logger: new optional start delay time (SDLOG_DELAY_S)

- this can be useful when using PX4 as a standalone data logger

.ci/Jenkinsfile-hardware

@@ -771,8 +771,6 @@ void checkStatus() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ps"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output0"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output1" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm_out status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
@@ -794,7 +792,7 @@ void resetParameters() {
 void runTests() {
 
   // test loading a range of airframes
-  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 2100 3000 4001 6001 8001 10016'
+  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 2100 3000 4001 6001 8001'
 
   resetParameters()
 
@@ -857,7 +855,6 @@ void printTopics() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_0" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_1" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_2" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_3" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_outputs" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_validated" || true'
@@ -919,7 +916,6 @@ void printTopics() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener task_stack_info" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener test_motor" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener trajectory_setpoint" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener tune_control" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_acceleration" || true'

.clang-tidy

@@ -1,11 +1,17 @@
 ---
 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,
@@ -18,6 +24,7 @@ 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,
@@ -37,8 +44,7 @@ Checks:          '*,
                   -cppcoreguidelines-pro-type-union-access,
                   -cppcoreguidelines-pro-type-vararg,
                   -cppcoreguidelines-special-member-functions,
-                  -fuchsia-default-arguments,
-                  -fuchsia-overloaded-operator,
+                  -fuchsia-*,
                   -google-build-using-namespace,
                   -google-explicit-constructor,
                   -google-global-names-in-headers,
@@ -62,6 +68,7 @@ Checks:          '*,
                   -hicpp-use-equals-delete,
                   -hicpp-use-override,
                   -hicpp-vararg,
+                  -llvmlibc-*,
                   -llvm-header-guard,
                   -llvm-include-order,
                   -llvm-namespace-comment,
@@ -84,6 +91,7 @@ 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,

.gitattributes

@@ -19,9 +19,8 @@
 *.jar    binary
 *.xml    text eol=lf
 
-# PX4 mixers, msgs, etc
+# PX4 msgs, etc
 *.bin    binary
-*.mix    text eol=lf
 *.msg    text eol=lf
 *.config text eol=lf
 *.sdf    text eol=lf

.github/ISSUE_TEMPLATE/1_Bug_report.md

@@ -20,7 +20,7 @@ A clear and concise description of what you expected to happen.
 
 ## Log Files and Screenshots
 *Always* provide a link to the flight log file:
-- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/master/en/getting_started/flight_reporting.html)).
+- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
 - Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
 - Share the link to the log (Copy and paste the URL of the log)
 

.github/workflows/checks.yml

@@ -3,7 +3,7 @@ name: Checks
 on:
   push:
     branches:
-    - 'master'
+    - 'main'
   pull_request:
     branches:
     - '*'

.github/workflows/clang-tidy.yml

@@ -3,7 +3,7 @@ name: Clang Tidy
 on:
   push:
     branches:
-    - 'master'
+    - 'main'
   pull_request:
     branches:
     - '*'

.github/workflows/compile_linux.yml

@@ -3,7 +3,7 @@ name: Linux Targets
 on:
   push:
     branches:
-    - 'master'
+    - 'main'
   pull_request:
     branches:
     - '*'

.github/workflows/compile_linux_arm64.yml

@@ -3,7 +3,7 @@ name: Linux ARM64 Targets
 on:
   push:
     branches:
-    - 'master'
+    - 'main'
   pull_request:
     branches:
     - '*'

.github/workflows/compile_macos.yml

@@ -3,7 +3,7 @@ name: MacOS build
 on:
   push:
     branches:
-    - 'master'
+    - 'main'
   pull_request:
     branches:
     - '*'

.github/workflows/compile_nuttx.yml

@@ -3,7 +3,7 @@ name: Nuttx Targets
 on:
   push:
     branches:
-    - 'master'
+    - 'main'
   pull_request:
     branches:
     - '*'

.github/workflows/deploy_all.yml

@@ -3,7 +3,7 @@ name: Deploy metadata for all targets
 on:
   push:
     branches:
-    - 'master'
+    - 'main'
     - 'release/*'
     - 'pr-metadata-test'
 

.github/workflows/mavros_mission_tests.yml

@@ -3,7 +3,7 @@ name: MAVROS Mission Tests
 on:
   push:
     branches:
-    - 'master'
+    - 'main'
   pull_request:
     branches:
     - '*'

.github/workflows/mavros_offboard_tests.yml

@@ -3,7 +3,7 @@ name: MAVROS Offboard Tests
 on:
   push:
     branches:
-    - 'master'
+    - 'main'
   pull_request:
     branches:
     - '*'

.github/workflows/metadata.yml

@@ -3,7 +3,7 @@ name: Metadata
 on:
   push:
     branches:
-    - 'master'
+    - 'main'
     - 'release/*'
     - 'pr-metadata-test'
 

.github/workflows/python_checks.yml

@@ -3,7 +3,7 @@ name: Python CI Checks
 on:
   push:
     branches:
-    - 'master'
+    - 'main'
   pull_request:
     branches:
     - '*'

.github/workflows/sitl_tests.yml

@@ -3,7 +3,7 @@ name: SITL Tests
 on:
   push:
     branches:
-    - 'master'
+    - 'main'
   pull_request:
     branches:
     - '*'

.gitignore

@@ -93,7 +93,6 @@ rules.ninja
 /googletest-*/
 /logs
 /mavsdk_tests
-/test_mixer_multirotor
 /unit-*
 /uORB/
 DartConfiguration.tcl

.gitmodules

@@ -6,12 +6,12 @@
 	path = src/drivers/uavcan/libuavcan
 	url = https://github.com/dronecan/libuavcan.git
 	branch = main
-[submodule "Tools/jMAVSim"]
-	path = Tools/jMAVSim
+[submodule "Tools/simulation/jmavsim/jMAVSim"]
+	path = Tools/simulation/jmavsim/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
 	branch = master
-[submodule "Tools/sitl_gazebo"]
-	path = Tools/sitl_gazebo
+[submodule "Tools/simulation/gazebo/sitl_gazebo"]
+	path = Tools/simulation/gazebo/sitl_gazebo
 	url = https://github.com/PX4/PX4-SITL_gazebo.git
 	branch = master
 [submodule "src/drivers/gps/devices"]
@@ -31,10 +31,10 @@
 	url = https://github.com/PX4/NuttX-apps.git
 	branch = px4_firmware_nuttx-10.1.0+
 [submodule "Tools/flightgear_bridge"]
-	path = Tools/flightgear_bridge
+	path = Tools/simulation/flightgear/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
-[submodule "Tools/jsbsim_bridge"]
-	path = Tools/jsbsim_bridge
+[submodule "Tools/simulation/jsbsim/jsbsim_bridge"]
+	path = Tools/simulation/jsbsim/jsbsim_bridge
 	url = https://github.com/PX4/px4-jsbsim-bridge.git
 [submodule "src/drivers/cyphal/libcanard"]
 	path = src/drivers/cyphal/libcanard
@@ -53,9 +53,6 @@
 [submodule "src/lib/events/libevents"]
 	path = src/lib/events/libevents
 	url = https://github.com/mavlink/libevents.git
-[submodule "Tools/simulation-ignition"]
-	path = Tools/simulation-ignition
-	url = https://github.com/PX4/px4-simulation-ignition.git
 [submodule "src/lib/crypto/libtomcrypt"]
 	path = src/lib/crypto/libtomcrypt
 	url = https://github.com/PX4/libtomcrypt.git

.travis.yml

@@ -11,7 +11,7 @@ matrix:
       dist: xenial
       # In order to stay under the coverity rate limit, we only run this weekly
       # and not on push which is configured in travis-ci settings.
-      if: branch = master
+      if: branch = main
 
 before_install:
     - echo -n | openssl s_client -connect scan.coverity.com:443 | sed -ne '/-BEGIN CERTIFICATE-/,/-END CERTIFICATE-/p' | sudo tee -a /etc/ssl/certs/ca-

.vscode/cmake-variants.yaml

@@ -2,7 +2,7 @@ CONFIG:
   default: px4_sitl_default
   choices:
     px4_sitl_default:
-      short: px4_sitl
+      short: px4_sitl_default
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_default

