px4io: add RC update monotonic count and cleanup unused

- any real RC data input will be much faster than 3 Hz, so this is an
easy way to minimize bogus decoded data from propagating

.ci/Jenkinsfile-compile

@@ -28,7 +28,7 @@ pipeline {
           ]
 
           def base_builds = [
-            target: ["px4_sitl_rtps"],
+            target: ["px4_sitl_default"],
             image: docker_images.base,
             archive: false
           ]
@@ -58,6 +58,7 @@ pipeline {
                      "holybro_can-gps-v1_default",
                      "holybro_durandal-v1_default",
                      "holybro_kakutef7_default",
+                     "holybro_kakuteh7_default",
                      "holybro_pix32v5_default",
                      "matek_h743-slim",
                      "matek_gnss-m9n-f4_canbootloader",

.ci/Jenkinsfile-hardware

@@ -705,18 +705,21 @@ void quickCalibrate() {
 
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status || true"'
 
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick; sleep 1"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_ACC*"'
 
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro; sleep 2"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_GYRO*"'
 
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level; sleep 2"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SENS*"'
 
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick; sleep 1"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_MAG*"'
 
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate baro; sleep 5"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_BARO*"'
+
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters after
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
 }

.gitmodules

@@ -64,3 +64,6 @@
 	path = src/lib/crypto/libtommath
 	url = https://github.com/PX4/libtommath.git
 	branch = px4
+[submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
+	path = src/modules/microdds_client/Micro-XRCE-DDS-Client
+	url = https://github.com/eProsima/Micro-XRCE-DDS-Client.git

CMakeLists.txt

@@ -412,6 +412,7 @@ endif()
 # subdirectories
 #
 add_library(parameters_interface INTERFACE)
+add_library(kernel_parameters_interface INTERFACE)
 
 include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)
@@ -434,7 +435,13 @@ add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)
 
 # 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)
+else()
 target_link_libraries(parameters_interface INTERFACE parameters)
+endif()
 
 # firmware added last to generate the builtin for included modules
 add_subdirectory(platforms/${PX4_PLATFORM})

ROMFS/px4fmu_common/init.d-posix/airframes/1011_iris_irlock

@@ -10,6 +10,7 @@
 # enable fusion of landing target velocity
 param set-default LTEST_MODE 1
 param set-default PLD_HACC_RAD 0.1
+param set-default RTL_PLD_MD 2
 
 # Start up Landing Target Estimator module
 landing_target_estimator start

ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic

@@ -8,8 +8,5 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
 
-set MAV_TYPE 12
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
 set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus

@@ -8,8 +8,5 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
 
-set MAV_TYPE 12
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
 set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy

@@ -67,4 +67,3 @@ param set-default PWM_MAIN_FUNC7 107
 param set-default PWM_MAIN_FUNC8 108
 
 set MIXER skip
-

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

@@ -80,7 +80,5 @@ param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2
 
-set MAV_TYPE 22
-
 set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
 set MIXER custom

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

@@ -7,6 +7,8 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-default MAV_TYPE 20
+
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 4
 
@@ -78,7 +80,5 @@ param set-default VT_TYPE 0
 
 param set-default WV_EN 0
 
-set MAV_TYPE 20
-
 set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
 set MIXER custom

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

@@ -7,6 +7,8 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-default MAV_TYPE 21
+
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 3
 
@@ -88,7 +90,5 @@ param set-default VT_MOT_ID 1234
 param set-default VT_TILT_TRANS 0.6
 param set-default VT_TYPE 1
 
-set MAV_TYPE 21
-
 set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
 set MIXER custom

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

@@ -51,7 +51,5 @@ param set-default RC_MAP_AUX1 8
 param set-default RC_MAP_AUX2 9
 param set-default RC_MAP_AUX3 10
 
-set MAV_TYPE 22
-
 set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
 set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover

@@ -37,6 +37,4 @@ param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101
 
-set MAV_TYPE 10
-
 set MIXER_FILE skip

ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover

@@ -37,6 +37,4 @@ param set-default PWM_MAIN_FUNC2 101
 param set-default PWM_MAIN_FUNC6 102
 param set-default PWM_MAIN_FUNC7 102
 
-set MAV_TYPE 10
-
 set MIXER_FILE skip

ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1

@@ -10,6 +10,8 @@
 
 . ${R}etc/init.d/rc.rover_defaults
 
+param set-default MAV_TYPE 10
+
 param set-default GND_L1_DIST 5
 param set-default GND_SP_CTRL_MODE 1
 param set-default GND_SPEED_D 3
@@ -33,6 +35,4 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 3.0
 
-set MAV_TYPE 10
-
 set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix

ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat

@@ -47,6 +47,4 @@ param set-default CA_R_REV 3
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 
-set MAV_TYPE 11
-
 set MIXER skip

ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x

@@ -9,6 +9,8 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+param set-default MAV_TYPE 13
+
 param set-default MC_PITCHRATE_P 0.1
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCH_P 6.0
@@ -24,6 +26,4 @@ param set-default TRIG_MODE 4
 param set-default MNT_MODE_IN 4
 param set-default MNT_DO_STAB 2
 
