[WIP] uavcan use HRT as monotonic source

2026-06-20 04:30:35 +08:00 · 2022-07-07 21:29:42 -04:00
366 changed files with 4666 additions and 10606 deletions
@@ -1,17 +1,11 @@
 ---
 Checks:          '*,
-                  -*-avoid-c-arrays,
-                  -*-uppercase-literal-suffix,
-                  -*-magic-numbers,
-                  -altera-id-dependent-backward-branch,
-                  -altera-unroll-loops,
                  -android*,
                  -bugprone-integer-division,
                  -cert-dcl50-cpp,
                  -cert-env33-c,
                  -cert-err34-c,
                  -cert-err58-cpp,
-                  -cert-flp30-c,
                  -cert-msc30-c,
                  -cert-msc50-cpp,
                  -clang-analyzer-core.CallAndMessage,
@@ -24,7 +18,6 @@ Checks:          '*,
                  -clang-analyzer-deadcode.DeadStores,
                  -clang-analyzer-optin.cplusplus.VirtualCall,
                  -clang-analyzer-optin.performance.Padding,
-                  -clang-analyzer-security.FloatLoopCounter,
                  -clang-analyzer-security.insecureAPI.strcpy,
                  -clang-analyzer-unix.API,
                  -clang-analyzer-unix.cstring.BadSizeArg,
@@ -44,7 +37,8 @@ Checks:          '*,
                  -cppcoreguidelines-pro-type-union-access,
                  -cppcoreguidelines-pro-type-vararg,
                  -cppcoreguidelines-special-member-functions,
-                  -fuchsia-*,
+                  -fuchsia-default-arguments,
+                  -fuchsia-overloaded-operator,
                  -google-build-using-namespace,
                  -google-explicit-constructor,
                  -google-global-names-in-headers,
@@ -68,7 +62,6 @@ Checks:          '*,
                  -hicpp-use-equals-delete,
                  -hicpp-use-override,
                  -hicpp-vararg,
-                  -llvmlibc-*,
                  -llvm-header-guard,
                  -llvm-include-order,
                  -llvm-namespace-comment,
@@ -91,7 +84,6 @@ Checks:          '*,
                  -modernize-use-override,
                  -modernize-use-trailing-return-type,
                  -modernize-use-using,
-                  -modernize-use-trailing-return-type,
                  -performance-inefficient-string-concatenation,
                  -readability-avoid-const-params-in-decls,
                  -readability-container-size-empty,
@@ -1,14 +0,0 @@
-name: docker-dev
-on: [push, pull_request]
-jobs:
-  changes:
-    runs-on: ubuntu-latest
-    steps:
-      - id: file_changes
-        uses: trilom/file-changes-action@v1.2.3
-      - name: test
-        run: |
-          echo '${{ steps.file_changes.outputs.files}}'
-          echo '${{ steps.file_changes.outputs.files_modified}}'
-          echo '${{ steps.file_changes.outputs.files_added}}'
-          echo '${{ steps.file_changes.outputs.files_removed}}'
@@ -175,12 +175,6 @@ include(kconfig)
 message(STATUS "PX4 config: ${PX4_CONFIG}")
 message(STATUS "PX4 platform: ${PX4_PLATFORM}")

-if($ENV{CLION_IDE})
-	# CLion automatically executes some compiler commands after configuring the
-	# project. This would fail on NuttX, as visibility.h tries to (indirectly)
-	# include nuttx/config.h, which at that point does not exist yet
-	add_definitions(-DPX4_DISABLE_GCC_POISON)
-endif()

 if(${PX4_PLATFORM} STREQUAL "posix")
 	if(ENABLE_LOCKSTEP_SCHEDULER)
@@ -6,38 +6,38 @@

 [![Slack](/.github/slack.svg)](https://join.slack.com/t/px4/shared_invite/zt-si4xo5qs-R4baYFmMjlrT4rQK5yUnaA)

-This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
+This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.

 PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.

 * Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
-* [Supported airframes](https://docs.px4.io/main/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
-  * [Multicopters](https://docs.px4.io/main/en/frames_multicopter/)
-  * [Fixed wing](https://docs.px4.io/main/en/frames_plane/)
-  * [VTOL](https://docs.px4.io/main/en/frames_vtol/)
-  * [Autogyro](https://docs.px4.io/main/en/frames_autogyro/)
-  * [Rover](https://docs.px4.io/main/en/frames_rover/)
+* [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
+  * [Multicopters](https://docs.px4.io/master/en/frames_multicopter/)
+  * [Fixed wing](https://docs.px4.io/master/en/frames_plane/)
+  * [VTOL](https://docs.px4.io/master/en/frames_vtol/)
+  * [Autogyro](https://docs.px4.io/master/en/frames_autogyro/)
+  * [Rover](https://docs.px4.io/master/en/frames_rover/)
  * many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
 * Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)


 ## Building a PX4 based drone, rover, boat or robot

-The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4.
-See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
+The [PX4 User Guide](https://docs.px4.io/master/en/) explains how to assemble [supported vehicles](https://docs.px4.io/master/en/airframes/airframe_reference.html) and fly drones with PX4.
+See the [forum and chat](https://docs.px4.io/master/en/#support) if you need help!


 ## Changing code and contributing

-This [Developer Guide](https://docs.px4.io/main/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
+This [Developer Guide](https://docs.px4.io/master/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.

-Developers should read the [Guide for Contributions](https://docs.px4.io/main/en/contribute/).
-See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
+Developers should read the [Guide for Contributions](https://docs.px4.io/master/en/contribute/).
+See the [forum and chat](https://dev.px4.io/master/en/#support) if you need help!


 ### Weekly Dev Call

-The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/contribute/).
+The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/contribute/#dev_call).

 > **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. It includes a QA session for newcomers. All regular calls are listed in the [Dronecode calendar](https://www.dronecode.org/calendar/).

@@ -88,43 +88,35 @@ This repository contains code supporting Pixhawk standard boards (best supported
  * FMUv6X and FMUv6U (STM32H7, 2021)
    * Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
  * FMUv5 and FMUv5X (STM32F7, 2019/20)
-    * [Pixhawk 4 (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4.html)
-    * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4_mini.html)
-    * [CUAV V5+ (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_plus.html)
-    * [CUAV V5 nano (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_nano.html)
-    * [Auterion Skynode (FMUv5X)](https://docs.auterion.com/skynode)
+    * [Pixhawk 4 (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
+    * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
+    * [CUAV V5+ (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
+    * [CUAV V5 nano (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
+    * [Auterion Skynode (FMUv5X)](https://docs.px4.io/master/en/flight_controller/auterion_skynode.html)
  * FMUv4 (STM32F4, 2015)
-    * [Pixracer](https://docs.px4.io/main/en/flight_controller/pixracer.html)
-    * [Pixhawk 3 Pro](https://docs.px4.io/main/en/flight_controller/pixhawk3_pro.html)
+    * [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
+    * [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
  * FMUv3 (STM32F4, 2014)
-    * [Pixhawk 2](https://docs.px4.io/main/en/flight_controller/pixhawk-2.html)
-    * [Pixhawk Mini](https://docs.px4.io/main/en/flight_controller/pixhawk_mini.html)
-    * [CUAV Pixhack v3](https://docs.px4.io/main/en/flight_controller/pixhack_v3.html)
+    * [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
+    * [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
+    * [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
  * FMUv2 (STM32F4, 2013)
-    * [Pixhawk](https://docs.px4.io/main/en/flight_controller/pixhawk.html)
-    * [Pixfalcon](https://docs.px4.io/main/en/flight_controller/pixfalcon.html)
+    * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
+    * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)

 ### Manufacturer and Community supported
-  * [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html)
-  * [Hex Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
-  * [Hex Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
+  * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
+  * [Hex Cube Orange](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_orange.html)
+  * [Hex Cube Yellow](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_yellow.html)
  * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
  * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
-  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/main/en/complete_vehicles/crazyflie2.html)
-  * [Omnibus F4 SD](https://docs.px4.io/main/en/flight_controller/omnibus_f4_sd.html)
-  * [Holybro Kakute F7](https://docs.px4.io/main/en/flight_controller/kakutef7.html)
-  * [Raspberry PI with Navio 2](https://docs.px4.io/main/en/flight_controller/raspberry_pi_navio2.html)
+  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/complete_vehicles/crazyflie2.html)
+  * [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
+  * [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
+  * [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)

-Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
+Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/master/en/flight_controller/).