.vscode/tasks.json

@@ -54,17 +54,19 @@
             "type": "shell",
             "command": "ant create_run_jar copy_res",
             "options": {
-                "cwd": "${workspaceFolder}/Tools/jMAVSim"
+                "cwd": "${workspaceFolder}/Tools/simulation/jmavsim/jMAVSim"
             },
-            "problemMatcher": [],
-            "presentation":{
+            "presentation": {
                 "echo": true,
                 "reveal": "never",
+                "revealProblems": "onProblem",
                 "focus": false,
-                "panel": "shared",
+                "panel": "dedicated",
                 "showReuseMessage": false,
                 "clear": false,
-            }
+                "close": true
+            },
+            "problemMatcher": []
         },
         {
             "label": "jmavsim",
@@ -72,7 +74,7 @@
             "dependsOn": "jmavsim build",
             "command": "java -Djava.ext.dirs= -jar jmavsim_run.jar -r 250 -lockstep -tcp localhost:4560 -qgc",
             "options": {
-                "cwd": "${workspaceFolder}/Tools/jMAVSim/out/production",
+                "cwd": "${workspaceFolder}/Tools/simulation/jmavsim/jMAVSim/out/production",
                 "env": {
                     "PX4_SIM_SPEED_FACTOR": "1"
                 }
@@ -81,42 +83,31 @@
             "presentation": {
                 "echo": true,
                 "reveal": "never",
+                "revealProblems": "onProblem",
                 "focus": false,
-                "panel": "shared",
+                "panel": "dedicated",
                 "showReuseMessage": false,
-                "clear": false
+                "clear": false,
+                "close": true
             },
-            "problemMatcher": [
-                {
-                    "pattern": [
-                        {
-                            "regexp": ".",
-                            "file": 1,
-                            "location": 2,
-                            "message": 3
-                        }
-                    ],
-                    "background": {
-                        "activeOnStart": true,
-                        "beginsPattern": ".",
-                        "endsPattern": ".",
-                    }
-                }
-            ]
+            "problemMatcher": []
         },
         {
             "label": "jmavsim kill",
             "type": "shell",
-            "command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}')",
+            "command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}') || true",
             "presentation": {
-                "echo": false,
+                "echo": true,
                 "reveal": "never",
+                "revealProblems": "onProblem",
                 "focus": false,
-                "panel": "shared",
+                "panel": "dedicated",
                 "showReuseMessage": false,
-                "clear": false
+                "clear": false,
+                "close": true
             },
-            "problemMatcher": []
+            "problemMatcher": [],
+            "dependsOn":["px4_sitl_cleanup"]
         },
         {
             "label": "gazebo build",
@@ -125,15 +116,17 @@
             "options": {
                 "cwd": "${workspaceFolder}"
             },
-            "problemMatcher": [],
-            "presentation":{
+            "presentation": {
                 "echo": true,
-                "reveal": "always",
+                "reveal": "never",
+                "revealProblems": "onProblem",
                 "focus": false,
-                "panel": "shared",
+                "panel": "dedicated",
                 "showReuseMessage": false,
                 "clear": false,
-            }
+                "close": true
+            },
+            "problemMatcher": [],
         },
         {
             "label": "gazebo start",
@@ -143,19 +136,21 @@
                 "cwd": "${workspaceFolder}",
                 "env": {
                     "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models",
                     "PX4_SIM_SPEED_FACTOR": "1"
                 }
             },
-            "command": "gzserver --verbose ${workspaceFolder}/Tools/sitl_gazebo/worlds/${input:gazeboWorld}.world",
+            "command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/worlds/empty.world",
             "isBackground": true,
             "presentation": {
                 "echo": true,
                 "reveal": "never",
+                "revealProblems": "onProblem",
                 "focus": false,
-                "panel": "shared",
+                "panel": "dedicated",
                 "showReuseMessage": false,
-                "clear": false
+                "clear": false,
+                "close": true
             },
             "problemMatcher": [
                 {
@@ -183,19 +178,21 @@
                 "cwd": "${workspaceFolder}",
                 "env": {
                     "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models",
                     "PX4_SIM_SPEED_FACTOR": "1"
                 }
             },
-            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/sitl_gazebo/models/${input:vehicleModel}/${input:vehicleModel}.sdf --model-name=${input:vehicleModel} -x 1.01 -y 0.98 -z 0.83",
+            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models/iris/iris.sdf --model-name=iris -x 1.01 -y 0.98 -z 0.83",
             "isBackground": false,
             "presentation": {
                 "echo": true,
                 "reveal": "never",
+                "revealProblems": "onProblem",
                 "focus": false,
-                "panel": "shared",
+                "panel": "dedicated",
                 "showReuseMessage": false,
-                "clear": false
+                "clear": false,
+                "close": true
             },
             "problemMatcher": [
                 {
@@ -216,71 +213,77 @@
             ]
         },
         {
-            "label": "gazebo client",
+            "label": "ign gazebo",
             "type": "shell",
-            "dependsOn": "gazebo build",
             "options": {
                 "cwd": "${workspaceFolder}",
                 "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
-                    "PX4_SIM_SPEED_FACTOR": "1"
+                    "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/ignition/models",
                 }
             },
-            "command": "gzclient --verbose",
+            "command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/ignition/worlds/${input:ignWorld}.sdf",
             "isBackground": true,
             "presentation": {
                 "echo": true,
-                "reveal": "never",
-                "focus": false,
-                "panel": "shared",
+                "reveal": "always",
+                "revealProblems": "onProblem",
+                "focus": true,
+                "panel": "dedicated",
                 "showReuseMessage": false,
-                "clear": false
+                "clear": false,
+                "close": false
             },
-            "problemMatcher": [
-                {
-                    "pattern": [
-                        {
-                            "regexp": ".",
-                            "file": 1,
-                            "location": 2,
-                            "message": 3
-                        }
-                    ],
-                    "background": {
-                        "activeOnStart": true,
-                        "beginsPattern": ".",
-                        "endsPattern": ".",
-                    }
-                }
-            ]
+            "problemMatcher": [],
+            "dependsOn":["ign gazebo kill"]
         },
         {
             "label": "gazebo kill",
             "type": "shell",
-            "command": "killall gzserver",
+            "command": "pkill -9 -f gzserver || true",
             "presentation": {
                 "echo": true,
-                "reveal": "silent",
+                "reveal": "never",
+                "revealProblems": "onProblem",
                 "focus": false,
-                "panel": "shared",
+                "panel": "dedicated",
                 "showReuseMessage": false,
-                "clear": false
+                "clear": false,
+                "close": true
             },
             "problemMatcher": [],
             "dependsOn":["px4_sitl_cleanup"]
         },
         {
-            "label": "px4_sitl_cleanup",
+            "label": "ign gazebo kill",
             "type": "shell",
-            "command": "rm -rfv /tmp/px4*",
+            "command": "pkill -9 -f 'ign gazebo' || true",
             "presentation": {
                 "echo": true,
-                "reveal": "silent",
+                "reveal": "never",
+                "revealProblems": "onProblem",
                 "focus": false,
-                "panel": "shared",
+                "panel": "dedicated",
                 "showReuseMessage": false,
-                "clear": false
+                "clear": false,
+                "close": true
+            },
+            "problemMatcher": [],
+            "dependsOn":["px4_sitl_cleanup"]
+        },
+
+        {
+            "label": "px4_sitl_cleanup",
+            "type": "shell",
+            "command": "rm -rfv /tmp/px4* || true",
+            "presentation": {
+                "echo": true,
+                "reveal": "never",
+                "revealProblems": "onProblem",
+                "focus": false,
+                "panel": "dedicated",
+                "showReuseMessage": false,
+                "clear": false,
+                "close": true
             },
             "problemMatcher": [],
             "dependsOn":["px4_kill"]
@@ -288,14 +291,16 @@
         {
             "label": "px4_kill",
             "type": "shell",
-            "command": "killall px4 || true",
+            "command": "pkill -9 px4 || true",
             "presentation": {
                 "echo": true,
-                "reveal": "silent",
+                "reveal": "never",
+                "revealProblems": "onProblem",
                 "focus": false,
-                "panel": "shared",
+                "panel": "dedicated",
                 "showReuseMessage": false,
-                "clear": false
+                "clear": false,
+                "close": true
             },
             "problemMatcher": []
         },
@@ -337,37 +342,12 @@
     "inputs": [
         {
             "type": "pickString",
-            "id": "vehicleModel",
-            "description": "gazebo model",
+            "id": "ignWorld",
+            "description": "Ignition world",
             "options": [
-              "iris",
-              "typhoon_h480",
-              "plane",
-              "plane_catapult",
-              "plane_lidar",
-              "standard_vtol",
-              "tailsitter",
-              "tiltrotor",
-              "r1_rover",
-              "boat"
+                "default"
             ],
-            "default": "iris"
-        },
-        {
-            "type": "pickString",
-            "id": "gazeboWorld",
-            "description": "gazebo world",
-            "options": [
-                "baylands",
-                "empty",
-                "ksql_airport",
-                "mcmillan_airfield",
-                "sonoma_raceway",
-                "warehouse",
-                "windy",
-                "yosemite"
-            ],
-            "default": "empty"
+            "default": "default"
         }
     ]
 }

CMakeLists.txt

@@ -175,6 +175,12 @@ 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)
@@ -408,7 +414,6 @@ if(BUILD_TESTING)
 			DEPENDS
 				px4
 				examples__dyn_hello
-				test_mixer_multirotor
 			USES_TERMINAL
 			COMMENT "Running tests"
 			WORKING_DIRECTORY ${PX4_BINARY_DIR})

CONTRIBUTING.md

@@ -8,7 +8,7 @@ First [fork and clone](https://help.github.com/articles/fork-a-repo) the project
 
