"/></a>
-<a href="https://www.linuxfoundation.org/projects" style="padding:20px;"><img src="https://mavlink.io/assets/site/logo_linux_foundation.png" alt="Linux Foundation Logo" width="80px" /></a>
-<div style="padding:10px">&nbsp;</div>

ROMFS/CMakeLists.txt

@@ -112,17 +112,23 @@ add_custom_command(
 		${PX4_SOURCE_DIR}/Tools/px4airframes/xmlout.py
 		${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
 	)
+set(romfs_extract_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_extract.stamp)
+add_custom_command(
+	OUTPUT ${romfs_extract_stamp}
+	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
+	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
+	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
+	WORKING_DIRECTORY ${romfs_gen_root_dir}
+	DEPENDS ${romfs_tar_file}
+	VERBATIM
+	)
 
-
-set(romfs_copy_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_copy.stamp)
 add_custom_command(
 	OUTPUT
 		${romfs_gen_root_dir}/init.d/rc.serial
 		${romfs_gen_root_dir}/init.d/rc.autostart
 		${romfs_gen_root_dir}/init.d/rc.autostart.post
-		${romfs_copy_stamp}
-	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
-	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
+		romfs_copy.stamp
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		--airframes-path ${romfs_gen_root_dir}/init.d
 		--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
@@ -131,9 +137,9 @@ add_custom_command(
 		--rc-dir ${romfs_gen_root_dir}/init.d
 		--serial-ports ${board_serial_ports} ${added_arguments}
 		--config-files ${module_config_files} #--verbose
-	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
-	WORKING_DIRECTORY ${romfs_gen_root_dir}
-	DEPENDS ${romfs_tar_file}
+	COMMAND ${CMAKE_COMMAND} -E touch romfs_copy.stamp
+	DEPENDS
+		${romfs_extract_stamp}
 	COMMENT "ROMFS: copying, generating airframes"
 	)
 
@@ -305,7 +311,7 @@ add_custom_command(OUTPUT romfs_extras.stamp
 
 add_custom_target(romfs_gen_files_target
 	DEPENDS
-		${romfs_copy_stamp}
+		${romfs_extract_stamp}
 		${romfs_gen_root_dir}/init.d/rc.serial
 		romfs_extras.stamp
 	)

ROMFS/cannode/init.d/rcS

@@ -86,28 +86,10 @@ unset BOARD_RC_SENSORS
 . ${R}etc/init.d/rc.serial
 
 # Check for flow sensor
-if param compare -s SENS_EN_PX4FLOW 1
+if param compare SENS_EN_PX4FLOW 1
 then
 	px4flow start -X &
 fi
 
-if param compare -s IMU_GYRO_CAL_EN 1
-then
-	gyro_calibration start
-fi
-
-
-if param compare -s MBE_ENABLE 1
-then
-	# conservative mag bias estimation
-	param set-default MBE_LEARN_GAIN 5
-	param set-default IMU_GYRO_CUTOFF 20
-	mag_bias_estimator start
-fi
-
-param set-default SENS_MAG_RATE 100
-
-sensors start
-
 uavcannode start
 unset R

ROMFS/px4fmu_common/init.d-posix/airframes/10020_if750a.post

@@ -0,0 +1,10 @@
+
+mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
+
+mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
+
+# shellcheck disable=SC2154
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
+# shellcheck disable=SC2154
+mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local

ROMFS/px4fmu_common/init.d-posix/airframes/10028_quadrotor_x

@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Quadrotor SITL model for JSBSim
+#
+# @type Quadrotor Wide
+#
+# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER quad_w

ROMFS/px4fmu_common/init.d-posix/airframes/10029_hexarotor_x

@@ -0,0 +1,30 @@
+#!/bin/sh
+#
+# @name Hexacopter SITL model for JSBSim
+#
+# @type Hexarotor x
+#
+# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default MC_PITCHRATE_P 0.1
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCH_P 6.0
+param set-default MC_ROLLRATE_P 0.15
+param set-default MC_ROLLRATE_I 0.1
+param set-default MC_ROLL_P 6.0
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_P_ACC 3
+
+param set-default RTL_DESCEND_ALT 10
+
+param set-default TRIG_INTERFACE 3
+param set-default TRIG_MODE 4
+param set-default MNT_MODE_IN 4
+param set-default MNT_DO_STAB 2
+
+param set-default MAV_TYPE 13
+
+set MIXER hexa_x

ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow

@@ -18,7 +18,3 @@ param set-default LPE_FAKE_ORIGIN 1
 
 param set-default MPC_ALT_MODE 2
 
-param set-default SENS_FLOW_ROT 6
-param set-default SENS_FLOW_MINHGT 0.7
-param set-default SENS_FLOW_MAXHGT 3.0
-param set-default SENS_FLOW_MAXR 2.5

ROMFS/px4fmu_common/init.d-posix/airframes/1017_iris_opt_flow_mockup

@@ -9,6 +9,7 @@
 
 # EKF2
 param set-default EKF2_AID_MASK 2
+param set-default SENS_FLOW_ROT 0
 
 # LPE: Flow-only mode
 param set-default LPE_FUSION 242

ROMFS/px4fmu_common/init.d-posix/airframes/1025_iris_depth_camera

@@ -0,0 +1,11 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Depth Camera)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+# param set COM_OBS_AVOID 1
+param set-default MPC_XY_CRUISE 5.0

ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane

@@ -13,12 +13,9 @@ param set-default FW_LND_ANG 8
 
 param set-default FW_L1_PERIOD 12
 
-param set-default FW_MAN_P_MAX 30
-
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.2
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 
 param set-default FW_RR_FF 0.1

ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer

@@ -13,12 +13,9 @@ param set-default FW_LND_ANG 8
 
 param set-default FW_L1_PERIOD 12
 
-param set-default FW_MAN_P_MAX 30
-
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.2
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 
 param set-default FW_RR_FF 0.1

ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol

@@ -49,11 +49,9 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 
 param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3
@@ -64,6 +62,7 @@ param set-default FW_T_CLMB_MAX 8
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
 
+param set-default MC_AIRMODE 1
 param set-default MC_ROLLRATE_P 0.3
 param set-default MC_YAW_P 1.6
 

ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter

@@ -44,11 +44,9 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_REV 96 # invert both elevons
 
 param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_I 0.2
 param set-default FW_PR_P 0.2
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_P 0.2
 param set-default FW_THR_TRIM 0.33
@@ -61,6 +59,7 @@ param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
 param set-default FW_T_TAS_TC 2
 
+param set-default MC_AIRMODE 1
 param set-default MC_ROLLRATE_P 0.3
 
 param set-default MPC_ACC_HOR_MAX 2

ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor

@@ -27,9 +27,7 @@ param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05
 
 param set-default CA_ROTOR0_TILT 1
-param set-default CA_ROTOR1_TILT 2
 param set-default CA_ROTOR2_TILT 3
-param set-default CA_ROTOR3_TILT 4
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
@@ -37,9 +35,7 @@ param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default CA_SV_CS2_TYPE 3
 param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_TL0_CT 0
 param set-default CA_SV_TL1_CT 0
-param set-default CA_SV_TL2_CT 0
 param set-default CA_SV_TL3_CT 0
 param set-default CA_SV_TL_COUNT 4
 
@@ -56,11 +52,9 @@ param set-default PWM_MAIN_FUNC10 202
 param set-default PWM_MAIN_FUNC11 203
 
 param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3
@@ -72,6 +66,9 @@ param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
 
 param set-default MC_YAW_P 1.6
+param set-default MC_AIRMODE 1
+param set-default MC_YAWRATE_P 0.3
+param set-default MC_YAWRATE_I 0.3
 
 param set-default MIS_TAKEOFF_ALT 10
 

ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop

@@ -8,11 +8,9 @@
 . ${R}etc/init.d/rc.vtol_defaults
 
 param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3

ROMFS/px4fmu_common/init.d-posix/airframes/1058_standard_vtol_gimbal

@@ -0,0 +1,17 @@
+#!/bin/sh
+#
+# @name Standard VTOL with gimbal
+#
+# @type Standard VTOL with gimbal
+#
+
+. ${R}etc/init.d-posix/1040_standard_vtol
+
+param set-default TRIG_INTERFACE 3
+param set-default TRIG_MODE 4
+param set-default MNT_MODE_IN 0
+
+param set-default MAV_TYPE 22
+
+set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1058_standard_vtol_gimbal.post

@@ -0,0 +1,10 @@
+
+mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
+
+mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
+
+# shellcheck disable=SC2154
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
+# shellcheck disable=SC2154
+mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local

ROMFS/px4fmu_common/init.d-posix/airframes/1059_tiltrotor_tri

@@ -0,0 +1,54 @@
+#!/bin/sh
+#
+# @name VTOL Tiltrotor Tricopter
+#
+# @type VTOL Tiltrotor Tricopter
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set-default FW_AIRSPD_MAX 25
+param set-default FW_AIRSPD_MIN 14
+param set-default FW_AIRSPD_TRIM 16
+param set-default FW_L1_PERIOD 12
+
+param set-default MC_ROLLRATE_P 0.3
+
+param set-default MIS_LTRMIN_ALT 10
+param set-default MIS_TAKEOFF_ALT 10
+param set-default MIS_YAW_TMT 10
+
+param set-default MC_PITCHRATE_P 0.3
+param set-default MC_PITCH_P 5.0
+param set-default MC_ROLLRATE_P 0.4
+param set-default MC_ROLL_P 5.0
+param set-default MC_YAWRATE_P 0.8
+param set-default MC_YAW_P 1.5
+
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_MAN_Y_MAX 70
+param set-default MPC_THR_MIN 0.1
+param set-default MPC_TKO_SPEED 1
+param set-default MPC_XY_P 0.15
+param set-default MPC_XY_VEL_D 0.005
+param set-default MPC_XY_VEL_I 0.2
+param set-default MPC_XY_VEL_P 0.05
+param set-default MPC_Z_VEL_MAX_DN 1.5
+param set-default MPC_Z_VEL_P 0.8
+
+param set-default NAV_ACC_RAD 5
+param set-default NAV_LOITER_RAD 80
+
+param set-default VT_F_TRANS_DUR 5.0
+param set-default VT_F_TRANS_THR 0.75
+param set-default VT_TILT_FW 3.1415
+param set-default VT_TILT_TRANS 1.2
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_TYPE 1
+param set-default VT_B_TRANS_DUR 8
+
+param set-default MAV_TYPE 24
+
+set MIXER_FILE etc/mixers-sitl/tiltrotor_tri_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1063_rover_gimbal

@@ -0,0 +1,39 @@
+#!/bin/sh
+#
+# @name Rover
+#
+
+. ${R}etc/init.d/rc.rover_defaults
+
+param set-default GND_L1_DIST 5
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_SPEED_D 0.001
+param set-default GND_SPEED_I 3
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_P 0.25
+param set-default GND_SPEED_THR_SC 1
+param set-default GND_SPEED_TRIM 4
+param set-default GND_THR_CRUISE 0.3
+param set-default GND_THR_IDLE 0
+param set-default GND_THR_MAX 0.5
+param set-default GND_THR_MIN 0
+
+param set-default MIS_LTRMIN_ALT 0.01
+param set-default MIS_TAKEOFF_ALT 0.01
+param set-default NAV_ACC_RAD 0.5
+param set-default NAV_LOITER_RAD 2
+
+param set-default CBRK_AIRSPD_CHK 162128
+
+param set-default GND_MAX_ANG 0.6
+param set-default GND_WHEEL_BASE 2.0
+
+param set-default TRIG_INTERFACE 3
+param set-default TRIG_MODE 4
+param set-default MNT_MODE_IN 4
+param set-default MNT_MODE_OUT 2
+param set-default MNT_DO_STAB 2
+
+param set-default MAV_TYPE 10
+
+set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix

ROMFS/px4fmu_common/init.d-posix/airframes/1063_rover_gimbal.post

@@ -0,0 +1,10 @@
+
+mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
+
+mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
+
+# shellcheck disable=SC2154
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
+# shellcheck disable=SC2154
+mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local

ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1

@@ -38,7 +38,6 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_R_LIM 30
 
-param set-default FW_MAN_P_MAX 30.0
 param set-default FW_MAN_R_MAX 30.0
 
 param set-default FW_THR_TRIM 0.8

ROMFS/px4fmu_common/init.d-posix/airframes/17002_tf-g2

@@ -1,55 +0,0 @@
-#!/bin/sh
-#
-# @name ThunderFly TF-G2
-# ThunderFly TF-G2 autogyro airframe. Only for FlightGear simulator
-#
-# @type Autogyro
-# @class Autogyro
-#
-# @url https://github.com/ThunderFly-aerospace/TF-G2/
-#
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default FW_AIRSPD_STALL 5
-
-param set-default FW_P_RMAX_NEG 20.0
-param set-default FW_W_RMAX 10
-param set-default FW_W_EN 1
-
-param set-default FW_RR_P 0.08
-
-param set-default MIS_LTRMIN_ALT 50
-param set-default MIS_TAKEOFF_ALT 7
-
-param set-default NAV_ACC_RAD 20
-param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 50
-
-param set-default RWTO_TKOFF 0
-# Parameters related to autogyro takeoff PR
-#param set-default AG_TKOFF 1
-#param set-default AG_PROT_TYPE 1
-#param set-default AG_PROT_MIN_RPM 50.0
-#param set-default AG_PROT_TRG_RPM 900.0
-#param set-defoult AG_ROTOR_RPM 900.0
-
-param set-default FW_ARSP_SCALE_EN 0
-
-param set-default FW_AIRSPD_MAX 35
-param set-default FW_AIRSPD_MIN 7
-
-param set-default FW_P_LIM_MAX 25
-param set-default FW_P_LIM_MIN -5
-param set-default FW_R_LIM 30
-
-param set-default FW_MAN_P_MAX 30.0
-param set-default FW_MAN_R_MAX 30.0
-
-param set-default FW_THR_CRUISE 0.8
-param set-default FW_THR_IDLE 0
-param set-default COM_DISARM_PRFLT 0
-
-set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
-set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc

@@ -20,8 +20,14 @@ param set-default MC_ROLLRATE_I 0.0400
 param set-default MC_ROLLRATE_D 0.0010
 param set-default MC_ROLL_P 9.0
 
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_P_ACC 3
+param set-default MC_PITCHRATE_P 0.0800
+param set-default MC_PITCHRATE_I 0.0400
+param set-default MC_PITCHRATE_D 0.0010
+param set-default MC_PITCH_P 9.0
+param set-default MC_ROLLRATE_P 0.0800
+param set-default MC_ROLLRATE_I 0.0400
+param set-default MC_ROLLRATE_D 0.0010
+param set-default MC_ROLL_P 9.0
 
 param set-default RTL_DESCEND_ALT 10
 param set-default RTL_LAND_DELAY 0

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -37,6 +37,9 @@ px4_add_romfs_files(
 	10018_iris_foggy_lidar
 	10019_omnicopter
 	10020_if750a
+	10020_if750a.post
+	10028_quadrotor_x
+	10029_hexarotor_x
 	10030_px4vision
 	10040_quadx
 	10041_airplane
@@ -56,6 +59,7 @@ px4_add_romfs_files(
 	1020_uuv_generic
 	1021_uuv_hippocampus
 	1022_uuv_bluerov2_heavy
+	1025_iris_depth_camera
 	1030_plane
 	1031_plane_cam
 	1032_plane_catapult
@@ -71,14 +75,18 @@ px4_add_romfs_files(
 	1042_tiltrotor
 	1043_standard_vtol_drop
 	1043_standard_vtol_drop.post
+	1058_standard_vtol_gimbal
+	1058_standard_vtol_gimbal.post
+	1059_tiltrotor_tri
 	1060_rover
 	1061_r1_rover
 	1062_tf-r1
+	1063_rover_gimbal
+	1063_rover_gimbal.post
 	1070_boat
 	3010_quadrotor_x
 	3011_hexarotor_x
 	17001_tf-g1
-	17002_tf-g2
 	2507_cloudship
 	6011_typhoon_h480
 	6011_typhoon_h480.post

ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlink

@@ -24,6 +24,7 @@ mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
 
 # API/Offboard link
 mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
+mavlink stream -r 2 -s COMMAND_CANCEL -u $udp_offboard_port_local
 
 # Onboard link to camera
 mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -30,6 +30,7 @@ set MIXER_FILE                  none
 set OUTPUT_MODE                 sim
 set EXTRA_MIXER_MODE            none
 set PWM_OUT                     none
+set PWM_AUX_OUT                 none
 set SDCARD_MIXERS_PATH          etc/mixers
 set USE_IO                      no
 set VEHICLE_TYPE                none
@@ -103,6 +104,7 @@ fi
 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
+param set MNT_MAV_SYSID $((px4_instance+1))
 
 if [ $AUTOCNF = yes ]
 then
@@ -255,6 +257,12 @@ then
 	gyro_calibration start
 fi
 
+# Payload deliverer module if gripper is enabled
+if param compare -s PD_GRIPPER_EN 1
+then
+	payload_deliverer start
+fi
+
 #user defined mavlink streams for instances can be in PATH
 . px4-rc.mavlink
 

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -39,8 +39,10 @@ px4_add_romfs_files(
 	rc.balloon_apps
 	rc.balloon_defaults
 	rc.boat_defaults
+	rc.autostart_ext
 	rc.fw_apps
 	rc.fw_defaults
+	rc.heli_defaults
 	rc.interface
 	rc.logging
 	rc.mc_apps

ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery

@@ -1,36 +0,0 @@
-#!/bin/sh
-#
-# @name Team Blacksheep Discovery
-#
-# @type Quadrotor Wide
-# @class Copter
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 feed-through of RC AUX1 channel
-# @output MAIN6 feed-through of RC AUX2 channel
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-# @output AUX4 feed-through of RC FLAPS channel
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default MC_ROLLRATE_P 0.1
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.0017
-param set-default MC_PITCHRATE_P 0.14
-param set-default MC_PITCHRATE_I 0.1
-param set-default MC_PITCHRATE_D 0.0025
-param set-default MC_YAWRATE_P 0.28
-
-set MIXER quad_w

ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris

@@ -1,40 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor
-#
-# @type Quadrotor Wide
-# @class Copter
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-# @output AUX4 feed-through of RC FLAPS channel
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-# TODO tune roll/pitch separately
-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_YAW_P 2.5
-param set-default MC_YAWRATE_P 0.25
-param set-default MC_YAWRATE_I 0.25
-
-param set-default BAT1_V_DIV 12.27559
-param set-default BAT1_A_PER_V 15.391030303103
-
-set MIXER quad_w

ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance

@@ -1,43 +0,0 @@
-#!/bin/sh
-#
-# @name Team Blacksheep Discovery Endurance
-#
-# @type Quadrotor Wide
-# @class Copter
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 feed-through of RC AUX1 channel
-# @output MAIN6 feed-through of RC AUX2 channel
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-# @output AUX4 feed-through of RC FLAPS channel
-#
-# @maintainer Simon Wilks <simon@uaventure.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default BAT1_N_CELLS 6
-param set-default BAT1_V_EMPTY 3.5
-
-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.08
-param set-default MC_ROLLRATE_I 0.02
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.13
-param set-default MC_PITCHRATE_I 0.02
-param set-default MC_PITCHRATE_D 0.005
-
-param set-default MPC_XY_VEL_MAX 2
-
-param set-default PWM_MAIN_MIN 1080
-
-set MIXER quad_w

ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil

@@ -45,7 +45,6 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_P_ACC 3
 param set-default MPC_Z_VEL_P_ACC 12
 param set-default MPC_Z_VEL_I_ACC 3
-param set-default MPC_Z_VEL_MAX_DN 1.5
 
 param set-default NAV_ACC_RAD 5
 param set-default NAV_DLL_ACT 2

ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol

@@ -1,43 +0,0 @@
-#!/bin/sh
-#
-# @name Caipiroshka Duo Tailsitter
-#
-# @type VTOL Duo Tailsitter
-# @class VTOL
-#
-# @output MAIN1 motor right
-# @output MAIN2 motor left
-# @output MAIN5 elevon right
-# @output MAIN6 elevon left
-#
-# @maintainer Roman Bapst <roman@px4.io>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default MAV_TYPE 19
-
-param set-default MC_ROLL_P 6
-param set-default MC_ROLLRATE_P 0.12
-param set-default MC_ROLLRATE_I 0.002
-
-param set-default MC_PITCH_P 4.5
-param set-default MC_PITCHRATE_P 0.3
-param set-default MC_PITCHRATE_I 0.002
-
-param set-default MC_YAW_P 3.8
-param set-default MC_YAWRATE_P 0.22
-param set-default MC_YAWRATE_I 0.02
-
-param set-default VT_IDLE_PWM_MC  1080
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_MOT_ID 12
-param set-default VT_TYPE 0
-
-set MIXER vtol_tailsitter_duo
-
-set PWM_OUT 123456

ROMFS/px4fmu_common/init.d/airframes/13002_firefly6

@@ -1,53 +0,0 @@
-#!/bin/sh
-#
-# @name BirdsEyeView Aerobotics FireFly6
-# @type VTOL Tiltrotor
-# @class VTOL
-#
-# @maintainer Roman Bapst <roman@uaventure.com>
-#
-# @output MAIN1 Front right motor bottom
-# @output MAIN2 Front right motor top
-# @output MAIN3 Back motor bottom
-# @output MAIN4 Back motor top
-# @output MAIN5 Front left motor bottom
-# @output MAIN6 Front left motor top
-# @output AUX1 Tilt servo
-# @output AUX2 Elevon 1
-# @output AUX3 Elevon 2
-# @output AUX4 Gear
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default MAV_TYPE 21
-
-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.19
-param set-default MC_ROLLRATE_I 0.002
-param set-default MC_ROLLRATE_D 0.005
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.14
-param set-default MC_PITCHRATE_I 0.002
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_YAW_P 4
-param set-default MC_YAWRATE_P 0.22
-param set-default MC_YAWRATE_I 0.02
-
-param set-default VT_FW_MOT_OFFID 34
-param set-default VT_IDLE_PWM_MC 1080
-param set-default VT_MOT_ID 123456
-param set-default VT_FW_MOT_OFFID 56
-param set-default VT_TILT_MC 0.08
-param set-default VT_TILT_TRANS 0.5
-param set-default VT_TILT_FW 0.9
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_TYPE 1
-
-set MIXER firefly6
-set MIXER_AUX firefly6
-
-set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger

@@ -1,53 +0,0 @@
-#!/bin/sh
-#
-# @name QuadRanger
-#
-# @type Standard VTOL
-# @class VTOL
-#
-# @maintainer Sander Smeets <sander@droneslab.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-
-param set-default FW_THR_TRIM 65
-param set-default FW_RR_FF 0.6
-
-param set-default MIS_YAW_TMT 10
-
-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_I 0.1
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_I 0.1
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_YAW_P 3.5
-param set-default MC_YAWRATE_P 0.6
-param set-default MC_YAWRATE_I 0.04
-param set-default MC_YAWRATE_MAX 40
-
-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_Z_VEL_MAX_DN 1.5
-param set-default MPC_LAND_SPEED 0.8
-param set-default MPC_YAWRAUTO_MAX 40
-
-param set-default PWM_AUX_DIS5 950
-param set-default PWM_AUX_REV1 1
-param set-default PWM_AUX_REV2 1
-
-param set-default VT_ARSP_TRANS 15
-param set-default VT_ARSP_BLEND 8
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_IDLE_PWM_MC 1080
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_TYPE 2
-
-set MIXER quad_x
-set MIXER_AUX vtol_AAERT
-
-set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger

@@ -1,83 +0,0 @@
-#!/bin/sh
-#
-# @name Sparkle Tech Ranger VTOL
-#
-# @type Standard VTOL
-# @class VTOL
-#
-# @maintainer Andreas Antener <andreas@uaventure.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default FW_AIRSPD_MAX   22
-param set-default FW_AIRSPD_MIN   14
-param set-default FW_AIRSPD_TRIM  16
-param set-default FW_L1_PERIOD    25
-param set-default FW_PR_P 0.060
-param set-default FW_P_RMAX_NEG   40
-param set-default FW_P_RMAX_POS   40
-param set-default FW_RR_FF    0.4
-param set-default FW_RR_P 0.04
-param set-default FW_R_RMAX   40
-
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_PITCHRATE_I 0
-param set-default MC_PITCHRATE_MAX 60
-param set-default MC_PITCHRATE_P 0.21
-param set-default MC_PITCH_P 4
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_ROLLRATE_I 0.002
-param set-default MC_ROLLRATE_MAX 60
-param set-default MC_ROLLRATE_P 0.24
-param set-default MC_ROLL_P 4
-param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_MAX 40
-param set-default MC_YAWRATE_P 0.18
-
-param set-default MIS_TAKEOFF_ALT 2.5
-param set-default MIS_YAW_TMT 20
-
-param set-default MPC_ACC_HOR_MAX 1
-param set-default MPC_HOLD_MAX_XY 0.5
-param set-default MPC_HOLD_MAX_Z  0.5
-param set-default MPC_LAND_SPEED  1
-param set-default MPC_MANTHR_MIN  0.05
-param set-default MPC_MAN_Y_MAX   120
-param set-default MPC_THR_MIN 0.07
-param set-default MPC_TILTMAX_AIR 35
-param set-default MPC_TILTMAX_LND 20
-param set-default MPC_TKO_SPEED   1
-param set-default MPC_XY_P    0.3
-param set-default MPC_XY_VEL_MAX  3
-param set-default MPC_XY_VEL_P_ACC 1
-param set-default MPC_Z_P 0.5
-param set-default MPC_Z_VEL_P_ACC 2
-param set-default MPC_YAWRAUTO_MAX 40
-
-param set-default NAV_ACC_RAD 3
-
-param set-default PWM_AUX_REV1    1
-param set-default PWM_AUX_REV2    1
-param set-default PWM_AUX_REV3    1
-param set-default PWM_AUX_REV4    1
-
-param set-default PWM_AUX_DIS5 950
-
-param set-default VT_ARSP_TRANS   15
-param set-default VT_F_TRANS_THR    0.6
-param set-default VT_IDLE_PWM_MC 1180
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_TRANS_MIN_TM 5
-param set-default VT_TRANS_TIMEOUT    30
-param set-default VT_TYPE 2
-
-set MIXER quad_x
-set MIXER_AUX vtol_AAERT
-
-set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/13012_convergence

@@ -34,8 +34,6 @@ param set-default FW_ACRO_X_MAX   270
 param set-default FW_ACRO_Y_MAX   270
 param set-default FW_ACRO_Z_MAX   180
 param set-default FW_PSP_OFF  5
-param set-default FW_P_LIM_MAX    30
-param set-default FW_P_LIM_MIN    -30
 param set-default FW_RR_FF    0.33
 param set-default FW_RR_P 0.11
 
@@ -74,4 +72,4 @@ then
 	set PWM_OUT 1234
 else
 	set PWM_OUT 3456
-fi	
+fi

ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad

@@ -55,7 +55,6 @@ param set-default FW_T_SINK_MIN 1
 param set-default FW_T_VERT_ACC 6
 param set-default FW_THR_TRIM 0.70
 param set-default FW_THR_SLEW_MAX 1
-param set-default FW_MAN_P_MAX 30
 param set-default FW_P_LIM_MAX 15
 param set-default FW_P_LIM_MIN -25
 param set-default FW_P_RMAX_NEG 45
@@ -90,7 +89,6 @@ param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_LAND_SPEED 1.2
 param set-default MPC_TILTMAX_LND 35
 param set-default MPC_Z_VEL_MAX_UP 1.5
-param set-default MPC_Z_VEL_MAX_DN 1.5
 param set-default MPC_HOLD_MAX_XY 0.5
 param set-default MPC_HOLD_MAX_Z 0.5
 param set-default MPC_TKO_RAMP_T 0.8

ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark

@@ -31,7 +31,6 @@ param set-default FW_AIRSPD_MAX 30
 param set-default FW_AIRSPD_MIN 19
 param set-default FW_AIRSPD_TRIM 23
 param set-default FW_L1_R_SLEW_MAX 40
-param set-default FW_MAN_P_MAX 30
 param set-default FW_PSP_OFF 3
 param set-default FW_P_LIM_MAX 18
 param set-default FW_P_LIM_MIN -25
@@ -62,7 +61,7 @@ param set-default MPC_JERK_AUTO 4
 param set-default MPC_LAND_SPEED 1
 param set-default MPC_MAN_TILT_MAX 25
 param set-default MPC_MAN_Y_MAX 40
-param set-default COM_SPOOLUP_TIME 1.5
+param set-default MPC_SPOOLUP_TIME 1.5
 param set-default MPC_THR_HOVER 0.45
 param set-default MPC_TILTMAX_AIR 25
 param set-default MPC_TKO_RAMP_T 1.8
@@ -71,7 +70,6 @@ param set-default MPC_VEL_MANUAL 3
 param set-default MPC_XY_CRUISE 3
 param set-default MPC_XY_VEL_MAX 3.5
 param set-default MPC_YAWRAUTO_MAX 40
-param set-default MPC_Z_VEL_MAX_DN 1.5
 param set-default MPC_Z_VEL_MAX_UP 2
 
 param set-default NAV_ACC_RAD 3

ROMFS/px4fmu_common/init.d/airframes/16001_helicopter

@@ -1,54 +1,26 @@
 #!/bin/sh
 #
-# @name Blade 130X
+# @name Generic Helicopter (Tail ESC)
 #
 # @type Helicopter
 # @class Copter
 #
-# @maintainer Bart Slinger <bartslinger@gmail.com>
-#
-# @output MAIN1 main motor
-# @output MAIN2 front swashplate servo
-# @output MAIN3 right swashplate servo
-# @output MAIN4 left swashplate servo
-# @output MAIN5 tail-rotor servo
-#
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.heli_defaults
 
-# Configure as helicopter (number 4 defined in commander_helper.cpp)
-param set-default MAV_TYPE 4
 
-set MIXER blade130
-
-set PWM_OUT none
-
-param set-default ATT_BIAS_MAX 0
-
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default MC_ROLL_P 5
+# Disable PID gains for initial setup. These should be enabled after setting the FF gain.
+# P is expected to be lower than FF.
 param set-default MC_ROLLRATE_P 0
 param set-default MC_ROLLRATE_I 0
 param set-default MC_ROLLRATE_D 0
-param set-default MC_ROLLRATE_FF 0.15
+param set-default MC_ROLLRATE_FF 0.1
 param set-default MC_PITCHRATE_P 0
 param set-default MC_PITCHRATE_I 0
 param set-default MC_PITCHRATE_D 0
-param set-default MC_PITCHRATE_FF 0.15
-param set-default MC_YAW_P 3
-param set-default MC_YAWRATE_P 0.1
-param set-default MC_YAWRATE_I 0
-param set-default MC_ROLLRATE_MAX 720
-param set-default MC_PITCHRATE_MAX 720
-param set-default MC_YAWRATE_MAX 400
-param set-default MC_ACRO_R_MAX 360
-param set-default MC_ACRO_P_MAX 360
+param set-default MC_PITCHRATE_FF 0.1
 
-param set-default MPC_THR_MIN 0.06
-param set-default MPC_MANTHR_MIN 0.06
-
-param set-default PWM_MAIN_MIN 1075
+param set-default CA_AIRFRAME 10

ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2

@@ -1,51 +0,0 @@
-#!/bin/sh
-#
-# @name ThunderFly Auto-G2
-#
-# @type Autogyro
-# @class Autogyro
-#
-# @output MAIN1 rotor_head_L
-# @output MAIN2 rotor_head_R
-# @output MAIN3 elevator
-# @output MAIN4 rudder
-# @output MAIN5 rudder (second, optional)
-# @output MAIN6 throttle
-# @output MAIN7 wheel
-#
-# @output AUX1 feed-through of RC AUX1 channel for prerotator (optional)
-# @output AUX2 feed-through of RC AUX2 channel for release device (optional)
-#
-# @url https://github.com/ThunderFly-aerospace/Auto-G2/
-# @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-
-param set-default BAT1_CAPACITY 2500
-param set-default BAT1_N_CELLS 3
-
-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_RATE 50
-
-param set-default SENS_BOARD_ROT 8
-
-param set-default FW_AIRSPD_MAX 20
-param set-default FW_AIRSPD_MIN 7
-param set-default FW_AIRSPD_TRIM 13
-param set-default FW_THR_TRIM 0.8
-
-param set-default FW_MAN_P_MAX 25
-param set-default FW_MAN_R_MAX 25
-param set-default FW_PR_I 0.02
-param set-default FW_R_LIM 40
-param set-default FW_P_LIM_MAX 25
-param set-default FW_P_LIM_MIN -5
-param set-default FW_P_RMAX_NEG 20
-
-set MIXER TF-AutoG2
-set MIXER_AUX pass

ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2

@@ -1,46 +0,0 @@
-#!/bin/sh
-#
-# @name ThunderFly TF-G2
-#
-# @type Autogyro
-# @class Autogyro
-#
-# @output MAIN2 rotor_head_L
-# @output MAIN3 rotor_head_R
-# @output MAIN4 rudder
-# @output MAIN5 throttle
-#
-#
-# @url https://github.com/ThunderFly-aerospace/TF-G2/
-# @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-
-param set-default BAT1_CAPACITY 3300
-param set-default BAT1_N_CELLS 3
-
-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_RATE 50
-
-param set-default SENS_BOARD_ROT 4
-
-param set-default FW_AIRSPD_MAX 20
-param set-default FW_AIRSPD_MIN 7
-param set-default FW_AIRSPD_TRIM 13
-param set-default FW_THR_TRIM 0.8
-
-param set-default FW_MAN_P_MAX 25
-param set-default FW_MAN_R_MAX 25
-param set-default FW_PR_I 0.02
-param set-default FW_R_LIM 40
-param set-default FW_P_LIM_MAX 25
-param set-default FW_P_LIM_MIN -5
-param set-default FW_P_RMAX_NEG 20
-
-set MIXER TF-G2
-set MIXER_AUX pass

ROMFS/px4fmu_common/init.d/airframes/2105_maja

@@ -1,45 +0,0 @@
-#!/bin/sh
-#
-# @name Bormatec Maja
-#
-# @type Standard Plane
-# @class 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>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default FW_MAN_P_MAX 55
-param set-default FW_MAN_R_MAX 55
-param set-default FW_R_LIM 55
-
-param set-default FW_WR_FF 0.2
-param set-default FW_WR_I 0.2
-param set-default FW_WR_IMAX 0.8
-param set-default FW_WR_P 1
-param set-default FW_W_RMAX 0
-
-# set disarmed value for the ESC
-param set-default PWM_MAIN_DISARM 1000
-
-
-set MIXER AAERTWF
-
-# use PWM parameters for throttle channel
-set PWM_OUT 5

ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon

@@ -1,48 +0,0 @@
-#!/bin/sh
-#
-# @name X-UAV Mini Talon
-#
-# @type Plane V-Tail
-# @class 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 Friedrich Beckmann <friedrich.beckmann@hs-augsburg.de>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default FW_MAN_P_MAX 55
-param set-default FW_MAN_R_MAX 55
-param set-default FW_R_LIM 55
-
-param set-default FW_WR_FF 0.2
-param set-default FW_WR_I 0.2
-param set-default FW_WR_IMAX 0.8
-param set-default FW_WR_P 1
-param set-default FW_W_RMAX 0
-
-# set disarmed value for the ESC
-param set-default PWM_MAIN_DISARM 1000
-
-# The Mini Talon does not have a wheel and
-# no flaps. I leave them here because the mixer
-# computes also wheel and flap controls.
-set MIXER AAVVTWFF_vtail
-
-# use PWM parameters for throttle channel
-set PWM_OUT 5

ROMFS/px4fmu_common/init.d/airframes/3031_phantom

@@ -1,49 +0,0 @@
-#!/bin/sh
-#
-# @name Phantom FPV Flying Wing
-#
-# @url https://docs.px4.io/master/en/frames_plane/wing_wing_z84.html
-#
-# @type Flying Wing
-# @class Plane
-#
-# @output MAIN1 left aileron
-# @output MAIN2 right aileron
-# @output MAIN4 throttle
-#
-# @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 Simon Wilks <simon@uaventure.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default FW_AIRSPD_MIN 13
-param set-default FW_AIRSPD_MAX 25
-param set-default FW_R_TC 0.3
-param set-default FW_P_TC 0.3
-param set-default FW_L1_PERIOD 15
-param set-default FW_PR_FF 0.2
-param set-default FW_PR_IMAX 0.2
-param set-default FW_PR_P 0.03
-param set-default FW_P_LIM_MAX 50
-param set-default FW_P_LIM_MIN -50
-param set-default FW_RR_P 0.08
-param set-default FW_R_LIM 50
-param set-default FW_R_RMAX 50
-
-param set-default PWM_MAIN_DISARM 1000
-
-# Bottom of bay and nominal zero-pitch attitude differ
-# the payload bay is pitched up about 7 degrees
-param set-default SENS_BOARD_Y_OFF 7
-
-set MIXER fw_generic_wing
-
-# Provide ESC a constant 1000 us pulse
-set PWM_OUT 4

ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5

@@ -1,37 +0,0 @@
-#!/bin/sh
-#
-# @name Skywalker X5 Flying Wing
-#
-# @type Flying Wing
-# @class Plane
-#
-# @output MAIN1 left aileron
-# @output MAIN2 right aileron
-# @output MAIN4 throttle
-#
-# @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 Julian Oes <julian@px4.io>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default FW_AIRSPD_MIN 15
-param set-default FW_AIRSPD_TRIM 20
-param set-default FW_AIRSPD_MAX 40
-param set-default FW_R_TC 0.3
-param set-default FW_P_TC 0.3
-param set-default FW_L1_DAMPING 0.74
-param set-default FW_L1_PERIOD 16
-param set-default FW_LND_ANG 15
-param set-default FW_LND_FLALT 5
-param set-default FW_PR_FF 0.35
-param set-default FW_RR_FF 0.6
-param set-default FW_RR_P 0.04
-
-set MIXER fw_generic_wing

ROMFS/px4fmu_common/init.d/airframes/3033_wingwing

@@ -1,45 +0,0 @@
-#!/bin/sh
-#
-# @name Wing Wing (aka Z-84) Flying Wing
-#
-# @url https://docs.px4.io/master/en/frames_plane/wing_wing_z84.html
-#
-# @type Flying Wing
-# @class Plane
-#
-# @output MAIN1 left aileron
-# @output MAIN2 right aileron
-# @output MAIN4 throttle
-#
-# @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>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default BAT1_N_CELLS 2
-param set-default FW_AIRSPD_MAX 15
-param set-default FW_AIRSPD_TRIM 13
-param set-default FW_R_TC 0.3
-param set-default FW_P_TC 0.3
-param set-default FW_L1_DAMPING 0.74
-param set-default FW_L1_PERIOD 16
-param set-default FW_LND_ANG 15
-param set-default FW_LND_FLALT 5
-param set-default FW_PR_FF 0.35
-param set-default FW_RR_FF 0.6
-param set-default FW_RR_P 0.04
-
-param set-default PWM_MAIN_DISARM 1000
-
-# Set mixer.
-set MIXER fw_generic_wing
-
-# Provide ESC a constant 1000 us pulse.
-set PWM_OUT 4

ROMFS/px4fmu_common/init.d/airframes/3036_pigeon

@@ -1,49 +0,0 @@
-#!/bin/sh
-#
-# @name Sparkle Tech Pigeon
-#
-# @url http://www.sparkletech.hk/
-#
-# @type Flying Wing
-# @class Plane
-#
-# @output MAIN1 left aileron
-# @output MAIN2 right aileron
-# @output MAIN4 throttle
-#
-# @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 Simon Wilks <simon@uaventure.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default FW_AIRSPD_MIN 15
-param set-default FW_AIRSPD_TRIM 20
-param set-default FW_AIRSPD_MAX 27
-param set-default FW_ATT_TC 0.3
-param set-default FW_PR_FF 0.35
-param set-default FW_PR_IMAX 0.2
-param set-default FW_PR_P 0.05
-param set-default FW_P_TC 0.3
-param set-default FW_RR_FF 0.3
-param set-default FW_RR_P 0.03
-param set-default FW_R_LIM 40
-param set-default FW_R_RMAX 50
-param set-default FW_R_TC 0.3
-
-param set-default PWM_MAIN_DISARM 1000
-
-# Bottom of bay and nominal zero-pitch attitude differ
-# the payload bay is pitched up about 7 degrees
-param set-default SENS_BOARD_Y_OFF 11.9
-
-set MIXER fw_generic_wing
-
-# Provide ESC a constant 1000 us pulse
-set PWM_OUT 4

ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha

@@ -1,58 +0,0 @@
-#!/bin/sh
-#
-# @name TBS Caipirinha
-#
-# @type Flying Wing
-# @class Plane
-#
-# @output MAIN1 left aileron
-# @output MAIN2 right aileron
-# @output MAIN4 throttle
-#
-# @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>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default FW_AIRSPD_MAX 25
-param set-default FW_AIRSPD_MIN 12.5
-param set-default FW_AIRSPD_TRIM 16.5
-param set-default FW_L1_PERIOD 15
-param set-default FW_LND_ANG 15
-param set-default FW_LND_FLALT 8
-param set-default FW_P_LIM_MAX 20
-param set-default FW_P_LIM_MIN -30
-param set-default FW_R_LIM 45
-param set-default FW_PR_FF 0.45
-param set-default FW_PR_P 0.005
-param set-default FW_RR_FF 0.45
-param set-default FW_RR_P 0.013
-param set-default FW_P_RMAX_NEG 70
-param set-default FW_P_RMAX_POS 70
-param set-default FW_R_RMAX 70
-param set-default FW_THR_TRIM 0.55
-
-param set-default LNDFW_AIRSPD_MAX 6
-param set-default LNDFW_XYACC_MAX 4
-param set-default LNDFW_VEL_XY_MAX 3
-param set-default LNDFW_VEL_Z_MAX 5
-
-param set-default MIS_TAKEOFF_ALT 50
-
-param set-default NAV_LOITER_RAD 30
-
-param set-default PWM_MAIN_REV1 1
-param set-default PWM_MAIN_REV2 1
-param set-default PWM_MAIN_MIN 900
-param set-default PWM_MAIN_MAX 2100
-
-set MIXER fw_generic_wing
-
-set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision

