uORB Explained Blog Post : Add pasta_information uORB message definition

Add details to pasta_information.msg file and add to logged_topics Add uORBExplained Module (Not complete yet) Add functioning uorb_explained module - Implements a functioning module that works based on ModulBae inheritance - Edits the rcS script to start the module on start-up - Implements Customer / Waiter / Chef distinction inside the code by each function to demonstrate how uORB communication can work Fix timestamp not logged bug + Make temperature draw sine curve - More interesting in PlotJuggler :)
2026-05-25 02:27:34 +08:00 · 2022-06-02 14:43:42 +02:00
743 changed files with 17430 additions and 33969 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>
@@ -112,17 +112,23 @@ add_custom_command(
 		${PX4_SOURCE_DIR}/Tools/px4airframes/xmlout.py
 		${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
 	)
+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
+	)

-
-set(romfs_copy_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_copy.stamp)
 add_custom_command(
 	OUTPUT
 		${romfs_gen_root_dir}/init.d/rc.serial
 		${romfs_gen_root_dir}/init.d/rc.autostart
 		${romfs_gen_root_dir}/init.d/rc.autostart.post
-		${romfs_copy_stamp}
-	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
-	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
+		romfs_copy.stamp
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		--airframes-path ${romfs_gen_root_dir}/init.d
 		--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
@@ -131,9 +137,9 @@ add_custom_command(
 		--rc-dir ${romfs_gen_root_dir}/init.d
 		--serial-ports ${board_serial_ports} ${added_arguments}
 		--config-files ${module_config_files} #--verbose
-	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
-	WORKING_DIRECTORY ${romfs_gen_root_dir}
-	DEPENDS ${romfs_tar_file}
+	COMMAND ${CMAKE_COMMAND} -E touch romfs_copy.stamp
+	DEPENDS
+		${romfs_extract_stamp}
 	COMMENT "ROMFS: copying, generating airframes"
 	)

@@ -305,7 +311,7 @@ add_custom_command(OUTPUT romfs_extras.stamp

 add_custom_target(romfs_gen_files_target
 	DEPENDS
-		${romfs_copy_stamp}
+		${romfs_extract_stamp}
 		${romfs_gen_root_dir}/init.d/rc.serial
 		romfs_extras.stamp
 	)
@@ -86,28 +86,10 @@ unset BOARD_RC_SENSORS
 . ${R}etc/init.d/rc.serial

 # Check for flow sensor
-if param compare -s SENS_EN_PX4FLOW 1
+if param compare SENS_EN_PX4FLOW 1
 then
 	px4flow start -X &
 fi

-if param compare -s IMU_GYRO_CAL_EN 1
-then
-	gyro_calibration start
-fi
-
-
-if param compare -s MBE_ENABLE 1
-then
-	# conservative mag bias estimation
-	param set-default MBE_LEARN_GAIN 5
-	param set-default IMU_GYRO_CUTOFF 20
-	mag_bias_estimator start
-fi
-
-param set-default SENS_MAG_RATE 100
-
-sensors start
-
 uavcannode start
 unset R
@@ -1,101 +0,0 @@
-#!/bin/sh
-#
-# @name 6DoF Omnicopter SITL
-#
-# @type Quadrotor Wide
-#
-# @maintainer Jaeyoung Lim <jalim@ethz.ch>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default SYS_CTRL_ALLOC 1
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 8
-param set-default CA_R_REV 255
-
-param set-default CA_ROTOR0_PX 0.14435
-param set-default CA_ROTOR0_PY -0.14435
-param set-default CA_ROTOR0_PZ -0.14435
-param set-default CA_ROTOR0_KM 0.05 # CCW
-param set-default CA_ROTOR0_AX -0.788675
-param set-default CA_ROTOR0_AY -0.211325
-param set-default CA_ROTOR0_AZ -0.57735
-
-param set-default CA_ROTOR1_PX -0.14435
-param set-default CA_ROTOR1_PY -0.14435
-param set-default CA_ROTOR1_PZ -0.14435
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR1_AX 0.211325
-param set-default CA_ROTOR1_AY -0.788675
-param set-default CA_ROTOR1_AZ 0.57735
-
-param set-default CA_ROTOR2_PX 0.14435
-param set-default CA_ROTOR2_PY 0.14435
-param set-default CA_ROTOR2_PZ -0.14435
-param set-default CA_ROTOR2_KM 0.05
-param set-default CA_ROTOR2_AX -0.211325
-param set-default CA_ROTOR2_AY 0.788675
-param set-default CA_ROTOR2_AZ 0.57735
-
-param set-default CA_ROTOR3_PX -0.14435
-param set-default CA_ROTOR3_PY 0.14435
-param set-default CA_ROTOR3_PZ -0.14435
-param set-default CA_ROTOR3_KM 0.05
-param set-default CA_ROTOR3_AX 0.788675
-param set-default CA_ROTOR3_AY 0.211325
-param set-default CA_ROTOR3_AZ -0.57735
-
-param set-default CA_ROTOR4_PX 0.14435
-param set-default CA_ROTOR4_PY -0.14435
-param set-default CA_ROTOR4_PZ 0.14435
-param set-default CA_ROTOR4_KM 0.05
-param set-default CA_ROTOR4_AX 0.788675
-param set-default CA_ROTOR4_AY 0.211325
-param set-default CA_ROTOR4_AZ -0.57735
-
-param set-default CA_ROTOR5_PX -0.14435
-param set-default CA_ROTOR5_PY -0.14435
-param set-default CA_ROTOR5_PZ 0.14435
-param set-default CA_ROTOR5_KM 0.05
-param set-default CA_ROTOR5_AX -0.211325
-param set-default CA_ROTOR5_AY 0.788675
-param set-default CA_ROTOR5_AZ 0.57735
-
-param set-default CA_ROTOR6_PX 0.14435
-param set-default CA_ROTOR6_PY 0.14435
-param set-default CA_ROTOR6_PZ 0.14435
-param set-default CA_ROTOR6_KM 0.05
-param set-default CA_ROTOR6_AX 0.211325
-param set-default CA_ROTOR6_AY -0.788675
-param set-default CA_ROTOR6_AZ 0.57735
-
-param set-default CA_ROTOR7_PX -0.14435
-param set-default CA_ROTOR7_PY 0.14435
-param set-default CA_ROTOR7_PZ 0.14435
-param set-default CA_ROTOR7_KM 0.05
-param set-default CA_ROTOR7_AX -0.788675
-param set-default CA_ROTOR7_AY -0.211325
-param set-default CA_ROTOR7_AZ -0.57735
-
-param set-default 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
-
-# disable MC desaturation which improves attitude tracking
-param set-default CA_METHOD 0
-
-# disable attitude failure detection
-param set-default FD_FAIL_P 0
-param set-default FD_FAIL_R 0
-
-set MIXER skip
-set MIXER_AUX none
@@ -1,23 +0,0 @@
-#!/bin/sh
-#
-# @name QuadrotorX SITL for SIH
-#
-# @type Quadrotor
-#
-# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-
-# disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
-
-param set SIH_VEHICLE_TYPE 0
@@ -1,33 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL for SIH
-#
-# @type Plane
-#
-# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
-
-. ${R}etc/init.d/rc.fw_defaults
-
-set MIXER AERT
-
-# 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)
@@ -1,45 +0,0 @@
-#!/bin/sh
-#
-# @name SIH Tailsitter Duo
-#
-# @type VTOL
-#
-# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default VT_ELEV_MC_LOCK 0
-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 MAV_TYPE 19
-set MAV_TYPE 19
-set MIXER vtol_tailsitter_duo_sat
-
-# 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
@@ -18,7 +18,3 @@ param set-default LPE_FAKE_ORIGIN 1

