WIP: parameter export hacks

2026-05-24 00:37:35 +08:00 · 2021-04-09 18:25:40 -04:00
3284 changed files with 69997 additions and 218633 deletions
@@ -9,10 +9,11 @@ pipeline {
        script {
          def build_nodes = [:]
          def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2021-09-08",
-            arm64: "px4io/px4-dev-aarch64:2021-09-08",
-            base: "px4io/px4-dev-base-bionic:2021-09-08",
-            nuttx: "px4io/px4-dev-nuttx-focal:2021-09-08",
+            armhf: "px4io/px4-dev-armhf:2021-02-04",
+            arm64: "px4io/px4-dev-aarch64:2021-02-04",
+            base: "px4io/px4-dev-base-bionic:2021-02-04",
+            nuttx: "px4io/px4-dev-nuttx-focal:2021-02-04",
+            snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
          ]

          def armhf_builds = [
@@ -38,41 +39,32 @@ pipeline {
                     "airmind_mindpx-v2_default",
                     "ark_can-flow_canbootloader",
                     "ark_can-flow_default",
-                     "ark_can-gps_canbootloader",
-                     "ark_can-gps_default",
-                     "ark_can-rtk-gps_canbootloader",
-                     "ark_can-rtk-gps_default",
-                     "atl_mantis-edu_default",
                     "av_x-v1_default",
                     "bitcraze_crazyflie_default",
                     "bitcraze_crazyflie21_default",
                     "cuav_can-gps-v1_canbootloader",
                     "cuav_can-gps-v1_default",
                     "cuav_nora_default",
+                     "cuav_nora_test",
                     "cuav_x7pro_default",
+                     "cuav_x7pro_test",
+                     "cubepilot_cubeorange_console",
                     "cubepilot_cubeorange_default",
+                     "cubepilot_cubeyellow_console",
                     "cubepilot_cubeyellow_default",
-                     "freefly_can-rtk-gps_canbootloader",
-                     "freefly_can-rtk-gps_default",
                     "holybro_can-gps-v1_canbootloader",
                     "holybro_can-gps-v1_default",
                     "holybro_durandal-v1_default",
+                     "holybro_durandal-v1_test",
                     "holybro_kakutef7_default",
                     "holybro_pix32v5_default",
-                     "matek_h743-slim",
-                     "matek_gnss-m9n-f4_canbootloader",
-                     "matek_gnss-m9n-f4_default",
                     "modalai_fc-v1_default",
                     "modalai_fc-v1_rtps",
-                     "modalai_fc-v2_default",
                     "mro_ctrl-zero-f7_default",
                     "mro_ctrl-zero-f7-oem_default",
                     "mro_ctrl-zero-h7_default",
-                     "mro_ctrl-zero-h7_rtps",
                     "mro_ctrl-zero-h7-oem_default",
-                     "mro_ctrl-zero-h7-oem_rtps",
                     "mro_pixracerpro_default",
-                     "mro_pixracerpro_rtps",
                     "mro_x21-777_default",
                     "mro_x21_default",
                     "nxp_fmuk66-e_default",
@@ -82,25 +74,33 @@ pipeline {
                     "nxp_fmuk66-v3_rtps",
                     "nxp_fmuk66-v3_socketcan",
                     "nxp_fmurt1062-v1_default",
-                     "nxp_ucans32k146_canbootloader",
                     "nxp_ucans32k146_default",
+                     "nxp_ucans32k146_canbootloader",
                     "omnibus_f4sd_default",
-                     "raspberrypi_pico_default",
                     "px4_fmu-v2_default",
                     "px4_fmu-v2_fixedwing",
                     "px4_fmu-v2_multicopter",
                     "px4_fmu-v2_rover",
+                     "px4_fmu-v2_test",
                     "px4_fmu-v3_default",
+                     "px4_fmu-v4_cannode",
                     "px4_fmu-v4_default",
                     "px4_fmu-v4pro_default",
+                     "px4_fmu-v5_ctrlalloc",
                     "px4_fmu-v5_debug",
                     "px4_fmu-v5_default",
+                     "px4_fmu-v5_fixedwing",
+                     "px4_fmu-v5_multicopter",
+                     "px4_fmu-v5_optimized",
+                     "px4_fmu-v5_rover",
                     "px4_fmu-v5_rtps",
                     "px4_fmu-v5_stackcheck",
                     "px4_fmu-v5_uavcanv0periph",
                     "px4_fmu-v5_uavcanv1",
+                     "px4_fmu-v5x_base_phy_DP83848C",
                     "px4_fmu-v5x_default",
                     "px4_fmu-v6u_default",
+                     "px4_fmu-v6u_test",
                     "px4_fmu-v6x_default",
                     "px4_io-v2_default",
                     "spracing_h7extreme_default",
@@ -110,8 +110,14 @@ pipeline {
            archive: true
          ]

+          def snapdragon_builds = [
+            target: ["atlflight_eagle_qurt", "atlflight_eagle_default"],
+            image: docker_images.snapdragon,
+            archive: false
+          ]
+
          def docker_builds = [
-            armhf_builds, base_builds, nuttx_builds_archive
+            armhf_builds, base_builds, nuttx_builds_archive//, snapdragon_builds
          ]

          for (def build_type = 0; build_type < docker_builds.size(); build_type++) {
@@ -131,7 +137,7 @@ pipeline {
    // TODO: actually upload artifacts to S3
    // stage('S3 Upload') {
    //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2021-09-08' }
+    //     docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
    //   }
    //   options {
    //         skipDefaultCheckout()
@@ -156,14 +162,18 @@ pipeline {
  }
  options {
    buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
-    timeout(time: 90, unit: 'MINUTES')
+    timeout(time: 60, unit: 'MINUTES')
  }
 }

 def createBuildNode(Boolean archive, String docker_image, String target) {
  return {

+    // TODO: fix the snapdragon image
    bypass_entrypoint = ''
+    if (docker_image == 'lorenzmeier/px4-dev-snapdragon:2020-04-01') {
+      bypass_entrypoint = ' --entrypoint=""'
+    }

    node {
      docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
@@ -172,7 +182,7 @@ def createBuildNode(Boolean archive, String docker_image, String target) {
            try {
              sh('export')
              checkout(scm)
-              sh('make distclean; git clean -ff -x -d .')
+              sh('make distclean')
              sh('git fetch --tags')
              sh('ccache -s')
              sh('make ' + target)
@@ -189,7 +199,7 @@ def createBuildNode(Boolean archive, String docker_image, String target) {
              throw (exc)
            }
            finally {
-              sh('make distclean; git clean -ff -x -d .')
+              sh('make distclean')
            }
          }
        }
@@ -74,7 +74,6 @@ Checks:          '*,
                  -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,
@@ -82,7 +81,6 @@ Checks:          '*,
                  -modernize-use-equals-default,
                  -modernize-use-equals-delete,
                  -modernize-use-override,
-                  -modernize-use-trailing-return-type,
                  -modernize-use-using,
                  -performance-inefficient-string-concatenation,
                  -readability-avoid-const-params-in-decls,
@@ -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/
@@ -1,4 +0,0 @@
-#!/usr/bin/env bash -eu
-
-PX4_FUZZ=1 make px4_sitl
-cp build/px4_sitl_default/bin/px4 $OUT/px4
@@ -1 +0,0 @@
-language: c++
@@ -2,7 +2,7 @@
 // https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
 {
 	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2021-09-08",
+	"image": "px4io/px4-dev-nuttx-focal:2021-02-04",

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

@@ -4,7 +4,7 @@ about: Suggest an idea for this project

 ---

-For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Slack (you can find an invite link on this project README).
+For general questions please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/).

 **Describe problem solved by the proposed feature**
 A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
@@ -1,24 +0,0 @@
-<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="90" height="20">
-  <linearGradient id="smooth" x2="0" y2="100%">
-    <stop offset="0" stop-color="#bbb" stop-opacity=".1"/>
-    <stop offset="1" stop-opacity=".1"/>
-  </linearGradient>
-
-  <mask id="round">
-    <rect width="90" height="20" rx="3" fill="#fff"/>
-  </mask>
-
-  <g mask="url(#round)">
-    <rect width="42" height="20" fill="#555"/>
-    <rect x="42" width="48" height="20" fill="#E01563"/>
-    <rect width="90" height="20" fill="url(#smooth)"/>
-  </g>
-
-  <g fill="#fff" text-anchor="middle" font-family="DejaVu Sans,Verdana,Geneva,sans-serif" font-size="11">
-    <text x="22" y="15" fill="#010101" fill-opacity=".3">slack</text>
-    <text x="22" y="14">slack</text>
-    <text x="65" y="15" fill="#010101" fill-opacity=".3">Join us!</text>
-    <text x="65" y="14">Join us!</text>
-  </g>
-</svg>
-
@@ -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".
@@ -23,19 +23,39 @@ jobs:
          "shellcheck_all",
          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
          "NO_NINJA_BUILD=1 px4_sitl_default",
-          "BUILD_MICRORTPS_AGENT=1 px4_sitl_rtps",
          "airframe_metadata",
          "module_documentation",
          "parameters_metadata",
        ]
    container:
-      image: px4io/px4-dev-nuttx-focal:2021-09-08
+      image: px4io/px4-dev-nuttx-focal:2021-02-04
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
      with:
        token: ${{ secrets.ACCESS_TOKEN }}

+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: tests_${{matrix.ubuntu_release}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: tests_${{matrix.ubuntu_release}}-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 = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
    - name: check environment
      run: |
          export
@@ -11,11 +11,36 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2021-09-08
+    container: px4io/px4-dev-clang:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
        token: ${{secrets.ACCESS_TOKEN}}

+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: clang-tidy-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: clang-tidy-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 = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
    - name: make clang-tidy-quiet
-      run: make clang-tidy-quiet
+      run: |
+        ccache -z
+        make clang-tidy-quiet
+        ccache -s
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2021-09-08
+    container: px4io/px4-dev-armhf:2021-02-04
    strategy:
      matrix:
        config: [
@@ -42,9 +42,8 @@ jobs:
          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 "compression_level = 5" >> ~/.ccache/ccache.conf
          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2021-09-08
+    container: px4io/px4-dev-aarch64:2021-02-04
    strategy:
      matrix:
        config: [
@@ -39,9 +39,8 @@ jobs:
          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 "compression_level = 5" >> ~/.ccache/ccache.conf
          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@@ -43,9 +43,8 @@ jobs:
          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
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@@ -11,57 +11,83 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-09-08
+    container: px4io/px4-dev-nuttx-focal:2021-02-04
    strategy:
-      fail-fast: false
      matrix:
        config: [
-          airmind_mindpx-v2,
-          ark_can-flow,
-          ark_can-gps,
-          ark_can-rtk-gps,
-          atl_mantis-edu,
-          av_x-v1,
-          bitcraze_crazyflie,
-          bitcraze_crazyflie21,
-          cuav_can-gps-v1,
-          cuav_nora,
-          cuav_x7pro,
-          cubepilot_cubeorange,
-          cubepilot_cubeyellow,
-          freefly_can-rtk-gps,
-          holybro_can-gps-v1,
-          holybro_durandal-v1,
-          holybro_kakutef7,
-          holybro_kakuteh7,
-          holybro_pix32v5,
-          matek_h743-slim,
-          matek_gnss-m9n-f4,
-          modalai_fc-v1,
-          modalai_fc-v2,
-          mro_ctrl-zero-f7,
-          mro_ctrl-zero-f7-oem,
-          mro_ctrl-zero-h7,
-          mro_ctrl-zero-h7-oem,
-          mro_pixracerpro,
-          mro_x21,
-          mro_x21-777,
-          nxp_fmuk66-e,
-          nxp_fmuk66-v3,
-          nxp_fmurt1062-v1,
-          nxp_ucans32k146,
-          omnibus_f4sd,
-          raspberrypi_pico,
-          px4_fmu-v2,
-          px4_fmu-v3,
-          px4_fmu-v4,
-          px4_fmu-v4pro,
-          px4_fmu-v5,
-          px4_fmu-v5x,
-          px4_fmu-v6u,
-          px4_fmu-v6x,
-          spracing_h7extreme,
-          uvify_core
+          airmind_mindpx-v2_default,
+          ark_can-flow_canbootloader,
+          ark_can-flow_debug,
+          ark_can-flow_default,
+          av_x-v1_default,
+          bitcraze_crazyflie21_default,
+          bitcraze_crazyflie_default,
+          cuav_can-gps-v1_canbootloader,
+          cuav_can-gps-v1_debug,
+          cuav_can-gps-v1_default,
+          cuav_nora_default,
+          cuav_nora_test,
+          cuav_x7pro_default,
+          cuav_x7pro_test,
+          cubepilot_cubeorange_console,
+          cubepilot_cubeorange_default,
+          cubepilot_cubeyellow_console,
+          cubepilot_cubeyellow_default,
+          cubepilot_io-v2_default,
+          holybro_can-gps-v1_canbootloader,
+          holybro_can-gps-v1_debug,
+          holybro_can-gps-v1_default,
+          holybro_durandal-v1_default,
+          holybro_durandal-v1_test,
+          holybro_kakutef7_default,
+          holybro_pix32v5_default,
+          modalai_fc-v1_default,
+          modalai_fc-v1_rtps,
+          mro_ctrl-zero-f7-oem_default,
+          mro_ctrl-zero-f7_default,
+          mro_ctrl-zero-h7-oem_default,
+          mro_ctrl-zero-h7_default,
+          mro_pixracerpro_default,
+          mro_x21-777_default,
+          mro_x21_default,
+          nxp_fmuk66-e_default,
+          nxp_fmuk66-e_rtps,
+          nxp_fmuk66-e_socketcan,
+          nxp_fmuk66-v3_default,
+          nxp_fmuk66-v3_rtps,
+          nxp_fmuk66-v3_socketcan,
+          nxp_fmurt1062-v1_default,
+          nxp_ucans32k146_canbootloader,
+          nxp_ucans32k146_default,
+          omnibus_f4sd_default,
+          px4_fmu-v2_default,
+          px4_fmu-v2_fixedwing,
+          px4_fmu-v2_multicopter,
+          px4_fmu-v2_rover,
+          px4_fmu-v2_test,
+          px4_fmu-v3_default,
+          px4_fmu-v4_cannode,
+          px4_fmu-v4_default,
+          px4_fmu-v4pro_default,
+          px4_fmu-v5_ctrlalloc,
+          px4_fmu-v5_debug,
+          px4_fmu-v5_default,
+          px4_fmu-v5_fixedwing,
+          px4_fmu-v5_multicopter,
+          px4_fmu-v5_optimized,
+          px4_fmu-v5_rover,
+          px4_fmu-v5_rtps,
+          px4_fmu-v5_stackcheck,
+          px4_fmu-v5_uavcanv0periph,
+          px4_fmu-v5_uavcanv1,
+          px4_fmu-v5x_base_phy_DP83848C,
+          px4_fmu-v5x_default,
+          px4_fmu-v6u_default,
+          px4_fmu-v6u_test,
+          px4_fmu-v6x_default,
+          px4_io-v2_default,
+          spracing_h7extreme_default,
+          uvify_core_default
          ]
    steps:
    - uses: actions/checkout@v1
@@ -85,15 +111,13 @@ jobs:
          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
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

