.ackrc

@@ -0,0 +1 @@
+--ignore-dir=Documentation

.clang-tidy

@@ -1,117 +1,87 @@
----
-Checks:          '*,
-                  -*-avoid-c-arrays,
-                  -*-uppercase-literal-suffix,
-                  -*-magic-numbers,
-                  -altera-id-dependent-backward-branch,
-                  -altera-unroll-loops,
-                  -android*,
-                  -bugprone-integer-division,
-                  -cert-dcl50-cpp,
-                  -cert-env33-c,
-                  -cert-err34-c,
-                  -cert-err58-cpp,
-                  -cert-flp30-c,
-                  -cert-msc30-c,
-                  -cert-msc50-cpp,
-                  -clang-analyzer-core.CallAndMessage,
-                  -clang-analyzer-core.NullDereference,
-                  -clang-analyzer-core.UndefinedBinaryOperatorResult,
-                  -clang-analyzer-core.uninitialized.Assign,
-                  -clang-analyzer-core.VLASize,
-                  -clang-analyzer-cplusplus.NewDelete,
-                  -clang-analyzer-cplusplus.NewDeleteLeaks,
-                  -clang-analyzer-deadcode.DeadStores,
-                  -clang-analyzer-optin.cplusplus.VirtualCall,
-                  -clang-analyzer-optin.performance.Padding,
-                  -clang-analyzer-security.FloatLoopCounter,
-                  -clang-analyzer-security.insecureAPI.strcpy,
-                  -clang-analyzer-unix.API,
-                  -clang-analyzer-unix.cstring.BadSizeArg,
-                  -clang-analyzer-unix.Malloc,
-                  -clang-analyzer-unix.MallocSizeof,
-                  -cppcoreguidelines-c-copy-assignment-signature,
-                  -cppcoreguidelines-interfaces-global-init,
-                  -cppcoreguidelines-no-malloc,
-                  -cppcoreguidelines-owning-memory,
-                  -cppcoreguidelines-pro-bounds-array-to-pointer-decay,
-                  -cppcoreguidelines-pro-bounds-constant-array-index,
-                  -cppcoreguidelines-pro-bounds-pointer-arithmetic,
-                  -cppcoreguidelines-pro-type-const-cast,
-                  -cppcoreguidelines-pro-type-cstyle-cast,
-                  -cppcoreguidelines-pro-type-member-init,
-                  -cppcoreguidelines-pro-type-reinterpret-cast,
-                  -cppcoreguidelines-pro-type-union-access,
-                  -cppcoreguidelines-pro-type-vararg,
-                  -cppcoreguidelines-special-member-functions,
-                  -fuchsia-*,
-                  -google-build-using-namespace,
-                  -google-explicit-constructor,
-                  -google-global-names-in-headers,
-                  -google-readability-casting,
-                  -google-readability-function-size,
-                  -google-readability-namespace-comments,
-                  -google-readability-todo,
-                  -google-runtime-int,
-                  -google-runtime-references,
-                  -hicpp-deprecated-headers,
-                  -hicpp-explicit-conversions,
-                  -hicpp-function-size,
-                  -hicpp-member-init,
-                  -hicpp-no-array-decay,
-                  -hicpp-no-assembler,
-                  -hicpp-no-malloc,
-                  -hicpp-signed-bitwise,
-                  -hicpp-special-member-functions,
-                  -hicpp-use-auto,
-                  -hicpp-use-equals-default,
-                  -hicpp-use-equals-delete,
-                  -hicpp-use-override,
-                  -hicpp-vararg,
-                  -llvmlibc-*,
-                  -llvm-header-guard,
-                  -llvm-include-order,
-                  -llvm-namespace-comment,
-                  -misc-incorrect-roundings,
-                  -misc-macro-parentheses,
-                  -misc-misplaced-widening-cast,
-                  -misc-redundant-expression,
-                  -misc-unconventional-assign-operator,
-                  -misc-unused-parameters,
-                  -modernize-deprecated-headers,
-                  -modernize-loop-convert,
-                  -modernize-pass-by-value,
-                  -modernize-raw-string-literal,
-                  -modernize-return-braced-init-list,
-                  -modernize-use-auto,
-                  -modernize-use-bool-literals,
-                  -modernize-use-default-member-init,
-                  -modernize-use-equals-default,
-                  -modernize-use-equals-delete,
-                  -modernize-use-override,
-                  -modernize-use-trailing-return-type,
-                  -modernize-use-using,
-                  -modernize-use-trailing-return-type,
-                  -performance-inefficient-string-concatenation,
-                  -readability-avoid-const-params-in-decls,
-                  -readability-container-size-empty,
-                  -readability-else-after-return,
-                  -readability-function-size,
-                  -readability-implicit-bool-cast,
-                  -readability-implicit-bool-conversion,
-                  -readability-inconsistent-declaration-parameter-name,
-                  -readability-named-parameter,
-                  -readability-non-const-parameter,
-                  -readability-redundant-declaration,
-                  -readability-static-accessed-through-instance,
-                  -readability-static-definition-in-anonymous-namespace,
-                 '
+Checks:          '*
+		,-cert-dcl50-cpp
+		,-cert-err34-c
+		,-cert-err58-cpp
+		,-cert-msc30-c
+		,-cert-msc50-cpp
+		,-clang-analyzer-core.CallAndMessage
+		,-clang-analyzer-core.NullDereference
+		,-clang-analyzer-core.UndefinedBinaryOperatorResult
+		,-clang-analyzer-core.uninitialized.Assign
+		,-clang-analyzer-core.VLASize
+		,-clang-analyzer-cplusplus.NewDelete
+		,-clang-analyzer-cplusplus.NewDeleteLeaks
+		,-clang-analyzer-deadcode.DeadStores
+		,-clang-analyzer-optin.cplusplus.VirtualCall
+		,-clang-analyzer-optin.performance.Padding
+		,-clang-analyzer-security.insecureAPI.strcpy
+		,-clang-analyzer-unix.API
+		,-clang-analyzer-unix.cstring.BadSizeArg
+		,-clang-analyzer-unix.Malloc
+		,-clang-analyzer-unix.MallocSizeof
+		,-cppcoreguidelines-c-copy-assignment-signature
+		,-cppcoreguidelines-interfaces-global-init
+		,-cppcoreguidelines-no-malloc
+		,-cppcoreguidelines-pro-bounds-array-to-pointer-decay
+		,-cppcoreguidelines-pro-bounds-constant-array-index
+		,-cppcoreguidelines-pro-bounds-pointer-arithmetic
+		,-cppcoreguidelines-pro-type-const-cast
+		,-cppcoreguidelines-pro-type-cstyle-cast
+		,-cppcoreguidelines-pro-type-member-init
+		,-cppcoreguidelines-pro-type-reinterpret-cast
+		,-cppcoreguidelines-pro-type-union-access
+		,-cppcoreguidelines-pro-type-vararg
+		,-cppcoreguidelines-special-member-functions
+		,-google-build-using-namespace
+		,-google-explicit-constructor
+		,-google-global-names-in-headers
+		,-google-readability-casting
+		,-google-readability-namespace-comments
+		,-google-readability-todo
+		,-google-runtime-int
+		,-google-runtime-references
+		,-llvm-header-guard
+		,-llvm-include-order
+		,-llvm-namespace-comment
+		,-misc-incorrect-roundings
+		,-misc-macro-parentheses
+		,-misc-misplaced-widening-cast
+		,-misc-redundant-expression
+		,-misc-unconventional-assign-operator
+		,-misc-unused-parameters
+		,-modernize-deprecated-headers
+		,-modernize-loop-convert
+		,-modernize-use-auto
+		,-modernize-use-bool-literals
+		,-modernize-use-default-member-init
+		,-modernize-use-emplace
+		,-modernize-use-equals-default
+		,-modernize-use-equals-delete
+		,-modernize-use-override
+		,-modernize-use-using
+		,-performance-inefficient-string-concatenation
+		,-readability-avoid-const-params-in-decls
+		,-readability-else-after-return
+		,-readability-implicit-bool-cast
+		,-readability-inconsistent-declaration-parameter-name
+		,-readability-non-const-parameter
+		,-readability-redundant-declaration
+		,-readability-redundant-member-init
+		,-readability-simplify-boolean-expr
+		'
 WarningsAsErrors: '*'
-CheckOptions:
+CheckOptions:    
+  - key:             google-readability-braces-around-statements.ShortStatementLines
+    value:           '1'
   - key:             google-readability-function-size.BranchThreshold
     value:           '600'
   - key:             google-readability-function-size.LineThreshold
     value:           '4000'
   - key:             google-readability-function-size.StatementThreshold
     value:           '4000'
-...
+  - key:             readability-braces-around-statements.ShortStatementLines
+    value:           '1'
+  - key:             readability-function-size.LineThreshold
+    value:           '4000'
+  - key:             readability-function-size.StatementThreshold
+    value:           '4000'

.clusterfuzzlite/Dockerfile

@@ -1,7 +0,0 @@
-FROM gcr.io/oss-fuzz-base/base-builder:v1
-COPY . $SRC/PX4-Autopilot
-RUN apt-get install -y libjpeg8-dev zlib1g-dev
-RUN pip3 install --upgrade pip
-RUN python3 -m pip install -r $SRC/PX4-Autopilot/Tools/setup/requirements.txt
-WORKDIR $SRC/PX4-Autopilot
-COPY ./.clusterfuzzlite/build.sh $SRC/

.clusterfuzzlite/build.sh

@@ -1,4 +0,0 @@
-#!/usr/bin/env bash -eu
-
-PX4_FUZZ=1 make px4_sitl
-cp build/px4_sitl_default/bin/px4 $OUT/px4

.clusterfuzzlite/project.yaml

@@ -1 +0,0 @@
-language: c++

.devcontainer/devcontainer.json

@@ -1,44 +0,0 @@
-// For format details, see https://aka.ms/vscode-remote/devcontainer.json or this file's README at:
-// 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",
-
-	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
-
-	// Set *default* container specific settings.json values on container create.
-	"settings": {
-		"terminal.integrated.shell.linux": "/bin/bash"
-	},
-
-	// Add the IDs of extensions you want installed when the container is created.
-	"extensions": [
-		"chiehyu.vscode-astyle",
-		"dan-c-underwood.arm",
-		"editorconfig.editorconfig",
-		"fredericbonnet.cmake-test-adapter",
-		"github.vscode-pull-request-github",
-		"marus25.cortex-debug",
-		"ms-azuretools.vscode-docker",
-		"ms-iot.vscode-ros",
-		"ms-python.python",
-		"ms-vscode.cmake-tools",
-		"ms-vscode.cpptools",
-		"ms-vscode.cpptools-extension-pack",
-		"redhat.vscode-yaml",
-		"streetsidesoftware.code-spell-checker",
-		"twxs.cmake",
-		"uavcan.dsdl",
-		"wholroyd.jinja",
-		"zixuanwang.linkerscript",
-		"ms-vscode.makefile-tools"
-	],
-
-	"containerUser": "user",
-	"containerEnv": {
-		"LOCAL_USER_ID": "${localEnv:UID}"
-	},
-
-	// Use 'forwardPorts' to make a list of ports inside the container available locally.
-	"forwardPorts": [14556],
-}

.editorconfig

@@ -1,14 +0,0 @@
-root = true
-
-[*]
-insert_final_newline = true
-
-[{*.{c,cpp,cc,h,hpp},CMakeLists.txt,Kconfig}]
-indent_style = tab
-tab_width = 8
-# Not in the official standard, but supported by many editors
-max_line_length = 120
-
-[*.yaml, *.yml]
-indent_style = space
-indent_size = 2

.gitattributes

@@ -1,80 +0,0 @@
-* text=auto eol=lf
-
-*.cmake  text eol=lf
-*.c      text eol=lf
-*.cc     text eol=lf
-*.cpp    text eol=lf
-*.h      text eol=lf
-*.hh     text eol=lf
-*.hpp    text eol=lf
-*.hxx    text eol=lf
-*.S      text eol=lf
-
-*.ipynb  text eol=lf
-*.m      text eol=lf
-*.mat    binary
-*.py     text eol=lf
-
-*.java   text eol=lf
-*.jar    binary
-*.xml    text eol=lf
-
-# PX4 msgs, etc
-*.bin    binary
-*.msg    text eol=lf
-*.config text eol=lf
-*.sdf    text eol=lf
-*.uavcan text eol=lf
-
-# NuttX
-Makefile.* text eol=lf
-*.defs   text eol=lf
-*.ld     text eol=lf
-
-*.csv    text eol=lf
-*.md     text eol=lf
-*.txt    text eol=lf
-
-# Scripts
-*.bash   text eol=lf
-*.sh     text eol=lf
-*.zsh    text eol=lf
-# These are explicitly windows files and should use crlf
-*.ps1    text eol=crlf
-*.{cmd,[cC][mM][dD]} text eol=crlf
-*.{bat,[bB][aA][tT]} text eol=crlf
-
-# Serialisation
-*.json   text eol=lf
-*.toml   text eol=lf
-*.xml    text eol=lf
-*.yaml   text eol=lf
-*.yml    text eol=lf
-
-# Graphics
-*.png    binary
-*.jpg    binary
-*.jpeg   binary
-*.gif    binary
-*.tif    binary
-*.tiff   binary
-*.ico    binary
-*.pdf    binary
-# SVG treated as an asset (binary) by default.
-*.svg    text eol=lf
-
-# Text files where line endings should be preserved
-*.patch  -text
-
-# Archives
-*.7z     binary
-*.gz     binary
-*.tar    binary
-*.tgz    binary
-*.zip    binary
-*.hex    binary
-
-# everything else
-.gitattributes text eol=lf
-.gitignore     text eol=lf
-Makefile       text eol=lf

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -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: false
-
-  - type: textarea
-    attributes:
-      label: Expected behavior
-      description: A clear and concise description of what you expected to happen.
-    validations:
-      required: false
-
-  - 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: false
-
-  - 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: false
-
-  - type: input
-    attributes:
-      label: Flight controller
-      description: Specify your flight controller model (what type is it, where was it bought from, ...).
-    validations:
-      required: false
-
-  - 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.

.github/ISSUE_TEMPLATE/config.yml

@@ -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

.github/ISSUE_TEMPLATE/feature_request.yml

@@ -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.

.github/PULL_REQUEST_TEMPLATE.md

@@ -1,37 +0,0 @@
-<!--
-
-Thank you for your contribution!
-
-Get early feedback through
-- Dronecode Discord: https://discord.gg/dronecode
-- PX4 Discuss: http://discuss.px4.io/
-- opening a draft pr and sharing the link
-
--->
-
-### Solved Problem
-When ... I found that ...
-
-Fixes #{Github issue ID}
-
-### Solution
-- 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 ...
-
-### Test coverage
-- Unit/integration test: ...
-- Simulation/hardware testing logs: https://review.px4.io/
-
-### Context
-Related links, screenshot before/after, video

.github/issue_template.md

@@ -0,0 +1,9 @@
+**Bug Report** or **Feature Request**
+
+For general questions please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](slack.px4.io). Issue reports need to contain the items below:
+
+ - Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/en/flight-reporting.html))
+ - Share the link to a log showing the problem on [PX4 Flight Review](http://logs.px4.io/)
+ - Expected behavior and actual behavior.
+ - Steps to reproduce the problem.
+ - Specifications like the version of the project, operating system, or hardware.

.github/workflows/build_all_targets.yml

@@ -1,164 +0,0 @@
-# NOTE: this workflow is now running on Dronecode / PX4 AWS account.
-# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
-#   and comment the "runs-on: [runs-on,runner=..." lines.
-# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
-
-name: Build all targets
-
-on:
-  push:
-    tags:
-      - 'v*'
-    branches:
-      - 'main'
-      - 'stable'
-      - 'beta'
-      - 'release/**'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-  pull_request:
-    branches:
-      - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-
-jobs:
-  group_targets:
-    name: Scan for Board Targets
-    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    outputs:
-      matrix: ${{ steps.set-matrix.outputs.matrix }}
-      timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
-      tagname: ${{ steps.set-tag.outputs.tagname }}
-      branchname: ${{ steps.set-branch.outputs.branchname }}
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Update python packaging to avoid canonicalize_version() error
-        run: |
-            pip3 install -U packaging
-
-      - name: Install Python Dependencies
-        uses: py-actions/py-dependency-install@v4
-        with:
-          path: "./Tools/setup/requirements.txt"
-
-      - id: set-matrix
-        run: echo "::set-output name=matrix::$(./Tools/ci/generate_board_targets_json.py --group)"
-
-      - id: set-timestamp
-        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
-
-      - id: set-branch
-        run: echo "::set-output name=branchname::${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}"
-
-      - name: Debug Matrix Output
-        if: runner.debug == '1'
-        run: |
-          echo "${{ steps.set-timestamp.outputs.timestamp }}"
-          echo "${{ steps.set-branch.outputs.branchname }}"
-          echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"
-
-  setup:
-    name: Build Group [${{ matrix.group }}]
-    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    needs: group_targets
-    strategy:
-      matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
-      fail-fast: false
-    container:
-      image: ${{ matrix.container }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: Setup ccache
-        uses: actions/cache@v4
-        with:
-          path: ~/.ccache
-          key: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
-          restore-keys: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
-
-      - name: Configure ccache
-        run: |
-            mkdir -p ~/.ccache
-            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-            echo "compression = true" >> ~/.ccache/ccache.conf
-            echo "compression_level = 6" >> ~/.ccache/ccache.conf
-            echo "max_size = 120M" >> ~/.ccache/ccache.conf
-            echo "hash_dir = false" >> ~/.ccache/ccache.conf
-            ccache -s
-            ccache -z
-
-      - name: Building [${{ matrix.group }}]
-        run: |
-            ./Tools/ci/build_all_runner.sh ${{matrix.targets}}
-
-      - name: Arrange Build Artifacts
-        run: |
-          ./Tools/ci/package_build_artifacts.sh
-
-      - name: Upload Build Artifacts
-        uses: actions/upload-artifact@v4
-        with:
-          name: px4_${{matrix.group}}_build_artifacts
-          path: artifacts/
-
-      - name: Cache Save
-        run: ccache -s
-
-  artifacts:
-    name: Upload Artifacts to S3
-    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    needs: [setup, group_targets]
-    if: contains(fromJSON('["main", "stable", "beta"]'), needs.group_targets.outputs.branchname)
-    steps:
-      - name: Download Artifacts
-        uses: actions/download-artifact@v4
-        with:
-          path: artifacts/
-          merge-multiple: true
-
-      - name: Branch Name
-        run: |
-          echo "${{ needs.group_targets.outputs.branchname }}"
-
-      - name: Uploading Artifacts to S3 [${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}]
-        uses: jakejarvis/s3-sync-action@master
-        with:
-          args: --acl public-read
-        env:
-          AWS_S3_BUCKET: 'px4-travis'
-          AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-          AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-          AWS_REGION: 'us-west-1'
-          SOURCE_DIR: artifacts/
-          DEST_DIR: Firmware/${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}/
-
-  release:
-    name: Create Release and Upload Artifacts
-    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    needs: [setup, group_targets]
-    if: startsWith(github.ref, 'refs/tags/v')
-    steps:
-      - name: Download Artifacts
-        uses: actions/download-artifact@v4
-        with:
-          path: artifacts/
-          merge-multiple: true
-
-      - name: Upload Binaries to Release
-        uses: softprops/action-gh-release@v2
-        with:
-          draft: true
-          files: artifacts/*.px4

.github/workflows/cflite_batch.yml

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

.github/workflows/checks.yml

@@ -1,57 +0,0 @@
-name: Checks
-
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-  pull_request:
-    branches:
-    - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        check: [
-          "check_format",
-          "check_newlines",
-          "tests",
-          "tests_coverage",
-          "px4_fmu-v2_default stack_check",
-          "validate_module_configs",
-          "shellcheck_all",
-          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
-          "NO_NINJA_BUILD=1 px4_sitl_default",
-          "px4_sitl_allyes",
-          "module_documentation",
-        ]
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: Building [${{ matrix.check }}]
-        uses: addnab/docker-run-action@v3
-        with:
-          image: px4io/px4-dev-nuttx-focal:2022-08-12
-          options: -v ${{ github.workspace }}:/workspace
-          run: |
-            cd /workspace
-            git config --global --add safe.directory /workspace
-            make ${{ matrix.check }}
-
-      - name: Uploading Coverage to Codecov.io
-        if: contains(matrix.check, 'coverage')
-        uses: codecov/codecov-action@v1
-        with:
-          token: ${{ secrets.CODECOV_TOKEN }}
-          flags: unittests
-          file: coverage/lcov.info

.github/workflows/clang-tidy.yml

@@ -1,32 +0,0 @@
-name: Clang Tidy
-
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-  pull_request:
-    branches:
-    - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
-
-    - name: Testing (clang-tidy-quiet)
-      uses: addnab/docker-run-action@v3
-      with:
-        image: px4io/px4-dev-clang:2021-09-08
-        options: -v ${{ github.workspace }}:/workspace
-        run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
-          make clang-tidy-quiet

.github/workflows/compile_macos.yml

@@ -1,64 +0,0 @@
-name: MacOS build
-
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-  pull_request:
-    branches:
-    - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-
-jobs:
-  build:
-    runs-on: macos-latest
-    strategy:
-      matrix:
-        config: [
-          px4_fmu-v5_default,
-          px4_sitl
-          ]
-    steps:
-    - name: install Python 3.10
-      uses: actions/setup-python@v5
-      with:
-        python-version: "3.10"
-
-    - uses: actions/checkout@v4
-
-    - name: setup
-      run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v4
-      with:
-        path: ~/.ccache
-        key: macos_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: macos_${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 40M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: |
-          ccache -z
-          make ${{matrix.config}}
-          ccache -s

.github/workflows/compile_ubuntu.yml

@@ -1,52 +0,0 @@
-name: Ubuntu environment build
-
-on:
-  push:
-    branches:
-      - 'main'
-      - 'stable'
-      - 'beta'
-      - 'release/**'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-  pull_request:
-    branches:
-      - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-
-jobs:
-  build_and_test:
-    name: Build and Test
-    strategy:
-      fail-fast: false
-      matrix:
-        version: ['ubuntu:22.04', 'ubuntu:24.04']
-    runs-on: [runs-on,runner=8cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
-    container:
-      image: ${{ matrix.version }}
-      volumes:
-        - /github/workspace:/github/workspace
-    steps:
-
-      - name: Fix git in container
-        run: |
-          # we only need this because we are running the job in a container
-          # when checkout pulls git it does it in a shared volume
-          # and file ownership changes between steps
-          # first we install git since its missing from the base image
-          # then we mark the directory as safe for other instances
-          # of git to use.
-          apt update && apt install git -y
-          git config --global --add safe.directory $(realpath .)
-
-      - uses: actions/checkout@v4
-
-      - name: Install Deps, Build, and Make Quick Check
-        run: |
-          # we need to install dependencies and build on the same step
-          # given the stateless nature of docker images
-          ./Tools/setup/ubuntu.sh
-          make quick_check

.github/workflows/dev_container.yml

@@ -1,107 +0,0 @@
-
-name: Container build
-
-on:
-  push:
-    branches:
-      - 'main'
-      - 'stable'
-      - 'beta'
-      - 'release/**'
-    tags:
-      - 'v*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-  pull_request:
-    branches:
-      - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-
-jobs:
-  build:
-    name: Build and Push Container
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-tags: true
-          submodules: false
-          fetch-depth: 0
-
-      - name: Set PX4 Tag
-        id: px4-tag
-        run: |
-          echo "tag=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
-
-      - name: Login to Docker Hub
-        uses: docker/login-action@v3
-        if: github.event_name != 'pull_request'
-        with:
-          username: ${{ secrets.DOCKERHUB_USERNAME }}
-          password: ${{ secrets.DOCKERHUB_TOKEN }}
-
-      - name: Login to GitHub Container Registry
-        uses: docker/login-action@v3
-        with:
-          registry: ghcr.io
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Extract metadata (tags, labels) for Docker
-        id: meta
-        uses: docker/metadata-action@v5
-        with:
-          images: |
-            ghcr.io/PX4/px4-dev
-            ${{ (github.event_name != 'pull_request') && 'px4io/px4-dev' || '' }}
-          tags: |
-            type=raw,enable=true,value=${{ steps.px4-tag.outputs.tag }},priority=1000
-
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
-
-      - name: Build and load container image
-        uses: docker/build-push-action@v6
-        id: docker
-        with:
-          context: Tools/setup
-          tags: ${{ steps.meta.outputs.tags }}
-          labels: ${{ steps.meta.outputs.labels }}
-          platforms: |
-            linux/amd64
-          load: true
-          push: false
-          cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }}
-          cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max
-
-      - name: Get Tag Name
-        id: tag_name
-        run: |
-          echo "::set-output name=tag_name::$(echo '${{ fromJSON(steps.docker.outputs.metadata)['image.name'] }}' | sed 's/,.*$//')"
-
-      - name: make quick_check
-        uses: addnab/docker-run-action@v3
-        with:
-          image: ${{ steps.tag_name.outputs.tag_name }}
-          options: -v ${{ github.workspace }}:/workspace
-          run: |
-            cd /workspace
-            git config --global --add safe.directory /workspace
-            make px4_sitl_default
-            make px4_fmu-v6x_default
-
-      - name: Push container image
-        uses: docker/build-push-action@v6
-        with:
-          context: Tools/setup
-          tags: ${{ steps.meta.outputs.tags }}
-          labels: ${{ steps.meta.outputs.labels }}
-          platforms: |
-            linux/amd64
-          provenance: mode=max
-          push: ${{ github.event_name != 'pull_request' }}
-          cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }}
-          cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max

.github/workflows/docs_crowdin_download.yml

@@ -1,43 +0,0 @@
-name: Docs - Crowdin - Download Guide Translations
-
-# https://github.com/crowdin/github-action/tree/master
-
-on:
-  schedule:
-    - cron: '0 0 * * 0' # Runs every Sunday at 00:00 UTC
-  workflow_dispatch:
-
-permissions:
-  contents: write
-  pull-requests: write
-
-jobs:
-  synchronize-with-crowdin:
-    name: Synchronize with Crowdin
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-      - name: crowdin action
-        uses: crowdin/github-action@v2
-        with:
-          config: 'docs/crowdin_docs.yml'
-          upload_sources: false
-          upload_translations: false
-          download_translations: true
-          commit_message: New Crowdin translations
-          localization_branch_name: l10n_crowdin_docs_translations
-          crowdin_branch_name: main
-          create_pull_request: true
-          pull_request_base_branch_name: 'main'
-          pull_request_title: New PX4 guide translations (Crowdin)
-          pull_request_body: 'New PX4 guide Crowdin translations by [Crowdin GH Action](https://github.com/crowdin/github-action)'
-        env:
-          # A classic GitHub Personal Access Token with the 'repo' scope selected (the user should have write access to the repository).
-          GITHUB_TOKEN: ${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}
-
-          # A numeric ID, found at https://crowdin.com/project/<projectName>/tools/api
-          CROWDIN_PROJECT_ID: ${{ secrets.CROWDIN_DOCS_PROJECT_ID }}
-
-          # Visit https://crowdin.com/settings#api-key to create this token
-          CROWDIN_PERSONAL_TOKEN: ${{ secrets.PX4BUILDBOT_CROWDIN_PERSONAL_TOKEN }}

.github/workflows/docs_crowdin_upload.yml

@@ -1,44 +0,0 @@
-name: Docs - Crowdin - Upload Guide sources (en)
-
-# https://github.com/crowdin/github-action/tree/master
-
-on:
-  push:
-    branches:
-      - main
-    paths:
-      - 'docs/en/**'
-  pull_request:
-    types:
-      - closed
-    branches:
-      - main
-    paths:
-      - 'docs/en/**'
-  workflow_dispatch:
-
-jobs:
-  upload-to-crowdin:
-    if: github.event.pull_request.merged == true || github.event_name == 'push' || github.event_name == 'workflow_dispatch'
-    runs-on: ubuntu-latest
-
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-      - name: crowdin push
-        uses: crowdin/github-action@v2
-        with:
-          config: 'docs/crowdin_docs.yml'
-          upload_sources: true
-          upload_translations: false
-          download_translations: false
-          crowdin_branch_name: main
-        env:
-          # A classic GitHub Personal Access Token with the 'repo' scope selected (the user should have write access to the repository).
-          GITHUB_TOKEN: ${{ secrets.PX4BUILDBOT_ACCESSTOKEN }}
-
-          # A numeric ID, found at https://crowdin.com/project/<projectName>/tools/api
-          CROWDIN_PROJECT_ID: ${{ secrets.CROWDIN_DOCS_PROJECT_ID }}
-
-          # Visit https://crowdin.com/settings#api-key to create this token
-          CROWDIN_PERSONAL_TOKEN: ${{ secrets.PX4BUILDBOT_CROWDIN_PERSONAL_TOKEN }}

.github/workflows/docs_deploy.yml

@@ -1,96 +0,0 @@
-name: Docs - Deploy PX4 User Guide
-
-on:
-  push:
-    branches:
-      - 'main'
-      - 'release/**'
-    tags:
-      - 'v*'
-    paths:
-      - 'docs/en/**'
-  pull_request:
-    branches:
-      - '*'
-    paths:
-      - 'docs/en/**'
-
-  # Allows you to run this workflow manually from the Actions tab
-  workflow_dispatch:
-
-# Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
-permissions:
-  contents: read
-  pages: write
-  id-token: write
-
-# Allow only one concurrent deployment, skipping runs queued between the run in-progress and latest queued.
-# However, do NOT cancel in-progress runs as we want to allow these production deployments to complete.
-concurrency:
-  group: pages
-  cancel-in-progress: false
-
-env:
-  BRANCH_NAME: ${{ github.head_ref || github.ref_name }}
-
-jobs:
-  build:
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    steps:
-      - uses: runs-on/action@v1
-      - name: Checkout
-        uses: actions/checkout@v4
-
-      - name: Setup Node
-        uses: actions/setup-node@v4
-        with:
-          node-version: 20
-          cache: npm
-          # Specify the path to lock file for correct caching
-          cache-dependency-path: ./docs/yarn.lock
-
-      - name: Install dependencies
-        run: yarn install --frozen-lockfile --cwd ./docs
-
-      - name: Build with VitePress
-        working-directory: ./docs
-        run: |
-          npm run docs:build_ubuntu
-          touch .vitepress/dist/.nojekyll
-          npm run docs:sitemap
-
-      - name: Upload artifact
-        if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
-        uses: actions/upload-artifact@v4
-        with:
-          name: px4_docs_build
-          path: docs/.vitepress/dist/
-          retention-days: 1
-
-  deploy:
-    if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
-    needs: build
-    runs-on: [runs-on,runner=2cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
-
-    steps:
-      - name: Download Artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: px4_docs_build
-          path: ~/_book
-
-      - name: Deploy
-        run: |
-          git clone --single-branch --branch main https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/docs.px4.io.git
-          rm -rf docs.px4.io/${BRANCH_NAME}
-          mkdir -p docs.px4.io/${BRANCH_NAME}
-          cp -r ~/_book/* docs.px4.io/${BRANCH_NAME}/
-          cd docs.px4.io
-          git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
-          git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
-          git add ${BRANCH_NAME}
-          git commit -a -m "PX4 docs build update (vitepress) `date`"
-          #git add .
-          #git commit --amend -m "PX4 docs build update (vitepress) `date`"
-          #git commit --allow-empty -m "Empty commit to force rebuild"
-          git push origin main -f