 param set-default MPC_ALT_MODE 2

-param set-default SENS_FLOW_ROT 6
-param set-default SENS_FLOW_MINHGT 0.7
-param set-default SENS_FLOW_MAXHGT 3.0
-param set-default SENS_FLOW_MAXR 2.5
@@ -9,6 +9,7 @@

 # EKF2
 param set-default EKF2_AID_MASK 2
+param set-default SENS_FLOW_ROT 0

 # LPE: Flow-only mode
 param set-default LPE_FUSION 242
@@ -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
@@ -27,9 +27,7 @@ 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
@@ -64,7 +62,7 @@ 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
@@ -35,12 +35,8 @@ px4_add_romfs_files(
 	10016_iris
 	10017_iris_ctrlalloc
 	10018_iris_foggy_lidar
-	10019_omnicopter
 	10020_if750a
 	10030_px4vision
-	10040_quadx
-	10041_airplane
-	10042_xvert
 	1010_iris_opt_flow
 	1010_iris_opt_flow.post
 	1011_iris_irlock
@@ -78,7 +74,6 @@ 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
@@ -30,12 +30,3 @@ mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $ud

 # Onboard link to gimbal
 mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
-
-# To display for SIH sitl
-if [ "$SIM_MODE" = "sihsim" ]; then
-	udp_sihsim_port_local=$((19450+px4_instance))
-	udp_sihsim_port_remote=$((19410+px4_instance))
-	mavlink start -x -u $udp_sihsim_port_local -r 400000 -m custom -o $udp_sihsim_port_remote
-	mavlink stream -r 200 -s HIL_ACTUATOR_CONTROLS -u  $udp_sihsim_port_local
-	mavlink stream -r 25 -s HIL_STATE_QUATERNION -u  $udp_sihsim_port_local
-fi
@@ -154,8 +154,6 @@ param set-default SDLOG_DIRS_MAX 7

 param set-default TRIG_INTERFACE 3

-param set-default SYS_FAILURE_EN 1
-
 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
 	COM_DL_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc)
@@ -204,11 +202,8 @@ param set IMU_INTEG_RATE 250
 . px4-rc.params

 dataman start
-# start sih in sih_sim mode, otherwise simulator module
-if [ "$SIM_MODE" = "sihsim" ]; then
-	sih start
 # only start the simulator if not in replay mode, as both control the lockstep time
-elif ! replay tryapplyparams
+if ! replay tryapplyparams
 then
  . px4-rc.simulator
 fi
@@ -272,3 +267,5 @@ fi

 mavlink boot_complete
 replay trystart
+
+uorb_explained start
@@ -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
@@ -62,7 +62,7 @@ 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 COM_SPOOLUP_TIME 1.5
+param set-default MPC_SPOOLUP_TIME 1.5
 param set-default MPC_THR_HOVER 0.45
 param set-default MPC_TILTMAX_AIR 25
 param set-default MPC_TKO_RAMP_T 1.8
@@ -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
@@ -104,6 +104,7 @@ param set-default SDLOG_PROFILE 131
 param set-default SENS_CM8JL65_CFG 104
 param set-default SENS_FLOW_MAXHGT 25
 param set-default SENS_FLOW_MINHGT 0.5
+param set-default SENS_FLOW_ROT 0
 param set-default IMU_GYRO_CUTOFF 100
 param set-default SENS_EN_PMW3901 1

@@ -47,7 +47,6 @@ param set-default COM_RC_LOSS_T 3

 # ekf2
 param set-default EKF2_AID_MASK 33
-param set-default EKF2_TERR_MASK 1
 param set-default EKF2_BARO_DELAY 0
 param set-default EKF2_BARO_NOISE 2.0

@@ -174,7 +173,7 @@ param set-default RC1_TRIM          1000
 param set-default SENS_FLOW_MAXR   7.4
 param set-default SENS_FLOW_MINHGT 0.15
 param set-default SENS_FLOW_MAXHGT 5.0
-param set-default SENS_FLOW_ROT 0
+param set-default SENS_FLOW_ROT    0

 # ignore the SD card errors and use normal startup sound
 set STARTUP_TUNE "1"
@@ -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
@@ -206,26 +206,6 @@ else
 	fi
 	unset BOARD_RC_DEFAULTS