-    - name: make all_variants_${{matrix.config}}
-      run: make all_variants_${{matrix.config}}
-      timeout-minutes: 45
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
    - name: make ${{matrix.config}} bloaty_compileunits
      run: make ${{matrix.config}} bloaty_compileunits || true
    - name: make ${{matrix.config}} bloaty_inlines
@@ -104,17 +128,13 @@ jobs:
      run: make ${{matrix.config}} bloaty_symbols || true
    - name: make ${{matrix.config}} bloaty_templates
      run: make ${{matrix.config}} bloaty_templates || true
-    - name: make ${{matrix.config}} bloaty_ram
-      run: make ${{matrix.config}} bloaty_ram || true
    - name: make ${{matrix.config}} bloaty_compare_master
      run: make ${{matrix.config}} bloaty_compare_master || true
    - name: ccache post-run
      run: ccache -s

    - name: Upload px4 package
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v1
      with:
        name: px4_package_${{matrix.config}}
-        path: |
-          build/**/*.px4
-          build/**/*.bin
+        path: build/${{matrix.config}}/${{matrix.config}}.px4
@@ -0,0 +1,61 @@
+name: NuttX UAVCAN firmware
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-nuttx-focal:2021-02-04
+    strategy:
+      matrix:
+        config: [
+          ark_can-flow_default,
+          cuav_can-gps-v1_default,
+          holybro_can-gps-v1_default,
+          #nxp_ucans32k146_default,
+          px4_fmu-v4_cannode
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+
+    - name: ccache post-run
+      run: ccache -s
+
+    - name: Upload px4 package
+      uses: actions/upload-artifact@v2
+      with:
+        name: px4_cannode_${{matrix.config}}
+        path: build/${{matrix.config}}/*.uavcan.bin
@@ -10,7 +10,6 @@ on:
 jobs:
  enumerate_targets:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
    outputs:
      matrix: ${{ steps.set-matrix.outputs.matrix }}
    steps:
@@ -24,22 +23,46 @@ jobs:
    needs: enumerate_targets
    strategy:
      matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
-    container: px4io/px4-dev-${{ matrix.container }}:2021-09-08
+    container: px4io/px4-dev-${{ matrix.container }}:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
        token: ${{secrets.ACCESS_TOKEN}}

+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.target}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.target}}-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 = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
    - name: make ${{matrix.target}}
      run: make ${{matrix.target}}
+    - name: ccache post-run
+      run: ccache -s

-    - name: parameter & events metadata
+    - name: parameter metadata
      run: |
-        make ${{matrix.target}} ver_gen events_json actuators_json
+        make ${{matrix.target}} ver_gen
        ./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
        cd build/${{ matrix.target }}
        mkdir _metadata || true
-        cp parameters.* events/*.xz actuators.json* _metadata
+        cp parameters.* _metadata

    - uses: jakejarvis/s3-sync-action@master
      with:
@@ -1,21 +0,0 @@
-name: EKF Change Indicator
-
-on: pull_request
-
-jobs:
-  unit_tests:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v2.3.1
-      with:
-        fetch-depth: 0
-    - name: checkout newest version of branch
-      run: |
-        git fetch origin pull/${{github.event.pull_request.number}}/head:${{github.head_ref}}
-        git checkout ${GITHUB_HEAD_REF}
-    - name: main test
-      run: make tests TESTFILTER=EKF
-    - name: Check if there is a functional change
-      run: git diff --exit-code
-      working-directory: src/modules/ekf2/test/change_indication
@@ -1,29 +0,0 @@
-name: EKF Update Change Indicator
-
-on: push
-
-jobs:
-  unit_tests:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    env:
-      GIT_COMMITTER_EMAIL: bot@px4.io
-      GIT_COMMITTER_NAME: PX4BuildBot
-    steps:
-    - uses: actions/checkout@v2.3.1
-      with:
-        fetch-depth: 0
-    - name: main test updates change indication files
-      run: make tests TESTFILTER=EKF
-    - name: Check if there exists diff and save result in variable
-      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_ENV
-      working-directory: src/modules/ekf2/test/change_indication
-    - name: auto-commit any changes to change indication
-      uses: stefanzweifel/git-auto-commit-action@v4
-      with:
-        commit_message: '[AUTO COMMIT] update change indication'
-        commit_user_name: ${GIT_COMMITTER_NAME}
-        commit_user_email: ${GIT_COMMITTER_EMAIL}
-    - if: ${{env.CHANGE_INDICATED}}
-      name: if there is a functional change, fail check
-      run: exit 1
@@ -0,0 +1,131 @@
+name: MAVROS Avoidance Tests
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - {test_file: "mavros_posix_test_avoidance.test",    vehicle: "iris_obs_avoid", mission: "avoidance",       build_type: "RelWithDebInfo"}
+          - {test_file: "mavros_posix_test_safe_landing.test", vehicle: "iris_obs_avoid", mission: "MC_safe_landing", build_type: "RelWithDebInfo"}
+
+    container:
+      image: px4io/px4-dev-ros-melodic:2021-02-04
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: check environment
+      run: |
+          export
+          ulimit -a
+    - name: Build PX4 and sitl_gazebo
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        ccache -z
+        make px4_sitl_default
+        make px4_sitl_default sitl_gazebo
+        ccache -s
+
+    - name: Core dump settings
+      run: |
+          ulimit -c unlimited
+          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+
+    - name: Run SITL tests
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        export
+        ./test/rostest_avoidance_run.sh ${{matrix.config.test_file}} mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}} || true
+
+    - name: Look at core files
+      if: failure()
+      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+    - name: Upload px4 coredump
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: coredump
+        path: px4.core
+
+    # - name: ecl EKF analysis
+    #   if: always()
+    #   run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg
+
+    - name: Upload logs to flight review
+      if: always()
+      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
+
+    - name: Upload px4 binary
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: binary
+        path: build/px4_sitl_default/bin/px4
+
+    - name: Store PX4 log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: px4_log
+        path: ~/.ros/log/*/*.ulg
+
+    - name: Store ROS log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: ros_log
+        path: ~/.ros/**/rostest-*.log
+
+    # Report test coverage
+    - name: Upload coverage
+      if: contains(matrix.config.build_type, 'Coverage')
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+          mkdir -p coverage
+          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+    - name: Upload coverage information to Codecov
+      if: contains(matrix.config.build_type, 'Coverage')
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: mavros_avoidance
+        file: coverage/lcov.info
@@ -25,7 +25,7 @@ jobs:
          #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2021-09-08
+      image: px4io/px4-dev-ros-melodic:2021-02-04
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -49,9 +49,8 @@ jobs:
          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 "compression_level = 5" >> ~/.ccache/ccache.conf
          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@@ -79,7 +78,6 @@ jobs:
      run: |
        export
        ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
-      timeout-minutes: 45

    - name: Look at core files
      if: failure()
@@ -20,7 +20,7 @@ jobs:
          #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2021-09-08
+      image: px4io/px4-dev-ros-melodic:2021-02-04
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -44,9 +44,8 @@ jobs:
          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 "compression_level = 5" >> ~/.ccache/ccache.conf
          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@@ -74,7 +73,6 @@ jobs:
      run: |
        export
        ./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
-      timeout-minutes: 45

    - name: Look at core files
      if: failure()
@@ -11,7 +11,7 @@ jobs:

  airframe:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
+    container: px4io/px4-dev-base-focal:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
@@ -20,24 +20,13 @@ jobs:
    - name: airframe metadata
      run: |
        make airframe_metadata
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
        cd build/px4_sitl_default/docs
-      # TODO: deploy to userguide gitbook
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/px4_sitl_default/docs/'
-        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
+        ls -ls *
+      # TODO: deploy to userguide gitbook and s3

  module:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
+    container: px4io/px4-dev-base-focal:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
@@ -52,7 +41,7 @@ jobs:

  parameter:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
+    container: px4io/px4-dev-base-focal:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
@@ -74,36 +63,9 @@ jobs:
        SOURCE_DIR: 'build/px4_sitl_default/docs/'
        DEST_DIR: 'Firmware/${{ env.version }}/_general/'

-  events:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: events metadata
-      run: |
-        make extract_events
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
-        cd build/px4_sitl_default
-        mkdir _events_full || true
-        cp events/all_events_full.json.xz _events_full/all_events.json.xz
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/px4_sitl_default/_events_full/'
-        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
-
  uorb_graph:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-09-08
+    container: px4io/px4-dev-nuttx-focal:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
@@ -118,7 +80,7 @@ jobs:

  micrortps_agent:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
+    container: px4io/px4-dev-base-focal:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
@@ -132,7 +94,7 @@ jobs:

  ROS_msgs:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
+    container: px4io/px4-dev-base-focal:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
@@ -145,7 +107,7 @@ jobs:

  ROS2_bridge:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
+    container: px4io/px4-dev-base-focal:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
@@ -154,4 +116,4 @@ jobs:
    - name: PX4 ROS2 bridge
      run: |
        git clone https://github.com/PX4/px4_ros_com.git
-        ./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml
+        ./msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml
@@ -18,7 +18,7 @@ jobs:
    - name: Install Python3
      run: sudo apt-get install python3 python3-setuptools python3-pip -y
    - name: Install tools
-      run: pip3 install --user mypy types-requests flake8
+      run: pip3 install --user mypy flake8
    - name: Check MAVSDK test scripts with mypy
      run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
    - name: Check MAVSDK test scripts with flake8
@@ -15,13 +15,12 @@ jobs:
      fail-fast: false
      matrix:
        config:
-          - {model: "iris",          latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
-          - {model: "standard_vtol", latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer" } # Australia
-          - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
-          - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
-
+          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo", model: "iris"          } # Alaska
+          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "RelWithDebInfo", model: "standard_vtol" } # Australia
+          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo", model: "tailsitter"    } # Florida
+          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",       model: "standard_vtol" } # Zurich
    container:
-      image: px4io/px4-dev-simulation-focal:2021-09-08
+      image: px4io/px4-dev-simulation-focal:2021-02-04
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -29,9 +28,9 @@ jobs:
        token: ${{ secrets.ACCESS_TOKEN }}

    - name: Download MAVSDK
-      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.38.0/mavsdk_0.38.0_ubuntu20.04_amd64.deb
    - name: Install MAVSDK
-      run: dpkg -i "mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+      run: dpkg -i mavsdk_0.38.0_ubuntu20.04_amd64.deb

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@@ -50,9 +49,8 @@ jobs:
          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 "compression_level = 5" >> ~/.ccache/ccache.conf
          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@@ -96,8 +94,7 @@ jobs:
        PX4_HOME_LON: ${{matrix.config.longitude}}
        PX4_HOME_ALT: ${{matrix.config.altitude}}
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
-      timeout-minutes: 45
+      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json