-set MAV_TYPE 13
-
 set MIXER hexa_x

ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480

@@ -7,6 +7,8 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+param set-default MAV_TYPE 13
+
 param set-default MC_PITCHRATE_P 0.0800
 param set-default MC_PITCHRATE_I 0.0400
 param set-default MC_PITCHRATE_D 0.0010
@@ -26,6 +28,4 @@ param set-default MNT_MODE_IN 4
 param set-default MNT_MODE_OUT 2
 param set-default MAV_PROTO_VER 2
 
-set MAV_TYPE 13
-
 set MIXER hexa_x

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

@@ -7,6 +7,8 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+param set-default MAV_TYPE 13
+
 param set-default SYS_CTRL_ALLOC 1
 
 param set-default MC_PITCHRATE_P 0.0800
@@ -58,7 +60,5 @@ param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 105
 param set-default PWM_MAIN_FUNC6 106
 
-set MAV_TYPE 13
-
 set MIXER skip
 set MIXER_AUX none

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -24,7 +24,6 @@ fi
 
 # initialize script variables
 set IO_PRESENT                  no
-set MAV_TYPE                    none
 set MIXER                       none
 set MIXER_AUX                   none
 set MIXER_FILE                  none
@@ -224,6 +223,13 @@ rc_update start
 manual_control start
 sensors start
 commander start
+
+# Configure vehicle type specific parameters.
+# Note: rc.vehicle_setup is the entry point for rc.interface,
+#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
+#
+. ${R}etc/init.d/rc.vehicle_setup
+
 navigator start
 
 # Try to start the micrortps_client with UDP transport if module exists
@@ -253,12 +259,6 @@ then
 	gyro_calibration start
 fi
 
-# Configure vehicle type specific parameters.
-# Note: rc.vehicle_setup is the entry point for rc.interface,
-#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
-#
-. ${R}etc/init.d/rc.vehicle_setup
-
 #user defined mavlink streams for instances can be in PATH
 . px4-rc.mavlink
 

ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d

@@ -36,4 +36,5 @@ param set-default MC_PITCHRATE_P 0.19
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCHRATE_D 0.004
 param set-default MC_YAW_P 4
+
 set MIXER quad_w

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

@@ -104,7 +104,7 @@ param set-default CBRK_SUPPLY_CHK 894281
 param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027
 
-set MAV_TYPE 22
+param set-default MAV_TYPE 22
 
 set MIXER standard_vtol_hitl
 

ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil

@@ -47,7 +47,7 @@ param set-default HIL_ACT_FUNC6 201
 param set-default HIL_ACT_REV 32
 
 param set-default MAV_TYPE 19
-set MAV_TYPE 19
+
 set MIXER vtol_tailsitter_duo_sat
 
 set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard

@@ -54,7 +54,8 @@ param set-default PWM_AUX_DIS5 950
 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
-set MAV_TYPE 22
+
+param set-default MAV_TYPE 22
 
 set MIXER quad_x
 set MIXER_AUX vtol_AAERT

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

@@ -19,7 +19,6 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
 param set-default MAV_TYPE 19
 
 param set-default MC_ROLL_P 6
@@ -38,7 +37,6 @@ param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_ID 12
 param set-default VT_TYPE 0
-set MAV_TYPE 19
 
 set MIXER vtol_tailsitter_duo
 

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

@@ -23,6 +23,7 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-default MAV_TYPE 21
 
 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.19
@@ -45,7 +46,6 @@ param set-default VT_TILT_TRANS 0.5
 param set-default VT_TILT_FW 0.9
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
-set MAV_TYPE 21
 
 set MIXER firefly6
 set MIXER_AUX firefly6

ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter

@@ -13,6 +13,8 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-default MAV_TYPE 20
+
 param set-default CA_AIRFRAME 4
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 0.15
@@ -38,7 +40,6 @@ param set-default PWM_MAIN_MAX 2000
 param set-default VT_MOT_ID 1234
 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0
-set MAV_TYPE 20
 
 set MIXER quad_x_vtol
 

ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter

@@ -22,13 +22,13 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-default MAV_TYPE 20
+
 param set-default PWM_MAIN_MAX 2000
 
 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0
 
-set MAV_TYPE 20
-
 set MIXER quad_+_vtol
 
 set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad

@@ -52,7 +52,6 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
-set MAV_TYPE 22
 
 set MIXER quad_x
 set MIXER_AUX vtol_AAERT

ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta

@@ -41,7 +41,6 @@ param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
-set MAV_TYPE 22
 
 set MIXER quad_x
 set MIXER_AUX vtol_delta

ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad

@@ -33,7 +33,6 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
-set MAV_TYPE 22
 
 set MIXER quad_x
 set MIXER_AUX vtol_AAVVT

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

@@ -46,7 +46,6 @@ param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_TYPE 2
-set MAV_TYPE 22
 
 set MIXER quad_x
 set MIXER_AUX vtol_AAERT

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

@@ -77,8 +77,6 @@ param set-default VT_TRANS_MIN_TM 5
 param set-default VT_TRANS_TIMEOUT    30
 param set-default VT_TYPE 2
 