 ### Create a feature branch
 
-*Always* branch off master for new features.
+*Always* branch off main for new features.
 
 ```
 git checkout -b mydescriptivebranchname
@@ -16,7 +16,7 @@ git checkout -b mydescriptivebranchname
 
 ### Edit and build the code
 
-The [developer guide](http://dev.px4.io/) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://dev.px4.io/master/en/contribute/code.html) when editing files.
+The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://docs.px4.io/main/en/contribute/code.html) when editing files.
 
 ### Commit your changes
 

Jenkinsfile

@@ -7,7 +7,8 @@ pipeline {
     stage('Analysis') {
       when {
         anyOf {
-          branch 'master'
+          branch 'main'
+          branch 'master' // should be removed, but in case there is something going on...
           branch 'pr-jenkins' // for testing
         }
       }
@@ -25,15 +26,15 @@ pipeline {
         //       echo $0;
         //       mkdir -p catkin_ws/src;
         //       cd catkin_ws;
-        //       git -C ${WORKSPACE}/catkin_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
-        //       git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
+        //       git -C ${WORKSPACE}/catkin_ws/src/Firmware submodule update --init --recursive --force Tools/simulation/gazebo/sitl_gazebo
+        //       git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/simulation/gazebo/sitl_gazebo src/mavlink_sitl_gazebo;
         //       git -C ${WORKSPACE}/catkin_ws/src/Firmware fetch --tags;
         //       source /opt/ros/melodic/setup.bash;
         //       export PYTHONPATH=/opt/ros/$ROS_DISTRO/lib/python2.7/dist-packages:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages;
         //       catkin init;
         //       catkin build -j$(nproc) -l$(nproc);
         //     '''
-        //     // test if the binary was correctly installed and runs using 'mavros_posix_silt.launch'
+        //     // test if the binary was correctly installed and runs using 'mavros_posix_sitl.launch'
         //     sh '''#!/bin/bash -l
         //       echo $0;
         //       source catkin_ws/devel/setup.bash;
@@ -67,7 +68,7 @@ pipeline {
               unset ROS_DISTRO;
               mkdir -p colcon_ws/src;
               cd colcon_ws;
-              git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo;
+              git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/simulation/gazebo/sitl_gazebo;
               git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
               source /opt/ros/foxy/setup.sh;
               colcon build --event-handlers console_direct+ --symlink-install;
@@ -204,20 +205,21 @@ pipeline {
             unstash 'msg_documentation'
             unstash 'uorb_graph'
             withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_user_guide.git')
-              sh('cp airframes.md px4_user_guide/en/airframes/airframe_reference.md')
-              sh('cp parameters.md px4_user_guide/en/advanced_config/parameter_reference.md')
-              sh('cp -R modules/*.md px4_user_guide/en/modules/')
-              sh('cp -R graph_*.json px4_user_guide/.vuepress/public/en/middleware/')
-              sh('cp -R msg_docs/*.md px4_user_guide/en/msg_docs/')
-              sh('cd px4_user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
-              sh('cd px4_user_guide; git push origin master || true')
-              sh('rm -rf px4_user_guide')
+              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/PX4-user_guide.git')
+              sh('cp airframes.md PX4-user_guide/en/airframes/airframe_reference.md')
+              sh('cp parameters.md PX4-user_guide/en/advanced_config/parameter_reference.md')
+              sh('cp -R modules/*.md PX4-user_guide/en/modules/')
+              sh('cp -R graph_*.json PX4-user_guide/.vuepress/public/en/middleware/')
+              sh('cp -R msg_docs/*.md PX4-user_guide/en/msg_docs/')
+              sh('cd PX4-user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
+              sh('cd PX4-user_guide; git push origin main || true')
+              sh('rm -rf PX4-user_guide')
             }
           }
           when {
             anyOf {
-              branch 'master'
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
               branch 'pr-jenkins' // for testing
             }
           }
@@ -245,7 +247,8 @@ pipeline {
           }
           when {
             anyOf {
-              branch 'master'
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
               branch 'pr-jenkins' // for testing
             }
           }
@@ -278,7 +281,8 @@ pipeline {
           }
           when {
             anyOf {
-              branch 'master'
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
               branch 'pr-jenkins' // for testing
             }
           }
@@ -293,10 +297,10 @@ pipeline {
             sh('make distclean; git clean -ff -x -d .')
             withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
               sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
-              // 'master' branch
+              // 'main' branch
               sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
               sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
-              sh('cd px4_msgs; git push origin master || true')
+              sh('cd px4_msgs; git push origin main || true')
               // 'ros1' branch
               sh('cd px4_msgs; git checkout ros1')
               sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
@@ -307,7 +311,8 @@ pipeline {
           }
           when {
             anyOf {
-              branch 'master'
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
               branch 'pr-jenkins' // for testing
             }
           }
@@ -350,7 +355,8 @@ pipeline {
           }
           when {
             anyOf {
-              branch 'master'
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
               branch 'pr-jenkins' // for testing
             }
           }
@@ -373,7 +379,8 @@ pipeline {
           }
           when {
             anyOf {
-              branch 'master'
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
               branch 'pr-jenkins' // for testing
             }
           }

Makefile

@@ -129,57 +129,59 @@ else
 	BUILD_DIR_SUFFIX :=
 endif
 
+CMAKE_ARGS ?=
+
 # additional config parameters passed to cmake
 ifdef EXTERNAL_MODULES_LOCATION
-	CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
+	override CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
 endif
 
 ifdef PX4_CMAKE_BUILD_TYPE
-	CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
+	override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
 else
 
 	# Address Sanitizer
 	ifdef PX4_ASAN
-		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=AddressSanitizer
+		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=AddressSanitizer
 	endif
 
 	# Memory Sanitizer
 	ifdef PX4_MSAN
-		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=MemorySanitizer
+		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=MemorySanitizer
 	endif
 
 	# Thread Sanitizer
 	ifdef PX4_TSAN
-		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=ThreadSanitizer
+		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=ThreadSanitizer
 	endif
 
 	# Undefined Behavior Sanitizer
 	ifdef PX4_UBSAN
-		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
+		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
 	endif
 
 	# Fuzz Testing
 	ifdef PX4_FUZZ
-		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
+		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
 	endif
 
 endif
 
 # Pick up specific Python path if set
 ifdef PYTHON_EXECUTABLE
-	CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
+	override CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
 endif
 
 # Check if the microRTPS agent is to be built
 ifdef BUILD_MICRORTPS_AGENT
-  CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
+  override CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
 endif
 
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-	$(eval CMAKE_ARGS += -DCONFIG=$(1))
+	$(eval override CMAKE_ARGS += -DCONFIG=$(1))
 	@$(eval BUILD_DIR = "$(SRC_DIR)/build/$(1)")
 	@# check if the desired cmake configuration matches the cache then CMAKE_CACHE_CHECK stays empty
 	@$(call cmake-cache-check)
@@ -314,10 +316,13 @@ uorb_graphs:
 	@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
 	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
 
-px4io_update: px4_io-v2_default cubepilot_io-v2_default
+px4io_update:
+	@$(MAKE) --no-print-directory px4_io-v2_default
+	@$(MAKE) --no-print-directory cubepilot_io-v2_default
 	# px4_io-v2_default
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/pix32v5/extras/px4_io-v2_default.bin
+	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21-777/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v2/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v3/extras/px4_io-v2_default.bin
@@ -381,7 +386,7 @@ format:
 .PHONY: rostest python_coverage
 
 tests:
-	$(eval CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
+	$(eval override CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
 	$(eval ARGS += test_results)
 	$(eval ASAN_OPTIONS += color=always:check_initialization_order=1:detect_stack_use_after_return=1)
 	$(eval UBSAN_OPTIONS += color=always)

README.md

@@ -10,8 +10,8 @@ This repository holds the [PX4](http://px4.io) flight control solution for drone
 
 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)):
+* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/main/LICENSE))
+* [Supported airframes](https://docs.px4.io/main/en/airframes/airframe_reference.html) ([portfolio](https://px4.io/ecosystem/commercial-systems/)):
   * [Multicopters](https://docs.px4.io/main/en/frames_multicopter/)
   * [Fixed wing](https://docs.px4.io/main/en/frames_plane/)
   * [VTOL](https://docs.px4.io/main/en/frames_vtol/)
@@ -120,3 +120,11 @@ Additional information about supported hardware can be found in [PX4 user Guide
 ## 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>

ROMFS/px4fmu_common/CMakeLists.txt

@@ -32,9 +32,7 @@
 ############################################################################
 
 add_subdirectory(init.d)
-add_subdirectory(mixers)
 # TODO: make this configurable from the board config, or better combine
 if("${PX4_BOARD}" MATCHES "sitl")
-	add_subdirectory(mixers-sitl)
 	add_subdirectory(init.d-posix)
 endif()

ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris

@@ -9,4 +9,24 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_w
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default 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

ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc

@@ -1,37 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL
-#
-# @type Quadrotor Wide
-#
-# @maintainer Julian Oes <julian@oes.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 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-
-set MIXER skip
-set MIXER_AUX none

ROMFS/px4fmu_common/init.d-posix/airframes/10019_omnicopter

@@ -9,8 +9,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-param set-default SYS_CTRL_ALLOC 1
-
 
 param set-default CA_AIRFRAME 0
 
@@ -97,5 +95,3 @@ param set-default CA_METHOD 0
 param set-default FD_FAIL_P 0
 param set-default FD_FAIL_R 0
 
-set MIXER skip
-set MIXER_AUX none

ROMFS/px4fmu_common/init.d-posix/airframes/10020_if750a

@@ -1,19 +0,0 @@
-#!/bin/sh
-#
-# @name IF750A SITL
-# InspiredFlight 750 Auterion edition. Gazebo Only.
-#
-# @type Quadrotor
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-# EKF2: Multi GPS blending (as the model has 2 GPS's)
-param set-default SENS_GPS_MASK 7
-param set-default TRIG_INTERFACE 3
-param set-default TRIG_MODE 4
-param set-default MNT_MODE_IN 4
-param set-default MNT_MODE_OUT 2
-param set-default MNT_DO_STAB 2
-
-set MIXER quad_x

ROMFS/px4fmu_common/init.d-posix/airframes/10030_px4vision

@@ -8,4 +8,8 @@
 
 . ${R}etc/init.d/airframes/4016_holybro_px4vision
 
-set MIXER quad_x
+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
+

ROMFS/px4fmu_common/init.d-posix/airframes/10040_quadx

@@ -9,7 +9,8 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
+PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadx}
 
 # disable some checks to allow to fly:
 # - with usb
@@ -20,4 +21,24 @@ param set-default CBRK_SUPPLY_CHK 894281