    - name: Look at core files
      if: failure()
@@ -105,4 +105,6 @@ 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/*
+# SITL
+dataman
+eeprom/
@@ -1,11 +1,11 @@
-[submodule "src/modules/mavlink/mavlink"]
-	path = src/modules/mavlink/mavlink
-	url = https://github.com/mavlink/mavlink.git
+[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/drivers/uavcan/libuavcan"]
 	path = src/drivers/uavcan/libuavcan
-	url = https://github.com/dronecan/libuavcan.git
-	branch = main
+	url = https://github.com/PX4/libuavcan.git
+	branch = px4
 [submodule "Tools/jMAVSim"]
 	path = Tools/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
@@ -14,6 +14,18 @@
 	path = Tools/sitl_gazebo
 	url = https://github.com/PX4/PX4-SITL_gazebo.git
 	branch = master
+[submodule "src/lib/matrix"]
+	path = src/lib/matrix
+	url = https://github.com/PX4/PX4-Matrix.git
+	branch = master
+[submodule "src/lib/ecl"]
+	path = src/lib/ecl
+	url = https://github.com/PX4/PX4-ECL.git
+	branch = master
+[submodule "boards/atlflight/cmake_hexagon"]
+	path = boards/atlflight/cmake_hexagon
+	url = https://github.com/PX4/cmake_hexagon.git
+	branch = px4
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/PX4-GPSDrivers.git
@@ -21,15 +33,18 @@
 [submodule "src/modules/micrortps_bridge/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
 	url = https://github.com/PX4/Micro-CDR.git
-	branch = master
+	branch = px4
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
-	url = https://github.com/JacobCrabill/incubator-nuttx.git
-	branch = dev-h7-socketcan
+	url = https://github.com/PX4/NuttX.git
+	branch = px4_firmware_nuttx-10.0.0+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-10.1.0+
+	branch = px4_firmware_nuttx-10.0.0+
+[submodule "platforms/qurt/dspal"]
+	path = platforms/qurt/dspal
+	url = https://github.com/ATLFlight/dspal.git
 [submodule "Tools/flightgear_bridge"]
 	path = Tools/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
@@ -42,25 +57,9 @@
 [submodule "src/drivers/uavcan_v1/public_regulated_data_types"]
 	path = src/drivers/uavcan_v1/public_regulated_data_types
 	url = https://github.com/UAVCAN/public_regulated_data_types.git
-[submodule "src/drivers/uavcan_v1/legacy_data_types"]
-	path = src/drivers/uavcan_v1/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
-[submodule "Tools/simulation-ignition"]
-	path = Tools/simulation-ignition
-	url = https://github.com/PX4/px4-simulation-ignition.git
-[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/drivers/uavcannode_gps_demo/public_regulated_data_types"]
+	path = src/drivers/uavcannode_gps_demo/public_regulated_data_types
+	url = https://github.com/UAVCAN/public_regulated_data_types
+[submodule "src/drivers/uavcannode_gps_demo/libcanard"]
+	path = src/drivers/uavcannode_gps_demo/libcanard
+	url = https://github.com/UAVCAN/libcanard
@@ -6,21 +6,6 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_default
-    px4_sitl_rtps:
-      short: px4_sitl_rtps
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_sitl_rtps
-    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
@@ -61,26 +46,11 @@ CONFIG:
      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-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
    airmind_mindpx-v2_default:
      short: airmind_mindpx-v2
      buildType: MinSizeRel
@@ -96,36 +66,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-flow_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
-    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
@@ -156,26 +96,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: cuav_x7pro_default
-    cubepilot_cubeorange_test:
+    cubepilot_cubeorange_console:
      short: cubepilot_cubeorange
      buildType: MinSizeRel
      settings:
-        CONFIG: cubepilot_orange_test
+        CONFIG: cubepilot_orange_console
    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
@@ -191,31 +121,11 @@ CONFIG:
      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
    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
    mro_ctrl-zero-f7_default:
      short: mro_ctrl-zero-f7
      buildType: MinSizeRel
@@ -241,8 +151,3 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: nxp_fmuk66-v3_default
-    raspberrypi_pico_default:
-      short: raspberrypi_pico
-      buildType: MinSizeRel
-      settings:
-        CONFIG: raspberrypi_pico_default
@@ -14,6 +14,7 @@
        "C_Cpp.workspaceParsingPriority": "low",
        "cmake.buildBeforeRun": true,
        "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
+        "cmake.buildTask": true,
        "cmake.configureOnOpen": true,
        "cmake.ctest.parallelJobs": 1,
        "cmake.skipConfigureIfCachePresent": true,
@@ -30,6 +31,7 @@
                "esc"
        ],
        "debug.toolBarLocation": "docked",
+        "editor.acceptSuggestionOnEnter": "off",
        "editor.defaultFormatter": "chiehyu.vscode-astyle",
        "editor.dragAndDrop": false,
        "editor.insertSpaces": false,
@@ -136,5 +138,7 @@
        "yaml.schemas": {
                "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
        },
-        "cortex-debug.openocdPath": "${env:PICO_SDK_PATH}/../openocd/src/openocd"       // Added for rp2040
+        "python.autoComplete.extraPaths": [
+                "/opt/ros/foxy/lib/python3.8/site-packages"
+        ]
 }
@@ -40,7 +40,7 @@
 # * Common functions should be included in px_base.cmake.
 #
 # * OS/ board specific fucntions should be include in
-#	px_impl_${PX4_PLATFORM}.cmake
+#	px_impl_${PX4_PLATFORM}.cmake or px4_impl_${PX4_PLATFORM}_${PX4_BOARD}.cmake.
 #
 # Formatting
 # ---------------------------------------------------------------------------
@@ -101,8 +101,8 @@

 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)
@@ -125,19 +125,10 @@ define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                 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
@@ -147,35 +138,13 @@ set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")

 include(px4_add_module)
 set(config_module_list)
-set(config_kernel_list)
-
-# Find Python
-# If using catkin, Python 2 is found since it points
-# to the Python libs installed with the ROS distro
-if (NOT CATKIN_DEVEL_PREFIX)
-	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()
-else()
-	find_package(PythonInterp REQUIRED)
-endif()
-
-option(PYTHON_COVERAGE "Python code coverage" OFF)
-if(PYTHON_COVERAGE)
-	message(STATUS "python coverage enabled")
-	set(PYTHON_EXECUTABLE coverage run -p)
-endif()

 include(px4_config)
-include(kconfig)
+include(px4_add_board)
+include(${PX4_CONFIG_FILE})
 message(STATUS "PX4 config: ${PX4_CONFIG}")
 message(STATUS "PX4 platform: ${PX4_PLATFORM}")

-
 if(${PX4_PLATFORM} STREQUAL "posix")
 	if(ENABLE_LOCKSTEP_SCHEDULER)
 		add_definitions(-DENABLE_LOCKSTEP_SCHEDULER)
@@ -216,8 +185,6 @@ 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)
@@ -310,6 +277,27 @@ if (CATKIN_DEVEL_PREFIX)
 	endif()
 endif()

+# Python
+# If using catkin, Python 2 is found since it points
+# to the Python libs installed with the ROS distro
+if (NOT CATKIN_DEVEL_PREFIX)
+	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()
+else()
+	find_package(PythonInterp REQUIRED)
+endif()
+
+option(PYTHON_COVERAGE "Python code coverage" OFF)
+if(PYTHON_COVERAGE)
+	message(STATUS "python coverage enabled")
+	set(PYTHON_EXECUTABLE coverage run -p)
+endif()
+
 #=============================================================================
 # get chip and chip manufacturer
 #
@@ -427,11 +415,6 @@ 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)
-
 # must be the last module before firmware
 add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
 target_link_libraries(parameters_interface INTERFACE parameters)
@@ -451,10 +434,8 @@ 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
+		${graph_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 ${PX4_SOURCE_DIR}
 	COMMENT "Generating uORB graph"
@@ -15,7 +15,7 @@ pipeline {
        // stage('Catkin build on ROS workspace') {
        //   agent {
        //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2021-08-18'
+        //       image 'px4io/px4-dev-ros-melodic:2021-02-04'
        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
        //     }
        //   }
@@ -56,7 +56,7 @@ pipeline {
        stage('Colcon build on ROS2 workspace') {
          agent {
            docker {
-              image 'px4io/px4-dev-ros2-foxy:2021-08-18'
+              image 'px4io/px4-dev-ros2-foxy:2021-02-04'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
            }
          }
@@ -85,10 +85,10 @@ pipeline {

        stage('Airframe') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
-            sh 'make distclean; git clean -ff -x -d .'
+            sh 'make distclean'
            sh 'git fetch --all --tags'
            sh 'make airframe_metadata'
            dir('build/px4_sitl_default/docs') {
@@ -98,17 +98,17 @@ pipeline {
          }
          post {
            always {
-              sh 'make distclean; git clean -ff -x -d .'
+              sh 'make distclean'
            }
          }
        }

        stage('Parameter') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
-            sh 'make distclean; git clean -ff -x -d .'
+            sh 'make distclean'
            sh 'git fetch --all --tags'
            sh 'make parameters_metadata'
            dir('build/px4_sitl_default/docs') {
@@ -118,17 +118,17 @@ pipeline {
          }
          post {
            always {
-              sh 'make distclean; git clean -ff -x -d .'
+              sh 'make distclean'
            }
          }
        }

        stage('Module') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
-            sh 'make distclean; git clean -ff -x -d .'
+            sh 'make distclean'
            sh 'git fetch --all --tags'
            sh 'make module_documentation'
            dir('build/px4_sitl_default/docs') {
@@ -138,25 +138,7 @@ pipeline {
          }
          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; ./msg/tools/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 .'
+              sh 'make distclean'
            }
          }
        }
@@ -164,23 +146,23 @@ pipeline {
        stage('uORB graphs') {
          agent {
            docker {
-              image 'px4io/px4-dev-nuttx-focal:2021-08-18'
+              image 'px4io/px4-dev-nuttx-focal:2021-02-04'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
            }
          }
          steps {
            sh 'export'
-            sh 'make distclean; git clean -ff -x -d .'
+            sh 'make distclean'
            sh 'git fetch --all --tags'
            sh 'make uorb_graphs'
            dir('Tools/uorb_graph') {
-              archiveArtifacts(artifacts: 'graph_*.json')
-              stash includes: 'graph_*.json', name: 'uorb_graph'
+              archiveArtifacts(artifacts: 'graph_px4_sitl.json')
+              stash includes: 'graph_px4_sitl.json', name: 'uorb_graph'
            }
          }
          post {
            always {
-              sh 'make distclean; git clean -ff -x -d .'
+              sh 'make distclean'
            }
          }
        }
@@ -194,22 +176,18 @@ pipeline {

        stage('Userguide') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
            sh('export')
            unstash 'metadata_airframes'
            unstash 'metadata_parameters'
            unstash 'metadata_module_documentation'
-            unstash 'msg_documentation'
-            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/.vuepress/public/en/middleware/')
-              sh('cp -R msg_docs/*.md px4_user_guide/en/msg_docs/')
              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 master || true')
              sh('rm -rf px4_user_guide')
@@ -228,7 +206,7 @@ pipeline {

        stage('QGroundControl') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
            sh('export')
@@ -256,12 +234,12 @@ pipeline {

        stage('microRTPS agent') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
            sh('export')
            sh('git fetch --all --tags')
-            sh('make distclean; git clean -ff -x -d .')
+            sh('make distclean')
            sh('make px4_sitl_rtps')
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/micrortps_agent.git -b ${BRANCH_NAME}")
@@ -286,11 +264,11 @@ pipeline {

        stage('PX4 ROS msgs') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
            sh('export')
-            sh('make distclean; git clean -ff -x -d .')
+            sh('make distclean')
            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")
              // 'master' branch
@@ -315,15 +293,15 @@ pipeline {

        stage('PX4 ROS2 bridge') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
            sh('export')
-            sh('make distclean; git clean -ff -x -d .')
+            sh('make distclean')
            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_ros_com.git -b ${BRANCH_NAME}")
              // deploy uORB RTPS ID map
-              sh('./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml')
+              sh('./msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml')
              sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
              sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
              // deploy uORB RTPS required tools
@@ -358,7 +336,7 @@ pipeline {

        stage('S3') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
            sh('export')
@@ -396,7 +374,7 @@ pipeline {
    GIT_COMMITTER_NAME = "PX4BuildBot"
  }
  options {
-    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '30'))
-    timeout(time: 90, unit: 'MINUTES')
+    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
+    timeout(time: 60, unit: 'MINUTES')
  }
 }
@@ -1,185 +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"
-    endchoice
-
-    config BOARD_PLATFORM
-        string
-        default "nuttx" if PLATFORM_NUTTX
-        default "posix" if PLATFORM_POSIX
-        default "qurt" if PLATFORM_QURT
-
-    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
-        bool "Linux OS"
-        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_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_PPB
-        string "PPB (Pixhawk Payload Bus) tty port"
-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
@@ -1,6 +1,6 @@
 BSD 3-Clause License

-Copyright (c) 2012 - 2022, PX4 Development Team
+Copyright (c) 2012 - 2021, PX4 Development Team
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
@@ -63,7 +63,7 @@ all: px4_sitl_default
 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})
+     $(shell cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
 endef

 # Parsing
@@ -158,11 +158,6 @@ else
 		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
 	endif

-	# Fuzz Testing
-	ifdef PX4_FUZZ
-		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
-	endif
-
 endif

 # Pick up specific Python path if set
@@ -170,16 +165,10 @@ ifdef PYTHON_EXECUTABLE
 	CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
 endif

-# Check if the microRTPS agent is to be built
-ifdef BUILD_MICRORTPS_AGENT
-  CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
-endif
-
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-	$(eval CMAKE_ARGS += -DCONFIG=$(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)
@@ -218,8 +207,8 @@ define colorecho
 +@echo -e '${COLOR_BLUE}${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 boards/*/*.cmake
+ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 ! -name '*common*' ! -name '*sdflight*' -name '*.cmake' -print | sed -e 's|boards\/||' | sed -e 's|\.cmake||' | sed -e 's|\/|_|g' | sort)

 # ADD CONFIGS HERE
 # --------------------------------------------------------------------
@@ -227,19 +216,20 @@ ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 -name '*.px4bo