.github/workflows/docs_flaw_checker.yml

@@ -1,74 +0,0 @@
-name: Docs - Check for flaws in PX4 Guide Source
-# So far:
-  # Modifications of translations files
-  # Broken internal links
-
-on:
-  pull_request_target:
-    types: [opened, edited, synchronize]
-    paths:
-      - 'docs/en/**'
-
-jobs:
-  check_flaws:
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v3
-        with:
-          ref: ${{ github.event.pull_request.head.sha }}
-
-      - name: Install Node.js
-        uses: actions/setup-node@v3
-        with:
-          node-version: '16'
-
-      - name: Create logs directory
-        run: |
-          mkdir logs
-
-      - name: Get changed english files
-        id: get_changed_markdown_english
-        uses: tj-actions/changed-files@v35.9.2
-        with:
-          json: true
-          base_sha: "${{ github.event.pull_request.base.sha }}"
-          sha: "${{ github.event.pull_request.head.sha }}"
-          # Below are used to output files to a directory. May use in flaw checker.
-          # write_output_files: true
-          # output_dir: "./logs"
-          files: |
-            docs/en/**/*.md
-
-      - name: Save JSON file containing files to link check
-        run: |
-          echo "${{ steps.get_changed_markdown_english.outputs.all_changed_files }}"
-          echo "${{ steps.get_changed_markdown_english.outputs.all_changed_files }}" > ./logs/prFiles.json
-
-      - name: Run link checker
-        id: link-check
-        run: |
-          npm -g install markdown_link_checker_sc@0.0.134
-          markdown_link_checker_sc -r ${{ github.workspace }} -d en -f ./docs/logs/prFiles.json -i assets -u docs.px4.io/main/ > ./docs/logs/errorsFilteredByPrPages.md
-          mkdir -p ./pr
-          cp ./docs/logs/errorsFilteredByPrPages.md ./pr/errorsFilteredByPrPages.md
-
-      - name: Read errorsFilteredByPrPages.md file
-        id: read-errors-by-page
-        uses: juliangruber/read-file-action@v1
-        with:
-          path: ./logs/errorsFilteredByPrPages.md
-
-      - name: Echo Errors by Page
-        run: echo "${{ steps.read-errors-by-page.outputs.content }}"
-
-      - name: Save PR number
-        env:
-          PR_NUMBER: ${{ github.event.number }}
-        run: |
-          #mkdir -p ./pr
-          echo $PR_NUMBER > ./pr/pr_number
-      - uses: actions/upload-artifact@v4
-        with:
-          name: pr_number
-          path: pr/

.github/workflows/docs_pr_comment.yml

@@ -1,107 +0,0 @@
-name: Docs - Comment Workflow
-on:
-  workflow_run:
-    workflows: ["Docs - Check for flaws in PX4 Guide Source"]
-    types:
-      - completed
-jobs:
-  comment:
-    permissions:
-      pull-requests: write # for marocchino/sticky-pull-request-comment
-    name: Comments
-    runs-on: ubuntu-latest
-    steps:
-      - name: 'Download PR artifact'
-        uses: actions/github-script@v6
-        with:
-          script: |
-            let allArtifacts = await github.rest.actions.listWorkflowRunArtifacts({
-               owner: context.repo.owner,
-               repo: context.repo.repo,
-               run_id: context.payload.workflow_run.id,
-            });
-            let matchArtifact = allArtifacts.data.artifacts.filter((artifact) => {
-              return artifact.name == "pr_number"
-            })[0];
-            let download = await github.rest.actions.downloadArtifact({
-               owner: context.repo.owner,
-               repo: context.repo.repo,
-               artifact_id: matchArtifact.id,
-               archive_format: 'zip',
-            });
-            let fs = require('fs');
-            fs.writeFileSync(`${process.env.GITHUB_WORKSPACE}/pr_number.zip`, Buffer.from(download.data));
-
-      - name: 'Unzip artifact'
-        run: unzip pr_number.zip
-
-      # Doesn't work across workflows
-      #- name: Get artifacts from flaw checker workflow
-      #  uses: actions/download-artifact@v3
-      #  with:
-      #    name: logs_and_errors
-      #    #path: ./logs
-
-      - name: Read errorsFilteredByPrPages.md file
-        id: read-errors-by-page
-        uses: juliangruber/read-file-action@v1
-        with:
-          path: ./errorsFilteredByPrPages.md
-
-      - name: Read PR number
-        id: read-error-pr-number
-        uses: juliangruber/read-file-action@v1
-        with:
-          path: ./pr_number
-
-      - name: File detail info
-        run: |
-          echo "${{ steps.read-errors-by-page.outputs.content }}"
-          echo "${{ steps.read-error-pr-number.outputs.content }}"
-
-      - name: Create or update comment
-        id: comment_to_pr
-        uses: marocchino/sticky-pull-request-comment@v2
-        with:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-          recreate: true
-          number: ${{ steps.read-error-pr-number.outputs.content }}
-          header: flaws
-          message: ${{ steps.read-errors-by-page.outputs.content || 'No flaws found' }}
-
-      #- name: Dump GitHub context
-      #  env:
-      #    GITHUB_CONTEXT: ${{ toJSON(github) }}
-      #  run: echo "$GITHUB_CONTEXT"
-
-      # Would like to do this, but it doesn't work (for me).
-      # Moving to time-based, or triggering on workflow
-      #- name: Wait for artifacts upload to succeed
-      #  uses: lewagon/wait-on-check-action@v1.3.1
-      #  with:
-      #    ref: ${{ github.ref }}
-      #    check-name: 'Archive production artifacts'
-      #    repo-token: ${{ secrets.GITHUB_TOKEN }}
-      #    wait-interval: 80
-
-      # Not needed for now - trying to trigger off the workflow
-      #- name: Sleep for 80 seconds
-      #  run: sleep 80s
-      #  shell: bash
-      #- name: Find Comment
-      #  uses: peter-evans/find-comment@v2
-      #  id: fc
-      #  with:
-      #    issue-number: ${{ steps.read-error-pr-number.outputs.content }}
-      #    comment-author: 'github-actions[bot]'
-      #    body-includes: Flaws (may be none)
-
-      #- name: Create or update comment
-      #  uses: peter-evans/create-or-update-comment@v3
-      #  with:
-      #    comment-id: ${{ steps.fc.outputs.comment-id }}
-      #    issue-number: ${{ steps.read-error-pr-number.outputs.content }}
-      #    body: |
-      #      Flaws (may be none)
-      #      ${{ steps.read-errors-by-page.outputs.content }}
-      #    edit-mode: replace

.github/workflows/ekf_functional_change_indicator.yml

@@ -1,31 +0,0 @@
-name: EKF Change Indicator
-
-on:
-  pull_request:
-    branches:
-    - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-
-jobs:
-  unit_tests:
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
-
-    - name: main test
-      uses: addnab/docker-run-action@v3
-      with:
-        image: px4io/px4-dev-base-focal:2021-09-08
-        options: -v ${{ github.workspace }}:/workspace
-        run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
-          make tests TESTFILTER=EKF
-
-    - name: Check if there is a functional change
-      run: git diff --exit-code
-      working-directory: src/modules/ekf2/test/change_indication

.github/workflows/ekf_update_change_indicator.yml

@@ -1,48 +0,0 @@
-name: EKF Update Change Indicator
-
-on:
-  push:
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-
-jobs:
-  unit_tests:
-    runs-on: ubuntu-latest
-    env:
-      GIT_COMMITTER_EMAIL: bot@px4.io
-      GIT_COMMITTER_NAME: PX4BuildBot
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
-
-    - name: main test
-      uses: addnab/docker-run-action@v3
-      with:
-        image: px4io/px4-dev-base-focal:2021-09-08
-        options: -v ${{ github.workspace }}:/workspace
-        run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
-          make tests TESTFILTER=EKF
-
-    - name: Check if there exists diff and save result in variable
-      id: diff-check
-      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_OUTPUT
-      working-directory: src/modules/ekf2/test/change_indication
-
-    - name: auto-commit any changes to change indication
-      uses: stefanzweifel/git-auto-commit-action@v4
-      with:
-        file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
-        commit_user_name: ${GIT_COMMITTER_NAME}
-        commit_user_email: ${GIT_COMMITTER_EMAIL}
-        commit_message: |
-          '[AUTO COMMIT] update change indication'
-
-          See .github/workflopws/ekf_update_change_indicator.yml for more details
-
-    - name: if there is a functional change, fail check
-      if: ${{ steps.diff-check.outputs.CHANGE_INDICATED }}
-      run: exit 1

.github/workflows/failsafe_sim.yml

@@ -1,52 +0,0 @@
-name: Failsafe Simulator Build
-
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-  pull_request:
-    branches:
-    - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    defaults:
-      run:
-        shell: bash
-    strategy:
-      fail-fast: false
-      matrix:
-        check: [
-          "failsafe_web",
-        ]
-    container:
-      image: px4io/px4-dev-nuttx-focal:2022-08-12
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-      - name: Install Node v20.18.0
-        uses: actions/setup-node@v4
-        with:
-          node-version: 20.18.0
-
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: Install empscripten
-        run: |
-          git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
-          cd _emscripten_sdk
-          ./emsdk install latest
-          ./emsdk activate latest
-
-      - name: Testing [${{ matrix.check }}]
-        run: |
-          . ./_emscripten_sdk/emsdk_env.sh
-          make ${{ matrix.check }}

.github/workflows/flash_analysis.yml

@@ -1,156 +0,0 @@
-name: FLASH usage analysis
-
-permissions:
-  contents: read
-  pull-requests: write
-  issues: write
-
-on:
-  push:
-    branches:
-      - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-  pull_request:
-    branches:
-      - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-
-env:
-  MIN_FLASH_POS_DIFF_FOR_COMMENT: 50
-  MIN_FLASH_NEG_DIFF_FOR_COMMENT: -50
-
-jobs:
-  analyze_flash:
-    name: Analyzing ${{ matrix.target }}
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    container:
-      image: px4io/px4-dev-nuttx-focal
-    strategy:
-      matrix:
-        target: [px4_fmu-v5x, px4_fmu-v6x]
-    outputs:
-      px4_fmu-v5x-bloaty-output: ${{ steps.gen-output.outputs.px4_fmu-v5x-bloaty-output }}
-      px4_fmu-v5x-bloaty-summary-map: ${{ steps.gen-output.outputs.px4_fmu-v5x-bloaty-summary-map }}
-      px4_fmu-v6x-bloaty-output: ${{ steps.gen-output.outputs.px4_fmu-v6x-bloaty-output }}
-      px4_fmu-v6x-bloaty-summary-map: ${{ steps.gen-output.outputs.px4_fmu-v6x-bloaty-summary-map }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          submodules: recursive
-
-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: Build Target
-        run: make ${{ matrix.target }}_flash-analysis
-
-      - name: Store the ELF with the change
-        run: cp ./build/**/*.elf ./with-change.elf
-
-      - name: Clean previous build
-        run: |
-          make clean
-          make distclean
-
-      - name: If it's a PR checkout the base branch
-        if: ${{ github.event.pull_request }}
-        # As checkout creates a merge commit (merging the base branch into the PR branch), the base branch is the base for a diff of the PR changes.
-        run: git checkout ${{ github.event.pull_request.base.ref }}
-
-      - name: If it's a push checkout the previous commit
-        if: github.event_name == 'push'
-        run: git checkout ${{ github.event.before }}
-
-      - name: Update submodules
-        run: make submodulesupdate
-
-      - name: Build
-        run: make ${{ matrix.target }}_flash-analysis
-
-      - name: Store the ELF before the change
-        run: cp ./build/**/*.elf ./before-change.elf
-
-      - name: bloaty-action
-        uses: PX4/bloaty-action@v1.0.0
-        id: bloaty-step
-        with:
-          bloaty-file-args: ./with-change.elf -- ./before-change.elf
-          bloaty-additional-args: -d sections,compileunits -s vm -n 20
-          output-to-summary: true
-
-      - name: Generate output
-        id: gen-output
-        run: |
-          EOF=$(dd if=/dev/urandom bs=15 count=1 status=none | base64)
-          echo "${{ matrix.target }}-bloaty-output<<$EOF" >> $GITHUB_OUTPUT
-          echo "${{ steps.bloaty-step.outputs.bloaty-output-encoded }}" >> $GITHUB_OUTPUT
-          echo "$EOF" >> $GITHUB_OUTPUT
-          echo "${{ matrix.target }}-bloaty-summary-map<<$EOF" >> $GITHUB_OUTPUT
-          echo '${{ steps.bloaty-step.outputs.bloaty-summary-map }}' >> $GITHUB_OUTPUT
-          echo "$EOF" >> $GITHUB_OUTPUT
-
-  # TODO:
-  # This part of the workflow is causing errors, we should find a way to fix this and enable this test again
-  # Track this issue https://github.com/PX4/PX4-Autopilot/issues/24408
-  #
-  #post_pr_comment:
-    #name: Publish Results
-    #runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    #needs: [analyze_flash]
-    #env:
-      #V5X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-absolute) }}
-      #V5X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-percentage) }}
-      #V6X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-absolute) }}
-      #V6X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-percentage) }}
-    #if: ${{ github.event.pull_request }}
-    #steps:
-      #- name: Find Comment
-        #uses: peter-evans/find-comment@v3
-        #id: fc
-        #with:
-          #issue-number: ${{ github.event.pull_request.number }}
-          #comment-author: 'github-actions[bot]'
-          #body-includes: FLASH Analysis
-
-      #- name: Set Build Time
-        #id: bt
-        #run: |
-          #echo "timestamp=$(date +'%Y-%m-%dT%H:%M:%S')" >> $GITHUB_OUTPUT
-
-      #- name: Create or update comment
-        ## This can't be moved to the job-level conditions, as GH actions don't allow a job-level if condition to access the env.
-        #if: |
-          #steps.fc.outputs.comment-id != '' ||
-          #env.V5X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
-          #env.V5X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT) ||
-          #env.V6X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
-          #env.V6X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT)
-        #uses: peter-evans/create-or-update-comment@v4
-        #with:
-          #comment-id: ${{ steps.fc.outputs.comment-id }}
-          #issue-number: ${{ github.event.pull_request.number }}
-          #body: |
-            ### 🔎 FLASH Analysis
-            #<details>
-              #<summary>px4_fmu-v5x [Total VM Diff: ${{ env.V5X-SUMMARY-MAP-ABS }} byte (${{ env.V5X-SUMMARY-MAP-PERC}} %)]</summary>
-
-              #```
-              #${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }}
-              #```
-            #</details>
-
-            #<details>
-              #<summary>px4_fmu-v6x [Total VM Diff: ${{ env.V6X-SUMMARY-MAP-ABS }} byte (${{ env.V6X-SUMMARY-MAP-PERC }} %)]</summary>
-
-              #```
-              #${{ needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-output }}
-              #```
-            #</details>
-
-            #**Updated: _${{ steps.bt.outputs.timestamp }}_**
-          #edit-mode: replace

.github/workflows/mavros_mission_tests.yml

@@ -1,42 +0,0 @@
-name: MAVROS Mission Tests
-
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-  pull_request:
-    branches:
-    - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          - {vehicle: "iris",          mission: "MC_mission_box"}
-          - {vehicle: "rover",         mission: "rover_mission_1"}
-
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
-
-    - name: Build SITL and Run Tests
-      uses: addnab/docker-run-action@v3
-      with:
-        image: px4io/px4-dev-ros-melodic:2021-09-08
-        options: -v ${{ github.workspace }}:/workspace
-        run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
-          make px4_sitl_default
-          make px4_sitl_default sitl_gazebo-classic
-          ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}

.github/workflows/mavros_offboard_tests.yml

@@ -1,43 +0,0 @@
-name: MAVROS Offboard Tests
-
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-  pull_request:
-    branches:
-    - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    env:
-      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          - {test_file: "mavros_posix_tests_offboard_posctl.test",    vehicle: "iris"}
-
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
-
-    - name: Build PX4 and Run Tests
-      uses: addnab/docker-run-action@v3
-      with:
-        image: px4io/px4-dev-ros-melodic:2021-09-08
-        options: -v ${{ github.workspace }}:/workspace
-        run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
-          make px4_sitl_default
-          make px4_sitl_default sitl_gazebo-classic
-          ./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}

.github/workflows/nuttx_env_config.yml

@@ -1,43 +0,0 @@
-name: Nuttx Target with extra env config
-
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-  pull_request:
-    branches:
-    - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      matrix:
-        config: [
-          px4_fmu-v5_default,
-          ]
-
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
-
-    - name: Build PX4 and Run Test [${{ matrix.config }}]
-      uses: addnab/docker-run-action@v3
-      with:
-        image: px4io/px4-dev-nuttx-focal:2022-08-12
-        options: -v ${{ github.workspace }}:/workspace
-        run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
-          export PX4_EXTRA_NUTTX_CONFIG="CONFIG_NSH_LOGIN_PASSWORD=\"test\";CONFIG_NSH_CONSOLE_LOGIN=y"
-          echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"
-          make ${{ matrix.config }} nuttx_context
-          echo "Check that the config option is set"
-          grep CONFIG_NSH_LOGIN_PASSWORD build/${{ matrix.config }}/NuttX/nuttx/.config

.github/workflows/python_checks.yml

@@ -1,35 +0,0 @@
-name: Python CI Checks
-
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-  pull_request:
-    branches:
-    - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-
-jobs:
-  build:
-    runs-on: ubuntu-24.04
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
-
-    - name: Install Python3
-      run: sudo apt-get install python3 python3-setuptools python3-pip -y
-
-    - name: Install tools
-      run: python3 -m pip install mypy types-requests flake8 --break-system-packages
-
-    - name: Check MAVSDK test scripts with mypy
-      run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
-
-    - name: Check MAVSDK test scripts with flake8
-      run: $HOME/.local/bin/flake8 test/mavsdk_tests/*.py

.github/workflows/ros_translation_node.yml

@@ -1,58 +0,0 @@
-name: ROS Translation Node Tests
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-  pull_request:
-    branches:
-    - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-defaults:
-  run:
-    shell: bash
-jobs:
-  build_and_test:
-    name: Build and test
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          - {ros_version: "humble", ubuntu: "jammy"}
-          - {ros_version: "jazzy", ubuntu: "noble"}
-    container:
-      image: rostooling/setup-ros-docker:ubuntu-${{ matrix.config.ubuntu }}-latest
-    steps:
-      - name: Setup ROS 2 (${{ matrix.config.ros_version }})
-        uses: ros-tooling/setup-ros@v0.7
-        with:
-          required-ros-distributions: ${{ matrix.config.ros_version }}
-      - name: Checkout repository
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      # Workaround for https://github.com/actions/runner/issues/2033
-      - name: ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: Check .msg file versioning
-        if: github.event_name == 'pull_request'
-        run: |
-          ./Tools/ci/check_msg_versioning.sh ${{ github.event.pull_request.base.sha }} ${{github.event.pull_request.head.sha}}
-
-      - name: Build and test
-        run: |
-          ros_ws=/ros_ws
-          mkdir -p $ros_ws/src
-          ./Tools/copy_to_ros_ws.sh $ros_ws
-          cd $ros_ws
-          source /opt/ros/${{ matrix.config.ros_version }}/setup.sh
-          colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install --event-handlers=console_cohesion+
-          source ./install/setup.sh
-          ./build/translation_node/translation_node_unit_tests

.github/workflows/sitl_tests.yml

@@ -1,159 +0,0 @@
-# NOTE: this workflow is now running on Dronecode / PX4 AWS account.
-# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
-#   and comment the "runs-on: [runs-on,runner=..." lines.
-# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
-
-name: SITL Tests
-
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-  pull_request:
-    branches:
-    - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-
-jobs:
-  build:
-    name: Testing PX4 ${{ matrix.config.model }}
-    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    container:
-      image: px4io/px4-dev-simulation-focal:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          - {model: "iris",          latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
-          - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
-          - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: Git Ownership Workaround
-        run: git config --system --add safe.directory '*'
-
-      - id: set-timestamp
-        name: Set timestamp for cache
-        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
-
-      - name: Cache Key Config
-        uses: actions/cache@v4
-        with:
-          path: ~/.ccache
-          key: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
-          restore-keys: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
-
-      - name: Cache Conf Config
-        run: |
-            mkdir -p ~/.ccache
-            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-            echo "compression = true" >> ~/.ccache/ccache.conf
-            echo "compression_level = 6" >> ~/.ccache/ccache.conf
-            echo "max_size = 120M" >> ~/.ccache/ccache.conf
-            echo "hash_dir = false" >> ~/.ccache/ccache.conf
-            ccache -s
-            ccache -z
-
-      - name: Build PX4
-        env:
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: make px4_sitl_default
-
-      - name: Cache Post-Run [px4_sitl_default]
-        run: ccache -s
-
-      - name: Build SITL Gazebo
-        env:
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: make px4_sitl_default sitl_gazebo-classic
-
-      - name: Cache Post-Run [sitl_gazebo-classic]
-        run: ccache -s
-
-      - name: Download MAVSDK
-        run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
-
-      - name: Install MAVSDK
-        run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
-
-      - name: Check PX4 Environment Variables
-        env:
-          PX4_HOME_LAT: ${{matrix.config.latitude}}
-          PX4_HOME_LON: ${{matrix.config.longitude}}
-          PX4_HOME_ALT: ${{matrix.config.altitude}}
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: |
-            export
-            ulimit -a
-
-      - name: Build PX4 / MAVSDK tests
-        env:
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-          DONT_RUN: 1
-        run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
-
-      - name: Cache Post-Run [px4_sitl_default sitl_gazebo-classic mavsdk_tests]
-        run: ccache -s
-
-      - name: Core Dump Settings
-        run: |
-            ulimit -c unlimited
-            echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-      - name: Run SITL / MAVSDK Tests
-        env:
-          PX4_HOME_LAT: ${{matrix.config.latitude}}
-          PX4_HOME_LON: ${{matrix.config.longitude}}
-          PX4_HOME_ALT: ${{matrix.config.altitude}}
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
-        timeout-minutes: 45
-
-      - name: Upload failed logs
-        if: failure()
-        uses: actions/upload-artifact@v4
-        with:
-          name: failed-${{matrix.config.model}}-logs.zip
-          path: |
-            logs/**/**/**/*.log
-            logs/**/**/**/*.ulg
-            build/px4_sitl_default/tmp_mavsdk_tests/rootfs/*.ulg
-
-      - name: Look at Core files
-        if: failure() && ${{ hashFiles('px4.core') != '' }}
-        run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-
-      - name: Upload PX4 coredump
-        if: failure() && ${{ hashFiles('px4.core') != '' }}
-        uses: actions/upload-artifact@v4
-        with:
-          name: coredump
-          path: px4.core
-
-      - name: Setup & Generate Coverage Report
-        if: contains(matrix.config.build_type, 'Coverage')
-        run: |
-            git config --global credential.helper "" # disable the keychain credential helper
-            git config --global --add credential.helper store # enable the local store credential helper
-            echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-            git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-            mkdir -p coverage
-            lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-
-      - name: Upload Coverage Information to Codecov
-        if: contains(matrix.config.build_type, 'Coverage')
-        uses: codecov/codecov-action@v4
-        with:
-          token: ${{ secrets.CODECOV_TOKEN }}
-          flags: mavsdk
-          file: coverage/lcov.info

.github/workflows/stale.yml

@@ -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

.gitignore

@@ -8,15 +8,17 @@
 .cproject
 .DS_Store
 .gdbinit
-.gdb_history
 .project
 .settings
 .swp
 .~lock.*
 Testing/
 Packages/*
+s3deploy-branch/
+s3deploy-archive/
 build/*
 build_*/
+core
 cscope.out
 cscope.in.out
 cscope.po.out
@@ -31,11 +33,18 @@ tags
 .pydevproject
 .ropeproject
 *.orig
+src/modules/uORB/topics/*
+src/platforms/nuttx/px4_messages/*
+src/platforms/ros/px4_messages/*
 Firmware.zip
 *.generated.h
 .vagrant
 *.pretty
 xcode
+src/platforms/posix/px4_messages/
+src/platforms/posix-arm/px4_messages/
+src/platforms/qurt/px4_messages/
+ROMFS/*/*/rc.autostart
 rootfs/
 *.autosave
 CMakeLists.txt.user
@@ -51,6 +60,8 @@ GTAGS
 .idea
 cmake-build-*/
 
+.vscode
+
 posix-configs/SITL/init/test/*_generated
 
 /airframes.md
@@ -58,53 +69,5 @@ posix-configs/SITL/init/test/*_generated
 /parameters.md
 /parameters.xml
 /modules
-/msg/ros/*.msg
 
 *.gcov
-.coverage
-.coverage.*
-
-# KDevelop ignores
-.kdev4/*
-*.kdev4
-
-# cmake in tree (ninja)
-.ninja_deps
-.ninja_log
-bin/
-build.ninja
-cmake_install.cmake
-CMakeCache.txt
-CMakeFiles
-compile_commands.json
-CPackConfig.cmake
-CPackSourceConfig.cmake
-CTestTestfile.cmake
-external/
-rules.ninja
-
-# in tree build
-**/*.a
-**/*.px4mod
-**/*.stamp
-/coverage*
-/functional-*
-/generated_params/
-/googletest-*/
-/logs
-/mavsdk_tests
-/unit-*
-/uORB/
-DartConfiguration.tcl
-msg/tmp/
-msg/topics_sources/
-platforms/posix/apps.cpp
-platforms/posix/apps.h
-src/lib/version/build_git_version.h
-src/modules/simulator/simulator_config.h
-src/systemcmds/topic_listener/listener_generated.cpp
-
-!src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
-
-# colcon
-log/

.gitmodules

@@ -1,91 +1,61 @@
-[submodule "src/modules/mavlink/mavlink"]
-	path = src/modules/mavlink/mavlink
-	url = https://github.com/mavlink/mavlink.git
+[submodule "mavlink/include/mavlink/v1.0"]
+	path = mavlink/include/mavlink/v1.0
+	url = https://github.com/mavlink/c_library_v1.git
 	branch = master
-[submodule "Tools/simulation/jmavsim/jMAVSim"]
-	path = Tools/simulation/jmavsim/jMAVSim
+[submodule "mavlink/include/mavlink/v2.0"]
+	path = mavlink/include/mavlink/v2.0
+	url = https://github.com/mavlink/c_library_v2.git
+	branch = master
+[submodule "src/modules/uavcan/libuavcan"]
+	path = src/modules/uavcan/libuavcan
+	url = https://github.com/UAVCAN/libuavcan.git
+[submodule "Tools/genmsg"]
+	path = msg/tools/genmsg
+	url = https://github.com/ros/genmsg.git
+[submodule "Tools/gencpp"]
+	path = msg/tools/gencpp
+	url = https://github.com/ros/gencpp.git
+[submodule "Tools/jMAVSim"]
+	path = Tools/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
-	branch = main
-[submodule "Tools/simulation/gazebo-classic/sitl_gazebo-classic"]
-	path = Tools/simulation/gazebo-classic/sitl_gazebo-classic
-	url = https://github.com/PX4/PX4-SITL_gazebo-classic.git
-	branch = main
+	branch = master
+[submodule "Tools/sitl_gazebo"]
+	path = Tools/sitl_gazebo
+	url = https://github.com/PX4/sitl_gazebo.git
+	branch = master
+[submodule "src/lib/matrix"]
+	path = src/lib/matrix
+	url = https://github.com/PX4/Matrix.git
+	branch = master
+[submodule "src/lib/DriverFramework"]
+	path = src/lib/DriverFramework
+	url = https://github.com/PX4/DriverFramework.git
+	branch = master
+[submodule "src/lib/ecl"]
+	path = src/lib/ecl
+	url = https://github.com/PX4/ecl.git
+	branch = master
+[submodule "cmake/cmake_hexagon"]
+	path = cmake/cmake_hexagon
+	url = https://github.com/ATLFlight/cmake_hexagon
+	branch = master
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
-	url = https://github.com/PX4/PX4-GPSDrivers.git
-	branch = main
+	url = https://github.com/PX4/GpsDrivers.git
+	branch = master
+[submodule "src/lib/micro-CDR"]
+	path = src/modules/micrortps_bridge/micro-CDR
+	url = https://github.com/eProsima/micro-CDR.git
+	branch = master
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
-	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.3.0+
+	url = https://github.com/PX4-NuttX/nuttx.git
+	branch = px4_firmware_nuttx-7.22+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
-	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-10.3.0+
-[submodule "Tools/flightgear_bridge"]
-	path = Tools/simulation/flightgear/flightgear_bridge
-	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
-[submodule "Tools/simulation/jsbsim/jsbsim_bridge"]
-	path = Tools/simulation/jsbsim/jsbsim_bridge
-	url = https://github.com/PX4/px4-jsbsim-bridge.git
-[submodule "src/drivers/cyphal/libcanard"]
-	path = src/drivers/cyphal/libcanard
-	url = https://github.com/opencyphal/libcanard.git
-[submodule "src/drivers/cyphal/public_regulated_data_types"]
-	path = src/drivers/cyphal/public_regulated_data_types
-	url = https://github.com/opencyphal/public_regulated_data_types.git
-[submodule "src/drivers/cyphal/legacy_data_types"]
-	path = src/drivers/cyphal/legacy_data_types
-	url = https://github.com/PX4/public_regulated_data_types.git
-	branch = legacy
-[submodule "src/lib/crypto/monocypher"]
-	path = src/lib/crypto/monocypher
-	url = https://github.com/PX4/Monocypher.git
-	branch = px4
-[submodule "src/lib/events/libevents"]
-	path = src/lib/events/libevents
-	url = https://github.com/mavlink/libevents.git
-	branch = main
-[submodule "src/lib/crypto/libtomcrypt"]
-	path = src/lib/crypto/libtomcrypt
-	url = https://github.com/PX4/libtomcrypt.git
-	branch = px4
-[submodule "src/lib/crypto/libtommath"]
-	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
-	url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
-	branch = px4
-[submodule "src/lib/cdrstream/cyclonedds"]
-	path = src/lib/cdrstream/cyclonedds
-	url = https://github.com/px4/cyclonedds
-[submodule "src/lib/cdrstream/rosidl"]
-	path = src/lib/cdrstream/rosidl
-	url = https://github.com/px4/rosidl
-[submodule "src/modules/zenoh/zenoh-pico"]
-	path = src/modules/zenoh/zenoh-pico
-	url = https://github.com/px4/zenoh-pico
-	branch = dev/1.0.0-px4
-[submodule "src/lib/heatshrink/heatshrink"]
-	path = src/lib/heatshrink/heatshrink
-	url = https://github.com/PX4/heatshrink.git
-	branch = px4
-[submodule "Tools/simulation/gz"]
-	path = Tools/simulation/gz
-	url = https://github.com/PX4/PX4-gazebo-models.git
-	branch = main
-[submodule "boards/modalai/voxl2/libfc-sensor-api"]
-	path = boards/modalai/voxl2/libfc-sensor-api
-	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git
-[submodule "src/drivers/actuators/vertiq_io/iq-module-communication-cpp"]
-	path = src/drivers/actuators/vertiq_io/iq-module-communication-cpp
-	url = https://github.com/PX4/iq-module-communication-cpp.git
+	url = https://github.com/PX4-NuttX/apps.git
+	branch = px4_firmware_nuttx-7.22+
+[submodule "cmake/configs/uavcan_board_ident"]
+	path = cmake/configs/uavcan_board_ident
+	url = https://github.com/PX4/uavcan_board_ident.git
 	branch = master
-[submodule "src/drivers/uavcan/libdronecan/dsdl"]
-	path = src/drivers/uavcan/libdronecan/dsdl
-	url = https://github.com/PX4/DSDL.git
-[submodule "src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan"]
-	path = src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan
-	url = https://github.com/dronecan/pydronecan

