mavlink: early return in parser

Signed-off-by: Julian Oes <julian@oes.ch>
mavlink: add MAV_SIK_RADIO_ID param back in
2026-05-24 06:57:38 +08:00 · 2023-02-09 21:06:16 +13:00 · 2023-02-09 21:05:44 +13:00 · 2023-02-08 13:15:33 +13:00
1441 changed files with 41339 additions and 68646 deletions
@@ -9,7 +9,7 @@ pipeline {
        script {
          def build_nodes = [:]
          def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2023-06-26",
+            armhf: "px4io/px4-dev-armhf:2022-08-12",
            arm64: "px4io/px4-dev-aarch64:2022-08-12",
            base: "px4io/px4-dev-ros2-foxy:2022-08-12",
            nuttx: "px4io/px4-dev-nuttx-focal:2022-08-12",
@@ -40,8 +40,6 @@ pipeline {
                     "ark_can-flow_default",
                     "ark_can-gps_canbootloader",
                     "ark_can-gps_default",
-                     "ark_cannode_canbootloader",
-                     "ark_cannode_default",
                     "ark_can-rtk-gps_canbootloader",
                     "ark_can-rtk-gps_default",
                     "ark_fmu-v6x_bootloader",
@@ -55,10 +53,8 @@ pipeline {
                     "cuav_nora_default",
                     "cuav_x7pro_default",
                     "cubepilot_cubeorange_default",
-                     "cubepilot_cubeorangeplus_default",
                     "cubepilot_cubeyellow_default",
                     "diatone_mamba-f405-mk2_default",
-                     "flywoo_gn-f405_default",
                     "freefly_can-rtk-gps_canbootloader",
                     "freefly_can-rtk-gps_default",
                     "holybro_can-gps-v1_canbootloader",
@@ -76,7 +72,7 @@ pipeline {
                     "matek_h743_default",
                     "modalai_fc-v1_default",
                     "modalai_fc-v2_default",
-                     "mro_ctrl-zero-classic_default",
+                     "modalai_voxl2-io_default",
                     "mro_ctrl-zero-f7_default",
                     "mro_ctrl-zero-f7-oem_default",
                     "mro_ctrl-zero-h7-oem_default",
@@ -89,7 +85,6 @@ pipeline {
                     "nxp_fmuk66-v3_default",
                     "nxp_fmuk66-v3_socketcan",
                     "nxp_fmurt1062-v1_default",
-                     "nxp_mr-canhubk3_default",
                     "nxp_ucans32k146_canbootloader",
                     "nxp_ucans32k146_default",
                     "omnibus_f4sd_default",
@@ -115,10 +110,7 @@ pipeline {
                     "raspberrypi_pico_default",
                     "sky-drones_smartap-airlink_default",
                     "spracing_h7extreme_default",
-                     "thepeach_k1_default",
-                     "thepeach_r1_default",
-                     "uvify_core_default",
-                     "siyi_n7_default"
+                     "uvify_core_default"
            ],
            image: docker_images.nuttx,
            archive: true
@@ -170,7 +162,7 @@ pipeline {
  }
  options {
    buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
-    timeout(time: 120, unit: 'MINUTES')
+    timeout(time: 90, unit: 'MINUTES')
  }
 }

@@ -12,7 +12,7 @@ pipeline {
            stage("build cubepilot_cubeorange_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -91,7 +91,7 @@ pipeline {
            stage("build cuav_x7pro_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -165,7 +165,7 @@ pipeline {
            stage("build px4_fmu-v4_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -238,7 +238,7 @@ pipeline {
            stage("build px4_fmu-v4pro_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -312,7 +312,7 @@ pipeline {
            stage("build px4_fmu-v5_debug") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -362,7 +362,7 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'

                    // test dataman
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" --ignore-stdout-errors'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'

                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
@@ -403,7 +403,7 @@ pipeline {
            stage("build px4_fmu-v5_stackcheck") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -449,7 +449,7 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'

                    // test dataman
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" --ignore-stdout-errors'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
                  }
                }
                stage("status") {
@@ -486,7 +486,7 @@ pipeline {
            stage("build px4_fmu-v5_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -560,7 +560,7 @@ pipeline {
            stage("build nxp_fmuk66-v3_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -2,7 +2,7 @@
 // https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
 {
 	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2022-08-12",
+	"image": "px4io/px4-dev-nuttx-focal:2021-09-08",

 	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],

@@ -29,8 +29,7 @@
 		"twxs.cmake",
 		"uavcan.dsdl",
 		"wholroyd.jinja",
-		"zixuanwang.linkerscript",
-		"ms-vscode.makefile-tools"
+		"zixuanwang.linkerscript"
 	],

 	"containerUser": "user",
@@ -0,0 +1,34 @@
+---
+name: 🐛 Bug report
+about: Create a report to help us improve
+labels: bug-report
+
+---
+
+## Describe the bug
+A clear and concise description of the bug.
+
+## To Reproduce
+Steps to reproduce the behavior:
+1. Drone switched on '...'
+2. Uploaded mission '....' (attach QGC mission file)
+3. Took off '....'
+4. See error
+
+## Expected behavior
+A clear and concise description of what you expected to happen.
+
+## Log Files and Screenshots
+*Always* provide a link to the flight log file:
+- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
+- Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
+- Share the link to the log (Copy and paste the URL of the log)
+
+Add screenshots to help explain your problem.
+
+## Drone (please complete the following information):
+- Describe the type of drone.
+- Photo of the IMU / autopilot setup if possible.
+
+## Additional context
+Add any other context about the problem here.
@@ -0,0 +1,20 @@
+---
+name: 🚀 Feature Request
+about: Suggest an idea for this project
+labels: feature-request
+
+---
+
+For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Discord (you can find an invite link on this project README).
+
+## Describe problem solved by the proposed feature
+A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
+
+## Describe your preferred solution
+A clear and concise description of what you want to happen.
+
+## Describe possible alternatives
+A clear and concise description of alternative solutions or features you've considered.
+
+## Additional context
+Add any other context or screenshots for the feature request here.
@@ -0,0 +1,13 @@
+---
+name: ⛔ Support Question
+about: See http://discuss.px4.io/ for questions about using PX4.
+
+---
+
+## Attention! Please read the note below
+
+We use GitHub issues only to discuss PX4 bugs and new features.
+
+**For questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).**
+
+Thanks!
@@ -0,0 +1,11 @@
+---
+name: ⛔ Documentation Issue
+about: See https://github.com/PX4/px4_user_guide for documentation issues
+
+---
+
+## Attention! Please read the note below
+
+**Please submit the documentation issue to the [User Guide](https://github.com/PX4/px4_user_guide) repository.**
+
+Thanks!
@@ -1,94 +0,0 @@
-name: 🐛 Bug report
-description: Create a report to help us improve
-title: "[Bug] "
-labels: ["bug-report"]
-body:
-  - type: textarea
-    attributes:
-      label: Describe the bug
-      description: A clear and concise description of the bug.
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: To Reproduce
-      description: |
-          Steps to reproduce the behavior.
-          1. Drone switched on '...'
-          2. Uploaded mission '....' (attach QGC mission file)
-          3. Took off '....'
-          4. See error
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Expected behavior
-      description: A clear and concise description of what you expected to happen.
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Screenshot / Media
-      description: Add screenshot / media if you have them
-
-  - type: textarea
-    attributes:
-      label: Flight Log
-      description: |
-          *Always* provide a link to the flight log file:
-          - Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
-          - Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
-          - Share the link to the log (Copy and paste the URL of the log)
-      placeholder: |
-          # PASTE HERE THE LINK TO THE LOG
-    validations:
-      required: true
-
-  - type: markdown
-    attributes:
-      value: |
-        ## Setup
-
-  - type: textarea
-    attributes:
-      label: Software Version
-      description: |
-          Which version of PX4 are you using?
-      placeholder: |
-          # If you don't know the version, paste the output of `ver all` in the MAVLink Shell of QGC
-    validations:
-      required: true
-
-  - type: input
-    attributes:
-      label: Flight controller
-      description: Specify your flight controller model (what type is it, where was it bought from, ...).
-    validations:
-      required: true
-
-  - type: dropdown
-    attributes:
-      label: Vehicle type
-      options:
-        - Multicopter
-        - Helicopter
-        - Fixed Wing
-        - Hybrid VTOL
-        - Airship/Balloon
-        - Rover
-        - Boat
-        - Submarine
-        - Other
-
-  - type: textarea
-    attributes:
-      label: How are the different components wired up (including port information)
-      description: Details about how all is wired.
-
-  - type: textarea
-    attributes:
-      label: Additional context
-      description: Add any other context about the problem here.
@@ -1,8 +0,0 @@
-blank_issues_enabled: false
-contact_links:
-  - name: Support Question
-    url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat
-    about: For questions about using PX4 or related components, please use the discuss forum and discord server
-  - name: Documentation Issue
-    url: https://github.com/PX4/PX4-user_guide/issues
-    about: If you found an issue in documentation, please submit it directly to the docs repository issues
@@ -1,35 +0,0 @@
-name: 🚀 Feature Request
-description: Suggest an idea for this project
-labels: ["feature-request"]
-body:
-  - type: markdown
-    attributes:
-      value: |
-        ## Please note that feature requests are not 'fire and forget'
-        It is a lot more likely that the feature you would like to have will be implemented if you keep watching your feature request, and provide more details to developers looking into implementing your feature, and help them with testing.
-
-  - type: textarea
-    attributes:
-      label: Describe problem solved by the proposed feature
-      description: A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Describe your preferred solution
-      description: A clear and concise description of what you want to happen.
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Describe possible alternatives
-      description: A clear and concise description of any alternative solutions or features you've considered.
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Additional context
-      description: Add any other context or screenshots for the feature request here.
@@ -18,14 +18,6 @@ Fixes #{Github issue ID}
 - Add ... for ...
 - Refactor ...

-### Changelog Entry
-For release notes:
-```
-Feature/Bugfix XYZ
-New parameter: XYZ_Z
-Documentation: Need to clarify page ... / done, read docs.px4.io/...
-```
-
 ### Alternatives
 We could also ...