 # All targets.
 $(ALL_CONFIG_TARGETS):
-	@$(call cmake-build,$@$(BUILD_DIR_SUFFIX))
+	@$(eval PX4_CONFIG = $@)
+	@$(eval CMAKE_ARGS += -DCONFIG=$(PX4_CONFIG))
+	@$(call cmake-build,$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))

 # 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))
+	@$(eval PX4_CONFIG = $@_default)
+	@$(eval CMAKE_ARGS += -DCONFIG=$(PX4_CONFIG))
+	@$(call cmake-build,$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))

 all_config_targets: $(ALL_CONFIG_TARGETS)
 all_default_targets: $(CONFIG_TARGETS_DEFAULT)

-updateconfig:
-	@./Tools/kconfig/updateconfig.py
-
 # board reorganization deprecation warnings (2018-11-22)
 define deprecation_warning
 	$(warning $(1) has been deprecated and will be removed, please use $(2)!)
@@ -248,6 +238,16 @@ endef
 # 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

+# Multi- config targets.
+eagle_default: atlflight_eagle_default atlflight_eagle_qurt
+eagle_rtps: atlflight_eagle_rtps atlflight_eagle_qurt-rtps
+
+excelsior_default: atlflight_excelsior_default atlflight_excelsior_qurt
+excelsior_rtps: atlflight_excelsior_rtps atlflight_excelsior_qurt-rtps
+
+.PHONY: eagle_default eagle_rtps
+.PHONY: excelsior_default excelsior_rtps
+
 # Other targets
 # --------------------------------------------------------------------

@@ -274,6 +274,7 @@ misc_qgc_extra_firmware: \
 	check_bitcraze_crazyflie_default \
 	check_bitcraze_crazyflie21_default \
 	check_airmind_mindpx-v2_default \
+	check_px4_fmu-v2_lpe \
 	sizes

 # builds with RTPS
@@ -301,37 +302,12 @@ 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)$(BUILD_DIR_SUFFIX)))
-
 uorb_graphs:
-	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --merge-depends --file Tools/uorb_graph/graph_full
-	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --exclude-path src/modules/mavlink --merge-depends --file Tools/uorb_graph/graph_full_no_mavlink
+	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib --file Tools/uorb_graph/graph_full
 	@$(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

-px4io_update: px4_io-v2_default cubepilot_io-v2_default
-	# px4_io-v2_default
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/pix32v5/extras/px4_io-v2_default.bin
-	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
-	# 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: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
-	git status

 .PHONY: coverity_scan

@@ -339,21 +315,18 @@ coverity_scan: px4_sitl_default

 # Documentation
 # --------------------------------------------------------------------
-.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata doxygen
+.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata doxygen

 parameters_metadata:
 	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen

 airframe_metadata:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes ver_gen
+	@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes

 module_documentation:
 	@$(MAKE) --no-print-directory px4_sitl_default metadata_module_documentation

-extract_events:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_extract_events ver_gen
-
-px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events
+px4_metadata: parameters_metadata airframe_metadata module_documentation

 doxygen:
 	@mkdir -p "$(SRC_DIR)"/build/doxygen
@@ -380,6 +353,7 @@ format:
 .PHONY: rostest python_coverage

 tests:
+	$(eval CMAKE_ARGS += -DCONFIG=px4_sitl_test)
 	$(eval CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
 	$(eval ARGS += test_results)
 	$(eval ASAN_OPTIONS += color=always:check_initialization_order=1:detect_stack_use_after_return=1)
@@ -487,39 +461,34 @@ shellcheck_all:
 	@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 "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
-	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
+	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml

 # Cleanup
 # --------------------------------------------------------------------
 .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

 gazeboclean:
 	@rm -rf ~/.gazebo/*

 distclean: gazeboclean
-	@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/"
+	@git submodule deinit -f .
+	@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode"

-# Help / Error / Misc
+# Help / Error
 # --------------------------------------------------------------------

 # All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
@@ -533,7 +502,7 @@ help:
 	@echo "Where <target> is one of:"
 	@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
 		awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
-		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(Makefile)'
+		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_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."
@@ -553,18 +522,3 @@ check_px4: $(call make_list,nuttx,"px4") \

 check_nxp: $(call make_list,nuttx,"nxp") \
 	sizes
-
-ifneq ($(ROS2_WS_DIR),)
-  ROS2_WS_DIR := $(basename ${ROS2_WS_DIR})
-else
-  ROS2_WS_DIR := ~/colcon_ws
-endif
-
-update_ros2_bridge:
-	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --all
-
-update_px4_ros_com:
-	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_ros_com
-
-update_px4_msgs:
-	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_msgs
@@ -4,11 +4,11 @@

 [![Nuttx Targets](https://github.com/PX4/PX4-Autopilot/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![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)

-[![Slack](/.github/slack.svg)](https://join.slack.com/t/px4/shared_invite/zt-si4xo5qs-R4baYFmMjlrT4rQK5yUnaA)
+[![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/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.
+PX4 is highly portable, OS-independent and supports Linux, NuttX and QuRT out of the box.

 * Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
 * [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
@@ -110,7 +110,7 @@ This repository contains code supporting Pixhawk standard boards (best supported
  * [Hex Cube Yellow](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_yellow.html)
  * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
  * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
-  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/complete_vehicles/crazyflie2.html)
+  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/flight_controller/crazyflie2.html)
  * [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
  * [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
  * [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)
@@ -115,12 +115,10 @@ add_custom_command(
 set(romfs_extract_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_extract.stamp)
 add_custom_command(
 	OUTPUT ${romfs_extract_stamp}
-	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
 	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
 	WORKING_DIRECTORY ${romfs_gen_root_dir}
 	DEPENDS ${romfs_tar_file}
-	VERBATIM
 	)

 add_custom_command(
@@ -143,14 +141,38 @@ add_custom_command(
 	COMMENT "ROMFS: copying, generating airframes"
 	)

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

+# copy px4io binary if configured
+if(config_io_board)
+	list(APPEND extras_dependencies
+		copy_px4io_bin
+		${fw_io_bin}
+	)
+	file(RELATIVE_PATH iofw_file_relative ${PX4_SOURCE_DIR} ${fw_io_bin})
+	message(STATUS "ROMFS:  Adding ${iofw_file_relative} -> /etc/extras/${config_io_board}.bin")
+endif()
+
+
+# board bootloader (built or included)
+if(TARGET copy_bootloader_bin)
+
+	if(board_bootloader_firmware)
+		file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${board_bootloader_firmware})
+		message(STATUS "ROMFS:  Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
+	else()
+		file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${bootloader_bin})
+		message(STATUS "ROMFS:  Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
+	endif()
+
+	list(APPEND extras_dependencies
+		copy_bootloader_bin
+		${bootloader_bin}
+	)
+endif()
+
+
 # optional board architecture defaults
 set(board_arch_rc_file "rc.board_arch_defaults")
 if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}")
@@ -175,7 +197,6 @@ if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/
 endif()


-# board custom init files
 set(OPTIONAL_BOARD_RC)
 list(APPEND OPTIONAL_BOARD_RC
 	rc.board_defaults
@@ -210,59 +231,21 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})
 endforeach()


-# board extras
-set(OPTIONAL_BOARD_EXTRAS)
-file(GLOB OPTIONAL_BOARD_EXTRAS ${PX4_BOARD_DIR}/extras/*)
-
-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
+		# include the px4io binary 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
+			SOURCE_DIR ${CMAKE_SOURCE_DIR}
+			DOWNLOAD_COMMAND ""
+			UPDATE_COMMAND ""
 			CMAKE_ARGS -DCONFIG=${uavcan_peripheral_config}
 			INSTALL_COMMAND ""
 			USES_TERMINAL_BUILD true
+			DEPENDS git_nuttx git_nuttx_apps
 			BUILD_ALWAYS 1
 		)

@@ -15,6 +15,15 @@ set +e
 #
 #------------------------------------------------------------------------------
 set R /
+#
+# Mount the procfs.
+#
+mount -t procfs /proc
+
+#
+# Start CDC/ACM serial driver.
+#
+sercon

 #
 # Print full system version.
@@ -34,10 +34,6 @@
 add_subdirectory(airframes)

 px4_add_romfs_files(
-	px4-rc.mavlink
-	px4-rc.params
-	px4-rc.rtps
-	px4-rc.simulator
 	rc.replay
 	rcS
 )
@@ -8,30 +8,41 @@
 #

 . ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.ctrlalloc

-param set-default SYS_CTRL_ALLOC 1
+param set-default MPC_USE_HTE 0

+param set-default VM_MASS 1.5
+param set-default VM_INERTIA_XX 0.03
+param set-default VM_INERTIA_YY 0.03
+param set-default VM_INERTIA_ZZ 0.05

 param set-default CA_AIRFRAME 0
+param set-default CA_METHOD 1
+param set-default CA_ACT0_MIN 0.0
+param set-default CA_ACT1_MIN 0.0
+param set-default CA_ACT2_MIN 0.0
+param set-default CA_ACT3_MIN 0.0
+param set-default CA_ACT0_MAX 1.0
+param set-default CA_ACT1_MAX 1.0
+param set-default CA_ACT2_MAX 1.0
+param set-default CA_ACT3_MAX 1.0

-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
+param set-default CA_MC_R0_PX 0.1515
+param set-default CA_MC_R0_PY 0.245
+param set-default CA_MC_R0_CT 6.5
+param set-default CA_MC_R0_KM 0.05
+param set-default CA_MC_R1_PX -0.1515
+param set-default CA_MC_R1_PY -0.1875
+param set-default CA_MC_R1_CT 6.5
+param set-default CA_MC_R1_KM 0.05
+param set-default CA_MC_R2_PX 0.1515
+param set-default CA_MC_R2_PY -0.245
+param set-default CA_MC_R2_CT 6.5
+param set-default CA_MC_R2_KM -0.05
+param set-default CA_MC_R3_PX -0.1515
+param set-default CA_MC_R3_PY 0.1875
+param set-default CA_MC_R3_CT 6.5
+param set-default CA_MC_R3_KM -0.05

-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-
-set MIXER skip
-set MIXER_AUX none
+set MIXER direct
@@ -7,5 +7,6 @@

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

+param set-default EKF2_RNG_AID 1
 param set-default EKF2_RNG_A_HMAX 10

@@ -8,6 +8,6 @@
 . ${R}etc/init.d/rc.mc_defaults

 param set-default MC_PITCHRATE_P 0.1
-param set-default MC_ROLLRATE_P 0.05
+param set-default MC_ROLLRATE_P 0.1

 set MIXER quad_x
@@ -0,0 +1,8 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (RTPS)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
@@ -5,9 +5,14 @@

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

+#Set data link loss failsafe mode (0: disabled)
+param set-default NAV_DLL_ACT 0
+
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

+#param set CBRK_GPSFAIL 240024
+
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}

@@ -5,9 +5,14 @@

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

+#Set data link loss failsafe mode (0: disabled)
+param set-default NAV_DLL_ACT 0
+
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

+#param set CBRK_GPSFAIL 240024
+
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}

@@ -5,66 +5,12 @@

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

+#Set data link loss failsafe mode (0: disabled)
+param set-default NAV_DLL_ACT 0
+
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-param set-default SYS_CTRL_ALLOC 1
-param set-default CA_AIRFRAME 7
-
-param set-default CA_ROTOR_COUNT 8
-param set-default CA_R_REV 255
-param set-default CA_ROTOR0_AX 1.0000
-param set-default CA_ROTOR0_AY -1.0000
-param set-default CA_ROTOR0_AZ 0.0000
-param set-default CA_ROTOR0_KM 0.0000
-param set-default CA_ROTOR0_PX 0.5000
-param set-default CA_ROTOR0_PY 0.3000
-param set-default CA_ROTOR0_PZ 0.2000
-param set-default CA_ROTOR1_AX 1.0000
-param set-default CA_ROTOR1_AY 1.0000
-param set-default CA_ROTOR1_AZ 0.0000
-param set-default CA_ROTOR1_KM 0.0000
-param set-default CA_ROTOR1_PX 0.5000
-param set-default CA_ROTOR1_PY -0.3000
-param set-default CA_ROTOR1_PZ 0.2000
-param set-default CA_ROTOR2_AX 1.0000
-param set-default CA_ROTOR2_AY 1.0000
-param set-default CA_ROTOR2_AZ 0.0000
-param set-default CA_ROTOR2_KM 0.0000
-param set-default CA_ROTOR2_PX -0.5000
-param set-default CA_ROTOR2_PY 0.3000
-param set-default CA_ROTOR2_PZ 0.2000
-param set-default CA_ROTOR3_AX 1.0000
-param set-default CA_ROTOR3_AY -1.0000
-param set-default CA_ROTOR3_AZ 0.0000
-param set-default CA_ROTOR3_KM 0.0000
-param set-default CA_ROTOR3_PX -0.5000
-param set-default CA_ROTOR3_PY -0.3000
-param set-default CA_ROTOR3_PZ 0.2000
-param set-default CA_ROTOR4_AZ -1.0000
-param set-default CA_ROTOR4_KM 0.0000
-param set-default CA_ROTOR4_PX 0.5000
-param set-default CA_ROTOR4_PY 0.5000
-param set-default CA_ROTOR5_AZ 1.0000
-param set-default CA_ROTOR5_KM 0.0000
-param set-default CA_ROTOR5_PX 0.5000
-param set-default CA_ROTOR5_PY -0.5000
-param set-default CA_ROTOR6_AZ 1.0000
-param set-default CA_ROTOR6_KM 0.0000
-param set-default CA_ROTOR6_PX -0.5000
-param set-default CA_ROTOR6_PY 0.5000
-param set-default CA_ROTOR7_KM 0.0000
-param set-default CA_ROTOR7_PX -0.5000
-param set-default CA_ROTOR7_PY -0.5000
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 105
-param set-default PWM_MAIN_FUNC6 106
-param set-default PWM_MAIN_FUNC7 107
-param set-default PWM_MAIN_FUNC8 108
-
-set MIXER skip
-
+set PWM_OUT 12345678
+set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
+set MIXER custom
@@ -5,6 +5,8 @@