@@ -69,7 +69,6 @@ param set-default CP_DIST 6
 param set-default MPC_ACC_DOWN_MAX 5
 param set-default MPC_ACC_HOR_MAX 10
 param set-default MPC_ACC_UP_MAX 4
-param set-default MPC_MANTHR_MIN 0
 param set-default MPC_MAN_Y_MAX 120
 param set-default MPC_TILTMAX_AIR 45
 param set-default MPC_THR_HOVER 0.3
@@ -104,6 +103,7 @@ param set-default SDLOG_PROFILE 131
 param set-default SENS_CM8JL65_CFG 104
 param set-default SENS_FLOW_MAXHGT 25
 param set-default SENS_FLOW_MINHGT 0.5
+param set-default SENS_FLOW_ROT 0
 param set-default IMU_GYRO_CUTOFF 100
 param set-default SENS_EN_PMW3901 1
 

ROMFS/px4fmu_common/init.d/airframes/4050_generic_250

@@ -26,7 +26,6 @@ param set-default MC_ROLLRATE_MAX 1600
 param set-default MC_PITCHRATE_MAX 1600
 param set-default MC_YAWRATE_MAX 1000
 
-param set-default MPC_MANTHR_MIN 0
 param set-default MPC_MAN_TILT_MAX 60
 
 # use thrust curve factor (instead of TPA)

ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu

@@ -47,7 +47,6 @@ param set-default COM_RC_LOSS_T 3
 
 # ekf2
 param set-default EKF2_AID_MASK 33
-param set-default EKF2_TERR_MASK 1
 param set-default EKF2_BARO_DELAY 0
 param set-default EKF2_BARO_NOISE 2.0
 
@@ -174,7 +173,7 @@ param set-default RC1_TRIM          1000
 param set-default SENS_FLOW_MAXR   7.4
 param set-default SENS_FLOW_MINHGT 0.15
 param set-default SENS_FLOW_MAXHGT 5.0
-param set-default SENS_FLOW_ROT 0
+param set-default SENS_FLOW_ROT    0
 
 # ignore the SD card errors and use normal startup sound
 set STARTUP_TUNE "1"

ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt

@@ -44,19 +44,12 @@ px4_add_romfs_files(
 
 	# [2000, 2999] Standard planes"
 	2100_standard_plane
-	2105_maja
 	2106_albatross
-	2200_mini_talon
 
 	2507_cloudship
 
 	# [3000, 3999] Flying wing"
 	3000_generic_wing
-	3031_phantom
-	3032_skywalker_x5
-	3033_wingwing
-	3036_pigeon
-	3100_tbs_caipirinha
 
 	# [4000, 4999] Quadrotor x"
 	4001_quad_x
@@ -67,8 +60,6 @@ px4_add_romfs_files(
 	4016_holybro_px4vision
 	4017_nxp_hovergames
 	4019_x500_v2
-	4030_3dr_solo
-	4031_3dr_quad
 	4040_reaper
 	4041_beta75x
 	4050_generic_250
@@ -77,11 +68,8 @@ px4_add_romfs_files(
 	4053_holybro_kopis2
 	4061_atl_mantis_edu
 	4071_ifo
-	4072_draco
 	4073_ifo-s
 	4080_zmr250
-	4090_nanomind
-	4100_tiltquadrotor
 	4500_clover4
 	4900_crazyflie
 	4901_crazyflie21
@@ -102,10 +90,6 @@ px4_add_romfs_files(
 	# [9000, 9999] Octorotor +"
 	9001_octo_+
 
-	# [10000, 10999] Quadrotor Wide arm / H frame"
-	10015_tbs_discovery
-	10016_3dr_iris
-	10018_tbs_endurance
 
 	# [11000, 11999] Hexa Cox
 	11001_hexa_cox
@@ -115,45 +99,31 @@ px4_add_romfs_files(
 
 	# [13000, 13999] VTOL
 	13000_generic_vtol_standard
-	13001_caipirinha_vtol
-	13002_firefly6
 	13003_quad_tailsitter
 	13004_quad+_tailsitter
 	13005_vtol_AAERT_quad
 	13006_vtol_standard_delta
 	13007_vtol_AAVVT_quad
-	13008_QuadRanger
-	13009_vtol_spt_ranger
 	13100_generic_vtol_tiltrotor
-	13012_convergence
 	13013_deltaquad
 	13014_vtol_babyshark
 	13030_generic_vtol_quad_tiltrotor
-	13050_generic_vtol_octo
 	13200_generic_vtol_tailsitter
 
 	# [14000, 14999] Tri Y
-	14001_tri_y_yaw+
-	14002_tri_y_yaw-
 
-	15001_coax_heli
 
 	16001_helicopter
 
 	# [17000, 17999] Autogyro
-	17002_TF-AutoG2
-	17003_TF-G2
+
 
 	# [18000, 18999] High-altitude balloons
 	18001_TF-B1
 
 	# [22000, 22999] Reserve for custom models
 
-	24001_dodeca_cox
-
 	50000_generic_ground_vehicle
-	50003_aion_robotics_r1_rover
-	50004_nxpcup_car_dfrobot_gpx
 
 	# [60000, 61000] (Unmanned) Underwater Robots
 	60000_uuv_generic

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -14,7 +14,7 @@ param set-default MAV_TYPE 1
 # Default parameters for fixed wing UAVs.
 #
 param set-default COM_POS_FS_DELAY 5
-param set-default COM_POS_FS_EPH 15
+param set-default COM_POS_FS_EPH 50
 param set-default COM_POS_FS_EPV 30
 param set-default COM_VEL_FS_EVH 5
 # Disable preflight disarm to not interfere with external launching

ROMFS/px4fmu_common/init.d/rc.heli_defaults

@@ -0,0 +1,17 @@
+#!/bin/sh
+#
+# Helicopter default parameters.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+# Inherit from mc
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default MAV_TYPE 4
+
+param set-default COM_PREARM_MODE 2
+param set-default COM_SPOOLUP_TIME 10
+
+# No need for minimum collective pitch (or airmode) to keep torque authority
+param set-default MPC_MANTHR_MIN 0

ROMFS/px4fmu_common/init.d/rc.interface

@@ -32,14 +32,17 @@ fi
 
 #
 # If mount (gimbal) control is enabled and output mode is AUX, set the aux
-# mixer to mount (override the airframe-specific MIXER_AUX setting).
+# mixer to mount if no other aux mixer has been set.
 #
 if param greater -s MNT_MODE_IN -1
 then
-        if param compare -s MNT_MODE_OUT 0
-        then
-                set MIXER_AUX mount
-        fi
+	if param compare -s MNT_MODE_OUT 0
+	then
+		if [ $MIXER_AUX = none ]
+		then
+			set MIXER_AUX mount
+		fi
+	fi
 fi
 
 #

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -129,11 +129,7 @@ fi
 # Sensirion SDP3X differential pressure sensor external I2C
 if param compare -s SENS_EN_SDP3X 1
 then
-	if ! sdp3x start -X
-	then
-		# try another common address
-		sdp3x start -X -a 0x22
-	fi
+	sdp3x start -X -k
 fi
 
 # TE MS4515 differential pressure sensor external I2C

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -10,6 +10,8 @@ set VEHICLE_TYPE vtol
 # MAV_TYPE_VTOL_FIXEDROTOR 22
 param set-default MAV_TYPE 22
 
+param set-default COM_POS_FS_EPH 50
+
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_YAW_TMT 10
 
@@ -21,16 +23,20 @@ param set-default HTE_VXY_THR 2.0
 param set-default MIS_DIST_WPS 5000
 
 param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_TKO_SPEED 1
-param set-default MPC_VEL_MANUAL 3
-param set-default MPC_XY_CRUISE 3
+param set-default MPC_VEL_MANUAL 5
+param set-default MPC_XY_CRUISE 5
 param set-default MPC_XY_ERR_MAX 5
-param set-default MPC_XY_VEL_MAX 4
-param set-default MPC_Z_VEL_MAX_DN 1.5
+param set-default MPC_XY_VEL_MAX 8
 param set-default MPC_JERK_MAX 4.5
 param set-default MPC_YAW_MODE 4
 
-param set-default NAV_ACC_RAD 3
+# reduce aggressiveness around roll and yaw axis,
+# as VTOLs usually have high intertia and lot af drag due to wings
+param set-default MC_ROLL_P 5
+param set-default MC_ROLLRATE_MAX 120
+param set-default MC_YAW_P 2
+param set-default MC_YAWRATE_MAX 120
+param set-default MPC_MAN_Y_MAX 90
 
 param set-default PWM_AUX_RATE 50
 param set-default PWM_MAIN_RATE 400

ROMFS/px4fmu_common/init.d/rcS

@@ -107,6 +107,16 @@ then
 		fi
 	fi
 
+	# Check for an update
+	if [ -e /fs/microsd/new ]
+	then
+		echo "Updating external autostart files"
+		# FIXME: add NuttX support for recursive rm, then we can remove the
+		# directory (for now this is done during updating via MAVLink FTP)
+		#rm -r $SDCARD_EXT_PATH
+		mv /fs/microsd/new $SDCARD_EXT_PATH
+	fi
+
 	set PARAM_FILE /fs/microsd/params
 fi
 
@@ -399,6 +409,21 @@ else
 		commander start
 	fi
 
+	# PPS capture driver (before pwm_out)
+	if param greater -s PPS_CAP_ENABLE 0
+	then
+		pps_capture start
+	fi
+
+	# Camera capture driver (before pwm_out)
+	if param greater -s CAM_CAP_FBACK 0
+	then
+		if camera_capture start
+		then
+			camera_capture on
+		fi
+	fi
+
 	#
 	# Configure vehicle type specific parameters.
 	# Note: rc.vehicle_setup is the entry point for rc.interface,
@@ -441,21 +466,6 @@ else
 		rc_input start $RC_INPUT_ARGS
 	fi
 
-	# PPS capture driver (before pwm_out)
-	if param greater -s PPS_CAP_ENABLE 0
-	then
-		pps_capture start
-	fi
-
-	# Camera capture driver (before pwm_out)
-	if param greater -s CAM_CAP_FBACK 0
-	then
-		if camera_capture start
-		then
-			camera_capture on
-		fi
-	fi
-
 	#
 	# Play the startup tune (if not disabled or there is an error)
 	#
@@ -505,6 +515,12 @@ else
 		px4flow start -X &
 	fi
 
+	# Payload deliverer module if gripper is enabled
+	if param compare -s PD_GRIPPER_EN 1
+	then
+		payload_deliverer start
+	fi
+
 	#
 	# Optional board supplied extras: rc.board_extras
 	#

ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt

@@ -39,5 +39,6 @@ px4_add_romfs_files(
 	quad_x_vtol.main.mix
 	standard_vtol_sitl.main.mix
 	tiltrotor_sitl.main.mix
+	tiltrotor_tri_sitl.main.mix
 	uuv_x_sitl.main.mix
 )

ROMFS/px4fmu_common/mixers-sitl/tiltrotor_tri_sitl.main.mix

@@ -0,0 +1,38 @@
+Mixer for quad tiltrotor (x motor configuration)
+================================================
+
+This file defines a single mixer for a tiltrotor (SITL gazebo) with motors in X configuration. The plane has two ailerons and one elevator.
+
+R: 3y 10000 10000 10000 0
+
+# tilt servo motor 1 (right)
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000
+S: 0 2 -10000 -10000       0 -10000  10000
+
+# tilt servo motor 2 (left)
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000
+S: 0 2  10000  10000      0  -10000  10000
+
+# tilt servo motor 3 (rear)
+-------------
+M: 1
+S: 1 8      0  20000  -10000 -10000  10000
+
+# mixer for the left aileron
+M: 1
+O:      10000  10000   0 -10000  10000
+S: 1 0  -10000 -10000    0 -10000  10000
+
+# mixer for the right aileron
+M: 1
+O:      10000  10000   0 -10000  10000
+S: 1 0  10000  10000    0 -10000  10000
+
+# mixer for the elevator
+M: 1
+O:       10000   10000   0 -10000  10000
+S: 1 1   10000   10000    0 -10000  10000

ROMFS/px4fmu_common/mixers/CCPM.main.mix

@@ -1,48 +0,0 @@
-Helicopter 120 degree Cyclic-Collective-Pitch Mixing (CCPM) for PX4FMU
-==================================================
-
-
-Output 0 - Rear Servo Mixer
-----------------
-
-Rear Servo = Collective (Thrust - 3) + Elevator (Pitch - 1)
-
-M: 2
-S: 0 3  10000  10000      0 -10000  10000
-S: 0 1  10000  10000      0 -10000  10000
-
-
-Output 1 - Left Servo Mixer
------------------
-Left Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) + 0.866 * Aileron (Roll - 0)
-
-M: 3
-S: 0 3  -10000  -10000      0 -10000  10000
-S: 0 1   -5000   -5000      0 -10000  10000
-S: 0 0    8660    8660      0 -10000  10000
-
-
-Output 2 - Right Servo Mixer
-----------------
-Right Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) - 0.866 * Aileron (Roll - 0)
-
-
-M: 3
-S: 0 3  -10000  -10000      0 -10000  10000
-S: 0 1   -5000   -5000      0 -10000  10000
-S: 0 0   -8660   -8660      0 -10000  10000
-
-Output 3 - Tail Servo Mixer
-----------------
-Tail Servo = Yaw (control index = 2)
-
-M: 1
-S: 0 2  10000  10000      0 -10000  10000
-
-
-Output 4 - Motor speed mixer
------------------
-This would be the motor speed control output from governor power demand- not sure what index to use here?
-
-M: 1
-S: 0 4      0  20000 -10000 -10000  10000