 param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027
 
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.15
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default 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 SIH_VEHICLE_TYPE 0
+

ROMFS/px4fmu_common/init.d-posix/airframes/10041_airplane

@@ -8,7 +8,8 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-set MIXER AERT
+PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=airplane}
 
 # disable some checks to allow to fly:
 # - with usb
@@ -21,13 +22,30 @@ 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-default SIH_T_MAX 6.0
+param set-default SIH_MASS 0.3
+param set-default SIH_IXX 0.00402
+param set-default SIH_IYY 0.0144
+param set-default SIH_IZZ 0.0177
+param set-default SIH_IXZ 0.00046
+param set-default 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)
+param set-default SIH_VEHICLE_TYPE 1 	# sih as fixed wing
+param set-default RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)
+
+
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+
+param set-default CA_SV_CS_COUNT 3
+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_P 1.0
+param set-default CA_SV_CS1_TYPE 3
+param set-default CA_SV_CS2_TRQ_Y 1.0
+param set-default CA_SV_CS2_TYPE 4
+param set-default PWM_MAIN_FUNC3 201
+param set-default PWM_MAIN_FUNC4 202
+param set-default PWM_MAIN_FUNC5 203
+param set-default PWM_MAIN_FUNC6 101

ROMFS/px4fmu_common/init.d-posix/airframes/10042_xvert

@@ -8,6 +8,9 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}
+
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 0
 param set-default VT_FW_DIFTHR_EN 1
@@ -16,8 +19,6 @@ 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
@@ -30,16 +31,39 @@ 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
+param set-default SIH_T_MAX 2.0
+param set-default SIH_Q_MAX 0.0165
+param set-default 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
+param set-default SIH_IXX 0.00354
+param set-default SIH_IYY 0.000625
+param set-default SIH_IZZ 0.00300
+param set-default SIH_IXZ 0.0
+param set-default SIH_KDV 0.2
+param set-default SIH_L_ROLL 0.145
 
 # sih as tailsitter
-param set SIH_VEHICLE_TYPE 2
+param set-default SIH_VEHICLE_TYPE 2
+
+param set-default CA_AIRFRAME 4
+
+param set-default CA_ROTOR_COUNT 2
+param set-default CA_ROTOR0_PX 0
+param set-default CA_ROTOR0_PY 2
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX 0
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR1_KM 0.05
+
+param set-default CA_SV_CS_COUNT 2
+param set-default CA_SV_CS0_TYPE 5
+param set-default CA_SV_CS0_TRQ_P 0.5
+param set-default CA_SV_CS0_TRQ_Y -0.5
+param set-default CA_SV_CS1_TYPE 6
+param set-default CA_SV_CS1_TRQ_P 0.5
+param set-default CA_SV_CS1_TRQ_Y 0.5
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC5 201
+param set-default PWM_MAIN_FUNC6 202

ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow

@@ -9,6 +9,7 @@
 
 # EKF2
 param set-default EKF2_AID_MASK 2
+param set-default EKF2_GPS_CTRL 0
 param set-default EKF2_EVP_NOISE 0.05
 param set-default EKF2_EVA_NOISE 0.05
 

ROMFS/px4fmu_common/init.d-posix/airframes/1013_iris_vision

@@ -10,6 +10,7 @@
 # EKF2: Vision position and heading
 param set-default EKF2_AID_MASK 24
 param set-default EKF2_EV_DELAY 5
+param set-default EKF2_GPS_CTRL 0
 
 # LPE: Vision + baro
 param set-default LPE_FUSION 132

ROMFS/px4fmu_common/init.d-posix/airframes/1014_solo

@@ -1,13 +0,0 @@
-#!/bin/sh
-#
-# @name Solo
-#
-# @type Quadrotor
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default MC_PITCHRATE_P 0.1
-param set-default MC_ROLLRATE_P 0.05
-
-set MIXER quad_x

ROMFS/px4fmu_common/init.d-posix/airframes/1017_iris_opt_flow_mockup

@@ -9,6 +9,7 @@
 
 # EKF2
 param set-default EKF2_AID_MASK 2
+param set-default EKF2_GPS_CTRL 0
 
 # LPE: Flow-only mode
 param set-default LPE_FUSION 242

ROMFS/px4fmu_common/init.d-posix/airframes/1018_iris_vision_velocity

@@ -10,3 +10,4 @@
 # EKF2: Vision velocity and heading
 param set-default EKF2_AID_MASK 272
 param set-default EKF2_EV_DELAY 5
+param set-default EKF2_GPS_CTRL 0

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

@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# @name UUV
-#
-
-. ${R}etc/init.d/rc.uuv_defaults
-
-# disable circuit breaker for airspeed sensor
-param set-default CBRK_AIRSPD_CHK 162128
-
-set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
-set MIXER custom

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

@@ -8,5 +8,40 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
 
-set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
-set MIXER custom
+param set-default CA_AIRFRAME 7
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_R_REV 255
+param set-default CA_ROTOR0_AX 1.0000
+param set-default CA_ROTOR0_AY 0.0000
+param set-default CA_ROTOR0_AZ 0.0000
+param set-default CA_ROTOR0_KM 0.0000
+param set-default CA_ROTOR0_PX 0.0000
+param set-default CA_ROTOR0_PY -0.3000
+param set-default CA_ROTOR0_PZ -0.3000
+param set-default CA_ROTOR1_AX 1.0000
+param set-default CA_ROTOR1_AY 0.0000
+param set-default CA_ROTOR1_AZ 0.0000
+param set-default CA_ROTOR1_KM 0.0000
+param set-default CA_ROTOR1_PX 0.0000
+param set-default CA_ROTOR1_PY 0.3000
+param set-default CA_ROTOR1_PZ -0.3000
+param set-default CA_ROTOR2_AX 1.0000
+param set-default CA_ROTOR2_AY 0.0000
+param set-default CA_ROTOR2_AZ 0.0000
+param set-default CA_ROTOR2_KM 0.0000
+param set-default CA_ROTOR2_PX 0.0000
+param set-default CA_ROTOR2_PY 0.3000
+param set-default CA_ROTOR2_PZ 0.3000
+param set-default CA_ROTOR3_AX 1.0000
+param set-default CA_ROTOR3_AY 0.0000
+param set-default CA_ROTOR3_AZ 0.0000
+param set-default CA_ROTOR3_KM 0.0000
+param set-default CA_ROTOR3_PX 0.0000
+param set-default CA_ROTOR3_PY -0.3000
+param set-default CA_ROTOR3_PZ 0.3000
+
+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
+

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

@@ -8,7 +8,6 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
 
-param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 7
 
 param set-default CA_ROTOR_COUNT 8
@@ -66,4 +65,3 @@ param set-default PWM_MAIN_FUNC6 106
 param set-default PWM_MAIN_FUNC7 107
 param set-default PWM_MAIN_FUNC8 108
 
-set MIXER skip

ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane

@@ -10,20 +10,24 @@ param set-default EKF2_MAG_YAWLIM 0
 
 param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8
-param set-default FW_THR_LND_MAX 0
 
 param set-default FW_L1_PERIOD 12
 
-param set-default FW_MAN_P_MAX 30
-
 param set-default FW_PR_P 0.9
-param set-default FW_PR_FF 0.2
+param set-default FW_PR_FF 0.5
+param set-default FW_PR_I 0.5
+param set-default TRIM_PITCH -0.15
+
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 
-param set-default FW_RR_FF 0.1
+param set-default FW_RR_FF 0.5
 param set-default FW_RR_P 0.3
+param set-default FW_RR_I 0.5
+
+param set-default FW_YR_FF 0.5
+param set-default FW_YR_P 0.6
+param set-default FW_YR_I 0.5
 
 param set-default FW_SPOILERS_LND 0.4
 
@@ -45,7 +49,6 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
-#param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 1
 
 param set-default CA_ROTOR_COUNT 1
@@ -72,5 +75,3 @@ param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
 
 
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal

@@ -7,12 +7,9 @@
 
 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
 
@@ -38,11 +35,32 @@ 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
 
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256
 
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric

@@ -7,12 +7,9 @@
 
 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
 
@@ -38,10 +35,32 @@ 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
 
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256
+

ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod

@@ -10,7 +10,6 @@ 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
 
@@ -36,5 +35,28 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256
+

ROMFS/px4fmu_common/init.d-posix/airframes/1036_malolo

@@ -7,12 +7,9 @@
 
 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
 
@@ -37,9 +34,31 @@ 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
 
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256
+

ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer

@@ -10,16 +10,12 @@ param set-default EKF2_MAG_YAWLIM 0
 
 param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8
-param set-default FW_THR_LND_MAX 0
 
 param set-default FW_L1_PERIOD 12
 
-param set-default FW_MAN_P_MAX 30
-
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.2
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 
 param set-default FW_RR_FF 0.1
@@ -48,5 +44,28 @@ param set-default FW_USE_NPFG 1
 
 param set-default RWTO_TKOFF 1
 
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256
+

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

@@ -12,7 +12,6 @@
 param set-default FD_ACT_EN 0
 param set-default FD_ACT_MOT_TOUT 500
 
-# param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 2
 
 param set-default CA_ROTOR_COUNT 5
@@ -49,11 +48,9 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 
 param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3
@@ -79,10 +76,6 @@ param set-default NAV_ACC_RAD 5
 
 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2
 
-set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
-set MIXER custom

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

@@ -9,7 +9,6 @@
 
 param set-default MAV_TYPE 20
 
-# param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 4
 
 param set-default CA_ROTOR_COUNT 4
@@ -44,11 +43,9 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_REV 96 # invert both elevons
 
 param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_I 0.2
 param set-default FW_PR_P 0.2
 param set-default FW_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
@@ -79,5 +76,3 @@ param set-default VT_TYPE 0
 
 param set-default WV_EN 0
 
-set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
-set MIXER custom

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

@@ -9,7 +9,6 @@
 
 param set-default MAV_TYPE 21
 
-param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 3
 
 param set-default CA_ROTOR_COUNT 4
@@ -27,9 +26,7 @@ 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_ROTOR2_TILT 2
 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
@@ -39,9 +36,7 @@ param set-default CA_SV_CS2_TYPE 3
 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_TL0_CT 0
 param set-default CA_SV_TL1_CT 0
-param set-default CA_SV_TL2_CT 0
-param set-default CA_SV_TL3_CT 0
-param set-default CA_SV_TL_COUNT 4
+param set-default CA_SV_TL_COUNT 2
 
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
@@ -49,18 +44,14 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 204
 param set-default PWM_MAIN_FUNC6 205
-param set-default PWM_MAIN_FUNC7 206
-param set-default PWM_MAIN_FUNC8 207
-param set-default PWM_MAIN_FUNC9 201
-param set-default PWM_MAIN_FUNC10 202
-param set-default PWM_MAIN_FUNC11 203
+param set-default PWM_MAIN_FUNC7 201
+param set-default PWM_MAIN_FUNC8 202
+param set-default PWM_MAIN_FUNC9 203
 
 param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3
@@ -71,23 +62,17 @@ param set-default FW_T_CLMB_MAX 8
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
 
-param set-default MC_YAW_P 1.6
+param set-default MC_YAWRATE_P 0.3
+param set-default MC_YAWRATE_I 0.3
 
-param set-default MIS_TAKEOFF_ALT 10
-
-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_XY_P 0.8
 param set-default MPC_XY_VEL_P_ACC 3
 param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1
 
-param set-default NAV_ACC_RAD 5
+param set-default MIS_TAKEOFF_ALT 10
 
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_FWD_THRUST_EN 4
-param set-default VT_MOT_ID 1234
+param set-default VT_FWD_THRUST_SC 0.6
 param set-default VT_TILT_TRANS 0.6
 param set-default VT_TYPE 1
-
-set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
-set MIXER custom

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

@@ -5,50 +5,14 @@
 # @type Standard VTOL
 #
 
-. ${R}etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d-posix/airframes/1040_standard_vtol
 
-param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
-param set-default FW_PR_FF 0.2
-param set-default FW_PR_P 0.9
-param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
-param set-default FW_P_LIM_MIN -15
-param set-default FW_RR_FF 0.1