 ## Project Roadmap

 A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).
-
-## Project Governance
-
-The PX4 Autopilot project including all of its trademarks is hosted under [Dronecode](https://www.dronecode.org/), part of the Linux Foundation.
-
-<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://mavlink.io/assets/site/logo_dronecode.png" alt="Dronecode Logo" width="110px"/></a>
-<a href="https://www.linuxfoundation.org/projects" style="padding:20px;"><img src="https://mavlink.io/assets/site/logo_linux_foundation.png" alt="Linux Foundation Logo" width="80px" /></a>
-<div style="padding:10px">&nbsp;</div>
@@ -10,6 +10,7 @@ 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

@@ -28,7 +29,7 @@ param set-default FW_SPOILERS_LND 0.4

 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
-param set-default FW_THR_TRIM 0.25
+param set-default FW_THR_CRUISE 0.25

 param set-default FW_T_CLMB_MAX 8
 param set-default FW_T_SINK_MAX 2.7
@@ -7,9 +7,12 @@

 param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
+param set-default FW_THR_LND_MAX 0
+param set-default FW_LND_HHDIST 30
 param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5
+param set-default FW_LND_TLALT 15

 param set-default FW_L1_PERIOD 25

@@ -35,6 +38,7 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1

 param set-default RWTO_MAX_PITCH 20
+param set-default RWTO_MAX_ROLL 10

 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8
@@ -7,9 +7,12 @@

 param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
+param set-default FW_THR_LND_MAX 0
+param set-default FW_LND_HHDIST 30
 param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5
+param set-default FW_LND_TLALT 15

 param set-default FW_L1_PERIOD 25

@@ -35,6 +38,7 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1

 param set-default RWTO_MAX_PITCH 20
+param set-default RWTO_MAX_ROLL 10

 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8
@@ -10,6 +10,7 @@ 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 15

@@ -7,9 +7,12 @@

 param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
+param set-default FW_THR_LND_MAX 0
+param set-default FW_LND_HHDIST 30
 param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5
+param set-default FW_LND_TLALT 15

 param set-default FW_L1_PERIOD 25

@@ -34,6 +37,7 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1
 param set-default RWTO_MAX_PITCH 20
+param set-default RWTO_MAX_ROLL 10
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8

@@ -10,6 +10,7 @@ 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

@@ -26,7 +27,7 @@ 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_TRIM 0.25
+param set-default FW_THR_CRUISE 0.25

 param set-default FW_T_ALT_TC 2
 param set-default FW_T_CLMB_MAX 8
@@ -5,5 +5,5 @@

 . ${R}etc/init.d-posix/airframes/1030_plane

-param set-default FW_THR_TRIM 0.0
+param set-default FW_THR_CRUISE 0.0
 param set-default RWTO_TKOFF 0
@@ -57,7 +57,7 @@ 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_TRIM 0.25
+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_CLMB_MAX 8
@@ -51,7 +51,7 @@ param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_P 0.2
-param set-default FW_THR_TRIM 0.33
+param set-default FW_THR_CRUISE 0.33
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_T_ALT_TC 2
@@ -64,7 +64,7 @@ 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_TRIM 0.38
+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_CLMB_MAX 8
@@ -16,7 +16,7 @@ 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_TRIM 0.25
+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
@@ -41,7 +41,7 @@ param set-default FW_R_LIM 30
 param set-default FW_MAN_P_MAX 30.0
 param set-default FW_MAN_R_MAX 30.0

-param set-default FW_THR_TRIM 0.8
+param set-default FW_THR_CRUISE 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0

@@ -1,55 +0,0 @@
-#!/bin/sh
-#
-# @name ThunderFly TF-G2
-# ThunderFly TF-G2 autogyro airframe. Only for FlightGear simulator
-#
-# @type Autogyro
-# @class Autogyro
-#
-# @url https://github.com/ThunderFly-aerospace/TF-G2/
-#
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default FW_AIRSPD_STALL 5
-
-param set-default FW_P_RMAX_NEG 20.0
-param set-default FW_W_RMAX 10
-param set-default FW_W_EN 1
-
-param set-default FW_RR_P 0.08
-
-param set-default MIS_LTRMIN_ALT 50
-param set-default MIS_TAKEOFF_ALT 7
-
-param set-default NAV_ACC_RAD 20
-param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 50
-
-param set-default RWTO_TKOFF 0
-# Parameters related to autogyro takeoff PR
-#param set-default AG_TKOFF 1
-#param set-default AG_PROT_TYPE 1
-#param set-default AG_PROT_MIN_RPM 50.0
-#param set-default AG_PROT_TRG_RPM 900.0
-#param set-defoult AG_ROTOR_RPM 900.0
-
-param set-default FW_ARSP_SCALE_EN 0
-
-param set-default FW_AIRSPD_MAX 35
-param set-default FW_AIRSPD_MIN 7
-
-param set-default FW_P_LIM_MAX 25
-param set-default FW_P_LIM_MIN -5
-param set-default FW_R_LIM 30
-
-param set-default FW_MAN_P_MAX 30.0
-param set-default FW_MAN_R_MAX 30.0
-
-param set-default FW_THR_CRUISE 0.8
-param set-default FW_THR_IDLE 0
-param set-default COM_DISARM_PRFLT 0
-
-set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
-set MIXER custom
@@ -78,7 +78,6 @@ px4_add_romfs_files(
 	3010_quadrotor_x
 	3011_hexarotor_x
 	17001_tf-g1
-	17002_tf-g2
 	2507_cloudship
 	6011_typhoon_h480
 	6011_typhoon_h480.post
@@ -29,6 +29,9 @@ 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_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_P 0.2
 param set-default FW_RR_FF 0.6
@@ -1,10 +1,22 @@
 #!/bin/sh
 #
-# @name Generic Standard VTOL
+# @name Generic Quadplane VTOL
 #
 # @type Standard VTOL
 # @class VTOL
-
+#
+# @maintainer
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output AUX1 Aileron 1
+# @output AUX2 Aileron 2
+# @output AUX3 Elevator
+# @output AUX4 Rudder
+# @output AUX5 Throttle
+#
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 # @board holybro_kakutef7 exclude
@@ -12,21 +24,21 @@

 . ${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 1
-param set-default CA_ROTOR0_PY 1
-param set-default CA_ROTOR1_PX -1
-param set-default CA_ROTOR1_PY -1
-param set-default CA_ROTOR2_PX 1
-param set-default CA_ROTOR2_PY -1
+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 -1
-param set-default CA_ROTOR3_PY 1
+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
@@ -36,5 +48,16 @@ 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 VT_TYPE 2
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
+
 param set-default MAV_TYPE 22
+
+set MIXER quad_x
+set MIXER_AUX vtol_AAERT
+
+set PWM_OUT 1234
@@ -43,7 +43,7 @@ param set-default MPC_YAWRAUTO_MAX 40
 param set-default FW_PR_I 0.02
 param set-default FW_RR_FF 0.6
 param set-default FW_RR_I 0.01
-param set-default FW_THR_TRIM 0.75
+param set-default FW_THR_CRUISE 0.75

 param set-default VT_ARSP_BLEND 6
 param set-default VT_ARSP_TRANS 12
@@ -14,7 +14,7 @@
 . ${R}etc/init.d/rc.vtol_defaults


-param set-default FW_THR_TRIM 65
+param set-default FW_THR_CRUISE 65
 param set-default FW_RR_FF 0.6

 param set-default MIS_YAW_TMT 10
@@ -53,7 +53,7 @@ param set-default FW_T_CLMB_MAX 3
 param set-default FW_T_SINK_MAX 3
 param set-default FW_T_SINK_MIN 1
 param set-default FW_T_VERT_ACC 6
-param set-default FW_THR_TRIM 0.70
+param set-default FW_THR_CRUISE 0.70
 param set-default FW_THR_SLEW_MAX 1
 param set-default FW_MAN_P_MAX 30
 param set-default FW_P_LIM_MAX 15
@@ -39,7 +39,7 @@ param set-default FW_RLL_TO_YAW_FF 0.1
 param set-default FW_RR_P 0.08
 param set-default FW_R_LIM 45
 param set-default FW_R_RMAX 50
-param set-default FW_THR_TRIM 0.65
+param set-default FW_THR_CRUISE 0.65
 param set-default FW_THR_MIN 0.3
 param set-default FW_THR_SLEW_MAX 0.6
 param set-default FW_T_HRATE_FF 0
@@ -1,44 +0,0 @@
-#!/bin/sh
-#
-# @name Generic Tiltrotor VTOL
-#
-# @type VTOL Tiltrotor
-# @class VTOL
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${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 1
-param set-default CA_ROTOR0_PY 1
-param set-default CA_ROTOR0_TILT 2
-param set-default CA_ROTOR1_PX -1
-param set-default CA_ROTOR1_PY -1
-param set-default CA_ROTOR2_PX 1
-param set-default CA_ROTOR2_PY -1
-param set-default CA_ROTOR2_TILT 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 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 7
-param set-default CA_SV_CS2_TRQ_P 0.5
-param set-default CA_SV_CS2_TRQ_Y 0.5
-param set-default CA_SV_CS3_TYPE 8
-param set-default CA_SV_CS3_TRQ_P 0.5
-param set-default CA_SV_CS3_TRQ_Y -0.5
-param set-default CA_SV_TL_COUNT 2
-
-param set-default MAV_TYPE 21
-param set-default VT_TYPE 1
@@ -1,10 +1,17 @@
 #!/bin/sh
 #
-# @name Generic VTOL Tailsitter
+# @name Generic Tailsitter
 #
-# @type VTOL Tailsitter
+# @type VTOL Duo Tailsitter
 # @class VTOL
 #
+# @output MAIN1 motor right
+# @output MAIN2 motor left
+# @output MAIN5 elevon right
+# @output MAIN6 elevon left
+#
+# @maintainer Roman Bapst <roman@px4.io>
+#
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 # @board holybro_kakutef7 exclude
@@ -12,13 +19,18 @@

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

-param set-default SYS_CTRL_ALLOC 1
+param set-default MAV_TYPE 19
+
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_MOT_COUNT 2
+param set-default VT_TYPE 0
+
 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_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 0.5
 param set-default CA_SV_CS0_TRQ_Y 0.5
@@ -27,6 +39,6 @@ param set-default CA_SV_CS1_TRQ_P 0.5
 param set-default CA_SV_CS1_TRQ_Y -0.5
 param set-default CA_SV_CS1_TYPE 6