ROMFS/px4fmu_common/mixers/CMakeLists.txt

@@ -38,16 +38,11 @@ px4_add_romfs_files(
 	AERT.main.mix
 	AETRFG.main.mix
 	babyshark.main.mix
-	blade130.main.mix
-	CCPM.main.mix
 	cloudship.main.mix
-	coax.main.mix
 	delta.main.mix
 	deltaquad.main.mix
 	dodeca_bottom_cox.aux.mix
 	dodeca_top_cox.main.mix
-	firefly6.aux.mix
-	firefly6.main.mix
 	fw_generic_wing.main.mix
 	generic_diff_rover.main.mix
 	hexa_cox.main.mix
@@ -74,7 +69,6 @@ px4_add_romfs_files(
 	rover_diff_and_servo.main.mix
 	rover_generic.main.mix
 	standard_vtol_hitl.main.mix
-	TF-AutoG2.main.mix
 	tilt_quad.aux.mix
 	tilt_quad.main.mix
 	tri_y_yaw+.main.mix
@@ -84,8 +78,6 @@ px4_add_romfs_files(
 	vtol_AAERT.aux.mix
 	vtol_AAVVT.aux.mix
 	vtol_TTTTAAER.aux.mix
-	vtol_convergence.main.mix
 	vtol_delta.aux.mix
 	vtol_tailsitter_duo.main.mix
-	vtol_tailsitter_duo_sat.main.mix
 )

ROMFS/px4fmu_common/mixers/TF-AutoG2.main.mix

@@ -1,56 +0,0 @@
-Aileron/rudder/elevator/throttle mixer for PX4FMU
-==================================================
-# @board px4_fmu-v2 exclude
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
-
-CH1, 2: rotor-head mixer
--------------
-Two scalers total (output, roll).
-
-M: 2
-O: 10000 10000 0 -10000 10000
-S: 0 0 -10000 -10000 0 -10000 10000
-S: 0 1  10000  10000      0 -10000  10000
-
-
-M: 2
-O: 10000 10000 0 -10000 10000
-S: 0 0 -10000 -10000 0 -10000 10000
-S: 0 1 -10000 -10000      0 -10000  10000
-
-
-CH3: Elevator, prerotator mixer
-------------
-Two scalers total (output, roll).
-
-M: 1
-O: 7500 7500 0 -10000 10000
-S: 3 6 10000 10000 0 -10000 10000
-
-
-CH4, 5: Rudder mixer
-------------
-Two scalers total (output, yaw).
-
-M: 1
-S: 0 2  10000  10000      0 -10000  10000
-
-M: 1
-S: 0 2  -10000  -10000      0 -10000  10000
-
-CH4: Motor speed mixer
------------------
-Two scalers total (output, thrust).
-
-M: 1
-S: 0 3      0  20000 -10000 -10000  10000
-
-
-CH3: Wheel mixer
-------------
-Two scalers total (output, yaw).
-
-M: 1
-S: 0 2  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/TF-G2.main.mix

@@ -1,40 +0,0 @@
-TF-G2 autogyro mixer
-==================================================
-# @board px4_fmu-v2 exclude
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
-
-CH1: empty - fixing cuav nano jittering of 1st output. 
-Z:
-
-
-CH2, 3: rotor-head mixer
--------------
-Two scalers total (output, roll).
-
-M: 2
-O: 10000 10000 0 -10000 10000
-S: 0 0 -10000 -10000 0 -10000 10000
-S: 0 1  10000  10000      0 -10000  10000
-
-M: 2
-O: 10000 10000 0 -10000 10000
-S: 0 0 -10000 -10000 0 -10000 10000
-S: 0 1 -10000 -10000      0 -10000  10000
-
-
-CH4: Rudder mixer
-------------
-Two scalers total (output, yaw).
-
-M: 1
-S: 0 2  10000  10000      0 -10000  10000
-
-
-CH5: Motor speed mixer
------------------
-Two scalers total (output, thrust).
-
-M: 1
-S: 0 3      0  20000 -10000 -10000  10000

ROMFS/px4fmu_common/mixers/blade130.main.mix

@@ -1,15 +0,0 @@
-Helicopter Cyclic-Collective-Pitch Mixing (CCPM) for PX4FMU
-Blade 130x helicopter has longer servo arms left and right. The front servo arm is shortest and has normalized length 10000.
-==================================================
-
-H: 3
-T:      0   3000   6000   8000  10000
-P:    500   1500   2500   3500   4500
-# Swash plate servos:
-S:      0  10000  10000      0  -8000   8000
-S:    140  13054  10000      0  -8000   8000
-S:    220  13054  10000      0  -8000   8000
-
-# Tail servo:
-M: 1
-S: 0 2  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/coax.main.mix

@@ -1,29 +0,0 @@
-Coaxial helicopter mixer
-- Two servomotors act on the swashplate (90 degree angle on the swashplate, decoupled effect on roll and pitch).
-- No collective pitch.
-- One motor per rotor.
-===========================
-
-Left swashplate servomotor, pitch axis
--------------
-M: 1
-S: 0 1  -10000  -10000      0 -10000  10000
-
-Right swashplate servomotor, roll axis
--------------
-M: 1
-S: 0 0  10000  10000      0 -10000  10000
-
-Upper rotor (CCW)
-Mixing between yaw and thrust
--------------
-M: 2
-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
-S: 0 2  -10000  -10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000

ROMFS/px4fmu_common/mixers/firefly6.aux.mix

@@ -1,24 +0,0 @@
-# mixer for the FireFly6 tilt mechansim servo, elevons and landing gear
-=======================================================================
-
-# @board px4_fmu-v2 exclude
-
-Tilt mechanism servo mixer
----------------------------
-M: 1
-S: 1 8      0  20000 -10000 -10000  10000
-
-Elevon mixers
--------------
-M: 2
-S: 1 0   7500   7500      0 -10000  10000
-S: 1 1   8000   8000      0 -10000  10000
-
-M: 2
-S: 1 0    7500    7500    0 -10000  10000
-S: 1 1   -8000   -8000    0 -10000  10000
-
-Landing gear mixer
-------------------
-M: 1
-S: 3 6  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/firefly6.main.mix

@@ -1,6 +0,0 @@
-# FireFly6 mixer for PX4FMU
-#
-#===========================
-# @board px4_fmu-v2 exclude
-
-R: 6c

ROMFS/px4fmu_common/mixers/vtol_tailsitter_duo_sat.main.mix

@@ -1,39 +0,0 @@
-Tailsitter duo mixer
-============================
-
-This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
-has two motors in total, one attached to each wing. It also has two elevons which
-are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
-on the main PWM ouput port, two at 400Hz for the motors, and two at 50Hz for the
-elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
-at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used.
-
-Motor mixer
-------------
-Channel 1 connects to the right (starboard) motor.
-Channel 2 connects to the left (port) motor.
-
-R: 2-
-
-Zero mixer (2x)
----------------
-Channels 3,4 are unused.
-
-Z:
-
-Z:
-
-Elevons mixer
---------------
-Channel 5 connects to the right (starboard) elevon.
-Channel 6 connects to the left (port) elevon.
-Here we saturate the elevons before their full range
-to avoid roll-pitch-yaw coupling during faster maneuvers
-
-M: 2
-S: 1 0   10000   10000    0 -6000  6000
-S: 1 1   10000   10000    0 -6000  6000
-
-M: 2
-S: 1 0   10000   10000    0 -6000  6000
-S: 1 1  -10000  -10000    0 -6000  6000

ROMFS/recovery/CMakeLists.txt

@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2020 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.
+#
+############################################################################
+
+add_subdirectory(init.d)

ROMFS/recovery/init.d/CMakeLists.txt

@@ -31,8 +31,6 @@
 #
 ############################################################################
 
-px4_add_library(vehicle_optical_flow
-	VehicleOpticalFlow.cpp
-	VehicleOpticalFlow.hpp
+px4_add_romfs_files(
+	rcS
 )
-target_link_libraries(vehicle_optical_flow PRIVATE px4_work_queue)

ROMFS/recovery/init.d/rcS

@@ -0,0 +1,75 @@
+#!/bin/sh
+# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
+set +e
+# Un comment the line below to help debug scripts by printing a trace of the script commands
+#set -x
+# PX4FMU startup script.
+#
+# NOTE: environment variable references:
+#    If the dollar sign ('$') is followed by a left bracket ('{') then the
+#    variable name is terminated with the right bracket character ('}').
+#    Otherwise, the variable name goes to the end of the argument.
+#
+#
+# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
+#
+#------------------------------------------------------------------------------
+set R /
+
+#
+# Start CDC/ACM serial driver.
+#
+sercon
+
+#
+# Print full system version.
+#
+ver all
+
+#
+# Set the parameter file the board supports params on
+# MTD device.
+#
+if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
+then
+	set PARAM_FILE /fs/mtd_params
+fi
+
+#
+# Load parameters.
+#
+# if the board has a storage for (factory) calibration data
+if mft query -q -k MTD -s MTD_CALDATA -v /fs/mtd_caldata
+then
+	param load /fs/mtd_caldata
+fi
+
+#
+# Load parameters.
+#
+param select $PARAM_FILE
+if ! param load
+then
+	param reset_all
+fi
+
+#
+# board mavlink: rc.mavlink
+#
+set BOARD_RC_MAVLINK ${R}etc/init.d/rc.board_mavlink
+if [ -f $BOARD_RC_MAVLINK ]
+then
+	echo "Board sensors: ${BOARD_RC_MAVLINK}"
+	. $BOARD_RC_MAVLINK
+fi
+unset BOARD_RC_MAVLINK
+
+unset R
+
+mavlink boot_complete
+
+echo ""
+echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
+echo "!!!!!!     This is the RECOVERY firmware! WARNs and ERRORs are expected!      !!!!!"
+echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
+echo ""

Tools/auterion/remote_update_fmu.sh

@@ -0,0 +1,97 @@
+#!/bin/bash
+# Flash PX4 to a device running AOS in the local network
+if [ "$1" == "-h" ] || [ "$1" == "--help" ] || [ $# -lt 2 ]; then
+	echo "Usage: $0 -f <firmware.px4|.elf> [-c <configuration_dir>] -d <IP/Device> [-u <user>] [-p <ssh_port>]"
+	exit 1
+fi
+
+ssh_port=22
+ssh_user=root
+
+while getopts ":f:c:d:p:u:" opt; do
+	case ${opt} in
+		f )
+			if [ -n "$OPTARG" ]; then
+				firmware_file="$OPTARG"
+			else
+				echo "ERROR: -f requires a non-empty option argument."
+				exit 1
+			fi
+			;;
+		c )
+			if [ -f "$OPTARG/rc.autostart" ]; then
+				config_dir="$OPTARG"
+			else
+				echo "ERROR: -c configuration directory is empty or does not contain a valid rc.autostart"
+				exit 1
+			fi
+			;;
+		d )
+			if [ "$OPTARG" ]; then
+				device="$OPTARG"
+			else
+				echo "ERROR: -d requires a non-empty option argument."
+				exit 1
+			fi
+			;;
+		p )
+			if [[ "$OPTARG" =~ ^[0-9]+$ ]]; then
+				ssh_port="$OPTARG"
+			else
+				echo "ERROR: -p ssh_port must be a number."
+				exit 1
+			fi
+			;;
+		u )
+			if [ "$OPTARG" ]; then
+				ssh_user="$OPTARG"
+			else
+				echo "ERROR: -u requires a non-empty option argument."
+				exit 1
+			fi
+			;;
+	esac
+done
+
+target_dir=/shared_container_dir/fmu
+
+# create update-dev.tar
+target_file_name="update-dev.tar"
+tmp_dir="$(mktemp -d)"
+config_path=""
+firmware_path=""
+
+if [ -d "$config_dir" ]; then
+	cp -r "$config_dir" "$tmp_dir/config"
+	config_path=config
+fi
+
+if [ -f "$firmware_file" ]; then
+	extension="${firmware_file##*.}"
+	cp "$firmware_file" "$tmp_dir/firmware.$extension"
+	if [ "$extension" == "elf" ]; then
+		# ensure the file is stripped to reduce file size
+		arm-none-eabi-strip "$tmp_dir/firmware.$extension"
+	fi
+	firmware_path="firmware.$extension"
+fi
+
+if [ -z "$device" ]; then
+	echo "Error: missing device"
+	exit 1
+fi
+
+pushd "$tmp_dir" &>/dev/null
+
+if [ -z $firmware_path ] && [ -z $config_path ]; then
+	exit 1
+fi
+
+tar -C "$tmp_dir" --sort=name --owner=root:0 --group=root:0 --mtime='2019-01-01 00:00:00' -cvf $target_file_name $firmware_path $config_path
+scp -P $ssh_port "$target_file_name" $ssh_user@"$device":$target_dir
+popd &>/dev/null
+rm -rf "$tmp_dir"
+
+# grab status output
+cmd="tail --follow=name $target_dir/update_status 2>/dev/null || true"
+ssh -t -p $ssh_port $ssh_user@$device "$cmd"

Tools/auterion/upload_skynode.sh

@@ -0,0 +1,36 @@
+#!/usr/bin/env bash
+
+DIR="$(dirname $(readlink -f $0))"
+PX4_BINARY_FILE="$1"
+DEFAULT_AUTOPILOT_HOST=10.41.0.1
+DEFAULT_AUTOPILOT_PORT=33333
+DEFAULT_AUTOPILOT_USER=auterion
+
+for i in "$@"
+do
+    case $i in
+        --default-ip=*)
+        DEFAULT_AUTOPILOT_HOST="${i#*=}"
+        ;;
+        --default-port=*)
+        DEFAULT_AUTOPILOT_PORT="${i#*=}"
+        ;;
+        --default-user=*)
+        DEFAULT_AUTOPILOT_USER="${i#*=}"
+        ;;
+        *)
+            # unknown option
+        ;;
+    esac
+done
+
+# allow these to be overridden
+[ -z "$AUTOPILOT_HOST" ] && AUTOPILOT_HOST=$DEFAULT_AUTOPILOT_HOST
+[ -z "$AUTOPILOT_PORT" ] && AUTOPILOT_PORT=$DEFAULT_AUTOPILOT_PORT
+[ -z "$AUTOPILOT_USER" ] && AUTOPILOT_USER=$DEFAULT_AUTOPILOT_USER
+
+echo "Uploading to $AUTOPILOT_HOST..."
+
+"$DIR"/remote_update_fmu.sh -f "$PX4_BINARY_FILE" -d "$AUTOPILOT_HOST" -p $AUTOPILOT_PORT -u $AUTOPILOT_USER
+
+exit 0