-set MAV_TYPE 22
-
 set MIXER quad_x
 set MIXER_AUX vtol_AAERT
 

ROMFS/px4fmu_common/init.d/airframes/13010_claire

@@ -13,6 +13,8 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-defualt MAV_TYPE 21
+
 param set-default PWM_AUX_DISARM 1000
 param set-default PWM_AUX_MAX 2000
 param set-default PWM_AUX_MIN 1000
@@ -28,7 +30,6 @@ param set-default VT_TILT_MC 0.08
 param set-default VT_TILT_TRANS 0.5
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
-set MAV_TYPE 21
 
 set MIXER claire
 set MIXER_AUX claire

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

@@ -22,6 +22,8 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-defualt MAV_TYPE 21
+
 param set-default CBRK_AIRSPD_CHK 162128
 
 param set-default FW_ARSP_MODE 1
@@ -64,7 +66,6 @@ param set-default VT_TRANS_MIN_TM 1.2
 param set-default VT_TRANS_P2_DUR 1.3
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
-set MAV_TYPE 21
 
 set MIXER vtol_convergence
 

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

@@ -22,6 +22,8 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-default MAV_TYPE 22
+
 param set-default BAT1_CAPACITY 23000
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_R_INTERNAL 0.0025
@@ -134,7 +136,6 @@ param set-default VT_TRANS_TIMEOUT 22
 param set-default VT_F_TRANS_RAMP 4
 
 param set-default COM_RC_OVERRIDE 0
-set MAV_TYPE 22
 
 set MIXER deltaquad
 set MIXER_AUX pass

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

@@ -23,6 +23,8 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-default MAV_TYPE 22
+
 param set-default BAT1_N_CELLS 6
 
 param set-default FW_AIRSPD_MAX 30
@@ -94,8 +96,6 @@ param set-default VT_PSHER_RMP_DT 2
 param set-default VT_TRANS_MIN_TM 4
 param set-default VT_TYPE 2
 
-set MAV_TYPE 22
-
 set MIXER babyshark
 set MIXER_AUX pass
 

ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor

@@ -27,6 +27,8 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-default MAV_TYPE 21
+
 param set-default VT_IDLE_PWM_MC 1100
 param set-default VT_TYPE 1
 param set-default VT_MOT_ID 1234
@@ -57,8 +59,6 @@ param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_TL_COUNT 4
 
-set MAV_TYPE 21
-
 set MIXER quad_x
 set MIXER_AUX vtol_TTTTAAER
 

ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo

@@ -31,7 +31,6 @@ param set-default PWM_AUX_DIS5 950
 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 12345678
 param set-default VT_FW_MOT_OFFID 12345678
-set MAV_TYPE 22
 
 set MIXER octo_cox
 set MIXER_AUX vtol_AAERT

ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter

@@ -19,6 +19,8 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-default MAV_TYPE 19
+
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0
@@ -37,8 +39,6 @@ param set-default CA_SV_CS1_TRQ_P 0.5
 param set-default CA_SV_CS1_TRQ_Y -0.5
 param set-default CA_SV_CS1_TYPE 6
 
-param set-default MAV_TYPE 19
-set MAV_TYPE 19
 set MIXER vtol_tailsitter_duo
 
 set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+

@@ -18,4 +18,7 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+# MAV_TYPE_TRICOPTER 15
+param set-default MAV_TYPE 15
+
 set MIXER tri_y_yaw+

ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw-

@@ -18,4 +18,7 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+# MAV_TYPE_TRICOPTER 15
+param set-default MAV_TYPE 15
+
 set MIXER tri_y_yaw-

ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli

@@ -17,7 +17,9 @@
 #
 
 . ${R}etc/init.d/rc.mc_defaults
-set MIXER coax
+
+# MAV_TYPE_COAXIAL 3
+param set-default MAV_TYPE 3
 
 param set-default MC_ROLLRATE_P 0.17
 param set-default MC_ROLLRATE_I 0.05
@@ -36,6 +38,9 @@ param set-default PWM_MAIN_RATE 400
 
 param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10
+
+set MIXER coax
+
 # This is the gimbal pass mixer
 set MIXER_AUX pass
 

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

@@ -20,7 +20,7 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 # Configure as helicopter (number 4 defined in commander_helper.cpp)
-set MAV_TYPE 4
+param set-default MAV_TYPE 4
 
 set MIXER blade130
 

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

@@ -41,5 +41,6 @@ param set-default FW_R_LIM 40
 param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
+
 set MIXER TF-G2
 set MIXER_AUX pass

ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1

@@ -24,8 +24,5 @@ param set-default MAV_0_CONFIG 102
 param set-default GPS_UBX_DYNMODEL 8
 param set-default SER_TEL2_BAUD 9600
 
-set MAV_TYPE 8
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER IO_pass
 set MIXER_AUX pass

ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox

@@ -26,7 +26,7 @@
 # @board px4_fmu-v2 exclude
 #
 
-set VEHICLE_TYPE mc
+. ${R}etc/init.d/rc.mc_defaults
 
 param set-default NAV_ACC_RAD 2
 
@@ -39,6 +39,7 @@ param set-default PWM_MAIN_RATE 400
 
 param set-default RTL_DESCEND_ALT 10
 param set-default RTL_RETURN_ALT 30
+
 set MIXER dodeca_top_cox
 set MIXER_AUX dodeca_bottom_cox
 