-param set-default FW_RR_P 0.3
-param set-default FW_THR_TRIM 0.25
-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-param set-default FW_T_ALT_TC 2
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_HRATE_FF 0.5
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
-param set-default FW_T_TAS_TC 2
-
-param set-default MC_ROLLRATE_P 0.3
-param set-default MC_YAW_P 1.6
-
-param set-default MIS_TAKEOFF_ALT 10
-
-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 3
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_D_ACC 0.1
-
-param set-default NAV_ACC_RAD 5
-
-param set-default VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_B_TRANS_DUR 8
-param set-default VT_TYPE 2
+# Gimbal
+param set-default PWM_MAIN_FUNC9 420
+param set-default PWM_MAIN_FUNC10 421
+param set-default PWM_MAIN_FUNC11 422
 
 param set-default RC_MAP_AUX1 8
 param set-default RC_MAP_AUX2 9
 param set-default RC_MAP_AUX3 10
 
-set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
-set MIXER custom

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

@@ -1 +0,0 @@
-mixer append /dev/pwm_output0 etc/mixers-sitl/package_drop.aux.mix

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

@@ -28,7 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0
 
-param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 5
 
 param set-default CA_R_REV 1
@@ -37,4 +36,3 @@ param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101
 
-set MIXER_FILE skip

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

@@ -28,7 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0
 
-param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 6
 
 param set-default CA_R_REV 3
@@ -37,4 +36,3 @@ param set-default PWM_MAIN_FUNC2 101
 param set-default PWM_MAIN_FUNC6 102
 param set-default PWM_MAIN_FUNC7 102
 
-set MIXER_FILE skip

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

@@ -35,4 +35,11 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 3.0
 
-set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
+param set-default CA_AIRFRAME 5
+
+param set-default CA_R_REV 1
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 201
+param set-default PWM_MAIN_FUNC6 101
+param set-default PWM_MAIN_FUNC7 101
+

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

@@ -28,7 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0
 
-param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 9
 
 param set-default CA_ROTOR_COUNT 2
@@ -47,4 +46,3 @@ param set-default CA_R_REV 3
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 
-set MIXER skip

ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1

@@ -38,12 +38,31 @@ 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_TRIM 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
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TRQ_R 0
+param set-default CA_SV_CS0_TRQ_Y 1
+param set-default CA_SV_CS0_TYPE 4
+param set-default CA_SV_CS1_TRQ_P 0
+param set-default CA_SV_CS1_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 1
+param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TYPE 3
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 101
+param set-default PWM_MAIN_FUNC3 202
+param set-default PWM_MAIN_FUNC4 203
+param set-default PWM_MAIN_FUNC5 407
+param set-default PWM_MAIN_FUNC6 408
+param set-default PWM_MAIN_FUNC7 409
+

ROMFS/px4fmu_common/init.d-posix/airframes/17002_tf-g2

@@ -0,0 +1,74 @@
+#!/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_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
+
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TRQ_R 0
+param set-default CA_SV_CS0_TRQ_Y 1
+param set-default CA_SV_CS0_TYPE 4
+param set-default CA_SV_CS1_TRQ_P 0
+param set-default CA_SV_CS1_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 1
+param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TYPE 3
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 101
+param set-default PWM_MAIN_FUNC3 202
+param set-default PWM_MAIN_FUNC4 203
+param set-default PWM_MAIN_FUNC5 407
+param set-default PWM_MAIN_FUNC6 408
+param set-default PWM_MAIN_FUNC7 409
+

ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship

@@ -11,7 +11,6 @@
 
 . ${R}etc/init.d/rc.airship_defaults
 
-param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 9
 
 param set-default CA_ROTOR_COUNT 3
@@ -38,4 +37,3 @@ param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 201
 param set-default PWM_MAIN_FUNC4 103
 
-set MIXER skip

ROMFS/px4fmu_common/init.d-posix/airframes/3010_quadrotor_x

@@ -9,4 +9,24 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_w
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default 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

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

@@ -26,4 +26,29 @@ param set-default TRIG_MODE 4
 param set-default MNT_MODE_IN 4
 param set-default MNT_DO_STAB 2
 
-set MIXER hexa_x
+
+param set-default CA_ROTOR0_PX 0.0
+param set-default CA_ROTOR0_PY 1.0
+param set-default CA_ROTOR0_KM -0.05
+param set-default CA_ROTOR1_PX 0.0
+param set-default CA_ROTOR1_PY -1.0
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.866025
+param set-default CA_ROTOR2_PY -0.5
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.866025
+param set-default CA_ROTOR3_PY 0.5
+param set-default CA_ROTOR3_KM 0.05
+param set-default CA_ROTOR4_PX 0.866025
+param set-default CA_ROTOR4_PY 0.5
+param set-default CA_ROTOR4_KM 0.05
+param set-default CA_ROTOR5_PX -0.866025
+param set-default CA_ROTOR5_PY -0.5
+param set-default CA_ROTOR5_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 106

ROMFS/px4fmu_common/init.d-posix/airframes/4001_x500

@@ -0,0 +1,48 @@
+#!/bin/sh
+#
+# @name Ignition Gazebo X3
+#
+# @type Quadrotor
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=ignition}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}
+PX4_SIM_WORLD=${PX4_SIM_WORLD:=default}
+
+param set-default CA_AIRFRAME 0
+param set-default CA_ROTOR_COUNT 4
+
+param set-default CA_ROTOR0_PX 0.13
+param set-default CA_ROTOR0_PY 0.22
+param set-default CA_ROTOR0_KM  0.05
+
+param set-default CA_ROTOR1_PX -0.13
+param set-default CA_ROTOR1_PY -0.20
+param set-default CA_ROTOR1_KM  0.05
+
+param set-default CA_ROTOR2_PX 0.13
+param set-default CA_ROTOR2_PY -0.22
+param set-default CA_ROTOR2_KM -0.05
+
+param set-default CA_ROTOR3_PX -0.13
+param set-default CA_ROTOR3_PY 0.20
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default SIM_IGN_FUNC1 101
+param set-default SIM_IGN_FUNC2 102
+param set-default SIM_IGN_FUNC3 103
+param set-default SIM_IGN_FUNC4 104
+
+param set-default SIM_IGN_MIN1 150
+param set-default SIM_IGN_MIN2 150
+param set-default SIM_IGN_MIN3 150
+param set-default SIM_IGN_MIN4 150
+
+param set-default SIM_IGN_MAX1 1000
+param set-default SIM_IGN_MAX2 1000
+param set-default SIM_IGN_MAX3 1000
+param set-default SIM_IGN_MAX4 1000
+
+param set-default MPC_THR_HOVER 0.60

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

@@ -28,4 +28,39 @@ param set-default MNT_MODE_IN 4
 param set-default MNT_MODE_OUT 2
 param set-default MAV_PROTO_VER 2
 
-set MIXER hexa_x
+param set-default CA_AIRFRAME 0
+param set-default CA_ROTOR_COUNT 6
+
+param set-default CA_ROTOR0_PX 0.0
+param set-default CA_ROTOR0_PY 1.0
+param set-default CA_ROTOR0_KM -0.05
+param set-default CA_ROTOR1_PX 0.0
+param set-default CA_ROTOR1_PY -1.0
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.866025
+param set-default CA_ROTOR2_PY -0.5
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.866025
+param set-default CA_ROTOR3_PY 0.5
+param set-default CA_ROTOR3_KM 0.05
+param set-default CA_ROTOR4_PX 0.866025
+param set-default CA_ROTOR4_PY 0.5
+param set-default CA_ROTOR4_KM 0.05
+param set-default CA_ROTOR5_PX -0.866025
+param set-default CA_ROTOR5_PY -0.5
+param set-default CA_ROTOR5_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 106
+# Gimbal
+param set-default PWM_MAIN_FUNC7 420
+param set-default PWM_MAIN_FUNC8 421
+param set-default PWM_MAIN_FUNC9 422
+# Landing gear
+param set-default PWM_MAIN_FUNC10 400
+param set-default PWM_MAIN_FUNC11 400
+

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

@@ -1,6 +1,4 @@
 
-mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
-
 mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
 
 # shellcheck disable=SC2154

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

@@ -1,64 +0,0 @@
-#!/bin/sh
-#
-# @name Typhoon H480 SITL
-#
-# @type Hexarotor x
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default MAV_TYPE 13
-
-param set-default SYS_CTRL_ALLOC 1
-
-param set-default MC_PITCHRATE_P 0.0800
-param set-default MC_PITCHRATE_I 0.0400
-param set-default MC_PITCHRATE_D 0.0010
-param set-default MC_PITCH_P 9.0
-param set-default MC_ROLLRATE_P 0.0800
-param set-default MC_ROLLRATE_I 0.0400
-param set-default MC_ROLLRATE_D 0.0010
-param set-default MC_ROLL_P 9.0
-
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_P_ACC 3
-
-param set-default RTL_DESCEND_ALT 10
-param set-default RTL_LAND_DELAY 0
-
-param set-default TRIG_INTERFACE 3
-param set-default TRIG_MODE 4
-param set-default MNT_MODE_IN 0
-param set-default MAV_PROTO_VER 2
-
-param set-default CA_AIRFRAME 0
-param set-default CA_ROTOR_COUNT 6
-
-param set-default CA_ROTOR0_PX 0.0
-param set-default CA_ROTOR0_PY 1.0
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0.0
-param set-default CA_ROTOR1_PY -1.0
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.866025
-param set-default CA_ROTOR2_PY -0.5
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.866025
-param set-default CA_ROTOR3_PY 0.5
-param set-default CA_ROTOR3_KM 0.05
-param set-default CA_ROTOR4_PX 0.866025
-param set-default CA_ROTOR4_PY 0.5
-param set-default CA_ROTOR4_KM 0.05
-param set-default CA_ROTOR5_PX -0.866025
-param set-default CA_ROTOR5_PY -0.5
-param set-default CA_ROTOR5_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 105
-param set-default PWM_MAIN_FUNC6 106
-
-set MIXER skip
-set MIXER_AUX none

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

@@ -1,8 +0,0 @@
-
-mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
-
-# shellcheck disable=SC2154
-mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
-# shellcheck disable=SC2154
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
-mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -33,10 +33,8 @@
 
 px4_add_romfs_files(
 	10016_iris
-	10017_iris_ctrlalloc
 	10018_iris_foggy_lidar
 	10019_omnicopter
-	10020_if750a
 	10030_px4vision
 	10040_quadx
 	10041_airplane
@@ -47,19 +45,16 @@ px4_add_romfs_files(
 	1012_iris_rplidar
 	1013_iris_vision
 	1013_iris_vision.post
-	1014_solo
 	1015_iris_obs_avoid
 	1015_iris_obs_avoid.post
 	1017_iris_opt_flow_mockup
 	1018_iris_vision_velocity
 	1019_iris_dual_gps
-	1020_uuv_generic
 	1021_uuv_hippocampus
 	1022_uuv_bluerov2_heavy
 	1030_plane
 	1031_plane_cam
 	1032_plane_catapult
-	1033_plane_lidar
 	1033_rascal
 	1034_rascal-electric
 	1035_techpod
@@ -70,17 +65,20 @@ px4_add_romfs_files(
 	1041_tailsitter
 	1042_tiltrotor
 	1043_standard_vtol_drop
-	1043_standard_vtol_drop.post
+	1044_plane_lidar
 	1060_rover
 	1061_r1_rover
 	1062_tf-r1
 	1070_boat
 	3010_quadrotor_x
 	3011_hexarotor_x
+
+	4001_x500
+
 	17001_tf-g1
+	17002_tf-g2
 	2507_cloudship
+
 	6011_typhoon_h480
 	6011_typhoon_h480.post
-	6012_typhoon_h480_ctrlalloc
-	6012_typhoon_h480_ctrlalloc.post
 )

ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlink

@@ -32,7 +32,7 @@ mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $ud
 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 [ "$SIM_MODE" = "sihsim" ]; then
+if [ "$PX4_SIMULATOR" = "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

ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator

@@ -1,20 +1,98 @@
 #!/bin/sh
 # shellcheck disable=SC2154
 
-simulator_tcp_port=$((4560+px4_instance))
+# Simulator IMU data provided at 250 Hz
+param set-default IMU_INTEG_RATE 250
+
+if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then
+
+	if simulator_sih start; then
+
+		sensor_baro_sim start
+		sensor_gps_sim start
+		sensor_mag_sim start
+
+	else
+		echo "ERROR  [init] simulator_sih failed to start"
+		exit 1
+	fi
+
+elif [ "$PX4_SIMULATOR" = "ignition" ]; then
+
+	# source generated gazebo_env.sh for IGN_GAZEBO_RESOURCE_PATH
+	if [ -f gazebo_env.sh ]; then
+		. ./gazebo_env.sh
+	elif [ -f ../gazebo_env.sh ]; then
+		. ../gazebo_env.sh
+	fi
+
+	ign_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+
+	if [ -z $ign_world ]; then
+
+		# starting ign gazebo with ${PX4_SIM_WORLD} world
