Add fw indi lib

F

WIP Unit tests

.clusterfuzzlite/Dockerfile

@@ -0,0 +1,7 @@
+FROM gcr.io/oss-fuzz-base/base-builder:v1
+COPY . $SRC/PX4-Autopilot
+RUN apt-get install -y libjpeg8-dev zlib1g-dev
+RUN pip3 install --upgrade pip
+RUN python3 -m pip install -r $SRC/PX4-Autopilot/Tools/setup/requirements.txt
+WORKDIR $SRC/PX4-Autopilot
+COPY ./.clusterfuzzlite/build.sh $SRC/

.clusterfuzzlite/build.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash -eu
+
+PX4_FUZZ=1 make px4_sitl
+cp build/px4_sitl_default/bin/px4 $OUT/px4

.clusterfuzzlite/project.yaml

@@ -0,0 +1 @@
+language: c++

.github/labeler.yml

@@ -1,10 +0,0 @@
-# Labeler configuration file for GitHub Actions
-# The action is ./.github/workflows/label.yml
-# Docs for the syntax in this file can be found at
-# https://github.com/actions/labeler
-
-
-# Add 'Documentation' label to any changes within 'docs' folder or any subfolders
-"Documentation 📑":
-- changed-files:
-  - any-glob-to-any-file: docs/**

.github/workflows/build_all_targets.yml

@@ -18,7 +18,7 @@ on:
       - 'docs/**'
   pull_request:
     branches:
-      - '**'
+      - '*'
     paths-ignore:
       - 'docs/**'
 

.github/workflows/cflite_batch.yml

@@ -0,0 +1,34 @@
+name: ClusterFuzzLite batch fuzzing
+on:
+  schedule:
+    - cron: '0 6 * * *'  # UTC 6am every day.
+permissions: read-all
+jobs:
+  BatchFuzzing:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        sanitizer:
+        - address
+        - undefined
+        - memory
+    steps:
+    - name: Build Fuzzers (${{ matrix.sanitizer }})
+      id: build
+      uses: google/clusterfuzzlite/actions/build_fuzzers@v1
+      with:
+        sanitizer: ${{ matrix.sanitizer }}
+    - name: Run Fuzzers (${{ matrix.sanitizer }})
+      id: run
+      uses: google/clusterfuzzlite/actions/run_fuzzers@v1
+      with:
+        github-token: ${{ secrets.GITHUB_TOKEN }}
+        fuzz-seconds: 1800 # 30 mins
+        mode: 'batch'
+        sanitizer: ${{ matrix.sanitizer }}
+        # Optional but recommended: For storing certain artifacts from fuzzing.
+        # See later section on "Git repo for storage".
+        # storage-repo: https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/OWNER/STORAGE-REPO-NAME.git
+        # storage-repo-branch: main   # Optional. Defaults to "main"
+        # storage-repo-branch-coverage: gh-pages  # Optional. Defaults to "gh-pages".

.github/workflows/checks.yml

@@ -6,15 +6,13 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'
 
 jobs:
   build:
@@ -43,7 +41,7 @@ jobs:
       - name: Building [${{ matrix.check }}]
         uses: addnab/docker-run-action@v3
         with:
-          image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+          image: px4io/px4-dev-nuttx-focal:2022-08-12
           options: -v ${{ github.workspace }}:/workspace
           run: |
             cd /workspace

.github/workflows/clang-tidy.yml

@@ -6,11 +6,13 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
 jobs:
   build:
     runs-on: ubuntu-latest

.github/workflows/compile_macos.yml

@@ -6,15 +6,13 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'
 
 jobs:
   build:

.github/workflows/compile_ubuntu.yml

@@ -9,19 +9,17 @@ on:
       - 'release/**'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+      - '*'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
 
 env:
   RUNS_IN_DOCKER: true
 
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
 jobs:
   build_and_test:
     name: Build and Test

.github/workflows/dev_container.yml

@@ -11,7 +11,7 @@ on:
       - 'v*'
   pull_request:
     branches:
-      - '**'
+      - '*'
     paths:
       - '.github/workflows/dev_container.yml'
       - 'Tools/setup/ubuntu.sh'
@@ -30,10 +30,6 @@ on:
         type: boolean
         default: false
 
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
 jobs:
   setup:
     name: Set Tags and Variables

.github/workflows/docs_deploy.yml

@@ -9,7 +9,7 @@ on:
       - 'docs/en/**'
   pull_request:
     branches:
-      - '**'
+      - '*'
     paths:
       - 'docs/en/**'
 