-	#
-	# Set parameters and env variables for selected SYS_AUTOSTART.
-	#
-	set AUTOSTART_PATH etc/init.d/rc.autostart
-	if ! param compare SYS_AUTOSTART 0
-	then
-		if param greater SYS_AUTOSTART 1000000
-		then
-			# Use external startup file
-			if [ $SDCARD_AVAILABLE = yes ]
-			then
-				set AUTOSTART_PATH etc/init.d/rc.autostart_ext
-			else
-				echo "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
-			fi
-		fi
-		. ${R}$AUTOSTART_PATH
-	fi
-	unset AUTOSTART_PATH
-
 	#
 	# Start the tone_alarm driver.
 	# Needs to be started after the parameters are loaded (for CBRK_BUZZER).
@@ -263,6 +243,26 @@ else
 	rgbled start -X -q
 	rgbled_ncp5623c start -X -q

+	#
+	# Set parameters and env variables for selected AUTOSTART.
+	#
+	set AUTOSTART_PATH etc/init.d/rc.autostart
+	if ! param compare SYS_AUTOSTART 0
+	then
+		if param greater SYS_AUTOSTART 1000000
+		then
+			# Use external startup file
+			if [ $SDCARD_AVAILABLE = yes ]
+			then
+				set AUTOSTART_PATH etc/init.d/rc.autostart_ext
+			else
+				echo "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
+			fi
+		fi
+		. ${R}$AUTOSTART_PATH
+	fi
+	unset AUTOSTART_PATH
+
 	#
 	# Override parameters from user configuration file.
 	#
@@ -303,7 +303,7 @@ else
 	then
 		# Check for the mini using build with px4io fw file
 		# but not a px4IO
-		if ver hwtypecmp V5004000 V5006000
+		if ver hwtypecmp V540 V560
 		then
 			param set SYS_USE_IO 0
 		else
@@ -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 $3"
@@ -5,13 +5,12 @@ set -e
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 cd "$SCRIPT_DIR/jMAVSim"

-port=4560
+tcp_port=4560
 extra_args=
 baudrate=921600
 device=
 ip="127.0.0.1"
-protocol="tcp"
-while getopts ":b:d:u:p:qsr:f:i:loat" opt; do
+while getopts ":b:d:p:qsr:f:i:loat" opt; do
 	case $opt in
 		b)
 			baudrate=$OPTARG
@@ -19,14 +18,11 @@ while getopts ":b:d:u:p:qsr:f:i:loat" opt; do
 		d)
 			device="$OPTARG"
 			;;
-		u)
-			protocol="udp"
-			;;
 		i)
 			ip="$OPTARG"
 			;;
 		p)
-			port=$OPTARG
+			tcp_port=$OPTARG
 			;;
 		q)
 			extra_args="$extra_args -qgc"
@@ -57,11 +53,7 @@ while getopts ":b:d:u:p:qsr:f:i:loat" opt; do
 done