+		echo "INFO  [init] starting ign gazebo"
+
+		ign gazebo --verbose=1 -r -s "${PX4_IGN_GAZEBO_WORLDS}/${PX4_SIM_WORLD}.sdf" &
+
+		if [ -z $HEADLESS ]; then
+			# HEADLESS not set, starting ign gazebo gui
+			ign gazebo -g &
+		fi
+	else
+		echo "INFO  [init] ign gazebo already running world: $ign_world"
+		PX4_SIM_WORLD=$ign_world
+	fi
+
+	if [ -z $PX4_IGN_MODEL_POSE ]; then
+		# start ignition bridge without pose arg.
+		echo "WARN  [init] PX4_IGN_MODEL_POSE not set, spawning at origin."
+		if simulator_ignition_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
+			sensor_baro_sim start
+			sensor_gps_sim start
+			sensor_mag_sim start
+		else
+			echo "ERROR  [init] ign gazebo failed to start"
+			exit 1
+		fi
+	else
+
+		# Clean potential input line formatting.
+		model_pose="$( echo ${PX4_IGN_MODEL_POSE} | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
+		echo "INFO  [init] PX4_IGN_MODEL_POSE set, spawning at: ${model_pose}"
+
+		# start ignition bridge with pose arg.
+		if simulator_ignition_bridge start -p "${model_pose}"  -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
+			sensor_baro_sim start
+			sensor_gps_sim start
+			sensor_mag_sim start
+		else
+			echo "ERROR  [init] ign gazebo failed to start"
+			exit 1
+		fi
+
+	fi
 
-# Check if PX4_SIM_HOSTNAME environment variable is empty
-# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
-# If both are empty use localhost for simulator
-if [ -z "${PX4_SIM_HOSTNAME}" ]; then
-  if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
-    echo "PX4 SIM HOST: localhost"
-    simulator start -c $simulator_tcp_port
-  else
-    echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
-    simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
-  fi
 else
-  echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
-  simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
+	# otherwise start simulator (mavlink) module
+	simulator_tcp_port=$((4560+px4_instance))
+
+	# Check if PX4_SIM_HOSTNAME environment variable is empty
+	# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
+	# If both are empty use localhost for simulator
+	if [ -z "${PX4_SIM_HOSTNAME}" ]; then
+
+		if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
+			echo "PX4 SIM HOST: localhost"
+			simulator_mavlink start -c $simulator_tcp_port
+		else
+			echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
+			simulator_mavlink start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
+		fi
+
+	else
+		echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
+		simulator_mavlink start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
+	fi
+
 fi

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -1,6 +1,9 @@
 #!/bin/sh
 
-set -e
+# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
+set +e
+# Un comment the line below to help debug scripts by printing a trace of the script commands
+#set -x
 
 # PX4 commands need the 'px4-' prefix in bash.
 # (px4-alias.sh is expected to be in the PATH)
@@ -23,69 +26,92 @@ then
 fi
 
 # initialize script variables
-set IO_PRESENT                  no
-set MIXER                       none
-set MIXER_AUX                   none
-set MIXER_FILE                  none
-set OUTPUT_MODE                 sim
-set EXTRA_MIXER_MODE            none
-set PWM_OUT                     none
-set SDCARD_MIXERS_PATH          etc/mixers
-set USE_IO                      no
 set VEHICLE_TYPE                none
 set LOGGER_ARGS                 ""
 set LOGGER_BUF                  1000
 
 set RUN_MINIMAL_SHELL           no
 
-# Use the variable set by sitl_run.sh to choose the model settings.
-if [ "$PX4_SIM_MODEL" = "shell" ]; then
+set SYS_AUTOSTART=0
+
+if [ "$PX4_SIM_MODEL" = "shell" ]
+then
 	set RUN_MINIMAL_SHELL yes
-else
+
+elif [ -n "$PX4_SYS_AUTOSTART" ]
+then
+	echo "env SYS_AUTOSTART: ${PX4_SYS_AUTOSTART}"
+	SYS_AUTOSTART=${PX4_SYS_AUTOSTART}
+
+elif [ "$PX4_SIM_MODEL" = "none" ] || [ -z $PX4_SIM_MODEL ]
+then
+	# no airframe selected
+	SYS_AUTOSTART=0
+
+elif [ -n "$PX4_SIM_MODEL" ]
+then
 	# Find the matching Autostart ID (file name has the form: [0-9]+_${PX4_SIM_MODEL})
 	# TODO: unify with rc.autostart generation
 	# shellcheck disable=SC2012
 	REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
 	if [ -z "$REQUESTED_AUTOSTART" ]; then
-		echo "ERROR  [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
+		echo "ERROR [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
 		exit 1
 	else
+		SYS_AUTOSTART=$REQUESTED_AUTOSTART
 		echo "INFO  [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
 	fi
 fi
 
 # Load parameters
-set PARAM_FILE eeprom/parameters_"$REQUESTED_AUTOSTART"
-param select $PARAM_FILE
+set PARAM_FILE parameters.bson
+set PARAM_BACKUP_FILE parameters_backup.bson
 
-if [ -f $PARAM_FILE ]
-then
-	if param load
+param select $PARAM_FILE
+if [ -f $PARAM_FILE ]; then
+
+	if ! param import
 	then
-		echo "[param] Loaded: $PARAM_FILE"
-	else
-		echo "[param] FAILED loading $PARAM_FILE"
+		echo "ERROR [init] param import failed"
+
+		param dump $PARAM_FILE
+
+		# try to make a backup copy
+		cp $PARAM_FILE param_import_fail.bson
+
+		# try importing from backup file
+		if [ -f $PARAM_BACKUP_FILE ]
+		then
+			echo "[init] importing from parameter backup"
+
+			# dump current backup file contents for comparison
+			param dump $PARAM_BACKUP_FILE
+
+			param import $PARAM_BACKUP_FILE
+
+			# overwrite invalid $PARAM_FILE with backup
+			cp $PARAM_BACKUP_FILE $PARAM_FILE
+		fi
+
+		param status
 	fi
-else
-	echo "[param] parameter file not found, creating $PARAM_FILE"
+
+elif [ -f $PARAM_BACKUP_FILE ]; then
+	echo "ERROR [init] primary param file $PARAM_FILE unavailable, using backup $PARAM_BACKUP_FILE"
+	param import $PARAM_BACKUP_FILE
 fi
 
+param select-backup $PARAM_BACKUP_FILE
+
+
 # exit early when the minimal shell is requested
 [ $RUN_MINIMAL_SHELL = yes ] && exit 0
 
+if param compare SYS_AUTOSTART $SYS_AUTOSTART
+then
+	set AUTOCNF no
 
-# Use environment variable PX4_ESTIMATOR to choose estimator.
-if [ "$PX4_ESTIMATOR" = "q" ]; then
-	param set SYS_MC_EST_GROUP 3
-elif [ "$PX4_ESTIMATOR" = "ekf2" ]; then
-	param set SYS_MC_EST_GROUP 2
-elif [ "$PX4_ESTIMATOR" = "lpe" ]; then
-	param set SYS_MC_EST_GROUP 1
-elif [ "$PX4_ESTIMATOR" = "inav" ]; then
-	param set SYS_MC_EST_GROUP 0
-fi
-
-if param compare SYS_AUTOSTART $REQUESTED_AUTOSTART
+elif [ "$SYS_AUTOSTART" -eq 0 ]
 then
 	set AUTOCNF no
 else
@@ -106,7 +132,7 @@ param set MAV_SYS_ID $((px4_instance+1))
 
 if [ $AUTOCNF = yes ]
 then
-	param set SYS_AUTOSTART $REQUESTED_AUTOSTART
+	param set SYS_AUTOSTART $SYS_AUTOSTART
 
 	param set CAL_ACC0_ID  1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
 	param set CAL_GYRO0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
@@ -143,6 +169,7 @@ param set-default EKF2_MULTI_MAG 2
 param set-default SENS_MAG_MODE 0
 
 param set-default IMU_GYRO_FFT_EN 1
+param set-default MAV_PROTO_VER 2 # Ensures QGC does not drop the first few packets after a SITL restart due to MAVLINK 1 packets
 
 param set-default -s MC_AT_EN 1
 
@@ -190,28 +217,28 @@ do
 			;;
 	esac
 done
-if [ ! -e "$autostart_file" ]; then
+
+if [ -e "$autostart_file" ]
+then
+	. "$autostart_file"
+
+elif [ ! -e "$autostart_file" ] && [ "$SYS_AUTOSTART" -ne "0" ]
+then
 	echo "Error: no autostart file found ($autostart_file)"
 	exit 1
 fi
 
-. "$autostart_file"
-
-# Simulator IMU data provided at 250 Hz
-param set IMU_INTEG_RATE 250
-
 #user defined params for instances can be in PATH
 . px4-rc.params
 
 dataman start
-# 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
+	. px4-rc.simulator
 fi
+
 load_mon start
 battery_simulator start
 tone_alarm start
@@ -220,10 +247,14 @@ manual_control start
 sensors start
 commander start
 
-# Configure vehicle type specific parameters.
-# Note: rc.vehicle_setup is the entry point for rc.interface,
-#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
+if ! pwm_out_sim start -m sim
+then
+	tune_control play error
+fi
+
 #
+# Configure vehicle type specific parameters.
+# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.
 . ${R}etc/init.d/rc.vehicle_setup
 
 navigator start
@@ -255,6 +286,12 @@ then
 	gyro_calibration start
 fi
 
+# Payload deliverer module if gripper is enabled
+if param compare -s PD_GRIPPER_EN 1
+then
+	payload_deliverer start
+fi
+
 #user defined mavlink streams for instances can be in PATH
 . px4-rc.mavlink
 

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -41,7 +41,7 @@ px4_add_romfs_files(
 	rc.boat_defaults
 	rc.fw_apps
 	rc.fw_defaults
-	rc.interface
+	rc.heli_defaults
 	rc.logging
 	rc.mc_apps
 	rc.mc_defaults

ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil

@@ -1,75 +0,0 @@
-#!/bin/sh
-#
-# @name HILStar (XPlane)
-#
-# @type Simulation
-# @class Plane
-#
-# @output MAIN1 aileron
-# @output MAIN2 elevator
-# @output MAIN3 rudder
-# @output MAIN4 throttle
-# @output MAIN5 flaps
-# @output MAIN6 gear
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-# @board px4_fmu-v2 exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default BAT1_N_CELLS 3
-
-param set-default FW_AIRSPD_MAX 20
-param set-default FW_AIRSPD_MIN 12
-param set-default FW_AIRSPD_TRIM 14
-param set-default FW_R_TC 0.3
-param set-default FW_P_TC 0.3
-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
-param set-default FW_RR_P 0.3
-
-param set-default RWTO_TKOFF 1
-
-param set-default CA_AIRFRAME 1
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-param set-default CA_SV_CS_COUNT 4
-param set-default CA_SV_CS0_TRQ_R 0.5
-param set-default CA_SV_CS0_TYPE 2
-param set-default CA_SV_CS1_TRQ_P 1.0
-param set-default CA_SV_CS1_TYPE 3
-param set-default CA_SV_CS2_TRQ_Y 1.0
-param set-default CA_SV_CS2_TYPE 4
-param set-default CA_SV_CS3_TYPE 10
-
-param set-default HIL_ACT_REV 2
-param set-default HIL_ACT_FUNC1 201
-param set-default HIL_ACT_FUNC2 202
-param set-default HIL_ACT_FUNC3 203
-param set-default HIL_ACT_FUNC4 101
-param set-default HIL_ACT_FUNC5 204
-param set-default HIL_ACT_FUNC6 400
-
-param set SYS_HITL 1
-
-param set UAVCAN_ENABLE 0
-
-# 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
-
-set MIXER AERT

ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery

@@ -1,36 +0,0 @@
-#!/bin/sh
-#
-# @name Team Blacksheep Discovery
-#
-# @type Quadrotor Wide
-# @class Copter
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 feed-through of RC AUX1 channel
-# @output MAIN6 feed-through of RC AUX2 channel
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-# @output AUX4 feed-through of RC FLAPS channel
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default MC_ROLLRATE_P 0.1
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.0017
-param set-default MC_PITCHRATE_P 0.14
-param set-default MC_PITCHRATE_I 0.1
-param set-default MC_PITCHRATE_D 0.0025
-param set-default MC_YAWRATE_P 0.28
-
-set MIXER quad_w

ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris

@@ -1,40 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor
-#
-# @type Quadrotor Wide
-# @class Copter
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-# @output AUX4 feed-through of RC FLAPS channel
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-# TODO tune roll/pitch separately
-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_YAW_P 2.5
-param set-default MC_YAWRATE_P 0.25
-param set-default MC_YAWRATE_I 0.25
-
-param set-default BAT1_V_DIV 12.27559
-param set-default BAT1_A_PER_V 15.391030303103
-
-set MIXER quad_w

ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance

@@ -1,43 +0,0 @@
-#!/bin/sh
-#
-# @name Team Blacksheep Discovery Endurance
-#
-# @type Quadrotor Wide
-# @class Copter
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 feed-through of RC AUX1 channel
-# @output MAIN6 feed-through of RC AUX2 channel
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-# @output AUX4 feed-through of RC FLAPS channel
-#
-# @maintainer Simon Wilks <simon@uaventure.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default BAT1_N_CELLS 6
-param set-default BAT1_V_EMPTY 3.5
-
-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.08
-param set-default MC_ROLLRATE_I 0.02
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.13
-param set-default MC_PITCHRATE_I 0.02
-param set-default MC_PITCHRATE_D 0.005
-
-param set-default MPC_XY_VEL_MAX 2
-
-param set-default PWM_MAIN_MIN 1080
-
-set MIXER quad_w

ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil

@@ -11,7 +11,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
 