@@ -80,7 +80,7 @@ jobs:
       - name: Deploy
         run: |
           git clone --single-branch --branch main --depth 1 https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/docs.px4.io.git
-          # make it an orphan branch
+          # make it an orphan branch      
           cd docs.px4.io
           CURRENT_DATETIME=$(date +'%Y%m%d_%H_%M')
           git checkout --orphan "${CURRENT_DATETIME}_main"

.github/workflows/ekf_functional_change_indicator.yml

@@ -3,14 +3,10 @@ name: EKF Change Indicator
 on:
   pull_request:
     branches:
-      - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
-
-# If two events are triggered within a short time in the same PR, cancel the run of the oldest event
-concurrency:
-  group: ${{ github.workflow }}-${{ github.event.pull_request.number }}
-  cancel-in-progress: true
+      - '.github/**'
 
 jobs:
   unit_tests:
@@ -23,7 +19,7 @@ jobs:
     - name: main test
       uses: addnab/docker-run-action@v3
       with:
-        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+        image: px4io/px4-dev-base-focal:2021-09-08
         options: -v ${{ github.workspace }}:/workspace
         run: |
           cd /workspace

.github/workflows/ekf_update_change_indicator.yml

@@ -4,6 +4,7 @@ on:
   push:
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
 
 jobs:
   unit_tests:
@@ -19,7 +20,7 @@ jobs:
     - name: main test
       uses: addnab/docker-run-action@v3
       with:
-        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+        image: px4io/px4-dev-base-focal:2021-09-08
         options: -v ${{ github.workspace }}:/workspace
         run: |
           cd /workspace

.github/workflows/failsafe_sim.yml

@@ -6,15 +6,13 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'
 
 jobs:
   build:

.github/workflows/flash_analysis.yml

@@ -11,11 +11,13 @@ on:
       - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+      - '*'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
 
 env:
   MIN_FLASH_POS_DIFF_FOR_COMMENT: 50

.github/workflows/fuzzing.yml

@@ -1,38 +0,0 @@
-name: Fuzzing
-on:
-  schedule:
-    - cron: '0 6 * * *'  # UTC 6am every day.
-
-permissions:
-  contents: read
-
-env:
-  RUNS_IN_DOCKER: true
-
-jobs:
-  Fuzzing:
-    runs-on: ubuntu-latest
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-    steps:
-      - name: Install Dependencies
-        run: |
-          apt update && apt install -y clang
-
-      - name: Fix git in Container
-        run: |
-          git config --global --add safe.directory $(realpath .)
-
-      - uses: actions/checkout@v4
-
-      - name: Build and Run Fuzz Tests
-        run: |
-          # Only build the tests
-          export CC=clang
-          export CXX=clang++
-          make tests TESTFILTER=__no_tests__
-
-          # Run the fuzz tests
-          for fuzz_binary in build/px4_sitl_test/*fuzz*; do
-            ./Tools/ci/run_fuzz_tests.sh $fuzz_binary 15m
-          done

.github/workflows/itcm_check.yml

@@ -9,15 +9,13 @@ on:
       - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+      - '*'
     paths-ignore:
       - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'
 
 jobs:
   check_itcm:

.github/workflows/label.yml

@@ -1,21 +0,0 @@
-# This workflow will triage pull requests and apply a label based on the
-# paths that are modified in the pull request.
-# The paths are set up in .github/labeler.yml
-#
-# See: https://github.com/actions/labeler
-
-name: Labeler
-on: [pull_request_target]
-
-jobs:
-  label:
-
-    runs-on: ubuntu-latest
-    permissions:
-      contents: read
-      pull-requests: write
-
-    steps:
-    - uses: actions/labeler@v5
-      with:
-        repo-token: "${{ secrets.GITHUB_TOKEN }}"

.github/workflows/mavros_mission_tests.yml

@@ -6,15 +6,13 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'
 
 jobs:
   build:
@@ -24,6 +22,7 @@ jobs:
       matrix:
         config:
           - {vehicle: "iris",          mission: "MC_mission_box"}
+          - {vehicle: "rover",         mission: "rover_mission_1"}
 
     steps:
     - uses: actions/checkout@v4

.github/workflows/mavros_offboard_tests.yml

@@ -6,15 +6,13 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'
 
 jobs:
   build:

.github/workflows/nuttx_env_config.yml

@@ -6,15 +6,13 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'
 
 jobs:
   build:

.github/workflows/python_checks.yml

@@ -6,11 +6,13 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
 
 jobs:
   build:

.github/workflows/ros_integration_tests.yml

@@ -17,10 +17,6 @@ on:
     paths-ignore:
       - 'docs/**'
 