-param set-default MAV_TYPE 19
-param set-default VT_TYPE 0
-param set-default VT_ELEV_MC_LOCK 0
+set MIXER vtol_tailsitter_duo
+
+set PWM_OUT 1234
@@ -37,7 +37,7 @@ param set-default SENS_BOARD_ROT 8
 param set-default FW_AIRSPD_MAX 20
 param set-default FW_AIRSPD_MIN 7
 param set-default FW_AIRSPD_TRIM 13
-param set-default FW_THR_TRIM 0.8
+param set-default FW_THR_CRUISE 0.8

 param set-default FW_MAN_P_MAX 25
 param set-default FW_MAN_R_MAX 25
@@ -32,7 +32,7 @@ param set-default SENS_BOARD_ROT 4
 param set-default FW_AIRSPD_MAX 20
 param set-default FW_AIRSPD_MIN 7
 param set-default FW_AIRSPD_TRIM 13
-param set-default FW_THR_TRIM 0.8
+param set-default FW_THR_CRUISE 0.8

 param set-default FW_MAN_P_MAX 25
 param set-default FW_MAN_R_MAX 25
@@ -1,16 +1,28 @@
 #!/bin/sh
 #
-# @name Generic Standard Plane
+# @name Standard Plane
 #
 # @type Standard Plane
 # @class Plane
 #
+# @output MAIN1 aileron
+# @output MAIN2 elevator
+# @output MAIN3 throttle
+# @output MAIN4 rudder
+# @output MAIN5 flaps
+# @output MAIN6 gear
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+#
 # @board bitcraze_crazyflie exclude
 #

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

-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
@@ -22,3 +34,11 @@ 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 PWM_AUX_RATE 50
+param set-default PWM_MAIN_RATE 50
+
+set MIXER AETRFG
+
+# Rate must be set by group (see pwm info).
+# Throttle is in the same group as servos.
@@ -5,20 +5,19 @@
 # @type Flying Wing
 # @class Plane
 #
+# @output MAIN1 left aileron
+# @output MAIN2 right aileron
+# @output MAIN4 throttle
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer
+#
 # @board bitcraze_crazyflie exclude
 #

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

-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 0.15
-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_R -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_R 0.5
+set MIXER fw_generic_wing
@@ -30,6 +30,9 @@ 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_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_RR_FF 0.6
 param set-default FW_RR_P 0.04
@@ -32,6 +32,9 @@ 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_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_RR_FF 0.6
 param set-default FW_RR_P 0.04
@@ -27,6 +27,9 @@ param set-default FW_AIRSPD_TRIM 16.5
 param set-default FW_L1_PERIOD 15
 param set-default FW_LND_ANG 15
 param set-default FW_LND_FLALT 8
+param set-default FW_LND_HVIRT 13
+param set-default FW_LND_TLALT 10
+param set-default FW_THR_LND_MAX 0
 param set-default FW_P_LIM_MAX 20
 param set-default FW_P_LIM_MIN -30
 param set-default FW_R_LIM 45
@@ -37,7 +40,7 @@ param set-default FW_RR_P 0.013
 param set-default FW_P_RMAX_NEG 70
 param set-default FW_P_RMAX_POS 70
 param set-default FW_R_RMAX 70
-param set-default FW_THR_TRIM 0.55
+param set-default FW_THR_CRUISE 0.55

 param set-default LNDFW_AIRSPD_MAX 6
 param set-default LNDFW_XYACC_MAX 4
@@ -124,7 +124,6 @@ px4_add_romfs_files(
 	13007_vtol_AAVVT_quad
 	13008_QuadRanger
 	13009_vtol_spt_ranger
-	13100_generic_vtol_tiltrotor
 	13012_convergence
 	13013_deltaquad
 	13014_vtol_babyshark
@@ -5,7 +5,7 @@ Tailsitter duo mixer
 This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
 has two motors in total, one attached to each wing. It also has two elevons which
 are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
-on the main PWM output port, two at 400Hz for the motors, and two at 50Hz for the
+on the main PWM ouput port, two at 400Hz for the motors, and two at 50Hz for the
 elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
 at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used.

@@ -4,7 +4,7 @@ Tailsitter duo mixer
 This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
 has two motors in total, one attached to each wing. It also has two elevons which
 are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
-on the main PWM output port, two at 400Hz for the motors, and two at 50Hz for the
+on the main PWM ouput port, two at 400Hz for the motors, and two at 50Hz for the
 elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
 at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used.

@@ -17,7 +17,6 @@ exec find boards msg src platforms test \
    -path src/lib/crypto/monocypher -prune -o \
    -path src/lib/events/libevents -prune -o \
    -path src/lib/parameters/uthash -prune -o \
-    -path src/lib/wind_estimator/python/generated -prune -o \
    -path src/modules/ekf2/EKF -prune -o \
    -path src/modules/gyro_fft/CMSIS_5 -prune -o \
    -path src/modules/mavlink/mavlink -prune -o \
@@ -1,21 +0,0 @@
-#!/bin/bash
-
-if [[ -z "${DOCKER_TAG}" ]]; then
-  # the default tag for docker images
-  # follows the pattern below, and we recommend
-  # that any images pushed to the registry continue
-  # to use the pattern for consistency
-  TAG_NAME="`date +"%Y-%m-%d"`"
-else
-  TAG_NAME="${DOCKER_TAG}"
-fi
-
-PX4_DOCKER_REPO="ghcr.io/px4/px4-dev:$TAG_NAME"
-PWD=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
-SRC_DIR=$PWD/../
-
-echo "[docker_build.sh]: Building [$PX4_DOCKER_REPO]"
-
-docker build \
-  -t ${PX4_DOCKER_REPO} \
-  -f Tools/setup/Dockerfile "${SRC_DIR}"
@@ -1,29 +1,67 @@
-#!/bin/bash
+#! /bin/bash

-if [[ -z "${DOCKER_TAG}" ]]; then
-  # The default tag name should be hardcoded
-  # to whatever we are currently using in CI on this branch
-  TAG_NAME="2022-08-16"
+if [ -z ${PX4_DOCKER_REPO+x} ]; then
+	echo "guessing PX4_DOCKER_REPO based on input";
+	if [[ $@ =~ .*px4_fmu.* ]]; then
+		# nuttx-px4fmu-v{1,2,3,4,5}
+		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08"
+	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
+		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
+	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
+		# scumaker_pilotpi_arm64
+		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest"
+	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
+		# posix_rpi_cross, posix_bebop_default
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
+	elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
+		# clang tools
+		PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
+	elif [[ $@ =~ .*tests* ]]; then
+		# run all tests with simulation
+		PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-12-11"
+	fi
 else
-  TAG_NAME="${DOCKER_TAG}"
+	echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";
 fi

-PX4_DOCKER_REPO="ghcr.io/px4/px4-dev:$TAG_NAME"
+# otherwise default to nuttx
+if [ -z ${PX4_DOCKER_REPO+x} ]; then
+	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08"
+fi

-echo "[docker_run.sh]: Running '$PX4_DOCKER_REPO'"
+# docker hygiene
+
+#Delete all stopped containers (including data-only containers)
+#docker rm $(docker ps -a -q)
+
+#Delete all 'untagged/dangling' (<none>) images
+#docker rmi $(docker images -q -f dangling=true)
+
+echo "PX4_DOCKER_REPO: $PX4_DOCKER_REPO";

 PWD=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
 SRC_DIR=$PWD/../

+CCACHE_DIR=${HOME}/.ccache
+mkdir -p "${CCACHE_DIR}"
+
 docker run -it --rm -w "${SRC_DIR}" \
-  --env=LOCAL_USER_ID="$(id -u)" \
-  --env=AWS_ACCESS_KEY_ID \
-  --env=AWS_SECRET_ACCESS_KEY \
-  --env=BRANCH_NAME \
-  --env=CCACHE_DIR="${CCACHE_DIR}" \
-  --env=CI \
-  --publish 14556:14556/udp \
-  --volume=/tmp/.X11-unix:/tmp/.X11-unix \
-  --volume=/tmp:/tmp:rw \
-  --volume=${SRC_DIR}:${SRC_DIR}:rw \
-  ${PX4_DOCKER_REPO} /bin/bash -c "$1 $2 $3"
+	--env=AWS_ACCESS_KEY_ID \
+	--env=AWS_SECRET_ACCESS_KEY \
+	--env=BRANCH_NAME \
+	--env=CCACHE_DIR="${CCACHE_DIR}" \
+	--env=CI \
+	--env=CODECOV_TOKEN \
+	--env=COVERALLS_REPO_TOKEN \
+	--env=LOCAL_USER_ID="$(id -u)" \
+	--env=PX4_ASAN \
+	--env=PX4_MSAN \
+	--env=PX4_TSAN \
+	--env=PX4_UBSAN \
+	--env=TRAVIS_BRANCH \
+	--env=TRAVIS_BUILD_ID \
+	--publish 14556:14556/udp \
+	--volume=${CCACHE_DIR}:${CCACHE_DIR}:rw \
+	--volume=${SRC_DIR}:${SRC_DIR}:rw \
+	${PX4_DOCKER_REPO} /bin/bash -c "$1 $2 $3"
@@ -3019,7 +3019,7 @@ class MAVLink(object):
                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
                press_abs                 : Absolute pressure (hectopascal) (float)
                press_diff                : Differential pressure 1 (hectopascal) (float)
-                temperature               : Temperature measurement (0.01 degrees Celsius) (int16_t)
+                temperature               : Temperature measurement (0.01 degrees celsius) (int16_t)

                '''
                msg = MAVLink_scaled_pressure_message(time_boot_ms, press_abs, press_diff, temperature)
@@ -3035,7 +3035,7 @@ class MAVLink(object):
                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
                press_abs                 : Absolute pressure (hectopascal) (float)
                press_diff                : Differential pressure 1 (hectopascal) (float)
-                temperature               : Temperature measurement (0.01 degrees Celsius) (int16_t)
+                temperature               : Temperature measurement (0.01 degrees celsius) (int16_t)

                '''
                return self.send(self.scaled_pressure_encode(time_boot_ms, press_abs, press_diff, temperature))
@@ -4879,7 +4879,7 @@ class MAVLink(object):
                abs_pressure              : Absolute pressure in millibar (float)
                diff_pressure             : Differential pressure in millibar (float)
                pressure_alt              : Altitude calculated from pressure (float)
-                temperature               : Temperature in degrees Celsius (float)
+                temperature               : Temperature in degrees celsius (float)
                fields_updated            : Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature (uint16_t)

                '''
@@ -4904,7 +4904,7 @@ class MAVLink(object):
                abs_pressure              : Absolute pressure in millibar (float)
                diff_pressure             : Differential pressure in millibar (float)
                pressure_alt              : Altitude calculated from pressure (float)
-                temperature               : Temperature in degrees Celsius (float)
+                temperature               : Temperature in degrees celsius (float)
                fields_updated            : Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature (uint16_t)

                '''
@@ -14,14 +14,12 @@ class MarkdownOutput():

        result = """
 # Modules & Commands Reference
-
-The following pages document the PX4 modules, drivers and commands.
-They describe the provided functionality, high-level implementation overview and how
+The following pages document the PX4 modules, drivers and commands. They
+describe the provided functionality, high-level implementation overview and how
 to use the command-line interface.