.travis.yml

@@ -0,0 +1,62 @@
+# Build and autotest script for PX4 Firmware
+# http://travis-ci.org
+
+sudo: required
+
+services:
+  - docker
+
+language: cpp
+
+git:
+  depth: 2000
+  submodules: false
+
+env:
+  global:
+    # COVERITY_SCAN_TOKEN
+    - secure: "Q4IAcmo1r5cr/UvhcixQa6QN5e5eTcP7FeidzEbX2+BA38yo2BH5O9YQCvZe2AI1Na8ZCjVx3H2luGgDwOKgzAIAjXjZ2KbmXYc6Ns/j/BXScY05dCCzYEhXKD98NZxIKH9lLN9pYDGRA8pChGRJnVlFOr1JHHHnB801+osHy7M="
+    # AWS KEY: $PX4_AWS_KEY
+    - secure: "XknnZHWBbpHbN4f3fuAVwUztdLIu8ej4keC3aQSDofo3uw8AFEzojfsQsN9u77ShWSIV4iYJWh9C9ALkCx7TocJ+xYjiboo10YhM9lH/8u+EXjYWG6GHS8ua0wkir+cViSxoLNaMtmcb/rPTicJecAGANxLsIHyBAgTL3fkbLSA="
+    # AWS SECRET: $PX4_AWS_SECRET
+    - secure: "h6oajlW68dWIr+wZhO58Dv6e68dZHrBLVA6lPXZmheFQBW6Xam1HuLGA0LOW6cL9TnrAsOZ8g4goB58eMQnMEijFZKi3mhRwZhd/Xjq/ZGJOWBUrLoQHZUw2dQk5ja5vmUlKEoQnFZjDuMjx8KfX5ZMNy8A3yssWZtJYHD8c+bk="
+
+matrix:
+  fast_finish: true
+  include:
+    - env: BUILD_TARGET=coverity_scan
+      dist: trusty
+      if: branch = coverity_scan
+  allow_failures:
+    - env: BUILD_TARGET=tests_coverage
+
+cache:
+  ccache: true
+
+before_install:
+  # install dependencies for the coverity build (target and branch), otherwise exit early
+  - if [[ "${TRAVIS_BRANCH}" = "coverity_scan" ]]; then
+      sudo pip install empy jinja2 numpy toml;
+      echo -n | openssl s_client -connect scan.coverity.com:443 | sed -ne '/-BEGIN CERTIFICATE-/,/-END CERTIFICATE-/p' | sudo tee -a /etc/ssl/certs/ca-;
+    fi
+  # use git:// to fetch instead of https://
+  - git config --global url."git://".insteadOf https://
+
+script:
+  - ./Tools/docker_run.sh make ${BUILD_TARGET}
+
+after_success:
+  # upload code coverage
+  - if [ "${TRAVIS_PULL_REQUEST}" = "false" ]; then
+      [ "${BUILD_TARGET}" = "tests_coverage" ] && bash <(curl -s https://codecov.io/bash) -F unittests;
+    fi
+
+addons:
+  coverity_scan:
+    project:
+      name: "PX4/Firmware"
+      description: "Build submitted via Travis CI"
+    notification_email: ci@px4.io
+    build_command_prepend: "make distclean"
+    build_command: "make posix_sitl_default"
+    branch_pattern: coverity_scan

.vscode/.gitignore

@@ -1,14 +0,0 @@
-.cortex-debug.peripherals.state.json
-.cortex-debug.registers.state.json
-compile_commands.json
-
-# generated by cmake
-launch.json
-c_cpp_properties.json
-
-# C/C++ extension does some local caching in this folder
-ipch/
-
-browse.vc.db*
-
-*.log

.vscode/cmake-kits.json

@@ -1,5 +0,0 @@
-[
-	{
-		"name": "PX4 detect"
-	}
-]

.vscode/cmake-variants.yaml

@@ -1,423 +0,0 @@
-CONFIG:
-  default: px4_sitl_default
-  choices:
-    px4_sitl_default:
-      short: px4_sitl_default
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_sitl_default
-    px4_sitl_nolockstep:
-      short: px4_sitl_nolockstep
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_sitl_nolockstep
-    px4_sitl_asan:
-      short: px4_sitl (AddressSanitizer)
-      buildType: AddressSanitizer
-      settings:
-        CONFIG: px4_sitl_default
-    px4_sitl_ubsan:
-      short: px4_sitl (UndefinedBehaviorSanitizer)
-      buildType: UndefinedBehaviorSanitizer
-      settings:
-        CONFIG: px4_sitl_default
-    px4_sitl_replay:
-      short: px4_sitl_replay
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_sitl_replay
-    px4_sitl_test:
-      short: px4_sitl_test
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_sitl_test
-    px4_io-v2_default:
-      short: px4_io-v2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_io-v2_default
-    px4_fmu-v2_default:
-      short: px4_fmu-v2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v2_default
-    px4_fmu-v3_default:
-      short: px4_fmu-v3
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v3_default
-    px4_fmu-v4_default:
-      short: px4_fmu-v4
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v4_default
-    px4_fmu-v4pro_default:
-      short: px4_fmu-v4pro
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v4pro_default
-    px4_fmu-v5_default:
-      short: px4_fmu-v5
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v5_default
-    px4_fmu-v5_debug:
-      short: px4_fmu-v5_debug
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v5_debug
-    px4_fmu-v5x_default:
-      short: px4_fmu-v5x
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v5x_default
-    px4_fmu-v6c_default:
-      short: px4_fmu-v6c
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6c_default
-    px4_fmu-v6c_bootloader:
-      short: px4_fmu-v6c_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6c_bootloader
-    px4_fmu-v6u_default:
-      short: px4_fmu-v6u
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6u_default
-    px4_fmu-v6u_bootloader:
-      short: px4_fmu-v6u_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6u_bootloader
-    px4_fmu-v6x_default:
-      short: px4_fmu-v6x
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6x_default
-    px4_fmu-v6x_bootloader:
-      short: px4_fmu-v6x_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6x_bootloader
-    px4_fmu-v6xrt_default:
-      short: px4_fmu-v6xrt
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6xrt_default
-    px4_fmu-v6xrt_bootloader:
-      short: px4_fmu-v6xrt_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6xrt_bootloader
-    3dr_ctrl-zero-h7-oem-revg_default:
-      short: 3dr_ctrl-zero-h7-oem-revg
-      buildType: MinSizeRel
-      settings:
-        CONFIG: 3dr_ctrl-zero-h7-oem-revg_default
-    airmind_mindpx-v2_default:
-      short: airmind_mindpx-v2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: airmind_mindpx-v2_default
-    ark_can-flow_default:
-      short: ark_can-flow_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-flow_default
-    ark_can-flow_canbootloader:
-      short: ark_can-flow_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-flow_canbootloader
-    ark_can-flow-mr_canbootloader:
-      short: ark_can-flow-mr_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-flow-mr_canbootloader
-    ark_can-gps_default:
-      short: ark_can-gps_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-gps_default
-    ark_can-gps_canbootloader:
-      short: ark_can-gps_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-gps_canbootloader
-    ark_can-rtk-gps_default:
-      short: ark_can-rtk-gps_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-rtk-gps_default
-    ark_can-rtk-gps_debug:
-      short: ark_can-rtk-gps_debug
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-rtk-gps_debug
-    ark_can-rtk-gps_canbootloader:
-      short: ark_can-rtk-gps_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-rtk-gps_canbootloader
-    ark_septentrio-gps_default:
-      short: ark_septentrio-gps_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_septentrio-gps_default
-    ark_septentrio-gps_canbootloader:
-      short: ark_septentrio-gps_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_septentrio-gps_canbootloader
-    ark_teseo-gps_canbootloader:
-      short: ark_teseo-gps_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_teseo-gps_canbootloader
-    ark_cannode_default:
-      short: ark_cannode_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_cannode_default
-    ark_cannode_canbootloader:
-      short: ark_cannode_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_cannode_canbootloader
-    ark_fmu-v6x_bootloader:
-      short: ark_fmu-v6x_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_fmu-v6x_bootloader
-    ark_fmu-v6x_default:
-      short: ark_fmu-v6x_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_fmu-v6x_default
-    ark_fpv_bootloader:
-      short: ark_fpv_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_fpv_bootloader
-    ark_fpv_default:
-      short: ark_fpv_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_fpv_default
-    ark_pi6x_bootloader:
-      short: ark_pi6x_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_pi6x_bootloader
-    ark_pi6x_default:
-      short: ark_pi6x_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_pi6x_default
-    atl_mantis-edu_default:
-      short: atl_mantis-edu
-      buildType: MinSizeRel
-      settings:
-        CONFIG: atl_mantis-edu_default
-    av_x-v1_default:
-      short: av_x-v1
-      buildType: MinSizeRel
-      settings:
-        CONFIG: av_x-v1_default
-    bitcraze_crazyflie_default:
-      short: bitcraze_crazyflie
-      buildType: MinSizeRel
-      settings:
-        CONFIG: bitcraze_crazyflie_default
-    cuav_can-gps-v1_default:
-      short: cuav_can-gps-v1_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_can-gps-v1_default
-    cuav_can-gps-v1_canbootloader:
-      short: cuav_can-gps-v1_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_can-gps-v1_canbootloader
-    cuav_nora_default:
-      short: cuav_nora
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_nora_default
-    cuav_x7pro_default:
-      short: cuav_x7pro
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_x7pro_default
-    cuav_7-nano_default:
-      short: cuav_7-nano
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_7-nano_default
-    cubepilot_cubeorange_test:
-      short: cubepilot_cubeorange
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cubepilot_cubeorange_test
-    cubepilot_cubeorangeplus_test:
-      short: cubepilot_cubeorangeplus
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cubepilot_cubeorangeplus_test
-    emlid_navio2_default:
-      short: emlid_navio2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: emlid_navio2_default
-    freefly_can-rtk-gps_default:
-      short: freefly_can-rtk-gps_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: freefly_can-rtk-gps_default
-    freefly_can-rtk-gps_canbootloader:
-      short: freefly_can-rtk-gps_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: freefly_can-rtk-gps_canbootloader
-    holybro_can-gps-v1_canbootloader:
-      short: holybro_can-gps-v1_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: holybro_can-gps-v1_canbootloader
-    holybro_can-gps-v1_default:
-      short: holybro_can-gps-v1_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: holybro_can-gps-v1_default
-    holybro_durandal-v1_default:
-      short: holybro_durandal-v1
-      buildType: MinSizeRel
-      settings:
-        CONFIG: holybro_durandal-v1_default
-    matek_h743-slim_default:
-      short: matek_h743-slim
-      buildType: MinSizeRel
-      settings:
-        CONFIG: matek_h743-slim_default
-    matek_gnss-m9n-f4_canbootloader:
-      short: matek_gnss-m9n-f4_canbootloader
-      buildType: MiniSizeRel
-      settings:
-        CONFIG: matek_m9nf4can_canbootloader
-    matek_gnss-m9n-f4_default:
-      short: matek_gnss-m9n-f4_default
-      buildType: MiniSizeRel
-      settings:
-        CONFIG: matek_gnss-m9n-f4_default
-    micoair_h743_bootloader:
-      short: micoair_h743_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: micoair_h743_bootloader
-    micoair_h743_default:
-      short: micoair_h743
-      buildType: MinSizeRel
-      settings:
-        CONFIG: micoair_h743_default
-    micoair_h743-aio_bootloader:
-      short: micoair_h743-aio_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: micoair_h743-aio_bootloader
-    micoair_h743-aio_default:
-      short: micoair_h743-aio
-      buildType: MinSizeRel
-      settings:
-        CONFIG: micoair_h743-aio_default
-    micoair_h743-v2_bootloader:
-      short: micoair_h743-v2_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: micoair_h743-v2_bootloader
-    micoair_h743-v2_default:
-      short: micoair_h743-v2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: micoair_h743-v2_default
-    modalai_fc-v1_default:
-      short: modalai_fc-v1
-      buildType: MinSizeRel
-      settings:
-        CONFIG: modalai_fc-v1_default
-    modalai_fc-v2_default:
-      short: modalai_fc-v2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: modalai_fc-v2_default
-    modalai_voxl2-io_default:
-      short: modalai_voxl2-io
-      buildType: MinSizeRel
-      settings:
-        CONFIG: modalai_voxl2-io_default
-    mro_ctrl-zero-f7_default:
-      short: mro_ctrl-zero-f7
-      buildType: MinSizeRel
-      settings:
-        CONFIG: mro_ctrl-zero-f7_default
-    mro_pixracerpro_bootloader:
-      short: mro_pixracerpro_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: mro_pixracerpro_bootloader
-    mro_pixracerpro_default:
-      short: mro_pixracerpro_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: mro_pixracerpro_default
-    mro_x21-777_default:
-      short: mro_x2.1-777
-      buildType: MinSizeRel
-      settings:
-        CONFIG: mro_x21-777_default
-    nxp_fmuk66-v3_default:
-      short: nxp_fmuk66-v3
-      buildType: MinSizeRel
-      settings:
-        CONFIG: nxp_fmuk66-v3_default
-    nxp_mr-canhubk3_default:
-      short: nxp_mr-canhubk3_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: nxp_mr-canhubk3_default
-    nxp_mr-canhubk3_fmu:
-      short: nxp_mr-canhubk3_fmu
-      buildType: MinSizeRel
-      settings:
-        CONFIG: nxp_mr-canhubk3_fmu
-    nxp_tropic-community_default:
-      short: nxp_tropic-community_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: nxp_tropic-community_default
-    raspberrypi_pico_default:
-      short: raspberrypi_pico
-      buildType: MinSizeRel
-      settings:
-        CONFIG: raspberrypi_pico_default
-    zeroone_x6_default:
-      short: zeroone_x6
-      buildType: MinSizeRel
-      settings:
-        CONFIG: zeroone_x6_default
-    zeroone_x6_bootloader:
-      short: zeroone_x6_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: zeroone_x6_bootloader
-    x-mav_ap-h743v2_bootloader:
-      short: x-mav_ap-h743v2-boot
-      buildType: MinSizeRel
-      settings:
-        CONFIG: x-mav_ap-h743v2_bootloader
-    x-mav_ap-h743v2_default:
-      short: x-mav_ap-h743v2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: x-mav_ap-h743v2_default

.vscode/extensions.json

@@ -1,25 +0,0 @@
-{
-    // See http://go.microsoft.com/fwlink/?LinkId=827846
-    // for the documentation about the extensions.json format
-    "recommendations": [
-        "chiehyu.vscode-astyle",
-        "dan-c-underwood.arm",
-        "editorconfig.editorconfig",
-        "fredericbonnet.cmake-test-adapter",
-        "github.vscode-pull-request-github",
-        "marus25.cortex-debug",
-        "ms-azuretools.vscode-docker",
-        "ms-iot.vscode-ros",
-        "ms-python.python",
-        "ms-vscode.cmake-tools",
-        "ms-vscode.cpptools",
-        "ms-vscode.cpptools-extension-pack",
-        "redhat.vscode-yaml",
-        "streetsidesoftware.code-spell-checker",
-        "twxs.cmake",
-        "uavcan.dsdl",
-        "wholroyd.jinja",
-        "zixuanwang.linkerscript",
-        "ms-vscode.makefile-tools"
-    ]
-}

.vscode/settings.json

@@ -1,132 +0,0 @@
-{
-        "astyle.astylerc": "${workspaceFolder}/Tools/astyle/astylerc",
-        "astyle.c.enable": true,
-        "astyle.cpp.enable": true,
-        "C_Cpp.autoAddFileAssociations": false,
-        "C_Cpp.clang_format_fallbackStyle": "none",
-        "C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
-        "C_Cpp.default.cppStandard": "c++14",
-        "C_Cpp.default.cStandard": "c11",
-        "C_Cpp.formatting": "Disabled",
-        "C_Cpp.intelliSenseEngine": "Default",
-        "C_Cpp.vcpkg.enabled": false,
-        "C_Cpp.workspaceParsingPriority": "low",
-        "cmake.buildBeforeRun": true,
-        "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
-        "cmake.configureOnOpen": true,
-        "cmake.ctest.parallelJobs": 1,
-        "cmake.options.statusBarVisibility": "compact",
-        "cmake.skipConfigureIfCachePresent": true,
-        "cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
-        "cmakeExplorer.parallelJobs": 1,
-        "cmakeExplorer.suiteDelimiter": "-",
-        "cSpell.allowCompoundWords": true,
-        "cSpell.diagnosticLevel": "Hint",
-        "cSpell.showStatus": false,
-        "cSpell.words": [
-                "acro",
-                "nuttx",
-                "esc"
-        ],
-        "debug.toolBarLocation": "docked",
-        "editor.defaultFormatter": "chiehyu.vscode-astyle",
-        "editor.insertSpaces": false,
-        "editor.minimap.maxColumn": 120,
-        "editor.minimap.renderCharacters": false,
-        "editor.minimap.showSlider": "always",
-        "editor.suggest.localityBonus": true,
-        "editor.tabSize": 8,
-        "editor.wordWrapColumn": 120,
-        "explorer.openEditors.visible": 0,
-        "files.insertFinalNewline": true,
-        "files.trimTrailingWhitespace": true,
-        "files.watcherExclude": {
-                "**/build/**": true
-        },
-        "git.detectSubmodulesLimit": 20,
-        "git.ignoreLimitWarning": true,
-        "githubPullRequests.defaultMergeMethod": "squash",
-        "githubPullRequests.telemetry.enabled": false,
-        "files.associations": {
-                "*.jinja": "jinja",
-                "algorithm": "cpp",
-                "array": "cpp",
-                "atomic": "cpp",
-                "bitset": "cpp",
-                "cctype": "cpp",
-                "cfenv": "cpp",
-                "chrono": "cpp",
-                "cinttypes": "cpp",
-                "clocale": "cpp",
-                "cmath": "cpp",
-                "codecvt": "cpp",
-                "complex": "cpp",
-                "condition_variable": "cpp",
-                "csignal": "cpp",
-                "cstdarg": "cpp",
-                "cstddef": "cpp",
-                "cstdint": "cpp",
-                "cstdio": "cpp",
-                "cstdlib": "cpp",
-                "cstring": "cpp",
-                "ctime": "cpp",
-                "cwchar": "cpp",
-                "cwctype": "cpp",
-                "deque": "cpp",
-                "exception": "cpp",
-                "forward_list": "cpp",
-                "fstream": "cpp",
-                "functional": "cpp",
-                "future": "cpp",
-                "hash_map": "cpp",
-                "hash_set": "cpp",
-                "initializer_list": "cpp",
-                "iomanip": "cpp",
-                "iosfwd": "cpp",
-                "iostream": "cpp",
-                "istream": "cpp",
-                "iterator": "cpp",
-                "limits": "cpp",
-                "list": "cpp",
-                "map": "cpp",
-                "memory": "cpp",
-                "memory_resource": "cpp",
-                "mutex": "cpp",
-                "new": "cpp",
-                "numeric": "cpp",
-                "optional": "cpp",
-                "ostream": "cpp",
-                "random": "cpp",
-                "ratio": "cpp",
-                "regex": "cpp",
-                "set": "cpp",
-                "sstream": "cpp",
-                "stdexcept": "cpp",
-                "streambuf": "cpp",
-                "string": "cpp",
-                "string_view": "cpp",
-                "strstream": "cpp",
-                "system_error": "cpp",
-                "thread": "cpp",
-                "tuple": "cpp",
-                "type_traits": "cpp",
-                "typeindex": "cpp",
-                "typeinfo": "cpp",
-                "unordered_map": "cpp",
-                "unordered_set": "cpp",
-                "utility": "cpp",
-                "valarray": "cpp",
-                "variant": "cpp",
-                "vector": "cpp",
-                "Jenkinsfile*": "groovy",
-                "*.sdf": "xml"
-        },
-        "search.exclude": {
-                "${workspaceFolder}/build": true
-        },
-        "search.showLineNumbers": true,
-        "terminal.integrated.scrollback": 15000,
-        "yaml.schemas": {
-                "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
-        },
-}

.vscode/tasks.json

@@ -1,310 +0,0 @@
-{
-    // See https://go.microsoft.com/fwlink/?LinkId=733558
-    // for the documentation about the tasks.json format
-    "version": "2.0.0",
-    "tasks": [
-        {
-            "label": "build",
-            "type": "shell",
-            "command": "/bin/bash",
-            "args": [
-                "-c",
-                "${command:cmake.tasksBuildCommand}"
-            ],
-            "options": {
-                "cwd": "${command:cmake.buildDirectory}"
-            },
-            "group": {
-                "kind": "build",
-                "isDefault": true,
-            },
-            "problemMatcher": {
-                "base": "$gcc",
-                "fileLocation": ["relative", "${command:cmake.buildDirectory}"]
-            },
-            "presentation":{
-                "echo": false,
-                "showReuseMessage": false,
-                "clear": true,
-                "panel": "shared",
-                "group": "build"
-            }
-        },
-        {
-            "label": "test",
-            "type": "shell",
-            "command": "make tests",
-            "options": {
-                "cwd": "${workspaceFolder}"
-            },
-            "group": {
-                "kind": "test",
-                "isDefault": true,
-            },
-            "presentation":{
-                "echo": true,
-                "showReuseMessage": false,
-                "clear": false,
-                "panel": "shared",
-                "group": "test"
-            }
-        },
-        {
-            "label": "jmavsim kill",
-            "type": "shell",
-            "command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}') || true",
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
-                "focus": false,
-                "panel": "dedicated",
-                "showReuseMessage": false,
-                "clear": false,
-                "close": true
-            },
-            "problemMatcher": [],
-            "dependsOn":["px4_sitl_cleanup"]
-        },
-        {
-            "label": "gazebo-classic build",
-            "type": "shell",
-            "command": "make px4_sitl_default sitl_gazebo-classic",
-            "options": {
-                "cwd": "${workspaceFolder}"
-            },
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
-                "focus": false,
-                "panel": "dedicated",
-                "showReuseMessage": false,
-                "clear": false,
-                "close": true
-            },
-            "problemMatcher": [],
-        },
-        {
-            "label": "gazebo-classic start",
-            "type": "shell",
-            "dependsOn": "gazebo-classic build",
-            "options": {
-                "cwd": "${workspaceFolder}",
-                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo-classic",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models",
-                    "PX4_SIM_SPEED_FACTOR": "1"
-                }
-            },
-            "command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/empty.world",
-            "isBackground": true,
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
-                "focus": false,
-                "panel": "dedicated",
-                "showReuseMessage": false,
-                "clear": false,
-                "close": true
-            },
-            "problemMatcher": [
-                {
-                    "pattern": [
-                        {
-                            "regexp": ".",
-                            "file": 1,
-                            "location": 2,
-                            "message": 3
-                        }
-                    ],
-                    "background": {
-                        "activeOnStart": true,
-                        "beginsPattern": ".",
-                        "endsPattern": ".",
-                    }
-                }
-            ]
-        },
-        {
-            "label": "gazebo-classic",
-            "type": "shell",
-            "dependsOn": "gazebo-classic start",
-            "options": {
-                "cwd": "${workspaceFolder}",
-                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo-classic",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models",
-                    "PX4_SIM_SPEED_FACTOR": "1"
-                }
-            },
-            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris/iris.sdf --model-name=iris -x 1.01 -y 0.98 -z 0.83",
-            "isBackground": false,
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
-                "focus": false,
-                "panel": "dedicated",
-                "showReuseMessage": false,
-                "clear": false,
-                "close": true
-            },
-            "problemMatcher": [
-                {
-                    "pattern": [
-                        {
-                            "regexp": ".",
-                            "file": 1,
-                            "location": 2,
-                            "message": 3
-                        }
-                    ],
-                    "background": {
-                        "activeOnStart": true,
-                        "beginsPattern": ".",
-                        "endsPattern": ".",
-                    }
-                }
-            ]
-        },
-        {
-            "label": "gazebo",
-            "type": "shell",
-            "options": {
-                "cwd": "${workspaceFolder}",
-                "env": {
-                    "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/gz/models",
-                }
-            },
-            "command": "gz sim -v 4 -r ${workspaceFolder}/Tools/simulation/gz/worlds/${input:gzWorld}.sdf",
-            "isBackground": true,
-            "presentation": {
-                "echo": true,
-                "reveal": "always",
-                "revealProblems": "onProblem",
-                "focus": true,
-                "panel": "dedicated",
-                "showReuseMessage": false,
-                "clear": false,
-                "close": false
-            },
-            "problemMatcher": [],
-            "dependsOn":["gazebo kill"]
-        },
-        {
-            "label": "gazebo-classic kill",
-            "type": "shell",
-            "command": "pkill -9 -f gzserver || true",
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
-                "focus": false,
-                "panel": "dedicated",
-                "showReuseMessage": false,
-                "clear": false,
-                "close": true
-            },
-            "problemMatcher": [],
-            "dependsOn":["px4_sitl_cleanup"]
-        },
-        {
-            "label": "gazebo kill",
-            "type": "shell",
-            "command": "pkill -9 -f 'gz sim' || true",
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
-                "focus": false,
-                "panel": "dedicated",
-                "showReuseMessage": false,
-                "clear": false,
-                "close": true
-            },
-            "problemMatcher": [],
-            "dependsOn":["px4_sitl_cleanup"]
-        },
-
-        {
-            "label": "px4_sitl_cleanup",
-            "type": "shell",
-            "command": "rm -rfv /tmp/px4* || true",
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
-                "focus": false,
-                "panel": "dedicated",
-                "showReuseMessage": false,
-                "clear": false,
-                "close": true
-            },
-            "problemMatcher": [],
-            "dependsOn":["px4_kill"]
-        },
-        {
-            "label": "px4_kill",
-            "type": "shell",
-            "command": "pkill -9 px4 || true",
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
-                "focus": false,
-                "panel": "dedicated",
-                "showReuseMessage": false,
-                "clear": false,
-                "close": true
-            },
-            "problemMatcher": []
-        },
-        {
-            "label": "mavlink shell",
-            "type": "shell",
-            "command": "./Tools/mavlink_shell.py",
-            "options": {
-                "cwd": "${workspaceFolder}"
-            },
-            "presentation": {
-                "echo": true,
-                "reveal": "always",
-                "focus": true,
-                "panel": "new",
-                "showReuseMessage": false,
-                "clear": false
-            },
-            "problemMatcher": []
-        },
-        {
-            "label": "miniterm.py",
-            "type": "shell",
-            "command": "miniterm.py --raw - 57600",
-            "options": {
-                "cwd": "${workspaceFolder}"
-            },
-            "presentation": {
-                "echo": true,
-                "reveal": "always",
-                "focus": true,
-                "panel": "new",
-                "showReuseMessage": false,
-                "clear": false
-            },
-            "problemMatcher": []
-        }
-    ],
-    "inputs": [
-        {
-            "type": "pickString",
-            "id": "gzWorld",
-            "description": "gz world",
-            "options": [
-                "default"
-            ],
-            "default": "default"
-        }
-    ]
-}

.ycm_extra_conf.py

@@ -0,0 +1,172 @@
+# This file is NOT licensed under the GPLv3, which is the license for the rest
+# of YouCompleteMe.
+#
+# Here's the license text for this file:
+#
+# This is free and unencumbered software released into the public domain.
+#
+# Anyone is free to copy, modify, publish, use, compile, sell, or
+# distribute this software, either in source code form or as a compiled
+# binary, for any purpose, commercial or non-commercial, and by any
+# means.
+#
+# In jurisdictions that recognize copyright laws, the author or authors
+# of this software dedicate any and all copyright interest in the
+# software to the public domain. We make this dedication for the benefit
+# of the public at large and to the detriment of our heirs and
+# successors. We intend this dedication to be an overt act of
+# relinquishment in perpetuity of all present and future rights to this
+# software under copyright law.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+# IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
+# OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
+# ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+# OTHER DEALINGS IN THE SOFTWARE.
+#
+# For more information, please refer to <http://unlicense.org/>
+
+import os
+import ycm_core
+
+# These are the compilation flags that will be used in case there's no
+# compilation database set (by default, one is not set).
+# CHANGE THIS LIST OF FLAGS. YES, THIS IS THE DROID YOU HAVE BEEN LOOKING FOR.
+flags = [
+'-Wall',
+'-Wextra',
+'-Werror',
+#'-Wc++98-compat',
+'-Wno-long-long',
+'-Wno-variadic-macros',
+'-fexceptions',
+'-DNDEBUG',
+# You 100% do NOT need -DUSE_CLANG_COMPLETER in your flags; only the YCM
+# source code needs it.
+#'-DUSE_CLANG_COMPLETER',
+# THIS IS IMPORTANT! Without a "-std=<something>" flag, clang won't know which
+# language to use when compiling headers. So it will guess. Badly. So C++
+# headers will be compiled as C headers. You don't want that so ALWAYS specify
+# a "-std=<something>".
+# For a C project, you would set this to something like 'c99' instead of
+# 'c++11'.
+'-std=c++11',
+# ...and the same thing goes for the magic -x option which specifies the
+# language that the files to be compiled are written in. This is mostly
+# relevant for c++ headers.
+# For a C project, you would set this to 'c' instead of 'c++'.
+'-x',
+'c++',
+'-undef', # get rid of standard definitions to allow us to include arm math header
+'-I', os.path.join(os.path.expanduser("~"),'gcc-arm-none-eabi-4_7-2013q3/arm-none-eabi/include'),
+'-I', 'Build/px4io-v2_default.build/nuttx-export/include/',
+'-I', './NuttX/nuttx/arch/arm/include',
+'-include', './src/include/visibility.h',
+'-I', './src',
+'-I', './src/modules',
+'-I', './src/include',
+'-I', './src/lib',
+'-I', './NuttX',
+]
+
+
+# Set this to the absolute path to the folder (NOT the file!) containing the
+# compile_commands.json file to use that instead of 'flags'. See here for
+# more details: http://clang.llvm.org/docs/JSONCompilationDatabase.html
+#
+# Most projects will NOT need to set this to anything; you can just change the
+# 'flags' list of compilation flags. Notice that YCM itself uses that approach.
+compilation_database_folder = ''
+
+if os.path.exists( compilation_database_folder ):
+  database = ycm_core.CompilationDatabase( compilation_database_folder )
+else:
+  database = None
+
+SOURCE_EXTENSIONS = [ '.cpp', '.cxx', '.cc', '.c', '.m', '.mm' ]
+
+def DirectoryOfThisScript():
+  return os.path.dirname( os.path.abspath( __file__ ) )
+
+
+def MakeRelativePathsInFlagsAbsolute( flags, working_directory ):
+  if not working_directory:
+    return list( flags )
+  new_flags = []
+  make_next_absolute = False
+  path_flags = [ '-isystem', '-I', '-iquote', '--sysroot=' ]
+  for flag in flags:
+    new_flag = flag
+
+    if make_next_absolute:
+      make_next_absolute = False
+      if not flag.startswith( '/' ):
+        new_flag = os.path.join( working_directory, flag )
+
+    for path_flag in path_flags:
+      if flag == path_flag:
+        make_next_absolute = True
+        break
+
+      if flag.startswith( path_flag ):
+        path = flag[ len( path_flag ): ]
+        new_flag = path_flag + os.path.join( working_directory, path )
+        break
+
+    if new_flag:
+      new_flags.append( new_flag )
+  return new_flags
+
+
+def IsHeaderFile( filename ):
+  extension = os.path.splitext( filename )[ 1 ]
+  return extension in [ '.h', '.hxx', '.hpp', '.hh' ]
+
+
+def GetCompilationInfoForFile( filename ):
+  # The compilation_commands.json file generated by CMake does not have entries
+  # for header files. So we do our best by asking the db for flags for a
+  # corresponding source file, if any. If one exists, the flags for that file
+  # should be good enough.
+  if IsHeaderFile( filename ):
+    basename = os.path.splitext( filename )[ 0 ]
+    for extension in SOURCE_EXTENSIONS:
+      replacement_file = basename + extension
+      if os.path.exists( replacement_file ):
+        compilation_info = database.GetCompilationInfoForFile(
+          replacement_file )
+        if compilation_info.compiler_flags_:
+          return compilation_info
+    return None
+  return database.GetCompilationInfoForFile( filename )
+
+
+def FlagsForFile( filename, **kwargs ):
+  if database:
+    # Bear in mind that compilation_info.compiler_flags_ does NOT return a
+    # python list, but a "list-like" StringVec object
+    compilation_info = GetCompilationInfoForFile( filename )
+    if not compilation_info:
+      return None
+
+    final_flags = MakeRelativePathsInFlagsAbsolute(
+      compilation_info.compiler_flags_,
+      compilation_info.compiler_working_dir_ )
+
+    # NOTE: This is just for YouCompleteMe; it's highly likely that your project
+    # does NOT need to remove the stdlib flag. DO NOT USE THIS IN YOUR
+    # ycm_extra_conf IF YOU'RE NOT 100% SURE YOU NEED IT.
+    #try:
+    #  final_flags.remove( '-stdlib=libc++' )
+    #except ValueError:
+    #  pass
+  else:
+    relative_to = DirectoryOfThisScript()
+    final_flags = MakeRelativePathsInFlagsAbsolute( flags, relative_to )
+
+  return {
+    'flags': final_flags,
+    'do_cache': True
+  }

CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2017 - 2024 PX4 Development Team. All rights reserved.
+# Copyright (c) 2017 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -40,7 +40,7 @@
 # * Common functions should be included in px_base.cmake.
 #
 # * OS/ board specific fucntions should be include in
-#	px_impl_${PX4_PLATFORM}.cmake
+#	px_impl_${OS}.cmake or px4_impl_${OS}_${BOARD}.cmake.
 #
 # Formatting
 # ---------------------------------------------------------------------------
@@ -69,7 +69,7 @@
 #
 # * Avoid use of global variables in functions. Functions in a nested
 #	scope may use global variables, but this makes it difficult to
-#	reuse functions.
+#	resuse functions.
 #
 # Included CMake Files
 # ---------------------------------------------------------------------------
@@ -92,146 +92,81 @@
 # ---------------------------------------------------------------------------
 #
 # * If referencing a string variable, don't put it in quotes.
-#	Don't do "${PX4_PLATFORM}" STREQUAL "posix",
-#	instead type ${PX4_PLATFORM} STREQUAL "posix". This will throw an
-#	error when ${PX4_PLATFORM} is not defined instead of silently
+#	Don't do "${OS}" STREQUAL "posix",
+#	instead type ${OS} STREQUAL "posix". This will throw an
+#	error when ${OS} is not defined instead of silently
 #	evaluating to false.
 #
 #=============================================================================
 
-cmake_minimum_required(VERSION 3.10 FATAL_ERROR)
+# Warning: Changing this modifies CMake's internal workings
+# and leads to wrong toolchain detection
+cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
 
-set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
-set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)
+set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
+set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
 
-list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake)
-include(px4_parse_function_args)
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
+
+list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
 
 #=============================================================================
 # git
 #
-include(px4_git)
+include(common/px4_git)
 
 execute_process(
-	COMMAND git describe --exclude ext/* --tags --match "v[0-9]*"
-	OUTPUT_VARIABLE PX4_GIT_TAG
+	COMMAND git describe --always --tags
+	OUTPUT_VARIABLE git_tag
 	OUTPUT_STRIP_TRAILING_WHITESPACE
-	RESULTS_VARIABLE GIT_DESCRIBE_RESULT
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
 
-# if proper git tag unavilable default to v0.0.0
-if(NOT ${GIT_DESCRIBE_RESULT} MATCHES "0")
-	set(PX4_GIT_TAG "v0.0.0")
-endif()
+px4_add_git_submodule(TARGET git_ecl PATH "src/lib/ecl")
+px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
 
-message(STATUS "PX4_GIT_TAG: ${PX4_GIT_TAG}")
-
-# git describe to X.Y.Z version
-string(REPLACE "." ";" VERSION_LIST ${PX4_GIT_TAG})
-
-# major version
-list(GET VERSION_LIST 0 PX4_VERSION_MAJOR)
-string(REPLACE "v" "" PX4_VERSION_MAJOR ${PX4_VERSION_MAJOR})
-# minor version
-list(GET VERSION_LIST 1 PX4_VERSION_MINOR)
-# patch version
-list(GET VERSION_LIST 2 PX4_VERSION_PATCH)
-string(REPLACE "-" ";" PX4_VERSION_PATCH ${PX4_VERSION_PATCH})
-list(GET PX4_VERSION_PATCH 0 PX4_VERSION_PATCH)
-
-# # Capture only the hash part after 'g'
-string(REGEX MATCH "g([a-f0-9]+)$" GIT_HASH "${PX4_GIT_TAG}")
-set(PX4_GIT_HASH ${CMAKE_MATCH_1})
-
-define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
-                 BRIEF_DOCS "PX4 module libs"
+define_property(GLOBAL PROPERTY PX4_LIBRARIES
+                 BRIEF_DOCS "PX4 libs"
                  FULL_DOCS "List of all PX4 module libraries"
                  )
 
-define_property(GLOBAL PROPERTY PX4_KERNEL_MODULE_LIBRARIES
-                 BRIEF_DOCS "PX4 kernel side module libs"
-                 FULL_DOCS "List of all PX4 kernel module libraries"
-                 )
-
-define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
-                 BRIEF_DOCS "PX4 module paths"
-                 FULL_DOCS "List of paths to all PX4 modules"
-                 )
-
-define_property(GLOBAL PROPERTY PX4_SRC_FILES
-                 BRIEF_DOCS "src files from all PX4 modules & libs"
-                 FULL_DOCS "SRC files from px4_add_{module,library}"
-                 )
-
 #=============================================================================
 # configuration
 #
 
-include(px4_add_module)
-set(config_module_list)
-set(config_kernel_list)
+set(CONFIG "posix_sitl_default" CACHE STRING "desired configuration")
 
-# Find Python
-find_package(PythonInterp 3)
-# We have a custom error message to tell users how to install python3.
-if(NOT PYTHONINTERP_FOUND)
-	message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
-		"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
-		"    macOS: brew install python")
-endif()
+string(REPLACE "_" ";" config_args ${CONFIG})
+list(GET config_args 0 OS)
+list(GET config_args 1 BOARD)
+list(GET config_args 2 LABEL)
+set(target_name "${OS}_${BOARD}_${LABEL}")
 
-option(PYTHON_COVERAGE "Python code coverage" OFF)
-if(PYTHON_COVERAGE)
-	message(STATUS "python coverage enabled")
-	set(PYTHON_EXECUTABLE coverage run -p)
-endif()
+file(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake")
+set_property(CACHE CONFIG PROPERTY STRINGS ${configs})
 
-include(px4_config)
-include(kconfig)
-message(STATUS "PX4 config: ${PX4_CONFIG}")
-message(STATUS "PX4 platform: ${PX4_PLATFORM}")
-
-if($ENV{CLION_IDE})
-	# CLion automatically executes some compiler commands after configuring the
-	# project. This would fail on NuttX, as visibility.h tries to (indirectly)
-	# include nuttx/config.h, which at that point does not exist yet
-	add_definitions(-DPX4_DISABLE_GCC_POISON)
-endif()
-
-if(${PX4_PLATFORM} STREQUAL "posix")
-	if(ENABLE_LOCKSTEP_SCHEDULER)
-		add_definitions(-DENABLE_LOCKSTEP_SCHEDULER)
-		message(STATUS "PX4 lockstep: enabled")
-	else()
-		message(STATUS "PX4 lockstep: disabled")
-	endif()
-endif()
-
-# external modules
+set(THREADS "4" CACHE STRING "number of threads to use for external build processes")
+set(DEBUG_PORT "/dev/ttyACM0" CACHE STRING "debugging port")
 set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location")
 
-if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
+if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE)
 endif()
 
-set_property(GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
+set(config_module "configs/${CONFIG}")
+include(${config_module})
 
-include(platforms/${PX4_PLATFORM}/cmake/px4_impl_os.cmake)
-list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake)
+include(common/coverage)
+include(common/sanitizers)
 
-if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
-	include(init)
-endif()
-
-#=============================================================================
-# project definition
-#
-project(px4 CXX C ASM)
-
-# CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
-if(NOT CMAKE_BUILD_TYPE)
-	if(${PX4_PLATFORM} STREQUAL "nuttx")
+# CMake build type
+# Debug Release RelWithDebInfo MinSizeRel Coverage
+if (NOT CMAKE_BUILD_TYPE)
+	if (${OS} STREQUAL "nuttx")
+		set(PX4_BUILD_TYPE "MinSizeRel")
+	elseif (${OS} STREQUAL "bebop")
 		set(PX4_BUILD_TYPE "MinSizeRel")
 	else()
 		set(PX4_BUILD_TYPE "RelWithDebInfo")
@@ -240,78 +175,36 @@ if(NOT CMAKE_BUILD_TYPE)
 	set(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" FORCE)
 endif()
 
-if((CMAKE_BUILD_TYPE STREQUAL "Debug") OR (CMAKE_BUILD_TYPE STREQUAL "Coverage"))
-	set(MAX_CUSTOM_OPT_LEVEL -O0)
-elseif(CMAKE_BUILD_TYPE MATCHES "Sanitizer")
-	set(MAX_CUSTOM_OPT_LEVEL -O1)
-elseif(CMAKE_BUILD_TYPE MATCHES "Release")
-	set(MAX_CUSTOM_OPT_LEVEL -O3)
-else()
-	if(px4_constrained_flash_build)
-		set(MAX_CUSTOM_OPT_LEVEL -Os)
-	else()
-		set(MAX_CUSTOM_OPT_LEVEL -O2)
-	endif()
-endif()
+set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage")
 
-set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage;AddressSanitizer;UndefinedBehaviorSanitizer")
-message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
+message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
 
-# Check if LTO option and check if toolchain supports it
-if(LTO)
-    include(CheckIPOSupported)
-    check_ipo_supported()
-    message(AUTHOR_WARNING "LTO enabled: LTO is highly experimental and should not be used in production")
-    set(CMAKE_INTERPROCEDURAL_OPTIMIZATION TRUE)
-endif()
+#=============================================================================
+
+message(STATUS "PX4 VERSION: ${git_tag}")
+message(STATUS "CONFIG: ${target_name}")
+message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
+
+#=============================================================================
+# project definition
+#
+project(px4 CXX C ASM)
 
 set(package-contact "px4users@googlegroups.com")
 
-set(CMAKE_CXX_STANDARD 14)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_C_STANDARD 11)
-set(CMAKE_C_STANDARD_REQUIRED ON)
-set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
-
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
-
 #=============================================================================
 
-# gold linker - use if available (posix only for now)
-if(${PX4_PLATFORM} STREQUAL "posix")
-	include(CMakeDependentOption)
-	CMAKE_DEPENDENT_OPTION(USE_LD_GOLD
-			"Use GNU gold linker" ON
-			"NOT WIN32;NOT APPLE" OFF
-	)
-
-	if(USE_LD_GOLD)
-		execute_process(COMMAND ${CMAKE_C_COMPILER} -fuse-ld=gold -Wl,--version ERROR_QUIET OUTPUT_VARIABLE LD_VERSION)
-		if("${LD_VERSION}" MATCHES "GNU gold")
-			set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fuse-ld=gold")
-			set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -fuse-ld=gold")
-		else()
-			set(USE_LD_GOLD OFF)
-		endif()
-	endif()
+# The URL for the elf file for crash logging
+if (DEFINED ENV{BUILD_URI})
+	set(BUILD_URI $ENV{BUILD_URI})
+else()
+	set(BUILD_URI "localhost")
 endif()
 
-#=============================================================================
+add_definitions(-DBUILD_URI=${BUILD_URI})
 
 # Setup install paths
-if(${PX4_PLATFORM} STREQUAL "posix")
-	# This makes it possible to dynamically load code which depends on symbols
-	# inside the px4 executable.
-	set(CMAKE_POSITION_INDEPENDENT_CODE ON)
-	set(CMAKE_ENABLE_EXPORTS ON)
-
-	if(CMAKE_BUILD_TYPE MATCHES "Coverage")
-		include(coverage)
-	endif()
-
-	include(sanitizers)
+if (${OS} STREQUAL "posix")
 
 	# Define GNU standard installation directories
 	include(GNUInstallDirs)
@@ -319,58 +212,170 @@ if(${PX4_PLATFORM} STREQUAL "posix")
 	if (NOT CMAKE_INSTALL_PREFIX)
 		set(CMAKE_INSTALL_PREFIX "/usr" CACHE PATH "Install path prefix" FORCE)
 	endif()
-endif()
 
-include(ccache)
+	# cmake testing only on posix
+	enable_testing()
+	include(CTest)
+endif()
 
 #=============================================================================
-# get chip and chip manufacturer
+# require px4 module interface
+set(px4_required_interface
+	px4_os_prebuild_targets
+	px4_os_add_flags
+	)
+foreach(cmd ${px4_required_interface})
+	if (NOT COMMAND ${cmd})
+		message(FATAL_ERROR "${config_module} must implement ${cmd}")
+	endif()
+endforeach()
+
+set(px4_required_config config_module_list)
+foreach(conf ${px4_required_config})
+	if (NOT DEFINED ${conf})
+		message(FATAL_ERROR "cmake/${config_module} must define ${conf}")
+	endif()
+endforeach()
+
+# force static lib build
+set(BUILD_SHARED_LIBS OFF)
+
+#=============================================================================
+# ccache
 #
-px4_os_determine_build_chip()
-if(NOT PX4_CHIP_MANUFACTURER)
-	message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP_MANUFACTURER")
+option(CCACHE "Use ccache if available" OFF)
+find_program(CCACHE_PROGRAM ccache)
+if (CCACHE AND CCACHE_PROGRAM)
+	message(STATUS "Enabled ccache: ${CCACHE_PROGRAM}")
+	set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
 endif()
-if(NOT PX4_CHIP)
-	message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP")
+
+#=============================================================================
+# find programs and packages
+#
+
+# see if catkin was invoked to build this
+if (CATKIN_DEVEL_PREFIX)
+	message(STATUS "catkin ENABLED")
+	find_package(catkin REQUIRED)
+	if (catkin_FOUND)
+		catkin_package()
+	else()
+		message(FATAL_ERROR "catkin not found")
+	endif()
 endif()
 
+find_package(PythonInterp REQUIRED)
+px4_find_python_module(jinja2 REQUIRED)
+
+#=============================================================================
+# generate compile command database
+#
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+#=============================================================================
+# check required toolchain variables
+#
+
+# PX4 requires c++11
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# PX4 requires c99
+set(CMAKE_C_STANDARD 99)
+set(CMAKE_C_STANDARD_REQUIRED ON)
+
+set(required_variables CMAKE_C_COMPILER_ID CMAKE_CXX_COMPILER_ID)
+foreach(var ${required_variables})
+	if (NOT ${var})
+		message(FATAL_ERROR "Toolchain/config must define ${var}")
+	endif()
+endforeach()
+
+# print full c compiler version
+execute_process(COMMAND ${CMAKE_C_COMPILER} --version
+		OUTPUT_VARIABLE c_compiler_version
+		OUTPUT_STRIP_TRAILING_WHITESPACE
+		)
+STRING(REGEX MATCH "[^\n]*" c_compiler_version_short ${c_compiler_version})
+message(STATUS "C compiler: ${c_compiler_version_short}")
+
+# print full c++ compiler version
+execute_process(COMMAND ${CMAKE_CXX_COMPILER} --version
+		OUTPUT_VARIABLE cxx_compiler_version
+		OUTPUT_STRIP_TRAILING_WHITESPACE
+		)
+STRING(REGEX MATCH "[^\n]*" cxx_compiler_version_short ${cxx_compiler_version})
+message(STATUS "C++ compiler: ${cxx_compiler_version_short}")
+
+#=============================================================================
+# external libraries
+#
+px4_os_prebuild_targets(OUT prebuild_targets
+	BOARD ${BOARD}
+	THREADS ${THREADS})
+
 #=============================================================================
 # build flags
 #
-include(px4_add_common_flags)
-px4_add_common_flags()
-px4_os_add_flags()
+px4_os_add_flags(
+	BOARD ${BOARD}
+	C_FLAGS c_flags
+	CXX_FLAGS cxx_flags
+	OPTIMIZATION_FLAGS optimization_flags
+	EXE_LINKER_FLAGS exe_linker_flags
+	INCLUDE_DIRS include_dirs
+	LINK_DIRS link_dirs
+	DEFINITIONS definitions)
 
-#=============================================================================
-# board cmake init (optional)
-#
-if(EXISTS ${PX4_BOARD_DIR}/cmake/init.cmake)
-	include(${PX4_BOARD_DIR}/cmake/init.cmake)
-endif()
+px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${CMAKE_EXE_LINKER_FLAGS};${exe_linker_flags}" GLUE " ")
+px4_join(OUT CMAKE_C_FLAGS LIST "${CMAKE_C_FLAGS};${c_flags};${optimization_flags}" GLUE " ")
+px4_join(OUT CMAKE_CXX_FLAGS LIST "${CMAKE_CXX_FLAGS};${cxx_flags};${optimization_flags}" GLUE " ")
+
+include_directories(${include_dirs})
+link_directories(${link_dirs})
+add_definitions(${definitions})
 
 #=============================================================================
 # message, and airframe generation
 #
-include(px4_metadata)
+include(common/px4_metadata)
 
-add_subdirectory(msg EXCLUDE_FROM_ALL)
+add_subdirectory(msg)
 
-px4_generate_airframes_xml(BOARD ${PX4_BOARD})
+px4_generate_airframes_xml(BOARD ${BOARD})
+
+#=============================================================================
+# DriverFramework
+#
+
+px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
+
+# List the DriverFramework drivers
+if (DEFINED config_df_driver_list)
+	message("DF Drivers: ${config_df_driver_list}")
+endif()
+
+set(df_driver_libs)
+foreach(driver ${config_df_driver_list})
+	add_subdirectory(src/lib/DriverFramework/drivers/${driver})
+	list(APPEND df_driver_libs df_${driver})
+	message("Adding DF driver: ${driver}")
+endforeach()
 
 #=============================================================================
 # external projects
 #
+
 set(ep_base ${PX4_BINARY_DIR}/external)
 set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})
 
 # add external project install folders to build
-# add the directories so cmake won't warn
-execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base})
-execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install)
-execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install/lib)
 link_directories(${ep_base}/Install/lib)
-execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install/include)
 include_directories(${ep_base}/Install/include)
+# add the directories so cmake won't warn
+execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/lib)
+execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/include)
 
 #=============================================================================
 # external modules
@@ -386,94 +391,33 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	endforeach()
 endif()
 
-#=============================================================================
-# Testing - Automatic unit and integration testing with CTest
-#
-
-# optionally enable cmake testing (supported only on posix)
-option(CMAKE_TESTING "Configure test targets" OFF)
-if(${PX4_CONFIG} STREQUAL "px4_sitl_test")
-	set(CMAKE_TESTING ON)
-endif()
-if(CMAKE_TESTING)
-	include(CTest) # sets BUILD_TESTING variable
-endif()
-
-# enable test filtering to run only specific tests with the ctest -R regex functionality
-set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)")
-
-# if testing is enabled download and configure gtest
-list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/gtest/)
-include(px4_add_gtest)
-if(BUILD_TESTING)
-	include(gtest)
-
-	# Ensure there's no -R without any filter expression since that trips newer ctest versions
-	if(TESTFILTER)
-		set(TESTFILTERARG "-R")
-	else()
-		set(TESTFILTERARG "")
-	endif()
-
-	add_custom_target(test_results
-			COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test ${TESTFILTERARG} ${TESTFILTER}
-			DEPENDS
-				px4
-				examples__dyn_hello
-			USES_TERMINAL
-			COMMENT "Running tests"
-			WORKING_DIRECTORY ${PX4_BINARY_DIR})
-	set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)
-endif()
-
-
 #=============================================================================
 # subdirectories
 #
-add_library(parameters_interface INTERFACE)
-add_library(kernel_parameters_interface INTERFACE)
-add_library(events_interface INTERFACE)
-add_library(kernel_events_interface INTERFACE)
-
-include(px4_add_library)
-add_subdirectory(src/lib EXCLUDE_FROM_ALL)
-
-add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
-add_subdirectory(platforms EXCLUDE_FROM_ALL)
-
-if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
-	add_subdirectory(${PX4_BOARD_DIR})
-endif()
-
 foreach(module ${config_module_list})
 	add_subdirectory(src/${module})
 endforeach()
 
-# add events lib after modules and libs as it needs to know all source files (PX4_SRC_FILES)
-add_subdirectory(src/lib/events EXCLUDE_FROM_ALL)
-# metadata needs PX4_MODULE_CONFIG_FILES
-add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)
+add_subdirectory(src/firmware/${OS})
 
-# must be the last module before firmware
-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)
+#=============================================================================
+# generate custom target to print for all executable and module cmake targets
+#
+if (all_posix_cmake_targets)
+	list(SORT all_posix_cmake_targets)
+	px4_join(OUT posix_cmake_target_list LIST ${all_posix_cmake_targets} GLUE "\\n")
+	add_custom_target(list_cmake_targets
+		COMMAND sh -c "printf \"${posix_cmake_target_list}\\n\""
+		COMMENT "List of cmake targets that can be matched by PX4_NO_OPTIMIZATION:"
+		VERBATIM
+		)
 endif()
 
-# firmware added last to generate the builtin for included modules
-add_subdirectory(platforms/${PX4_PLATFORM})
 
 #=============================================================================
 # uORB graph generation: add a custom target 'uorb_graph'
 #
-set(uorb_graph_config ${PX4_BOARD})
+set(uorb_graph_config ${BOARD})
 
 set(graph_module_list "")
 foreach(module ${config_module_list})
@@ -482,31 +426,39 @@ endforeach()
 
 add_custom_command(OUTPUT ${uorb_graph_config}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
-		${graph_module_list} --src-path src/lib
-		--merge-depends
+		${module_list}
 		--exclude-path src/examples
-		--exclude-path src/lib/parameters # FIXME: enable & fix
 		--file ${PX4_SOURCE_DIR}/Tools/uorb_graph/graph_${uorb_graph_config}
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	COMMENT "Generating uORB graph"
 )
 add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
 
-
-include(bloaty)
-
-
-include(doxygen)
-include(metadata)
-include(package)
-
-# install python requirements using configured python
-add_custom_target(install_python_requirements
-	COMMAND ${PYTHON_EXECUTABLE} -m pip install --break-system-packages --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
-	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
-	USES_TERMINAL
-)
-
-if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/finalize.cmake")
-	include(finalize)
+#=============================================================================
+# packaging
+#
+# Important to having packaging at end of cmake file.
+#
+set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${CONFIG})
+set(CPACK_PACKAGE_VERSION ${git_version})
+set(CPACK_PACKAGE_CONTACT ${package-contact})
+set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
+set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
+set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
+set(short-description "The px4 autopilot.")
+set(CPACK_DEBIAN_PACKAGE_DESCRIPTION ${short-description})
+set(CPACK_GENERATOR "ZIP")
+set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${git_tag}")
+set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${git_version}")
+set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
+set(CPACK_PACKAGING_INSTALL_PREFIX "")
+set(CPACK_SET_DESTDIR "OFF")
+if ("${CMAKE_SYSTEM}" MATCHES "Linux")
+	find_program(DPKG_PROGRAM dpkg)
+	if (EXISTS ${DPKG_PROGRAM})
+		list (APPEND CPACK_GENERATOR "DEB")
+	endif()
 endif()
+include(CPack)
+
+# vim: set noet fenc=utf-8 ff=unix ft=cmake :

CONTRIBUTING.md

@@ -8,7 +8,7 @@ First [fork and clone](https://help.github.com/articles/fork-a-repo) the project
 