 param set SYS_HITL 1
 

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

@@ -45,7 +45,6 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_P_ACC 3
 param set-default MPC_Z_VEL_P_ACC 12
 param set-default MPC_Z_VEL_I_ACC 3
-param set-default MPC_Z_VEL_MAX_DN 1.5
 
 param set-default NAV_ACC_RAD 5
 param set-default NAV_DLL_ACT 2
@@ -56,8 +55,6 @@ param set-default RTL_RETURN_ALT 30
 param set-default SDLOG_DIRS_MAX 7
 
 param set-default VT_F_TRANS_THR 0.75
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_TYPE 2
 
 param set-default CA_AIRFRAME 2
@@ -77,6 +74,8 @@ param set-default CA_ROTOR4_AZ 0.0
 param set-default CA_ROTOR4_PX 0.2
 
 param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS2_TRQ_P 1.0
@@ -107,6 +106,4 @@ param set-default CBRK_IO_SAFETY 22027
 
 param set-default MAV_TYPE 22
 
-set MIXER standard_vtol_hitl
 
-set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox

@@ -5,16 +5,12 @@
 # @type Hexarotor Coaxial
 # @class Copter
 #
-# @output MAIN1 front right top, CW; angle:60; direction:CW
-# @output MAIN2 front right bottom, CCW; angle:60; direction:CCW
-# @output MAIN3 back top, CW; angle:180; direction:CW
-# @output MAIN4 back bottom, CCW; angle:180; direction:CCW
-# @output MAIN5 front left top, CW; angle:-60; direction:CW
-# @output MAIN6 front left bottom, CCW;angle:-60; direction:CCW
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
+# @output Motor1 front right top, CW; angle:60; direction:CW
+# @output Motor2 front right bottom, CCW; angle:60; direction:CCW
+# @output Motor3 back top, CW; angle:180; direction:CW
+# @output Motor4 back bottom, CCW; angle:180; direction:CCW
+# @output Motor5 front left top, CW; angle:-60; direction:CW
+# @output Motor6 front left bottom, CCW;angle:-60; direction:CCW
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
@@ -24,7 +20,28 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER hexa_cox
+param set-default MAV_TYPE 13
+
+param set-default CA_ROTOR_COUNT 6
+param set-default CA_ROTOR0_PX 0.25
+param set-default CA_ROTOR0_PY 0.433
+param set-default CA_ROTOR0_PZ -0.05
+param set-default CA_ROTOR0_KM -0.05
+param set-default CA_ROTOR1_PX 0.25
+param set-default CA_ROTOR1_PY 0.433
+param set-default CA_ROTOR1_PZ 0.05
+param set-default CA_ROTOR2_PX -0.5
+param set-default CA_ROTOR2_PY 0
+param set-default CA_ROTOR2_PZ -0.05
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.5
+param set-default CA_ROTOR3_PY 0
+param set-default CA_ROTOR3_PZ 0.05
+param set-default CA_ROTOR4_PX 0.25
+param set-default CA_ROTOR4_PY -0.433
+param set-default CA_ROTOR4_PZ -0.05
+param set-default CA_ROTOR4_KM -0.05
+param set-default CA_ROTOR5_PX 0.25
+param set-default CA_ROTOR5_PY -0.433
+param set-default CA_ROTOR5_PZ 0.05
 
-# Need to set all 8 channels
-set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil

@@ -12,8 +12,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
 
 param set UAVCAN_ENABLE 0
 

ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil

@@ -12,8 +12,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-set MIXER AERT
-set PWM_OUT 1234
 
 param set UAVCAN_ENABLE 0
 

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

@@ -5,10 +5,10 @@
 # @type Simulation
 # @class VTOL
 #
-# @output MAIN1 motor right
-# @output MAIN2 motor left
-# @output MAIN5 elevon right
-# @output MAIN6 elevon left
+# @output Motor1 motor right
+# @output Motor2 motor left
+# @output Servo1 elevon right
+# @output Servo2 elevon left
 #
 # @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
 #
@@ -48,9 +48,7 @@ param set-default HIL_ACT_REV 32
 
 param set-default MAV_TYPE 19
 
-set MIXER vtol_tailsitter_duo_sat
 
-set PWM_OUT 1234
 
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set-default SYS_HITL 2

ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox

@@ -5,14 +5,14 @@
 # @type Octorotor Coaxial
 # @class Copter
 #
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 motor 5
-# @output MAIN6 motor 6
-# @output MAIN7 motor 7
-# @output MAIN8 motor 8
+# @output Motor1 motor 1
+# @output Motor2 motor 2
+# @output Motor3 motor 3
+# @output Motor4 motor 4
+# @output Motor5 motor 5
+# @output Motor6 motor 6
+# @output Motor7 motor 7
+# @output Motor8 motor 8
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
@@ -21,6 +21,35 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER octo_cox
 
-set PWM_OUT 12345678
+param set-default MAV_TYPE 14
+
+param set-default CA_ROTOR_COUNT 8
+param set-default CA_ROTOR0_PX 0.35
+param set-default CA_ROTOR0_PY 0.35
+param set-default CA_ROTOR0_PZ -0.05
+param set-default CA_ROTOR1_KM -0.05
+param set-default CA_ROTOR1_PX 0.35
+param set-default CA_ROTOR1_PY -0.35
+param set-default CA_ROTOR1_PZ -0.05
+param set-default CA_ROTOR2_PX -0.35
+param set-default CA_ROTOR2_PY -0.35
+param set-default CA_ROTOR2_PZ -0.05
+param set-default CA_ROTOR3_PX -0.35
+param set-default CA_ROTOR3_PY 0.35
+param set-default CA_ROTOR3_PZ -0.05
+param set-default CA_ROTOR3_KM -0.05
+param set-default CA_ROTOR4_PX 0.35
+param set-default CA_ROTOR4_PY -0.35
+param set-default CA_ROTOR4_PZ 0.05
+param set-default CA_ROTOR5_PX 0.35
+param set-default CA_ROTOR5_PY 0.35
+param set-default CA_ROTOR5_PZ 0.05
+param set-default CA_ROTOR5_KM -0.05
+param set-default CA_ROTOR6_PX -0.35
+param set-default CA_ROTOR6_PY 0.35
+param set-default CA_ROTOR6_PZ 0.05
+param set-default CA_ROTOR7_KM -0.05
+param set-default CA_ROTOR7_PX -0.35
+param set-default CA_ROTOR7_PY -0.35
+param set-default CA_ROTOR7_PZ 0.05

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

@@ -1,22 +1,10 @@
 #!/bin/sh
 #
-# @name Generic Quadplane VTOL
+# @name Generic Standard 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
@@ -26,19 +14,18 @@
 
 param set-default CA_AIRFRAME 2
 param set-default CA_ROTOR_COUNT 5
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_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_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 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
@@ -48,16 +35,5 @@ param set-default CA_SV_CS2_TYPE 3
 param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
-
-param set-default PWM_AUX_DIS5 950
-
 param set-default 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

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

@@ -1,43 +0,0 @@
-#!/bin/sh
-#
-# @name Caipiroshka Duo 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
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default MAV_TYPE 19
-
-param set-default MC_ROLL_P 6
-param set-default MC_ROLLRATE_P 0.12
-param set-default MC_ROLLRATE_I 0.002
-
-param set-default MC_PITCH_P 4.5
-param set-default MC_PITCHRATE_P 0.3
-param set-default MC_PITCHRATE_I 0.002
-
-param set-default MC_YAW_P 3.8
-param set-default MC_YAWRATE_P 0.22
-param set-default MC_YAWRATE_I 0.02
-
-param set-default VT_IDLE_PWM_MC  1080
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_MOT_ID 12
-param set-default VT_TYPE 0
-
-set MIXER vtol_tailsitter_duo
-
-set PWM_OUT 123456

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

@@ -1,53 +0,0 @@
-#!/bin/sh
-#
-# @name BirdsEyeView Aerobotics FireFly6
-# @type VTOL Tiltrotor
-# @class VTOL
-#
-# @maintainer Roman Bapst <roman@uaventure.com>
-#
-# @output MAIN1 Front right motor bottom
-# @output MAIN2 Front right motor top
-# @output MAIN3 Back motor bottom
-# @output MAIN4 Back motor top
-# @output MAIN5 Front left motor bottom
-# @output MAIN6 Front left motor top
-# @output AUX1 Tilt servo
-# @output AUX2 Elevon 1
-# @output AUX3 Elevon 2
-# @output AUX4 Gear
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default MAV_TYPE 21
-
-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.19
-param set-default MC_ROLLRATE_I 0.002
-param set-default MC_ROLLRATE_D 0.005
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.14
-param set-default MC_PITCHRATE_I 0.002
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_YAW_P 4
-param set-default MC_YAWRATE_P 0.22
-param set-default MC_YAWRATE_I 0.02
-
-param set-default VT_FW_MOT_OFFID 34
-param set-default VT_IDLE_PWM_MC 1080
-param set-default VT_MOT_ID 123456
-param set-default VT_FW_MOT_OFFID 56
-param set-default VT_TILT_MC 0.08
-param set-default VT_TILT_TRANS 0.5
-param set-default VT_TILT_FW 0.9
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_TYPE 1
-
-set MIXER firefly6
-set MIXER_AUX firefly6
-
-set PWM_OUT 12345678

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

@@ -1,46 +0,0 @@
-#!/bin/sh
-#
-# @name Quadrotor X Tailsitter
-#
-# @type VTOL Quad Tailsitter
-# @class VTOL
-#
-# @maintainer Roman Bapst <roman@px4.io>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default MAV_TYPE 20
-
-param set-default CA_AIRFRAME 4
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_SV_CS_COUNT 2
-param set-default CA_SV_CS0_TRQ_P 0.5
-param set-default CA_SV_CS0_TRQ_Y 0.5
-param set-default CA_SV_CS0_TYPE 5
-param set-default CA_SV_CS1_TRQ_P 0.5
-param set-default CA_SV_CS1_TRQ_Y -0.5
-param set-default CA_SV_CS1_TYPE 6
-
-param set-default PWM_MAIN_MAX 2000
-
-param set-default VT_MOT_ID 1234
-param set-default VT_IDLE_PWM_MC  1080
-param set-default VT_TYPE 0
-
-set MIXER quad_x_vtol
-
-set PWM_OUT 1234

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

@@ -1,34 +0,0 @@
-#!/bin/sh
-#
-# @name Quadrotor + Tailsitter
-#
-# @type VTOL Quad Tailsitter
-# @class VTOL
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 elevon left
-# @output MAIN6 elevon right
-# @output MAIN7 canard surface
-# @output MAIN8 rudder
-#
-# @maintainer Roman Bapst <roman@px4.io>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default MAV_TYPE 20
-
-param set-default PWM_MAIN_MAX 2000
-
-param set-default VT_IDLE_PWM_MC  1080
-param set-default VT_TYPE 0
-
-set MIXER quad_+_vtol
-
-set PWM_OUT 1234

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

@@ -1,59 +0,0 @@
-#!/bin/sh
-#
-# @name Fun Cub Quad VTOL
-#
-# @type Standard VTOL
-# @class VTOL
-#
-# @maintainer Simon Wilks <simon@uaventure.com>
-#
-# @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
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default PWM_AUX_DIS5 950
-
-param set-default MC_ROLL_P 6
-param set-default MC_ROLLRATE_P 0.17
-param set-default MC_ROLLRATE_I 0.002
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_PITCH_P 6
-param set-default MC_PITCHRATE_P 0.19
-param set-default MC_PITCHRATE_I 0.002
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_YAWRATE_P 0.22
-param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_MAX 40
-
-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 VT_ARSP_BLEND 6
-param set-default VT_ARSP_TRANS 12
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_IDLE_PWM_MC 1080
-param set-default VT_TYPE 2
-
-set MIXER quad_x
-set MIXER_AUX vtol_AAERT
-
-set PWM_OUT 1234

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

@@ -1,48 +0,0 @@
-#!/bin/sh
-#
-# @name Generic quad delta VTOL
-#
-# @type Standard VTOL
-# @class VTOL
-#
-# @maintainer Simon Wilks <simon@uaventure.com>
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output AUX1 Right elevon
-# @output AUX2 Left elevon
-# @output AUX3 Motor
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-
-param set-default MC_ROLLRATE_I 0.01
-param set-default MC_PITCHRATE_I 0.01
-param set-default MC_YAW_P 3.5
-
-param set-default MC_YAWRATE_MAX 50
-
-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 2
-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_YAWRAUTO_MAX 20
-
-param set-default PWM_AUX_DIS3 950
-
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_IDLE_PWM_MC 1080
-param set-default VT_TYPE 2
-
-set MIXER quad_x
-set MIXER_AUX vtol_delta
-
-set PWM_OUT 1234

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

@@ -1,40 +0,0 @@
-#!/bin/sh
-#
-# @name Generic AAVVT v-tail plane airframe with Quad VTOL.
-#
-# @type Standard VTOL
-# @class VTOL
-#
-# @maintainer Sander Smeets <sander@droneslab.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-
-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_I 0.002
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.12
-param set-default MC_PITCHRATE_I 0.002
-param set-default MC_YAWRATE_P 0.22
-param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_MAX 40
-
-param set-default MPC_YAWRAUTO_MAX 40
-
-param set-default PWM_AUX_DIS5 950
-
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_IDLE_PWM_MC 1080
-param set-default VT_TYPE 2
-
-set MIXER quad_x
-set MIXER_AUX vtol_AAVVT
-
-set PWM_OUT 1234