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

@@ -41,9 +41,6 @@ param set-default FW_RR_P 0.04
 
 param set-default PWM_MAIN_DISARM 1000
 
-# Configure this as plane.
-set MAV_TYPE 1
-
 # Set mixer.
 set MIXER fw_generic_wing
 

ROMFS/px4fmu_common/init.d/airframes/4051_s250aq

@@ -24,8 +24,6 @@
 
 set MIXER quad_s250aq
 
-set MAV_TYPE 2
-
 param set-default ATT_BIAS_MAX 0
 
 param set-default CBRK_IO_SAFETY 22027

ROMFS/px4fmu_common/init.d/airframes/4071_ifo

@@ -21,10 +21,7 @@
 # @board cuav_x7pro exclude
 #
 
-set VEHICLE_TYPE mc
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_defaults
 
 # Attitude & rate gains
 param set-default MC_ROLLRATE_D 0.0013

ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s

@@ -21,10 +21,7 @@
 # @maintainer Hyon Lim <lim@uvify.com>
 #
 
-set VEHICLE_TYPE mc
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_defaults
 
 # Attitude & rate gains
 param set-default MC_ROLLRATE_D 0.0013

ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor

@@ -24,10 +24,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-
-# Configure this as Quadrotor
-# set MAV_TYPE 14
-
 # Set mixer
 set MIXER tilt_quad
 set MIXER_AUX tilt_quad

ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle

@@ -48,8 +48,6 @@ param set-default NAV_ACC_RAD 0.5
 param set-default PWM_MAIN_DISARM 1500
 param set-default PWM_MAIN_MAX 2000
 param set-default PWM_MAIN_MIN 1000
-# Configure this as rover
-set MAV_TYPE 10
 
 # Set mixer
 set MIXER rover_generic

ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover

@@ -76,9 +76,6 @@ param set-default RBCLW_SER_CFG 104
 # Start this driver after setting parameters, because the driver uses some of those parameters.
 # roboclaw start /dev/ttyS3
 
-# Configure this as rover
-set MAV_TYPE 10
-
 # Set mixer
 set MIXER generic_diff_rover
 

ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx

@@ -65,9 +65,6 @@ param set-default PWM_MAIN_MIN4 970
 # Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
 
-# Configure this as rover
-set MAV_TYPE 10
-
 # Set mixer
 set MIXER rover_diff_and_servo
 

ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic

@@ -16,7 +16,4 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
 
-set MAV_TYPE 12
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER uuv_x

ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus

@@ -16,7 +16,4 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
 
-set MAV_TYPE 12
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER uuv_x

ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x

@@ -23,6 +23,9 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+# MAV_TYPE_HEXAROTOR 13
+param set-default MAV_TYPE 13
+
 param set-default CA_ROTOR_COUNT 6
 param set-default CA_ROTOR0_PX 0.0
 param set-default CA_ROTOR0_PY 0.5

ROMFS/px4fmu_common/init.d/airframes/6002_draco_r

@@ -27,9 +27,8 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER hexa_x
-set PWM_OUT 12345678
-
+# MAV_TYPE_HEXAROTOR 13
+param set-default MAV_TYPE 13
 
 ###############################################
 # Attitude & rate gains
@@ -120,3 +119,7 @@ param set-default MAV_1_MODE 2
 param set-default MAV_1_FORWARD 1
 param set-default MAV_1_RATE 800000
 param set-default SER_TEL2_BAUD 921600
+
+
+set MIXER hexa_x
+set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+

@@ -23,6 +23,9 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+# MAV_TYPE_HEXAROTOR 13
+param set-default MAV_TYPE 13
+
 param set-default CA_ROTOR_COUNT 6
 param set-default CA_ROTOR0_PX 0.5
 param set-default CA_ROTOR0_PY 0.0

ROMFS/px4fmu_common/init.d/airframes/8001_octo_x

@@ -25,6 +25,9 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+# MAV_TYPE_OCTOROTOR 14
+param set-default MAV_TYPE 14
+
 param set-default CA_ROTOR_COUNT 8
 param set-default CA_ROTOR0_KM -0.05
 param set-default CA_ROTOR0_PX 0.46

ROMFS/px4fmu_common/init.d/airframes/9001_octo_+

@@ -25,6 +25,9 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+# MAV_TYPE_OCTOROTOR 14
+param set-default MAV_TYPE 14
+
 set MIXER octo_+
 
 set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/rc.airship_defaults

@@ -7,6 +7,9 @@
 
 set VEHICLE_TYPE airship
 
+# MAV_TYPE_AIRSHIP 7
+param set-default MAV_TYPE 7
+
 #
 # This is the gimbal pass mixer.
 #

ROMFS/px4fmu_common/init.d/rc.balloon_defaults

@@ -7,6 +7,9 @@
 
 set VEHICLE_TYPE fw
 
+# MAV_TYPE_FREE_BALLOON 8
+param set-default MAV_TYPE 8
+
 #
 # Default parameters for balloon UAVs.
 #

ROMFS/px4fmu_common/init.d/rc.boat_defaults

@@ -7,6 +7,9 @@
 
 set VEHICLE_TYPE rover
 
+# MAV_TYPE_SURFACE_BOAT 11
+param set-default MAV_TYPE 11
+
 #
 # Default parameters for UGVs.
 #