 ### Create a feature branch
 
-*Always* branch off main for new features.
+*Always* branch off master for new features.
 
 ```
 git checkout -b mydescriptivebranchname
@@ -16,7 +16,7 @@ git checkout -b mydescriptivebranchname
 
 ### Edit and build the code
 
-The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://docs.px4.io/main/en/contribute/code.html) when editing files.
+The [developer guide](http://dev.px4.io/) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](http://px4.io/dev/code_style) when editing files.
 
 ### Commit your changes
 
@@ -41,4 +41,4 @@ Since we care about safety, we will regularly ask you for test results. Best is
 
 Push changes to your repo and send a [pull request](https://github.com/PX4/Firmware/compare/).
 
-Make sure to provide some testing feedback and if possible the link to a flight log file. Upload flight log files to [Flight Review](http://logs.px4.io) and link the resulting report.
+Make sure to provide some testing feedback and if possible the link to a flight log file. Upload flight log files to [Log Muncher](http://dash.oznet.ch) and link the resulting report.

Debug/Nuttx.py

@@ -0,0 +1,704 @@
+# GDB/Python functions for dealing with NuttX
+
+from __future__ import print_function
+import gdb, gdb.types
+
+parse_int = lambda x: int(str(x), 0)
+
+class NX_register_set(object):
+	"""Copy of the registers for a given context"""
+
+	v7_regmap = {
+		'R13':		0,
+		'SP':		0,
+		'PRIORITY':	1,
+		'R4':		2,
+		'R5':		3,
+		'R6':		4,
+		'R7':		5,
+		'R8':		6,
+		'R9':		7,
+		'R10':		8,
+		'R11':		9,
+		'EXC_RETURN':	10,
+		'R0':		11,
+		'R1':		12,
+		'R2':		13,
+		'R3':		14,
+		'R12':		15,
+		'R14':		16,
+		'LR':		16,
+		'R15':		17,
+		'PC':		17,
+		'XPSR':		18,
+	}
+
+	v7em_regmap = {
+		'R13':		0,
+		'SP':		0,
+		'PRIORITY':	1,
+		'R4':		2,
+		'R5':		3,
+		'R6':		4,
+		'R7':		5,
+		'R8':		6,
+		'R9':		7,
+		'R10':		8,
+		'R11':		9,
+		'EXC_RETURN':	10,
+		'R0':		27,
+		'R1':		28,
+		'R2':		29,
+		'R3':		30,
+		'R12':		31,
+		'R14':		32,
+		'LR':		32,
+		'R15':		33,
+		'PC':		33,
+		'XPSR':		34,
+	}
+
+	regs = dict()
+
+	def __init__(self, xcpt_regs):
+		if xcpt_regs is None:
+			self.regs['R0']         = self.mon_reg_call('r0')
+			self.regs['R1']         = self.mon_reg_call('r1')
+			self.regs['R2']         = self.mon_reg_call('r2')
+			self.regs['R3']         = self.mon_reg_call('r3')
+			self.regs['R4']         = self.mon_reg_call('r4')
+			self.regs['R5']         = self.mon_reg_call('r5')
+			self.regs['R6']         = self.mon_reg_call('r6')
+			self.regs['R7']         = self.mon_reg_call('r7')
+			self.regs['R8']         = self.mon_reg_call('r8')
+			self.regs['R9']         = self.mon_reg_call('r9')
+			self.regs['R10']        = self.mon_reg_call('r10')
+			self.regs['R11']        = self.mon_reg_call('r11')
+			self.regs['R12']        = self.mon_reg_call('r12')
+			self.regs['R13']        = self.mon_reg_call('r13')
+			self.regs['SP']         = self.mon_reg_call('sp')
+			self.regs['R14']        = self.mon_reg_call('r14')
+			self.regs['LR']         = self.mon_reg_call('lr')
+			self.regs['R15']        = self.mon_reg_call('r15')
+			self.regs['PC']         = self.mon_reg_call('pc')
+			self.regs['XPSR']       = self.mon_reg_call('xPSR')
+		else:
+			for key in self.v7em_regmap.keys():
+				self.regs[key] = int(xcpt_regs[self.v7em_regmap[key]])
+
+	def mon_reg_call(self,register):
+		"""
+		register is the register as a string e.g. 'pc'
+		return integer containing the value of the register
+		"""
+		str_to_eval = "mon reg "+register
+		resp = gdb.execute(str_to_eval,to_string = True)
+		content = resp.split()[-1];
+		try:
+			return int(content,16)
+		except:
+			return 0
+
+	@classmethod
+	def with_xcpt_regs(cls, xcpt_regs):
+		return cls(xcpt_regs)
+
+	@classmethod
+	def for_current(cls):
+		return cls(None)
+
+	def __format__(self, format_spec):
+		return format_spec.format(
+			registers	 = self.registers
+			)
+
+	@property
+	def registers(self):
+		return self.regs
+
+
+class NX_task(object):
+	"""Reference to a NuttX task and methods for introspecting it"""
+
+	def __init__(self, tcb_ptr):
+		self._tcb = tcb_ptr.dereference()
+		self._group = self._tcb['group'].dereference()
+		self.pid = tcb_ptr['pid']
+
+	@classmethod
+	def for_tcb(cls, tcb):
+		"""return a task with the given TCB pointer"""
+		pidhash_sym = gdb.lookup_global_symbol('g_pidhash')
+		pidhash_value = pidhash_sym.value()
+		pidhash_type = pidhash_sym.type
+		for i in range(pidhash_type.range()[0],pidhash_type.range()[1]):
+			pidhash_entry = pidhash_value[i]
+			if pidhash_entry['tcb'] == tcb:
+				return cls(pidhash_entry['tcb'])
+		return None
+
+	@classmethod
+	def for_pid(cls, pid):
+		"""return a task for the given PID"""
+		pidhash_sym = gdb.lookup_global_symbol('g_pidhash')
+		pidhash_value = pidhash_sym.value()
+		pidhash_type = pidhash_sym.type
+		for i in range(pidhash_type.range()[0],pidhash_type.range()[1]):
+			pidhash_entry = pidhash_value[i]
+			if pidhash_entry['pid'] == pid:
+				return cls(pidhash_entry['tcb'])
+		return None
+
+	@staticmethod
+	def pids():
+		"""return a list of all PIDs"""
+		pidhash_sym = gdb.lookup_global_symbol('g_pidhash')
+		pidhash_value = pidhash_sym.value()
+		pidhash_type = pidhash_sym.type
+		result = []
+		for i in range(pidhash_type.range()[0],pidhash_type.range()[1]):
+			entry = pidhash_value[i]
+			pid = parse_int(entry['pid'])
+			if pid is not -1:
+				result.append(pid)
+		return result
+
+	@staticmethod
+	def tasks():
+		"""return a list of all tasks"""
+		tasks = []
+		for pid in NX_task.pids():
+			tasks.append(NX_task.for_pid(pid))
+		return tasks
+
+	def _state_is(self, state):
+		"""tests the current state of the task against the passed-in state name"""
+		statenames = gdb.types.make_enum_dict(gdb.lookup_type('enum tstate_e'))
+		if self._tcb['task_state'] == statenames[state]:
+			return True
+		return False
+
+	@property
+	def stack_used(self):
+		"""calculate the stack used by the thread"""
+		if 'stack_used' not in self.__dict__:
+			stack_base = self._tcb['stack_alloc_ptr'].cast(gdb.lookup_type('unsigned char').pointer())
+			if stack_base == 0:
+				self.__dict__['stack_used'] = 0
+			else:
+				stack_limit = self._tcb['adj_stack_size']
+				for offset in range(0, parse_int(stack_limit)):
+					if stack_base[offset] != 0xff:
+						break
+				self.__dict__['stack_used'] = stack_limit - offset
+		return self.__dict__['stack_used']
+
+	@property
+	def name(self):
+		"""return the task's name"""
+		return self._tcb['name'].string()
+
+	@property
+	def state(self):
+		"""return the name of the task's current state"""
+		statenames = gdb.types.make_enum_dict(gdb.lookup_type('enum tstate_e'))
+		for name,value in statenames.items():
+			if value == self._tcb['task_state']:
+				return name
+		return 'UNKNOWN'
+
+	@property
+	def waiting_for(self):
+		"""return a description of what the task is waiting for, if it is waiting"""
+		if self._state_is('TSTATE_WAIT_SEM'):
+			try: 
+				waitsem = self._tcb['waitsem'].dereference()
+				waitsem_holder = waitsem['holder']
+				holder = NX_task.for_tcb(waitsem_holder['htcb'])
+				if holder is not None:
+					return '{}({})'.format(waitsem.address, holder.name)
+				else:
+					return '{}(<bad holder>)'.format(waitsem.address)
+			except:
+				return 'EXCEPTION'
+		if self._state_is('TSTATE_WAIT_SIG'):
+			return 'signal'
+		return ""
+
+	@property
+	def is_waiting(self):
+		"""tests whether the task is waiting for something"""
+		if self._state_is('TSTATE_WAIT_SEM') or self._state_is('TSTATE_WAIT_SIG'):
+			return True
+
+	@property
+	def is_runnable(self):
+		"""tests whether the task is runnable"""
+		if (self._state_is('TSTATE_TASK_PENDING') or 
+			self._state_is('TSTATE_TASK_READYTORUN') or 
+			self._state_is('TSTATE_TASK_RUNNING')):
+			return True
+		return False
+
+	@property
+	def file_descriptors(self):
+		"""return a dictionary of file descriptors and inode pointers"""
+		filelist = self._group['tg_filelist']
+		filearray = filelist['fl_files']
+		result = dict()
+		for i in range(filearray.type.range()[0],filearray.type.range()[1]):
+			inode = parse_int(filearray[i]['f_inode'])
+			if inode != 0:
+				result[i] = inode
+		return result
+
+	@property
+	def registers(self):
+		if 'registers' not in self.__dict__:
+			registers = dict()
+			if self._state_is('TSTATE_TASK_RUNNING'):
+				registers = NX_register_set.for_current().registers
+			else:
+				context = self._tcb['xcp']
+				regs = context['regs']
+				registers = NX_register_set.with_xcpt_regs(regs).registers
+
+			self.__dict__['registers'] = registers
+		return self.__dict__['registers']
+
+	def __repr__(self):
+		return "<NX_task {}>".format(self.pid)
+
+	def __str__(self):
+		return "{}:{}".format(self.pid, self.name)
+	
+	def showoff(self):
+		print("-------")
+		print(self.pid,end = ", ")
+		print(self.name,end = ", ")
+		print(self.state,end = ", ")
+		print(self.waiting_for,end = ", ")
+		print(self.stack_used,end = ", ")
+		print(self._tcb['adj_stack_size'],end = ", ")
+		print(self.file_descriptors)
+		print(self.registers)
+		
+	def __format__(self, format_spec):
+		return format_spec.format(
+			pid              = self.pid,
+			name             = self.name,
+			state            = self.state,
+			waiting_for      = self.waiting_for,
+			stack_used       = self.stack_used,
+			stack_limit      = self._tcb['adj_stack_size'],
+			file_descriptors = self.file_descriptors,
+			registers	 = self.registers
+			)
+	
+class NX_show_task (gdb.Command):
+	"""(NuttX) prints information about a task"""
+
+	def __init__(self):
+		super(NX_show_task, self).__init__("show task", gdb.COMMAND_USER)
+
+	def invoke(self, arg, from_tty):
+		t = NX_task.for_pid(parse_int(arg))
+		if t is not None:
+			my_fmt = 'PID:{pid}  name:{name}  state:{state}\n'
+			my_fmt += '  stack used {stack_used} of {stack_limit}\n'
+			if t.is_waiting:
+				my_fmt += '  waiting for {waiting_for}\n'
+			my_fmt += '  open files: {file_descriptors}\n'
+			my_fmt += '  R0  {registers[R0]:#010x} {registers[R1]:#010x} {registers[R2]:#010x} {registers[R3]:#010x}\n'
+			my_fmt += '  R4  {registers[R4]:#010x} {registers[R5]:#010x} {registers[R6]:#010x} {registers[R7]:#010x}\n'
+			my_fmt += '  R8  {registers[R8]:#010x} {registers[R9]:#010x} {registers[R10]:#010x} {registers[R11]:#010x}\n'
+			my_fmt += '  R12 {registers[PC]:#010x}\n'
+			my_fmt += '  SP  {registers[SP]:#010x} LR {registers[LR]:#010x} PC {registers[PC]:#010x} XPSR {registers[XPSR]:#010x}\n'
+			print(format(t, my_fmt))
+
+class NX_show_tasks (gdb.Command):
+	"""(NuttX) prints a list of tasks"""
+
+	def __init__(self):
+		super(NX_show_tasks, self).__init__('show tasks', gdb.COMMAND_USER)
+
+	def invoke(self, args, from_tty):
+		tasks = NX_task.tasks()
+		print ('Number of tasks: ' + str(len(tasks)))
+		for t in tasks:
+			#t.showoff()
+			print(format(t, 'Task: {pid} {name} {state} {stack_used}/{stack_limit}'))
+
+NX_show_task()
+NX_show_tasks()
+
+class NX_show_heap (gdb.Command):
+	"""(NuttX) prints the heap"""
+
+	def __init__(self):
+		super(NX_show_heap, self).__init__('show heap', gdb.COMMAND_USER)
+		struct_mm_allocnode_s = gdb.lookup_type('struct mm_allocnode_s')
+		preceding_size = struct_mm_allocnode_s['preceding'].type.sizeof
+		if preceding_size == 2:
+			self._allocflag = 0x8000
+		elif preceding_size == 4:
+			self._allocflag = 0x80000000
+		else:
+			raise gdb.GdbError('invalid mm_allocnode_s.preceding size %u' % preceding_size)
+			self._allocnodesize = struct_mm_allocnode_s.sizeof
+
+	def _node_allocated(self, allocnode):
+		if allocnode['preceding'] & self._allocflag:
+			return True
+		return False
+
+	def _node_size(self, allocnode):
+		return allocnode['size'] & ~self._allocflag
+
+	def _print_allocations(self, region_start, region_end):
+		if region_start >= region_end:
+			raise gdb.GdbError('heap region {} corrupt'.format(hex(region_start)))
+		nodecount = region_end - region_start
+		print ('heap {} - {}'.format(region_start, region_end))
+		cursor = 1
+		while cursor < nodecount:
+			allocnode = region_start[cursor]
+			if self._node_allocated(allocnode):
+				state = ''
+			else:
+				state = '(free)'
+			print( '  {} {} {}'.format(allocnode.address + self._allocnodesize,
+                                                  self._node_size(allocnode), state))
+			cursor += self._node_size(allocnode) / self._allocnodesize
+
+	def invoke(self, args, from_tty):
+		heap = gdb.lookup_global_symbol('g_mmheap').value()
+		nregions = heap['mm_nregions']
+		region_starts = heap['mm_heapstart']
+		region_ends = heap['mm_heapend']
+		print( '{} heap(s)'.format(nregions))
+		# walk the heaps
+		for i in range(0, nregions):
+			self._print_allocations(region_starts[i], region_ends[i])
+
+NX_show_heap()
+
+class NX_show_interrupted_thread (gdb.Command):
+	"""(NuttX) prints the register state of an interrupted thread when in interrupt/exception context"""
+
+	def __init__(self):
+		super(NX_show_interrupted_thread, self).__init__('show interrupted-thread', gdb.COMMAND_USER)
+
+	def invoke(self, args, from_tty):
+		regs = gdb.lookup_global_symbol('current_regs').value()
+		if regs is 0:
+			raise gdb.GdbError('not in interrupt context')
+		else:
+			registers = NX_register_set.with_xcpt_regs(regs)
+			my_fmt = ''
+			my_fmt += '  R0  {registers[R0]:#010x} {registers[R1]:#010x} {registers[R2]:#010x} {registers[R3]:#010x}\n'
+			my_fmt += '  R4  {registers[R4]:#010x} {registers[R5]:#010x} {registers[R6]:#010x} {registers[R7]:#010x}\n'
+			my_fmt += '  R8  {registers[R8]:#010x} {registers[R9]:#010x} {registers[R10]:#010x} {registers[R11]:#010x}\n'
+			my_fmt += '  R12 {registers[PC]:#010x}\n'
+			my_fmt += '  SP  {registers[SP]:#010x} LR {registers[LR]:#010x} PC {registers[PC]:#010x} XPSR {registers[XPSR]:#010x}\n'
+			print (format(registers, my_fmt))
+
+NX_show_interrupted_thread()
+
+class NX_check_tcb(gdb.Command):
+	""" check the tcb of a task from a address """
+	def __init__(self):
+		super(NX_check_tcb,self).__init__('show tcb', gdb.COMMAND_USER)
+		
+	def invoke(self,args,sth):
+		tasks = NX_task.tasks()
+		print("tcb int: ",int(args))
+		print(tasks[int(args)]._tcb)
+		a =tasks[int(args)]._tcb['xcp']['regs']
+		print("relevant registers:")
+		for reg in regmap:
+			hex_addr= hex(int(a[regmap[reg]]))
+			eval_string = 'info line *'+str(hex_addr)
+			print(reg,": ",hex_addr,)
+NX_check_tcb()
+
+class NX_tcb(object):
+	def __init__(self):
+		pass
+	
+	def is_in(self,arg,list):
+		for i in list:
+			if arg == i:
+				return True;
+		return False
+	
+	def find_tcb_list(self,dq_entry_t):
+		tcb_list = []
+		tcb_ptr = dq_entry_t.cast(gdb.lookup_type('struct tcb_s').pointer())
+		first_tcb = tcb_ptr.dereference()
+		tcb_list.append(first_tcb);
+		next_tcb = first_tcb['flink'].dereference()
+		while not self.is_in(parse_int(next_tcb['pid']),[parse_int(t['pid']) for t in tcb_list]):
+			tcb_list.append(next_tcb); 
+			old_tcb = next_tcb;
+			next_tcb = old_tcb['flink'].dereference()
+		
+		return [t for t in tcb_list if parse_int(t['pid'])<2000]
+	
+	def getTCB(self):
+		list_of_listsnames = ['g_pendingtasks','g_readytorun','g_waitingforsemaphore','g_waitingforsignal','g_inactivetasks']
+		tcb_list = [];
+		for l in list_of_listsnames:
+			li = gdb.lookup_global_symbol(l)
+			print(li)
+			cursor = li.value()['head']
+			tcb_list = tcb_list + self.find_tcb_list(cursor)
+
+class NX_check_stack_order(gdb.Command):
+	""" Check the Stack order corresponding to the tasks """
+	
+	def __init__(self):
+		super(NX_check_stack_order,self).__init__('show check_stack', gdb.COMMAND_USER)
+		
+	def is_in(self,arg,list):
+		for i in list:
+			if arg == i:
+				return True;
+		return False
+	
+	def find_tcb_list(self,dq_entry_t):
+		tcb_list = []
+		tcb_ptr = dq_entry_t.cast(gdb.lookup_type('struct tcb_s').pointer())
+		first_tcb = tcb_ptr.dereference()
+		tcb_list.append(first_tcb);
+		next_tcb = first_tcb['flink'].dereference()
+		while not self.is_in(parse_int(next_tcb['pid']),[parse_int(t['pid']) for t in tcb_list]):
+			tcb_list.append(next_tcb); 
+			old_tcb = next_tcb;
+			next_tcb = old_tcb['flink'].dereference()
+		
+		return [t for t in tcb_list if parse_int(t['pid'])<2000]
+	
+	def getTCB(self):
+		list_of_listsnames = ['g_pendingtasks','g_readytorun','g_waitingforsemaphore','g_waitingforsignal','g_inactivetasks']
+		tcb_list = [];
+		for l in list_of_listsnames:
+			li = gdb.lookup_global_symbol(l)
+			cursor = li.value()['head']
+			tcb_list = tcb_list + self.find_tcb_list(cursor)
+		return tcb_list
+		
+	def getSPfromTask(self,tcb):
+		regmap = NX_register_set.v7em_regmap
+		a =tcb['xcp']['regs']
+		return 	parse_int(a[regmap['SP']])
+	
+	def find_closest(self,list,val):
+		tmp_list = [abs(i-val) for i in list]
+		tmp_min = min(tmp_list)
+		idx = tmp_list.index(tmp_min)
+		return idx,list[idx]
+	
+	def find_next_stack(self,address,_dict_in):
+		add_list = []
+		name_list = []
+		for key in _dict_in.keys():
+			for i in range(3):
+				if _dict_in[key][i] < address:
+					add_list.append(_dict_in[key][i])
+					if i == 2: # the last one is the processes stack pointer
+						name_list.append(self.check_name(key)+"_SP")
+					else:
+						name_list.append(self.check_name(key))
+					
+		idx,new_address = self.find_closest(add_list,address)
+		return new_address,name_list[idx]
+	
+	def check_name(self,name):
+		if isinstance(name,(list)):
+			name = name[0];
+		idx = name.find("\\")
+		newname = name[:idx]
+		
+		return newname
+	 
+	def invoke(self,args,sth):
+		tcb = self.getTCB();
+		stackadresses={};
+		for t in tcb:
+			p = [];
+			#print(t.name,t._tcb['stack_alloc_ptr'])
+			p.append(parse_int(t['stack_alloc_ptr']))
+			p.append(parse_int(t['adj_stack_ptr']))
+			p.append(self.getSPfromTask(t))
+			stackadresses[str(t['name'])] = p;
+		address = int("0x30000000",0)
+		print("stack address  :  process")
+		for i in range(len(stackadresses)*3):
+			  address,name = self.find_next_stack(address,stackadresses)
+			  print(hex(address),": ",name)
+
+NX_check_stack_order()
+					 
+class NX_run_debug_util(gdb.Command):
+	""" show the registers of a task corresponding to a tcb address"""
+	def __init__(self):
+		super(NX_run_debug_util,self).__init__('show regs', gdb.COMMAND_USER)
+	
+	def printRegisters(self,task):
+		regmap = NX_register_set.v7em_regmap
+		a =task._tcb['xcp']['regs']
+		print("relevant registers in ",task.name,":")
+		for reg in regmap:
+			hex_addr= hex(int(a[regmap[reg]]))
+			eval_string = 'info line *'+str(hex_addr)
+			print(reg,": ",hex_addr,)
+			
+	def getPCfromTask(self,task):
+		regmap = NX_register_set.v7em_regmap
+		a =task._tcb['xcp']['regs']
+		return 	hex(int(a[regmap['PC']]))
+	
+	def invoke(self,args,sth):
+		tasks = NX_task.tasks() 
+		if args == '':
+			for t in tasks:
+				self.printRegisters(t)
+				eval_str = "list *"+str(self.getPCfromTask(t))
+				print("this is the location in code where the current threads $pc is:")
+				gdb.execute(eval_str)
+		else:
+			tcb_nr = int(args);
+			print("tcb_nr = ",tcb_nr)
+			t = tasks[tcb_nr]
+			self.printRegisters(t)
+			eval_str = "list *"+str(self.getPCfromTask(t))
+			print("this is the location in code where the current threads $pc is:")
+			gdb.execute(eval_str)
+			
+NX_run_debug_util()
+
+		
+class NX_search_tcb(gdb.Command):
+	""" shot PID's of all running tasks """
+	
+	def __init__(self):
+		super(NX_search_tcb,self).__init__('show alltcb', gdb.COMMAND_USER)
+	
+	def is_in(self,arg,list):
+		for i in list:
+			if arg == i:
+				return True;
+		return False
+	
+	def find_tcb_list(self,dq_entry_t):
+		tcb_list = []
+		tcb_ptr = dq_entry_t.cast(gdb.lookup_type('struct tcb_s').pointer())
+		first_tcb = tcb_ptr.dereference()
+		tcb_list.append(first_tcb);
+		next_tcb = first_tcb['flink'].dereference()
+		while not self.is_in(parse_int(next_tcb['pid']),[parse_int(t['pid']) for t in tcb_list]):
+			tcb_list.append(next_tcb); 
+			old_tcb = next_tcb;
+			next_tcb = old_tcb['flink'].dereference()
+		
+		return [t for t in tcb_list if parse_int(t['pid'])<2000]
+	
+	def invoke(self,args,sth):
+		list_of_listsnames = ['g_pendingtasks','g_readytorun','g_waitingforsemaphore','g_waitingforsignal','g_inactivetasks']
+		tasks = [];
+		for l in list_of_listsnames:
+			li = gdb.lookup_global_symbol(l)
+			cursor = li.value()['head']
+			tasks = tasks + self.find_tcb_list(cursor)
+		
+		# filter for tasks that are listed twice
+		tasks_filt = {}
+		for t in tasks:
+			pid = parse_int(t['pid']);
+			if not pid in tasks_filt.keys():
+				tasks_filt[pid] = t['name']; 
+		print('{num_t} Tasks found:'.format(num_t = len(tasks_filt)))
+		for pid in tasks_filt.keys():
+			print("PID: ",pid," ",tasks_filt[pid])
+
+NX_search_tcb()
+
+
+class NX_my_bt(gdb.Command):
+	""" 'fake' backtrace: backtrace the stack of a process and check every suspicious address for the list 
+	arg: tcb_address$
+	(can easily be found by typing 'showtask').
+	"""
+	
+	def __init__(self):
+		super(NX_my_bt,self).__init__('show mybt', gdb.COMMAND_USER)
+		
+	def readmem(self,addr):
+		'''
+		read memory at addr and return nr
+		'''	
+		str_to_eval = "x/x "+hex(addr)
+		resp = gdb.execute(str_to_eval,to_string = True)
+		idx = resp.find('\t')
+		return int(resp[idx:],16)
+	
+	def is_in_bounds(self,val):
+		lower_bound = int("08004000",16)
+		upper_bound = int("080ae0c0",16);
+		#print(lower_bound," ",val," ",upper_bound)
+		if val>lower_bound and val<upper_bound:
+			return True;
+		else:
+			return False;
+	def get_tcb_from_address(self,addr):
+		addr_value = gdb.Value(addr)
+		tcb_ptr = addr_value.cast(gdb.lookup_type('struct tcb_s').pointer())
+		return tcb_ptr.dereference()
+	
+	def resolve_file_line_func(self,addr,stack_percentage):
+		gdb.write(str(round(stack_percentage,2))+":")
+		str_to_eval = "info line *"+hex(addr)
+		#gdb.execute(str_to_eval)
+		res = gdb.execute(str_to_eval,to_string = True)
+		# get information from results string:
+		words = res.split()
+		if words[0] != 'No':
+			line = int(words[1])
+			block = gdb.block_for_pc(addr)
+			func = block.function
+			if str(func) == "None":
+				func = block.superblock.function
+			return words[3].strip('"'), line, func
+		
+	def invoke(self,args,sth):
+		try:
+			addr_dec = parse_int(args)   # Trying to interpret the input as TCB address
+		except ValueError:
+			for task in NX_task.tasks(): # Interpreting as a task name
+				if task.name == args:
+					_tcb = task._tcb
+					break
+		else:
+			_tcb = self.get_tcb_from_address(addr_dec)
+
+		print("found task with PID: ",_tcb["pid"])
+		up_stack = parse_int(_tcb['adj_stack_ptr'])
+		curr_sp = parse_int(_tcb['xcp']['regs'][0]) #curr stack pointer
+		other_sp = parse_int(_tcb['xcp']['regs'][8]) # other stack pointer
+		stacksize = parse_int(_tcb['adj_stack_size']) # other stack pointer
+		
+		print("tasks current SP = ",hex(curr_sp),"stack max ptr is at ",hex(up_stack))
+		
+		item = 0
+		for sp in range(other_sp if curr_sp == up_stack else curr_sp, up_stack, 4):
+			mem = self.readmem(sp)
+			#print(hex(sp)," : ",hex(mem))
+			if self.is_in_bounds(mem):
+				# this is a potential instruction ptr
+				stack_percentage = (up_stack-sp)/stacksize
+				filename,line,func = self.resolve_file_line_func(mem, stack_percentage)
+				print('#%-2d ' % item, '0x%08x in ' % mem, func, ' at ', filename, ':', line, sep='')
+				item += 1
+		
+NX_my_bt()

Debug/PX4

@@ -0,0 +1,55 @@
+#
+# Various PX4-specific macros
+#
+source Debug/NuttX
+source Debug/ARMv7M
+
+echo Loading PX4 GDB macros.  Use 'help px4' for more information.\n
+
+define px4
+	echo Use 'help px4' for more information.\n
+end
+
+document px4
+. Various macros for working with the PX4 firmware.
+.
+.    perf
+.        Prints the state of all performance counters.
+.
+. Use 'help <macro>' for more specific help.
+end
+
+
+define _perf_print
+	set $hdr = (struct perf_ctr_header *)$arg0
+	#printf "%p\n", $hdr
+	printf "%s: ", $hdr->name
+	# PC_COUNT
+	if $hdr->type == 0
+		set $count = (struct perf_ctr_count *)$hdr
+		printf "%llu events\n", $count->event_count
+	end
+	# PC_ELPASED
+	if $hdr->type == 1
+		set $elapsed = (struct perf_ctr_elapsed *)$hdr
+		printf "%llu events, %lluus elapsed, min %lluus, max %lluus\n", $elapsed->event_count, $elapsed->time_total, $elapsed->time_least, $elapsed->time_most
+	end
+	# PC_INTERVAL
+	if $hdr->type == 2
+		set $interval = (struct perf_ctr_interval *)$hdr
+		printf "%llu events, %llu avg, min %lluus max %lluus\n", $interval->event_count, ($interval->time_last - $interval->time_first) / $interval->event_count, $interval->time_least, $interval->time_most
+	end
+end
+
+define perf
+	set $ctr = (sq_entry_t *)(perf_counters.head)
+	while $ctr != 0
+		_perf_print $ctr
+		set $ctr = $ctr->flink
+	end
+end
+
+document perf
+.    perf
+.        Prints performance counters.
+end

Debug/dot.gdbinit

@@ -0,0 +1,13 @@
+# copy the file to .gdbinit in your Firmware tree, and adjust the path
+# below to match your system
+# For example:
+# target extended /dev/serial/by-id/usb-Black_Sphere_Technologies_Black_Magic_Probe_DDE5A1C4-if00
+# target extended /dev/ttyACM4
+
+
+monitor swdp_scan
+attach 1
+monitor vector_catch disable hard
+set mem inaccessible-by-default off
+set print pretty
+source Debug/PX4

Debug/olimex-px4fmu-debug.cfg

@@ -0,0 +1,22 @@
+# program a bootable device load on a mavstation
+# To run type openocd -f mavprogram.cfg
+
+source [find interface/olimex-arm-usb-ocd-h.cfg]
+source [find px4fmu-board.cfg]
+
+init
+halt
+
+# Find the flash inside this CPU
+flash probe 0
+
+# erase it (128 pages) then program and exit
+
+#flash erase_sector 0 0 127
+# stm32f1x mass_erase 0 
+
+# It seems that Pat's image has a start address offset of 0x1000 but the vectors need to be at zero, so fixbin.sh moves things around
+#flash write_bank 0 fixed.bin 0
+#flash write_image firmware.elf
+#shutdown
+

Debug/openocd.gdbinit

@@ -0,0 +1,21 @@
+target remote :3333
+
+# Don't let GDB get confused while stepping
+define hook-step
+  mon cortex_m maskisr on
+end
+define hookpost-step
+  mon cortex_m maskisr off
+end
+
+mon init
+mon stm32_init
+# mon reset halt
+mon poll
+mon cortex_m maskisr auto
+set mem inaccessible-by-default off
+set print pretty
+source Debug/PX4
+
+echo PX4 resumed, press ctrl-c to interrupt\n
+continue

Debug/poor-mans-profiler.sh

@@ -0,0 +1,270 @@
+#!/bin/bash
+#
+# Author: Pavel Kirienko <pavel.kirienko@zubax.com>
+#
+# Poor man's sampling profiler for NuttX.
+#
+# Usage: Install flamegraph.pl in your PATH, configure your .gdbinit, run the script with proper arguments and go
+#        have a coffee. When you're back, you'll see the flamegraph. Note that frequent calls to GDB significantly
+#        interfere with normal operation of the target, which means that you can't profile real-time tasks with it.
+#        For best results, ensure that the PC is not overloaded, the USB host controller to which the debugger is
+#        connected is not congested. You should also allow the current user to set negative nice values.
+#
+# The FlameGraph script can be downloaded from https://github.com/brendangregg/FlameGraph. Thanks Mr. Gregg.
+#
+# Requirements: ARM GDB with Python support. You can get one by downloading the sources from
+#               https://launchpad.net/gcc-arm-embedded and building them with correct flags.
+#               Note that Python support is not required if no per-task sampling is needed.
+#
+
+set -e
+root=$(dirname $0)/..
+
+function die()
+{
+    echo "$@"
+    exit 1
+}
+
+function usage()
+{
+    echo "Invalid usage. Supported options:"
+    cat $0 | sed -n 's/^\s*--\([^)\*]*\).*/\1/p' # Don't try this at home.
+    exit 1
+}
+
+which flamegraph.pl > /dev/null || die "Install flamegraph.pl first"
+
+#
+# Parsing the arguments. Read this section for usage info.
+#
+nsamples=0
+sleeptime=0.1    # Doctors recommend 7-8 hours a day
+taskname=
+elf=
+append=0
+fgfontsize=10
+fgwidth=1900
+
+for i in "$@"
+do
+    case $i in
+        --nsamples=*)
+            nsamples="${i#*=}"
+            ;;
+        --sleeptime=*)
+            sleeptime="${i#*=}"
+            ;;
+        --taskname=*)
+            taskname="${i#*=}"
+            ;;
+        --elf=*)
+            elf="${i#*=}"
+            ;;
+        --append)
+            append=1
+            ;;
+        --fgfontsize=*)
+            fgfontsize="${i#*=}"
+            ;;
+        --fgwidth=*)
+            fgwidth="${i#*=}"
+            ;;
+        *)
+            usage
+            ;;
+    esac
+    shift
+done
+
+[[ -z "$elf" ]] && die "Please specify the ELF file location, e.g.: build/px4fmu-v4_default/src/firmware/nuttx/firmware_nuttx"
+
+#
+# Temporary files
+#
+stacksfile=/tmp/pmpn-stacks.log
+foldfile=/tmp/pmpn-folded.txt
+graphfile=/tmp/pmpn-flamegraph.svg
+gdberrfile=/tmp/pmpn-gdberr.log
+
+#
+# Sampling if requested. Note that if $append is true, the stack file will not be rewritten.
+#
+cd $root
+
+if [[ $nsamples > 0 ]]
+then
+    [[ $append = 0 ]] && (rm -f $stacksfile; echo "Old stacks removed")
+
+    echo "Sampling the task '$taskname'..."
+
+    for x in $(seq 1 $nsamples)
+    do
+        if [[ "$taskname" = "" ]]
+        then
+            arm-none-eabi-gdb $elf --batch -ex "set print asm-demangle on" -ex bt \
+                2> $gdberrfile \
+                | sed -n 's/\(#.*\)/\1/p' \
+                >> $stacksfile
+        else
+            arm-none-eabi-gdb $elf --batch -ex "set print asm-demangle on" \
+                                           -ex "source $root/Debug/Nuttx.py" \
+                                           -ex "show mybt $taskname" \
+                2> $gdberrfile \
+                | sed -n 's/0\.0:\(#.*\)/\1/p' \
+                >> $stacksfile
+        fi
+        echo -e '\n\n' >> $stacksfile
+        echo -ne "\r$x/$nsamples"
+        sleep $sleeptime
+    done
+
+    echo
+    echo "Stacks saved to $stacksfile"
+else
+    echo "Sampling skipped - set 'nsamples' to re-sample."
+fi
+
+#
+# Folding the stacks.
+#
+[ -f $stacksfile ] || die "Where are the stack samples?"
+
+cat << 'EOF' > /tmp/pmpn-folder.py
+#
+# This stack folder correctly handles C++ types.
+#
+from __future__ import print_function, division
+import fileinput, collections, os, sys
+
+def enforce(x, msg='Invalid input'):
+    if not x:
+        raise Exception(msg)
+
+def split_first_part_with_parens(line):
+    LBRACES = {'(':'()', '<':'<>', '[':'[]', '{':'{}'}
+    RBRACES = {')':'()', '>':'<>', ']':'[]', '}':'{}'}
+    QUOTES = set(['"', "'"])
+    quotes = collections.defaultdict(bool)
+    braces = collections.defaultdict(int)
+    out = ''
+    for ch in line:
+        out += ch
+        # escape character cancels further processing
+        if ch == '\\':
+            continue
+        # special cases
+        if out.endswith('operator>') or out.endswith('operator>>') or out.endswith('operator->'):  # gotta love c++
+            braces['<>'] += 1
+        if out.endswith('operator<') or out.endswith('operator<<'):
+            braces['<>'] -= 1
+        # switching quotes
+        if ch in QUOTES:
+            quotes[ch] = not quotes[ch]
+        # counting parens only when outside quotes
+        if sum(quotes.values()) == 0:
+            if ch in LBRACES.keys():
+                braces[LBRACES[ch]] += 1
+            if ch in RBRACES.keys():
+                braces[RBRACES[ch]] -= 1
+        # sanity check
+        for v in braces.values():
+            enforce(v >= 0, 'Unaligned braces: ' + str(dict(braces)))
+        # termination condition
+        if ch == ' ' and sum(braces.values()) == 0:
+            break
+    out = out.strip()
+    return out, line[len(out):]
+
+def parse(line):
+    def take_path(line, output):
+        line = line.strip()
+        if line.startswith('at '):
+            line = line[3:].strip()
+        if line:
+            output['file_full_path'] = line.rsplit(':', 1)[0].strip()
+            output['file_base_name'] = os.path.basename(output['file_full_path'])
+            output['line'] = int(line.rsplit(':', 1)[1])
+        return output
+
+    def take_args(line, output):
+        line = line.lstrip()
+        if line[0] == '(':
+            output['args'], line = split_first_part_with_parens(line)
+        return take_path(line.lstrip(), output)
+
+    def take_function(line, output):
+        output['function'], line = split_first_part_with_parens(line.lstrip())
+        return take_args(line.lstrip(), output)
+
+    def take_mem_loc(line, output):
+        line = line.lstrip()
+        if line.startswith('0x'):
+            end = line.find(' ')
+            num = line[:end]
+            output['memloc'] = int(num, 16)
+            line = line[end:].lstrip()
+            end = line.find(' ')
+            enforce(line[:end] == 'in')
+            line = line[end:].lstrip()
+        return take_function(line, output)
+
+    def take_frame_num(line, output):
+        line = line.lstrip()
+        enforce(line[0] == '#')
+        end = line.find(' ')
+        num = line[1:end]
+        output['frame_num'] = int(num)
+        return take_mem_loc(line[end:], output)
+
+    return take_frame_num(line, {})
+