-:::note
-**This is auto-generated from the source code** and contains the most recent modules documentation.
-:::
+> **Note** **This is auto-generated from the source code** and contains the
+> most recent modules documentation.

 It is not a complete list and NuttX provides some additional commands
 as well (such as `free`). Use `help` on the console to get a list of all
@@ -31,7 +29,6 @@ Since this is generated from source, errors must be reported/fixed
 in the [PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) repository.
 The documentation pages can be generated by running the following command from
 the root of the PX4-Autopilot directory:
-
 ```
 make module_documentation
 ```
@@ -1,51 +0,0 @@
-#
-# PX4 base development environment
-#
-
-FROM ubuntu:20.04
-LABEL maintainer="Daniel Agar <daniel@agar.ca>, Ramon Roche <mrpollo@gmail.com>"
-
-ENV DEBIAN_FRONTEND noninteractive
-ENV LANG C.UTF-8
-ENV LC_ALL C.UTF-8
-
-# Installing required utilities
-RUN apt-get update && apt-get -y --quiet --no-install-recommends install \
-  ca-certificates \
-  gnupg \
-  lsb-core \
-  lsb-release \
-  sudo \
-  software-properties-common \
-  wget \
-  gosu \
-  ;
-
-# Install PX4 Requirements
-COPY Tools/setup/requirements.txt /tmp/requirements.txt
-COPY Tools/setup/ubuntu.sh /tmp/ubuntu.sh
-# The PATH env is set within ubuntu.sh, but given how we
-# are running the image using `gosu` to avoid read-only problems
-# with the filesystem the env variable does not persist
-ENV PATH="/opt/gcc-arm-none-eabi-9-2020-q2-update/bin:$PATH"
-
-RUN bash /tmp/ubuntu.sh --from-docker
-
-ENV DISPLAY :99
-
-ENV FASTRTPSGEN_DIR="/usr/local/bin/"
-ENV TERM=xterm
-ENV TZ=UTC
-
-# SITL UDP PORTS
-EXPOSE 14556/udp
-EXPOSE 14557/udp
-
-# create user with id 1001 (jenkins docker workflow default)
-RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout user
-
-# create and start as LOCAL_USER_ID
-COPY Tools/setup/docker-entrypoint.sh /usr/local/bin/entrypoint.sh
-ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
-
-CMD ["/bin/bash"]
@@ -1,29 +0,0 @@
-#!/bin/bash
-
-echo "[docker-entrypoint.sh] Starting entrypoint"
-# Start virtual X server in the background
-# - DISPLAY default is :99, set in dockerfile
-# - Users can override with `-e DISPLAY=` in `docker run` command to avoid
-#   running Xvfb and attach their screen
-if [[ -x "$(command -v Xvfb)" && "$DISPLAY" == ":99" ]]; then
-	echo "[docker-entrypoint.sh] Starting Xvfb"
-	Xvfb :99 -screen 0 1600x1200x24+32 &
-fi
-
-# Check if the ROS_DISTRO is passed and use it
-# to source the ROS environment
-if [ -n "${ROS_DISTRO}" ]; then
-	source "/opt/ros/$ROS_DISTRO/setup.bash"
-fi
-
-# Use the LOCAL_USER_ID if passed in at runtime
-if [ -n "${LOCAL_USER_ID}" ]; then
-	echo "[docker-entrypoint.sh] Starting with UID : $LOCAL_USER_ID"
-	# modify existing user's id
-	usermod -u $LOCAL_USER_ID user
-
-	# run as user
-  exec gosu user "$@"
-else
-	exec "$@"
-fi
@@ -26,5 +26,3 @@ requests
 setuptools>=39.2.0
 six>=1.12.0
 toml>=0.9
-symforce>=0.5.0
-sympy>=1.10.1
@@ -2,18 +2,20 @@

 set -e

-## Bash script to setup PX4 development environment on Ubuntu LTS (20.04, 18.04).
+## Bash script to setup PX4 development environment on Ubuntu LTS (20.04, 18.04, 16.04).
 ## Can also be used in docker.
 ##
 ## Installs:
-## - Common dependencies and tools for NuttX, and Gazebo
+## - Common dependencies and tools for nuttx, jMAVSim, Gazebo
 ## - NuttX toolchain (omit with arg: --no-nuttx)
-## - Gazebo simulator (omit with arg: --no-sim-tools)
+## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools)
+##
+## Not Installs:
+## - FastRTPS and FastCDR

 INSTALL_NUTTX="true"
 INSTALL_SIM="true"
 INSTALL_ARCH=`uname -m`
-INSIDE_DOCKER="false"

 # Parse arguments
 for arg in "$@"
@@ -26,23 +28,20 @@ do
 		INSTALL_SIM="false"
 	fi

-
-	if [[ $arg == "--from-docker" ]]; then
-		INSIDE_DOCKER="true"
-	fi
-
-  if [[ $arg == "--help" ]]; then
-    echo "#⚡️ PX4 Dependency Installer for Ubuntu"
-    echo "# Options:
-#
-#  --no-nuttx       boolean
-#  --no-sim-tools   boolean"
-    echo "#"
-    exit
-  fi
-
 done

+# detect if running in docker
+if [ -f /.dockerenv ]; then
+	echo "Running within docker, installing initial dependencies";
+	apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
+		ca-certificates \
+		gnupg \
+		lsb-core \
+		sudo \
+		wget \
+		;
+fi
+
 # script directory
 DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )

@@ -70,22 +69,9 @@ elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
 	echo "Ubuntu 20.04"
 fi

-VERBOSE_BAR="####################"
-echo
-echo $VERBOSE_BAR
-echo "#⚡️ Starting PX4 Dependency Installer for Ubuntu ${UBUNTU_RELEASE} (${INSTALL_ARCH})"
-echo "# Options:
-#
-#  - Install NuttX = ${INSTALL_NUTTX}
-#  - Install Simulation = ${INSTALL_SIM}"
-echo $VERBOSE_BAR
-echo

 echo
-echo $VERBOSE_BAR
-echo "🍻 Installing System Dependencies"
-echo $VERBOSE_BAR
-echo
+echo "Installing PX4 general dependencies"

 sudo apt-get update -y --quiet
 sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
@@ -99,7 +85,6 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
 	gdb \
 	git \
 	lcov \
-	libssl-dev \
 	libxml2-dev \
 	libxml2-utils \
 	make \
@@ -115,42 +100,32 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
 	zip \
 	;

-# Python 3 dependencies
+# Python3 dependencies
 echo
-echo $VERBOSE_BAR
-echo "🍻 Installing Python dependencies"
-echo $VERBOSE_BAR
-echo
-
+echo "Installing PX4 Python3 dependencies"
 if [ -n "$VIRTUAL_ENV" ]; then
-	# virtual environments don't allow --user option
+	# virtual envrionments don't allow --user option
 	python -m pip install -r ${DIR}/requirements.txt
 else
 	# older versions of Ubuntu require --user option
-	if [[ $INSIDE_DOCKER == "true" ]]; then
-		# when running inside a docker container we don't need to install
-		# under --user since the installer user is root
-		# its best to install packages globaly for any user to find
-		python3 -m pip install -r /tmp/requirements.txt
-	else
-		python3 -m pip install --user -r ${DIR}/requirements.txt
-	fi
+	python3 -m pip install --user -r ${DIR}/requirements.txt
 fi

 # NuttX toolchain (arm-none-eabi-gcc)
 if [[ $INSTALL_NUTTX == "true" ]]; then

 	echo
-	echo $VERBOSE_BAR
-	echo "🍻 Installing NuttX dependencies"
-	echo $VERBOSE_BAR
-	echo
+	echo "Installing NuttX dependencies"

 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		automake \
 		binutils-dev \
 		bison \
+		build-essential \
 		flex \
+		g++-multilib \
+		gcc-multilib \
+		gdb-multiarch \
 		genromfs \
 		gettext \
 		gperf \
@@ -170,12 +145,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		u-boot-tools \
 		util-linux \
 		vim-common \
-		g++-arm-linux-gnueabihf \
-		gcc-arm-linux-gnueabihf \
-		g++-aarch64-linux-gnu \
-		gcc-aarch64-linux-gnu \
 		;
-
 	if [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
 		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		kconfig-frontends \
@@ -188,47 +158,32 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		sudo usermod -a -G dialout $USER
 	fi

+	# arm-none-eabi-gcc
 	NUTTX_GCC_VERSION="9-2020-q2-update"
 	NUTTX_GCC_VERSION_SHORT="9-2020q2"
-	echo
-	echo $VERBOSE_BAR
-	echo "🍻 Verifying proper gcc version (${NUTTX_GCC_VERSION}), and installing if not found"
-	echo

 	source $HOME/.profile # load changed path for the case the script is reran before relogin
 	if [ $(which arm-none-eabi-gcc) ]; then
 		GCC_VER_STR=$(arm-none-eabi-gcc --version)
-		GCC_VER_FOUND=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}")
+		GCC_FOUND_VER=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}")
 	fi