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

@@ -1,53 +0,0 @@
-#!/bin/sh
-#
-# @name QuadRanger
-#
-# @type Standard VTOL
-# @class VTOL
-#
-# @maintainer Sander Smeets <sander@droneslab.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-
-param set-default FW_THR_TRIM 65
-param set-default FW_RR_FF 0.6
-
-param set-default MIS_YAW_TMT 10
-
-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_I 0.1
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_I 0.1
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_YAW_P 3.5
-param set-default MC_YAWRATE_P 0.6
-param set-default MC_YAWRATE_I 0.04
-param set-default MC_YAWRATE_MAX 40
-
-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_Z_VEL_MAX_DN 1.5
-param set-default MPC_LAND_SPEED 0.8
-param set-default MPC_YAWRAUTO_MAX 40
-
-param set-default PWM_AUX_DIS5 950
-param set-default PWM_AUX_REV1 1
-param set-default PWM_AUX_REV2 1
-
-param set-default VT_ARSP_TRANS 15
-param set-default VT_ARSP_BLEND 8
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_IDLE_PWM_MC 1080
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_TYPE 2
-
-set MIXER quad_x
-set MIXER_AUX vtol_AAERT
-
-set PWM_OUT 1234

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

@@ -1,83 +0,0 @@
-#!/bin/sh
-#
-# @name Sparkle Tech Ranger VTOL
-#
-# @type Standard VTOL
-# @class VTOL
-#
-# @maintainer Andreas Antener <andreas@uaventure.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default FW_AIRSPD_MAX   22
-param set-default FW_AIRSPD_MIN   14
-param set-default FW_AIRSPD_TRIM  16
-param set-default FW_L1_PERIOD    25
-param set-default FW_PR_P 0.060
-param set-default FW_P_RMAX_NEG   40
-param set-default FW_P_RMAX_POS   40
-param set-default FW_RR_FF    0.4
-param set-default FW_RR_P 0.04
-param set-default FW_R_RMAX   40
-
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_PITCHRATE_I 0
-param set-default MC_PITCHRATE_MAX 60
-param set-default MC_PITCHRATE_P 0.21
-param set-default MC_PITCH_P 4
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_ROLLRATE_I 0.002
-param set-default MC_ROLLRATE_MAX 60
-param set-default MC_ROLLRATE_P 0.24
-param set-default MC_ROLL_P 4
-param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_MAX 40
-param set-default MC_YAWRATE_P 0.18
-
-param set-default MIS_TAKEOFF_ALT 2.5
-param set-default MIS_YAW_TMT 20
-
-param set-default MPC_ACC_HOR_MAX 1
-param set-default MPC_HOLD_MAX_XY 0.5
-param set-default MPC_HOLD_MAX_Z  0.5
-param set-default MPC_LAND_SPEED  1
-param set-default MPC_MANTHR_MIN  0.05
-param set-default MPC_MAN_Y_MAX   120
-param set-default MPC_THR_MIN 0.07
-param set-default MPC_TILTMAX_AIR 35
-param set-default MPC_TILTMAX_LND 20
-param set-default MPC_TKO_SPEED   1
-param set-default MPC_XY_P    0.3
-param set-default MPC_XY_VEL_MAX  3
-param set-default MPC_XY_VEL_P_ACC 1
-param set-default MPC_Z_P 0.5
-param set-default MPC_Z_VEL_P_ACC 2
-param set-default MPC_YAWRAUTO_MAX 40
-
-param set-default NAV_ACC_RAD 3
-
-param set-default PWM_AUX_REV1    1
-param set-default PWM_AUX_REV2    1
-param set-default PWM_AUX_REV3    1
-param set-default PWM_AUX_REV4    1
-
-param set-default PWM_AUX_DIS5 950
-
-param set-default VT_ARSP_TRANS   15
-param set-default VT_F_TRANS_THR    0.6
-param set-default VT_IDLE_PWM_MC 1180
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_TRANS_MIN_TM 5
-param set-default VT_TRANS_TIMEOUT    30
-param set-default VT_TYPE 2
-
-set MIXER quad_x
-set MIXER_AUX vtol_AAERT
-
-set PWM_OUT 1234

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

@@ -1,77 +0,0 @@
-#!/bin/sh
-#
-# @name E-flite Convergence
-#
-# @type VTOL Tiltrotor
-# @class VTOL
-#
-# @maintainer Andreas Antener <andreas@uaventure.com>
-#
-# @output MAIN1 Motor right
-# @output MAIN2 Motor left
-# @output MAIN3 Motor back
-# @output MAIN4 empty
-# @output MAIN5 Tilt servo right
-# @output MAIN6 Tilt servo left
-# @output MAIN7 Elevon right
-# @output MAIN8 Elevon left
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default MAV_TYPE 21
-
-param set-default CBRK_AIRSPD_CHK 162128
-
-param set-default FW_ARSP_MODE 1
-
-param set-default FW_L1_PERIOD 17
-param set-default FW_MAN_R_MAX 50
-param set-default FW_ACRO_X_MAX   270
-param set-default FW_ACRO_Y_MAX   270
-param set-default FW_ACRO_Z_MAX   180
-param set-default FW_PSP_OFF  5
-param set-default FW_P_LIM_MAX    30
-param set-default FW_P_LIM_MIN    -30
-param set-default FW_RR_FF    0.33
-param set-default FW_RR_P 0.11
-
-param set-default MC_PITCHRATE_P  0.15
-param set-default MC_PITCH_P  6
-param set-default MC_ROLLRATE_P   0.15
-param set-default MC_ROLL_P   6
-param set-default MC_YAWRATE_MAX  120
-param set-default MC_YAWRATE_P    0.27
-param set-default MC_YAW_P    2.5
-
-param set-default MC_YAWRATE_P 0.3
-param set-default MPC_LAND_SPEED 1.2
-param set-default MPC_TKO_SPEED 2.5
-
-param set-default SENS_BOARD_ROT 8
-
-param set-default VT_B_TRANS_DUR  1
-param set-default VT_F_TRANS_DUR  1.2
-param set-default VT_F_TR_OL_TM   4
-param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_SC 0.17
-param set-default VT_FW_MOT_OFFID 3
-param set-default VT_IDLE_PWM_MC 1200
-param set-default VT_MOT_ID 123
-param set-default VT_TILT_TRANS   0.45
-param set-default VT_TRANS_MIN_TM 1.2
-param set-default VT_TRANS_P2_DUR 1.3
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_TYPE 1
-
-set MIXER vtol_convergence
-
-if ! ver hwcmp MATEK_H743
-then
-	set PWM_OUT 1234
-else
-	set PWM_OUT 3456
-fi	

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

@@ -7,14 +7,14 @@
 #
 # @maintainer Sander Smeets <sander@droneslab.com>
 #
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 Right elevon
-# @output MAIN6 Left elevon
-# @output MAIN7 Pusher motor
-# @output MAIN8 Pusher reverse channel
+# @output Motor1 motor 1
+# @output Motor2 motor 2
+# @output Motor3 motor 3
+# @output Motor4 motor 4
+# @output Servo1 Right elevon
+# @output Servo2 Left elevon
+# @output Servo3 Pusher motor
+# @output Servo4 Pusher reverse channel
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
@@ -55,7 +55,6 @@ 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_SLEW_MAX 1
-param set-default FW_MAN_P_MAX 30
 param set-default FW_P_LIM_MAX 15
 param set-default FW_P_LIM_MIN -25
 param set-default FW_P_RMAX_NEG 45
@@ -90,7 +89,6 @@ param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_LAND_SPEED 1.2
 param set-default MPC_TILTMAX_LND 35
 param set-default MPC_Z_VEL_MAX_UP 1.5
-param set-default MPC_Z_VEL_MAX_DN 1.5
 param set-default MPC_HOLD_MAX_XY 0.5
 param set-default MPC_HOLD_MAX_Z 0.5
 param set-default MPC_TKO_RAMP_T 0.8
@@ -101,8 +99,6 @@ param set-default MPC_YAWRAUTO_MAX 20
 
 param set-default NAV_LOITER_RAD 100
 
-param set-default PWM_AUX_DISARM 950
-
 param set-default PWM_MAIN_DIS5 1500
 param set-default PWM_MAIN_DIS6 1500
 param set-default PWM_MAIN_DIS7 900
@@ -118,8 +114,6 @@ param set-default MAV_1_FORWARD 1
 param set-default SER_TEL2_BAUD 57600
 
 param set-default VT_TYPE 2
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_F_TRANS_THR 1
 param set-default VT_PITCH_MIN 8
 param set-default VT_FW_QC_P 55
@@ -128,7 +122,6 @@ param set-default VT_TRANS_MIN_TM 15
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_FWD_THRUST_SC 4
 param set-default VT_F_TRANS_DUR 1
-param set-default VT_IDLE_PWM_MC 1025
 param set-default VT_B_REV_OUT 0.5
 param set-default VT_B_TRANS_THR 0.7
 param set-default VT_TRANS_TIMEOUT 22
@@ -136,8 +129,32 @@ param set-default VT_F_TRANS_RAMP 4
 
 param set-default COM_RC_OVERRIDE 0
 
-set MIXER deltaquad
-set MIXER_AUX pass
 
-set PWM_OUT 1234
-set PWM_AUX_OUT 12345
+
+
+param set-default CA_AIRFRAME 2
+
+param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+param set-default CA_ROTOR4_AX 1.0
+param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_PX 0.2
+
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS2_TRQ_P 1.0

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

@@ -7,14 +7,14 @@
 #
 # @maintainer Silvan Fuhrer <silvan@auterion.com>
 #
-# @output MAIN1 Ailerons
-# @output MAIN2 A-tail left
-# @output MAIN3 Pusher motor
-# @output MAIN4 A-tail right
-# @output MAIN5 motor 1
-# @output MAIN6 motor 2
-# @output MAIN7 motor 3
-# @output MAIN8 motor 4
+# @output Motor1 motor 1
+# @output Motor2 motor 2
+# @output Motor3 motor 3
+# @output Motor4 motor 4
+# @output Motor5 Pusher motor
+# @output Servo1 Ailerons
+# @output Servo2 A-tail left
+# @output Servo3 A-tail right
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
@@ -31,7 +31,6 @@ param set-default FW_AIRSPD_MAX 30
 param set-default FW_AIRSPD_MIN 19
 param set-default FW_AIRSPD_TRIM 23
 param set-default FW_L1_R_SLEW_MAX 40
-param set-default FW_MAN_P_MAX 30
 param set-default FW_PSP_OFF 3
 param set-default FW_P_LIM_MAX 18
 param set-default FW_P_LIM_MIN -25
@@ -71,14 +70,12 @@ param set-default MPC_VEL_MANUAL 3
 param set-default MPC_XY_CRUISE 3
 param set-default MPC_XY_VEL_MAX 3.5
 param set-default MPC_YAWRAUTO_MAX 40
-param set-default MPC_Z_VEL_MAX_DN 1.5
 param set-default MPC_Z_VEL_MAX_UP 2
 
 param set-default NAV_ACC_RAD 3
 
 param set-default PWM_MAIN_DIS3 1000
 param set-default PWM_MAIN_MIN3 1120
-param set-default PWM_MAIN_MIN 950
 
 param set-default SENS_BOARD_ROT 4
 
@@ -88,17 +85,50 @@ param set-default VT_B_DEC_MSS 1.5
 param set-default VT_B_TRANS_DUR 12
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_FWD_THRUST_SC 1.2
-param set-default VT_FW_MOT_OFFID 5678
 param set-default VT_F_TR_OL_TM 8
-param set-default VT_IDLE_PWM_MC 1000
-param set-default VT_MOT_ID 5678
 param set-default VT_PSHER_RMP_DT 2
 param set-default VT_TRANS_MIN_TM 4
 param set-default VT_TYPE 2
 
-set MIXER babyshark
-set MIXER_AUX pass
 
-# Mark outputs for the alternate rate
-# or D-Shot
-set PWM_OUT 5678
+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_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_ROTOR4_AX 1.0
+param set-default CA_ROTOR4_AZ 0.0
+
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TYPE 15
+param set-default CA_SV_CS0_TRQ_R 1.0
+param set-default CA_SV_CS1_TRQ_P 0.5000
+param set-default CA_SV_CS1_TRQ_R 0.0000
+param set-default CA_SV_CS1_TRQ_Y -0.5000
+param set-default CA_SV_CS1_TYPE 13
+param set-default CA_SV_CS2_TRQ_P 0.5000
+param set-default CA_SV_CS2_TRQ_Y 0.5000
+param set-default CA_SV_CS2_TYPE 14
+
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 202
+param set-default PWM_MAIN_FUNC3 105
+param set-default PWM_MAIN_FUNC4 203
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 102
+param set-default PWM_MAIN_FUNC7 103
+param set-default PWM_MAIN_FUNC8 104
+
+param set-default PWM_MAIN_TIM0 50
+param set-default PWM_MAIN_DIS1 1500
+param set-default PWM_MAIN_DIS2 1500
+param set-default PWM_MAIN_DIS4 1500
+
+

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

@@ -7,19 +7,6 @@
 #
 # @maintainer
 #
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output AUX1 Motor tilt front left
-# @output AUX2 Motor tilt front right
-# @output AUX3 Motor tilt rear left
-# @output AUX4 Motor tilt rear right
-# @output AUX5 Aileron left
-# @output AUX6 Aileron right
-# @output AUX7 Elevator
-# @output AUX8 Rudder
-#
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 # @board holybro_kakutef7 exclude
@@ -29,10 +16,7 @@
 
 param set-default MAV_TYPE 21
 
-param set-default VT_IDLE_PWM_MC 1100
 param set-default VT_TYPE 1
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 24
 
 param set-default CA_AIRFRAME 3
 param set-default CA_ROTOR_COUNT 4
@@ -51,6 +35,8 @@ param set-default CA_ROTOR3_PY 0.15
 param set-default CA_ROTOR3_KM -0.05
 param set-default CA_ROTOR3_TILT 4
 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_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS2_TRQ_P 1.0
@@ -59,7 +45,4 @@ param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_TL_COUNT 4
 
-set MIXER quad_x
-set MIXER_AUX vtol_TTTTAAER
 
-set PWM_OUT 1234

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

@@ -1,38 +0,0 @@
-#!/bin/sh
-#
-# @name Generic Octoplane VTOL
-#
-# @type VTOL Octoplane
-# @class VTOL
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 motor 5
-# @output MAIN6 motor 6
-# @output MAIN7 motor 7
-# @output MAIN8 motor 8
-# @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
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default PWM_AUX_DIS5 950
-
-param set-default VT_TYPE 2
-param set-default VT_MOT_ID 12345678
-param set-default VT_FW_MOT_OFFID 12345678
-
-set MIXER octo_cox
-set MIXER_AUX vtol_AAERT
-
-set PWM_OUT 12345678