+stacks = collections.defaultdict(int)
+current = ''
+
+stack_tops = collections.defaultdict(int)
+num_stack_frames = 0
+
+for idx,line in enumerate(fileinput.input()):
+    try:
+        line = line.strip()
+        if line:
+            inf = parse(line)
+            fun = inf['function']
+            current = (fun + ';' + current) if current else fun
+
+            if inf['frame_num'] == 0:
+                num_stack_frames += 1
+                stack_tops[fun] += 1
+        elif current:
+            stacks[current] += 1
+            current = ''
+    except Exception, ex:
+        print('ERROR (line %d):' % (idx + 1), ex, file=sys.stderr)
+
+for s, f in sorted(stacks.items(), key=lambda (s, f): s):
+    print(s, f)
+
+print('Total stack frames:', num_stack_frames, file=sys.stderr)
+print('Top consumers (distribution of the stack tops):', file=sys.stderr)
+for name,num in sorted(stack_tops.items(), key=lambda (name, num): num, reverse=True)[:300]:
+    print('% 7.3f%%   ' % (100 * num / num_stack_frames), name, file=sys.stderr)
+EOF
+
+cat $stacksfile | python /tmp/pmpn-folder.py > $foldfile
+
+echo "Folded stacks saved to $foldfile"
+
+#
+# Graphing.
+#
+cat $foldfile | flamegraph.pl --fontsize=$fgfontsize --width=$fgwidth > $graphfile
+echo "FlameGraph saved to $graphfile"
+
+# On KDE, xdg-open prefers Gwenview by default, which doesn't handle interactive SVGs, so we need a browser.
+# The current implementation is hackish and stupid. Somebody, please do something about it.
+opener=xdg-open
+which firefox       > /dev/null && opener=firefox
+which google-chrome > /dev/null && opener=google-chrome
+
+$opener $graphfile

Debug/px4fmu-board.cfg

@@ -0,0 +1,37 @@
+# The latest defaults in OpenOCD 0.7.0 are actually prettymuch correct for the px4fmu
+
+# increase working area to 32KB for faster flash programming
+set WORKAREASIZE 0x8000
+
+source [find target/stm32f4x.cfg]
+
+# needed for px4
+reset_config trst_only
+
+proc stm32_reset {} {
+  reset halt
+# FIXME - needed to init periphs on reset
+# 0x40023800 RCC base
+# 0x24 RCC_APB2 0x75933
+# RCC_APB2 0
+}
+
+# perform init that is required on each connection to the target
+proc stm32_init {} {
+
+  # force jtag to not shutdown during sleep
+  #uint32_t cr = getreg32(STM32_DBGMCU_CR);
+  #cr |= DBGMCU_CR_STANDBY | DBGMCU_CR_STOP | DBGMCU_CR_SLEEP;
+  #putreg32(cr, STM32_DBGMCU_CR);
+  mww 0xe0042004 00000007
+}
+
+# if srst is not fitted use SYSRESETREQ to
+# perform a soft reset
+cortex_m reset_config sysresetreq
+
+# Let GDB directly program elf binaries
+gdb_memory_map enable
+
+# doesn't work yet
+gdb_flash_program disable

Debug/runopenocd.sh

@@ -0,0 +1,5 @@
+#!/bin/bash
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+
+openocd -f interface/olimex-arm-usb-ocd-h.cfg -f $DIR/px4fmu-board.cfg

Documentation/doxygen.README

@@ -0,0 +1,37 @@
+Linux/Mac OS X
+==============
+To install doxygen: 
+$sudo apt-get install doxygen
+
+If the above does not work go to:
+http://www.stack.nl/~dimitri/doxygen/download.html for the correct download.
+
+Then go to the following website for inforamtion on the install:
+http://www.stack.nl/~dimitri/doxygen/install.html
+
+Then to generate the html, run the following code while you are in this directory:
+$doxygen Doxyfile
+
+The html file index.html should be in doc/html unless you changed the output directory. 
+
+The other option for generating the documentation is to use the wizard:
+$doxywizard &
+
+doxywizard information:
+http://www.stack.nl/~dimitri/doxygen/doxywizard_usage.html
+
+Or go to the Doxygen Manual for information at the website noted below.
+
+Windows
+=======
+Go to the following website for the correct download and follow the wizard to install:
+http://www.stack.nl/~dimitri/doxygen/download.html
+
+Run the wizard to generate the documentation. 
+Go to the website below or the Doxygen Manual for information on running doxywizard.
+http://www.stack.nl/~dimitri/doxygen/doxywizard_usage.html
+
+Doxygen Manual
+==============
+http://www.stack.nl/~dimitri/doxygen/
+

Documentation/doxygen.sh

@@ -0,0 +1,3 @@
+#!/bin/sh
+rm -rf html
+doxygen

Firmware.sublime-project

@@ -0,0 +1,83 @@
+{
+	"folders":
+	[
+		{
+			"path": ".",
+			"file_exclude_patterns":
+			[
+				"*.o",
+				"*.a",
+				"*.d",
+				".built",
+				".context",
+				".depend",
+				".config",
+				".version",
+				"Make.dep",
+				".configured",
+				"*.sublime-project",
+				"*.sublime-workspace",
+				".project",
+				".cproject",
+				"cscope.out"
+			],
+			"folder_exclude_patterns":
+			[
+				".settings",
+				"nuttx/arch/arm/src/board",
+				"nuttx/arch/arm/src/chip",
+				"build_*"
+			]
+		}
+	],
+	"settings":
+	{
+		"tab_size": 8,
+		"translate_tabs_to_spaces": false,
+		"highlight_line": true,
+		"AStyleFormatter":
+		{
+			"options_c":
+			{
+				"use_only_additional_options": true,
+				"additional_options_file": "${project_path}/Tools/astyle/astylerc"
+			},
+			"options_c++":
+			{
+				"use_only_additional_options": true,
+				"additional_options_file": "${project_path}/Tools/astyle/astylerc"
+			}
+		}
+	},
+	"build_systems":
+	[
+		{
+			"name": "PX4: make all",
+			"working_dir": "${project_path}",
+			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"cmd": ["make"],
+			"shell": true
+		},
+		{
+			"name": "PX4: make and upload",
+			"working_dir": "${project_path}",
+			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"cmd": ["make upload px4fmu-v2_default -j8"],
+			"shell": true
+		},
+		{
+			"name": "PX4: make posix",
+			"working_dir": "${project_path}",
+			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"cmd": ["make posix"],
+			"shell": true
+		},
+		{
+			"name": "MindPX_V2: make and upload",
+			"working_dir": "${project_path}",
+			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"cmd": ["make upload mindpx-v2_default -j8"],
+			"shell": true
+		}
+	]
+}

Images/aerocore2.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 98,
+    "magic": "AeroCore2",
+    "description": "Firmware for the Gumstix AeroCore2 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "AEROCORE2",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/aerofc-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 65,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the Intel Aero FC board",
+    "image": "",
+    "build_time": 0,
+    "summary": "AEROFCv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/auav-x21.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 33,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the AUAV X2.1 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "AUAV X2.1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/crazyflie.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 12,
+    "magic": "Crazyflie",
+    "description": "Firmware for the Crazyflie 2.0",
+    "image": "",
+    "build_time": 0,
+    "summary": "CRAZYFLIE",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/esc35-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 27,
+    "magic": "ESC35v1",
+    "description": "Firmware for the ESC35V1 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "ESC35v1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/mindpx-v2.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 88,
+    "magic": "MindPX",
+    "description": "Firmware for the MindPXFMUv2 board",
+    "image": "", 
+    "build_time": 0, 
+    "summary": "MindPXFMUv2",
+    "version": "2.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/nxphlite-v3.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 29,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the NXPHLITEv3 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "NXPHLITEv3",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4-same70xplained-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 110,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the SAME70xplained board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4/SAME70xplained",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4-stm32f4discovery.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 99, 
+    "magic": "PX4FWv1", 
+    "description": "Firmware for the STM32F4Discovery board", 
+    "image": "", 
+    "build_time": 0, 
+    "summary": "PX4/STM32F4Discovery",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4cannode-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 22,
+    "magic": "CANNODEFWv1",
+    "description": "Firmware for the PX4CANNODE board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4CANNODEv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4esc-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 25,
+    "magic": "ESCv1",
+    "description": "Firmware for the PX4ESCV1 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4ESCv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4flow-v2.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 24,
+    "magic": "FLOWv1",
+    "description": "Firmware for the PX4FLowV1 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4FLOWv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4fmu-v2.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 9, 
+    "magic": "PX4FWv1", 
+    "description": "Firmware for the PX4FMUv2 board", 
+    "image": "", 
+    "build_time": 0, 
+    "summary": "PX4FMUv2",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4fmu-v3.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 9,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the PX4FMUv3 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4FMUv3",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4fmu-v4.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 11,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the PX4FMUv4 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4FMUv4",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4fmu-v4pro.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 13,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the PX4FMUv4PRO board, based on STM32F469",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4FMUv4PRO",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4fmu-v5.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 50,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the PX4FMUv5 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4FMUv5",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4io-v2.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 10, 
+    "magic": "PX4FWv2", 
+    "description": "Firmware for the PX4IOv2 board", 
+    "image": "", 
+    "build_time": 0, 
+    "summary": "PX4IOv2",
+    "version": "2.0",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4nucleoF767ZI-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 90,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the ST nucleo-144 with STM32FF767ZI-v1 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4NUCLEOF767ZIv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/s2740vc-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 23,
+    "magic": "S2740VCblv1",
+    "description": "Firmware for the S2740VC board",
+    "image": "",
+    "build_time": 0,
+    "summary": "S2740VCv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/tap-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 64,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the TAPv1 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "TAPv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/zubaxgnss-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 26,
+    "magic": "ZUBAXGNSSFWv1",
+    "description": "Firmware for the ZUBAXGNSS board",
+    "image": "",
+    "build_time": 0,
+    "summary": "ZUBAXGNSSv1",
+    "version": "0.0",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Jenkinsfile

@@ -1,297 +1,420 @@
-#!/usr/bin/env groovy
-
 pipeline {
   agent none
   stages {
 
-    stage('Analysis') {
-      when {
-        anyOf {
-          branch 'main'
-          branch 'master' // should be removed, but in case there is something going on...
-          branch 'pr-jenkins' // for testing
+    stage('Build') {
+      steps {
+        script {
+          def builds = [:]
+
+
+          // nuttx default targets that are archived and uploaded to s3
+          for (def option in ["px4fmu-v4", "px4fmu-v4pro", "px4fmu-v5", "aerofc-v1"]) {
+            def node_name = "${option}"
+
+            builds["${node_name}"] = {
+              node {
+                stage("Build Test ${node_name}") {
+                  docker.image('px4io/px4-dev-nuttx:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                    stage("${node_name}") {
+                      checkout scm
+                      sh "make clean"
+                      sh "ccache -z"
+                      sh "git fetch --tags"
+                      sh "make nuttx_${node_name}_default"
+                      sh "make nuttx_${node_name}_rtps"
+                      sh "make sizes"
+                      sh "ccache -s"
+                      archiveArtifacts(artifacts: 'build/*/*.px4', fingerprint: true)
+                    }
+                  }
+                }
+              }
+            }
+          }
+
+
+          // special case for fmu-v2/fmu-v3
+          builds["px4fmu-v2"] = {
+            node {
+              stage("Build Test ${node_name}") {
+                docker.image('px4io/px4-dev-nuttx:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                  stage("${node_name}") {
+                    checkout scm
+                    sh "make clean"
+                    sh "ccache -z"
+                    sh "git fetch --tags"
+                    sh "make px4io-v2_default"
+                    sh "make nuttx_px4fmu-v2_default"
+                    sh "make nuttx_px4fmu-v2_lpe"
+                    sh "make nuttx_px4fmu-v3_default"
+                    sh "make nuttx_px4fmu-v3_rtps"
+                    sh "make sizes"
+                    sh "ccache -s"
+                    archiveArtifacts(artifacts: 'build/*/*.px4', fingerprint: true)
+                  }
+                }
+              }
+            }
+          }
+
+
+          // nuttx default targets that are archived and uploaded to s3
+          for (def option in ["aerocore2", "auav-x21", "crazyflie", "mindpx-v2", "nxphlite-v3", "tap-v1"]) {
+            def node_name = "${option}"
+
+            builds["${node_name}"] = {
+              node {
+                stage("Build Test ${node_name}") {
+                  docker.image('px4io/px4-dev-nuttx:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                    stage("${node_name}") {
+                      checkout scm
+                      sh "make clean"
+                      sh "ccache -z"
+                      sh "git fetch --tags"
+                      sh "make nuttx_${node_name}_default"
+                      sh "make sizes"
+                      sh "ccache -s"
+                      archiveArtifacts(artifacts: 'build/*/*.px4', fingerprint: true)
+                    }
+                  }
+                }
+              }
+            }
+          }
+
+
+          // other nuttx default targets
+          for (def option in ["px4-same70xplained-v1", "px4-stm32f4discovery", "px4cannode-v1", "px4esc-v1", "px4nucleoF767ZI-v1", "s2740vc-v1"]) {
+            def node_name = "${option}"
+
+            builds["${node_name}"] = {
+              node {
+                stage("Build Test ${node_name}") {
+                  docker.image('px4io/px4-dev-nuttx:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                    stage("${node_name}") {
+                      checkout scm
+                      sh "make clean"
+                      sh "ccache -z"
+                      sh "make nuttx_${node_name}_default"
+                      sh "make sizes"
+                      sh "ccache -s"
+                    }
+                  }
+                }
+              }
+            }
+          }
+
+
+          // posix_sitl
+          for (def option in ["sitl_default", "sitl_rtps"]) {
+            def node_name = "${option}"
+
+            builds["${node_name}"] = {
+              node {
+                stage("Build Test ${node_name}") {
+                  docker.image('px4io/px4-dev-base:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                    stage("${node_name}") {
+                      checkout scm
+                      sh "make clean"
+                      sh "ccache -z"
+                      sh "make posix_${node_name}"
+                      sh "ccache -s"
+                    }
+                  }
+                }
+              }
+            }
+          }
+
+
+          // raspberry pi and bebop (armhf)
+          for (def option in ["rpi_cross", "bebop_default"]) {
+            def node_name = "${option}"
+
+            builds["${node_name}"] = {
+              node {
+                stage("Build Test ${node_name}") {
+                  docker.image('px4io/px4-dev-raspi:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                    stage("${node_name}") {
+                      checkout scm
+                      sh "make clean"
+                      sh "ccache -z"
+                      sh "make posix_${node_name}"
+                      sh "ccache -s"
+                    }
+                  }
+                }
+              }
+            }
+          }
+
+
+          // other armhf (to be merged with raspi and bebop)
+          for (def option in ["ocpoc_ubuntu"]) {
+            def node_name = "${option}"
+
+            builds["${node_name}"] = {
+              node {
+                stage("Build Test ${node_name}") {
+                  docker.image('px4io/px4-dev-armhf:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                    stage("${node_name}") {
+                      checkout scm
+                      sh "make clean"
+                      sh "ccache -z"
+                      sh "make posix_${node_name}"
+                      sh "ccache -s"
+                    }
+                  }
+                }
+              }
+            }
+          }
+
+
+          // snapdragon eagle (posix + qurt)
+          for (def option in ["eagle_default"]) {
+            def node_name = "${option}"
+
+            builds["${node_name}"] = {
+              node {
+                stage("Build Test ${node_name}") {
+                  docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
+                    docker.image("lorenzmeier/px4-dev-snapdragon:2017-10-23").inside {
+                      stage("${node_name}") {
+                        checkout scm
+                        sh "make clean"
+                        sh "ccache -z"
+                        sh "make ${node_name}"
+                        sh "ccache -s"
+                      }
+                    }
+                  }
+                }
+              }
+            }
+          }
+
+
+          // GCC7 posix
+          for (def option in ["sitl_default"]) {
+            def node_name = "${option}"
+
+            builds["${node_name} (GCC7)"] = {
+              node {
+                stage("Build Test ${node_name} (GCC7)") {
+                  docker.image('px4io/px4-dev-base-archlinux:2017-12-08').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                    stage("${node_name}") {
+                      checkout scm
+                      sh "make clean"
+                      sh "ccache -z"
+                      sh "make posix_${node_name}"
+                      sh "ccache -s"
+                    }
+                  }
+                }
+              }
+            }
+          }
+
+          // GCC7 nuttx
+          for (def option in ["px4fmu-v5_default"]) {
+            def node_name = "${option}"
+
+            builds["${node_name} (GCC7)"] = {
+              node {
+                stage("Build Test ${node_name} (GCC7)") {
+                  docker.image('px4io/px4-dev-base-archlinux:2017-12-08').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                    stage("${node_name}") {
+                      checkout scm
+                      sh "make clean"
+                      sh "ccache -z"
+                      sh "make nuttx_${node_name}"
+                      sh "ccache -s"
+                    }
+                  }
+                }
+              }
+            }
+          }
+
+          parallel builds
         }
       }
+    }
+
+    stage('Test') {
       parallel {
 
-        stage('Airframe') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
-          }
-          steps {
-            sh 'make distclean; git clean -ff -x -d .'
-            sh 'git fetch --all --tags'
-            sh 'make airframe_metadata'
-            dir('build/px4_sitl_default/docs') {
-              archiveArtifacts(artifacts: 'airframes.md, airframes.xml')
-              stash includes: 'airframes.md, airframes.xml', name: 'metadata_airframes'
-            }
-          }
-          post {
-            always {
-              sh 'make distclean; git clean -ff -x -d .'
-            }
-          }
-        }
-
-        stage('Parameter') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
-          }
-          steps {
-            sh 'make distclean; git clean -ff -x -d .'
-            sh 'git fetch --all --tags'
-            sh 'make parameters_metadata'
-            dir('build/px4_sitl_default/docs') {
-              archiveArtifacts(artifacts: 'parameters.md, parameters.xml, parameters.json.xz')
-              stash includes: 'parameters.md, parameters.xml, parameters.json.xz', name: 'metadata_parameters'
-            }
-          }
-          post {
-            always {
-              sh 'make distclean; git clean -ff -x -d .'
-            }
-          }
-        }
-
-        stage('Module') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
-          }
-          steps {
-            sh 'make distclean; git clean -ff -x -d .'
-            sh 'git fetch --all --tags'
-            sh 'make module_documentation'
-            dir('build/px4_sitl_default/docs') {
-              archiveArtifacts(artifacts: 'modules/*.md')
-              stash includes: 'modules/*.md', name: 'metadata_module_documentation'
-            }
-          }
-          post {
-            always {
-              sh 'make distclean; git clean -ff -x -d .'
-            }
-          }
-        }
-
-        stage('msg file docs') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
-          }
-          steps {
-            sh 'mkdir -p build/msg_docs; ./Tools/msg/generate_msg_docs.py -d build/msg_docs'
-            dir('build') {
-              archiveArtifacts(artifacts: 'msg_docs/*.md')
-              stash includes: 'msg_docs/*.md', name: 'msg_documentation'
-            }
-          }
-          post {
-            always {
-              sh 'make distclean; git clean -ff -x -d .'
-            }
-          }
-        }
-
-        stage('failsafe docs') {
-          agent {
-            docker { image 'px4io/px4-dev-nuttx-focal:2022-08-12' }
-          }
-          steps {
-            sh '''#!/bin/bash -l
-            echo $0;
-            git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk;
-            cd _emscripten_sdk;
-            ./emsdk install latest;
-            ./emsdk activate latest;
-            cd ..;
-            . ./_emscripten_sdk/emsdk_env.sh;
-            git fetch --all --tags;
-            make failsafe_web;
-            cd build/px4_sitl_default_failsafe_web;
-            mkdir -p failsafe_sim;
-            cp index.* parameters.json failsafe_sim;
-            '''
-            dir('build/px4_sitl_default_failsafe_web') {
-              archiveArtifacts(artifacts: 'failsafe_sim/*')
-              stash includes: 'failsafe_sim/*', name: 'failsafe_sim'
-            }
-          }
-          post {
-            always {
-              sh 'make distclean; git clean -ff -x -d .'
-            }
-          }
-        }
-
-        stage('uORB graphs') {
+        stage('check style') {
           agent {
             docker {
-              image 'px4io/px4-dev-nuttx-focal:2022-08-12'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+              image 'px4io/px4-dev-base:2017-10-23'
+              args '-e CI=true'
             }
           }
           steps {
-            sh 'export'
-            sh 'make distclean; git clean -ff -x -d .'
-            sh 'git fetch --all --tags'
-            sh 'make uorb_graphs'
-            dir('Tools/uorb_graph') {
-              archiveArtifacts(artifacts: 'graph_*.json')
-              stash includes: 'graph_*.json', name: 'uorb_graph'
-            }
-          }
-          post {
-            always {
-              sh 'make distclean; git clean -ff -x -d .'
-            }
+            sh 'make check_format'
           }
         }
 
-      } // parallel
-    } // stage: Generate Metadata
+        stage('clang analyzer') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-clang:2017-10-23'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
+            }
+          }
+          steps {
+            sh 'make clean'
+            sh 'make scan-build'
+            // publish html
+            publishHTML target: [
+              reportTitles: 'clang static analyzer',
+              allowMissing: false,
+              alwaysLinkToLastBuild: true,
+              keepAll: true,
+              reportDir: 'build/scan-build/report_latest',
+              reportFiles: '*',
+              reportName: 'Clang Static Analyzer'
+            ]
+          }
+        }
 
-    stage('Deploy') {
+        stage('clang tidy') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-clang:2017-10-23'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
+            }
+          }
+          steps {
+            sh 'make clean'
+            sh 'make clang-tidy-quiet'
+          }
+        }
+
+        stage('cppcheck') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-base:ubuntu17.10'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
+            }
+          }
+          steps {
+            sh 'make clean'
+            sh 'make cppcheck'
+            // publish html
+            publishHTML target: [
+              reportTitles: 'Cppcheck',
+              allowMissing: false,
+              alwaysLinkToLastBuild: true,
+              keepAll: true,
+              reportDir: 'build/cppcheck/',
+              reportFiles: '*',
+              reportName: 'Cppcheck'
+            ]
+          }
+        }
+
+        stage('tests') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-base:2017-10-23'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
+            }
+          }
+          steps {
+            sh 'make clean'
+            sh 'make posix_sitl_default test_results_junit'
+            junit 'build/posix_sitl_default/JUnitTestResults.xml'
+          }
+        }
+
+        // temporarily disabled until stable
+        //stage('tests coverage') {
+        //  agent {
+        //    docker {
+        //      image 'px4io/px4-dev-base:2017-10-23'
+        //      args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
+        //    }
+        //  }
+        //  steps {
+        //    sh 'make clean'
+        //    sh 'make tests_coverage'
+        //    // publish html
+        //    publishHTML target: [
+        //      allowMissing: false,
+        //      alwaysLinkToLastBuild: false,
+        //      keepAll: true,
+        //      reportDir: 'build/posix_sitl_default/coverage-html',
+        //      reportFiles: '*',
+        //      reportName: 'Coverage Report'
+        //    ]
+        //  }
+        //}
+
+      }
+    }
+
+    stage('Generate Metadata') {
 
       parallel {
 
-        stage('Userguide') {
+        stage('airframe') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+            docker { image 'px4io/px4-dev-base:2017-10-23' }
           }
           steps {
-            sh('export')
-            unstash 'metadata_airframes'
-            unstash 'metadata_parameters'
-            unstash 'metadata_module_documentation'
-            unstash 'msg_documentation'
-            unstash 'failsafe_sim'
-            unstash 'uorb_graph'
-            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/PX4-user_guide.git')
-              sh('cp airframes.md PX4-user_guide/en/airframes/airframe_reference.md')
-              sh('cp parameters.md PX4-user_guide/en/advanced_config/parameter_reference.md')
-              sh('cp -R modules/*.md PX4-user_guide/en/modules/')
-              sh('cp -R graph_*.json PX4-user_guide/public/middleware/')  // vitepress
-              sh('cp -R msg_docs/*.md PX4-user_guide/en/msg_docs/')
-              sh('cp -R failsafe_sim/* PX4-user_guide/public/config/failsafe')  // vitepress
-              sh('cd PX4-user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
-              sh('cd PX4-user_guide; git push origin main || true')
-              sh('rm -rf PX4-user_guide')
-            }
-          }
-          when {
-            anyOf {
-              branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
-              branch 'pr-jenkins' // for testing
-            }
-          }
-          options {
-            skipDefaultCheckout()
+            sh 'make airframe_metadata'
+            archiveArtifacts(artifacts: 'airframes.md, airframes.xml', fingerprint: true)
           }
         }
 
-        stage('QGroundControl') {
+        stage('parameter') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+            docker { image 'px4io/px4-dev-base:2017-10-23' }
           }
           steps {
-            sh('export')
-            unstash 'metadata_airframes'
-            unstash 'metadata_parameters'
-            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/mavlink/qgroundcontrol.git')
-              sh('cp airframes.xml qgroundcontrol/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml')
-              sh('cp parameters.xml qgroundcontrol/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml')
-              sh('cd qgroundcontrol; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
-              sh('cd qgroundcontrol; git push origin master || true')
-              sh('rm -rf qgroundcontrol')
-            }
-          }
-          when {
-            anyOf {
-              branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
-              branch 'pr-jenkins' // for testing
-            }
-          }
-          options {
-            skipDefaultCheckout()
+            sh 'make parameters_metadata'
+            archiveArtifacts(artifacts: 'parameters.md, parameters.xml', fingerprint: true)
           }
         }
 
-        stage('PX4 ROS msgs') {
+        stage('module') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+            docker { image 'px4io/px4-dev-base:2017-10-23' }
           }
           steps {
-            sh('export')
-            sh('make distclean; git clean -ff -x -d .')
-            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
-              // 'main' branch
-              sh('rm -f px4_msgs/msg/*.msg')
-              sh('rm -f px4_msgs/msg/versioned/*.msg')
-              sh('rm -f px4_msgs/srv/*.srv')
-              sh('rm -f px4_msgs/srv/versioned/*.srv')
-              sh('cp msg/*.msg px4_msgs/msg/')
-              sh('cp msg/versioned/*.msg px4_msgs/msg/ || true')
-              sh('cp srv/*.srv px4_msgs/srv/')
-              sh('cp srv/versioned/*.srv px4_msgs/srv/ || true')
-              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
-              sh('cd px4_msgs; git push origin main || true')
-              sh('rm -rf px4_msgs')
-            }
-          }
-          when {
-            anyOf {
-              branch 'main'
-            }
+            sh 'make module_documentation'
+            archiveArtifacts(artifacts: 'modules/*.md', fingerprint: true)
           }
         }
+      }
+    }
 
-        stage('S3') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
-          }
-          steps {
-            sh('export')
-            unstash 'metadata_airframes'
-            unstash 'metadata_parameters'
-            sh('ls')
-            withAWS(credentials: 'px4_aws_s3_key', region: 'us-east-1') {
-              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'airframes.xml', path: 'Firmware/master/')
-              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.xml', path: 'Firmware/master/')
-              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.json.xz', path: 'Firmware/master/')
-            }
-          }
-          when {
-            anyOf {
-              branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
-              branch 'pr-jenkins' // for testing
-            }
-          }
-          options {
-            skipDefaultCheckout()
-          }
+    stage('S3 Upload') {
+      agent {
+        docker { image 'px4io/px4-dev-base:2017-10-23' }
+      }
+
+      when {
+        anyOf {
+          branch 'master'
+          branch 'beta'