@@ -0,0 +1,24 @@
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="90" height="20">
+  <linearGradient id="smooth" x2="0" y2="100%">
+    <stop offset="0" stop-color="#bbb" stop-opacity=".1"/>
+    <stop offset="1" stop-opacity=".1"/>
+  </linearGradient>
+
+  <mask id="round">
+    <rect width="90" height="20" rx="3" fill="#fff"/>
+  </mask>
+
+  <g mask="url(#round)">
+    <rect width="42" height="20" fill="#555"/>
+    <rect x="42" width="48" height="20" fill="#E01563"/>
+    <rect width="90" height="20" fill="url(#smooth)"/>
+  </g>
+
+  <g fill="#fff" text-anchor="middle" font-family="DejaVu Sans,Verdana,Geneva,sans-serif" font-size="11">
+    <text x="22" y="15" fill="#010101" fill-opacity=".3">slack</text>
+    <text x="22" y="14">slack</text>
+    <text x="65" y="15" fill="#010101" fill-opacity=".3">Join us!</text>
+    <text x="65" y="14">Join us!</text>
+  </g>
+</svg>
+
@@ -0,0 +1,15 @@
+# Number of days of inactivity before an issue becomes stale
+daysUntilStale: 90
+# Number of days of inactivity before a stale issue is closed, or `false` to disable
+daysUntilClose: false
+# Issues with these labels will never be considered stale
+exemptLabels:
+  - pinned
+# Label to use when marking an issue as stale
+staleLabel: stale
+# Comment to post when marking an issue as stale. Set to `false` to disable
+markComment: >
+  This issue has been automatically marked as stale because it has not had
+  recent activity. Thank you for your contributions.
+# Comment to post when closing a stale issue. Set to `false` to disable
+closeComment: false
@@ -28,7 +28,7 @@ jobs:
          "parameters_metadata",
        ]
    container:
-      image: px4io/px4-dev-nuttx-focal:2022-08-12
+      image: px4io/px4-dev-nuttx-focal:2021-09-08
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -1,12 +1,9 @@
-name: Compile Linux Targets
+name: Linux Targets

 on:
  push:
    branches:
    - 'main'
-    - 'stable'
-    - 'beta'
-    - 'release/*'
  pull_request:
    branches:
    - '*'
@@ -14,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2023-06-26
+    container: px4io/px4-dev-armhf:2021-09-08
    strategy:
      matrix:
        config: [
@@ -27,8 +24,7 @@ jobs:
    - uses: actions/checkout@v1
      with:
        token: ${{secrets.ACCESS_TOKEN}}
-    - name: ownership workaround
-      run: git config --system --add safe.directory '*'
+
    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
      shell: cmake -P {0}
@@ -1,12 +1,9 @@
-name: Compile Linux ARM64 Targets
+name: Linux ARM64 Targets

 on:
  push:
    branches:
    - 'main'
-    - 'stable'
-    - 'beta'
-    - 'release/*'
  pull_request:
    branches:
    - '*'
@@ -14,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2022-08-12
+    container: px4io/px4-dev-aarch64:2021-09-08
    strategy:
      matrix:
        config: [
@@ -10,12 +10,13 @@ on:

 jobs:
  build:
-    runs-on: macos-latest
+    runs-on: macos-10.15
    strategy:
      matrix:
        config: [
          px4_fmu-v5_default,
          px4_sitl
+          #tests, # includes px4_sitl
          ]
    steps:
    - uses: actions/checkout@v1
@@ -1,12 +1,9 @@
-name: Compile Nuttx Targets
+name: Nuttx Targets

 on:
  push:
    branches:
    - 'main'
-    - 'stable'
-    - 'beta'
-    - 'release/*'
  pull_request:
    branches:
    - '*'
@@ -14,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2022-08-12
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
    strategy:
      fail-fast: false
      matrix:
@@ -33,7 +30,6 @@ jobs:
          cuav_nora,
          cuav_x7pro,
          cubepilot_cubeorange,
-          cubepilot_cubeorangeplus,
          cubepilot_cubeyellow,
          diatone_mamba-f405-mk2,
          freefly_can-rtk-gps,
@@ -73,8 +69,7 @@ jobs:
          raspberrypi_pico,
          sky-drones_smartap-airlink,
          spracing_h7extreme,
-          uvify_core,
-          siyi_n7
+          uvify_core
          ]
    steps:
    - uses: actions/checkout@v1
@@ -24,15 +24,12 @@ jobs:
    needs: enumerate_targets
    strategy:
      matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
-    container: ${{ matrix.container }}
+    container: px4io/px4-dev-${{ matrix.container }}:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
        token: ${{secrets.ACCESS_TOKEN}}

-    - name: ownership workaround
-      run: git config --system --add safe.directory '*'
-
    - name: make ${{matrix.target}}
      run: make ${{matrix.target}}

@@ -21,7 +21,7 @@ jobs:
          "failsafe_web",
        ]
    container:
-      image: px4io/px4-dev-nuttx-focal:2022-08-12
+      image: px4io/px4-dev-nuttx-focal:2021-09-08
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -103,7 +103,7 @@ jobs:

  uorb_graph:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2022-08-12
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
@@ -1,16 +0,0 @@
-name: 'Handle stale issues and PRs'
-on:
-  schedule:
-    - cron: '30 1 * * *'
-
-jobs:
-  stale:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/stale@v8
-        with:
-          days-before-stale: 30
-          days-before-close: -1
-          stale-issue-label: 'stale'
-          stale-pr-label: 'stale'
-          remove-stale-when-updated: true
@@ -105,6 +105,3 @@ src/modules/simulator/simulator_config.h
 src/systemcmds/topic_listener/listener_generated.cpp

 !src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
-
-# colcon
-log/
@@ -58,7 +58,7 @@
 	path = src/lib/crypto/libtommath
 	url = https://github.com/PX4/libtommath.git
 	branch = px4
-[submodule "src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client"]
-	path = src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client
+[submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
+	path = src/modules/microdds_client/Micro-XRCE-DDS-Client
 	url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
 	branch = px4
@@ -18,7 +18,6 @@
        "twxs.cmake",
        "uavcan.dsdl",
        "wholroyd.jinja",
-        "zixuanwang.linkerscript",
-        "ms-vscode.makefile-tools"
+        "zixuanwang.linkerscript"
    ]
 }
@@ -127,6 +127,5 @@
        "terminal.integrated.scrollback": 15000,
        "yaml.schemas": {
                "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
-        },
-        "ros.distro": "humble"
+        }
 }
@@ -170,7 +170,7 @@
            ]
        },
        {
-            "label": "gazebo",
+            "label": "ign gazebo",
            "type": "shell",
            "options": {
                "cwd": "${workspaceFolder}",
@@ -178,7 +178,7 @@
                    "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/gz/models",
                }
            },
-            "command": "gz sim -v 4 -r ${workspaceFolder}/Tools/simulation/gz/worlds/${input:gzWorld}.sdf",
+            "command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/gz/worlds/${input:gzWorld}.sdf",
            "isBackground": true,
            "presentation": {
                "echo": true,
@@ -191,7 +191,7 @@
                "close": false
            },
            "problemMatcher": [],
-            "dependsOn":["gazebo kill"]
+            "dependsOn":["ign gazebo kill"]
        },
        {
            "label": "gazebo-classic kill",
@@ -211,9 +211,9 @@
            "dependsOn":["px4_sitl_cleanup"]
        },
        {
-            "label": "gazebo kill",
+            "label": "ign gazebo kill",
            "type": "shell",
-            "command": "pkill -9 -f 'gz sim' || true",
+            "command": "pkill -9 -f 'ign gazebo' || true",
            "presentation": {
                "echo": true,
                "reveal": "never",
@@ -414,8 +414,6 @@ endif()
 #
 add_library(parameters_interface INTERFACE)
 add_library(kernel_parameters_interface INTERFACE)
-add_library(events_interface INTERFACE)
-add_library(kernel_events_interface INTERFACE)

 include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)
@@ -442,11 +440,8 @@ add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
 if(${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT)
 	target_link_libraries(parameters_interface INTERFACE usr_parameters)
 	target_link_libraries(kernel_parameters_interface INTERFACE parameters)
-	target_link_libraries(events_interface INTERFACE usr_events)
-	target_link_libraries(kernel_events_interface INTERFACE events)
 else()
 	target_link_libraries(parameters_interface INTERFACE parameters)
-	target_link_libraries(events_interface INTERFACE events)
 endif()

 # firmware added last to generate the builtin for included modules
@@ -94,7 +94,7 @@ pipeline {

        stage('failsafe docs') {
          agent {
-            docker { image 'px4io/px4-dev-nuttx-focal:2022-08-12' }
+            docker { image 'px4io/px4-dev-nuttx-focal:2021-08-18' }
          }
          steps {
            sh '''#!/bin/bash -l
@@ -125,7 +125,7 @@ pipeline {
        stage('uORB graphs') {
          agent {
            docker {
-              image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+              image 'px4io/px4-dev-nuttx-focal:2021-08-18'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
            }
          }
@@ -483,8 +483,7 @@ shellcheck_all:
 validate_module_configs:
 	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
 	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" \
-	-not -path "$(SRC_DIR)/src/modules/uxrce_dds_client/dds_topics.yaml" \
-	-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
+	-not -path "$(SRC_DIR)/src/modules/microdds_client/dds_topics.yaml" \
 	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
 	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml

@@ -44,89 +44,81 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/con

 ## Maintenance Team

-Note: This is the source of truth for the active maintainers of PX4 ecosystem.
+  * Project: Founder
+    * [Lorenz Meier](https://github.com/LorenzMeier)
+  * Architecture
+    * [Daniel Agar](https://github.com/dagar)
+  * [Dev Call](https://github.com/PX4/PX4-Autopilot/labels/devcall)
+    * [Ramon Roche](https://github.com/mrpollo)
+  * Communication Architecture
+    * [Beat Kueng](https://github.com/bkueng)
+    * [Julian Oes](https://github.com/JulianOes)
+  * UI in QGroundControl
+    * [Gus Grubba](https://github.com/dogmaphobic)
+  * [Multicopter Flight Control](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
+    * [Mathieu Bresciani](https://github.com/bresch)
+  * [Multicopter Software Architecture](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
+    * [Matthias Grob](https://github.com/MaEtUgR)
+  * [VTOL Flight Control](https://github.com/PX4/PX4-Autopilot/labels/vtol)
+    * [Roman Bapst](https://github.com/RomanBapst)
+  * [Fixed Wing Flight Control](https://github.com/PX4/PX4-Autopilot/labels/fixedwing)
+    * [Roman Bapst](https://github.com/RomanBapst)
+  * OS / NuttX
+    * [David Sidrane](https://github.com/davids5)
+  * Driver Architecture
+    * [Daniel Agar](https://github.com/dagar)
+  * Commander Architecture
+    * [Julian Oes](https://github.com/julianoes)
+  * [UAVCAN](https://github.com/PX4/PX4-Autopilot/labels/uavcan)
+    * [Daniel Agar](https://github.com/dagar)
+  * [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
+    * [Paul Riseborough](https://github.com/priseborough)
+  * Vision based navigation and Obstacle Avoidance
+    * [Markus Achtelik](https://github.com/markusachtelik)
+  * DDS/ROS2 Interface
+    * [Nuno Marques](https://github.com/TSC21)

-| Sector | Maintainer |
-|---|---|
-| Founder | [Lorenz Meier](https://github.com/LorenzMeier) |
-| Architecture | [Daniel Agar](https://github.com/dagar) / [Beat Küng](https://github.com/bkueng)|
-| State Estimation | [Mathieu Bresciani](https://github.com/bresch) / [Paul Riseborough](https://github.com/priseborough) |
-| OS/NuttX | [David Sidrane](https://github.com/davids5) |
-| Drivers | [Daniel Agar](https://github.com/dagar) |
-| Simulation | [Jaeyoung Lim](https://github.com/Jaeyoung-Lim) |
-| ROS2 | [Beniamino Pozzan](https://github.com/beniaminopozzan) |
-| Community QnA Call | [Ramon Roche](https://github.com/mrpollo) |
-| [Documentation](https://docs.px4.io/main/en/) | [Hamish Willee](https://github.com/hamishwillee) |
-
-| Vehicle Type | Maintainer |
-|---|---|
-| Multirotor | [Matthias Grob](https://github.com/MaEtUgR) |
-| Fixed Wing | [Thomas Stastny](https://github.com/tstastny) |
-| Hybrid VTOL | [Silvan Fuhrer](https://github.com/sfuhrer) |
-| Boat | x |
-| Rover | x |
-
-See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github). However it may be not up to date.
+See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github).

 ## Supported Hardware

-Pixhawk standard boards and proprietary boards are shown below (discontinued boards aren't listed).
-
-For the most up to date information, please visit [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
+This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.

 ### Pixhawk Standard Boards
+  * 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)
+  * 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)
+  * 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)
+  * 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)

-These boards fully comply with Pixhawk Standard, and are maintained by the PX4-Autopilot maintainers and Dronecode team
+### 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)
+  * [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)

-* FMUv6X and FMUv6C
-  * [CUAV Pixahwk V6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/cuav_pixhawk_v6x.html)
-  * [Holybro Pixhawk 6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/pixhawk6x.html)
-  * [Holybro Pixhawk 6C (FMUv6C)](https://docs.px4.io/main/en/flight_controller/pixhawk6c.html)
-  * [Holybro Pix32 v6 (FMUv6C)](https://docs.px4.io/main/en/flight_controller/holybro_pix32_v6.html)
-* 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/avionics/skynode)
-* 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)
-* 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)
-* FMUv2 (STM32F4, 2013)
-  * [Pixhawk](https://docs.px4.io/main/en/flight_controller/pixhawk.html)
-
-### Manufacturer supported
-
-These boards are maintained to be compatible with PX4-Autopilot by the Manufacturers.
-
-* [ARK Electronics ARKV6X](https://docs.px4.io/main/en/flight_controller/arkv6x.html)
-* [CubePilot Cube Orange+](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orangeplus.html)
-* [CubePilot Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
-* [CubePilot Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
-* [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.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)
-* [Holybro Kakute F7](https://docs.px4.io/main/en/flight_controller/kakutef7.html)
-
-### Community supported
-
-These boards don't fully comply industry standards, and thus is solely maintained by the PX4 publc community members.
-
-### Experimental
-
-These boards are nor maintained by PX4 team nor Manufacturer, and is not guaranteed to be compatible with up to date PX4 releases.
-
-* [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/main/en/complete_vehicles/crazyflie2.html)
+Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).

 ## Project Roadmap

-**Note: Outdated**
-
 A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).

 ## Project Governance
@@ -137,6 +137,11 @@ add_custom_command(
 	COMMENT "ROMFS: copying, generating airframes"
 	)

+if(EXISTS ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)
+	set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
+	configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
+endif()
+
 # copy extras into ROMFS
 set(extras_dependencies)

@@ -203,24 +208,6 @@ endforeach()
 set(OPTIONAL_BOARD_EXTRAS)
 file(GLOB OPTIONAL_BOARD_EXTRAS ${PX4_BOARD_DIR}/extras/*)

-# bootloader (optional)
-#  - if systemcmds/bl_update included and board bootloader available then generate rc.board_bootloader_upgrade and copy bootloader binary
-#  - otherwise remove bootloader binary from extras in final ROMFS
-foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
-	file(RELATIVE_PATH extra_file_base_name ${PX4_BOARD_DIR}/extras/ ${board_extra_file})
-	if(${extra_file_base_name} MATCHES "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
-		if(CONFIG_SYSTEMCMDS_BL_UPDATE)
-			# generate rc.board_bootloader_upgrade
-			set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
-			configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
-		else()
-			# remove bootloader from extras
-			list(REMOVE_ITEM OPTIONAL_BOARD_EXTRAS ${board_extra_file})
-		endif()
-
-	endif()
-endforeach()
-
 foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})

 	if(EXISTS "${board_extra_file}")
@@ -1,30 +0,0 @@
-#!/bin/sh
-#
-# @name Generic Iris Quadrotor SITL
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
@@ -12,14 +12,13 @@
 PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadx}

-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 1
-param set-default SENS_EN_MAGSIM 1
-
 # disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
+param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

 param set-default CA_ROTOR_COUNT 4
@@ -11,17 +11,13 @@
 PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=airplane}

-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 1
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 1
-
 # disable some checks to allow to fly:
 # - with usb
 param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
+param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

 param set-default BAT_N_CELLS 3
@@ -11,13 +11,6 @@
 PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}

-param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
-
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 1
-param set-default SENS_EN_MAGSIM 1
-
-param set-default VT_B_TRANS_DUR 5
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 0
 param set-default VT_FW_DIFTHR_EN 1
@@ -28,9 +21,12 @@ param set-default MC_PITCH_P 5
 param set-default MAV_TYPE 19

 # disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
+param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

 param set-default BAT_N_CELLS 3
@@ -30,19 +30,15 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

 # EKF2
+param set-default EKF2_AID_MASK 2
 param set-default EKF2_GPS_CTRL 0
-param set-default EKF2_HGT_REF 0
 param set-default EKF2_EVP_NOISE 0.05
 param set-default EKF2_EVA_NOISE 0.05
-param set-default EKF2_OF_CTRL 1

 # LPE: Flow-only mode
 param set-default LPE_FUSION 242
 param set-default LPE_FAKE_ORIGIN 1

-# Commander
-# param set-default COM_HOME_EN 0 # Disable setting of home position
-
 param set-default MPC_ALT_MODE 2

 param set-default SENS_FLOW_ROT 6
@@ -5,12 +5,12 @@
 # @type Quadrotor Wide
 #

-. ${R}etc/init.d-posix/airframes/10016_gazebo-classic_iris
+. ${R}etc/init.d-posix/airframes/10016_iris

-# EKF2: Vision position and heading, no GPS
+# EKF2: Vision position and heading
+param set-default EKF2_AID_MASK 24
 param set-default EKF2_EV_DELAY 5
 param set-default EKF2_EV_CTRL 15
-param set-default EKF2_HGT_REF 3
 param set-default EKF2_GPS_CTRL 0

 # LPE: Vision + baro
@@ -1,8 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor with a depth camera (forward-facing)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10015_gazebo-classic_iris
@@ -30,3 +30,5 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

 param set-default COM_OBS_AVOID 1
+param set-default MPC_XY_CRUISE 5.0
+
@@ -1,8 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor with a depth camera (downward-facing)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10015_gazebo-classic_iris
@@ -30,8 +30,8 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

 # EKF2
+param set-default EKF2_AID_MASK 2
 param set-default EKF2_GPS_CTRL 0
-param set-default EKF2_OF_CTRL 1

 # LPE: Flow-only mode
 param set-default LPE_FUSION 242
@@ -5,6 +5,9 @@

 . ${R}etc/init.d/rc.uuv_defaults

+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default CA_AIRFRAME 7
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_R_REV 255
@@ -5,6 +5,9 @@

 . ${R}etc/init.d/rc.uuv_defaults

+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default CA_AIRFRAME 7

 param set-default CA_ROTOR_COUNT 8
@@ -5,9 +5,12 @@

 . ${R}etc/init.d/rc.fw_defaults

+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
+
 param set-default FW_LND_ANG 8

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
@@ -5,11 +5,13 @@

 . ${R}etc/init.d/rc.fw_defaults

+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

-
+param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
@@ -5,13 +5,13 @@

 . ${R}etc/init.d/rc.fw_defaults

-param set-default FW_LAUN_DETCN_ON 1
-param set-default FW_THR_IDLE 0.1 # needs to be running before throw as that's how gazebo detects arming
-param set-default FW_LAUN_AC_THLD 10
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

+param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
@@ -47,6 +47,8 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

+param set-default RWTO_TKOFF 1
+
 param set-default CA_AIRFRAME 1

 param set-default CA_ROTOR_COUNT 1
@@ -72,3 +74,5 @@ param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256

+param set-default RWTO_TKOFF 0
+
@@ -10,7 +10,7 @@ param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5

-param set-default NPFG_PERIOD 25
+param set-default FW_L1_PERIOD 25

 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
@@ -25,6 +25,7 @@ param set-default FW_W_EN 1