 if [ "$device" == "" ]; then
-	if [ "$protocol" == "tcp" ]; then
-		device="-tcp $ip:$port"
-	else
-		device="-udp $port"
-	fi
+	device="-tcp $ip:$tcp_port"
 else
 	device="-serial $device $baudrate"
 fi
@@ -0,0 +1,72 @@
+#!/bin/python3
+
+import parse_cmake.parsing as cmp
+import glob
+import pprint
+import re
+import os
+
+__location__ = os.path.realpath(
+    os.path.join(os.getcwd(), os.path.dirname(__file__)))
+
+serial_regex = r"(\D\D\D\d):(/dev/ttyS\d+)"
+io_regex = r"IO (.*)"
+romfs_regex = r"ROMFSROOT (.*)"
+arch_regex = r"ARCHITECTURE (.*)"
+toolchain_regex = r"TOOLCHAIN (.*)"
+
+
+
+def stripComments(code):
+    code = str(code)
+    return re.sub(r'(?m) *#.*\n?', '', code)
+
+lut = {}
+with open(os.path.join(__location__, "cmake_kconfig_lut.txt"),'r') as lookup:
+    for line in lookup:
+        if ',' in line:
+            key, value = line.strip().split(',')
+            lut[key] = value
+
+#for name in glob.glob('boards/*/*/*.cmake'):
+px4_dir = os.path.abspath(os.path.join(os.path.dirname(__file__), '../../'))
+
+for name in glob.glob(px4_dir + '/boards/*/*/*.cmake'):
+    print(name)
+    with open(name, 'r') as f:
+        romfs_set = False
+        w = open(name.replace(".cmake",".px4board"), "w")
+        for line in f:
+            clean_line = stripComments(line.strip())
+            value = lut.get(clean_line)
+            if value is not None:
+                print(value, file=w)
+                print(value)
+            else:
+                matches = re.finditer(serial_regex, clean_line, re.MULTILINE)
+                for matchNum, match in enumerate(matches, start=1):
+                    print("CONFIG_BOARD_SERIAL_" + match.groups()[0] + "=\"" + match.groups()[1] + "\"")
+                    print("CONFIG_BOARD_SERIAL_" + match.groups()[0] + "=\"" + match.groups()[1] + "\"", file=w)
+                matches = re.finditer(io_regex, clean_line, re.MULTILINE)
+                for matchNum, match in enumerate(matches, start=1):
+                    print("CONFIG_BOARD_IO=\"" + match.groups()[0] + "\"")
+                    print("CONFIG_BOARD_IO=\"" + match.groups()[0] + "\"", file=w)
+                matches = re.finditer(romfs_regex, clean_line, re.MULTILINE)
+                for matchNum, match in enumerate(matches, start=1):
+                    print("CONFIG_BOARD_ROMFSROOT=\"" + match.groups()[0] + "\"")
+                    print("CONFIG_BOARD_ROMFSROOT=\"" + match.groups()[0] + "\"", file=w)
+                    romfs_set = True
+                matches = re.finditer(arch_regex, clean_line, re.MULTILINE)
+                for matchNum, match in enumerate(matches, start=1):
+                    print("CONFIG_BOARD_ARCHITECTURE=\"" + match.groups()[0] + "\"")
+                    print("CONFIG_BOARD_ARCHITECTURE=\"" + match.groups()[0] + "\"", file=w)
+                matches = re.finditer(toolchain_regex, clean_line, re.MULTILINE)
+                for matchNum, match in enumerate(matches, start=1):
+                    print("CONFIG_BOARD_TOOLCHAIN=\"" + match.groups()[0] + "\"")
+                    print("CONFIG_BOARD_TOOLCHAIN=\"" + match.groups()[0] + "\"", file=w)
+
+    if(romfs_set == False):
+        print("CONFIG_BOARD_ROMFSROOT=\"\"", file=w)
+
+
+    w.close()
@@ -0,0 +1,204 @@
+PLATFORM nuttx,CONFIG_PLATFORM_NUTTX=y
+PLATFORM posix,CONFIG_PLATFORM_POSIX=y
+CONSTRAINED_MEMORY,CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONSTRAINED_FLASH,CONFIG_BOARD_CONSTRAINED_FLASH=y
+NO_HELP,CONFIG_BOARD_NO_HELP=y
+EXTERNAL_METADATA,CONFIG_BOARD_EXTERNAL_METADATA=y
+BUILD_BOOTLOADER,CONFIG_BOARD_BUILD_BOOTLOADER=y
+UAVCAN_INTERFACES 2,CONFIG_BOARD_UAVCAN_INTERFACES=2
+UAVCAN_INTERFACES 1,CONFIG_BOARD_UAVCAN_INTERFACES=1
+UAVCAN_TIMER_OVERRIDE 2,CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
+UAVCAN_TIMER_OVERRIDE 1,CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=1
+UAVCAN_TIMER_OVERRIDE 1,CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=0
+TESTING,CONFIG_BOARD_TESTING=y
+ETHERNET,CONFIG_BOARD_ETHERNET=y
+adc/ads1115,CONFIG_DRIVERS_ADC_ADS1115=y
+adc/board_adc,CONFIG_DRIVERS_ADC_BOARD_ADC=y
+barometer,CONFIG_COMMON_BAROMETERS=y
+barometer/bmp280,CONFIG_DRIVERS_BAROMETER_BMP280=y
+barometer/bmp388,CONFIG_DRIVERS_BAROMETER_BMP388=y
+barometer/dps310,CONFIG_DRIVERS_BAROMETER_DPS310=y
+barometer/lps22hb,CONFIG_DRIVERS_BAROMETER_LPS22HB=y
+barometer/lps25h,CONFIG_DRIVERS_BAROMETER_LPS25H=y
+barometer/lps33hw,CONFIG_DRIVERS_BAROMETER_LPS33HW=y
+barometer/mpl3115a2,CONFIG_DRIVERS_BAROMETER_MPL3115A2=y
+barometer/ms5611,CONFIG_DRIVERS_BAROMETER_MS5611=y
+barometer/tcbp001ta,CONFIG_DRIVERS_BAROMETER_TCBP001TA=y
+batt_smbus,CONFIG_DRIVERS_BATT_SMBUS=y
+bootloaders,CONFIG_DRIVERS_BOOTLOADERS=y
+camera_capture,CONFIG_DRIVERS_CAMERA_CAPTURE=y
+camera_trigger,CONFIG_DRIVERS_CAMERA_TRIGGER=y
+differential_pressure,CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
+distance_sensor,CONFIG_COMMON_DISTANCE_SENSOR=y
+distance_sensor/ll40ls,CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
+distance_sensor/lightware_laser_serial,CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
+distance_sensor/broadcom/afbrs50,CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
+distance_sensor/vl53l0x,CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
+distance_sensor/vl53l1x,CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
+distance_sensor/srf05,CONFIG_DRIVERS_DISTANCE_SENSOR_SRF05=y
+dshot,CONFIG_DRIVERS_DSHOT=y
+gps,CONFIG_DRIVERS_GPS=y
+heater,CONFIG_DRIVERS_HEATER=y
+imu,CONFIG_COMMON_IMU=y
+imu/adis16477,CONFIG_DRIVERS_IMU_ADIS16477=y
+imu/adis16497,CONFIG_DRIVERS_IMU_ADIS16497=y
+imu/analog_devices/adis16448,CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
+imu/analog_devices/adis16470,CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16470=y