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -7,14 +7,15 @@
 
 set VEHICLE_TYPE fw
 
+# MAV_TYPE_FIXED_WING 1
+param set-default MAV_TYPE 1
+
 #
 # Default parameters for fixed wing UAVs.
 #
 param set-default COM_POS_FS_DELAY 5
 param set-default COM_POS_FS_EPH 15
 param set-default COM_POS_FS_EPV 30
-param set-default COM_POS_FS_GAIN 0
-param set-default COM_POS_FS_PROB 1
 param set-default COM_VEL_FS_EVH 5
 # Disable preflight disarm to not interfere with external launching
 param set-default COM_DISARM_PRFLT -1

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -7,6 +7,9 @@
 
 set VEHICLE_TYPE mc
 
+# MAV_TYPE_QUADROTOR 2
+param set-default MAV_TYPE 2
+
 if param compare IMU_GYRO_RATEMAX 400
 then
 	param set-default IMU_GYRO_RATEMAX 800

ROMFS/px4fmu_common/init.d/rc.rover_defaults

@@ -7,6 +7,9 @@
 
 set VEHICLE_TYPE rover
 
+# MAV_TYPE_GROUND_ROVER 10
+param set-default MAV_TYPE 10
+
 #
 # Default parameters for UGVs.
 #

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -155,6 +155,13 @@ then
 	irlock start -X
 fi
 
+# SPL06 sensor external I2C
+if param compare -s SENS_EN_SPL06 1
+then
+	spl06 -X start
+	spl06 -X -a 0x77 start
+fi
+
 # PCF8583 counter (RPM sensor)
 if param compare -s SENS_EN_PCF8583 1
 then

ROMFS/px4fmu_common/init.d/rc.uuv_defaults

@@ -7,6 +7,9 @@
 
 set VEHICLE_TYPE uuv
 
+# MAV_TYPE_SUBMARINE 12
+param set-default MAV_TYPE 12
+
 param set-default PWM_MAIN_MAX 1950
 param set-default PWM_MAIN_MIN 1050
 param set-default PWM_MAIN_DISARM 1500

ROMFS/px4fmu_common/init.d/rc.vehicle_setup

@@ -12,19 +12,9 @@ if [ $VEHICLE_TYPE = fw ]
 then
 	if [ $MIXER = none ]
 	then
-		# Set default mixer for fixed wing if not defined.
-		set MIXER AERT
+		echo "FW mixer undefined"
 	fi
 
-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 1 if not defined.
-		set MAV_TYPE 1
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface
 
@@ -42,41 +32,6 @@ then
 		echo "MC mixer undefined"
 	fi
 
-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 2 if not defined.
-		set MAV_TYPE 2
-
-		# Use mixer to detect vehicle type
-		if [ $MIXER = coax ]
-		then
-			set MAV_TYPE 3
-		fi
-		if [ $MIXER = hexa_x -o $MIXER = hexa_+ ]
-		then
-			set MAV_TYPE 13
-		fi
-		if [ $MIXER = hexa_cox ]
-		then
-			set MAV_TYPE 13
-		fi
-		if [ $MIXER = octo_x -o $MIXER = octo_+ ]
-		then
-			set MAV_TYPE 14
-		fi
-		if [ $MIXER = octo_cox -o $MIXER = octo_cox_w ]
-		then
-			set MAV_TYPE 14
-		fi
-		if [ $MIXER = tri_y_yaw- -o $MIXER = tri_y_yaw+ ]
-		then
-			set MAV_TYPE 15
-		fi
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface
 
@@ -91,19 +46,9 @@ if [ $VEHICLE_TYPE = rover ]
 then
 	if [ $MIXER = none ]
 	then
-		# Set default mixer for UGV if not defined.
-		set MIXER rover_generic
+		echo "rover mixer undefined"
 	fi
 
-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 10 if not defined.
-		set MAV_TYPE 10
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface
 
@@ -121,25 +66,6 @@ then
 		echo "VTOL mixer undefined"
 	fi
 
-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 19 if not defined.
-		set MAV_TYPE 19
-
-		# Use mixer to detect vehicle type.
-		if [ $MIXER = firefly6 ]
-		then
-			set MAV_TYPE 21
-		fi
-		if [ $MIXER = quad_x_pusher_vtol ]
-		then
-			set MAV_TYPE 22
-		fi
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface
 
@@ -157,15 +83,6 @@ then
 		echo "Airship mixer undefined"
 	fi
 
-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 7 if not defined.
-		set MAV_TYPE 7
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface
 
@@ -183,19 +100,11 @@ then
 		echo "UUV mixer undefined"
 	fi
 
-	if [ $MAV_TYPE = none ]
-	then
-		# Set default MAV_TYPE to submarine if not defined
-		set MAV_TYPE 12
-	fi
-
-	param set MAV_TYPE ${MAV_TYPE}
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface
 
 	# Start standard vtol apps.
 	. ${R}etc/init.d/rc.uuv_apps
-
 fi
 
 