 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -10,7 +10,7 @@ param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5

-param set-default NPFG_PERIOD 25
+param set-default FW_L1_PERIOD 25

 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
@@ -25,6 +25,7 @@ param set-default FW_W_EN 1

 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -5,10 +5,13 @@

 . ${R}etc/init.d/rc.fw_defaults

-
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_ANG 8

+param set-default FW_L1_PERIOD 15
+
 param set-default FW_P_TC 0.5
 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
@@ -19,7 +22,7 @@ param set-default FW_RR_FF 0.20
 param set-default FW_RR_I 0.02
 param set-default FW_RR_P 0.22

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_W_EN 1

@@ -10,7 +10,7 @@ param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5

-param set-default NPFG_PERIOD 25
+param set-default FW_L1_PERIOD 25

 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
@@ -25,6 +25,7 @@ param set-default FW_W_EN 1

 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -5,11 +5,12 @@

 . ${R}etc/init.d/rc.fw_defaults

-
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_ANG 8

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.2
@@ -25,6 +26,7 @@ param set-default FW_THR_TRIM 0.25

 param set-default FW_T_ALT_TC 2
 param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
 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
@@ -5,11 +5,13 @@

 . ${R}etc/init.d/rc.fw_defaults

+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

-
+param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
@@ -45,6 +47,8 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

+param set-default RWTO_TKOFF 1
+
 param set-default CA_AIRFRAME 1

 param set-default CA_ROTOR_COUNT 1
@@ -71,3 +75,4 @@ param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256

 param set-default FW_THR_TRIM 0.0
+param set-default RWTO_TKOFF 0
@@ -5,12 +5,13 @@

 . ${R}etc/init.d/rc.fw_defaults

+param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5

-param set-default NPFG_PERIOD 25
+param set-default FW_L1_PERIOD 25

 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
@@ -26,6 +27,7 @@ param set-default FW_W_EN 1
 param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -5,11 +5,13 @@

 . ${R}etc/init.d/rc.fw_defaults

-
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_ANG 8
+param set-default FW_THR_LND_MAX 0

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_MAN_P_MAX 30

@@ -35,6 +37,7 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

+#param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 1

 param set-default CA_ROTOR_COUNT 1
@@ -59,3 +62,7 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
+
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom
@@ -47,7 +47,7 @@ param set-default PWM_MAIN_FUNC6 201
 param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
@@ -67,6 +67,7 @@ param set-default MC_YAW_P 1.6

 param set-default MIS_TAKEOFF_ALT 10

+param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_XY_P 0.8
 param set-default MPC_XY_VEL_P_ACC 3
 param set-default MPC_XY_VEL_I_ACC 4
@@ -76,5 +77,6 @@ param set-default NAV_ACC_RAD 5

 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75
+param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2

@@ -9,8 +9,6 @@

 param set-default MAV_TYPE 20

-param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
-
 param set-default CA_AIRFRAME 4

 param set-default CA_ROTOR_COUNT 4
@@ -44,36 +42,37 @@ param set-default PWM_MAIN_FUNC6 201
 param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_REV 96 # invert both elevons

-# Single-EKF (for replay)
-param set-default EKF2_MULTI_IMU 0
-param set-default SENS_IMU_MODE 1
-
-param set-default FW_P_TC 0.6
-
-param set-default FW_PR_FF 0.1
+param set-default FW_L1_PERIOD 12
+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_RR_FF 0.1
-param set-default FW_RR_I 0.2
-param set-default FW_RR_P 0.3
-param set-default FW_THR_TRIM 0.35
-param set-default FW_THR_MAX 0.8
+param set-default FW_P_LIM_MIN -15
+param set-default FW_RR_P 0.2
+param set-default FW_THR_TRIM 0.33
+param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
-param set-default FW_T_CLMB_MAX 6
+param set-default FW_T_ALT_TC 2
+param set-default FW_T_CLMB_MAX 8
 param set-default FW_T_HRATE_FF 0.5
-param set-default FW_T_SINK_MAX 3
-param set-default FW_T_SINK_MIN 1.6
+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_ROLL_P 3
-param set-default MC_PITCH_P 3
 param set-default MC_ROLLRATE_P 0.3
-param set-default MC_PITCHRATE_P 0.3

-param set-default VT_ARSP_TRANS 10
-param set-default VT_B_TRANS_DUR 5
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_XY_P 0.8
+param set-default MPC_XY_VEL_P_ACC 3
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_D_ACC 0.1
+
+param set-default NAV_ACC_RAD 5
+
 param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_S_Y 1
+param set-default VT_FW_DIFTHR_S_Y 0.5
 param set-default VT_F_TRANS_DUR 1.5
+param set-default VT_F_TRANS_THR 0.7
 param set-default VT_TYPE 0

 param set-default WV_EN 0
@@ -46,7 +46,7 @@ param set-default PWM_MAIN_FUNC7 201
 param set-default PWM_MAIN_FUNC8 202
 param set-default PWM_MAIN_FUNC9 203

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
@@ -70,6 +70,7 @@ param set-default MPC_XY_VEL_D_ACC 0.1

 param set-default MIS_TAKEOFF_ALT 10

+param set-default VT_B_TRANS_DUR 8
 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_FWD_THRUST_SC 0.6
 param set-default VT_TILT_TRANS 0.6
@@ -47,7 +47,7 @@ param set-default PWM_MAIN_FUNC6 201
 param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
@@ -66,6 +66,7 @@ param set-default MC_YAW_P 1.6

 param set-default MIS_TAKEOFF_ALT 10

+param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_XY_P 0.8
 param set-default MPC_XY_VEL_P_ACC 3
 param set-default MPC_XY_VEL_I_ACC 4
@@ -77,6 +78,7 @@ param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
+param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2


@@ -5,11 +5,13 @@

 . ${R}etc/init.d/rc.fw_defaults

+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

-
+param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
@@ -1,74 +0,0 @@
-#!/bin/sh
-#
-# @name Quadrotor + Tailsitter
-#
-# @type VTOL Quad Tailsitter
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default MAV_TYPE 20
-
-param set-default CA_AIRFRAME 4
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.23
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.23
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.23
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.23
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default CA_SV_CS_COUNT 0
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 0
-
-parm set-default FD_FAIL_R 70
-
-param set-default FW_P_TC 0.6
-
-param set-default FW_PR_I 0.3
-param set-default FW_PR_P 0.5
-param set-default FW_PSP_OFF 2
-param set-default FW_RR_FF 0.1
-param set-default FW_RR_I 0.1
-param set-default FW_RR_P 0.2
-param set-default FW_YR_FF 0 # make yaw rate controller very weak, only keep default P
-param set-default FW_YR_I 0
-param set-default FW_THR_TRIM 0.35
-param set-default FW_THR_MAX 0.8
-param set-default FW_THR_MIN 0.05
-param set-default FW_T_CLMB_MAX 6
-param set-default FW_T_HRATE_FF 0.5
-param set-default FW_T_SINK_MAX 3
-param set-default FW_T_SINK_MIN 1.6
-param set-default FW_AIRSPD_STALL 10
-param set-default FW_AIRSPD_MIN 14
-param set-default FW_AIRSPD_TRIM 18
-param set-default FW_AIRSPD_MAX 22
-
-param set-default MC_AIRMODE 2
-param set-default MAN_ARM_GESTURE 0 # required for yaw airmode
-param set-default MC_ROLL_P 3
-param set-default MC_PITCH_P 3
-param set-default MC_ROLLRATE_P 0.3
-param set-default MC_PITCHRATE_P 0.3
-
-param set-default VT_ARSP_TRANS 15
-param set-default VT_B_TRANS_DUR 5
-param set-default VT_FW_DIFTHR_EN 7
-param set-default VT_FW_DIFTHR_S_Y 1
-param set-default VT_F_TRANS_DUR 1.5
-param set-default VT_TYPE 0
-
-param set-default WV_EN 0
@@ -18,9 +18,12 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

+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

@@ -18,9 +18,12 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

+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

@@ -25,9 +25,12 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

+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 3.0

@@ -18,9 +18,12 @@ param set-default GND_THR_CRUISE 0.85
 param set-default GND_THR_MAX 1
 param set-default GND_THR_MIN 0

+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

@@ -26,6 +26,7 @@ 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
@@ -13,10 +13,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}

 param set-default SIM_GZ_EN 1

-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 4

@@ -5,6 +5,46 @@
 # @type Quadrotor
 #

+. ${R}etc/init.d/rc.mc_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_depth}

-. ${R}etc/init.d-posix/airframes/4001_gz_x500
+param set-default SIM_GZ_EN 1
+
+param set-default CA_AIRFRAME 0
+param set-default CA_ROTOR_COUNT 4
+
+param set-default CA_ROTOR0_PX 0.13
+param set-default CA_ROTOR0_PY 0.22
+param set-default CA_ROTOR0_KM  0.05
+
+param set-default CA_ROTOR1_PX -0.13
+param set-default CA_ROTOR1_PY -0.20
+param set-default CA_ROTOR1_KM  0.05
+
+param set-default CA_ROTOR2_PX 0.13
+param set-default CA_ROTOR2_PY -0.22
+param set-default CA_ROTOR2_KM -0.05
+
+param set-default CA_ROTOR3_PX -0.13
+param set-default CA_ROTOR3_PY 0.20
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_EC_FUNC3 103
+param set-default SIM_GZ_EC_FUNC4 104
+
+param set-default SIM_GZ_EC_MIN1 150
+param set-default SIM_GZ_EC_MIN2 150
+param set-default SIM_GZ_EC_MIN3 150
+param set-default SIM_GZ_EC_MIN4 150
+
+param set-default SIM_GZ_EC_MAX1 1000
+param set-default SIM_GZ_EC_MAX2 1000
+param set-default SIM_GZ_EC_MAX3 1000
+param set-default SIM_GZ_EC_MAX4 1000
+
+param set-default MPC_THR_HOVER 0.60
@@ -10,18 +10,12 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}

-param set-default SIM_GZ_EN 1
-
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 1
-
-
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_ANG 8