+imu/bosch/bmi055,CONFIG_DRIVERS_IMU_BOSCH_BMI055=y
+imu/bosch/bmi088,CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
+imu/fxas21002c,CONFIG_DRIVERS_IMU_FXAS21002C=y
+imu/fxos8701cq,CONFIG_DRIVERS_IMU_FXOS8701CQ=y
+imu/invensense/icm20602,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
+imu/invensense/icm20608g,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20608G=y
+imu/invensense/icm20649,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
+imu/invensense/icm20689,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
+imu/invensense/icm20948,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
+imu/invensense/icm40609d,CONFIG_DRIVERS_IMU_INVENSENSE_ICM40609D=y
+imu/invensense/icm42605,CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
+imu/invensense/icm42688p,CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+imu/invensense/mpu6000,CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
+imu/invensense/mpu6500,CONFIG_DRIVERS_IMU_INVENSENSE_MPU6500=y
+imu/invensense/mpu9250,CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
+imu/l3gd20,CONFIG_DRIVERS_IMU_L3GD20=y
+imu/lsm303d,CONFIG_DRIVERS_IMU_LSM303D=y
+imu/st,CONFIG_DRIVERS_IMU_ST=y
+irlock,CONFIG_DRIVERS_IRLOCK=y
+lights,CONFIG_COMMON_LIGHT=y
+lights/neopixel,CONFIG_DRIVERS_LIGHTS_NEOPIXEL=y
+lights/rgbled,CONFIG_DRIVERS_LIGHTS_RGBLED=y
+lights/rgbled_ncp5623c,CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
+lights/rgbled_pwm,CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
+magnetometer,CONFIG_COMMON_MAGNETOMETER=y
+magnetometer/akm/ak09916,CONFIG_DRIVERS_MAGNETOMETER_AKM_AK09916=y
+magnetometer/akm/ak8963,CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
+magnetometer/bosch/bmm150,CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
+magnetometer/hmc5883,CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
+magnetometer/isentek/ist8308,CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
+magnetometer/isentek/ist8310,CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
+magnetometer/lis2mdl,CONFIG_DRIVERS_MAGNETOMETER_LIS2MDL=y
+magnetometer/lis3mdl,CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
+magnetometer/lsm303agr,CONFIG_DRIVERS_MAGNETOMETER_LSM303AGR=y
+magnetometer/lsm9ds1_mag,CONFIG_DRIVERS_MAGNETOMETER_LSM9DS1_MAG=y
+magnetometer/qmc5883l,CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
+magnetometer/rm3100,CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
+magnetometer/vtrantech/vcm1193l,CONFIG_DRIVERS_MAGNETOMETER_VTRANTECH_VCM1193L=y
+optical_flow,CONFIG_COMMON_OPTICAL_FLOW=y
+optical_flow/paw3902,CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
+optical_flow/paw3901,CONFIG_DRIVERS_OPTICAL_FLOW_PMW3901=y
+optical_flow/px4flow,CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW=y
+optical_flow/thoneflow,CONFIG_DRIVERS_OPTICAL_FLOW_THONEFLOW=y
+osd,CONFIG_DRIVERS_OSD=y
+pca9685,CONFIG_DRIVERS_PCA9685=y
+pca9685_pwm_out,CONFIG_DRIVERS_PCA9685_PWM_OUT=y
+power_monitor/ina226,CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+power_monitor/voxlpm,CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
+pps_capture,CONFIG_DRIVERS_PPS_CAPTURE=y
+protocol_splitter,CONFIG_DRIVERS_PROTOCOL_SPLITTER=y
+pwm_input,CONFIG_DRIVERS_PWM_INPUT=y
+pwm_out_sim,CONFIG_DRIVERS_PWM_OUT_SIM=y
+pwm_out,CONFIG_DRIVERS_PWM_OUT=y
+px4io,CONFIG_DRIVERS_PX4IO=y
+rc_input,CONFIG_DRIVERS_RC_INPUT=y
+roboclaw,CONFIG_DRIVERS_ROBOCLAW=y
+rpi_rc_in,CONFIG_DRIVERS_RPI_RC_IN=y
+rpm,CONFIG_DRIVERS_RPM=y
+safety_button,CONFIG_DRIVERS_SAFETY_BUTTON=y
+smart_battery/batmon,CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
+spektrum_rc,CONFIG_DRIVERS_SPEKTRUM_RC=y
+telemetry,CONFIG_DRIVERS_TELEMETRY=y
+test_ppm,CONFIG_DRIVERS_TEST_PPM=y
+tone_alarm,CONFIG_DRIVERS_TONE_ALARM=y
+uavcan,CONFIG_DRIVERS_UAVCAN=y
+uavcannode,CONFIG_DRIVERS_UAVCANNODE=y
+uavcannode_gps_demo,CONFIG_DRIVERS_UAVCANNODE_GPS_DEMO=y
+airship_att_control,CONFIG_MODULES_AIRSHIP_ATT_CONTROL=y
+airspeed_selector,CONFIG_MODULES_AIRSPEED_SELECTOR=y
+velocity_controller,CONFIG_MODULES_ANGULAR_VELOCITY_CONTROLLER=y
+attitude_estimator_q,CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+battery_status,CONFIG_MODULES_BATTERY_STATUS=y
+camera_feedback,CONFIG_MODULES_CAMERA_FEEDBACK=y
+commander,CONFIG_MODULES_COMMANDER=y
+control_allocator,CONFIG_MODULES_CONTROL_ALLOCATOR=y
+dataman,CONFIG_MODULES_DATAMAN=y
+ekf2,CONFIG_MODULES_EKF2=y
+esc_battery,CONFIG_MODULES_ESC_BATTERY=y
+events,CONFIG_MODULES_EVENTS=y
+flight_mode_manager,CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+fw_att_control,CONFIG_MODULES_FW_ATT_CONTROL=y
+fw_pos_control_l1,CONFIG_MODULES_FW_POS_CONTROL_L1=y
+gyro_calibration,CONFIG_MODULES_GYRO_CALIBRATION=y
+gyro_fft,CONFIG_MODULES_GYRO_FFT=y
+land_detector,CONFIG_MODULES_LAND_DETECTOR=y
+landing_target_estimator,CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+load_mon,CONFIG_MODULES_LOAD_MON=y
+local_position_estimator,CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
+logger,CONFIG_MODULES_LOGGER=y
+mavlink,CONFIG_MODULES_MAVLINK=y
+mc_att_control,CONFIG_MODULES_MC_ATT_CONTROL=y
+mc_hover_thrust_estimator,CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+mc_pos_control,CONFIG_MODULES_MC_POS_CONTROL=y
+mc_rate_control,CONFIG_MODULES_MC_RATE_CONTROL=y
+micrortps_bridge,CONFIG_MODULES_MICRORTPS_BRIDGE=y
+microdds_client,CONFIG_MODULES_MICRODDS_CLIENT=y
+navigator,CONFIG_MODULES_NAVIGATOR=y
+px4iofirmware,CONFIG_MODULES_PX4IOFIRMWARE=y
+rc_update,CONFIG_MODULES_RC_UPDATE=y
+replay,CONFIG_MODULES_REPLAY=y
+rover_pos_control,CONFIG_MODULES_ROVER_POS_CONTROL=y
+sensors,CONFIG_MODULES_SENSORS=y
+sih,CONFIG_MODULES_SIH=y
+simulator,CONFIG_MODULES_SIMULATOR=y
+temperature_compensation,CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+uuv_att_control,CONFIG_MODULES_UUV_ATT_CONTROL=y