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -7,6 +7,9 @@
 
 set VEHICLE_TYPE vtol
 
+# MAV_TYPE_VTOL_FIXEDROTOR 22
+param set-default MAV_TYPE 22
+
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_YAW_TMT 10
 

ROMFS/px4fmu_common/init.d/rcS

@@ -29,7 +29,6 @@ set IOFW "/etc/extras/px4_io-v2_default.bin"
 set IO_PRESENT no
 set LOGGER_ARGS ""
 set LOGGER_BUF 8
-set MAV_TYPE none
 set MIXER none
 set MIXER_AUX none
 set MIXER_FILE none
@@ -409,6 +408,13 @@ else
 		commander start
 	fi
 
+	#
+	# Configure vehicle type specific parameters.
+	# Note: rc.vehicle_setup is the entry point for rc.interface,
+	#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
+	#
+	. ${R}etc/init.d/rc.vehicle_setup
+
 	# Pre-takeoff continuous magnetometer calibration
 	if param compare -s MBE_ENABLE 1
 	then
@@ -459,13 +465,6 @@ else
 		fi
 	fi
 
-	#
-	# Configure vehicle type specific parameters.
-	# Note: rc.vehicle_setup is the entry point for rc.interface,
-	#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
-	#
-	. ${R}etc/init.d/rc.vehicle_setup
-
 	#
 	# Play the startup tune (if not disabled or there is an error)
 	#
@@ -573,7 +572,6 @@ unset IO_PRESENT
 unset IOFW
 unset LOGGER_ARGS
 unset LOGGER_BUF
-unset MAV_TYPE
 unset MIXER
 unset MIXER_AUX
 unset MIXER_FILE

ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix

@@ -1,5 +1,7 @@
 Mixer for Tailsitter with x motor configuration and elevons
 ===========================================================
+# @board px4_fmu-v2 exclude
+# @board omnibus_f4sd exclude
 
 This file defines a single mixer for tailsitter with motors in X configuration.  All controls
 are mixed 100%.

Tools/astyle/files_to_check_code_style.sh

@@ -27,4 +27,5 @@ exec find boards msg src platforms test \
     -path src/lib/crypto/monocypher -prune -o \
     -path src/lib/crypto/libtomcrypt -prune -o \
     -path src/lib/crypto/libtommath -prune -o \
+    -path src/modules/microdds_client/Micro-XRCE-DDS-Client -prune -o \
     -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN

Tools/kconfig/cmake_kconfig_lut.txt

@@ -139,6 +139,7 @@ mc_hover_thrust_estimator,CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 mc_pos_control,CONFIG_MODULES_MC_POS_CONTROL=y
 mc_rate_control,CONFIG_MODULES_MC_RATE_CONTROL=y
 micrortps_bridge,CONFIG_MODULES_MICRORTPS_BRIDGE=y
+microdds_client,CONFIG_MODULES_MICRODDS_CLIENT=y
 navigator,CONFIG_MODULES_NAVIGATOR=y
 px4iofirmware,CONFIG_MODULES_PX4IOFIRMWARE=y
 rc_update,CONFIG_MODULES_RC_UPDATE=y

boards/bitcraze/crazyflie/syslink/syslink_main.cpp

@@ -525,16 +525,9 @@ Syslink::handle_raw(syslink_message_t *sys)
 
 		crtp_commander *cmd = (crtp_commander *) &c->data[0];
 
-		input_rc_s rc = {};
-
-		rc.timestamp = hrt_absolute_time();
-		rc.timestamp_last_signal = rc.timestamp;
+		input_rc_s rc{};
+		rc.timestamp_sample = hrt_absolute_time();
 		rc.channel_count = 5;
-		rc.rc_failsafe = false;
-		rc.rc_lost = false;
-		rc.rc_lost_frame_count = 0;
-		rc.rc_total_frame_count = 1;
-		rc.rc_ppm_frame_length = 0;
 		rc.input_source = input_rc_s::RC_INPUT_SOURCE_MAVLINK;
 		rc.rssi = _rssi;
 
@@ -548,6 +541,7 @@ Syslink::handle_raw(syslink_message_t *sys)
 		rc.values[3] = cmd->thrust * 1000 / USHRT_MAX + 1000;
 		rc.values[4] = 1000; // Dummy channel as px4 needs at least 5
 
+		rc.timestamp = hrt_absolute_time();
 		_rc_pub.publish(rc);
 
 	} else if (c->port == CRTP_PORT_MAVLINK) {

boards/emlid/navio2/navio_sysfs_rc_in/NavioSysRCInput.cpp

@@ -119,8 +119,6 @@ void NavioSysRCInput::Run()
 	connected_buf[sizeof(connected_buf) - 1] = '\0';
 	_connected = (atoi(connected_buf) == 1);
 
-	data.rc_lost = !_connected;
-
 	uint64_t timestamp_sample = hrt_absolute_time();
 
 	for (int i = 0; i < CHANNELS; ++i) {
@@ -145,11 +143,11 @@ void NavioSysRCInput::Run()
 		}
 	}
 