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

+param set-default EKF2_ARSP_THR 8
+param set-default EKF2_FUSE_BETA 1
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0

@@ -16,6 +18,7 @@ param set-default FW_L1_PERIOD 12

 param set-default FW_MAN_P_MAX 30

+param set-default FW_PR_I 0.4
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.2
 param set-default FW_PSP_OFF 2
@@ -29,9 +32,12 @@ param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_THR_CRUISE 0.25

+param set-default FW_T_ALT_TC 2
 param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_TAS_TC 2

 param set-default FW_W_EN 1

@@ -40,35 +46,9 @@ param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 50

 param set-default RWTO_TKOFF 1

-#param set-default SYS_CTRL_ALLOC 1
-param set-default CA_AIRFRAME 1
-
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-
-param set-default CA_SV_CS_COUNT 6
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4
-param set-default CA_SV_CS4_TYPE 9
-param set-default CA_SV_CS5_TYPE 10
-param set-default PWM_MAIN_FUNC3 204
-param set-default PWM_MAIN_FUNC4 205
-param set-default PWM_MAIN_FUNC5 101
-param set-default PWM_MAIN_FUNC6 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_FUNC8 203
-param set-default PWM_MAIN_FUNC9 206
-param set-default PWM_MAIN_REV 256
-
-
 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom
@@ -5,6 +5,9 @@

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

+param set-default EKF2_ARSP_THR 8
+param set-default EKF2_FUSE_BETA 1
+
 param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_THR_LND_MAX 0
@@ -16,6 +19,7 @@ param set-default FW_LND_TLALT 15

 param set-default FW_L1_PERIOD 25

+param set-default FW_P_TC 0.4
 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
 param set-default FW_PR_P 0.05
@@ -34,12 +38,19 @@ param set-default MIS_DIST_WPS 10000

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 50

 param set-default RWTO_TKOFF 1

+# fix takeoff failure for JSBsim in autonomous mission mode.
+#param set FW_THR_SLEW_MAX 0.3
+
 param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_MAX_ROLL 10

+# fix takeoff failure for JSBsim in autonomous mission mode.
+#param set-default RWTO_MAX_THR 0.6
+
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8

@@ -5,6 +5,9 @@

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

+param set-default EKF2_ARSP_THR 8
+param set-default EKF2_FUSE_BETA 1
+
 param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_THR_LND_MAX 0
@@ -16,6 +19,7 @@ param set-default FW_LND_TLALT 15

 param set-default FW_L1_PERIOD 25

+param set-default FW_P_TC 0.4
 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
 param set-default FW_PR_P 0.05
@@ -34,12 +38,19 @@ param set-default MIS_DIST_WPS 10000

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 50

 param set-default RWTO_TKOFF 1

+# fix takeoff failure for JSBsim in autonomous mission mode.
+#param set FW_THR_SLEW_MAX 0.3
+
 param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_MAX_ROLL 10

+# fix takeoff failure for JSBsim in autonomous mission mode.
+#param set RWTO_MAX_THR 0.6
+
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8

@@ -5,6 +5,8 @@

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

+param set-default EKF2_ARSP_THR 8
+param set-default EKF2_FUSE_BETA 1
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0

@@ -33,6 +35,7 @@ param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 50

 param set-default RWTO_TKOFF 1

@@ -5,6 +5,9 @@

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

+param set-default EKF2_ARSP_THR 8
+param set-default EKF2_FUSE_BETA 1
+
 param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_THR_LND_MAX 0
@@ -16,6 +19,7 @@ param set-default FW_LND_TLALT 15

 param set-default FW_L1_PERIOD 25

+param set-default FW_P_TC 0.4
 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
 param set-default FW_PR_P 0.05
@@ -34,6 +38,7 @@ param set-default MIS_DIST_WPS 10000

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 50

 param set-default RWTO_TKOFF 1
 param set-default RWTO_MAX_PITCH 20
@@ -1,52 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default EKF2_MAG_ACCLIM 0
-param set-default EKF2_MAG_YAWLIM 0
-
-param set-default FW_LND_AIRSPD_SC 1
-param set-default FW_LND_ANG 8
-param set-default FW_THR_LND_MAX 0
-
-param set-default FW_L1_PERIOD 12
-
-param set-default FW_MAN_P_MAX 30
-
-param set-default FW_PR_P 0.9
-param set-default FW_PR_FF 0.2
-param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
-param set-default FW_P_LIM_MIN -15
-
-param set-default FW_RR_FF 0.1
-param set-default FW_RR_P 0.3
-
-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-param set-default FW_THR_CRUISE 0.25
-
-param set-default FW_T_ALT_TC 2
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_HRATE_FF 0.5
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
-param set-default FW_T_TAS_TC 2
-
-param set-default FW_W_EN 1
-
-param set-default MIS_LTRMIN_ALT 30
-param set-default MIS_TAKEOFF_ALT 30
-
-param set-default NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
-
-param set-default FW_USE_NPFG 1
-
-param set-default RWTO_TKOFF 1
-
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
@@ -1,9 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL with catapult
-#
-
-. ${R}etc/init.d-posix/airframes/1030_plane
-
-param set-default FW_THR_CRUISE 0.0
-param set-default RWTO_TKOFF 0
@@ -7,45 +7,10 @@

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

-# param set-default SYS_CTRL_ALLOC 1
-param set-default CA_AIRFRAME 2
-
-param set-default CA_ROTOR_COUNT 5
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
-param set-default CA_ROTOR4_PX 0.2
-
-param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 105
-param set-default PWM_MAIN_FUNC6 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_FUNC8 203
-
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
+param set-default FW_PR_I 0.4
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MAX 32
@@ -55,9 +20,12 @@ param set-default FW_RR_P 0.3
 param set-default FW_THR_CRUISE 0.25
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
+param set-default FW_T_ALT_TC 2
 param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_TAS_TC 2

 param set-default MC_ROLLRATE_P 0.3
 param set-default MC_YAW_P 1.6
@@ -7,48 +7,14 @@

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

-# param set-default SYS_CTRL_ALLOC 1
-param set-default CA_AIRFRAME 4
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 1
-param set-default CA_ROTOR0_PY 2
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -1
-param set-default CA_ROTOR1_PY -1
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 1
-param set-default CA_ROTOR2_PY -1
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -1
-param set-default CA_ROTOR3_PY 1
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default CA_SV_CS_COUNT 2
-param set-default CA_SV_CS0_TYPE 5
-param set-default CA_SV_CS0_TRQ_P 0.5
-param set-default CA_SV_CS0_TRQ_Y -0.5
-param set-default CA_SV_CS1_TYPE 6
-param set-default CA_SV_CS1_TRQ_P 0.5
-param set-default CA_SV_CS1_TRQ_Y 0.5
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 0
-param set-default PWM_MAIN_FUNC6 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_REV 96 # invert both elevons
-
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_I 0.2
-param set-default FW_PR_P 0.2
+param set-default FW_PR_P 0.3
 param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
-param set-default FW_RR_P 0.2
+param set-default FW_RR_P 0.3
 param set-default FW_THR_CRUISE 0.33
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
@@ -70,8 +36,6 @@ param set-default MPC_XY_VEL_D_ACC 0.1
 param set-default NAV_ACC_RAD 5
 param set-default NAV_LOITER_RAD 80

-param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_SC 0.5
 param set-default VT_F_TRANS_DUR 1.5
 param set-default VT_F_TRANS_THR 0.7
 param set-default VT_TYPE 0
@@ -7,55 +7,10 @@

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

-# param set-default SYS_CTRL_ALLOC 1
-param set-default CA_AIRFRAME 3
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default CA_ROTOR0_TILT 1
-param set-default CA_ROTOR1_TILT 2
-param set-default CA_ROTOR2_TILT 3
-param set-default CA_ROTOR3_TILT 4
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_TL0_CT 0
-param set-default CA_SV_TL1_CT 0
-param set-default CA_SV_TL2_CT 0
-param set-default CA_SV_TL3_CT 0
-param set-default CA_SV_TL_COUNT 4
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 204
-param set-default PWM_MAIN_FUNC6 205
-param set-default PWM_MAIN_FUNC7 206
-param set-default PWM_MAIN_FUNC8 207
-param set-default PWM_MAIN_FUNC9 201
-param set-default PWM_MAIN_FUNC10 202
-param set-default PWM_MAIN_FUNC11 203
-
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
+param set-default FW_PR_I 0.4
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MAX 32
@@ -65,9 +20,12 @@ param set-default FW_RR_P 0.3
 param set-default FW_THR_CRUISE 0.38
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
+param set-default FW_T_ALT_TC 2
 param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_TAS_TC 2

 param set-default MC_YAW_P 1.6

@@ -10,6 +10,7 @@
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
+param set-default FW_PR_I 0.4
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MAX 32
@@ -28,15 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

-param set-default SYS_CTRL_ALLOC 1
-param set-default CA_AIRFRAME 5
-
-param set-default CA_R_REV 1
-param set-default PWM_MAIN_FUNC1 201
-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
+set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
@@ -28,15 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

-param set-default SYS_CTRL_ALLOC 1
-param set-default CA_AIRFRAME 6
-
-param set-default CA_R_REV 3
-param set-default PWM_MAIN_FUNC1 101
-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
+set MIXER_FILE etc/mixers-sitl/rover_diff_sitl.main.mix
@@ -28,25 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

-param set-default SYS_CTRL_ALLOC 1
-param set-default CA_AIRFRAME 9
-
-param set-default CA_ROTOR_COUNT 2
-param set-default CA_ROTOR0_AX 1
-param set-default CA_ROTOR0_AZ 0
-param set-default CA_ROTOR0_KM 0
-param set-default CA_ROTOR0_PX -2
-param set-default CA_ROTOR0_PY -1
-param set-default CA_ROTOR1_AX 1
-param set-default CA_ROTOR1_AZ 0
-param set-default CA_ROTOR1_KM 0
-param set-default CA_ROTOR1_PX -2
-param set-default CA_ROTOR1_PY 1
-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
+set MIXER_FILE etc/mixers-sitl/boat_sitl.main.mix
@@ -12,12 +12,20 @@

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

-param set-default FW_AIRSPD_STALL 8
+param set-default EKF2_ARSP_THR 8
+param set-default EKF2_FUSE_BETA 1
+param set-default ASPD_STALL 10.0

 param set-default FW_P_RMAX_NEG 20.0
+param set-default FW_P_RMAX_POS 60.0
 param set-default FW_W_RMAX 10
 param set-default FW_W_EN 1

+param set-default FW_PR_IMAX 0.4
+param set-default FW_R_TC 0.4
+param set-default FW_RR_FF 0.5
+param set-default FW_RR_I 0.1
+param set-default FW_RR_IMAX 0.2
 param set-default FW_RR_P 0.08

 param set-default MIS_LTRMIN_ALT 50
@@ -33,6 +41,7 @@ param set-default FW_ARSP_SCALE_EN 0

 param set-default FW_AIRSPD_MAX 35
 param set-default FW_AIRSPD_MIN 7
+param set-default FW_AIRSPD_TRIM 15