+uuv_pos_control,CONFIG_MODULES_UUV_POS_CONTROL=y
+gimbal,CONFIG_MODULES_GIMBAL=y
+vtol_att_control,CONFIG_MODULES_VTOL_ATT_CONTROL=y
+bl_update,CONFIG_SYSTEMCMDS_BL_UPDATE=y
+dmesg,CONFIG_SYSTEMCMDS_DMESG=y
+dumpfile,CONFIG_SYSTEMCMDS_DUMPFILE=y
+dyn,CONFIG_SYSTEMCMDS_DYN=y
+failure,CONFIG_SYSTEMCMDS_FAILURE=y
+gpio,CONFIG_SYSTEMCMDS_GPIO=y
+hardfault_log,CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+i2cdetect,CONFIG_SYSTEMCMDS_I2CDETECT=y
+led_control,CONFIG_SYSTEMCMDS_LED_CONTROL=y
+mft,CONFIG_SYSTEMCMDS_MFT=y
+microbench,CONFIG_SYSTEMCMDS_MICROBENCH=y
+mixer,CONFIG_SYSTEMCMDS_MIXER=y
+motor_test,CONFIG_SYSTEMCMDS_MOTOR_TEST=y
+mtd,CONFIG_SYSTEMCMDS_MTD=y
+netman,CONFIG_SYSTEMCMDS_NETMAN=y
+nshterm,CONFIG_SYSTEMCMDS_NSHTERM=y
+param,CONFIG_SYSTEMCMDS_PARAM=y
+perf,CONFIG_SYSTEMCMDS_PERF=y
+pwm,CONFIG_SYSTEMCMDS_PWM=y
+reboot,CONFIG_SYSTEMCMDS_REBOOT=y
+reflect,CONFIG_SYSTEMCMDS_REFLECT=y
+sd_bench,CONFIG_SYSTEMCMDS_SD_BENCH=y
+serial_tet,CONFIG_SYSTEMCMDS_SERIAL_TEST=y
+shutdown,CONFIG_SYSTEMCMDS_SHUTDOWN=y
+system_time,CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+tests,CONFIG_SYSTEMCMDS_TESTS=y
+top,CONFIG_SYSTEMCMDS_TOP=y
+topic_listener,CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+tune_control,CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+uorb,CONFIG_SYSTEMCMDS_UORB=y
+usb_connected,CONFIG_SYSTEMCMDS_USB_CONNECTED=y
+ver,CONFIG_SYSTEMCMDS_VER=y
+work_queue,CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+dyn_hello,CONFIG_EXAMPLES_DYN_HELLO=y
+fake_gps,CONFIG_EXAMPLES_FAKE_GPS=y
+fake_gyro,CONFIG_EXAMPLES_FAKE_GYRO=y
+fake_imu,CONFIG_EXAMPLES_FAKE_IMU=y
+fake_magnetometer,CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
+fixedwing_control,CONFIG_EXAMPLES_FIXEDWING_CONTROL=y
+hello,CONFIG_EXAMPLES_HELLO=y
+hwtest,CONFIG_EXAMPLES_HWTEST=y
+matlab_csv_serial,CONFIG_EXAMPLES_MATLAB_CSV_SERIAL=y
+px4_mavlink_debug,CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
+px4_simple_app,CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
+rover_steering_control,CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
+uuv_example_app,CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
+work_item,CONFIG_EXAMPLES_WORK_ITEM=y
+add_compile_options(-Wno-narrowing),CONFIG_BOARD_COMPILE_DEFINITIONS="-Wno-narrowing"
+-D__PX4_LINUX,CONFIG_BOARD_LINUX=y
@@ -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
 ```
@@ -16,7 +16,7 @@ class ModuleDocumentation(object):
    valid_categories = ['driver', 'estimator', 'controller', 'system',
                        'communication', 'command', 'template', 'simulation', 'autotune']
    valid_subcategories = ['', 'distance_sensor', 'imu', 'airspeed_sensor',
-                           'magnetometer', 'baro', 'optical_flow', 'rpm_sensor', 'transponder']
+                           'magnetometer', 'baro', 'optical_flow', 'rpm_sensor']

    max_line_length = 80 # wrap lines that are longer than this

@@ -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 $VERBOSE_BAR
-echo
@@ -74,9 +74,6 @@ if [ "$model" == "" ] || [ "$model" == "none" ]; then
 	if [ "$program" == "jsbsim" ]; then
 		echo "empty model, setting rascal as default for jsbsim"
 		model="rascal"
-	elif [ "$program" == "sihsim" ]; then
-		echo "empty model, setting quadx as default for sihsim"
-		model="quadx"
 	else
 		echo "empty model, setting iris as default"
 		model="iris"
@@ -217,12 +214,6 @@ elif [ "$program" == "jsbsim" ] && [ -z "$no_sim" ]; then
 	fi
 	"${build_path}/build_jsbsim_bridge/jsbsim_bridge" ${model} -s "${src_path}/Tools/jsbsim_bridge/scene/${world}.xml" 2> /dev/null &
 	JSBSIM_PID=$!
-elif [ "$program" == "sihsim" ] && [ ! -n "$no_sim" ]; then
-	export SIM_MODE="sihsim"
-	if [ "$model" != "airplane" ] && [ "$model" != "quadx" ] && [ "$model" != "xvert" ]; then
-		echo "Model ${model} not compatible with with sih. sih supports [quadx,airplane,xvert]."
-		exit 1
-	fi
 fi

 pushd "$rootfs" >/dev/null
@@ -2,7 +2,6 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
-CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
@@ -11,16 +10,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
-# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
-# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
-# CONFIG_SENSORS_VEHICLE_MAGNETOMETER is not set
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -3,8 +3,6 @@
 # board sensors init
 #------------------------------------------------------------------------------

-param set-default IMU_GYRO_RATEMAX 1000
-
 # Internal SPI
 paw3902 -s start -Y 180

@@ -4,6 +4,7 @@ CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_BOARD_EXTERNAL_METADATA=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_GPS=y
@@ -13,18 +14,5 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
-# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
-# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-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
@@ -4,7 +4,6 @@
 #------------------------------------------------------------------------------

 param set-default CBRK_IO_SAFETY 0
-param set-default MBE_ENABLE 1

 safety_button start
 tone_alarm start
@@ -4,6 +4,7 @@ CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_BOARD_EXTERNAL_METADATA=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_GPS=y
@@ -13,18 +14,5 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
-# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
-# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-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
@@ -5,7 +5,6 @@

 param set-default CBRK_IO_SAFETY 0
 param set-default CANNODE_GPS_RTCM 1
-param set-default MBE_ENABLE 1

 safety_button start
 tone_alarm start
@@ -115,7 +115,9 @@
 #define GPIO_HW_REV_SENSE    /* PC3   */ ADC1_GPIO(13)