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
 jobs:
   build:
     runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]

.github/workflows/ros_translation_node.yml

@@ -5,19 +5,16 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-      - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
 defaults:
   run:
     shell: bash
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
 jobs:
   build_and_test:
     name: Build and test

.github/workflows/sitl_tests.yml

@@ -11,15 +11,13 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
-    - '**'
+    - '*'
     paths-ignore:
       - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'
 
 jobs:
   build:

.gitmodules

@@ -89,6 +89,3 @@
 [submodule "src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan"]
 	path = src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan
 	url = https://github.com/dronecan/pydronecan
-[submodule "test/fuzztest"]
-	path = test/fuzztest
-	url = https://github.com/google/fuzztest.git

CMakeLists.txt

@@ -334,33 +334,6 @@ if(NOT PX4_CHIP)
 	message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP")
 endif()
 
-#=============================================================================
-# Testing - Automatic unit and integration testing with CTest
-# (Needs to be before setting the common compile flags)
-#
-
-# optionally enable cmake testing (supported only on posix)
-option(CMAKE_TESTING "Configure test targets" OFF)
-if(${PX4_CONFIG} STREQUAL "px4_sitl_test")
-	set(CMAKE_TESTING ON)
-endif()
-if(CMAKE_TESTING)
-	include(CTest) # sets BUILD_TESTING variable
-endif()
-
-# enable test filtering to run only specific tests with the ctest -R regex functionality
-set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)")
-
-include(px4_add_gtest)
-if(BUILD_TESTING)
-	# Setting FUZZTEST_FUZZING_MODE=on enables ASAN, and is only supported with Clang
-	if (("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang") OR ("${CMAKE_CXX_COMPILER_ID}" MATCHES "AppleClang"))
-		set(FUZZTEST_FUZZING_MODE ON)
-	endif()
-	add_subdirectory(test)
-	fuzztest_setup_fuzzing_flags()
-endif()
-
 #=============================================================================
 # build flags
 #
@@ -413,6 +386,47 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	endforeach()
 endif()
 
+#=============================================================================
+# Testing - Automatic unit and integration testing with CTest
+#
+
+# optionally enable cmake testing (supported only on posix)
+option(CMAKE_TESTING "Configure test targets" OFF)
+if(${PX4_CONFIG} STREQUAL "px4_sitl_test")
+	set(CMAKE_TESTING ON)
+endif()
+if(CMAKE_TESTING)
+	include(CTest) # sets BUILD_TESTING variable
+endif()
+
+# enable test filtering to run only specific tests with the ctest -R regex functionality
+set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)")
+
+# if testing is enabled download and configure gtest
+list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/gtest/)
+include(px4_add_gtest)
+if(BUILD_TESTING)
+	include(gtest)
+
+	# Ensure there's no -R without any filter expression since that trips newer ctest versions
+	if(TESTFILTER)
+		set(TESTFILTERARG "-R")
+	else()
+		set(TESTFILTERARG "")
+	endif()
+
+	add_custom_target(test_results
+			COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test ${TESTFILTERARG} ${TESTFILTER}
+			DEPENDS
+				px4
+				examples__dyn_hello
+			USES_TERMINAL
+			COMMENT "Running tests"
+			WORKING_DIRECTORY ${PX4_BINARY_DIR})
+	set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)
+endif()
+
+
 #=============================================================================
 # subdirectories
 #
@@ -482,6 +496,7 @@ add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
 include(bloaty)
 
 
+include(doxygen)
 include(metadata)
 include(package)
 

Makefile

@@ -160,6 +160,11 @@ else
 		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
 	endif
 
+	# Fuzz Testing
+	ifdef PX4_FUZZ
+		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
+	endif
+
 endif
 
 # Pick up specific Python path if set
@@ -360,7 +365,7 @@ coverity_scan: px4_sitl_default
 
 # Documentation
 # --------------------------------------------------------------------
-.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata
+.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata doxygen
 
 parameters_metadata:
 	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen
@@ -376,6 +381,12 @@ extract_events:
 
 px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events
 
+doxygen:
+	@mkdir -p "$(SRC_DIR)"/build/doxygen
+	@cd "$(SRC_DIR)"/build/doxygen && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DBUILD_DOXYGEN=ON
+	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
+	@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll
+
 # Style
 # --------------------------------------------------------------------
 .PHONY: check_format format check_newlines
@@ -405,18 +416,11 @@ tests:
 	$(eval UBSAN_OPTIONS += color=always)
 	$(call cmake-build,px4_sitl_test)
 