 param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
@@ -11,31 +11,5 @@

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

-param set-default SYS_CTRL_ALLOC 1
-param set-default CA_AIRFRAME 9
-
-param set-default CA_ROTOR_COUNT 3
-param set-default CA_ROTOR0_AX 1.0000
-param set-default CA_ROTOR0_AZ 0.0000
-param set-default CA_ROTOR0_KM 0.0000
-param set-default CA_ROTOR0_PY 2.0000
-param set-default CA_ROTOR1_AX 1.0000
-param set-default CA_ROTOR1_AZ 0.0000
-param set-default CA_ROTOR1_KM 0.0000
-param set-default CA_ROTOR1_PY -2.0000
-param set-default CA_ROTOR2_AY -1.0000
-param set-default CA_ROTOR2_AZ 0.0000
-param set-default CA_ROTOR2_KM 0.0000
-param set-default CA_ROTOR2_PX -10.0000
-
-param set-default CA_SV_CS_COUNT 1
-param set-default CA_SV_CS0_TRQ_P 1.0000
-
-param set-default CA_R_REV 7
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 201
-param set-default PWM_MAIN_FUNC4 103
-
-set MIXER skip
+set MIXER cloudship
+set PWM_OUT 1234
@@ -12,6 +12,7 @@
 param set-default MC_PITCHRATE_P 0.1
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCH_P 6.0
+param set-default MC_ROLLRATE_P 0.15
 param set-default MC_ROLLRATE_I 0.1
 param set-default MC_ROLL_P 6.0
 param set-default MPC_XY_VEL_I_ACC 4
@@ -0,0 +1,72 @@
+#!/bin/sh
+#
+# @name Typhoon H480 SITL
+#
+# @type Hexarotor x
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.ctrlalloc
+
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_P_ACC 3
+
+param set-default RTL_DESCEND_ALT 10
+param set-default RTL_LAND_DELAY 0
+
+param set-default TRIG_INTERFACE 3
+param set-default TRIG_MODE 4
+param set-default MNT_MODE_IN 0
+param set-default MAV_PROTO_VER 2
+
+param set-default MPC_USE_HTE 0
+
+param set-default VM_MASS 2.66
+param set-default VM_INERTIA_XX 0.06
+param set-default VM_INERTIA_YY 0.06
+param set-default VM_INERTIA_ZZ 0.10
+
+param set-default CA_AIRFRAME 0
+param set-default CA_METHOD 1
+param set-default CA_ACT0_MIN 0.0
+param set-default CA_ACT1_MIN 0.0
+param set-default CA_ACT2_MIN 0.0
+param set-default CA_ACT3_MIN 0.0
+param set-default CA_ACT4_MIN 0.0
+param set-default CA_ACT5_MIN 0.0
+param set-default CA_ACT0_MAX 1.0
+param set-default CA_ACT1_MAX 1.0
+param set-default CA_ACT2_MAX 1.0
+param set-default CA_ACT3_MAX 1.0
+param set-default CA_ACT4_MAX 1.0
+param set-default CA_ACT5_MAX 1.0
+
+param set-default CA_MC_R0_PX 0.0
+param set-default CA_MC_R0_PY 1.0
+param set-default CA_MC_R0_CT 9.5
+param set-default CA_MC_R0_KM -0.05
+param set-default CA_MC_R1_PX 0.0
+param set-default CA_MC_R1_PY -1.0
+param set-default CA_MC_R1_CT 9.5
+param set-default CA_MC_R1_KM 0.05
+param set-default CA_MC_R2_PX 0.866025
+param set-default CA_MC_R2_PY -0.5
+param set-default CA_MC_R2_CT 9.5
+param set-default CA_MC_R2_KM -0.05
+param set-default CA_MC_R3_PX -0.866025
+param set-default CA_MC_R3_PY 0.5
+param set-default CA_MC_R3_CT 9.5
+param set-default CA_MC_R3_KM 0.05
+param set-default CA_MC_R4_PX 0.866025
+param set-default CA_MC_R4_PY 0.5
+param set-default CA_MC_R4_CT 9.5
+param set-default CA_MC_R4_KM 0.05
+param set-default CA_MC_R5_PX -0.866025
+param set-default CA_MC_R5_PY -0.5
+param set-default CA_MC_R5_CT 9.5
+param set-default CA_MC_R5_KM -0.05
+
+set MAV_TYPE 13
+
+# set MIXER hexa_x
+set MIXER direct
@@ -1,64 +0,0 @@
-#!/bin/sh
-#
-# @name Typhoon H480 SITL
-#
-# @type Hexarotor x
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default SYS_CTRL_ALLOC 1
-
-param set-default MC_PITCHRATE_P 0.0800
-param set-default MC_PITCHRATE_I 0.0400
-param set-default MC_PITCHRATE_D 0.0010
-param set-default MC_PITCH_P 9.0
-param set-default MC_ROLLRATE_P 0.0800
-param set-default MC_ROLLRATE_I 0.0400
-param set-default MC_ROLLRATE_D 0.0010
-param set-default MC_ROLL_P 9.0
-
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_P_ACC 3
-
-param set-default RTL_DESCEND_ALT 10
-param set-default RTL_LAND_DELAY 0
-
-param set-default TRIG_INTERFACE 3
-param set-default TRIG_MODE 4
-param set-default MNT_MODE_IN 0
-param set-default MAV_PROTO_VER 2
-
-param set-default CA_AIRFRAME 0
-param set-default CA_ROTOR_COUNT 6
-
-param set-default CA_ROTOR0_PX 0.0
-param set-default CA_ROTOR0_PY 1.0
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0.0
-param set-default CA_ROTOR1_PY -1.0
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.866025
-param set-default CA_ROTOR2_PY -0.5
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.866025
-param set-default CA_ROTOR3_PY 0.5
-param set-default CA_ROTOR3_KM 0.05
-param set-default CA_ROTOR4_PX 0.866025
-param set-default CA_ROTOR4_PY 0.5
-param set-default CA_ROTOR4_KM 0.05
-param set-default CA_ROTOR5_PX -0.866025
-param set-default CA_ROTOR5_PY -0.5
-param set-default CA_ROTOR5_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-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
@@ -46,6 +46,8 @@ px4_add_romfs_files(
 	1014_solo
 	1015_iris_obs_avoid
 	1015_iris_obs_avoid.post
+	1016_iris_rtps
+	1016_iris_rtps.post
 	1017_iris_opt_flow_mockup
 	1018_iris_vision_velocity
 	1019_iris_dual_gps
@@ -60,8 +62,6 @@ px4_add_romfs_files(
 	1034_rascal-electric
 	1035_techpod
 	1036_malolo
-	1037_believer
-	1038_glider
 	1040_standard_vtol
 	1041_tailsitter
 	1042_tiltrotor
@@ -77,6 +77,6 @@ px4_add_romfs_files(
 	2507_cloudship
 	6011_typhoon_h480
 	6011_typhoon_h480.post
-	6012_typhoon_h480_ctrlalloc
-	6012_typhoon_h480_ctrlalloc.post
+	6012_typhoon_ctrlalloc
+	6012_typhoon_ctrlalloc.post
 )
@@ -1,32 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-udp_offboard_port_local=$((14580+px4_instance))
-udp_offboard_port_remote=$((14540+px4_instance))
-[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
-udp_onboard_payload_port_local=$((14280+px4_instance))
-udp_onboard_payload_port_remote=$((14030+px4_instance))
-udp_onboard_gimbal_port_local=$((13030+px4_instance))
-udp_onboard_gimbal_port_remote=$((13280+px4_instance))
-udp_gcs_port_local=$((18570+px4_instance))
-
-# GCS link
-mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
-mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
-mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
-mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
-mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
-mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
-mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
-mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
-
-# API/Offboard link
-mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
-
-# Onboard link to camera
-mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
-
-# Onboard link to gimbal
-mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
@@ -1,5 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-#param set-default MAV_SYS_ID $((px4_instance+1))
-#param set-default IMU_INTEG_RATE 250
@@ -1,20 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-simulator_tcp_port=$((4560+px4_instance))
-
-# Check if PX4_SIM_HOSTNAME environment variable is empty
-# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
-# If both are empty use localhost for simulator
-if [ -z "${PX4_SIM_HOSTNAME}" ]; then
-  if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
-    echo "PX4 SIM HOST: localhost"
-    simulator start -c $simulator_tcp_port
-  else
-    echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
-    simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
-  fi
-else
-  echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
-  simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
-fi
@@ -10,7 +10,7 @@ fi

 if [ ! -f replay_params.txt ]; then
 	echo "Creating $(pwd)/replay_params.txt"
-	ulog_params -i "${replay}" -l ' ' | grep -e '^EKF2' > replay_params.txt
+	ulog_params -i "${replay}" -d ' ' | grep -e '^EKF2' > replay_params.txt
 fi

 publisher_rules_file="orb_publisher.rules"
@@ -21,7 +21,6 @@ ignore_others: false
 EOF

 param set SDLOG_DIRS_MAX 7
-param set SDLOG_PROFILE 3

 # apply all params before ekf starts, as some params cannot be changed after startup
 replay tryapplyparams
@@ -1,14 +1,11 @@
 #!/bin/sh

-set -e
-
 # PX4 commands need the 'px4-' prefix in bash.
 # (px4-alias.sh is expected to be in the PATH)
 # shellcheck disable=SC1091
 . px4-alias.sh

-#search path for sourcing px4-rc.*
-PATH="$PATH:${R}etc/init.d-posix"
+SCRIPT_DIR="$(CDPATH='' cd -- "$(dirname -- "$0")" && pwd)"

 #
 # Main SITL startup script
@@ -23,6 +20,8 @@ then
 fi

 # initialize script variables
+set AUX_MODE                    none
+set AUX_BANK2			none
 set IO_PRESENT                  no
 set MAV_TYPE                    none
 set MIXER                       none
@@ -46,12 +45,12 @@ else
 	# Find the matching Autostart ID (file name has the form: [0-9]+_${PX4_SIM_MODEL})
 	# TODO: unify with rc.autostart generation
 	# shellcheck disable=SC2012
-	REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
+	REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
 	if [ -z "$REQUESTED_AUTOSTART" ]; then
-		echo "ERROR  [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
+		echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on $SCRIPT_DIR/airframes)"
 		exit 1
 	else
-		echo "INFO  [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
+		echo "Info: found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
 	fi
 fi

@@ -105,6 +104,15 @@ fi
 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
+simulator_tcp_port=$((4560+px4_instance))
+udp_offboard_port_local=$((14580+px4_instance))
+udp_offboard_port_remote=$((14540+px4_instance))
+[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
+udp_onboard_payload_port_local=$((14280+px4_instance))
+udp_onboard_payload_port_remote=$((14030+px4_instance))
+udp_onboard_gimbal_port_local=$((13030+px4_instance))
+udp_onboard_gimbal_port_remote=$((13280+px4_instance))
+udp_gcs_port_local=$((18570+px4_instance))

 if [ $AUTOCNF = yes ]
 then
@@ -122,9 +130,11 @@ then

 	param set SENS_BOARD_X_OFF 0.000001
 	param set SENS_DPRES_OFF 0.001
+
+	param set SYS_RESTART_TYPE 2
 fi

-param set-default BAT1_N_CELLS 4
+param set-default BAT_N_CELLS 4

 param set-default CBRK_AIRSPD_CHK 0
 param set-default CBRK_SUPPLY_CHK 894281
@@ -146,8 +156,6 @@ param set-default SENS_MAG_MODE 0

 param set-default IMU_GYRO_FFT_EN 1

-param set-default -s MC_AT_EN 1
-
 # By default log from boot until first disarm.
 param set-default SDLOG_MODE 1
 # enable default, estimator replay and vision/avoidance logging profiles
@@ -208,33 +216,38 @@ fi
 # Simulator IMU data provided at 250 Hz
 param set IMU_INTEG_RATE 250

-#user defined params for instances can be in PATH
-. px4-rc.params
-
 dataman start
 # only start the simulator if not in replay mode, as both control the lockstep time
 if ! replay tryapplyparams
 then
-  . px4-rc.simulator
+  # Check if PX4_SIM_HOSTNAME environment variable is empty
+  # If empty check if PX4_SIM_HOST_ADDR environment variable is empty
+  # If both are empty use localhost for simulator
+  if [ -z "${PX4_SIM_HOSTNAME}" ]; then
+    if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
+      echo "PX4 SIM HOST: localhost"
+      simulator start -c $simulator_tcp_port
+    else
+      echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
+      simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port 
+    fi
+  else
+    echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
+    simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port 
+  fi
 fi
 load_mon start
 battery_simulator start
 tone_alarm start
 rc_update start
-manual_control start
 sensors start
 commander start
 navigator start

-# Try to start the micrortps_client with UDP transport if module exists
-if px4-micrortps_client status > /dev/null 2>&1
-then
-	. px4-rc.rtps
-fi

 if param greater -s MNT_MODE_IN -1
 then
-	gimbal start
+	vmount start
 fi

 if param greater -s TRIG_MODE 0
@@ -259,8 +272,32 @@ fi
 #
 . ${R}etc/init.d/rc.vehicle_setup

-#user defined mavlink streams for instances can be in PATH
-. px4-rc.mavlink
+if [ -e etc/init.d-posix/rc.mavlink_override ]
+then
+	echo "Running non-default mavlink config rc.mavlink_override"
+	. ${R}etc/init.d-posix/rc.mavlink_override
+else
+	# GCS link
+	mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
+	mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
+	mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
+	mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
+	mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
+	mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
+	mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
+	mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
+	mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
+	mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
+
+	# API/Offboard link
+	mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
+
+	# Onboard link to camera
+	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
+
+	# Onboard link to gimbal
+	mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
+fi

 # execute autostart post script if any
 [ -e "$autostart_file".post ] && . "$autostart_file".post
@@ -42,6 +42,7 @@ px4_add_romfs_files(
 	rc.fw_apps
 	rc.fw_defaults
 	rc.interface
+	rc.io
 	rc.logging
 	rc.mc_apps
 	rc.mc_defaults
@@ -55,4 +56,5 @@ px4_add_romfs_files(
 	rc.vehicle_setup
 	rc.vtol_apps
 	rc.vtol_defaults
+	rc.ctrlalloc
 )
@@ -13,12 +13,12 @@
 # @output MAIN6 gear
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
-# @board px4_fmu-v2 exclude
 #