-	if [[ $(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}") == "1" ]]; then
-		echo "📌 Skipping installation, the arm cross compiler was found"
-		echo $VERBOSE_BAR
-		echo
+	if [[ "$GCC_FOUND_VER" == "1" ]]; then
+		echo "arm-none-eabi-gcc-${NUTTX_GCC_VERSION} found, skipping installation"

 	else
-		echo "📌 The arm cross compiler was not found";
-		echo " * Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
-		COMPILER_NAME="gcc-arm-none-eabi-${NUTTX_GCC_VERSION}"
-		COMPILER_PATH="/tmp/$COMPILER_NAME-linux.tar.bz2"
-    wget -O $COMPILER_PATH https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/${COMPILER_NAME}-${INSTALL_ARCH}-linux.tar.bz2
-		sudo tar -jxf $COMPILER_PATH -C /opt/;
+		echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
+		wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-linux.tar.bz2 && \
+			sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/;

 		# add arm-none-eabi-gcc to user's PATH
-		exportline="export PATH=\"/opt/${COMPILER_NAME}/bin:\$PATH\""
-		if [[ $INSIDE_DOCKER == "true" ]]; then
-			# when running on a docker container its best to set the environment globally
-			# since we don't know which user is going to be running commands on the container
-			touch /etc/profile.d/px4env.sh
-			echo $exportline >> /etc/profile.d/px4env.sh
-		elif grep -Fxq "$exportline" $HOME/.profile; then
+		exportline="export PATH=/opt/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}/bin:\$PATH"
+
+		if grep -Fxq "$exportline" $HOME/.profile; then
 			echo "${NUTTX_GCC_VERSION} path already set.";
 		else
 			echo $exportline >> $HOME/.profile;
 		fi
-		echo " * arm-none-eabi-gcc (${NUTTX_GCC_VERSION}) Installed Succesful to /opt/${COMPILER_NAME}/bin"
-		echo $VERBOSE_BAR
-		echo
 	fi
 fi

@@ -236,32 +191,45 @@ fi
 if [[ $INSTALL_SIM == "true" ]]; then

 	echo
-	echo $VERBOSE_BAR
-	echo "🍻 Installing PX4 Simulation Tools"
-	echo
-
-	# default and Ubuntu 20.04
-	gazebo_version=11
-	gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
-	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
-		gazebo_version=9
-	elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
-		gazebo_version=11
-		gazebo_packages="gazebo libgazebo-dev"
-	fi
-
-	echo "  * Gazebo Version $gazebo_version"
-	echo $VERBOSE_BAR
+	echo "Installing PX4 simulation dependencies"

 	# General simulation dependencies
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		bc \
+		;
+
+	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
+		java_version=11
+	elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
+		java_version=13
+	elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
+		java_version=11
+	else
+		java_version=14
+	fi
+	# Java (jmavsim or fastrtps)
+	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		ant \
+		openjdk-$java_version-jre \
+		openjdk-$java_version-jdk \
 		libvecmath-java \
 		;

-	# Installing Gazebo and dependencies
-	# Setup OSRF Gazebo repository
+	# Set Java 11 as default
+	sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")
+
+	# Gazebo
+	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
+		gazebo_version=9
+		gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
+	elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
+		gazebo_packages="gazebo libgazebo-dev"
+	else
+		# default and Ubuntu 20.04
+		gazebo_version=11
+		gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
+	fi
+
 	sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
 	wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
 	# Update list, since new gazebo-stable.list has been added
@@ -289,26 +257,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	fi
 fi

-if [[ $INSIDE_DOCKER == "true" ]]; then
-	# cleanup installation
-	rm -rf /tmp/
-fi
-
-if [[ $INSIDE_DOCKER == "false" ]] && [[ $INSTALL_NUTTX == "true" ]]; then
-	echo
-	echo $VERBOSE_BAR
-	echo "💡 We recommend you relogin/reboot before attempting to build NuttX targets"
-	echo $VERBOSE_BAR
+if [[ $INSTALL_NUTTX == "true" ]]; then
 	echo
+	echo "Relogin or reboot computer before attempting to build NuttX targets"
 fi
-
-echo
-echo
-echo $VERBOSE_BAR
-echo "#⚡️ PX4 Dependency Installer Ended Succesfully
-#
-#  For more information on PX4 Autopilot check out our docs
-#  at docs.px4.io, if you find a bug please file an issue
-#  on GitHub https://github.com/px4/px4-autopilot"
-echo $VERBOSE_BAR
-echo
@@ -40,7 +40,6 @@ CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
-CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
@@ -41,7 +41,6 @@ CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
-CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
@@ -36,7 +36,6 @@ CONFIG_DRIVERS_RPM=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
-CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
@@ -13,7 +13,6 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IMU_BOSCH_BMI085=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
@@ -39,7 +38,6 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -48,7 +46,6 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -64,6 +61,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -72,9 +70,10 @@ CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -8,14 +8,8 @@ board_adc start
 icm20602 -s -b 1 -R 8 start

 # Internal SPI bus BMI088 accel & gyro
-if bmi088 -A -s -b 5 -R 8 start
-then
-	bmi088 -G -s -b 5 -R 8 start
-else
-	# otherwise try BMI085
-	bmi085 -A -s -b 5 -R 8 start
-	bmi085 -G -s -b 5 -R 8 start
-fi
+bmi088 -A -s -b 5 -R 8 start
+bmi088 -G -s -b 5 -R 8 start

 # Internal ICM-20948 (with magnetometer)
 icm20948 -s -b 1 -R 8 -M start
@@ -47,8 +47,6 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI5, {
 		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortF, GPIO::Pin3}),
 		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin6}, SPI::DRDY{GPIO::PortF, GPIO::Pin1}),
-		initSPIDevice(DRV_GYR_DEVTYPE_BMI085, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortF, GPIO::Pin3}),
-		initSPIDevice(DRV_ACC_DEVTYPE_BMI085, SPI::CS{GPIO::PortF, GPIO::Pin6}, SPI::DRDY{GPIO::PortF, GPIO::Pin1}),
 	}),
 	initSPIBusExternal(SPI::Bus::SPI6, {
 		initSPIConfigExternal(SPI::CS{GPIO::PortG, GPIO::Pin9}),
@@ -110,7 +110,7 @@ __EXPORT void board_spi_reset(int ms, int bus_mask)
 	VDD_3V3_SENSORS_EN(true);
 	up_mdelay(2);

-	/* Restore all the CS to outputs inactive */
+	/* Restore all the CS to ouputs inactive */

 	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
 		if (px4_spi_buses[bus].bus == PX4_BUS_NUMBER_TO_PX4(1)) {
@@ -124,7 +124,7 @@ __EXPORT void board_spi_reset(int ms, int bus_mask)
 	VDD_3V3_SENSORS_EN(true);
 	up_mdelay(2);

-	/* Restore all the CS to outputs inactive */
+	/* Restore all the CS to ouputs inactive */

 	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
 		if (px4_spi_buses[bus].bus == PX4_BUS_NUMBER_TO_PX4(1)) {
@@ -35,7 +35,7 @@
 ****************************************************************************/

 /* The FMURT1062 has 8MiB of QSPI FLASH beginning at address,
- * 0x0060:0000, Up to 512Kb of DTCM RAM beginning at 0x2000:0000, and 1MiB OCRAM
+ * 0x0060:0000, Upto 512Kb of DTCM RAM beginning at 0x2000:0000, and 1MiB OCRAM
 * beginning at 0x2020:0000.  Neither DTCM or SDRAM are used in this
 * configuration.
 *
@@ -43,7 +43,7 @@
 * 256Kib to OCRRAM, 128Kib ITCM and 128Kib DTCM.
 * This can be changed by using a dcd by minipulating
 * IOMUX GPR16 and GPR17.
- * The configuration we will use is 384Kib to OCRRAM, 0Kib ITCM and
+ * The configuartion we will use is 384Kib to OCRRAM, 0Kib ITCM and
 * 128Kib DTCM.
 *
 * This is the OCRAM inker script.
@@ -35,7 +35,7 @@
 ****************************************************************************/

 /* The FMURT1062 has 8MiB of QSPI FLASH beginning at address,
- * 0x0060:0000, Up to 512Kb of DTCM RAM beginning at 0x2000:0000, and 1MiB OCRAM
+ * 0x0060:0000, Upto 512Kb of DTCM RAM beginning at 0x2000:0000, and 1MiB OCRAM
 * beginning at 0x2020:0000.  Neither DTCM or SDRAM are used in this
 * configuratin.
 */
@@ -1,4 +0,0 @@
-CONFIG_DRIVERS_CYPHAL=y
-CONFIG_CYPHAL_CLIENT=y
-CONFIG_CYPHAL_APP_DESCRIPTOR=y
-CONFIG_CYPHAL_UORB_SENSOR_GPS_PUBLISHER=y
@@ -4,14 +4,14 @@ CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
 CONFIG_DRIVERS_BOOTLOADERS=y
-CONFIG_DRIVERS_DISTANCE_SENSOR_TFMINI=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_BOARD_UAVCAN_INTERFACES=1
-CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_DRIVERS_CYPHAL=y
+CONFIG_CYPHAL_CLIENT=y
+CONFIG_CYPHAL_APP_DESCRIPTOR=y
+CONFIG_CYPHAL_UORB_SENSOR_GPS_PUBLISHER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
@@ -23,6 +23,5 @@ CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -6,9 +6,4 @@
 pwm_out mode_pwm1 start

 ifup can0
-
-# Start Cyphal when enabled
-if param compare -s CYPHAL_ENABLE 1
-then
-    cyphal start
-fi
+cyphal start
@@ -112,6 +112,6 @@ CONFIG_SYMTAB_ORDEREDBYNAME=y
 CONFIG_SYSTEM_I2CTOOL=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_SYSTEM_SPITOOL=y
-CONFIG_USERMAIN_STACKSIZE=2176
 CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_USERMAIN_STACKSIZE=2176
 CONFIG_WATCHDOG=y
@@ -93,7 +93,7 @@ __EXPORT void board_spi_reset(int ms, int bus_mask)
 		}
 	}