Tools/gazebo_sitl_multiple_run.sh

@@ -6,10 +6,17 @@
 # For example gazebo can be run like this:
 #./Tools/gazebo_sitl_multiple_run.sh -n 10 -m iris
 
+SUPPORTED_MODELS=("iris" "plane" "standard_vtol" "rover" "r1_rover" "typhoon_h480", "shieldai_nova2", "skydio_x2d")
+
 function cleanup() {
 	pkill -x px4
-	pkill gzclient
 	pkill gzserver
+
+	if [[ -n "$HEADLESS" ]]; then
+		exit
+	else
+		pkill gzclient
+	fi
 }
 
 function spawn_model() {
@@ -20,10 +27,9 @@ function spawn_model() {
 	X=${X:=0.0}
 	Y=${Y:=$((3*${N}))}
 
-	SUPPORTED_MODELS=("iris" "plane" "standard_vtol" "rover" "r1_rover" "typhoon_h480")
 	if [[ " ${SUPPORTED_MODELS[*]} " != *"$MODEL"* ]];
 	then
-		echo "ERROR: Currently only vehicle model $MODEL is not supported!"
+		echo "ERROR: Currently vehicle model '$MODEL' is not supported!"
 		echo "       Supported Models: [${SUPPORTED_MODELS[@]}]"
 		trap "cleanup" SIGINT SIGTERM EXIT
 		exit 1
@@ -34,8 +40,19 @@ function spawn_model() {
 
 	pushd "$working_dir" &>/dev/null
 	echo "starting instance $N in $(pwd)"
+
+	if [[ -n "${PX4_VIDEO_HOST_IP}" ]]; then
+		export PX4_VIDEO_HOST_IP=${PX4_VIDEO_HOST_IP%.*}.$((7+$N))
+		echo "PX4_VIDEO_HOST_IP '$PX4_VIDEO_HOST_IP'"
+	fi
+
+	if [[ -n "${PX4_SIM_REMOTE_HOST}" ]]; then
+		export PX4_SIM_REMOTE_HOST=${PX4_SIM_REMOTE_HOST%.*}.$((7+$N))
+		echo "PX4_SIM_REMOTE_HOST '$PX4_SIM_REMOTE_HOST'"
+	fi
+
 	../bin/px4 -i $N -d "$build_path/etc" -w sitl_${MODEL}_${N} -s etc/init.d-posix/rcS >out.log 2>err.log &
-	python3 ${src_path}/Tools/sitl_gazebo/scripts/jinja_gen.py ${src_path}/Tools/sitl_gazebo/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/sitl_gazebo --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf
+	python3 ${src_path}/Tools/sitl_gazebo/scripts/jinja_gen.py ${src_path}/Tools/sitl_gazebo/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/sitl_gazebo --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_host 172.5.0.$((7+${N})) --gst_udp_port $((5600)) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --udp_onboard_gimbal_port_local $((13030+${N})) --output-file /tmp/${MODEL}_${N}.sdf --vehicle_id ${N}
 
 	echo "Spawning ${MODEL}_${N} at ${X} ${Y}"
 
@@ -47,12 +64,13 @@ function spawn_model() {
 
 if [ "$1" == "-h" ] || [ "$1" == "--help" ]
 then
-	echo "Usage: $0 [-n <num_vehicles>] [-m <vehicle_model>] [-w <world>] [-s <script>]"
+	echo "Usage: $0 [-n <num_vehicles>] [-m <vehicle_model>] [-w <world>] [-s <script>] [-c <custom_models>]"
 	echo "-s flag is used to script spawning vehicles e.g. $0 -s iris:3,plane:2"
+	echo "-c flag is used to allow custom models e.g. $0 -s \"my_plane my_plane_2\""
 	exit 1
 fi
 
-while getopts n:m:w:s:t:l: option
+while getopts n:m:w:s:t:c: option
 do
 	case "${option}"
 	in
@@ -61,7 +79,7 @@ do
 		w) WORLD=${OPTARG};;
 		s) SCRIPT=${OPTARG};;
 		t) TARGET=${OPTARG};;
-		l) LABEL=_${OPTARG};;
+		c) CUSTOM_MODELS=${OPTARG};;
 	esac
 done
 
@@ -71,6 +89,8 @@ target=${TARGET:=px4_sitl_default}
 vehicle_model=${VEHICLE_MODEL:="iris"}
 export PX4_SIM_MODEL=${vehicle_model}
 
+SUPPORTED_MODELS+=(${CUSTOM_MODELS})
+
 echo ${SCRIPT}
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 src_path="$SCRIPT_DIR/.."
@@ -132,9 +152,19 @@ else
 			n=$(($n + 1))
 		done
 	done
-
 fi
-trap "cleanup" SIGINT SIGTERM EXIT
 
-echo "Starting gazebo client"
-gzclient
+if [[ -n "$HEADLESS" ]]; then
+	trap "cleanup" SIGINT SIGTERM
+
+	while :
+	do
+
+		  sleep 5
+	done
+else
+	trap "cleanup" SIGINT SIGTERM EXIT
+
+	echo "Starting gazebo client"
+	gzclient
+fi

Tools/kconfig/board_cmake_to_kconfig.py

@@ -0,0 +1,72 @@
+#!/bin/python3
+
+import parse_cmake.parsing as cmp
+import glob
+import pprint
+import re
+import os
+
+__location__ = os.path.realpath(
+    os.path.join(os.getcwd(), os.path.dirname(__file__)))
+
+serial_regex = r"(\D\D\D\d):(/dev/ttyS\d+)"
+io_regex = r"IO (.*)"
+romfs_regex = r"ROMFSROOT (.*)"
+arch_regex = r"ARCHITECTURE (.*)"
+toolchain_regex = r"TOOLCHAIN (.*)"
+
+
+
+def stripComments(code):
+    code = str(code)
+    return re.sub(r'(?m) *#.*\n?', '', code)
+
+lut = {}
+with open(os.path.join(__location__, "cmake_kconfig_lut.txt"),'r') as lookup:
+    for line in lookup:
+        if ',' in line:
+            key, value = line.strip().split(',')
+            lut[key] = value
+
+#for name in glob.glob('boards/*/*/*.cmake'):
+px4_dir = os.path.abspath(os.path.join(os.path.dirname(__file__), '../../'))
+
+for name in glob.glob(px4_dir + '/boards/*/*/*.cmake'):
+    print(name)
+    with open(name, 'r') as f:
+        romfs_set = False
+        w = open(name.replace(".cmake",".px4board"), "w")
+        for line in f:
+            clean_line = stripComments(line.strip())
+            value = lut.get(clean_line)
+            if value is not None:
+                print(value, file=w)
+                print(value)
+            else:
+                matches = re.finditer(serial_regex, clean_line, re.MULTILINE)
+                for matchNum, match in enumerate(matches, start=1):
+                    print("CONFIG_BOARD_SERIAL_" + match.groups()[0] + "=\"" + match.groups()[1] + "\"")
+                    print("CONFIG_BOARD_SERIAL_" + match.groups()[0] + "=\"" + match.groups()[1] + "\"", file=w)
+                matches = re.finditer(io_regex, clean_line, re.MULTILINE)
+                for matchNum, match in enumerate(matches, start=1):
+                    print("CONFIG_BOARD_IO=\"" + match.groups()[0] + "\"")
+                    print("CONFIG_BOARD_IO=\"" + match.groups()[0] + "\"", file=w)
+                matches = re.finditer(romfs_regex, clean_line, re.MULTILINE)
+                for matchNum, match in enumerate(matches, start=1):
+                    print("CONFIG_BOARD_ROMFSROOT=\"" + match.groups()[0] + "\"")
+                    print("CONFIG_BOARD_ROMFSROOT=\"" + match.groups()[0] + "\"", file=w)
+                    romfs_set = True
+                matches = re.finditer(arch_regex, clean_line, re.MULTILINE)
+                for matchNum, match in enumerate(matches, start=1):
+                    print("CONFIG_BOARD_ARCHITECTURE=\"" + match.groups()[0] + "\"")
+                    print("CONFIG_BOARD_ARCHITECTURE=\"" + match.groups()[0] + "\"", file=w)
+                matches = re.finditer(toolchain_regex, clean_line, re.MULTILINE)
+                for matchNum, match in enumerate(matches, start=1):
+                    print("CONFIG_BOARD_TOOLCHAIN=\"" + match.groups()[0] + "\"")
+                    print("CONFIG_BOARD_TOOLCHAIN=\"" + match.groups()[0] + "\"", file=w)
+
+    if(romfs_set == False):
+        print("CONFIG_BOARD_ROMFSROOT=\"\"", file=w)
+
+
+    w.close()