+          branch 'stable'
         }
+      }
 
-      } // parallel
-    } // stage: Generate Metadata
-
-  } // stages
-
-  environment {
-    CCACHE_DIR = '/tmp/ccache'
-    CI = true
-    GIT_AUTHOR_EMAIL = "bot@px4.io"
-    GIT_AUTHOR_NAME = "PX4BuildBot"
-    GIT_COMMITTER_EMAIL = "bot@px4.io"
-    GIT_COMMITTER_NAME = "PX4BuildBot"
+      steps {
+        sh 'echo "uploading to S3"'
+      }
+    }
   }
+
   options {
-    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '30'))
-    timeout(time: 90, unit: 'MINUTES')
+    buildDiscarder(logRotator(numToKeepStr: '5'))
+    timeout(time: 60, unit: 'MINUTES')
   }
 }

Kconfig

@@ -1,213 +0,0 @@
-# PX4 Firmware Configuration
-
-
-mainmenu "PX4 Firmware Configuration"
-
-comment "Vendor: $(VENDOR)"
-comment "Model: $(MODEL)"
-comment "Label: $(LABEL)"
-
-menu "Toolchain"
-    choice
-        prompt "Platform"
-        default PLATFORM_NUTTX
-        config PLATFORM_NUTTX
-            bool "nuttx"
-        config PLATFORM_POSIX
-            bool "posix"
-        config PLATFORM_QURT
-            bool "qurt"
-        config PLATFORM_ROS2
-            bool "ros2"
-    endchoice
-
-    config BOARD_PLATFORM
-        string
-        default "nuttx" if PLATFORM_NUTTX
-        default "posix" if PLATFORM_POSIX
-        default "qurt" if PLATFORM_QURT
-        default "ros2" if PLATFORM_ROS2
-
-    config BOARD_LOCKSTEP
-        bool "Force enable lockstep"
-        depends on PLATFORM_POSIX
-        help
-            forces lockstep behaviour, despite REPLAY env variable
-
-    config BOARD_NOLOCKSTEP
-        bool "Force disable lockstep"
-        depends on PLATFORM_POSIX
-        help
-            forces nolockstep behaviour, despite REPLAY env variable
-
-    config BOARD_LINUX_TARGET
-        bool "Linux OS Target"
-        depends on PLATFORM_POSIX
-        help
-            Board Platform is running the Linux operating system
-
-    config BOARD_TOOLCHAIN
-        string "Toolchain"
-        default ""
-
-    config BOARD_ARCHITECTURE
-        string "Architecture"
-        default ""
-
-    config BOARD_LTO
-        bool "(EXPERIMENTAL) Link Time Optimization (LTO)"
-        default n
-        help
-            Enables LTO flag in linker
-            Note: Highly EXPERIMENTAL, furthermore make sure you're using a modern compiler GCC 9 or later
-
-    config BOARD_FULL_OPTIMIZATION
-        bool "Full optmization (O3)"
-        default n
-        help
-            Enables Cmake Release for -O3 optimization
-
-    config BOARD_ROMFSROOT
-        string "ROMFSROOT"
-        default "px4fmu_common"
-        help
-            relative path to the ROMFS root directory
-
-    config BOARD_IO
-        string "IO board name"
-        default "px4_io-v2_default"
-        depends on DRIVERS_PX4IO
-        help
-            name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT)
-
-    config BOARD_CONSTRAINED_FLASH
-        bool "Contrained flash"
-        help
-            flag to enable constrained flash options (eg limit init script status text)
-
-    config BOARD_NO_HELP
-        bool "No help"
-        help
-            optional condition flag to disable help text on constrained flash systems
-
-    config BOARD_CONSTRAINED_MEMORY
-        bool "Contrained memory"
-        help
-            flag to enable constrained memory options (eg limit maximum number of uORB publications)
-
-    config BOARD_EXTERNAL_METADATA
-        bool "External metadata"
-        help
-            flag to exclude metadata to reduce flash
-
-    config BOARD_LINKER_PREFIX
-        string "linker prefix"
-        help
-            optional to prefix on the Linker script.
-
-    config BOARD_COMPILE_DEFINITIONS
-        string "add custom compile definitions"
-        help
-            add custom compile defitions to this specific target
-endmenu #Toolchain
-
-config BOARD_TESTING
-    bool "Testing"
-    select SYSTEMCMDS_TESTS
-    help
-        flag to enable automatic inclusion of PX4 testing modules
-
-
-config BOARD_ETHERNET
-    bool "Ethernet"
-    help
-        flag to indicate that ethernet is enabled
-
-config BOARD_CRYPTO
-    bool "Crypto support"
-    help
-        Enable PX4 Crypto Support. Select the implementation under drivers
-
-config BOARD_PROTECTED
-    bool "Memory protection"
-    help
-        Enable memory protection via MPU/MMU
-
-menu "Serial ports"
-
-    config BOARD_SERIAL_URT6
-        string "URT6 tty port"
-
-    config BOARD_SERIAL_GPS1
-        string "GPS1 tty port"
-
-    config BOARD_SERIAL_GPS2
-        string "GPS2 tty port"
-
-    config BOARD_SERIAL_GPS3
-        string "GPS3 tty port"
-
-    config BOARD_SERIAL_GPS4
-        string "GPS4 tty port"
-
-    config BOARD_SERIAL_GPS5
-        string "GPS5 tty port"
-
-    config BOARD_SERIAL_TEL1
-        string "TEL1 tty port"
-
-    config BOARD_SERIAL_TEL2
-        string "TEL2 tty port"
-
-    config BOARD_SERIAL_TEL3
-        string "TEL3 tty port"
-
-    config BOARD_SERIAL_TEL4
-        string "TEL4 tty port"
-
-    config BOARD_SERIAL_TEL5
-        string "TEL5 tty port"
-
-    config BOARD_SERIAL_RC
-        string "RC tty port"
-
-    config BOARD_SERIAL_WIFI
-        string "WIFI tty port"
-
-    config BOARD_SERIAL_EXT2
-        string "EXT2 tty port"
-endmenu
-
-menu "File paths"
-
-    config BOARD_ROOT_PATH
-        string "PX4 Root file path"
-        default "/fs/microsd"
-
-    config BOARD_PARAM_FILE
-        string "Parameter file"
-        default "/fs/mtd_params"
-endmenu
-
-menu "drivers"
-source "src/drivers/Kconfig"
-endmenu
-
-menu "modules"
-source "src/modules/Kconfig"
-endmenu
-
-menu "systemcmds"
-source "src/systemcmds/Kconfig"
-endmenu
-
-menu "examples"
-source "src/examples/Kconfig"
-endmenu
-
-menu "platforms"
-depends on PLATFORM_QURT || PLATFORM_POSIX
-source "platforms/common/Kconfig"
-endmenu
-
-source "src/lib/*/Kconfig"

LICENSE

@@ -1,6 +1,6 @@
 BSD 3-Clause License
 
-Copyright (c) 2012 - 2023, PX4 Development Team
+Copyright (c) 2012 - 2017, PX4 Development Team
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

MAINTAINERS.md

@@ -1,42 +0,0 @@
-Maintainers
-===========
-
-See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/maintainers.html) to learn about the role of the maintainers and the process to become one.
-
-**Active Maintainers**
-
-| Name                    | Sector | GitHub | Chat | email
-|-------------------------|--------|--------|------|----------------
-| Lorenz Meier | Founder | [LorenzMeier][LorenzMeier] |  | <lorenz@px4.io>
-| Daniel Agar | Architecture | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
-| Beat Küng | Architecture | [bkueng][bkueng] | beatkueng | <beat-kueng@gmx.net>
-| Ramón Roche | CI / Testing | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
-| Mathieu Bresciani | State Estimation | [bresch][bresch] | mbresch |
-| Paul Riseborough | State Estimation | [priseborough][priseborough] |  |
-| David Sidrane | RTOS / NuttX | [davids5][davids5] | david_s5 | <David.Sidrane@Nscdg.com>
-| Jayoung Lim | Simulation | [Jaeyoung-Lim][Jaeyoung-Lim] | jaeyounglim. | <jalim@ethz.ch>
-| Beniamino Pozzan | ROS 2 | [beniaminopozzan][beniaminopozzan] | beniaminopozzan | <beniamino.pozzan@gmail.com>
-| Matthias Grob | Multirotor | [MaEtUgR][MaEtUgR] | maetugr |
-| Silvan Fuhrer | Fixed-Wing / VTOL | [sfuhrer][sfuhrer] | sfuhrer |
-| Christian Friedrich | Rover | [chfriedrich98][chfriedrich98] | christian982564 |
-| Pedro Roque | Spacecraft | [Pedro-Roque][Pedro-Roque] | .pedroroque | <padr@kth.se>
-
-
-**Documentation Maintainers**
-
-| Name | GitHub | Chat | email
-|------|--------|------|----------------------
-| Hamish Willee  | [hamishwillee][hamishwillee] | hamishwillee |
-
-**Release Managers**
-
-| Name | GitHub | Chat | email
-|------|--------|------|----------------------
-| Ramón Roche | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
-| Daniel Agar | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
-
-**Retired Maintainers**
-
-| Name | GitHub | Chat | email
-|------|--------|------|----------------------
-|  |  |  |

Makefile

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 - 2024 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 - 2017 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -48,23 +48,16 @@ endif
 #
 # Example usage:
 #
-# make px4_fmu-v2_default 			(builds)
-# make px4_fmu-v2_default upload 	(builds and uploads)
-# make px4_fmu-v2_default test 		(builds and tests)
+# make px4fmu-v2_default 			(builds)
+# make px4fmu-v2_default upload 	(builds and uploads)
+# make px4fmu-v2_default test 		(builds and tests)
 #
-# This tells cmake to build the nuttx px4_fmu-v2 default config in the
-# directory build/px4_fmu-v2_default and then call make
+# This tells cmake to build the nuttx px4fmu-v2 default config in the
+# directory build/nuttx_px4fmu-v2_default and then call make
 # in that directory with the target upload.
 
-# explicity set default build target
-all: px4_sitl_default
-
-# define a space character to be able to explicitly find it in strings
-space := $(subst ,, )
-
-define make_list
-     $(shell [ -f .github/workflows/compile_${1}.yml ] && cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
-endef
+#  explicity set default build target
+all: posix_sitl_default
 
 # Parsing
 # --------------------------------------------------------------------
@@ -73,14 +66,7 @@ endef
 # by cmake in the subdirectory
 FIRST_ARG := $(firstword $(MAKECMDGOALS))
 ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
-
-# Get -j or --jobs argument as suggested in:
-# https://stackoverflow.com/a/33616144/8548472
-MAKE_PID := $(shell echo $$PPID)
-j := $(shell ps T | sed -n 's|.*$(MAKE_PID).*$(MAKE).* \(-j\|--jobs\) *\([0-9][0-9]*\).*|\2|p')
-
-# Default j for clang-tidy
-j_clang_tidy := $(or $(j),4)
+j ?= 4
 
 NINJA_BIN := ninja
 ifndef NO_NINJA_BUILD
@@ -101,11 +87,6 @@ ifdef NINJA_BUILD
 	else
 		PX4_MAKE_ARGS :=
 	endif
-
-	# Only override ninja default if -j is set.
-	ifneq ($(j),)
-		PX4_MAKE_ARGS := $(PX4_MAKE_ARGS) -j$(j)
-	endif
 else
 	ifdef SYSTEMROOT
 		# Windows
@@ -113,14 +94,11 @@ else
 	else
 		PX4_CMAKE_GENERATOR := "Unix\ Makefiles"
 	endif
-
-	# For non-ninja builds we default to -j4
-	j := $(or $(j),4)
 	PX4_MAKE = $(MAKE)
 	PX4_MAKE_ARGS = -j$(j) --no-print-directory
 endif
 
-SRC_DIR := $(shell dirname "$(realpath $(lastword $(MAKEFILE_LIST)))")
+SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST))))
 
 # check if replay env variable is set & set build dir accordingly
 ifdef replay
@@ -129,94 +107,36 @@ else
 	BUILD_DIR_SUFFIX :=
 endif
 
-CMAKE_ARGS ?=
-
 # additional config parameters passed to cmake
 ifdef EXTERNAL_MODULES_LOCATION
-	override CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
+	CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
 endif
 
 ifdef PX4_CMAKE_BUILD_TYPE
-	override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
-else
-
-	# Address Sanitizer
-	ifdef PX4_ASAN
-		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=AddressSanitizer
-	endif
-
-	# Memory Sanitizer
-	ifdef PX4_MSAN
-		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=MemorySanitizer
-	endif
-
-	# Thread Sanitizer
-	ifdef PX4_TSAN
-		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=ThreadSanitizer
-	endif
-
-	# Undefined Behavior Sanitizer
-	ifdef PX4_UBSAN
-		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
-	endif
-
-	# Fuzz Testing
-	ifdef PX4_FUZZ
-		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
-	endif
-
-endif
-
-# Pick up specific Python path if set
-ifdef PYTHON_EXECUTABLE
-	override CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
+	CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
 endif
 
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-	$(eval override CMAKE_ARGS += -DCONFIG=$(1))
-	@$(eval BUILD_DIR = "$(SRC_DIR)/build/$(1)")
-	@# check if the desired cmake configuration matches the cache then CMAKE_CACHE_CHECK stays empty
-	@$(call cmake-cache-check)
-	@# make sure to start from scratch when switching from GNU Make to Ninja
-	@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
-	@# make sure to start from scratch if ninja build file is missing
-	@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ ! -f $(BUILD_DIR)/build.ninja ]; then rm -rf $(BUILD_DIR); fi
-	@# only excplicitly configure the first build, if cache file already exists the makefile will rerun cmake automatically if necessary
-	@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ] || [ $(CMAKE_CACHE_CHECK) ]; then \
-		mkdir -p $(BUILD_DIR) \
-		&& cd $(BUILD_DIR) \
-		&& cmake "$(SRC_DIR)" -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) \
-		|| (rm -rf $(BUILD_DIR)); \
-	fi
-	@# run the build for the specified target
-	@cmake --build $(BUILD_DIR) -- $(PX4_MAKE_ARGS) $(ARGS)
++@$(eval BUILD_DIR = $(SRC_DIR)/build/$@$(BUILD_DIR_SUFFIX))
++@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
++@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(2) -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) -DCONFIG=$(1) || (rm -rf $(BUILD_DIR)); fi
++@(cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
 endef
 
-# check if the options we want to build with in CMAKE_ARGS match the ones which are already configured in the cache inside BUILD_DIR
-define cmake-cache-check
-	@# change to build folder which fails if it doesn't exist and CACHED_CMAKE_OPTIONS stays empty
-	@# fetch all previously configured and cached options from the build folder and transform them into the OPTION=VALUE format without type (e.g. :BOOL)
-	@$(eval CACHED_CMAKE_OPTIONS = $(shell cd $(BUILD_DIR) 2>/dev/null && cmake -L 2>/dev/null | sed -n 's|\([^[:blank:]]*\):[^[:blank:]]*\(=[^[:blank:]]*\)|\1\2|gp' ))
-	@# transform the options in CMAKE_ARGS into the OPTION=VALUE format without -D
-	@$(eval DESIRED_CMAKE_OPTIONS = $(shell echo $(CMAKE_ARGS) | sed -n 's|-D\([^[:blank:]]*=[^[:blank:]]*\)|\1|gp' ))
-	@# find each currently desired option in the already cached ones making sure the complete configured string value is the same
-	@$(eval VERIFIED_CMAKE_OPTIONS = $(foreach option,$(DESIRED_CMAKE_OPTIONS),$(strip $(findstring $(option)$(space),$(CACHED_CMAKE_OPTIONS)))))
-	@# if the complete list of desired options is found in the list of verified options we don't need to reconfigure and CMAKE_CACHE_CHECK stays empty
-	@$(eval CMAKE_CACHE_CHECK = $(if $(findstring $(DESIRED_CMAKE_OPTIONS),$(VERIFIED_CMAKE_OPTIONS)),,y))
-endef
-
-COLOR_BLUE = \033[0;94m
+COLOR_BLUE = \033[0;34m
 NO_COLOR   = \033[m
 
 define colorecho
-+@echo -e '${COLOR_BLUE}${1} ${NO_COLOR}'
++@echo "${COLOR_BLUE}${1} ${NO_COLOR}"
 endef
 
-# Get a list of all config targets boards/*/*.px4board
-ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 -name '*.px4board' -print | sed -e 's|boards\/||' | sed -e 's|\.px4board||' | sed -e 's|\/|_|g' | sort)
+# Get a list of all config targets cmake/configs/*.cmake
+ALL_CONFIG_TARGETS := $(basename $(shell find "$(SRC_DIR)/cmake/configs" -maxdepth 1 ! -name '*_common*' ! -name '*_sdflight_*' -name '*.cmake' -print | sed  -e 's:^.*/::' | sort))
+# Strip off leading nuttx_
+NUTTX_CONFIG_TARGETS := $(patsubst nuttx_%,%,$(filter nuttx_%,$(ALL_CONFIG_TARGETS)))
 
 # ADD CONFIGS HERE
 # --------------------------------------------------------------------
@@ -224,376 +144,250 @@ ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 -name '*.px4bo
 
 # All targets.
 $(ALL_CONFIG_TARGETS):
-	@$(call cmake-build,$@$(BUILD_DIR_SUFFIX))
+	$(call cmake-build,$@,$(SRC_DIR))
 
-# Filter for only default targets to allow omiting the "_default" postfix
-CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG_TARGETS)))
-$(CONFIG_TARGETS_DEFAULT):
-	@$(call cmake-build,$@_default$(BUILD_DIR_SUFFIX))
+# Abbreviated config targets.
 
-all_config_targets: $(ALL_CONFIG_TARGETS)
-all_default_targets: $(CONFIG_TARGETS_DEFAULT)
+# nuttx_ is left off by default; provide a rule to allow that.
+$(NUTTX_CONFIG_TARGETS):
+	$(call cmake-build,nuttx_$@,$(SRC_DIR))
 
-updateconfig:
-	@./Tools/kconfig/updateconfig.py
+all_nuttx_targets: $(NUTTX_CONFIG_TARGETS)
 
-# board reorganization deprecation warnings (2018-11-22)
-define deprecation_warning
-	$(warning $(1) has been deprecated and will be removed, please use $(2)!)
-endef
+posix: posix_sitl_default
+broadcast: posix_sitl_broadcast
 
 # All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
-.PHONY: all px4_sitl_default all_config_targets all_default_targets
+.PHONY: all posix broadcast all_nuttx_targets
+
+# Multi- config targets.
+eagle_default: posix_eagle_default qurt_eagle_default
+eagle_rtps: posix_eagle_rtps qurt_eagle_default
+eagle_legacy_default: posix_eagle_legacy qurt_eagle_legacy
+excelsior_default: posix_excelsior_default qurt_excelsior_default
+excelsior_rtps: posix_excelsior_rtps qurt_excelsior_default
+excelsior_legacy_default: posix_excelsior_legacy qurt_excelsior_legacy
+
+.PHONY: eagle_default eagle_rtps eagle_legacy_default
+.PHONY: excelsior_default excelsior_rtps excelsior_legacy_default
 
 # Other targets
 # --------------------------------------------------------------------
 
-.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware
+.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware alt_firmware check_rtps
 
 # QGroundControl flashable NuttX firmware
 qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
 
 # px4fmu NuttX firmware
 px4fmu_firmware: \
-	check_px4_io-v2_default \
-	check_px4_fmu-v2_default \
-	check_px4_fmu-v3_default \
-	check_px4_fmu-v4_default \
-	check_px4_fmu-v4pro_default \
-	check_px4_fmu-v5_default \
-	check_px4_fmu-v5x_default \
+	check_px4io-v2_default \
+	check_px4fmu-v2_default \
+	check_px4fmu-v3_default \
+	check_px4fmu-v4_default \
+	check_px4fmu-v4pro_default \
+	check_px4fmu-v5_default \
 	sizes
 
 misc_qgc_extra_firmware: \
-	check_nxp_fmuk66-v3_default \
-	check_mro_x21_default \
-	check_bitcraze_crazyflie_default \
-	check_bitcraze_crazyflie21_default \
-	check_airmind_mindpx-v2_default \
+	check_aerocore2_default \
+	check_aerofc-v1_default \
+	check_auav-x21_default \
+	check_crazyflie_default \
+	check_mindpx-v2_default \
+	check_px4fmu-v2_lpe \
+	check_tap-v1_default \
 	sizes
 
-.PHONY: sizes check quick_check uorb_graphs
+# Other NuttX firmware
+alt_firmware: \
+	check_nxphlite-v3_default \
+	check_px4-same70xplained-v1_default \
+	check_px4-stm32f4discovery_default \
+	check_px4cannode-v1_default \
+	check_px4esc-v1_default \
+	check_px4nucleoF767ZI-v1_default \
+	check_s2740vc-v1_default \
+	sizes
+
+# builds with RTPS
+check_rtps: \
+	check_px4fmu-v3_rtps \
+	check_px4fmu-v4_rtps \
+	check_px4fmu-v4pro_rtps \
+	check_posix_sitl_rtps \
+	sizes
+
+.PHONY: sizes check quick_check check_rtps uorb_graphs
 
 sizes:
 	@-find build -name *.elf -type f | xargs size 2> /dev/null || :
 
 # All default targets that don't require a special build environment
-check: check_px4_sitl_default px4fmu_firmware misc_qgc_extra_firmware tests check_format
+check: check_posix_sitl_default px4fmu_firmware misc_qgc_extra_firmware alt_firmware tests check_format
 
-# quick_check builds a single nuttx and SITL target, runs testing, and checks the style
-quick_check: check_px4_sitl_test check_px4_fmu-v5_default tests check_format
+# quick_check builds a single nuttx and posix target, runs testing, and checks the style
+quick_check: check_posix_sitl_default check_px4fmu-v4pro_default tests check_format
 
 check_%:
 	@echo
-	$(call colorecho,'Building' $(subst check_,,$@))
+	$(call colorecho,"Building" $(subst check_,,$@))
 	@$(MAKE) --no-print-directory $(subst check_,,$@)
 	@echo
 
-all_variants_%:
-	@echo 'Building all $(subst all_variants_,,$@) variants:'  $(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS))
-	@echo
-	$(foreach a,$(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS)), $(call cmake-build,$(a)$(BUILD_DIR_SUFFIX)))
-
 uorb_graphs:
-	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --merge-depends --file Tools/uorb_graph/graph_full
-	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --exclude-path src/modules/mavlink --merge-depends --file Tools/uorb_graph/graph_full_no_mavlink
-	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
-	@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
-	@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
-	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
+	@./Tools/uorb_graph/create_from_startupscript.sh
+	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --file Tools/uorb_graph/graph_full
+	@$(MAKE) --no-print-directory px4fmu-v2_default uorb_graph
+	@$(MAKE) --no-print-directory px4fmu-v4_default uorb_graph
+	@$(MAKE) --no-print-directory posix_sitl_default uorb_graph
 
-px4io_update:
-	@$(MAKE) --no-print-directory px4_io-v2_default
-	@$(MAKE) --no-print-directory cubepilot_io-v2_default
-	# px4_io-v2_default
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/ark/fmu-v6x/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/pix32v5/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21-777/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v2/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v3/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5x/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6x/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6c/extras/px4_io-v2_default.bin
-	# cubepilot_io-v2_default
-	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin
-	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
-	git status
-
-bootloaders_update: \
-	3dr_ctrl-zero-h7-oem-revg_bootloader \
-	ark_fmu-v6x_bootloader \
-	ark_fpv_bootloader \
-	ark_pi6x_bootloader \
-	cuav_nora_bootloader \
-	cuav_x7pro_bootloader \
-	cuav_7-nano_bootloader \
-	cubepilot_cubeorange_bootloader \
-	cubepilot_cubeorangeplus_bootloader \
-	hkust_nxt-dual_bootloader \
-	hkust_nxt-v1_bootloader \
-	holybro_durandal-v1_bootloader \
-	holybro_kakuteh7_bootloader \
-	holybro_kakuteh7mini_bootloader \
-	holybro_kakuteh7v2_bootloader \
-	matek_h743_bootloader \
-	matek_h743-mini_bootloader \
-	matek_h743-slim_bootloader \
-        micoair_h743_bootloader \
-        micoair_h743-aio_bootloader \
-	micoair_h743-v2_bootloader \
-	modalai_fc-v2_bootloader \
-	mro_ctrl-zero-classic_bootloader \
-	mro_ctrl-zero-h7_bootloader \
-	mro_ctrl-zero-h7-oem_bootloader \
-	mro_pixracerpro_bootloader \
-	px4_fmu-v6c_bootloader \
-	px4_fmu-v6u_bootloader \
-	px4_fmu-v6x_bootloader \
-	px4_fmu-v6xrt_bootloader \
-	siyi_n7_bootloader
-	git status
 
 .PHONY: coverity_scan
 
-coverity_scan: px4_sitl_default
+coverity_scan: posix_sitl_default
 
 # Documentation
 # --------------------------------------------------------------------
-.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata doxygen
+.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata
 
 parameters_metadata:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen
+	@python $(SRC_DIR)/src/modules/systemlib/param/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 3 -type d` --inject-xml $(SRC_DIR)/src/modules/systemlib/param/parameters_injected.xml --markdown
+	@python $(SRC_DIR)/src/modules/systemlib/param/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 3 -type d` --inject-xml $(SRC_DIR)/src/modules/systemlib/param/parameters_injected.xml --xml
 
 airframe_metadata:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes ver_gen
+	@python $(SRC_DIR)/Tools/px_process_airframes.py -v -a $(SRC_DIR)/ROMFS/px4fmu_common/init.d --markdown
+	@python $(SRC_DIR)/Tools/px_process_airframes.py -v -a $(SRC_DIR)/ROMFS/px4fmu_common/init.d --xml
 
 module_documentation:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_module_documentation
+	@python $(SRC_DIR)/Tools/px_process_module_doc.py -v --markdown $(SRC_DIR)/modules --src-path $(SRC_DIR)/src
 
-extract_events:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_extract_events ver_gen
+px4_metadata: parameters_metadata airframe_metadata module_documentation
 
-px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events
-
-doxygen:
-	@mkdir -p "$(SRC_DIR)"/build/doxygen
-	@cd "$(SRC_DIR)"/build/doxygen && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DBUILD_DOXYGEN=ON
-	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
-	@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll
-
-# Style
+# Astyle
 # --------------------------------------------------------------------
-.PHONY: check_format format check_newlines
+.PHONY: check_format format
 
 check_format:
-	$(call colorecho,'Checking formatting with astyle')
-	@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh
-	@cd "$(SRC_DIR)" && git diff --check
+	$(call colorecho,"Checking formatting with astyle")
+	@$(SRC_DIR)/Tools/astyle/check_code_style_all.sh
+	@cd $(SRC_DIR) && git diff --check
 
 format:
-	$(call colorecho,'Formatting with astyle')
-	@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh --fix
-
-check_newlines:
-	$(call colorecho,'Checking for missing or duplicate newlines at the end of files')
-	@"$(SRC_DIR)"/Tools/astyle/check_newlines.sh
+	$(call colorecho,"Formatting with astyle")
+	@$(SRC_DIR)/Tools/astyle/check_code_style_all.sh --fix
 
 # Testing
 # --------------------------------------------------------------------
-.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard
-.PHONY: rostest python_coverage
+.PHONY: tests tests_coverage
 
 tests:
-	$(eval override CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
-	$(eval ARGS += test_results)
-	$(eval ASAN_OPTIONS += color=always:check_initialization_order=1:detect_stack_use_after_return=1)
-	$(eval UBSAN_OPTIONS += color=always)
-	$(call cmake-build,px4_sitl_test)
+	@$(MAKE) --no-print-directory posix_sitl_default test_results \
+	ASAN_OPTIONS="color=always:check_initialization_order=1:detect_stack_use_after_return=1" \
+	UBSAN_OPTIONS="color=always"
 
 tests_coverage:
-	@$(MAKE) clean
-	@$(MAKE) --no-print-directory tests PX4_CMAKE_BUILD_TYPE=Coverage
-	@mkdir -p coverage
-	@lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
-
-
-rostest: px4_sitl_default
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
-
-tests_integration: px4_sitl_default
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
-	@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
-	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
-
-tests_integration_coverage:
-	@$(MAKE) clean
-	@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
-	@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
-	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
-	@mkdir -p coverage
-	@lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-
-tests_mission: rostest
-	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_missions.test
-
-rostest_run: px4_sitl_default
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
-	@"$(SRC_DIR)"/test/rostest_px4_run.sh $(TEST_FILE) mission:=$(TEST_MISSION) vehicle:=$(TEST_VEHICLE)
-
-tests_mission_coverage:
-	@$(MAKE) clean
-	@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic PX4_CMAKE_BUILD_TYPE=Coverage
-	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=VTOL_mission_1 vehicle:=standard_vtol
-	@$(MAKE) --no-print-directory px4_sitl_default generate_coverage
-
-tests_offboard: rostest
-	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
-	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
-	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_rpyrt_ctl.test
-
-python_coverage:
-	@mkdir -p "$(SRC_DIR)"/build/python_coverage
-	@cd "$(SRC_DIR)"/build/python_coverage && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DPYTHON_COVERAGE=ON
-	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage
-	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage metadata_airframes
-	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage metadata_parameters
-	#@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage module_documentation # TODO: fix within coverage.py
-	@coverage combine `find . -name .coverage\*`
-	@coverage report -m
-
+	@$(MAKE) --no-print-directory posix_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
+	@echo "Open $(SRC_DIR)/build/posix_sitl_default/coverage-html/index.html to see coverage"
 
 # static analyzers (scan-build, clang-tidy, cppcheck)
 # --------------------------------------------------------------------
-.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet
-.PHONY: cppcheck shellcheck_all validate_module_configs
+.PHONY: scan-build posix_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck check_stack
 
 scan-build:
 	@export CCC_CC=clang
 	@export CCC_CXX=clang++
-	@rm -rf "$(SRC_DIR)"/build/px4_sitl_default-scan-build
-	@rm -rf "$(SRC_DIR)"/build/scan-build/report_latest
-	@mkdir -p "$(SRC_DIR)"/build/px4_sitl_default-scan-build
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-scan-build && scan-build cmake "$(SRC_DIR)" -GNinja -DCONFIG=px4_sitl_default
-	@scan-build -o "$(SRC_DIR)"/build/scan-build cmake --build "$(SRC_DIR)"/build/px4_sitl_default-scan-build
-	@find "$(SRC_DIR)"/build/scan-build -maxdepth 1 -mindepth 1 -type d -exec cp -r "{}" "$(SRC_DIR)"/build/scan-build/report_latest \;
+	@rm -rf $(SRC_DIR)/build/posix_sitl_default-scan-build
+	@rm -rf $(SRC_DIR)/build/scan-build/report_latest
+	@mkdir -p $(SRC_DIR)/build/posix_sitl_default-scan-build
+	@cd $(SRC_DIR)/build/posix_sitl_default-scan-build && scan-build cmake $(SRC_DIR) -GNinja -DCONFIG=posix_sitl_default
+	@scan-build -o $(SRC_DIR)/build/scan-build cmake --build $(SRC_DIR)/build/posix_sitl_default-scan-build
+	@find $(SRC_DIR)/build/scan-build -maxdepth 1 -mindepth 1 -type d -exec cp -r "{}" $(SRC_DIR)/build/scan-build/report_latest \;
 
-px4_sitl_default-clang:
-	@mkdir -p "$(SRC_DIR)"/build/px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
-	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/px4_sitl_default-clang
+posix_sitl_default-clang:
+	@mkdir -p $(SRC_DIR)/build/posix_sitl_default-clang
+	@cd $(SRC_DIR)/build/posix_sitl_default-clang && cmake $(SRC_DIR) $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=posix_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
+	@$(PX4_MAKE) -C $(SRC_DIR)/build/posix_sitl_default-clang
 
-clang-tidy: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -p .
+clang-tidy: posix_sitl_default-clang
+	@cd $(SRC_DIR)/build/posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -p .
 
 # to automatically fix a single check at a time, eg modernize-redundant-void-arg
 #  % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
-clang-tidy-fix: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -fix -p .
+clang-tidy-fix: posix_sitl_default-clang
+	@cd $(SRC_DIR)/build/posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -fix -p .
 
 # modified version of run-clang-tidy.py to return error codes and only output relevant results
-clang-tidy-quiet: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -p .
+clang-tidy-quiet: posix_sitl_default-clang
+	@cd $(SRC_DIR)/build/posix_sitl_default-clang && $(SRC_DIR)/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
 
 # TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
-cppcheck: px4_sitl_default
-	@mkdir -p "$(SRC_DIR)"/build/cppcheck
-	@cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++14 --std=c99 --std=posix --project="$(SRC_DIR)"/build/px4_sitl_default/compile_commands.json --xml-version=2 2> "$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml > /dev/null
-	@cppcheck-htmlreport --source-encoding=ascii --file="$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml --report-dir="$(SRC_DIR)"/build/cppcheck --source-dir="$(SRC_DIR)"/src/
+cppcheck: posix_sitl_default
+	@mkdir -p $(SRC_DIR)/build/cppcheck
+	@cppcheck -i$(SRC_DIR)/src/examples --enable=performance --std=c++11 --std=c99 --std=posix --project=$(SRC_DIR)/build/posix_sitl_default/compile_commands.json --xml-version=2 2> $(SRC_DIR)/build/cppcheck/cppcheck-result.xml > /dev/null
+	@cppcheck-htmlreport --source-encoding=ascii --file=$(SRC_DIR)/build/cppcheck/cppcheck-result.xml --report-dir=$(SRC_DIR)/build/cppcheck --source-dir=$(SRC_DIR)/src/
 
-shellcheck_all:
-	@"$(SRC_DIR)"/Tools/run-shellcheck.sh "$(SRC_DIR)"/ROMFS/px4fmu_common/
-	@make px4_fmu-v5_default shellcheck
-
-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/modules/zenoh/zenoh-pico/*" \
-	-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
-	-not -path "$(SRC_DIR)/src/lib/cdrstream/*" \
-	-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
+check_stack: px4fmu-v4pro_default
+	@echo "Checking worst case stack usage with checkstack.pl ..."
+	@echo " "
+	@echo "Top 10:"
+	@cd $(SRC_DIR)/build/px4fmu-v4pro_default && mkdir -p stack_usage && arm-none-eabi-objdump -d nuttx_px4fmu-v4pro_default.elf | $(SRC_DIR)/Tools/stack_usage/checkstack.pl arm 0 > stack_usage/checkstack_output.txt 2> stack_usage/checkstack_errors.txt
+	@head -n 10 $(SRC_DIR)/build/px4fmu-v4pro_default/stack_usage/checkstack_output.txt | c++filt
+	@echo " "
+	@echo "Symbols with 'main', 'thread' or 'task':"
+	@cat $(SRC_DIR)/build/px4fmu-v4pro_default/stack_usage/checkstack_output.txt | c++filt | grep -E 'thread|main|task'
 