-	/* Restore all the CS to outputs inactive */
+	/* Restore all the CS to ouputs inactive */
 	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
 		if (px4_spi_buses[bus].bus == PX4_BUS_NUMBER_TO_PX4(1)) {
 			for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
@@ -1,4 +1,3 @@
-# CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
 CONFIG_DRIVERS_HEATER=n
 CONFIG_DRIVERS_OSD=n
 CONFIG_DRIVERS_UAVCAN=n
@@ -1,4 +1,3 @@
-# CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
 CONFIG_COMMON_BAROMETERS=n
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
 CONFIG_COMMON_MAGNETOMETER=n
@@ -43,7 +43,6 @@ CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
-CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=6
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
@@ -1,4 +1,3 @@
-# CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
 CONFIG_COMMON_BAROMETERS=n
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
 CONFIG_COMMON_DISTANCE_SENSOR=n
@@ -1,4 +1,3 @@
-# CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
 CONFIG_COMMON_HYGROMETERS=n
 CONFIG_COMMON_TELEMETRY=n
 CONFIG_DRIVERS_BATT_SMBUS=n
@@ -1,4 +1,3 @@
-# CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
 CONFIG_COMMON_BAROMETERS=n
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
 CONFIG_COMMON_HYGROMETERS=n
@@ -12,7 +12,6 @@ fi
 if param compare -s ADC_ADS1115_EN 1
 then
 	ads1115 start -X
-	board_adc start -n
 else
 	board_adc start
 fi
@@ -4,7 +4,6 @@ CONFIG_DRIVERS_OSD=n
 CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=n
 CONFIG_SYSTEMCMDS_DUMPFILE=n
-CONFIG_SYSTEMCMDS_GPIO=n
 CONFIG_SYSTEMCMDS_MOTOR_TEST=n
 CONFIG_SYSTEMCMDS_REFLECT=n
 CONFIG_SYSTEMCMDS_SD_BENCH=n
@@ -29,7 +29,6 @@ CONFIG_DRIVERS_PX4IO=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
-CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
@@ -36,7 +36,6 @@ CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
-CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -40,7 +40,6 @@
 #include <px4_platform_common/tasks.h>
 #include <board_config.h>
 #include <stdio.h>
-#include <stdlib.h>

 #if defined(BOARD_HAS_POWER_CONTROL)
 int board_register_power_state_notification_cb(power_button_state_notification_t cb)
@@ -298,10 +298,6 @@ if(EXISTS ${BOARD_DEFCONFIG})
 		set(config_uavcan_num_ifaces ${UAVCAN_INTERFACES} CACHE INTERNAL "UAVCAN interfaces" FORCE)
 	endif()

-	if(UAVCAN_TIMER_OVERRIDE)
-		set(config_uavcan_timer_override ${UAVCAN_TIMER_OVERRIDE} CACHE INTERNAL "UAVCAN TIMER OVERRIDE" FORCE)
-	endif()
-
 	# OPTIONS

 	if(CONSTRAINED_FLASH)
@@ -68,7 +68,7 @@ class MavrosOffboardAttctlTest(MavrosTestCommon):
        self.att_setpoint_pub = rospy.Publisher(
            'mavros/setpoint_raw/attitude', AttitudeTarget, queue_size=1)

-        # send setpoints in separate thread to better prevent failsafe
+        # send setpoints in seperate thread to better prevent failsafe
        self.att_thread = Thread(target=self.send_att, args=())
        self.att_thread.daemon = True
        self.att_thread.start()
@@ -73,7 +73,7 @@ class MavrosOffboardPosctlTest(MavrosTestCommon):
        self.pos_setpoint_pub = rospy.Publisher(
            'mavros/setpoint_position/local', PoseStamped, queue_size=1)

-        # send setpoints in separate thread to better prevent failsafe
+        # send setpoints in seperate thread to better prevent failsafe
        self.pos_thread = Thread(target=self.send_pos, args=())
        self.pos_thread.daemon = True
        self.pos_thread.start()
@@ -66,7 +66,7 @@ class MavrosOffboardYawrateTest(MavrosTestCommon):
        self.att_setpoint_pub = rospy.Publisher(
            'mavros/setpoint_raw/attitude', AttitudeTarget, queue_size=1)

-        # send setpoints in separate thread to better prevent failsafe
+        # send setpoints in seperate thread to better prevent failsafe
        self.att_thread = Thread(target=self.send_att, args=())
        self.att_thread.daemon = True
        self.att_thread.start()
@@ -5,6 +5,6 @@ float32 indicated_airspeed_m_s   # indicated airspeed in m/s

 float32 true_airspeed_m_s        # true filtered airspeed in m/s

-float32 air_temperature_celsius  # air temperature in degrees Celsius, -1000 if unknown
+float32 air_temperature_celsius  # air temperature in degrees celsius, -1000 if unknown

 float32 confidence               # confidence value from 0 to 1 for this sensor
@@ -21,7 +21,7 @@ uint16 capacity				# actual capacity of the battery
 uint16 cycle_count			# number of discharge cycles the battery has experienced
 uint16 average_time_to_empty	# predicted remaining battery capacity based on the average rate of discharge in min
 uint16 serial_number		# serial number of the battery pack
-uint16 manufacture_date		# manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
+uint16 manufacture_date		# manufacture date, part of serial number of the battery pack. formated as: Day + Month×32 + (Year–1980)×512
 uint16 state_of_health		# state of health. FullChargeCapacity/DesignCapacity, 0-100%.
 uint16 max_error			# max error, expected margin of error in % in the state-of-charge calculation with a range of 1 to 100%
 uint8 id					# ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed.
@@ -17,7 +17,7 @@ uint8 CELLULAR_STATUS_FLAG_CONNECTED=12  # One or more packet data bearers is ac
 uint8 CELLULAR_NETWORK_FAILED_REASON_NONE=0 # No error
 uint8 CELLULAR_NETWORK_FAILED_REASON_UNKNOWN=1 # Error state is unknown
 uint8 CELLULAR_NETWORK_FAILED_REASON_SIM_MISSING=2 # SIM is required for the modem but missing
-uint8 CELLULAR_NETWORK_FAILED_REASON_SIM_ERROR=3 # SIM is available, but not usable for connection
+uint8 CELLULAR_NETWORK_FAILED_REASON_SIM_ERROR=3 # SIM is available, but not usuable for connection

 uint16 status 	# Status bitmap 1: Roaming is active
 uint8 failure_reason #Failure reason when status in in CELLUAR_STATUS_FAILED
@@ -5,6 +5,6 @@ uint32 device_id                     # unique device ID for the sensor that does

 float32 differential_pressure_pa     # differential pressure reading in Pascals (may be negative)

-float32 temperature                  # Temperature provided by sensor in degrees Celsius, NAN if unknown
+float32 temperature                  # Temperature provided by sensor in celcius, NAN if unknown

 uint32 error_count                   # Number of errors detected by driver
@@ -30,7 +30,7 @@ bool gps_data_stopped_using_alternate   #  3 - true when the gps data has stoppe
 bool height_sensor_timeout              #  4 - true when the height sensor has not been used to correct the state estimates for a significant time period
 bool stopping_navigation                #  5 - true when the filter has insufficient data to estimate velocity and position and is falling back to an attitude, height and height rate mode of operation
 bool invalid_accel_bias_cov_reset       #  6 - true when the filter has detected bad acceerometer bias state esitmstes and has reset the corresponding covariance matrix elements
-bool bad_yaw_using_gps_course           #  7 - true when the filter has detected an invalid yaw estimate and has reset the yaw angle to the GPS ground course
+bool bad_yaw_using_gps_course           #  7 - true when the fiter has detected an invalid yaw esitmate and has reset the yaw angle to the GPS ground course
 bool stopping_mag_use                   #  8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetomer data
 bool vision_data_stopped                #  9 - true when the vision system data has stopped for a significant time period
 bool emergency_yaw_reset_mag_stopped    # 10 - true when the filter has detected bad magnetometer data, has reset the yaw to anothter source of data and has stopped further use of the magnetomer data
@@ -18,8 +18,8 @@ float32 rng_vpos	# range sensor height innovation (m) and innovation variance (m
 float32 baro_vpos	# barometer height innovation (m) and innovation variance (m**2)

 # Auxiliary velocity
-float32[2] aux_hvel	# horizontal auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)
-float32    aux_vvel	# vertical auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)
+float32[2] aux_hvel	# horizontal auxiliar velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)
+float32    aux_vvel	# vertical auxiliar velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)

 # Optical flow
 float32[2] flow		# flow innvoation (rad/sec) and innovation variance ((rad/sec)**2)
@@ -9,7 +9,7 @@ bool cs_yaw_align             #  1 - true if the filter yaw alignment is complet
 bool cs_gps                   #  2 - true if GPS measurement fusion is intended
 bool cs_opt_flow              #  3 - true if optical flow measurements fusion is intended
 bool cs_mag_hdg               #  4 - true if a simple magnetic yaw heading fusion is intended
-bool cs_mag_3d                #  5 - true if 3-axis magnetometer measurement fusion is intended
+bool cs_mag_3d                #  5 - true if 3-axis magnetometer measurement fusion is inteded
 bool cs_mag_dec               #  6 - true if synthetic magnetic declination measurements fusion is intended
 bool cs_in_air                #  7 - true when the vehicle is airborne
 bool cs_wind                  #  8 - true when wind velocity is being estimated
@@ -3,7 +3,7 @@

 uint64 timestamp		# time since system start (microseconds)