 #define GPIO_HW_VER_DRIVE    /* PG0   */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_VER_SENSE    /* PC2   */ ADC1_GPIO(12)
-#define HW_INFO_INIT_PREFIX    "VAM"
+#define HW_INFO_INIT         {'V','5','x', 'x',0}
+#define HW_INFO_INIT_VER     2
+#define HW_INFO_INIT_REV     3

 #define BOARD_TAP_ESC_MODE 2 // select closed-loop control mode for the esc
 // #define BOARD_USE_ESC_CURRENT_REPORT
@@ -30,7 +30,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MFT=y
@@ -141,7 +141,6 @@
 #define PX4_PWM_ALTERNATE_RANGES
 #define PWM_LOWEST_MIN 0
 #define PWM_MOTOR_OFF	0
-#define PWM_SERVO_STOP	0
 #define PWM_DEFAULT_MIN 20
 #define PWM_HIGHEST_MIN 0
 #define PWM_HIGHEST_MAX 255
@@ -72,9 +72,7 @@ static const px4_mft_entry_s mtd_mft = {

 static const px4_mft_s mft = {
 	.nmft = 1,
-	.mfts = {
-		&mtd_mft
-	}
+	.mfts = &mtd_mft
 };

 const px4_mft_s *board_get_manifest(void)
@@ -30,7 +30,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MIXER=y
@@ -142,7 +142,6 @@
 #define PX4_PWM_ALTERNATE_RANGES
 #define PWM_LOWEST_MIN 0
 #define PWM_MOTOR_OFF	0
-#define PWM_SERVO_STOP	0
 #define PWM_DEFAULT_MIN 20
 #define PWM_HIGHEST_MIN 0
 #define PWM_HIGHEST_MAX 255
@@ -1,8 +1,6 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
-CONFIG_BOARD_CONSTRAINED_FLASH=y
-CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_COMPILE_DEFINITIONS="-DUSE_S_RGB_LED_DMA"
 CONFIG_DRIVERS_BAROMETER_MS5611=y
@@ -14,16 +12,5 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
-# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
-# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-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
@@ -118,8 +118,8 @@
 #define GPIO_nPOWER_IN_CAN              /* PG2  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2)
 #define GPIO_nPOWER_IN_C                /* PG0  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN0)

-#define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_ADC /* Brick 1 is Chosen */
-#define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_CAN /* Brick 2 is Chosen  */
+#define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_CAN /* Brick 1 is Chosen */
+#define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_ADC /* Brick 2 is Chosen  */
 #define GPIO_nVDD_USB_VALID             GPIO_nPOWER_IN_C   /* USB     is Chosen */

 #define GPIO_VDD_5V_HIPOWER_EN          /* PD11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)
@@ -106,4 +106,3 @@ CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
 CONFIG_EXAMPLES_FAKE_GPS=y
-#CONFIG_DRIVERS_TRANSPONDER_SAGETECH_MXS=y
@@ -7,7 +7,7 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_DRIVERS_BAROMETER_MS5611=y
+CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
@@ -24,13 +24,14 @@ CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD=y
+CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT_SIM=y
 CONFIG_DRIVERS_PX4IO=y
-#CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -41,7 +42,6 @@ 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
@@ -50,7 +50,6 @@ 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
@@ -66,15 +65,17 @@ 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
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=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
@@ -92,6 +93,7 @@ CONFIG_SYSTEMCMDS_PWM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_REFLECT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -100,4 +102,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
-CONFIG_DRIVERS_TRANSPONDER_SAGETECH_MXS=y
+CONFIG_EXAMPLES_FAKE_GPS=y
@@ -5,6 +5,7 @@ CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_RPM=n
 CONFIG_DRIVERS_UAVCAN=n
+CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
@@ -12,4 +13,3 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y
-CONFIG_SYSTEMCMDS_SD_STRESS=y
@@ -175,8 +175,8 @@ CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=600
-CONFIG_UART4_TXBUFSIZE=600
+CONFIG_UART4_RXBUFSIZE=300
+CONFIG_UART4_TXBUFSIZE=900
 CONFIG_USART1_RXBUFSIZE=300
 CONFIG_USART1_RXDMA=y
 CONFIG_USART1_TXBUFSIZE=300
@@ -1,22 +1,16 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_ROMFSROOT="cannode"
-CONFIG_BOARD_CONSTRAINED_FLASH=y
-CONFIG_BOARD_NO_HELP=y
-CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_ST=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
-# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
-# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MTD=y
@@ -25,7 +19,5 @@ CONFIG_SYSTEMCMDS_PERF=y
 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
@@ -2,7 +2,6 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
-CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
@@ -13,18 +12,6 @@ CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
-# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
-# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-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
@@ -83,9 +83,9 @@
 #define GPIO_HW_VER_REV_DRIVE /* PB1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
 #define GPIO_HW_REV_SENSE     /* PA0 */ ADC1_GPIO(0)
 #define GPIO_HW_VER_SENSE     /* PA1 */ ADC1_GPIO(1)
-#define HW_INFO_INIT_PREFIX         "CANGPS"
-
-#define CANGPS00   HW_VER_REV(0x0,0x0) // CANGPS
+#define HW_INFO_INIT         {'C','A','N','G','P','S','x', 'x',0}
+#define HW_INFO_INIT_VER     6
+#define HW_INFO_INIT_REV     7

 #define FLASH_BASED_PARAMS

@@ -104,7 +104,7 @@ static const px4_hw_mft_item_t hw_mft_list_v0000[] = {

 static px4_hw_mft_list_entry_t mft_lists[] = {
 // ver/rev
-	{CANGPS00, hw_mft_list_v0000,        arraySize(hw_mft_list_v0000)},
+	{0x0000, hw_mft_list_v0000,        arraySize(hw_mft_list_v0000)},
 };

 /************************************************************************************
@@ -127,7 +127,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;

 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 16;