 # Cleanup
 # --------------------------------------------------------------------
-.PHONY: clean submodulesclean submodulesupdate distclean
+.PHONY: clean submodulesclean submodulesupdate gazeboclean distclean
 
 clean:
-	@[ ! -d "$(SRC_DIR)/build" ] || find "$(SRC_DIR)/build" -mindepth 1 -maxdepth 1 -type d -exec sh -c "echo {}; cmake --build {} -- clean || rm -rf {}" \; # use generated build system to clean, wipe build directory if it fails
-	@git submodule foreach git clean -dX --force # some submodules generate build artifacts in source
+	@rm -rf $(SRC_DIR)/build
 
 submodulesclean:
 	@git submodule foreach --quiet --recursive git clean -ff -x -d
 	@git submodule update --quiet --init --recursive --force || true
 	@git submodule sync --recursive
-	@git submodule update --init --recursive --force --jobs 4
+	@git submodule update --init --recursive --force
 
 submodulesupdate:
-	@git submodule update --quiet --init --recursive --jobs 4 || true
+	@git submodule update --quiet --init --recursive || true
 	@git submodule sync --recursive
-	@git submodule update --init --recursive --jobs 4
-	@git fetch --all --tags --recurse-submodules=yes --jobs=4
+	@git submodule update --init --recursive
 
-distclean:
-	@git submodule deinit --force $(SRC_DIR)
-	@rm -rf "$(SRC_DIR)/build"
-	@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"
+gazeboclean:
+	@rm -rf ~/.gazebo/*
+
+distclean: submodulesclean gazeboclean
+	@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode"
 
-# Help / Error / Misc
 # --------------------------------------------------------------------
 
 # All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
 %:
 	$(if $(filter $(FIRST_ARG),$@), \
-		$(error "Make target $@ not found. It either does not exist or $@ cannot be the first argument. Use '$(MAKE) list_config_targets' to get a list of all possible [configuration] targets."),@#)
+		$(error "$@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)
+
+#help:
+#	@echo
+#	@echo "Type 'make ' and hit the tab key twice to see a list of the available"
+#	@echo "build configurations."
+#	@echo
+
+empty :=
+space := $(empty) $(empty)
 
 # Print a list of non-config targets (based on http://stackoverflow.com/a/26339924/1487069)
 help:
 	@echo "Usage: $(MAKE) <target>"
 	@echo "Where <target> is one of:"
 	@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
-		awk -v RS= -F: '/(^|\n)# Files(\n|$$)/,/(^|\n)# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
-		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(Makefile)'
+		awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
+		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS) $(NUTTX_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(posix|eagle|Makefile)'
 	@echo
 	@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
 	@echo "Use '$(MAKE) list_config_targets' for a list of configuration targets."
 
 # Print a list of all config targets.
 list_config_targets:
-	@for targ in $(patsubst %_default,%[_default],$(ALL_CONFIG_TARGETS)); do echo $$targ; done
-
-check_nuttx : $(call make_list,nuttx) \
-	sizes
-
-check_linux : $(call make_list,linux) \
-	sizes
-
-check_px4: $(call make_list,nuttx,"px4") \
-	sizes
-
-check_nxp: $(call make_list,nuttx,"nxp") \
-	sizes
-
-# helpers for running olddefconfig (nuttx) and px4_savedefconfig on all boards
-.PHONY: all_oldconfig all_px4_savedefconfig
-all_oldconfig:
-	@for targ in $(ALL_CONFIG_TARGETS); do $(MAKE) $$targ oldconfig; done
-
-all_px4_savedefconfig:
-	@for targ in $(ALL_CONFIG_TARGETS); do $(MAKE) $$targ px4_savedefconfig; done
-
-.PHONY: failsafe_web run_failsafe_web_server
-failsafe_web:
-	@if ! command -v emcc; then echo -e "Install emscripten first: https://emscripten.org/docs/getting_started/downloads.html\nAnd source the env: source <path>/emsdk_env.sh"; exit 1; fi
-	@$(MAKE) --no-print-directory px4_sitl_default failsafe_test parameters_xml \
-		PX4_CMAKE_BUILD_TYPE=Release BUILD_DIR_SUFFIX=_failsafe_web \
-		CMAKE_ARGS="-DCMAKE_CXX_COMPILER=em++ -DCMAKE_C_COMPILER=emcc"
-run_failsafe_web_server: failsafe_web
-	@cd build/px4_sitl_default_failsafe_web && \
-		python3 -m http.server
+	@for targ in $(patsubst nuttx_%,[nuttx_]%,$(ALL_CONFIG_TARGETS)); do echo $$targ; done

README.md

@@ -1,62 +1,110 @@
-# PX4 Drone Autopilot
+# PX4 Pro Drone Autopilot
 
-[![Releases](https://img.shields.io/github/release/PX4/PX4-Autopilot.svg)](https://github.com/PX4/PX4-Autopilot/releases) [![DOI](https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot)
+[![Releases](https://img.shields.io/github/release/PX4/Firmware.svg)](https://github.com/PX4/Firmware/releases) [![DOI](https://zenodo.org/badge/22634/PX4/Firmware.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/Firmware)
 
-[![Build Targets](https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml/badge.svg?branch=main)](https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)
+[![Build Status](http://ci.px4.io:8080/buildStatus/icon?job=Firmware/master)](http://ci.px4.io:8080/blue/organizations/jenkins/Firmware/activity) [![Coverity Scan](https://scan.coverity.com/projects/3966/badge.svg?flat=1)](https://scan.coverity.com/projects/3966?tab=overview)
 
-[![Discord Shield](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.gg/dronecode)
+[![Slack](https://px4-slack.herokuapp.com/badge.svg)](http://slack.px4.io)
 
-This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
+This repository holds the [PX4 Pro](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/Firmware/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
 
-PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.
-
-* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/main/LICENSE))
-* [Supported airframes](https://docs.px4.io/main/en/airframes/airframe_reference.html) ([portfolio](https://px4.io/ecosystem/commercial-systems/)):
-  * [Multicopters](https://docs.px4.io/main/en/frames_multicopter/)
-  * [Fixed wing](https://docs.px4.io/main/en/frames_plane/)
-  * [VTOL](https://docs.px4.io/main/en/frames_vtol/)
-  * [Autogyro](https://docs.px4.io/main/en/frames_autogyro/)
-  * [Rover](https://docs.px4.io/main/en/frames_rover/)
-  * many more experimental types (Blimps, Boats, Submarines, High Altitude Balloons, Spacecraft, etc)
-* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
-
-## Releases
-
-Release notes and supporting information for PX4 releases can be found on the [Developer Guide](https://docs.px4.io/main/en/releases/).
-
-## Building a PX4 based drone, rover, boat or robot
-
-The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4. See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
+* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/Firmware/blob/master/LICENSE))
+* [Supported airframes](https://docs.px4.io/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
+  * [Multicopters](https://docs.px4.io/en/airframes/airframe_reference.html#copter)
+  * [Fixed wing](https://docs.px4.io/en/airframes/airframe_reference.html#plane)
+  * [VTOL](https://docs.px4.io/en/airframes/airframe_reference.html#vtol)
+  * many more experimental types (Rovers, Blimps, Boats, Submarines, etc)
+* Releases: [Downloads](https://github.com/PX4/Firmware/releases)
 
 
-## Changing Code and Contributing
+## PX4 Users
 
-This [Developer Guide](https://docs.px4.io/main/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
-
-Developers should read the [Guide for Contributions](https://docs.px4.io/main/en/contribute/).
-See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
+The [PX4 User Guide](https://docs.px4.io/en/) explains how to assemble [supported vehicles](https://docs.px4.io/en/airframes/airframe_reference.html) and fly drones with PX4. 
+See the [forum and chat](https://docs.px4.io/en/#support) if you need help!
 
 
-## Weekly Dev Call
+## PX4 Developers
 
-The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/contribute/).
+This [Developer Guide](https://dev.px4.io/) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, any anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
 
-> **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. It includes a QA session for newcomers. All regular calls are listed in the [Dronecode calendar](https://www.dronecode.org/calendar/).
+Developers should read the [Guide for Contributions](https://dev.px4.io/en/contribute/).
+See the [forum and chat](https://dev.px4.io/en/#support) if you need help!
+
+
+### Weekly Dev Call
+
+The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/en/contribute/#dev_call).
+
+> **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform.
 
 
 ## Maintenance Team
 
-See the latest list of maintainers on [MAINTAINERS](MAINTAINERS.md) file at the root of the project.
+  * Project / Founder - [Lorenz Meier](https://github.com/LorenzMeier)
+    * [Dev Call](https://github.com/PX4/Firmware/labels/devcall) - [Ramon Roche](https://github.com/mrpollo)
+  * Communication Architecture
+    * [Beat Kueng](https://github.com/bkueng)
+    * [Julian Oes](https://github.com/JulianOes)
+  * UI / UX
+    * [Donald Gagne](https://github.com/DonLakeFlyer)
+    * [Gus Grubba](https://github.com/dogmaphobic)
+  * [Multicopter Flight Control](https://github.com/PX4/Firmware/labels/multicopter)
+    * [Dennis Mannhart](https://github.com/Stifael)
+    * [Matthias Grob](https://github.com/MaEtUgR)
+  * [VTOL Flight Control](https://github.com/PX4/Firmware/labels/vtol)
+    * [Daniel Agar](https://github.com/dagar)
+    * [Mathieu Bresciani](https://github.com/bresch)
+    * [Sander Smeets](https://github.com/sanderux)
+    * [Roman Bapst](https://github.com/tumbili)
+    * [Andreas Antener](https://github.com/AndreasAntener)
+  * [Fixed Wing Flight Control](https://github.com/PX4/Firmware/labels/fixedwing)
+    * [Daniel Agar](https://github.com/dagar)
+    * [Paul Riseborough](https://github.com/priseborough)
+  * Racers - [Matthias Grob](https://github.com/MaEtUgR)
+  * OS / drivers - [David Sidrane](https://github.com/davids5)
+  * [UAVCAN](https://github.com/PX4/Firmware/labels/uavcan) / Industrial - [Pavel Kirienko](https://github.com/pavel-kirienko)
+  * [State Estimation](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22) - [James Goppert](https://github.com/jgoppert), [Paul Riseborough](https://github.com/priseborough)
+  * Vision based navigation
+    * [Christoph Tobler](https://github.com/ChristophTobler)
+    * [Mohammed Kabir](https://github.com/mhkabir)
+  * Obstacle Avoidance - [Vilhjalmur Vilhjalmsson](https://github.com/vilhjalmur89)
+  * [Snapdragon](https://github.com/PX4/Firmware/labels/snapdragon)
+    * [Christoph Tobler](https://github.com/ChristophTobler)
+    * [Mark Charlebois](https://github.com/mcharleb)
+  * [Intel Aero](https://github.com/PX4/Firmware/labels/intel%20aero)
+    * [Sugnan Prabhu](https://github.com/sugnanprabhu)
+    * [José Roberto de Souza](https://github.com/zehortigoza)
+  * [Raspberry Pi / Navio](https://github.com/PX4/Firmware/labels/raspberry_pi) - [Beat Kueng](https://github.com/bkueng)
+  * [Parrot Bebop](https://github.com/PX4/Firmware/labels/bebop) - [Michael Schaeuble](https://github.com/eyeam3)
+  * [Airmind MindPX / MindRacer](https://github.com/PX4/Firmware/labels/mindpx) - [Henry Zhang](https://github.com/iZhangHui)
+  * RTPS/ROS2 Interface - [Vicente Monge](https://github.com/vicenteeprosima)
 
-For the latest stats on contributors please see the latest stats for the Dronecode ecosystem in our project dashboard under [LFX Insights](https://insights.lfx.linuxfoundation.org/foundation/dronecode). For information on how to update your profile and affiliations please see the following support link on how to [Complete Your LFX Profile](https://docs.linuxfoundation.org/lfx/my-profile/complete-your-lfx-profile). Dronecode publishes a yearly snapshot of contributions and achievements on its [website under the Reports section](https://dronecode.org).
+See also [About Us](http://px4.io/about-us/#development_team) (px4.io) and the [contributors list](https://github.com/PX4/Firmware/graphs/contributors) (Github).
 
 ## Supported Hardware
 
-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 these boards:
+  * [Snapdragon Flight](https://docs.px4.io/en/flight_controller/snapdragon_flight.html)
+  * [Intel Aero](https://docs.px4.io/en/flight_controller/intel_aero.html)
+  * [Raspberry PI with Navio 2](https://docs.px4.io/en/flight_controller/raspberry_pi_navio2.html)
+  * [Parrot Bebop 2](https://dev.px4.io/en/advanced/parrot_bebop.html)
+  * FMUv2.x
+    * [Pixhawk](https://docs.px4.io/en/flight_controller/pixhawk.html)
+    * [Pixhawk Mini](https://docs.px4.io/en/flight_controller/pixhawk_mini.html)
+    * [Pixfalcon](https://docs.px4.io/en/flight_controller/pixfalcon.html)
+  * FMUv3.x [Pixhawk 2](https://pixhawk.org/modules/pixhawk2)
+  * FMUv4.x
+    * [Pixracer](https://docs.px4.io/en/flight_controller/pixracer.html)
+    * [Pixhawk 3 Pro](https://docs.px4.io/en/flight_controller/pixhawk3_pro.html)
+  * FMUv5.x (ARM Cortex M7, future Pixhawk)
+  * [STM32F4Discovery](http://www.st.com/en/evaluation-tools/stm32f4discovery.html) (basic support) [Tutorial](https://pixhawk.org/modules/stm32f4discovery)
+  * [Gumstix AeroCore](https://www.gumstix.com/aerocore-2/) (only v2)
+  * [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/en/flight_controller/crazyflie2.html)
 
-## Project Governance
+Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/en/flight_controller/).
 
-The PX4 Autopilot project including all of its trademarks is hosted under [Dronecode](https://www.dronecode.org/), part of the Linux Foundation.
+## Project Roadmap
 
-<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://dronecode.org/wp-content/uploads/sites/24/2020/08/dronecode_logo_default-1.png" alt="Dronecode Logo" width="110px"/></a>
-<div style="padding:10px">&nbsp;</div>
+A high level project roadmap is available [here](https://www.dronecode.org/roadmap/).

ROMFS/CMakeLists.txt

@@ -1,431 +1,46 @@
-############################################################################
-#
-#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
 
+message(STATUS "ROMFS: ${config_romfs_root}")
+
+set(romfs_temp_dir ${PX4_BINARY_DIR}/ROMFS/${config_romfs_root})
 set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
-set(romfs_gen_root_dir ${PX4_BINARY_DIR}/etc)
-
-file(RELATIVE_PATH romfs_path_relative ${PX4_SOURCE_DIR} ${romfs_src_dir})
-message(STATUS "ROMFS: ${romfs_path_relative}")
-
-set_property(GLOBAL PROPERTY PX4_ROMFS_FILES)
-set_property(GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
-
-#=============================================================================
-#
-#	px4_add_romfs_files
-#
-#	This function builds a list of files to be included in the ROMFS.
-#
-#	Usage:
-#		px4_add_romfs_files(<list of files in current directory to be added to the project>)
-#
-#	Output:
-#		list config_romfs_files_list populated with a list of ROMFS src files including their full file path.
-#
-#	Example:
-#		px4_add_module(
-#			<ROMFS_file_1>
-#			<ROMFS_file_2>
-#			<ROMFS_file_3>
-#			)
-#
-function(px4_add_romfs_files)
-	set_property(GLOBAL APPEND PROPERTY PX4_ROMFS_CMAKE_FILES ${CMAKE_CURRENT_LIST_FILE})
-
-	foreach(arg IN LISTS ARGN)
-		if(NOT EXISTS ${CMAKE_CURRENT_LIST_DIR}/${arg})
-			message(FATAL_ERROR "${CMAKE_CURRENT_LIST_DIR}/${arg} doesn't exist")
-		endif()
-		set_property(GLOBAL APPEND PROPERTY PX4_ROMFS_FILES ${CMAKE_CURRENT_LIST_DIR}/${arg})
-	endforeach()
-endfunction()
-
-# get list of all ROMFS files
-add_subdirectory(${romfs_src_dir})
 
 # directory setup
-# copy all romfs files, process airframes
-get_property(romfs_cmake_files GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
-get_property(romfs_copy_files GLOBAL PROPERTY PX4_ROMFS_FILES)
-get_property(module_config_files GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
-file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
-if (px4_constrained_flash_build)
-	set(added_arguments --constrained-flash)
-endif()
-if(PX4_ETHERNET)
-	set(added_arguments ${added_arguments} --ethernet)
-endif()
-# create list of relative romfs file names
-set(romfs_copy_files_relative)
-foreach(romfs_file IN LISTS romfs_copy_files)
-	string(REPLACE "${romfs_src_dir}/" "" romfs_file_rel ${romfs_file})
-	list(APPEND romfs_copy_files_relative ${romfs_file_rel})
-endforeach()
-# copy the ROMFS files by creating a tar and extracting it to the build
-# directory (which preserves the directory structure)
-file(MAKE_DIRECTORY ${romfs_gen_root_dir})
-set(romfs_tar_file ${PX4_BINARY_DIR}/romfs_files.tar)
-add_custom_command(
-	OUTPUT ${romfs_tar_file}
-	COMMAND ${CMAKE_COMMAND} -E tar cf ${romfs_tar_file} ${romfs_copy_files_relative}
-	WORKING_DIRECTORY ${romfs_src_dir}
-	DEPENDS
-		${romfs_copy_files}
-		${jinja_templates}
-		${module_config_files}
-		${romfs_cmake_files}
-		${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/markdownout.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/rcout.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/srcparser.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/srcscanner.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/xmlout.py
-		${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
-	)
-
-
-set(romfs_copy_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_copy.stamp)
-add_custom_command(
-	OUTPUT
-		${romfs_gen_root_dir}/init.d/rc.serial
-		${romfs_gen_root_dir}/init.d/rc.autostart
-		${romfs_gen_root_dir}/init.d/rc.autostart.post
-		${romfs_gen_root_dir}/init.d/rc.filepaths
-		${romfs_copy_stamp}
-	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
-	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
+# copy all romfs files, process airframes, prune comments
+file(GLOB_RECURSE init_airframes ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/*/[1-9]*)
+add_custom_command(OUTPUT ${romfs_temp_dir}/init.d/rcS ${romfs_temp_dir}/init.d/rc.autostart
+	COMMAND cmake -E copy_directory ${romfs_src_dir} ${romfs_temp_dir}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
-		--airframes-path ${romfs_gen_root_dir}/init.d
-		--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
-		--board ${PX4_BOARD}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
-		--rc-dir ${romfs_gen_root_dir}/init.d
-		--serial-ports ${board_serial_ports} ${added_arguments}
-		--config-files ${module_config_files} #--verbose
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/filepaths/generate_config.py
-		--rc-dir ${romfs_gen_root_dir}/init.d
-		--params-file ${CONFIG_BOARD_PARAM_FILE}
-	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
-	WORKING_DIRECTORY ${romfs_gen_root_dir}
-	DEPENDS ${romfs_tar_file}
-	COMMENT "ROMFS: copying, generating airframes"
-	)
-
-# copy extras into ROMFS
-set(extras_dependencies)
-
-# optional board architecture defaults
-set(board_arch_rc_file "rc.board_arch_defaults")
-if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}")
-	file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file})
-	message(STATUS "ROMFS:  Adding ${rc_file_relative} -> /etc/init.d/${board_arch_rc_file}")
-
-	add_custom_command(
-		OUTPUT
-			${romfs_gen_root_dir}/init.d/${board_arch_rc_file}
-			${board_arch_rc_file}.stamp
-		COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file} ${romfs_gen_root_dir}/init.d/${board_arch_rc_file}
-		COMMAND ${CMAKE_COMMAND} -E touch ${board_arch_rc_file}.stamp
-		DEPENDS
-			${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}
-			romfs_copy.stamp
-		COMMENT "ROMFS: copying ${board_arch_rc_file}"
-	)
-
-	list(APPEND extras_dependencies
-		${board_arch_rc_file}.stamp
-	)
-endif()
-
-
-# board custom init files
-set(OPTIONAL_BOARD_RC)
-list(APPEND OPTIONAL_BOARD_RC
-	rc.board_defaults
-	rc.board_sensors
-	rc.board_extras
-	rc.board_mavlink
-)
-
-foreach(board_rc_file ${OPTIONAL_BOARD_RC})
-
-	if(EXISTS "${PX4_BOARD_DIR}/init/${board_rc_file}")
-		file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_BOARD_DIR}/init/${board_rc_file})
-		message(STATUS "ROMFS:  Adding ${rc_file_relative} -> /etc/init.d/${board_rc_file}")
-
-		add_custom_command(
-			OUTPUT
-				${romfs_gen_root_dir}/init.d/${board_rc_file}
-				${board_rc_file}.stamp
-			COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/init/${board_rc_file} ${romfs_gen_root_dir}/init.d/${board_rc_file}
-			COMMAND ${CMAKE_COMMAND} -E touch ${board_rc_file}.stamp
-			DEPENDS
-				${PX4_BOARD_DIR}/init/${board_rc_file}
-				romfs_copy.stamp
-			COMMENT "ROMFS: copying ${board_rc_file}"
-		)
-
-		list(APPEND extras_dependencies
-			${board_rc_file}.stamp
-			)
-	endif()
-
-endforeach()
-
-
-# board extras
-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}")
-		file(RELATIVE_PATH extra_file_base_name ${PX4_BOARD_DIR}/extras/ ${board_extra_file})
-		file(RELATIVE_PATH extra_file_relative_source ${PX4_SOURCE_DIR} ${board_extra_file})
-		message(STATUS "ROMFS:  Adding ${extra_file_relative_source} -> /etc/extras/${extra_file_base_name}")
-
-		add_custom_command(
-			OUTPUT
-				${romfs_gen_root_dir}/extras/${extra_file_base_name}
-				${extra_file_base_name}.stamp
-			COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/extras/${extra_file_base_name} ${romfs_gen_root_dir}/extras/${extra_file_base_name}
-			COMMAND ${CMAKE_COMMAND} -E touch ${extra_file_base_name}.stamp
-			DEPENDS
-				${board_extra_file}
-				romfs_copy.stamp
-			COMMENT "ROMFS: copying ${board_extra_file}"
-		)
-
-		list(APPEND extras_dependencies
-			${extra_file_base_name}.stamp
-		)
-	endif()
-
-endforeach()
-
-
-
-if(config_uavcan_peripheral_firmware)
-
-	include(ExternalProject)
-
-	foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
-		# include the UAVCAN peripheral binaries in ROMFS
-		message(STATUS "ROMFS:  Adding UAVCAN peripheral ${uavcan_peripheral_config} -> /etc/uavcan/fw/")
-
-		# ExternalProject_Add() with GIT_SUBMODULES "" initializes no submodules.
-		cmake_policy(SET CMP0097 NEW)
-
-		include(ExternalProject)
-
-		ExternalProject_Add(build_${uavcan_peripheral_config}
-			GIT_REPOSITORY ${CMAKE_SOURCE_DIR}
-			GIT_TAG ${PX4_GIT_TAG}
-			GIT_SUBMODULES ""
-			DOWNLOAD_NO_PROGRESS true
-			CMAKE_ARGS -DCONFIG=${uavcan_peripheral_config}
-			INSTALL_COMMAND ""
-			USES_TERMINAL_BUILD true
-			BUILD_ALWAYS 1
-		)
-
-		ExternalProject_Get_Property(build_${uavcan_peripheral_config} BINARY_DIR)
-
-		add_custom_command(
-			OUTPUT
-				${romfs_gen_root_dir}/uavcan/fw/_${uavcan_board_id}.bin
-				${uavcan_peripheral_config}.stamp
-			COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/uavcan/fw/
-			COMMAND ${CMAKE_COMMAND} -E copy ${BINARY_DIR}/deploy/*.bin ${romfs_gen_root_dir}/uavcan/fw/
-			COMMAND ls -lsa ${romfs_gen_root_dir}/uavcan/fw/
-			COMMAND ${CMAKE_COMMAND} -E touch ${uavcan_peripheral_config}.stamp
-			DEPENDS
-				build_${uavcan_peripheral_config}
-			COMMENT "ROMFS: copying ${uavcan_peripheral_config}"
-		)
-
-		list(APPEND extras_dependencies
-			${uavcan_peripheral_config}.stamp
-		)
-	endforeach()
-endif()
-
-list(APPEND extras_dependencies
-	${config_romfs_extra_dependencies}
-	)
-
-if (config_romfs_extra_files)
-	set(extras_copy_cmd COMMAND ${CMAKE_COMMAND} -E copy_if_different ${config_romfs_extra_files} ${romfs_gen_root_dir}/extras/)
-else()
-	set(extras_copy_cmd "")
-endif()
-add_custom_command(OUTPUT romfs_extras.stamp
-	COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/extras/
-	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/romfs_extras/
-	COMMAND ${CMAKE_COMMAND} -E copy_directory ${PX4_BINARY_DIR}/romfs_extras/ ${romfs_gen_root_dir}/extras/
-	${extras_copy_cmd}
-	COMMAND ${CMAKE_COMMAND} -E touch romfs_extras.stamp
+		-a ${romfs_temp_dir}/init.d
+		-s ${romfs_temp_dir}/init.d/rc.autostart
+		--board ${BOARD}
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py
+		--folder ${romfs_temp_dir} --board ${BOARD}
 	DEPENDS
-		romfs_copy.stamp
-		${config_romfs_extra_files}
-		${extras_dependencies}
-	COMMENT "ROMFS: copying extras"
+		${romfs_src_files}
+		${init_airframes}
+		${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/init.d/rcS
+		${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 	)
 
-add_custom_target(romfs_gen_files_target
-	DEPENDS
-		${romfs_copy_stamp}
-		${romfs_gen_root_dir}/init.d/rc.serial
-		${romfs_gen_root_dir}/init.d/rc.filepaths
-		romfs_extras.stamp
+set(romfs_dependencies)
+list(APPEND romfs_dependencies
+	${romfs_temp_dir}/init.d/rcS
+	${romfs_temp_dir}/init.d/rc.autostart
+	)
+	
+# create romfs.bin
+add_custom_command(OUTPUT romfs.img
+	COMMAND ${GENROMFS} -f romfs.img -d ${romfs_temp_dir} -V "NSHInitVol" -v > romfs.txt 2>&1
+	DEPENDS ${romfs_dependencies}
 	)
 
-add_custom_command(
-	OUTPUT romfs_pruned.stamp
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py --folder ${romfs_gen_root_dir} --board ${PX4_BOARD}
-	COMMAND ${CMAKE_COMMAND} -E touch romfs_pruned.stamp
-	DEPENDS
-		romfs_copy.stamp
-		romfs_extras.stamp
-		${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py
-	COMMENT "ROMFS: pruning"
+# create romfs.o
+add_custom_command(OUTPUT nsh_romfsimg.c
+	COMMAND xxd -i romfs.img nsh_romfsimg.c
+	COMMAND sed 's/unsigned/const unsigned/g' nsh_romfsimg.c > nsh_romfsimg.c.tmp && mv nsh_romfsimg.c.tmp nsh_romfsimg.c
+	DEPENDS romfs.img
 	)
 
-if("${CONFIG_FS_CROMFS}" STREQUAL "y")
-	add_custom_command(
-		OUTPUT ${CMAKE_BINARY_DIR}/gencromfs
-		COMMAND make --no-print-directory --silent -f Makefile.host gencromfs
-		COMMAND ${CMAKE_COMMAND} -E copy_if_different gencromfs ${CMAKE_BINARY_DIR}/gencromfs
-		DEPENDS ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/tools/gencromfs.c
-		WORKING_DIRECTORY ${NUTTX_DIR}/tools
-	)
-
-	# create nsh_romfsimg.c
-	add_custom_command(OUTPUT nsh_romfsimg.c
-		COMMAND ${CMAKE_COMMAND} -E remove -f nsh_romfsimg.c
-		COMMAND ${CMAKE_BINARY_DIR}/gencromfs ${romfs_gen_root_dir} nsh_romfsimg.c
-		DEPENDS
-			${CMAKE_BINARY_DIR}/gencromfs
-			romfs_pruned.stamp
-		COMMENT "ROMFS: generating image"
-	)
-
-	add_library(romfs STATIC nsh_romfsimg.c)
-	add_dependencies(romfs prebuild_targets)
-	set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
-
-elseif("${CONFIG_FS_ROMFS}" STREQUAL "y")
-	# create romfs.img
-	find_program(GENROMFS genromfs)
-	if(NOT GENROMFS)
-		message(FATAL_ERROR "genromfs not found")
-	endif()
-
-	add_custom_command(
-		OUTPUT
-			romfs.img
-			romfs.txt
-		COMMAND ${CMAKE_COMMAND} -E remove -f romfs.img romfs.txt
-		COMMAND ${GENROMFS} -f romfs.img -d ${romfs_gen_root_dir} -V "NSHInitVol" -v > romfs.txt 2>&1
-		DEPENDS romfs_pruned.stamp
-		COMMENT "ROMFS: generating image"
-	)
-
-
-	# create nsh_romfsimg.c
-	find_program(XXD xxd)
-	if(NOT XXD)
-		message(FATAL_ERROR "xxd not found")
-	endif()
-
-	find_program(SED sed)
-	if(NOT SED)
-		message(FATAL_ERROR "sed not found")
-	endif()
-
-	add_custom_command(OUTPUT nsh_romfsimg.c
-		COMMAND ${CMAKE_COMMAND} -E remove -f nsh_romfsimg.c
-		COMMAND ${XXD} -i romfs.img nsh_romfsimg.c
-		COMMAND ${SED} 's/unsigned/const unsigned/g' nsh_romfsimg.c > nsh_romfsimg.c.tmp && ${CMAKE_COMMAND} -E rename nsh_romfsimg.c.tmp nsh_romfsimg.c
-		DEPENDS romfs.img
-	)
-
-	add_library(romfs STATIC nsh_romfsimg.c)
-	add_dependencies(romfs prebuild_targets)
-	set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
-endif()
-
-
-
-# shellcheck
-find_program(SHELLCHECK_PATH shellcheck)
-
-if(SHELLCHECK_PATH)
-
-	# TODO: fix SC2086, SC2166
-	add_custom_target(shellcheck
-		COMMAND ${SHELLCHECK_PATH} --shell=sh
-			--exclude=SC1090 # SC1090: use of source (.) - Can't follow non-constant source. Use a directive to specify location.
-			--exclude=SC1091 # SC1091: use of source (.) - Not following: xxxx openBinaryFile: does not exist (No such file or directory)
-			--exclude=SC2121 # SC2121: To assign a variable, use just 'var=value'
-			--exclude=SC2086 # SC2086: Double quote to prevent globbing and word splitting.
-			--exclude=SC2166 # SC2166: Prefer [ p ] || [ q ] as [ p -o q ] is not well defined.
-			--exclude=SC2154 # SC2154: <var> is referenced but not assigned (NuttX uses different asssignment)
-			--exclude=SC2164 # SC2164: Use 'cd ... || exit' or 'cd ... || return' in case cd fails.
-			--exclude=SC2169 # SC2169: In dash, 'source' in place of '.' is not supported. (we alias it)
-			--exclude=SC2039 # SC2039: In POSIX sh, 'source' in place of '.' is undefined. (we alias it)
-			--exclude=SC2181 # SC2181: Check exit code directly with e.g. 'if mycmd;', not indirectly with $?.
-			`find ${romfs_gen_root_dir}/init.d -type f`
-		DEPENDS ${romfs_gen_root_dir}/init.d/rc.autostart
-		WORKING_DIRECTORY ${romfs_gen_root_dir}
-		USES_TERMINAL
-	)
-endif()
+add_library(romfs STATIC nsh_romfsimg.c)
+add_dependencies(romfs platforms__common)
+set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)

ROMFS/cannode/CMakeLists.txt

@@ -1,34 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-add_subdirectory(init.d)

ROMFS/cannode/init.d/CMakeLists.txt

@@ -1,36 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-px4_add_romfs_files(
-	rcS
-)

ROMFS/cannode/init.d/rcS

@@ -1,107 +0,0 @@
-#!/bin/sh
-# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
-set +e
-# Un comment the line below to help debug scripts by printing a trace of the script commands
-#set -x
-# PX4FMU startup script.
-#
-# NOTE: environment variable references:
-#    If the dollar sign ('$') is followed by a left bracket ('{') then the
-#    variable name is terminated with the right bracket character ('}').
-#    Otherwise, the variable name goes to the end of the argument.
-#
-#
-# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
-#
-#------------------------------------------------------------------------------
-set R /
-
-#
-# Print full system version.
-#
-ver all
-
-# Load param file location from kconfig
-. ${R}etc/init.d/rc.filepaths
-
-#
-# Load parameters.
-#
-param select $PARAM_FILE
-
-if ! param load
-then
-	param reset_all
-fi
-
-#
-# Optional board architecture defaults: rc.board_arch_defaults
-#
-set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults
-if [ -f $BOARD_ARCH_RC_DEFAULTS ]
-then
-	echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
-	. $BOARD_ARCH_RC_DEFAULTS
-fi
-unset BOARD_ARCH_RC_DEFAULTS
-
-#
-# Optional board defaults: rc.board_defaults
-#
-set BOARD_RC_DEFAULTS ${R}etc/init.d/rc.board_defaults
-if [ -f $BOARD_RC_DEFAULTS ]
-then
-	echo "Board defaults: ${BOARD_RC_DEFAULTS}"
-	. $BOARD_RC_DEFAULTS
-fi
-unset BOARD_RC_DEFAULTS
-
-#
-# Start system state indicator.
-#
-rgbled start -X -q
-rgbled_ncp5623c start -X -q
-
-#
-# board sensors: rc.sensors
-#
-set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
-if [ -f $BOARD_RC_SENSORS ]
-then
-	echo "Board sensors: ${BOARD_RC_SENSORS}"
-	. $BOARD_RC_SENSORS
-fi
-unset BOARD_RC_SENSORS
-
-#
-# Start UART/Serial device drivers.
-# Note: rc.serial is auto-generated from Tools/serial/generate_config.py
-#
-. ${R}etc/init.d/rc.serial
-
-# Check for flow sensor
-if param compare -s SENS_EN_PX4FLOW 1
-then
-	px4flow start -X &
-fi
-
-if param compare -s IMU_GYRO_CAL_EN 1
-then
-	gyro_calibration start
-fi
-
-
-if param compare -s MBE_ENABLE 1
-then
-	# conservative mag bias estimation
-	param set-default MBE_LEARN_GAIN 5
-	param set-default IMU_GYRO_CUTOFF 20
-	mag_bias_estimator start
-fi
-
-param set-default SENS_MAG_RATE 100
-
-sensors start
-
-uavcannode start
-unset R

ROMFS/performance-test/CMakeLists.txt

@@ -1,34 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-add_subdirectory(init.d)

ROMFS/performance-test/init.d/CMakeLists.txt

@@ -1,36 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-px4_add_romfs_files(
-	rcS
-)

ROMFS/performance-test/init.d/rcS

@@ -1,68 +0,0 @@
-#!/bin/sh
-# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
-set +e
-# Un comment the line below to help debug scripts by printing a trace of the script commands
-#set -x
-# PX4FMU startup script.
-#
-# NOTE: environment variable references:
-#    If the dollar sign ('$') is followed by a left bracket ('{') then the
-#    variable name is terminated with the right bracket character ('}').
-#    Otherwise, the variable name goes to the end of the argument.
-#
-#
-# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
-#
-#------------------------------------------------------------------------------
-set R /
-
-#
-# Print full system version.
-#
-ver all
-
-#
-# Set the parameter file the board supports params on
-# MTD device.
-#
-if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
-then
-	set PARAM_FILE /fs/mtd_params
-fi
-
-#
-# Load parameters.
-#
-# if the board has a storage for (factory) calibration data
-if mft query -q -k MTD -s MTD_CALDATA -v /fs/mtd_caldata
-then
-	param load /fs/mtd_caldata
-fi
-
-#
-# Load parameters.
-#
-param select $PARAM_FILE
-if ! param load
-then
-	param reset_all
-fi
-
-#
-# Try to mount the microSD card.
-#
-mount -t vfat /dev/mmcsd0 /fs/microsd
-if [ $? = 0 ]
-then
-	echo "SD card mounted at /fs/microsd"
-else
-	echo "No SD card found"
-fi
-
-unset R
-
-echo ""
-echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
-echo "!!!!!!     This is the PERFORMANCE TESTING firmware! WARNs and ERRORs are expected!     !!!!!"
-echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
-echo ""