-uint8 instance 		# Instance of GNSS receiver
+uint8 instance 		# Instance of GNSS reciever

 uint8 len			# length of data, MSB bit set = message to the gps device,
 				# clear = message from the device
@@ -2,10 +2,8 @@ uint64 timestamp		# time since system start (microseconds)

 uint32 device_id                # unique device ID for the sensor that does not change between power cycles

-uint16 len                       # length of data
+uint8 len                       # length of data
 uint8 flags                     # LSB: 1=fragmented
 uint8[300] data                 # data to write to GPS device (RTCM message)

 uint8 ORB_QUEUE_LENGTH = 8
-
-uint8 MAX_INSTANCES = 2
@@ -29,8 +29,8 @@ int32 rssi				# receive signal strength indicator (RSSI): < 0: Undefined, 0: no
 bool rc_failsafe			# explicit failsafe flag: true on TX failure or TX out of range , false otherwise. Only the true state is reliable, as there are some (PPM) receivers on the market going into failsafe without telling us explicitly.
 bool rc_lost				# RC receiver connection status: True,if no frame has arrived in the expected time, false otherwise. True usually means that the receiver has been disconnected, but can also indicate a radio link loss on "stupid" systems. Will remain false, if a RX with failsafe option continues to transmit frames after a link loss.

-uint16 rc_lost_frame_count		# Number of lost RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality.
-uint16 rc_total_frame_count		# Number of total RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality.
+uint16 rc_lost_frame_count		# Number of lost RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike funtionality.
+uint16 rc_total_frame_count		# Number of total RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike funtionality.
 uint16 rc_ppm_frame_length		# Length of a single PPM frame. Zero for non-PPM systems

 uint8 input_source			# Input source
@@ -4,7 +4,7 @@ uint16 tx_buf_write_index			# current size of the tx buffer
 uint16 rx_buf_read_index			# the rx buffer is parsed up to that index
 uint16 rx_buf_end_index				# current size of the rx buffer
 uint16 failed_sbd_sessions			# number of failed sbd sessions
-uint16 successful_sbd_sessions      # number of successful sbd sessions
+uint16 successful_sbd_sessions      # number of successfull sbd sessions
 uint16 num_tx_buf_reset             # number of times the tx buffer was reset
 uint8 signal_quality                # current signal quality, 0 is no signal, 5 the best
 uint8 state                         # current state of the driver, see the satcom_state of IridiumSBD.h for the definition
@@ -24,7 +24,7 @@ uint8 MODE_BLINK_FAST = 5
 uint8 MODE_BREATHE = 6 # continuously increase & decrease brightness (solid color if driver does not support it)
 uint8 MODE_FLASH = 7 # two fast blinks (on/off) with timing as in MODE_BLINK_FAST and then off for a while

-uint8 MAX_PRIORITY = 2 # maximum priority (minimum is 0)
+uint8 MAX_PRIORITY = 2 # maxium priority (minimum is 0)


 uint8 led_mask # bitmask which LED(s) to control, set to 0xff for all
@@ -1,16 +1,9 @@
-uint64 timestamp # [us] time since system start
-float32 lateral_touchdown_offset # [m] lateral touchdown position offset manually commanded during landing
-bool flaring # true if the aircraft is flaring
+uint64 timestamp		# time since system start (microseconds)

-# abort status is:
-# 0 if not aborted
-# >0 if aborted, with the singular abort criterion which triggered the landing abort enumerated by the following abort reasons
-uint8 abort_status
+float32 horizontal_slope_displacement

-# abort reasons
-# after the manual operator abort, corresponds to individual bits of param FW_LND_ABORT
-uint8 NOT_ABORTED = 0
-uint8 ABORTED_BY_OPERATOR = 1
-uint8 TERRAIN_NOT_FOUND = 2 # FW_LND_ABORT (1 << 0)
-uint8 TERRAIN_TIMEOUT = 3 # FW_LND_ABORT (1 << 1)
-uint8 UNKNOWN_ABORT_CRITERION = 4
+float32 slope_angle_rad
+
+float32 flare_length
+
+bool abort_landing				# true if landing should be aborted
@@ -40,7 +40,6 @@ int8 loiter_direction		# loiter direction: 1 = CW, -1 = CCW
 float32 acceptance_radius   # navigation acceptance_radius if we're doing waypoint navigation

 float32 cruising_speed		# the generally desired cruising speed (not a hard constraint)
-bool gliding_enabled		# commands the vehicle to glide if the capability is available (fixed wing only)
-float32 cruising_throttle	# the generally desired cruising throttle (not a hard constraint), only has an effect for rover
+float32 cruising_throttle	# the generally desired cruising throttle (not a hard constraint)

 bool disable_weather_vane   # VTOL: disable (in auto mode) the weather vane feature that turns the nose into the wind
@@ -1,4 +1,4 @@
 uint64 timestamp                      # time since system start (microseconds)

 float32 indicated_frequency_rpm       # indicated rotor Frequency in Revolution per minute
-float32 estimated_accurancy_rpm       # estimated accuracy in Revolution per minute
+float32 estimated_accurancy_rpm       # estimated accurancy in Revolution per minute
@@ -46,7 +46,4 @@ float32 heading			# heading angle of XYZ body frame rel to NED. Set to NaN if no
 float32 heading_offset		# heading offset of dual antenna array in body frame. Set to NaN if not applicable. (rad, [-PI, PI])
 float32 heading_accuracy	# heading accuracy (rad, [0, 2PI])

-float32 rtcm_injection_rate	# RTCM message injection rate Hz
-uint8 selected_rtcm_instance	# uorb instance that is being used for RTCM corrections
-
 # TOPICS sensor_gps vehicle_gps_position
@@ -3,6 +3,6 @@ uint64 timestamp_sample

 uint32 device_id          # unique device ID for the sensor that does not change between power cycles

-float32  temperature      # Temperature provided by sensor (Celsius)
+float32  temperature      # Temperature provided by sensor (Celcius)

 float32 humidity          # Humidity provided by sensor
@@ -1,4 +1,4 @@
-# Status of the takeoff state machine currently just available for multicopters
+# Status of the takeoff state machine currently just availble for multicopters

 uint64 timestamp # time since system start (microseconds)

@@ -11,4 +11,4 @@ uint8 TAKEOFF_STATE_FLIGHT            = 5

 uint8 takeoff_state

-float32 tilt_limit # limited tilt feasibility during takeoff, contains maximum tilt otherwise
+float32 tilt_limit # limited tilt feasability during takeoff, contains maximum tilt otherwise
@@ -40,6 +40,5 @@ float32 pitch_integ

 float32 throttle_sp
 float32 pitch_sp_rad
-float32 throttle_trim	# estimated throttle value [0,1] required to fly level at equivalent_airspeed_sp in the current atmospheric conditions

 uint8 mode
@@ -253,14 +253,10 @@ void micrortps_start_topics(const uint32_t &datarate, struct timespec &begin, ui

 	while (!_should_exit_task) {
@[if recv_topics]@
-
-		read = transport_node->read();
-		if (read > 0) {
+		while (0 < (read = transport_node->read(&topic_ID, data_buffer, BUFFER_SIZE))) {
 			total_rcvd += read;
 			rx_last_sec_read += read;
-		}

-		while (transport_node->parse(&topic_ID, data_buffer, BUFFER_SIZE)) {
 			uint64_t read_time = hrt_absolute_time();

 			switch (topic_ID) {
@@ -364,14 +364,10 @@ int main(int argc, char **argv)
 		if (!receiving) { start = std::chrono::steady_clock::now(); }

 		// Publish messages received from UART
-		length = transport_node->read();
-		if (length > 0) {
-			total_read += length;
-		}
-
-		while (transport_node->parse(&topic_ID, data_buffer, BUFFER_SIZE)) {
+		if (0 < (length = transport_node->read(&topic_ID, data_buffer, BUFFER_SIZE))) {
 			topics->publish(topic_ID, data_buffer, sizeof(data_buffer));
 			++received;
+			total_read += length;
 			receiving = true;
 			end = std::chrono::steady_clock::now();
 		}
@@ -113,8 +113,14 @@ uint16_t Transport_node::crc16(uint8_t const *buffer, size_t len)
 	return crc;
 }

-ssize_t Transport_node::read()
+ssize_t Transport_node::read(uint8_t *topic_id, char out_buffer[], size_t buffer_len)
 {
+	if (nullptr == out_buffer || nullptr == topic_id || !fds_OK()) {
+		return -1;
+	}
+
+	*topic_id = 255;
+
 	ssize_t len = node_read((void *)(_rx_buffer + _rx_buff_pos), sizeof(_rx_buffer) - _rx_buff_pos);

 	if (len < 0) {
@@ -137,141 +143,85 @@ ssize_t Transport_node::read()

 	_rx_buff_pos += len;

-	return len;
-}
+	// We read some
+	size_t header_size = sizeof(struct Header);