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
@@ -61,6 +55,7 @@ param set-default RWTO_TKOFF 1
 param set-default CA_AIRFRAME 1

 param set-default COM_PREARM_MODE 2
+param set-default CBRK_AIRSPD_CHK 162128

 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
@@ -1,109 +0,0 @@
-#!/bin/sh
-#
-# @name Standard VTOL
-#
-# @type Standard VTOL
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
-
-param set-default SIM_GZ_EN 1
-
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 1
-
-# TODO: Enable motor failure detection when the
-# VTOL no longer reports 0A for all ESCs in SITL
-param set-default FD_ACT_EN 0
-param set-default FD_ACT_MOT_TOUT 500
-
-param set-default CA_AIRFRAME 2
-
-param set-default COM_PREARM_MODE 2
-
-param set-default CA_ROTOR_COUNT 5
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
-param set-default CA_ROTOR4_PX 0.2
-
-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_MIN1 10
-param set-default SIM_GZ_EC_MAX1 1500
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_MIN2 10
-param set-default SIM_GZ_EC_MAX2 1500
-param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_MIN3 10
-param set-default SIM_GZ_EC_MAX3 1500
-param set-default SIM_GZ_EC_FUNC4 104
-param set-default SIM_GZ_EC_MIN4 10
-param set-default SIM_GZ_EC_MAX4 1500
-
-param set-default SIM_GZ_EC_FUNC5 105
-param set-default SIM_GZ_EC_MIN5 0
-param set-default SIM_GZ_EC_MAX5 3500
-
-param set-default SIM_GZ_SV_FUNC1 201
-param set-default SIM_GZ_SV_FUNC2 202
-param set-default SIM_GZ_SV_FUNC3 203
-
-param set-default COM_RC_IN_MODE 1
-param set-default ASPD_PRIMARY 1
-
-param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1.0
-
-param set-default FW_L1_PERIOD 12
-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_MIN -15
-param set-default FW_RR_FF 0.1
-param set-default FW_RR_P 0.3
-param set-default FW_THR_TRIM 0.25
-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-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
-
-param set-default MIS_TAKEOFF_ALT 10
-
-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 3
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_D_ACC 0.1
-
-param set-default NAV_ACC_RAD 5
-
-param set-default VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_TYPE 2
-param set-default FD_ESCS_EN 0
@@ -1,10 +0,0 @@
-#!/bin/sh
-#
-# @name Gazebo x500 vision
-#
-# @type Quadrotor
-#
-
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_vision}
-
-. ${R}etc/init.d-posix/airframes/4001_gz_x500
@@ -1,152 +0,0 @@
-#!/bin/sh
-#
-# @name PX4Vision SITL
-# Holybro px4vision. Gazebo Only.
-#
-# @type Quadrotor
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=px4vision}
-
-param set-default SIM_GZ_EN 1
-
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-
-# Commander Parameters
-param set-default COM_OBS_AVOID 0
-param set-default COM_DISARM_LAND 0.5
-
-# EKF2 parameters
-param set-default EKF2_DRAG_CTRL 1
-param set-default EKF2_IMU_POS_X 0.02
-param set-default EKF2_GPS_POS_X 0.055
-param set-default EKF2_GPS_POS_Z -0.15
-param set-default EKF2_MIN_RNG 0.03
-param set-default EKF2_OF_CTRL 1
-param set-default EKF2_OF_POS_X 0.055
-param set-default EKF2_OF_POS_Y 0.02
-param set-default EKF2_OF_POS_Z 0.065
-param set-default EKF2_REQ_HDRIFT 0.3
-param set-default EKF2_REQ_SACC 1
-param set-default EKF2_REQ_VDRIFT 0.3
-param set-default EKF2_RNG_A_HMAX 8
-param set-default EKF2_RNG_A_VMAX 2
-param set-default EKF2_RNG_POS_X 0.055
-param set-default EKF2_RNG_POS_Y -0.01
-param set-default EKF2_RNG_POS_Z 0.065
-param set-default EKF2_PCOEF_XP -0.25
-param set-default EKF2_PCOEF_YN -0.55
-param set-default EKF2_PCOEF_YP -0.55
-
-# MAVLink parameters
-# param set-default MAV_0_CONFIG 101		Not found
-# param set-default MAV_1_CONFIG 102		Not found
-param set-default MAV_1_RATE 80000
-param set-default MAV_1_MODE 9
-# param set-default SER_TEL1_BAUD 921600	Not found
-
-# Vehicle attitude PID tuning
-param set-default MC_ACRO_EXPO 0
-param set-default MC_ACRO_EXPO_Y 0
-param set-default MC_ACRO_P_MAX 200
-param set-default MC_ACRO_R_MAX 200
-param set-default MC_ACRO_SUPEXPO 0
-param set-default MC_ACRO_SUPEXPOY 0
-param set-default MC_ACRO_Y_MAX 150
-param set-default MC_PITCHRATE_D 0.0015
-param set-default MC_ROLLRATE_D 0.0015
-param set-default MC_YAWRATE_P 0.3
-
-# Position Control Tuning
-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_MANTHR_MIN 0
-param set-default MPC_MAN_Y_MAX 120
-param set-default MPC_THR_HOVER 0.3
-param set-default MPC_VEL_MANUAL 5
-param set-default MPC_XY_VEL_MAX 5
-param set-default MPC_XY_VEL_P_ACC 1.58
-param set-default MPC_XY_TRAJ_P 0.3
-# param set-default MPC_Z_TRAJ_P 0.3		Not found
-param set-default MPC_Z_VEL_P_ACC 5
-param set-default MPC_Z_VEL_I_ACC 3
-param set-default MPC_LAND_ALT1 3
-param set-default MPC_LAND_ALT2 1
-param set-default MPC_POS_MODE 3
-param set-default CP_GO_NO_DATA 1
-
-# Navigator Parameters
-param set-default NAV_ACC_RAD 2
-
-# RTL Parameters
-param set-default RTL_DESCEND_ALT 5
-param set-default RTL_RETURN_ALT 5
-
-# Logging Parameters
-param set-default SDLOG_PROFILE 131
-
-# Sensors Parameters
-# param set-default SENS_CM8JL65_CFG 202 	Not found
-param set-default SENS_FLOW_MAXHGT 25
-param set-default SENS_FLOW_MINHGT 0.5
-param set-default IMU_GYRO_CUTOFF 100
-# param set-default SENS_TFLOW_CFG 103		Not found
-
-# Power Parameters
-param set-default BAT1_N_CELLS 4
-# param set-default BAT1_A_PER_V 36.364		Not found
-# param set-default BAT1_V_DIV 18.182		Not found
-
-# Circuit breakers
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default THR_MDL_FAC 0.3
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-
-# Outputs
-# param set-default PWM_AUX_FUNC1 101
-# param set-default PWM_AUX_FUNC2 102
-# param set-default PWM_AUX_FUNC3 103
-# param set-default PWM_AUX_FUNC4 104
-
-# param set-default PWM_MAIN_FUNC1 101
-# param set-default PWM_MAIN_FUNC2 102
-# param set-default PWM_MAIN_FUNC3 103
-# param set-default PWM_MAIN_FUNC4 104
-
-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_FUNC4 104
-
-param set-default SIM_GZ_EC_MIN1 150
-param set-default SIM_GZ_EC_MIN2 150
-param set-default SIM_GZ_EC_MIN3 150
-param set-default SIM_GZ_EC_MIN4 150
-
-param set-default SIM_GZ_EC_MAX1 1100
-param set-default SIM_GZ_EC_MAX2 1100
-param set-default SIM_GZ_EC_MAX3 1100
-param set-default SIM_GZ_EC_MAX4 1100
-
-
@@ -1,6 +1,8 @@

 mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p

+# 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
@@ -1,122 +0,0 @@
-#!/bin/sh
-#
-# @name 6DoF Omnicopter SITL
-#
-# @type Quadrotor Wide
-#
-# @maintainer Jaeyoung Lim <jalim@ethz.ch>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=omnicopter}
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 8
-param set-default CA_R_REV 255
-
-param set-default CA_ROTOR0_PX 0.14435
-param set-default CA_ROTOR0_PY -0.14435
-param set-default CA_ROTOR0_PZ -0.14435
-param set-default CA_ROTOR0_KM 0.05 # CCW
-param set-default CA_ROTOR0_AX -0.788675
-param set-default CA_ROTOR0_AY -0.211325
-param set-default CA_ROTOR0_AZ -0.57735
-
-param set-default CA_ROTOR1_PX -0.14435
-param set-default CA_ROTOR1_PY -0.14435
-param set-default CA_ROTOR1_PZ -0.14435
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR1_AX 0.211325
-param set-default CA_ROTOR1_AY -0.788675
-param set-default CA_ROTOR1_AZ 0.57735
-
-param set-default CA_ROTOR2_PX 0.14435
-param set-default CA_ROTOR2_PY 0.14435
-param set-default CA_ROTOR2_PZ -0.14435
-param set-default CA_ROTOR2_KM 0.05
-param set-default CA_ROTOR2_AX -0.211325
-param set-default CA_ROTOR2_AY 0.788675
-param set-default CA_ROTOR2_AZ 0.57735
-
-param set-default CA_ROTOR3_PX -0.14435
-param set-default CA_ROTOR3_PY 0.14435
-param set-default CA_ROTOR3_PZ -0.14435
-param set-default CA_ROTOR3_KM 0.05
-param set-default CA_ROTOR3_AX 0.788675
-param set-default CA_ROTOR3_AY 0.211325
-param set-default CA_ROTOR3_AZ -0.57735
-
-param set-default CA_ROTOR4_PX 0.14435
-param set-default CA_ROTOR4_PY -0.14435
-param set-default CA_ROTOR4_PZ 0.14435
-param set-default CA_ROTOR4_KM 0.05
-param set-default CA_ROTOR4_AX 0.788675
-param set-default CA_ROTOR4_AY 0.211325
-param set-default CA_ROTOR4_AZ -0.57735
-
-param set-default CA_ROTOR5_PX -0.14435
-param set-default CA_ROTOR5_PY -0.14435
-param set-default CA_ROTOR5_PZ 0.14435
-param set-default CA_ROTOR5_KM 0.05
-param set-default CA_ROTOR5_AX -0.211325
-param set-default CA_ROTOR5_AY 0.788675
-param set-default CA_ROTOR5_AZ 0.57735
-
-param set-default CA_ROTOR6_PX 0.14435
-param set-default CA_ROTOR6_PY 0.14435
-param set-default CA_ROTOR6_PZ 0.14435
-param set-default CA_ROTOR6_KM 0.05
-param set-default CA_ROTOR6_AX 0.211325
-param set-default CA_ROTOR6_AY -0.788675
-param set-default CA_ROTOR6_AZ 0.57735
-
-param set-default CA_ROTOR7_PX -0.14435
-param set-default CA_ROTOR7_PY 0.14435
-param set-default CA_ROTOR7_PZ 0.14435
-param set-default CA_ROTOR7_KM 0.05
-param set-default CA_ROTOR7_AX -0.788675
-param set-default CA_ROTOR7_AY -0.211325
-param set-default CA_ROTOR7_AZ -0.57735
-
-param set-default SIM_GZ_EN 1
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-
-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_FUNC4 104
-param set-default SIM_GZ_EC_FUNC5 105
-param set-default SIM_GZ_EC_FUNC6 106
-param set-default SIM_GZ_EC_FUNC7 107
-param set-default SIM_GZ_EC_FUNC8 108
-
-param set-default SIM_GZ_EC_MIN1 0
-param set-default SIM_GZ_EC_MIN2 0
-param set-default SIM_GZ_EC_MIN3 0
-param set-default SIM_GZ_EC_MIN4 0
-param set-default SIM_GZ_EC_MIN5 0
-param set-default SIM_GZ_EC_MIN6 0
-param set-default SIM_GZ_EC_MIN7 0
-param set-default SIM_GZ_EC_MIN8 0
-
-param set-default SIM_GZ_EC_MAX1 1100
-param set-default SIM_GZ_EC_MAX2 1100
-param set-default SIM_GZ_EC_MAX3 1100
-param set-default SIM_GZ_EC_MAX4 1100
-param set-default SIM_GZ_EC_MAX5 1100
-param set-default SIM_GZ_EC_MAX6 1100
-param set-default SIM_GZ_EC_MAX7 1100
-param set-default SIM_GZ_EC_MAX8 1100
-# disable MC desaturation which improves attitude tracking
-param set-default CA_METHOD 0
-
-# disable attitude failure detection
-param set-default FD_FAIL_P 0
-param set-default FD_FAIL_R 0
-
@@ -39,10 +39,8 @@ px4_add_romfs_files(
 	1012_gazebo-classic_iris_rplidar
 	1013_gazebo-classic_iris_vision
 	1013_gazebo-classic_iris_vision.post
-	1014_gazebo-classic_iris_obs_avoid
-	1014_gazebo-classic_iris_obs_avoid.post
-	1015_gazebo-classic_iris_depth_camera
-	1016_gazebo-classic_iris_downward_depth_camera
+	1015_gazebo-classic_iris_obs_avoid
+	1015_gazebo-classic_iris_obs_avoid.post
 	1017_gazebo-classic_iris_opt_flow_mockup
 	1019_gazebo-classic_iris_dual_gps
 	1021_gazebo-classic_uuv_hippocampus
@@ -62,7 +60,6 @@ px4_add_romfs_files(
 	1042_gazebo-classic_tiltrotor
 	1043_gazebo-classic_standard_vtol_drop
 	1044_gazebo-classic_plane_lidar
-	1045_gazebo-classic_quadtailsitter
 	1060_gazebo-classic_rover
 	1061_gazebo-classic_r1_rover
 	1062_flightgear_tf-r1
@@ -76,17 +73,11 @@ px4_add_romfs_files(
 	4001_gz_x500
 	4002_gz_x500_depth
 	4003_gz_rc_cessna
-	4004_gz_standard_vtol
-	4005_gz_x500_vision
-	4006_gz_px4vision

 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post

-	8011_gz_omnicopter
-
-	10015_gazebo-classic_iris
-	10016_none_iris
+	10016_gazebo-classic_iris
 	10017_jmavsim_iris
 	10018_gazebo-classic_iris_foggy_lidar
 	10019_gazebo-classic_omnicopter
@@ -98,6 +89,4 @@ px4_add_romfs_files(

 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2
-
-	# [22000, 22999] Reserve for custom models
 )
@@ -8,28 +8,11 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"

 	echo "INFO  [init] SIH simulator"

-	if [ -n "${PX4_HOME_LAT}" ]; then
-		param set SIH_LOC_LAT0 ${PX4_HOME_LAT}
-	fi
-
-	if [ -n "${PX4_HOME_LON}" ]; then
-		param set SIH_LOC_LON0 ${PX4_HOME_LON}
-	fi
-
 	if simulator_sih start; then

-		if param compare -s SENS_EN_BAROSIM 1
-		then
-			sensor_baro_sim start
-		fi
-		if param compare -s SENS_EN_GPSSIM 1
-		then
-			sensor_gps_sim start
-		fi
-		if param compare -s SENS_EN_MAGSIM 1
-		then
-			sensor_mag_sim start
-		fi
+		sensor_baro_sim start
+		sensor_gps_sim start
+		sensor_mag_sim start

 	else
 		echo "ERROR [init] simulator_sih failed to start"
@@ -38,19 +21,6 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"

 elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; then

-	# set local coordinate frame reference
-	if [ -n "${PX4_HOME_LAT}" ]; then
-		param set SIM_GZ_HOME_LAT ${PX4_HOME_LAT}
-	fi
-
-	if [ -n "${PX4_HOME_LON}" ]; then
-		param set SIM_GZ_HOME_LON ${PX4_HOME_LON}
-	fi
-
-	if [ -n "${PX4_HOME_ALT}" ]; then
-		param set SIM_GZ_HOME_ALT ${PX4_HOME_LON}
-	fi
-
 	# source generated gz_env.sh for GZ_SIM_RESOURCE_PATH
 	if [ -f ./gz_env.sh ]; then
 		. ./gz_env.sh
@@ -72,7 +42,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 	fi

 	# look for running ${gz_command} gazebo world
-	gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+	gz_world=$( ${gz_command} topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )

 	# shellcheck disable=SC2153
 	if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLDS}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
@@ -107,22 +77,9 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th

 		# start gz bridge with pose arg.
 		if gz_bridge start -p "${model_pose}" -m "${PX4_GZ_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
-			if param compare -s SENS_EN_BAROSIM 1
-			then
-				sensor_baro_sim start
-			fi
-			if param compare -s SENS_EN_GPSSIM 1
-			then
-				sensor_gps_sim start
-			fi
-			if param compare -s SENS_EN_MAGSIM 1
-			then
-				sensor_mag_sim start
-			fi
-			if param compare -s SENS_EN_ARSPDSIM 1
-			then
-				sensor_airspeed_sim start
-			fi
+			sensor_baro_sim start
+			sensor_gps_sim start
+			sensor_mag_sim start

 		else
 			echo "ERROR [init] gz_bridge failed to start"
@@ -133,22 +90,9 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 		# model name specificed, gz_bridge will attach to existing model

 		if gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
-			if param compare -s SENS_EN_BAROSIM 1
-			then
-				sensor_baro_sim start
-			fi
-			if param compare -s SENS_EN_GPSSIM 1
-			then
-				sensor_gps_sim start
-			fi
-			if param compare -s SENS_EN_MAGSIM 1
-			then
-				sensor_mag_sim start
-			fi
-			if param compare -s SENS_EN_ARSPDSIM 1
-			then
-				sensor_airspeed_sim start
-			fi
+			sensor_baro_sim start
+			sensor_gps_sim start
+			sensor_mag_sim start

 		else
 			echo "ERROR [init] gz_bridge failed to start"
@@ -160,22 +104,9 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 		echo "WARN  [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."

 		if gz_bridge start -m "${PX4_SIM_MODEL#*gz_}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
-			if param compare -s SENS_EN_BAROSIM 1
-			then
-				sensor_baro_sim start
-			fi
-			if param compare -s SENS_EN_GPSSIM 1
-			then
-				sensor_gps_sim start
-			fi
-			if param compare -s SENS_EN_MAGSIM 1
-			then
-				sensor_mag_sim start
-			fi
-			if param compare -s SENS_EN_ARSPDSIM 1
-			then
-				sensor_airspeed_sim start
-			fi
+			sensor_baro_sim start
+			sensor_gps_sim start
+			sensor_mag_sim start

 		else
 			echo "ERROR [init] gz_bridge failed to start"
@@ -129,7 +129,6 @@ fi
 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
-param set UXRCE_DDS_KEY $((px4_instance+1))

 if [ $AUTOCNF = yes ]
 then
@@ -168,6 +167,8 @@ param set-default EKF2_REQ_GPS_H 0.5
 # Multi-EKF
 param set-default EKF2_MULTI_IMU 3
 param set-default SENS_IMU_MODE 0
+param set-default EKF2_MULTI_MAG 2
+param set-default SENS_MAG_MODE 0

 param set-default IMU_GYRO_FFT_EN 1
 param set-default MAV_PROTO_VER 2 # Ensures QGC does not drop the first few packets after a SITL restart due to MAVLINK 1 packets
@@ -183,14 +184,6 @@ param set-default SDLOG_DIRS_MAX 7
 param set-default TRIG_INTERFACE 3

 param set-default SYS_FAILURE_EN 1
-# Enable low-battery actions by default for (automated) testing. Battery sim
-# does not go below 50% by default, but failure injection can trigger failsafes.
-param set-default COM_LOW_BAT_ACT 2
-
-# Allow to override SYS_MC_EST_GROUP via env
-if [ -n "$SYS_MC_EST_GROUP" ]; then
-	param set SYS_MC_EST_GROUP $SYS_MC_EST_GROUP
-fi