-	if (all_zero) {
+	if (all_zero || !_connected) {
 		return;
 	}
 
-	data.timestamp_last_signal = timestamp_sample;
+	data.timestamp_sample = timestamp_sample;
 	data.channel_count = CHANNELS;
 	data.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM;
 	data.timestamp = hrt_absolute_time();

boards/holybro/kakuteh7/src/hw_config.h

@@ -71,7 +71,8 @@
 #define BOOT_DELAY_ADDRESS             0x000001a0
 #define BOARD_TYPE                     1048
 #define BOARD_FLASH_SECTORS            (14)
-#define BOARD_FLASH_SIZE               ((16-2) * 128 * 1024)
+#define BOARD_FLASH_SIZE               (16 * 128 * 1024)
+#define APP_RESERVATION_SIZE           (1 * 128 * 1024)
 
 #define OSC_FREQ                       8
 

boards/nxp/fmuk66-v3/default.px4board

@@ -41,11 +41,13 @@ CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
+CONFIG_DRIVERS_UWB_UWB_SR150=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -69,7 +71,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y

boards/nxp/fmurt1062-v1/default.px4board

@@ -23,6 +23,7 @@ CONFIG_DRIVERS_PWM_OUT_SIM=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_COMMON_UWB=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y

boards/omnibus/f4sd/default.px4board

@@ -21,7 +21,6 @@ CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LOGGER=y
@@ -33,7 +32,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_SYSTEMCMDS_DMESG=n
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MIXER=y
 CONFIG_SYSTEMCMDS_PARAM=y

boards/omnibus/f4sd/ekf2.px4board

@@ -0,0 +1,3 @@
+CONFIG_DRIVERS_TELEMETRY_FRSKY_TELEMETRY=n
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_EKF2=y

boards/px4/fmu-v2/fixedwing.px4board

@@ -1,20 +1,16 @@
-CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
 CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_SYSTEMCMDS_BL_UPDATE=n
-CONFIG_DRIVERS_CAMERA_CAPTURE=y
-CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ETS=y
-CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS5525=y
-CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_SDP3X=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
-CONFIG_MODULES_CAMERA_FEEDBACK=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_VER=y

boards/px4/fmu-v2/multicopter.px4board

@@ -1,16 +1,6 @@
-CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525=n
-CONFIG_MODULES_AIRSPEED_SELECTOR=n
-CONFIG_MODULES_FW_ATT_CONTROL=n
-CONFIG_MODULES_FW_POS_CONTROL_L1=n
 CONFIG_SYSTEMCMDS_BL_UPDATE=n
-CONFIG_DRIVERS_CAMERA_CAPTURE=n
-CONFIG_DRIVERS_CAMERA_TRIGGER=n
-CONFIG_DRIVERS_DISTANCE_SENSOR_CM8JL65=y
-CONFIG_DRIVERS_DISTANCE_SENSOR_LEDDAR_ONE=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
-CONFIG_DRIVERS_DISTANCE_SENSOR_TFMINI=y
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

boards/px4/fmu-v2/rover.px4board

@@ -3,8 +3,6 @@ CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
 CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
-CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW=y

boards/px4/fmu-v2/test.px4board

@@ -1,15 +0,0 @@
-CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525=n
-CONFIG_DRIVERS_GPS=n
-CONFIG_DRIVERS_IMU_L3GD20=n
-CONFIG_DRIVERS_IMU_LSM303D=n
-CONFIG_MODULES_AIRSPEED_SELECTOR=n
-CONFIG_MODULES_EKF2=n
-CONFIG_MODULES_FW_ATT_CONTROL=n
-CONFIG_MODULES_FW_POS_CONTROL_L1=n
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
-CONFIG_SYSTEMCMDS_BL_UPDATE=n
-CONFIG_BOARD_ROMFSROOT="px4fmu_test"
-CONFIG_BOARD_TESTING=y
-CONFIG_SYSTEMCMDS_MICROBENCH=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_VER=y

boards/px4/fmu-v5/default.px4board

@@ -21,6 +21,7 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI055=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y

boards/px4/fmu-v5/init/rc.board_defaults

@@ -9,9 +9,9 @@ param set-default BAT2_V_DIV 18.1
 param set-default BAT1_A_PER_V 36.367515152
 param set-default BAT2_A_PER_V 36.367515152
 
-if ver hwtypecmp V550 V560
+if ver hwtypecmp V550 V552 V560 V562
 then
-	# CUAV V5+ (V550) and V5nano (V560) have 3 IMUs
+	# CUAV V5+ (V550/V552) and V5nano (V560/V562) have 3 IMUs
 	# Multi-EKF (IMUs only)
 	param set-default EKF2_MULTI_IMU 3
 	param set-default SENS_IMU_MODE 0

boards/px4/fmu-v5/init/rc.board_sensors

@@ -5,8 +5,14 @@
 
 board_adc start
 
-# Internal SPI bus ICM-20602
-icm20602 -s -R 2 -q start
+if ver hwtypecmp V552 V562
+then
+	# Internal SPI bus ICM-42688-P
+	icm42688p -s -R 2 -q start
+else
+	# Internal SPI bus ICM-20602
+	icm20602 -s -R 2 -q start
+fi
 