-#ifndef PX4_DEBUG
-
-void Transport_node::print_buffer_debug()
-{
-	for (uint32_t i = 0; i < BUFFER_SIZE; ++i) {
-		if (i >= _rx_buff_pos) {
-			printf(".");
-			continue;
-		}
-
-		printf("%" PRIi8, _rx_buffer[i]);
-
-		if (_rx_buffer[i] == '>') {
-			printf("(X)");
-		}
-
-		printf(" ");
-	}
-
-	printf("\n_rx_buff_pos: %" PRIu32 "\n", _rx_buff_pos);
-}
-
-#endif /* PX4_DEBUG */
-
-bool Transport_node::parse(
-	uint8_t *topic_id, char out_buffer[], size_t buffer_len)
-{
-	if (nullptr == out_buffer || nullptr == topic_id || !fds_OK()) {
-		return false;
-	}
-
-	*topic_id = 255;
-
-	static constexpr size_t header_size = sizeof(struct Header);
-
-	// No need to look for a message if not even a header fits into the buffer.
+	// but not enough
 	if (_rx_buff_pos < header_size) {
-		return false;
+		return 0;
 	}

-	// Try to find the start of a message using the magic start sequence of '>>>'.
-	int32_t msg_start_pos = -1;
+	uint32_t msg_start_pos = 0;

-	for (uint32_t i = 0; i <= _rx_buff_pos; ++i) {
-		if ('>' == _rx_buffer[i] && memcmp(_rx_buffer + i, ">>>", 3) == 0) {
-			msg_start_pos = i;
+	for (msg_start_pos = 0; msg_start_pos <= _rx_buff_pos - header_size; ++msg_start_pos) {
+		if ('>' == _rx_buffer[msg_start_pos] && memcmp(_rx_buffer + msg_start_pos, ">>>", 3) == 0) {
 			break;
 		}
 	}

-	auto DropDataBeforeIndex = [&](uint32_t index) {
-		if (index == 0) {
-			return;
-		}
-
-		if (index > _rx_buff_pos) {
-			index = _rx_buff_pos;
-
+	// Start not found
+	if (msg_start_pos > (_rx_buff_pos - header_size)) {
 #ifndef PX4_DEBUG

-			if (_debug) { printf("\033[0;31m[ micrortps_transport ]\t clamped index from %" PRIu32 " to %" PRIu32 "\033[0m\n", index, _rx_buff_pos); }
+		if (_debug) { printf("\033[1;33m[ micrortps_transport ]\t                                (↓↓ %" PRIu32 ")\033[0m\n", msg_start_pos); }

 #else

-			if (_debug) { PX4_ERR("ERROR: clamped index from %" PRIu32 " to %" PRIu32 "\n", index, _rx_buff_pos); }
+		if (_debug) { PX4_DEBUG("                               (↓↓ %" PRIu32 ")", msg_start_pos); }

 #endif /* PX4_DEBUG */
-		}

-		memmove(_rx_buffer, _rx_buffer + index, _rx_buff_pos - index);
-		_rx_buff_pos -= index;
-	};
-
-	// No start sequence has been found in the buffer. We can drop all data up to
-	// 2 characters before the end (to account for a non-complete start sequence).
-	if (msg_start_pos == -1) {
-		// Note, _rx_buff_pos should always be larger than 2 as we enforce a min.
-		// buffer content corresponding to a header length some lines above.
-		int32_t drop_before_idx = _rx_buff_pos - 2;
-		DropDataBeforeIndex(drop_before_idx);
-		return false;
+		// All we've checked so far is garbage, drop it - but save unchecked bytes
+		memmove(_rx_buffer, _rx_buffer + msg_start_pos, _rx_buff_pos - msg_start_pos);
+		_rx_buff_pos -= msg_start_pos;
+		return -1;
 	}

-	// A start sequence has been found. We can drop everything before this index
-	// in the buffer. This could happen at the startup when syncing to the
-	// stream or with noise on the data stream.
-	DropDataBeforeIndex(msg_start_pos);
-
-	// We have found a start sequence. Let's check if the header is in the buffer.
-	// [>,>,>,topic_id,sys_id,seq,payload_length_H,payload_length_L,CRCHigh,CRCLow,payloadStart,
-	// ... ,payloadEnd]
-	if (header_size > _rx_buff_pos) {
-		// Header not yet in the buffer.
-		return false;
-	}
-
-	struct Header *header = (struct Header *)&_rx_buffer[0];
-
-	uint32_t payload_len =
-		((uint32_t)header->payload_len_h << 8) | header->payload_len_l;
-
-	// The message won't fit the output or processing buffer. This could happen
-	// with a corrupted header or by an actual message that is too large for our
-	// buffers. Let's drop it.
-	uint32_t message_length = header_size + payload_len;
-
-	if (message_length > buffer_len || (message_length + 3) > BUFFER_SIZE) {
-		DropDataBeforeIndex(3 + header_size);
-		return false;
-	}
-
-	// Let's check if all payload data according to the message length in the
-	// header is already in the buffer.
-	if ((header_size + payload_len) > _rx_buff_pos) {
-		// The buffer does not yet contain the full message. We need to wait for
-		// more data.
-		return false;
-	}
+	// [>,>,>,topic_id,sys_id,seq,payload_length_H,payload_length_L,CRCHigh,CRCLow,payloadStart, ... ,payloadEnd]
+	struct Header *header = (struct Header *)&_rx_buffer[msg_start_pos];
+	uint32_t payload_len = ((uint32_t)header->payload_len_h << 8) | header->payload_len_l;

 	// The received message comes from this system. Discard it.
 	// This might happen when:
 	//   1. The same UDP port is being used to send a rcv packets or
-	//   2. The same topic on the agent is being used for outgoing and incoming
-	//   data
+	//   2. The same topic on the agent is being used for outgoing and incoming data
 	if (header->sys_id == _sys_id) {
-		DropDataBeforeIndex(3);
-		return false;
+		// Drop the message and continue with the read buffer
+		memmove(_rx_buffer, _rx_buffer + msg_start_pos + 1, _rx_buff_pos - (msg_start_pos + 1));
+		_rx_buff_pos -= (msg_start_pos + 1);
+		return -1;
+	}
+
+	// The message won't fit the buffer.
+	if (buffer_len < header_size + payload_len) {
+		// Drop the message and continue with the read buffer
+		memmove(_rx_buffer, _rx_buffer + msg_start_pos + 1, _rx_buff_pos - (msg_start_pos + 1));
+		_rx_buff_pos -= (msg_start_pos + 1);
+		return -EMSGSIZE;
+	}
+
+	// We do not have a complete message yet
+	if (msg_start_pos + header_size + payload_len > _rx_buff_pos) {
+		// If there's garbage at the beginning, drop it
+		if (msg_start_pos > 0) {
+#ifndef PX4_DEBUG
+
+			if (_debug) { printf("\033[1;33m[ micrortps_transport ]\t                                (↓ %" PRIu32 ")\033[0m\n", msg_start_pos); }
+
+#else
+
+			if (_debug) { PX4_DEBUG("                             (↓ %" PRIu32 ")", msg_start_pos); }
+
+#endif /* PX4_DEBUG */
+			memmove(_rx_buffer, _rx_buffer + msg_start_pos, _rx_buff_pos - msg_start_pos);
+			_rx_buff_pos -= msg_start_pos;
+		}
+
+		return 0;
 	}

-	// Check the CRC of the message.
 	uint16_t read_crc = ((uint16_t)header->crc_h << 8) | header->crc_l;
-	uint16_t calc_crc = crc16((uint8_t *)_rx_buffer + header_size, payload_len);
+	uint16_t calc_crc = crc16((uint8_t *)_rx_buffer + msg_start_pos + header_size, payload_len);

 	if (read_crc != calc_crc) {
 #ifndef PX4_DEBUG
@@ -284,16 +234,26 @@ bool Transport_node::parse(

 #endif /* PX4_DEBUG */

-		DropDataBeforeIndex(3);
-		return false;
+		// Drop garbage up just beyond the start of the message
+		memmove(_rx_buffer, _rx_buffer + (msg_start_pos + 1), _rx_buff_pos);
+
+		// If there is a CRC error, the payload len cannot be trusted
+		_rx_buff_pos -= (msg_start_pos + 1);
+
+		len = -1;
+
+	} else {
+		// copy message to outbuffer and set other return values
+		memmove(out_buffer, _rx_buffer + msg_start_pos + header_size, payload_len);
+		*topic_id = header->topic_id;
+		len = payload_len + header_size;
+
+		// discard message from _rx_buffer
+		_rx_buff_pos -= msg_start_pos + header_size + payload_len;
+		memmove(_rx_buffer, _rx_buffer + msg_start_pos + header_size + payload_len, _rx_buff_pos);
 	}

-	// Copy message to output buffer and drop it from the buffer.
-	memmove(out_buffer, _rx_buffer + header_size, payload_len);
-	*topic_id = header->topic_id;
-
-	DropDataBeforeIndex(header_size + payload_len);
-	return true;
+	return len;
 }

 size_t Transport_node::get_header_length()
@@ -56,9 +56,7 @@ public:

 	virtual int init() {return 0;}
 	virtual uint8_t close() {return 0;}
-
-	ssize_t read();
-	bool parse(uint8_t *topic_id, char out_buffer[], size_t buffer_len);
+	ssize_t read(uint8_t *topic_id, char out_buffer[], size_t buffer_len);

 	/**
 	 * write a buffer
@@ -78,10 +76,6 @@ public:
 	size_t get_header_length();

 private:
-#ifndef PX4_DEBUG
-	void print_buffer_debug();
-#endif /* PX4_DEBUG */
-
 	struct __attribute__((packed)) Header {
 		char marker[3];
 		uint8_t topic_id;
@@ -413,7 +413,7 @@ def convert_dir(format_idx, inputdir, outputdir, package, templatedir):
 def copy_changed(inputdir, outputdir, prefix='', quiet=False):
    """
    Copies files from inputdir to outputdir if they don't exist in
-    outputdir or if their content changed
+    ouputdir or if their content changed
    """

    # Make sure output directory exists:
--- a/Show More
+++ b/Show More