+		uint32_t ver_rev = board_get_hw_version() << 8;
 		ver_rev |= board_get_hw_revision();

 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -138,7 +138,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %08"  PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}

@@ -11,13 +11,13 @@ icm20689 -R 2 -s start
 bmi088 -A -R 2 -s start
 bmi088 -G -R 2 -s start

-if ver hwtypecmp  VD000000
+if ver hwtypecmp  VD00
 then
 	# Internal SPI BMI088
 	bmi088 -A -R 2 -s start
 	bmi088 -G -R 2 -s start
 fi
-if ver hwtypecmp  VD000001
+if ver hwtypecmp  VD01
 then
 	# Internal SPI ICM-20602
 	icm20602 -R 2 -s start
@@ -152,7 +152,9 @@
 #define GPIO_HW_REV_SENSE    /* PC3   */ GPIO_ADC12_INP13
 #define GPIO_HW_VER_DRIVE    /* PG0   */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_VER_SENSE    /* PC2   */ GPIO_ADC123_INP12
-#define HW_INFO_INIT_PREFIX         "VD"
+#define HW_INFO_INIT         {'V','D','x', 'x',0}
+#define HW_INFO_INIT_VER     2
+#define HW_INFO_INIT_REV     3

 #define BOARD_NUM_SPI_CFG_HW_VERSIONS 2

@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2012-2019, 2022 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -206,6 +206,7 @@ stm32_boardinitialize(void)
 *
 ****************************************************************************/

+
 __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	/* Power on Interfaces */
@@ -218,13 +219,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 	px4_platform_init();

-	// Use the default HW_VER_REV(0x0,0x0) for Ramtron
-
-	stm32_spiinitialize();
-
-	/* Configure the HW based on the manifest */
-
-	px4_platform_configure();

 	if (OK == board_determine_hw_info()) {
 		syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
@@ -234,7 +228,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
 	}

-	/* Configure the actual SPI interfaces (after we determined the HW version) */
+	/* configure SPI interfaces (after we determined the HW version) */

 	stm32_spiinitialize();

@@ -274,5 +268,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #endif /* CONFIG_MMCSD */

+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
 	return OK;
 }
@@ -107,7 +107,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;

 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 16;
+		uint32_t ver_rev = board_get_hw_version() << 8;
 		ver_rev |= board_get_hw_revision();

 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -118,7 +118,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %08"  PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}

@@ -1,6 +1,5 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_EXTERNAL_METADATA=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
@@ -32,7 +31,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_SYSTEMCMDS_MIXER=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PWM=y
@@ -15,10 +15,10 @@ CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
+CONFIG_DRIVERS_OSD=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT_SIM=y
@@ -28,8 +28,8 @@ CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -42,7 +42,6 @@ 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
@@ -61,12 +60,12 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=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
@@ -185,11 +185,9 @@
 #define GPIO_HW_REV_SENSE    /* PC3   */ ADC1_GPIO(13)
 #define GPIO_HW_VER_DRIVE    /* PG0   */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_VER_SENSE    /* PC2   */ ADC1_GPIO(12)
-#define HW_INFO_INIT_PREFIX         "VPIX32V5"
-
-#define VPIX32V500   HW_VER_REV(0x0,0x0) // PIX32V5           Rev 0
-#define VPIX32V540   HW_VER_REV(0x4,0x0) // HolyBro mini no can 2,3
-
+#define HW_INFO_INIT         {'V','5','x', 'x',0}
+#define HW_INFO_INIT_VER     2
+#define HW_INFO_INIT_REV     3
 /* CAN Silence
 *
 * Silent mode control \ ESC Mux select
@@ -129,8 +129,8 @@ static const px4_hw_mft_item_t hw_mft_list_v0540[] = {
 };

 static px4_hw_mft_list_entry_t mft_lists[] = {
-	{VPIX32V500, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},
-	{VPIX32V540, hw_mft_list_v0540,        arraySize(hw_mft_list_v0540)},  // HolyBro mini no can 2,3
+	{0x0000, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},
+	{0x0400, hw_mft_list_v0540,        arraySize(hw_mft_list_v0540)},  // HolyBro mini no can 2,3
 };

 /************************************************************************************
@@ -153,7 +153,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;

 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 16;
+		uint32_t ver_rev = board_get_hw_version() << 8;
 		ver_rev |= board_get_hw_revision();

 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -164,7 +164,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %08"  PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}

@@ -1,8 +1,6 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
-CONFIG_BOARD_CONSTRAINED_FLASH=y
-CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
 CONFIG_DRIVERS_BAROMETER_DPS310=y
@@ -12,20 +10,13 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
-# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
-# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SERIAL_PASSTHRU=y
 CONFIG_SERIAL_PASSTHRU_UBLOX=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_UORB=y
@@ -5,7 +5,6 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
-CONFIG_DRIVERS_ACTUATORS_MODALAI_ESC=y
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -43,7 +42,6 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=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
@@ -52,7 +50,6 @@ 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
@@ -68,6 +65,7 @@ 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
@@ -76,9 +74,10 @@ 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
--- a/Show More
+++ b/Show More