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

-param set-default BAT1_N_CELLS 3
+
+param set-default BAT_N_CELLS 3

 param set-default FW_AIRSPD_MAX 20
 param set-default FW_AIRSPD_MIN 12
@@ -29,35 +29,21 @@ param set-default FW_L1_DAMPING 0.74
 param set-default FW_L1_PERIOD 16
 param set-default FW_LND_ANG 15
 param set-default FW_LND_FLALT 5
+param set-default FW_LND_HHDIST 15
 param set-default FW_LND_HVIRT 13
 param set-default FW_LND_TLALT 5
 param set-default FW_THR_LND_MAX 0
 param set-default FW_PR_FF 0.35
+param set-default FW_PR_I 0.1
+param set-default FW_PR_IMAX 0.4
 param set-default FW_PR_P 0.2
 param set-default FW_RR_FF 0.6
+param set-default FW_RR_I 0.1
+param set-default FW_RR_IMAX 0.2
 param set-default FW_RR_P 0.3

 param set-default RWTO_TKOFF 1

-param set-default CA_AIRFRAME 1
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-param set-default CA_SV_CS_COUNT 4
-param set-default CA_SV_CS0_TRQ_R 0.5
-param set-default CA_SV_CS0_TYPE 2
-param set-default CA_SV_CS1_TRQ_P 1.0
-param set-default CA_SV_CS1_TYPE 3
-param set-default CA_SV_CS2_TRQ_Y 1.0
-param set-default CA_SV_CS2_TYPE 4
-param set-default CA_SV_CS3_TYPE 10
-
-param set-default HIL_ACT_REV 2
-param set-default HIL_ACT_FUNC1 201
-param set-default HIL_ACT_FUNC2 202
-param set-default HIL_ACT_FUNC3 203
-param set-default HIL_ACT_FUNC4 101
-param set-default HIL_ACT_FUNC5 204
-param set-default HIL_ACT_FUNC6 400

 param set SYS_HITL 1

@@ -25,12 +25,19 @@

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

+
+param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.1
 param set-default MC_ROLLRATE_I 0.05
 param set-default MC_ROLLRATE_D 0.0017
+param set-default MC_PITCH_P 6.5
 param set-default MC_PITCHRATE_P 0.14
 param set-default MC_PITCHRATE_I 0.1
 param set-default MC_PITCHRATE_D 0.0025
+param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.28
-
+param set-default MC_YAWRATE_I 0.1
+param set-default MC_YAWRATE_D 0
 set MIXER quad_w
+
+set PWM_OUT 1234
@@ -23,18 +23,23 @@

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

+
 # TODO tune roll/pitch separately
 param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_P 0.15
 param set-default MC_ROLLRATE_I 0.05
 param set-default MC_ROLLRATE_D 0.004
 param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_P 0.15
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCHRATE_D 0.004
 param set-default MC_YAW_P 2.5
 param set-default MC_YAWRATE_P 0.25
 param set-default MC_YAWRATE_I 0.25
+param set-default MC_YAWRATE_D 0

-param set-default BAT1_V_DIV 12.27559
-param set-default BAT1_A_PER_V 15.391030303103
-
+param set-default BAT_V_DIV 12.27559
+param set-default BAT_A_PER_V 15.39103
 set MIXER quad_w
+
+set PWM_OUT 1234
@@ -25,7 +25,8 @@

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

-param set-default BAT1_N_CELLS 4
+
+param set-default BAT_N_CELLS 4

 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.13
@@ -36,4 +37,9 @@ 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
+param set-default MC_YAWRATE_P 0.2
+param set-default MC_YAWRATE_I 0.1
+param set-default MC_YAWRATE_D 0
 set MIXER quad_w
+
+set PWM_OUT 1234
@@ -25,19 +25,26 @@

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

-param set-default BAT1_N_CELLS 6
-param set-default BAT1_V_EMPTY 3.5
+
+param set-default BAT_N_CELLS 6
+param set-default BAT_V_EMPTY 3.5

 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.08
 param set-default MC_ROLLRATE_I 0.02
+param set-default MC_ROLLRATE_D 0.003
 param set-default MC_PITCH_P 7
 param set-default MC_PITCHRATE_P 0.13
 param set-default MC_PITCHRATE_I 0.02
 param set-default MC_PITCHRATE_D 0.005
+param set-default MC_YAW_P 2.8
+param set-default MC_YAWRATE_P 0.2
+param set-default MC_YAWRATE_I 0.1
+param set-default MC_YAWRATE_D 0

 param set-default MPC_XY_VEL_MAX 2

 param set-default PWM_MAIN_MIN 1080
-
 set MIXER quad_w
+
+set PWM_OUT 1234
@@ -6,32 +6,15 @@
 # @class Copter
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
-# @board px4_fmu-v2 exclude
 #

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

 set MIXER quad_x
+set PWM_OUT 1234

 param set SYS_HITL 1

-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
-
 # disable some checks to allow to fly
 # - with usb
 param set-default CBRK_USB_CHK 197848
@@ -9,18 +9,19 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
 #

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


-param set-default BAT1_N_CELLS 3
+param set-default BAT_N_CELLS 3

 param set-default COM_RC_IN_MODE 1

+param set-default EKF2_AID_MASK 1
 param set-default EKF2_ANGERR_INIT 0.01
 param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_HGT_MODE 0
 param set-default EKF2_MAG_TYPE 1

 param set-default FW_AIRSPD_MAX 25
@@ -55,43 +56,13 @@ param set-default RTL_DESCEND_ALT 10
 param set-default RTL_RETURN_ALT 30

 param set-default SDLOG_DIRS_MAX 7
+param set-default SYS_RESTART_TYPE 2

 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_TYPE 2

-param set-default CA_AIRFRAME 2
-param set-default CA_ROTOR_COUNT 5
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
-param set-default CA_ROTOR4_PX 0.2
-
-param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS2_TYPE 3
-
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
-param set-default HIL_ACT_FUNC5 105
-param set-default HIL_ACT_FUNC6 201
-param set-default HIL_ACT_FUNC7 202
-param set-default HIL_ACT_FUNC8 203
-

 param set SYS_HITL 1

@@ -19,7 +19,6 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v2 exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -15,25 +15,6 @@
 set MIXER quad_x
 set PWM_OUT 1234

-param set UAVCAN_ENABLE 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
-
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2

@@ -45,5 +26,3 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027
-
-param set SIH_VEHICLE_TYPE 0
@@ -1,63 +0,0 @@
-#!/bin/sh
-#
-# @name SIH plane AERT
-#
-# @type Simulation
-# @class Plane
-#
-# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
-#
-# @board px4_fmu-v2 exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-set MIXER AERT
-set PWM_OUT 1234
-
-param set UAVCAN_ENABLE 0
-
-param set-default CA_AIRFRAME 1
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-param set-default CA_SV_CS_COUNT 4
-param set-default CA_SV_CS0_TRQ_R 0.5
-param set-default CA_SV_CS0_TYPE 2
-param set-default CA_SV_CS1_TRQ_P 1.0
-param set-default CA_SV_CS1_TYPE 3
-param set-default CA_SV_CS2_TRQ_Y 1.0
-param set-default CA_SV_CS2_TYPE 4
-param set-default CA_SV_CS3_TYPE 10
-
-param set-default HIL_ACT_REV 2
-param set-default HIL_ACT_FUNC1 201
-param set-default HIL_ACT_FUNC2 202
-param set-default HIL_ACT_FUNC3 203
-param set-default HIL_ACT_FUNC4 101
-param set-default HIL_ACT_FUNC5 204
-param set-default HIL_ACT_FUNC6 400
-
-# set SYS_HITL to 2 to start the SIH and avoid sensors startup
-param set-default SYS_HITL 2
-
-# disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default BAT_N_CELLS 3
-
-param set SIH_T_MAX 6.0
-param set SIH_MASS 0.3
-param set SIH_IXX 0.00402
-param set SIH_IYY 0.0144
-param set SIH_IZZ 0.0177
-param set SIH_IXZ 0.00046
-param set SIH_KDV 0.2
-
-param set SIH_VEHICLE_TYPE 1 	# sih as fixed wing
-param set RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)
@@ -1,81 +0,0 @@
-#!/bin/sh
-#
-# @name SIH Tailsitter Duo
-#
-# @type Simulation
-# @class VTOL
-#
-# @output MAIN1 motor right
-# @output MAIN2 motor left
-# @output MAIN5 elevon right
-# @output MAIN6 elevon left
-#
-# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
-#
-# @board px4_fmu-v2 exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set UAVCAN_ENABLE 0
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_MOT_COUNT 2
-param set-default VT_TYPE 0
-param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_SC 0.3
-param set-default MPC_MAN_Y_MAX 60
-param set-default MC_PITCH_P 5
-
-param set-default CA_AIRFRAME 4
-param set-default CA_ROTOR_COUNT 2
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR0_PY 0.2
-param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR1_PY -0.2
-param set-default CA_SV_CS_COUNT 2
-param set-default CA_SV_CS0_TRQ_P 0.3
-param set-default CA_SV_CS0_TRQ_Y 0.3
-param set-default CA_SV_CS0_TYPE 5
-param set-default CA_SV_CS1_TRQ_P 0.3
-param set-default CA_SV_CS1_TRQ_Y -0.3
-param set-default CA_SV_CS1_TYPE 6
-
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC5 202
-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
-
-# set SYS_HITL to 2 to start the SIH and avoid sensors startup
-param set-default SYS_HITL 2
-
-# disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default BAT_N_CELLS 3
-
-param set SIH_T_MAX 2.0
-param set SIH_Q_MAX 0.0165
-param set SIH_MASS 0.2
-# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
-param set SIH_IXX 0.00354
-param set SIH_IYY 0.000625
-param set SIH_IZZ 0.00300
-param set SIH_IXZ 0.0
-param set SIH_KDV 0.2
-param set SIH_L_ROLL 0.145
-
-# sih as tailsitter
-param set SIH_VEHICLE_TYPE 2
@@ -36,13 +36,15 @@ param set-default MC_ROLLRATE_D 0.009
 param set-default MC_ROLLRATE_MAX 180

 param set-default MC_YAW_P 3
+param set-default MC_YAWRATE_P 0.2
+param set-default MC_YAWRATE_I 0.1
+param set-default MC_YAWRATE_D 0

 param set-default MPC_HOLD_MAX_XY 0.25
 param set-default MPC_THR_MIN 0.15
 param set-default MPC_Z_VEL_MAX_DN 2

-param set-default BAT1_N_CELLS 4
-
+param set-default BAT_N_CELLS 4
 set MIXER octo_cox_w

 set PWM_OUT 12345678
@@ -19,37 +19,13 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
 #

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

-param set-default CA_AIRFRAME 2
-param set-default CA_ROTOR_COUNT 5
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
-param set-default CA_ROTOR4_PX 0.2
-param set-default CA_SV_CS_COUNT 4
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4

 param set-default PWM_AUX_DIS5 950
+param set-default PWM_MAIN_RATE 400

 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 1234
@@ -14,7 +14,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -25,14 +24,20 @@ param set-default MAV_TYPE 19
 param set-default MC_ROLL_P 6
 param set-default MC_ROLLRATE_P 0.12
 param set-default MC_ROLLRATE_I 0.002
+param set-default MC_ROLLRATE_D 0.003
+param set-default MC_ROLLRATE_FF 0

 param set-default MC_PITCH_P 4.5
 param set-default MC_PITCHRATE_P 0.3
 param set-default MC_PITCHRATE_I 0.002
+param set-default MC_PITCHRATE_D 0.003
+param set-default MC_PITCHRATE_FF 0

 param set-default MC_YAW_P 3.8
 param set-default MC_YAWRATE_P 0.22
 param set-default MC_YAWRATE_I 0.02
+param set-default MC_YAWRATE_D 0
+param set-default MC_YAWRATE_FF 0

 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_ELEV_MC_LOCK 0
@@ -28,13 +28,19 @@ param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.19
 param set-default MC_ROLLRATE_I 0.002
 param set-default MC_ROLLRATE_D 0.005
+param set-default MC_ROLLRATE_FF 0
 param set-default MC_PITCH_P 7
 param set-default MC_PITCHRATE_P 0.14
 param set-default MC_PITCHRATE_I 0.002
 param set-default MC_PITCHRATE_D 0.004
+param set-default MC_PITCHRATE_FF 0
 param set-default MC_YAW_P 4
 param set-default MC_YAWRATE_P 0.22
 param set-default MC_YAWRATE_I 0.02
+param set-default MC_YAWRATE_D 0
+param set-default MC_YAWRATE_FF 0
+
+param set-default PWM_MAIN_RATE 400

 param set-default VT_FW_MOT_OFFID 34
 param set-default VT_IDLE_PWM_MC 1080
@@ -13,31 +13,14 @@

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

-param set-default CA_AIRFRAME 4
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_SV_CS_COUNT 2
-param set-default CA_SV_CS0_TRQ_P 0.5
-param set-default CA_SV_CS0_TRQ_Y 0.5
-param set-default CA_SV_CS0_TYPE 5
-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 PWM_MAIN_MAX 2000
+param set-default PWM_MAIN_RATE 400

 param set-default VT_MOT_ID 1234
 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0
+param set-default VT_ELEV_MC_LOCK 1
 set MAV_TYPE 20

 set MIXER quad_x_vtol
@@ -22,11 +22,13 @@

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

+
 param set-default PWM_MAIN_MAX 2000
+param set-default PWM_MAIN_RATE 400

 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0
-
+param set-default VT_ELEV_MC_LOCK 1
 set MAV_TYPE 20

 set MIXER quad_+_vtol
@@ -19,30 +19,42 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
 #