 # Internal SPI bus ICM-20689
 icm20689 -s -R 2 start

boards/px4/fmu-v5/nuttx-config/protected/defconfig

@@ -0,0 +1,251 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_FS_PROCFS_EXCLUDE_ENVIRON is not set
+# CONFIG_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_MMCSD_SPI is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/px4/fmu-v5/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32f7"
+CONFIG_ARCH_CHIP_STM32F765II=y
+CONFIG_ARCH_CHIP_STM32F7=y
+CONFIG_ARCH_INTERRUPTSTACK=512
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_DCACHE=y
+CONFIG_ARMV7M_DTCM=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU=y
+CONFIG_ARM_MPU_EARLY_RESET=y
+CONFIG_ARM_MPU_NREGIONS=8
+CONFIG_BOARDCTL_IOCTL=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=22114
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILD_PROTECTED=y
+CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x0032
+CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v5.x"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x26ac
+CONFIG_CDCACM_VENDORSTR="3D Robotics"
+CONFIG_CLOCK_MONOTONIC=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DISABLE_MQUEUE=y
+CONFIG_FAT_DMAMEMORY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_LIB_USRWORK=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MMCSD=y
+CONFIG_MMCSD_SDIO=y
+CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
+CONFIG_MM_KERNEL_HEAPSIZE=131072
+CONFIG_MM_REGIONS=3
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_IFCONFIG=y
+CONFIG_NSH_DISABLE_IFUPDOWN=y
+CONFIG_NSH_DISABLE_TELNETD=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_NUTTX_USERSPACE=0x08100000
+CONFIG_OTG_ID_GPIO_DISABLE=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SDMMC1_SDIO_MODE=y
+CONFIG_SDMMC1_SDIO_PULLUP=y
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=256
+CONFIG_STM32F7_ADC1=y
+CONFIG_STM32F7_BBSRAM=y
+CONFIG_STM32F7_BBSRAM_FILES=5
+CONFIG_STM32F7_BKPSRAM=y
+CONFIG_STM32F7_DMA1=y
+CONFIG_STM32F7_DMA2=y
+CONFIG_STM32F7_DMACAPABLE=y
+CONFIG_STM32F7_FLOWCONTROL_BROKEN=y
+CONFIG_STM32F7_I2C1=y
+CONFIG_STM32F7_I2C2=y
+CONFIG_STM32F7_I2C3=y
+CONFIG_STM32F7_I2C4=y
+CONFIG_STM32F7_I2C_DYNTIMEO=y
+CONFIG_STM32F7_I2C_DYNTIMEO_STARTSTOP=10
+CONFIG_STM32F7_OTGFS=y
+CONFIG_STM32F7_PROGMEM=y
+CONFIG_STM32F7_PWR=y
+CONFIG_STM32F7_RTC=y
+CONFIG_STM32F7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
+CONFIG_STM32F7_RTC_MAGIC_REG=1
+CONFIG_STM32F7_SAVE_CRASHDUMP=y
+CONFIG_STM32F7_SDMMC1=y
+CONFIG_STM32F7_SDMMC_DMA=y
+CONFIG_STM32F7_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32F7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32F7_SPI1=y
+CONFIG_STM32F7_SPI1_DMA=y
+CONFIG_STM32F7_SPI1_DMA_BUFFER=1024
+CONFIG_STM32F7_SPI2=y
+CONFIG_STM32F7_SPI4=y
+CONFIG_STM32F7_SPI5=y
+CONFIG_STM32F7_SPI6=y
+CONFIG_STM32F7_SPI_DMA=y
+CONFIG_STM32F7_SPI_DMATHRESHOLD=8
+CONFIG_STM32F7_TIM10=y
+CONFIG_STM32F7_TIM11=y
+CONFIG_STM32F7_UART4=y
+CONFIG_STM32F7_UART7=y
+CONFIG_STM32F7_UART8=y
+CONFIG_STM32F7_USART1=y
+CONFIG_STM32F7_USART2=y
+CONFIG_STM32F7_USART3=y
+CONFIG_STM32F7_USART6=y
+CONFIG_STM32F7_USART_BREAKS=y
+CONFIG_STM32F7_USART_INVERT=y
+CONFIG_STM32F7_USART_SINGLEWIRE=y
+CONFIG_STM32F7_USART_SWAP=y
+CONFIG_STM32F7_WWDG=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_SYS_RESERVED=9
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_RXBUFSIZE=600
+CONFIG_UART4_RXDMA=y
+CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART7_BAUD=57600
+CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_SERIAL_CONSOLE=y
+CONFIG_UART7_TXBUFSIZE=1500
+CONFIG_UART8_BAUD=57600
+CONFIG_UART8_RXBUFSIZE=600
+CONFIG_UART8_RXDMA=y
+CONFIG_UART8_TXBUFSIZE=1500
+CONFIG_USART1_BAUD=57600
+CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_TXBUFSIZE=1500
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_IFLOWCONTROL=y
+CONFIG_USART2_OFLOWCONTROL=y
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_RXDMA=y
+CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_IFLOWCONTROL=y
+CONFIG_USART3_OFLOWCONTROL=y
+CONFIG_USART3_RXBUFSIZE=600
+CONFIG_USART3_RXDMA=y
+CONFIG_USART3_TXBUFSIZE=3000
+CONFIG_USART3_TXDMA=y
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_RXDMA=y
+CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="px4_entry"