 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
@@ -268,33 +261,20 @@ fi

 navigator start

-# Try to start the UXRCE-DDS Client with UDP transport if module exists
-uxrce_dds_ns=""
+# Try to start the microdds_client with UDP transport if module exists
+microdds_ns=""
 if [ "$px4_instance" -ne "0" ]
 then
-	# for multi intances setup, add namespace prefix
-	uxrce_dds_ns="-n px4_$px4_instance"
+	# Assign new xrce dds key based on instance number and set default namespace
+	param set XRCE_DDS_KEY ${px4_instance}
+	microdds_ns="-n px4_$px4_instance"
 fi
-if [ -n "$PX4_UXRCE_DDS_NS" ]
+if [ -n "$PX4_MICRODDS_NS" ]
 then
 	# Override namespace if environment variable is defined
-	uxrce_dds_ns="-n $PX4_UXRCE_DDS_NS"
+	microdds_ns="-n $PX4_MICRODDS_NS"
 fi
-if [ -n "$ROS_DOMAIN_ID" ]
-then
-	# Match UXRCE_DDS_DOM_ID with ROS_DOMAIN_ID, if defined
-	param set UXRCE_DDS_DOM_ID $ROS_DOMAIN_ID
-else
-	param set UXRCE_DDS_DOM_ID 0
-fi
-uxrce_dds_port=8888
-if [ -n "$PX4_UXRCE_DDS_PORT" ]
-then
-	# Override port if environment variable is defined
-	uxrce_dds_port="$PX4_UXRCE_DDS_PORT"
-fi
-
-uxrce_dds_client start -t udp -h 127.0.0.1 -p $uxrce_dds_port $uxrce_dds_ns
+microdds_client start -t udp -p 8888 $microdds_ns

 if param greater -s MNT_MODE_IN -1
 then
@@ -36,7 +36,6 @@ add_subdirectory(airframes)
 px4_add_romfs_files(
 	rc.airship_apps
 	rc.airship_defaults
-	rc.autostart_ext
 	rc.balloon_apps
 	rc.balloon_defaults
 	rc.boat_defaults
@@ -34,7 +34,10 @@ param set-default HIL_ACT_FUNC3 103
 param set-default HIL_ACT_FUNC4 104

 # disable some checks to allow to fly
+# - with usb
+param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
+param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027
@@ -34,6 +34,8 @@ param set-default MC_ROLLRATE_P 0.3
 param set-default MIS_TAKEOFF_ALT 10
 param set-default MIS_YAW_TMT 10

+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_THR_MIN 0.1
 param set-default MPC_XY_P 0.8
 param set-default MPC_XY_VEL_D_ACC 0.1
@@ -92,9 +94,12 @@ param set SYS_HITL 1
 param set UAVCAN_ENABLE 0

 # disable some checks to allow to fly
+# - with usb
+param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
+param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

 param set-default MAV_TYPE 22
@@ -36,9 +36,12 @@ param set-default HIL_ACT_FUNC4 104
 param set SYS_HITL 2

 # disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
+param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

 param set SIH_VEHICLE_TYPE 0
@@ -39,9 +39,12 @@ param set-default HIL_ACT_FUNC6 400
 param set-default SYS_HITL 2

 # disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
+param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

 param set-default BAT_N_CELLS 3
@@ -17,10 +17,7 @@

 . ${R}etc/init.d/rc.vtol_defaults

-param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
-
 param set UAVCAN_ENABLE 0
-param set-default VT_B_TRANS_DUR 5
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0
@@ -57,9 +54,12 @@ param set-default MAV_TYPE 19
 param set-default SYS_HITL 2

 # disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
+param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

 param set-default BAT_N_CELLS 3
@@ -33,9 +33,12 @@ param set-default CBRK_IO_SAFETY 22027

 param set-default EKF2_GPS_POS_X -0.12
 param set-default EKF2_IMU_POS_X -0.12
+param set-default EKF2_TAU_VEL 0.5
+param set-default EKF2_GPS_P_GATE 10
+param set-default EKF2_GPS_V_GATE 10

 param set-default FW_ARSP_MODE 1
-param set-default NPFG_PERIOD 25
+param set-default FW_L1_PERIOD 25
 param set-default FW_PR_FF 0.7
 param set-default FW_PR_I 0.18
 param set-default FW_PR_P 0.15
@@ -45,9 +48,11 @@ param set-default FW_R_LIM 35
 param set-default FW_RR_FF 0.9
 param set-default FW_RR_I 0.08
 param set-default FW_RR_P 0.18
+param set-default FW_T_HRATE_FF 0.5
 param set-default FW_T_CLMB_MAX 3
 param set-default FW_T_SINK_MAX 3
 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_P_LIM_MAX 15
@@ -57,24 +62,37 @@ param set-default FW_P_RMAX_POS 45
 param set-default FW_R_RMAX 50
 param set-default FW_THR_MIN 0.55
 param set-default FW_BAT_SCALE_EN 1
+param set-default FW_THR_ALT_SCL 2.7
 param set-default FW_T_RLL2THR 20

+param set-default LNDMC_XY_VEL_MAX 1
+param set-default LNDMC_Z_VEL_MAX 0.7
+
 param set-default MC_ROLLRATE_P 0.16
 param set-default MC_ROLLRATE_I 0.01
+param set-default MC_ROLLRATE_MAX 80
 param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCHRATE_MAX 80
+param set-default MC_YAW_P 3.5

 param set-default MC_YAWRATE_MAX 20
 param set-default MC_AIRMODE 1

 param set-default MIS_DIST_1WP 100
+param set-default MIS_DIST_WPS 100000
 param set-default MIS_TAKEOFF_ALT 15

 param set-default MPC_XY_P 0.8
+param set-default MPC_XY_VEL_P_ACC 2
 param set-default MPC_XY_VEL_MAX 5
+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_HOLD_MAX_XY 0.5
+param set-default MPC_HOLD_MAX_Z 0.5
 param set-default MPC_TKO_RAMP_T 0.8
+param set-default MPC_XY_CRUISE 5
 param set-default MPC_TILTMAX_AIR 25
 param set-default MPC_TILTMAX_LND 25
 param set-default MPC_YAWRAUTO_MAX 20
@@ -96,15 +114,24 @@ param set-default MAV_1_FORWARD 1
 param set-default SER_TEL2_BAUD 57600

 param set-default VT_TYPE 2
+param set-default VT_F_TRANS_THR 1
 param set-default VT_PITCH_MIN 8
 param set-default VT_FW_QC_P 55
 param set-default VT_FW_QC_R 55
 param set-default VT_TRANS_MIN_TM 15
+param set-default VT_B_TRANS_DUR 8
 param set-default VT_FWD_THRUST_SC 4
+param set-default VT_F_TRANS_DUR 1
+param set-default VT_B_REV_OUT 0.5
+param set-default VT_B_TRANS_THR 0.7
 param set-default VT_TRANS_TIMEOUT 22
+param set-default VT_F_TRANS_RAMP 4

 param set-default COM_RC_OVERRIDE 0

+
+
+
 param set-default CA_AIRFRAME 2

 param set-default CA_ROTOR_COUNT 5
@@ -30,7 +30,7 @@ param set-default BAT1_N_CELLS 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_PN_R_SLEW_MAX 40
+param set-default FW_L1_R_SLEW_MAX 40
 param set-default FW_PSP_OFF 3
 param set-default FW_P_LIM_MAX 18
 param set-default FW_P_LIM_MIN -25
@@ -41,6 +41,7 @@ param set-default FW_R_RMAX 50
 param set-default FW_THR_TRIM 0.65
 param set-default FW_THR_MIN 0.3
 param set-default FW_THR_SLEW_MAX 0.6
+param set-default FW_T_HRATE_FF 0
 param set-default FW_T_SINK_MAX 15
 param set-default FW_T_SINK_MIN 3
 param set-default FW_YR_P 0.15
@@ -52,12 +53,21 @@ param set-default MC_YAWRATE_I 0.15
 param set-default MC_YAWRATE_MAX 40
 param set-default MC_YAWRATE_P 0.3

+param set-default MPC_ACC_DOWN_MAX 2
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_ACC_UP_MAX 3
 param set-default MC_AIRMODE 1
+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_THR_HOVER 0.45
 param set-default MPC_TILTMAX_AIR 25
+param set-default MPC_TKO_RAMP_T 1.8
+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_UP 2

@@ -71,9 +81,11 @@ param set-default SENS_BOARD_ROT 4
 param set-default VT_ARSP_BLEND 10
 param set-default VT_ARSP_TRANS 21
 param set-default VT_B_DEC_MSS 1.5
+param set-default VT_B_TRANS_DUR 12
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_FWD_THRUST_SC 1.2
 param set-default VT_F_TR_OL_TM 8
+param set-default VT_PSHER_RMP_DT 2
 param set-default VT_TRANS_MIN_TM 4
 param set-default VT_TYPE 2

@@ -12,8 +12,6 @@

 . ${R}etc/init.d/rc.vtol_defaults

-param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
-
 param set-default CA_AIRFRAME 4
 param set-default CA_ROTOR_COUNT 2
 param set-default CA_ROTOR0_KM -0.05
@@ -31,4 +29,3 @@ param set-default CA_SV_CS1_TYPE 6
 param set-default MAV_TYPE 19
 param set-default VT_TYPE 0
 param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_B_TRANS_DUR 5
@@ -26,6 +26,7 @@ param set-default BAT1_N_CELLS 3

 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
@@ -17,7 +17,6 @@
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
 # @board bitcraze_crazyflie exclude
-# @board diatone_mamba-f405-mk2 exclude
 #

 . ${R}etc/init.d/rc.fw_defaults
@@ -16,12 +16,11 @@ param set-default COM_OBS_AVOID 1
 param set-default COM_DISARM_LAND 0.5

 # EKF2 parameters
-param set-default EKF2_DRAG_CTRL 1
+param set-default EKF2_AID_MASK 35
 param set-default EKF2_IMU_POS_X 0.02
 param set-default EKF2_GPS_POS_X 0.055
 param set-default EKF2_GPS_POS_Z -0.15
 param set-default EKF2_MIN_RNG 0.03
-param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_POS_X 0.055
 param set-default EKF2_OF_POS_Y 0.02
 param set-default EKF2_OF_POS_Z 0.065
@@ -60,9 +59,12 @@ param set-default MC_YAWRATE_P 0.3
 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_MAN_Y_MAX 120
+param set-default MPC_TILTMAX_AIR 45
 param set-default MPC_THR_HOVER 0.3
 param set-default MPC_VEL_MANUAL 5
+param set-default MPC_XY_CRUISE 5
 param set-default MPC_XY_VEL_MAX 5
 param set-default MPC_XY_VEL_P_ACC 1.58
 param set-default MPC_XY_TRAJ_P 0.3
@@ -33,8 +33,3 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.25
 param set-default CA_ROTOR3_PY 0.25
 param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
@@ -16,12 +16,11 @@ param set-default COM_OBS_AVOID 1
 param set-default COM_DISARM_LAND 0.5