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

+
 param set-default PWM_AUX_DIS5 950

+param set-default PWM_MAIN_RATE 400
+
 param set-default MC_ROLL_P 6
 param set-default MC_ROLLRATE_P 0.17
 param set-default MC_ROLLRATE_I 0.002
 param set-default MC_ROLLRATE_D 0.004
+param set-default MC_ROLLRATE_FF 0
 param set-default MC_PITCH_P 6
 param set-default MC_PITCHRATE_P 0.19
 param set-default MC_PITCHRATE_I 0.002
 param set-default MC_PITCHRATE_D 0.004
+param set-default MC_PITCHRATE_FF 0
+param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.22
 param set-default MC_YAWRATE_I 0.02
+param set-default MC_YAWRATE_D 0
+param set-default MC_YAWRATE_FF 0
 param set-default MC_YAWRATE_MAX 40

 param set-default MPC_YAWRAUTO_MAX 40

+param set-default FW_PR_FF 0.5
 param set-default FW_PR_I 0.02
+param set-default FW_PR_IMAX 0.4
+param set-default FW_PR_P 0.08
 param set-default FW_RR_FF 0.6
 param set-default FW_RR_I 0.01
+param set-default FW_RR_IMAX 0.2
+param set-default FW_RR_P 0.05
 param set-default FW_THR_CRUISE 0.75

 param set-default VT_ARSP_BLEND 6
@@ -17,16 +17,26 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
 #

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


+param set-default MC_ROLL_P 6.5
+param set-default MC_ROLLRATE_P 0.15
 param set-default MC_ROLLRATE_I 0.01
+param set-default MC_ROLLRATE_D 0.003
+param set-default MC_ROLLRATE_FF 0
+param set-default MC_PITCH_P 6.5
+param set-default MC_PITCHRATE_P 0.15
 param set-default MC_PITCHRATE_I 0.01
+param set-default MC_PITCHRATE_D 0.003
+param set-default MC_PITCHRATE_FF 0
 param set-default MC_YAW_P 3.5
-
+param set-default MC_YAWRATE_P 0.2
+param set-default MC_YAWRATE_I 0.1
+param set-default MC_YAWRATE_D 0
+param set-default MC_YAWRATE_FF 0
 param set-default MC_YAWRATE_MAX 50

 param set-default MPC_XY_P 0.8
@@ -35,6 +45,7 @@ param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_YAWRAUTO_MAX 20

 param set-default PWM_AUX_DIS3 950
+param set-default PWM_MAIN_RATE 400

 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
@@ -9,24 +9,32 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
 #

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


 param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_P 0.15
 param set-default MC_ROLLRATE_I 0.002
+param set-default MC_ROLLRATE_D 0.003
+param set-default MC_ROLLRATE_FF 0
 param set-default MC_PITCH_P 7
 param set-default MC_PITCHRATE_P 0.12
 param set-default MC_PITCHRATE_I 0.002
+param set-default MC_PITCHRATE_D 0.003
+param set-default MC_PITCHRATE_FF 0
+param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.22
 param set-default MC_YAWRATE_I 0.02
+param set-default MC_YAWRATE_D 0
+param set-default MC_YAWRATE_FF 0
 param set-default MC_YAWRATE_MAX 40

 param set-default MPC_YAWRAUTO_MAX 40

 param set-default PWM_AUX_DIS5 950
+param set-default PWM_MAIN_RATE 400

 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_MOT_ID 1234
@@ -15,32 +15,44 @@


 param set-default FW_THR_CRUISE 65
+param set-default FW_PR_P 0.08
+param set-default FW_PR_FF 0.5
+param set-default FW_RR_P 0.05
 param set-default FW_RR_FF 0.6

 param set-default MIS_YAW_TMT 10

 param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_P 0.15
 param set-default MC_ROLLRATE_I 0.1
 param set-default MC_ROLLRATE_D 0.004
+param set-default MC_ROLLRATE_FF 0
 param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_P 0.15
 param set-default MC_PITCHRATE_I 0.1
 param set-default MC_PITCHRATE_D 0.004
+param set-default MC_PITCHRATE_FF 0
 param set-default MC_YAW_P 3.5
 param set-default MC_YAWRATE_P 0.6
 param set-default MC_YAWRATE_I 0.04
+param set-default MC_YAWRATE_D 0
+param set-default MC_YAWRATE_FF 0
 param set-default MC_YAWRATE_MAX 40

 param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_Z_VEL_MAX_DN 1.5
+param set-default MPC_TKO_SPEED 1.5
 param set-default MPC_LAND_SPEED 0.8
 param set-default MPC_YAWRAUTO_MAX 40

 param set-default PWM_AUX_DIS5 950
 param set-default PWM_AUX_REV1 1
 param set-default PWM_AUX_REV2 1
+param set-default PWM_MAIN_RATE 400

 param set-default VT_ARSP_TRANS 15
 param set-default VT_ARSP_BLEND 8
+param set-default VT_B_TRANS_DUR 4
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_MOT_ID 1234
@@ -9,11 +9,11 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
 #

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

+
 param set-default FW_AIRSPD_MAX   22
 param set-default FW_AIRSPD_MIN   14
 param set-default FW_AIRSPD_TRIM  16
@@ -68,7 +68,10 @@ param set-default PWM_AUX_REV4    1

 param set-default PWM_AUX_DIS5 950

+param set-default PWM_MAIN_RATE 400
+
 param set-default VT_ARSP_TRANS   15
+param set-default VT_B_TRANS_DUR  4
 param set-default VT_F_TRANS_THR    0.6
 param set-default VT_IDLE_PWM_MC 1180
 param set-default VT_MOT_ID 1234
@@ -13,12 +13,14 @@

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

+
 param set-default PWM_AUX_DISARM 1000
 param set-default PWM_AUX_MAX 2000
 param set-default PWM_AUX_MIN 1000
 param set-default PWM_AUX_RATE 50

 param set-default PWM_MAIN_MAX 2000
+param set-default PWM_MAIN_RATE 400

 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 13
@@ -22,6 +22,7 @@

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

+
 param set-default CBRK_AIRSPD_CHK 162128

 param set-default FW_ARSP_MODE 1
@@ -31,14 +32,22 @@ param set-default FW_MAN_R_MAX 50
 param set-default FW_ACRO_X_MAX   270
 param set-default FW_ACRO_Y_MAX   270
 param set-default FW_ACRO_Z_MAX   180
+param set-default FW_PR_FF    0.5
+param set-default FW_PR_P 0.08
 param set-default FW_PSP_OFF  5
 param set-default FW_P_LIM_MAX    30
 param set-default FW_P_LIM_MIN    -30
+param set-default FW_P_RMAX_NEG   60
+param set-default FW_P_RMAX_POS   60
 param set-default FW_RR_FF    0.33
 param set-default FW_RR_P 0.11
+param set-default FW_YR_FF    0.3
+param set-default FW_YR_P 0.05

+param set-default MC_PITCHRATE_D  0.003
 param set-default MC_PITCHRATE_P  0.15
 param set-default MC_PITCH_P  6
+param set-default MC_ROLLRATE_D   0.003
 param set-default MC_ROLLRATE_P   0.15
 param set-default MC_ROLL_P   6
 param set-default MC_YAWRATE_MAX  120
@@ -48,6 +57,9 @@ param set-default MC_YAW_P    2.5
 param set-default MC_YAWRATE_P 0.3
 param set-default MPC_LAND_SPEED 1.2
 param set-default MPC_TKO_SPEED 2.5
+param set-default MPC_Z_VEL_MAX_UP 3
+
+param set-default PWM_MAIN_RATE 400

 param set-default SENS_BOARD_ROT 8

@@ -57,8 +69,11 @@ param set-default VT_F_TR_OL_TM   4
 param set-default VT_FW_DIFTHR_EN 1
 param set-default VT_FW_DIFTHR_SC 0.17
 param set-default VT_FW_MOT_OFFID 3
+param set-default VT_FW_PERM_STAB 0
 param set-default VT_IDLE_PWM_MC 1200
 param set-default VT_MOT_ID 123
+param set-default VT_TILT_FW  1
+param set-default VT_TILT_MC  0
 param set-default VT_TILT_TRANS   0.45
 param set-default VT_TRANS_MIN_TM 1.2
 param set-default VT_TRANS_P2_DUR 1.3
@@ -22,9 +22,10 @@

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

-param set-default BAT1_CAPACITY 23000
-param set-default BAT1_N_CELLS 4
-param set-default BAT1_R_INTERNAL 0.0025
+
+param set-default BAT_CAPACITY 23000
+param set-default BAT_N_CELLS 4
+param set-default BAT_R_INTERNAL 0.0025

 param set-default CBRK_AIRSPD_CHK 162128
 param set-default CBRK_IO_SAFETY 22027
@@ -64,16 +65,27 @@ param set-default FW_BAT_SCALE_EN 1
 param set-default FW_THR_ALT_SCL 2.7
 param set-default FW_T_RLL2THR 20

+param set-default LNDMC_ALT_MAX 9999
 param set-default LNDMC_XY_VEL_MAX 1
 param set-default LNDMC_Z_VEL_MAX 0.7

+param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.16
 param set-default MC_ROLLRATE_I 0.01
+param set-default MC_ROLLRATE_D 0.003
+param set-default MC_ROLLRATE_FF 0
 param set-default MC_ROLLRATE_MAX 80
+param set-default MC_PITCH_P 6.5
+param set-default MC_PITCHRATE_P 0.15
 param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCHRATE_D 0.003
+param set-default MC_PITCHRATE_FF 0
 param set-default MC_PITCHRATE_MAX 80
 param set-default MC_YAW_P 3.5
-
+param set-default MC_YAWRATE_P 0.2
+param set-default MC_YAWRATE_I 0.1
+param set-default MC_YAWRATE_D 0
+param set-default MC_YAWRATE_FF 0
 param set-default MC_YAWRATE_MAX 20
 param set-default MC_AIRMODE 1

@@ -97,6 +109,7 @@ param set-default MPC_TILTMAX_AIR 25
 param set-default MPC_TILTMAX_LND 25
 param set-default MPC_YAWRAUTO_MAX 20

+param set-default NAV_DLL_ACT 0
 param set-default NAV_LOITER_RAD 100

 param set-default PWM_AUX_DISARM 950
@@ -106,6 +119,7 @@ param set-default PWM_MAIN_DIS6 1500
 param set-default PWM_MAIN_DIS7 900
 param set-default PWM_MAIN_DIS8 900

+param set-default PWM_MAIN_RATE 400

 param set-default SENS_BOARD_ROT 18

@@ -119,11 +133,13 @@ param set-default VT_TYPE 2
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_F_TRANS_THR 1
-param set-default VT_PITCH_MIN 8
+param set-default VT_DWN_PITCH_MAX 8
 param set-default VT_FW_QC_P 55
 param set-default VT_FW_QC_R 55
 param set-default VT_TRANS_MIN_TM 15
 param set-default VT_B_TRANS_DUR 8
+param set-default VT_WV_LND_EN 1
+param set-default VT_WV_LTR_EN 1
 param set-default VT_FWD_THRUST_SC 4
 param set-default VT_F_TRANS_DUR 1
 param set-default VT_IDLE_PWM_MC 1025
@@ -18,22 +18,26 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
 #

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

-param set-default BAT1_N_CELLS 6
+
+
+param set-default BAT_N_CELLS 6

 param set-default FW_AIRSPD_MAX 30
 param set-default FW_AIRSPD_MIN 19
 param set-default FW_AIRSPD_TRIM 23
 param set-default FW_L1_R_SLEW_MAX 40
+param set-default FW_LND_EARLYCFG 1
 param set-default FW_MAN_P_MAX 30
+param set-default FW_PR_I 0.1
 param set-default FW_PSP_OFF 3
 param set-default FW_P_LIM_MAX 18
 param set-default FW_P_LIM_MIN -25
 param set-default FW_RLL_TO_YAW_FF 0.1
+param set-default FW_RR_I 0.1
 param set-default FW_RR_P 0.08
 param set-default FW_R_LIM 45
 param set-default FW_R_RMAX 50
@@ -43,15 +47,22 @@ param set-default FW_THR_SLEW_MAX 0.6
 param set-default FW_T_HRATE_FF 0
 param set-default FW_T_SINK_MAX 15
 param set-default FW_T_SINK_MIN 3
+param set-default FW_YR_I 0.1
 param set-default FW_YR_P 0.15

+param set-default IMU_GYRO_CUTOFF 40
+
 param set-default IMU_DGYRO_CUTOFF 15
+param set-default MC_PITCHRATE_I 0.2
 param set-default MC_PITCHRATE_MAX 60
+param set-default MC_ROLLRATE_I 0.2
 param set-default MC_ROLLRATE_MAX 60
 param set-default MC_YAWRATE_I 0.15
 param set-default MC_YAWRATE_MAX 40
 param set-default MC_YAWRATE_P 0.3

+param set-default MIS_TAKEOFF_ALT 30
+
 param set-default MPC_ACC_DOWN_MAX 2
 param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_ACC_UP_MAX 3
@@ -60,6 +71,7 @@ param set-default MPC_JERK_AUTO 4
 param set-default MPC_LAND_SPEED 1
 param set-default MPC_MAN_TILT_MAX 25
 param set-default MPC_MAN_Y_MAX 40
+param set-default MPC_POS_MODE 3
 param set-default MPC_SPOOLUP_TIME 1.5
 param set-default MPC_THR_HOVER 0.45
 param set-default MPC_TILTMAX_AIR 25
@@ -99,6 +111,5 @@ set MAV_TYPE 22
 set MIXER babyshark
 set MIXER_AUX pass

-# Mark outputs for the alternate rate
-# or D-Shot
 set PWM_OUT 5678
+set PWM_AUX_OUT 1234
--- a/Show More
+++ b/Show More