Tools/kconfig/cmake_kconfig_lut.txt

@@ -0,0 +1,204 @@
+PLATFORM nuttx,CONFIG_PLATFORM_NUTTX=y
+PLATFORM posix,CONFIG_PLATFORM_POSIX=y
+CONSTRAINED_MEMORY,CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONSTRAINED_FLASH,CONFIG_BOARD_CONSTRAINED_FLASH=y
+NO_HELP,CONFIG_BOARD_NO_HELP=y
+EXTERNAL_METADATA,CONFIG_BOARD_EXTERNAL_METADATA=y
+BUILD_BOOTLOADER,CONFIG_BOARD_BUILD_BOOTLOADER=y
+UAVCAN_INTERFACES 2,CONFIG_BOARD_UAVCAN_INTERFACES=2
+UAVCAN_INTERFACES 1,CONFIG_BOARD_UAVCAN_INTERFACES=1
+UAVCAN_TIMER_OVERRIDE 2,CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
+UAVCAN_TIMER_OVERRIDE 1,CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=1
+UAVCAN_TIMER_OVERRIDE 1,CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=0
+TESTING,CONFIG_BOARD_TESTING=y
+ETHERNET,CONFIG_BOARD_ETHERNET=y
+adc/ads1115,CONFIG_DRIVERS_ADC_ADS1115=y
+adc/board_adc,CONFIG_DRIVERS_ADC_BOARD_ADC=y
+barometer,CONFIG_COMMON_BAROMETERS=y
+barometer/bmp280,CONFIG_DRIVERS_BAROMETER_BMP280=y
+barometer/bmp388,CONFIG_DRIVERS_BAROMETER_BMP388=y
+barometer/dps310,CONFIG_DRIVERS_BAROMETER_DPS310=y
+barometer/lps22hb,CONFIG_DRIVERS_BAROMETER_LPS22HB=y
+barometer/lps25h,CONFIG_DRIVERS_BAROMETER_LPS25H=y
+barometer/lps33hw,CONFIG_DRIVERS_BAROMETER_LPS33HW=y
+barometer/mpl3115a2,CONFIG_DRIVERS_BAROMETER_MPL3115A2=y
+barometer/ms5611,CONFIG_DRIVERS_BAROMETER_MS5611=y
+barometer/tcbp001ta,CONFIG_DRIVERS_BAROMETER_TCBP001TA=y
+batt_smbus,CONFIG_DRIVERS_BATT_SMBUS=y
+bootloaders,CONFIG_DRIVERS_BOOTLOADERS=y
+camera_capture,CONFIG_DRIVERS_CAMERA_CAPTURE=y
+camera_trigger,CONFIG_DRIVERS_CAMERA_TRIGGER=y
+differential_pressure,CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
+distance_sensor,CONFIG_COMMON_DISTANCE_SENSOR=y
+distance_sensor/ll40ls,CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
+distance_sensor/lightware_laser_serial,CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
+distance_sensor/broadcom/afbrs50,CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
+distance_sensor/vl53l0x,CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
+distance_sensor/vl53l1x,CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
+distance_sensor/srf05,CONFIG_DRIVERS_DISTANCE_SENSOR_SRF05=y
+dshot,CONFIG_DRIVERS_DSHOT=y
+gps,CONFIG_DRIVERS_GPS=y
+heater,CONFIG_DRIVERS_HEATER=y
+imu,CONFIG_COMMON_IMU=y
+imu/adis16477,CONFIG_DRIVERS_IMU_ADIS16477=y
+imu/adis16497,CONFIG_DRIVERS_IMU_ADIS16497=y
+imu/analog_devices/adis16448,CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
+imu/analog_devices/adis16470,CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16470=y
+imu/bosch/bmi055,CONFIG_DRIVERS_IMU_BOSCH_BMI055=y
+imu/bosch/bmi088,CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
+imu/fxas21002c,CONFIG_DRIVERS_IMU_FXAS21002C=y
+imu/fxos8701cq,CONFIG_DRIVERS_IMU_FXOS8701CQ=y
+imu/invensense/icm20602,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
+imu/invensense/icm20608g,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20608G=y
+imu/invensense/icm20649,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
+imu/invensense/icm20689,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
+imu/invensense/icm20948,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
+imu/invensense/icm40609d,CONFIG_DRIVERS_IMU_INVENSENSE_ICM40609D=y
+imu/invensense/icm42605,CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
+imu/invensense/icm42688p,CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+imu/invensense/mpu6000,CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
+imu/invensense/mpu6500,CONFIG_DRIVERS_IMU_INVENSENSE_MPU6500=y
+imu/invensense/mpu9250,CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
+imu/l3gd20,CONFIG_DRIVERS_IMU_L3GD20=y
+imu/lsm303d,CONFIG_DRIVERS_IMU_LSM303D=y
+imu/st,CONFIG_DRIVERS_IMU_ST=y
+irlock,CONFIG_DRIVERS_IRLOCK=y
+lights,CONFIG_COMMON_LIGHT=y
+lights/neopixel,CONFIG_DRIVERS_LIGHTS_NEOPIXEL=y
+lights/rgbled,CONFIG_DRIVERS_LIGHTS_RGBLED=y
+lights/rgbled_ncp5623c,CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
+lights/rgbled_pwm,CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
+magnetometer,CONFIG_COMMON_MAGNETOMETER=y
+magnetometer/akm/ak09916,CONFIG_DRIVERS_MAGNETOMETER_AKM_AK09916=y
+magnetometer/akm/ak8963,CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
+magnetometer/bosch/bmm150,CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
+magnetometer/hmc5883,CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
+magnetometer/isentek/ist8308,CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
+magnetometer/isentek/ist8310,CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
+magnetometer/lis2mdl,CONFIG_DRIVERS_MAGNETOMETER_LIS2MDL=y
+magnetometer/lis3mdl,CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
+magnetometer/lsm303agr,CONFIG_DRIVERS_MAGNETOMETER_LSM303AGR=y
+magnetometer/lsm9ds1_mag,CONFIG_DRIVERS_MAGNETOMETER_LSM9DS1_MAG=y
+magnetometer/qmc5883l,CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
+magnetometer/rm3100,CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
+magnetometer/vtrantech/vcm1193l,CONFIG_DRIVERS_MAGNETOMETER_VTRANTECH_VCM1193L=y
+optical_flow,CONFIG_COMMON_OPTICAL_FLOW=y
+optical_flow/paw3902,CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
+optical_flow/paw3901,CONFIG_DRIVERS_OPTICAL_FLOW_PMW3901=y
+optical_flow/px4flow,CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW=y
+optical_flow/thoneflow,CONFIG_DRIVERS_OPTICAL_FLOW_THONEFLOW=y
+osd,CONFIG_DRIVERS_OSD=y
+pca9685,CONFIG_DRIVERS_PCA9685=y
+pca9685_pwm_out,CONFIG_DRIVERS_PCA9685_PWM_OUT=y
+power_monitor/ina226,CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+power_monitor/voxlpm,CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
+pps_capture,CONFIG_DRIVERS_PPS_CAPTURE=y
+protocol_splitter,CONFIG_DRIVERS_PROTOCOL_SPLITTER=y
+pwm_input,CONFIG_DRIVERS_PWM_INPUT=y
+pwm_out_sim,CONFIG_DRIVERS_PWM_OUT_SIM=y
+pwm_out,CONFIG_DRIVERS_PWM_OUT=y
+px4io,CONFIG_DRIVERS_PX4IO=y
+rc_input,CONFIG_DRIVERS_RC_INPUT=y
+roboclaw,CONFIG_DRIVERS_ROBOCLAW=y
+rpi_rc_in,CONFIG_DRIVERS_RPI_RC_IN=y
+rpm,CONFIG_DRIVERS_RPM=y
+safety_button,CONFIG_DRIVERS_SAFETY_BUTTON=y
+smart_battery/batmon,CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
+spektrum_rc,CONFIG_DRIVERS_SPEKTRUM_RC=y
+telemetry,CONFIG_DRIVERS_TELEMETRY=y
+test_ppm,CONFIG_DRIVERS_TEST_PPM=y
+tone_alarm,CONFIG_DRIVERS_TONE_ALARM=y
+uavcan,CONFIG_DRIVERS_UAVCAN=y
+uavcannode,CONFIG_DRIVERS_UAVCANNODE=y
+uavcannode_gps_demo,CONFIG_DRIVERS_UAVCANNODE_GPS_DEMO=y
+airship_att_control,CONFIG_MODULES_AIRSHIP_ATT_CONTROL=y
+airspeed_selector,CONFIG_MODULES_AIRSPEED_SELECTOR=y
+velocity_controller,CONFIG_MODULES_ANGULAR_VELOCITY_CONTROLLER=y
+attitude_estimator_q,CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+battery_status,CONFIG_MODULES_BATTERY_STATUS=y
+camera_feedback,CONFIG_MODULES_CAMERA_FEEDBACK=y
+commander,CONFIG_MODULES_COMMANDER=y
+control_allocator,CONFIG_MODULES_CONTROL_ALLOCATOR=y
+dataman,CONFIG_MODULES_DATAMAN=y
+ekf2,CONFIG_MODULES_EKF2=y
+esc_battery,CONFIG_MODULES_ESC_BATTERY=y
+events,CONFIG_MODULES_EVENTS=y
+flight_mode_manager,CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+fw_att_control,CONFIG_MODULES_FW_ATT_CONTROL=y
+fw_pos_control_l1,CONFIG_MODULES_FW_POS_CONTROL_L1=y
+gyro_calibration,CONFIG_MODULES_GYRO_CALIBRATION=y
+gyro_fft,CONFIG_MODULES_GYRO_FFT=y
+land_detector,CONFIG_MODULES_LAND_DETECTOR=y
+landing_target_estimator,CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+load_mon,CONFIG_MODULES_LOAD_MON=y
+local_position_estimator,CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
+logger,CONFIG_MODULES_LOGGER=y
+mavlink,CONFIG_MODULES_MAVLINK=y
+mc_att_control,CONFIG_MODULES_MC_ATT_CONTROL=y
+mc_hover_thrust_estimator,CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+mc_pos_control,CONFIG_MODULES_MC_POS_CONTROL=y
+mc_rate_control,CONFIG_MODULES_MC_RATE_CONTROL=y
+micrortps_bridge,CONFIG_MODULES_MICRORTPS_BRIDGE=y
+microdds_client,CONFIG_MODULES_MICRODDS_CLIENT=y
+navigator,CONFIG_MODULES_NAVIGATOR=y
+px4iofirmware,CONFIG_MODULES_PX4IOFIRMWARE=y
+rc_update,CONFIG_MODULES_RC_UPDATE=y
+replay,CONFIG_MODULES_REPLAY=y
+rover_pos_control,CONFIG_MODULES_ROVER_POS_CONTROL=y
+sensors,CONFIG_MODULES_SENSORS=y
+sih,CONFIG_MODULES_SIH=y
+simulator,CONFIG_MODULES_SIMULATOR=y
+temperature_compensation,CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+uuv_att_control,CONFIG_MODULES_UUV_ATT_CONTROL=y
+uuv_pos_control,CONFIG_MODULES_UUV_POS_CONTROL=y
+gimbal,CONFIG_MODULES_GIMBAL=y
+vtol_att_control,CONFIG_MODULES_VTOL_ATT_CONTROL=y
+bl_update,CONFIG_SYSTEMCMDS_BL_UPDATE=y
+dmesg,CONFIG_SYSTEMCMDS_DMESG=y
+dumpfile,CONFIG_SYSTEMCMDS_DUMPFILE=y
+dyn,CONFIG_SYSTEMCMDS_DYN=y
+failure,CONFIG_SYSTEMCMDS_FAILURE=y
+gpio,CONFIG_SYSTEMCMDS_GPIO=y
+hardfault_log,CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+i2cdetect,CONFIG_SYSTEMCMDS_I2CDETECT=y
+led_control,CONFIG_SYSTEMCMDS_LED_CONTROL=y
+mft,CONFIG_SYSTEMCMDS_MFT=y
+microbench,CONFIG_SYSTEMCMDS_MICROBENCH=y
+mixer,CONFIG_SYSTEMCMDS_MIXER=y
+motor_test,CONFIG_SYSTEMCMDS_MOTOR_TEST=y
+mtd,CONFIG_SYSTEMCMDS_MTD=y
+netman,CONFIG_SYSTEMCMDS_NETMAN=y
+nshterm,CONFIG_SYSTEMCMDS_NSHTERM=y
+param,CONFIG_SYSTEMCMDS_PARAM=y
+perf,CONFIG_SYSTEMCMDS_PERF=y
+pwm,CONFIG_SYSTEMCMDS_PWM=y
+reboot,CONFIG_SYSTEMCMDS_REBOOT=y
+reflect,CONFIG_SYSTEMCMDS_REFLECT=y
+sd_bench,CONFIG_SYSTEMCMDS_SD_BENCH=y
+serial_tet,CONFIG_SYSTEMCMDS_SERIAL_TEST=y
+shutdown,CONFIG_SYSTEMCMDS_SHUTDOWN=y
+system_time,CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+tests,CONFIG_SYSTEMCMDS_TESTS=y
+top,CONFIG_SYSTEMCMDS_TOP=y
+topic_listener,CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+tune_control,CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+uorb,CONFIG_SYSTEMCMDS_UORB=y
+usb_connected,CONFIG_SYSTEMCMDS_USB_CONNECTED=y
+ver,CONFIG_SYSTEMCMDS_VER=y
+work_queue,CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+dyn_hello,CONFIG_EXAMPLES_DYN_HELLO=y
+fake_gps,CONFIG_EXAMPLES_FAKE_GPS=y
+fake_gyro,CONFIG_EXAMPLES_FAKE_GYRO=y
+fake_imu,CONFIG_EXAMPLES_FAKE_IMU=y
+fake_magnetometer,CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
+fixedwing_control,CONFIG_EXAMPLES_FIXEDWING_CONTROL=y
+hello,CONFIG_EXAMPLES_HELLO=y
+hwtest,CONFIG_EXAMPLES_HWTEST=y
+matlab_csv_serial,CONFIG_EXAMPLES_MATLAB_CSV_SERIAL=y
+px4_mavlink_debug,CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
+px4_simple_app,CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
+rover_steering_control,CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
+uuv_example_app,CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
+work_item,CONFIG_EXAMPLES_WORK_ITEM=y
+add_compile_options(-Wno-narrowing),CONFIG_BOARD_COMPILE_DEFINITIONS="-Wno-narrowing"
+-D__PX4_LINUX,CONFIG_BOARD_LINUX=y

Tools/px4moduledoc/srcparser.py

@@ -16,7 +16,7 @@ class ModuleDocumentation(object):
     valid_categories = ['driver', 'estimator', 'controller', 'system',
                         'communication', 'command', 'template', 'simulation', 'autotune']
     valid_subcategories = ['', 'distance_sensor', 'imu', 'airspeed_sensor',
-                           'magnetometer', 'baro', 'optical_flow', 'rpm_sensor', 'transponder']
+                           'magnetometer', 'baro', 'optical_flow', 'rpm_sensor']
 
     max_line_length = 80 # wrap lines that are longer than this
 
@@ -102,7 +102,7 @@ class ModuleDocumentation(object):
     def _handle_usage_param_int(self, args):
         assert(len(args) == 6) # option_char, default_val, min_val, max_val, description, is_optional
         option_char = self._get_option_char(args[0])
-        default_val = int(args[1], 0)
+        default_val = self._get_int(args[1])
         description = self._get_string(args[4])
         if self._is_bool_true(args[5]):
             self._usage_string += "     [-%s <val>]  %s\n" % (option_char, description)
@@ -214,6 +214,9 @@ class ModuleDocumentation(object):
             f = f[:-1]
         return float(f)
 
+    def _get_int(self, argument):
+        return int(eval(argument))
+
     def _is_string(self, argument):
         return len(argument) > 0 and argument[0] == '"'
 
@@ -307,6 +310,8 @@ class SourceParser(object):
             r'//.*?$|/\*.*?\*/|\'(?:\\.|[^\\\'])*\'|"(?:\\.|[^\\"])*"',
             re.DOTALL | re.MULTILINE)
 
+        self._define_pattern = re.compile(r'#define\s+(\w+?)[^\S\r\n]+(.+?)\s*?\n')
+
     def Parse(self, scope, contents):
         """
         Incrementally parse program contents and append all found documentations
@@ -316,6 +321,9 @@ class SourceParser(object):
         # remove comments from source
         contents = self._comment_remover(contents)
 
+        # replace preprocessor defines defined in file directly
+        contents = self._define_replacer(contents)
+
         extracted_function_calls = [] # list of tuples: (FUNC_NAME, list(ARGS))
 
         start_index = 0
@@ -379,6 +387,15 @@ class SourceParser(object):
                 return s
         return re.sub(self._comment_remove_pattern, replacer, text)
 
+    def _define_replacer(self, text):
+        """ check for C preprocesor #define in text and replace with argument"""
+        text = re.sub(r"\\\s*?\n"," ",text)
+        define_iter = self._define_pattern.finditer(text)
+        for define_pattern in define_iter:
+            text = re.sub(r"\b" +re.escape(str(define_pattern.groups()[0])) + r"\b", re.escape(str(define_pattern.groups()[1])), text)
+        return text
+
+
     def _do_consistency_check(self, contents, scope, module_doc):
         """
         check the documentation for consistency with the code (arguments to

Tools/px_uploader.py

@@ -570,7 +570,7 @@ class uploader(object):
         self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)
 
     # upload the firmware
-    def upload(self, fw, force=False, boot_delay=None):
+    def upload(self, fw, force=False, boot_delay=None, boot_check=False):
         # Make sure we are doing the right thing
         start = time.time()
         if self.board_type != fw.property('board_id'):
@@ -603,9 +603,9 @@ class uploader(object):
                 print("sn: ", end='')
                 for byte in range(0, 12, 4):
                     x = self.__getSN(byte)
-                    x = x[::-1]  # reverse the bytes
                     self.sn = self.sn + x
-                    print(binascii.hexlify(x).decode('Latin-1'), end='')  # show user
+
+                print(binascii.hexlify(self.sn).decode('Latin-1'), end='')  # show user
                 print('')
                 print("chip: %08x" % self.__getCHIP())
 
@@ -667,6 +667,23 @@ class uploader(object):
 
         print("\nRebooting.", end='')
         self.__reboot()
+
+        if boot_check:
+            # check if application has booted
+            time.sleep(self.BOOT_CHECK_DELAY_s)
+            # this Sync is expected to fail, because jump to Px4 succeeded
+            btl_active = False
+            try:
+                # Test if bootloader answers
+                ret =self.__sync()
+                btl_active=True
+
+            except Exception as e :
+                btl_active = False
+
+            if btl_active:
+                raise Exception('Did not boot to PX4 Application, still in Bootloader')
+
         self.port.close()
         print(" Elapsed Time %3.3f\n" % (time.time() - start))
 