 # EKF2 parameters
-param set-default EKF2_DRAG_CTRL 1
+param set-default EKF2_AID_MASK 35
 param set-default EKF2_IMU_POS_X 0.02
 param set-default EKF2_GPS_POS_X 0.055
 param set-default EKF2_GPS_POS_Z -0.15
 param set-default EKF2_MIN_RNG 0.03
-param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_POS_X 0.055
 param set-default EKF2_OF_POS_Y 0.02
 param set-default EKF2_OF_POS_Z 0.065
@@ -60,10 +59,13 @@ param set-default MC_YAWRATE_P 0.3
 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
 param set-default MPC_VEL_MANUAL 5
+param set-default MPC_XY_CRUISE 5
 param set-default MPC_XY_VEL_MAX 5
 param set-default MPC_XY_VEL_P_ACC 1.58
 param set-default MPC_XY_TRAJ_P 0.3
@@ -19,6 +19,7 @@
 . ${R}etc/init.d/rc.mc_defaults

 param set-default CBRK_SUPPLY_CHK 894281
+param set-default CBRK_USB_CHK 197848

 param set-default IMU_GYRO_CUTOFF 100
 param set-default IMU_DGYRO_CUTOFF 60
@@ -58,6 +58,8 @@ param set-default CA_ROTOR3_PX -0.15
 param set-default CA_ROTOR3_PY 0.15
 param set-default CA_ROTOR3_KM -0.05

+param set-default PWM_MAIN_TIM0 0
+
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
@@ -37,20 +37,23 @@ 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

 param set-default EKF2_BCOEF_X 31.5
 param set-default EKF2_BCOEF_Y 25.5

-param set-default EKF2_DRAG_CTRL 1
-
 param set-default EKF2_GPS_DELAY 100
 param set-default EKF2_GPS_POS_X 0.06
+param set-default EKF2_GPS_POS_Y 0.0
+param set-default EKF2_GPS_POS_Z 0.0
 param set-default EKF2_GPS_V_NOISE 0.5

 param set-default EKF2_IMU_POS_X 0.06

+param set-default EKF2_MAG_DELAY 0
 param set-default EKF2_MAG_NOISE 0.1

 param set-default EKF2_MIN_RNG 0.15
@@ -58,6 +61,7 @@ param set-default EKF2_MIN_RNG 0.15
 param set-default EKF2_OF_DELAY 38
 param set-default EKF2_OF_GATE 2.0
 param set-default EKF2_OF_POS_X -0.035
+param set-default EKF2_OF_POS_Y 0.0
 param set-default EKF2_OF_POS_Z 0.033
 param set-default EKF2_OF_MIN_RNG 0.01
 param set-default EKF2_OF_A_HMAX 7.0
@@ -115,20 +119,30 @@ param set-default MPC_ACC_HOR_MAX 10.0
 param set-default MPC_ACC_UP_MAX 3.0
 param set-default MPC_ALT_MODE 0
 param set-default MPC_LAND_SPEED 0.5
+param set-default MPC_LAND_VEL_XY 10
 param set-default MPC_MAN_TILT_MAX 20
 param set-default MPC_YAWRAUTO_MAX 80.0
+param set-default MPC_POS_MODE 4
 param set-default MPC_THR_HOVER 0.54
 param set-default MPC_THR_MAX 0.9
 param set-default MPC_THR_MIN 0.06
 param set-default MPC_TILTMAX_AIR 30
 param set-default MPC_XY_P 1.0
+param set-default MPC_XY_VEL_D 0.005
+param set-default MPC_XY_VEL_I 0.02
+param set-default MPC_XY_VEL_P 0.15
 param set-default MPC_Z_P 2.0
+param set-default MPC_Z_VEL_D 0.0
+param set-default MPC_Z_VEL_I 0.02
 param set-default MPC_Z_VEL_MAX_DN 2.0
+param set-default MPC_Z_VEL_P 0.27
+

 # gimbal configuration
 param set-default MNT_MODE_IN 0
 param set-default MNT_MODE_OUT 1
 param set-default MNT_MAN_PITCH 2
+param set-default MNT_RC_IN_MODE 1
 param set-default MNT_RATE_PITCH 30

 # RC
@@ -151,6 +165,7 @@ 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

 # ignore the SD card errors and use normal startup sound
 set STARTUP_TUNE "1"
@@ -22,7 +22,10 @@
 param set-default MC_ROLLRATE_D 0.0013
 param set-default MC_PITCHRATE_D 0.0016

+param set-default MC_YAW_FF 0.5
+
 param set-default MPC_MANTHR_MAX 0.9
+param set-default MPC_MANTHR_MIN 0.08

 # Filter settings
 param set-default IMU_DGYRO_CUTOFF 90
@@ -34,8 +37,11 @@ param set-default SENS_BOARD_ROT 10

 # EKF2
 param set-default EKF2_GND_EFF_DZ 6
+param set-default EKF2_HGT_REF 1

 # Position control
+param set-default MPC_Z_P 1
+param set-default MPC_Z_VEL_P_ACC 4
 param set-default MPC_Z_VEL_I_ACC 0.4

 param set-default MPC_THR_MIN 0.06
@@ -45,6 +51,7 @@ param set-default MIS_TAKEOFF_ALT 1.1
 param set-default MPC_XY_P 1.7
 param set-default MPC_XY_VEL_P_ACC 2.6
 param set-default MPC_XY_VEL_I_ACC 1.2
+param set-default MPC_XY_VEL_D_ACC 0.2
 param set-default MPC_TKO_RAMP_T 1
 param set-default MPC_VEL_MANUAL 3

@@ -52,6 +59,7 @@ param set-default BAT1_SOURCE 0
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_V_DIV 10.14
 param set-default BAT1_A_PER_V 18.18
+param set-default COM_DISARM_LAND 2

 # Filter settings
 param set-default IMU_GYRO_CUTOFF 90
@@ -23,6 +23,9 @@ param set-default MC_ROLLRATE_D 0.0013

 param set-default MC_PITCHRATE_D 0.0016

+
+param set-default MPC_MANTHR_MIN 0.08
+
 # Filter settings
 param set-default IMU_GYRO_CUTOFF 100

@@ -37,11 +40,12 @@ param set-default SENS_TFMINI_CFG 103
 param set-default SENS_EN_BATT 1

 # EKF2
+param set-default EKF2_AID_MASK 3
 param set-default EKF2_GND_EFF_DZ 6
+param set-default EKF2_HGT_REF 1
 param set-default EKF2_MIN_RNG 0.3

 # Flow
-param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_QMIN 70

 # Position control
@@ -56,6 +60,7 @@ param set-default MIS_TAKEOFF_ALT 1.1
 param set-default MPC_XY_P 1.7
 param set-default MPC_XY_VEL_P_ACC 2.6
 param set-default MPC_XY_VEL_I_ACC 1.2
+param set-default MPC_XY_VEL_D_ACC 0.2
 param set-default MPC_TKO_RAMP_T 1
 param set-default MPC_VEL_MANUAL 3

@@ -63,6 +68,7 @@ param set-default BAT1_SOURCE 0
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_V_DIV 10.14
 param set-default BAT1_A_PER_V 18.18
+param set-default COM_DISARM_LAND 2

 # Filter settings
 param set-default IMU_GYRO_CUTOFF 90
@@ -13,7 +13,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board diatone_mamba-f405-mk2 exclude
 #
 . ${R}etc/init.d/rc.mc_defaults

@@ -22,13 +21,14 @@ param set-default BAT1_CAPACITY 240
 param set-default BAT1_SOURCE 1

 param set-default CBRK_SUPPLY_CHK 894281
+param set-default CBRK_USB_CHK 197848
 param set-default COM_RC_IN_MODE 1

 param set-default EKF2_ABL_LIM 2
+param set-default EKF2_AID_MASK 3
 param set-default EKF2_HGT_REF 2
 param set-default EKF2_RNG_CTRL 2
 param set-default EKF2_MAG_TYPE 1
-param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_DELAY 10

 param set-default IMU_GYRO_CUTOFF 100
@@ -43,6 +43,7 @@ param set-default MC_ROLLRATE_P 0.07
 param set-default MC_YAW_P 3

 param set-default MPC_THR_HOVER 0.7
+param set-default MPC_THR_MAX 1
 param set-default MPC_Z_P 1.5
 param set-default MPC_Z_VEL_P_ACC 8
 param set-default MPC_Z_VEL_I_ACC 6
@@ -13,14 +13,13 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board diatone_mamba-f405-mk2 exclude
 #
 . ${R}etc/init.d/rc.mc_defaults


 param set-default SYS_MC_EST_GROUP 2
 param set-default SYS_HAS_MAG 0
-param set-default EKF2_OF_CTRL 1
+param set-default EKF2_AID_MASK 2
 param set-default EKF2_GPS_CTRL 0
 param set-default EKF2_MAG_TYPE 5

@@ -28,6 +27,7 @@ param set-default BAT1_N_CELLS 1
 param set-default BAT1_SOURCE 1

 param set-default CBRK_SUPPLY_CHK 894281
+param set-default CBRK_USB_CHK 197848
 param set-default COM_RC_IN_MODE 1

 param set-default IMU_GYRO_CUTOFF 100
@@ -42,6 +42,7 @@ param set-default MC_ROLLRATE_P 0.07
 param set-default MC_YAW_P 3

 param set-default MPC_THR_HOVER 0.7
+param set-default MPC_THR_MAX 1
 param set-default MPC_Z_P 1.5
 param set-default MPC_Z_VEL_P_ACC 8
 param set-default MPC_Z_VEL_I_ACC 6
--- a/Show More
+++ b/Show More