@@ -752,6 +769,7 @@ def main():
     parser.add_argument('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading')
     parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
     parser.add_argument('--use-protocol-splitter-format', action='store_true', help='use protocol splitter format for reboot')
+    parser.add_argument('--boot-check', action='store_true',default=False, help='Test if bootloader has exited, after boot. Throws an excpetion if bootloader does not jump to application')
     parser.add_argument('firmware', action="store", help="Firmware file to be uploaded")
     args = parser.parse_args()
 

Tools/setup_gazebo.bash

@@ -17,8 +17,9 @@ BUILD_DIR=$2
 
 # setup Gazebo env and update package path
 export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:${BUILD_DIR}/build_gazebo
-export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${SRC_DIR}/Tools/sitl_gazebo/models
+export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${SRC_DIR}/Tools/sitl_gazebo/models:${SRC_DIR}/Tools/auterion/models
 export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${BUILD_DIR}/build_gazebo
+export GAZEBO_MODEL_DATABASE_URI=http://simulation-models.tools.auterion.dev/
 
 echo -e "GAZEBO_PLUGIN_PATH $GAZEBO_PLUGIN_PATH"
 echo -e "GAZEBO_MODEL_PATH $GAZEBO_MODEL_PATH"

Tools/signtool.py

@@ -0,0 +1,349 @@
+#!/usr/bin/env python3
+from os import EX_CANTCREAT
+import nacl.encoding
+import nacl.signing
+import nacl.hash
+import struct
+import zlib
+import json
+import base64
+from pathlib import Path
+from dataclasses import dataclass
+import cryptotools
+import argparse
+import os
+
+# Dictionary describing the possible TOC flags, they can be OR'ed together
+toc_flag_dict = {
+    'TOC_FLAG1_BOOT': 0x1,
+    'TOC_FLAG1_VTORS': 0x2,
+    'TOC_FLAG1_CHECK_SIGNATURE': 0x4,
+    'TOC_FLAG1_DECRYPT': 0x8,
+    'TOC_FLAG1_COPY': 0x10,
+    'TOC_FLAG1_RDCT': 0x80,
+}
+
+# Dataclasses describing the TOC data, used to parse the to and from binary
+
+
+@dataclass
+class TOC_start:
+    start_magic: str = None
+    version: int = None
+    STRUCT_STRUCTURE = "<4sI"  # type defininig string from the STRUCT package
+
+# Dataclass to describe the TOC for 2 entries, one describing the signature typen
+# and the second one describing the signature location.
+
+
+@dataclass
+class TOC_entry:
+    toc_position: int = 0
+    app_name: str = None
+    app_start: int = None
+    app_end: int = None
+    app_target: int = None
+    app_signature_idx: int = None
+    app_signature_key: int = None
+    app_encryption_key: int = None
+    app_flags1: int = None
+    app_reserved: int = None
+    sig_name: str = None
+    sig_start: int = None
+    sig_end: int = None
+    sig_target: int = None
+    sig_signature_idx: int = None
+    sig_signature_key: int = None
+    sig_encryption_key: int = None
+    sig_flags1: int = None
+    sig_reserved: int = None
+    # type defininig string from the STRUCT package
+    STRUCT_STRUCTURE = "<4sIIIBBBBI4sIIIBBBBI"
+
+
+def toc2bin(data):
+    '''
+    Takes as TOC data class and converts it to the binary representation.
+    Prepare a TOC_entry data class with values and hand it over to this function.
+
+    data: is a dataclass TOC_entry
+    retrun: a packed binary to add to the px4 bin file
+    '''
+    return struct.pack(data.STRUCT_STRUCTURE,
+                       data.app_name, data.app_start,
+                       data.app_end, data.app_target,
+                       data.app_signature_idx,
+                       data.app_signature_key,
+                       data.app_encryption_key,
+                       data.app_flags1,
+                       data.app_reserved,
+                       data.sig_name, data.sig_start,
+                       data.sig_end, data.sig_target,
+                       data.sig_signature_idx,
+                       data.sig_signature_key,
+                       data.sig_encryption_key,
+                       data.sig_flags1,
+                       data.sig_reserved)
+
+
+def bin2toc_start(bin):
+    '''
+    Takes binary data and unpacks a Toc_start header.
+
+    bin: binary data to parse for the TOC header.
+
+    return: a dataclass TOC_start
+    '''
+    data = TOC_start()
+    (data.start_magic, data.version) = struct.unpack(data.STRUCT_STRUCTURE, bin)
+    return data
+
+
+def bin2toc_entry(bin):
+    '''
+    Takes binary data and unpacks it into a TOC entry dataclass.
+    bin: Binary data to unpack the TOC entry from.
+
+    return: A dataclass of TOC_entry
+    '''
+
+    data = TOC_entry()
+    (data.app_name, data.app_start,
+     data.app_end, data.app_target,
+     data.app_signature_idx,
+     data.app_signature_key,
+     data.app_encryption_key,
+     data.app_flags1,
+     data.app_reserved,
+     data.sig_name, data.sig_start,
+     data.sig_end, data.sig_target,
+     data.sig_signature_idx,
+     data.sig_signature_key,
+     data.sig_encryption_key,
+     data.sig_flags1,
+     data.sig_reserved
+     ) = struct.unpack(data.STRUCT_STRUCTURE, bin)
+
+    return data
+
+
+def parse_toc(bin):
+    '''
+    Searches for the TOC in the binary data.
+    This function looks for a TOC within certain boundaries in the TOC. It
+    also checks to find a valid TOC_end.
+    Throws exceptions, if a toc is not found, wrong version or end is not found.
+
+    bin: Binary data to look for the TOC
+
+    return: dataclass with the TOC entry
+    '''
+
+    # This is a fixed address from the linker file, TOC is placed after.
+    BOOT_DELAY_ADDR = 0x200
+    TOC_LEN_MAX = 64
+    EXPECTED_TOC_VERSION = 1
+
+    toc_start_len = struct.calcsize(TOC_start().STRUCT_STRUCTURE)
+    toc_entry_len = struct.calcsize(TOC_entry().STRUCT_STRUCTURE)
+
+    start_indx = bin.find(b'TOC', BOOT_DELAY_ADDR,
+                          BOOT_DELAY_ADDR + TOC_LEN_MAX)
+    if start_indx <= 0:
+        raise Exception('TOC not found')
+
+    toc_start_header = bin2toc_start(
+        bin[start_indx:(start_indx+toc_start_len)])
+
+    print('TOC start found', toc_start_header,'@: ',hex(start_indx))
+
+    if toc_start_header.version != EXPECTED_TOC_VERSION:
+        raise Exception('Wrong TOC version!')
+
+    t = bin2toc_entry(
+        bin[start_indx+toc_start_len: (start_indx+toc_start_len+toc_entry_len)])
+    t.toc_position = start_indx+toc_start_len
+    print(t)
+
+    indx = bin.find(b'END', start_indx, start_indx + 512)
+    if indx <= 0:
+        toc_end = False
+        raise Exception('TOC end  not found')
+
+    return t
+
+
+def unpackPx4(file_path):
+    '''
+    Unpacks a .px4 file to get access to its binary data.
+
+    filepath: Path to a px4 file to extract.
+
+    return: A tuple of (binary data, json_data) of the file.
+
+    '''
+    # read the file
+    with open(file_path, "r") as f:
+        desc = json.load(f)
+    image = bytearray(zlib.decompress(base64.b64decode(desc['image'])))
+    return image, desc
+
+
+def packPx4(bin_image, json_data, file_path, pub_key):
+    '''
+    Packs a new .px4 file with given binary data and information from jason file.
+
+    bin_image: New binary data with signature to add to .px4 file
+    json_data: The json data from the previously parsed .px4.
+    file_path: File path to then new .px4.sec image.
+
+    return: Nothing
+    '''
+
+    head,tail=os.path.splitext(file_path)
+    with open(head +'_signed.px4', 'w') as f:
+        json_data['signed'] = 'Hash512_Ed25519'
+        json_data['pub_key'] = pub_key.decode('utf-8')
+        json_data['image_size'] = len(bin_image)
+        json_data['image'] = base64.b64encode(
+            zlib.compress(bin_image, 9)).decode('utf-8')
+        print('Pack new signed.px4 file with signature')
+        json.dump(json_data, f, indent=4)
+
+
+def ed25519_sign(private_key, signee_bin):
+    """
+    This function creates the signature. It takes the private key and the binary file
+    and returns the tuple (signature, public key)
+    """
+
+    signing_key = nacl.signing.SigningKey(
+        private_key, encoder=nacl.encoding.HexEncoder)
+
+    # Sign a message with the signing key
+    signed = signing_key.sign(signee_bin, encoder=nacl.encoding.RawEncoder)
+
+    # Obtain the verify key for a given signing key
+    verify_key = signing_key.verify_key
+
+    # Serialize the verify key to send it to a third party
+    verify_key_hex = verify_key.encode(encoder=nacl.encoding.HexEncoder)
+
+    return signed.signature, verify_key_hex
+
+
+def write_toc(toc_old, bin, signature_name, new_pub_key_index, new_flags):
+    '''
+    Writes a new TOC entry.
+    toc_old: The parsed data_class with the data of the old TOC
+    bin: The binary to insert the new TOC
+    signature_name: 4 char name of the newly added signature
+    new_pub_key_index: Key index of the public key belongs to the signature
+    new_flags: New Toc flags from toc_flag_dict dictionary.
+
+    return: New bin with modified TOC
+    '''
+
+    toc_new = toc_old
+    toc_new.app_signature_key = new_pub_key_index
+    toc_new.app_flags1 = new_flags
+    if len(signature_name) != 4:
+        raise Exception('Signature name has not the right length')
+    toc_new.app_name = bytes(signature_name, 'utf_8')
+    toc_new_bin = toc2bin(toc_new)
+
+    toc_entry_len = struct.calcsize(TOC_entry().STRUCT_STRUCTURE)
+    bin[toc_old.toc_position:toc_old.toc_position+toc_entry_len] = toc_new_bin
+
+    return bin
+
+
+def cli():
+    '''
+    Comand lined interface to the signtool.
+    See usage comand.
+
+    return: class with parsed arguments.
+    '''
+
+    parser = argparse.ArgumentParser(
+        description='Tool to extract and find crypto TOC from .px4 file. And append a signature from a given private key')
+    # defining arguments for parser object
+    parser.add_argument("--signee", type=str,
+                        metavar="file_path", default=None,
+                        help="Opens and reads the specified px4 file.")
+    parser.add_argument("--private_key", type=str,
+                        metavar="key string", default=None,
+                        help="Private key to sign the px4 image")
+    parser.add_argument("--key_index", type=int,
+                        metavar="Number", default=None,
+                        help="Index of the public key used to verify the binary")
+
+    parser.add_argument("--TOC_flags", type=str, choices=['TOC_FLAG1_BOOT', 'TOC_FLAG1_RDCT'],
+                        default=None,
+                        help="TOC flags to indicate signature")
+    args = parser.parse_args()
+    return args
+
+
+def sign(file_path, private_key, key_index, TOC_flags):
+    '''
+    Signs a binary file and updates TOC accordingly.
+    Reads a .px4 or a .bin at specified location and writes a new _signed.[px4|bin] file at the same location.
+
+    file_path: Path to a .px4 or .bin file to sign.
+    private_key: String of the private key used to sign the binary.
+    key_index: Index of the public key used to verify signature.
+    TOC_flags: New toc flags to be written.
+    '''
+    head,tail=os.path.splitext(file_path)
+    if(tail == '.px4'):
+        bin, json_data = unpackPx4(file_path)
+    elif(tail == '.bin'):
+        with open(file_path,mode='rb') as f:
+            bin =bytearray(f.read())
+    else:
+        raise Exception('Error: Unknown file type')
+
+
+    toc_old = parse_toc(bin)
+    new_bin = write_toc(toc_old, bin, 'MSTR', key_index,
+                        toc_flag_dict[TOC_flags])
+    app_len = toc_old.app_end - toc_old.app_start
+    print('Calculate new signature')
+    signature, pub_key = cryptotools.ed25519_sign(
+        private_key, bytes(new_bin[0:app_len]))
+    # Append signature to binary
+    print('Append signature to binary: ',signature.hex(),'\n','length: ',app_len )
+
+    sig_start=toc_old.sig_start - toc_old.app_start
+    sig_end = toc_old.sig_end - toc_old.app_start
+
+    if sig_start != app_len:
+        padding = bytearray(b'\xff')*(sig_start - app_len)
+        new_bin += padding
+
+    new_bin[toc_old.sig_start-toc_old.app_start:toc_old.sig_end -
+            toc_old.app_start] = signature
+
+    if(tail == '.px4'):
+        packPx4(new_bin, json_data, file_path,pub_key)
+    elif(tail == '.bin'):
+        head,tail=os.path.splitext(file_path)
+        with open(head +'_signed.bin',mode='wb') as f:
+            f.write(bin)
+    else:
+        raise Exception('Error: Unknown file type!')
+
+
+
+if(__name__ == "__main__"):
+    args = cli()
+    # test input to the sign function if not run from CLI
+    # sign('PX4-Autopilot/build/px4_fmu-v5x_default/px4_fmu-v5x_default.px4',
+    #      "8e969454c3f1ba924b4d436bc58b87d20c082ea99fb6a77b9e00f7b20dab0fd8",
+    #      0, 'TOC_FLAG1_BOOT')
+    # CLI test input:
+    # --signee /PX4-Autopilot/build/px4_fmu-v5x_default/px4_fmu-v5x_default.px4
+    #  --private_key 8e969454c3f1ba924b4d436bc58b87d20c082ea99fb6a77b9e00f7b20dab0fd8 --key_index 0 --TOC_flags TOC_FLAG1_BOOT
+    sign(args.signee, args.private_key, args.key_index, args.TOC_flags)