-# work around lcov bug #316; remove once lcov is fixed (see https://github.com/linux-test-project/lcov/issues/316)
-LCOBUG = --ignore-errors mismatch
 tests_coverage:
 	@$(MAKE) clean
 	@$(MAKE) --no-print-directory tests PX4_CMAKE_BUILD_TYPE=Coverage
 	@mkdir -p coverage
-	@lcov --directory build/px4_sitl_test \
-		--base-directory build/px4_sitl_test \
-		--gcov-tool gcov \
-		--capture \
-		$(LCOBUG) \
-		-o coverage/lcov.info
+	@lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
 
 
 rostest: px4_sitl_default

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

@@ -46,22 +46,3 @@ param set-default PWM_MAIN_FUNC3 203
 param set-default PWM_MAIN_FUNC4 101
 
 param set-default EKF2_GPS_DELAY 0
-
-# Rate controllers
-param set-default FW_RR_P 0.0500
-param set-default FW_RR_I 2.0000
-param set-default FW_RR_D 0.0000
-param set-default FW_RR_FF 0.0000
-param set-default FW_RR_IMAX 1.0000
-
-param set-default FW_PR_P 0.0800
-param set-default FW_PR_I 2.5000
-param set-default FW_PR_D 0.0000
-param set-default FW_PR_FF 0.0000
-param set-default FW_PR_IMAX 1.0000
-
-param set-default FW_YR_P 0.0500
-param set-default FW_YR_I 3.0000
-param set-default FW_YR_D 0.0000
-param set-default FW_YR_FF 0.0000
-param set-default FW_YR_IMAX 1.0000

ROMFS/px4fmu_common/init.d-posix/airframes/10045_sihsim_rover_ackermann

@@ -1,72 +0,0 @@
-#!/bin/sh
-# @name Rover Ackermann
-# @type Rover
-# @class Rover
-
-. ${R}etc/init.d/rc.rover_ackermann_defaults
-
-set VEHICLE_TYPE rover_ackermann
-param set-default CA_AIRFRAME 5         # Rover (Ackermann)
-param set-default CA_R_REV 1            # Motor is assumed to be reversible
-param set-default EKF2_MAG_TYPE 1       # Make sure magnetometer is fused even when not driving
-param set-default NAV_ACC_RAD 0.5       # Waypoint acceptance radius
-param set-default EKF2_GBIAS_INIT 0.01
-param set-default EKF2_ANGERR_INIT 0.01
-
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
-
-param set-default SIH_VEHICLE_TYPE 5 # sih as rover ackermann
-
-param set-default PWM_MAIN_FUNC1 201 # Steering
-param set-default PWM_MAIN_FUNC2 101 # Throttle
-param set-default SIH_MASS 20
-param set-default SIH_IXX 0.4333
-param set-default SIH_IYY 1.6833
-param set-default SIH_IZZ 2.0833
-param set-default SIH_IXZ 0
-param set-default SIH_KDV 50
-param set-default SIH_KDW 10
-
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 1
-param set-default SENS_EN_MAGSIM 1
-
-# Ackermann Parameters
-param set-default RA_WHEEL_BASE 0.321
-param set-default RA_ACC_RAD_GAIN 2
-param set-default RA_ACC_RAD_MAX 3
-param set-default RA_MAX_STR_ANG 0.5236
-param set-default RA_STR_RATE_LIM 360
-
-# Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.01
-param set-default RO_YAW_RATE_P 0.25
-param set-default RO_YAW_RATE_LIM 180
-param set-default RO_YAW_ACCEL_LIM 400
-param set-default RO_YAW_DECEL_LIM 800
-param set-default RO_YAW_RATE_CORR 1
-
-# Attitude Control Parameters
-param set-default RO_YAW_P 5
-
-# Velocity Control Parameters
-param set-default RO_ACCEL_LIM 3
-param set-default RO_DECEL_LIM 3
-param set-default RO_JERK_LIM 10
-param set-default RO_MAX_THR_SPEED 3.2
-param set-default RO_SPEED_LIM 3
-param set-default RO_SPEED_I 0.001
-param set-default RO_SPEED_P 0.001
-param set-default RO_SPEED_RED 1
-
-# Pure Pursuit parameters
-param set-default PP_LOOKAHD_GAIN 1
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1
-
-# Pure Pursuit parameters
-param set-default PP_LOOKAHD_GAIN 1
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1

ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover

@@ -0,0 +1,33 @@
+#!/bin/sh
+#
+# @name Rover
+#
+
+. ${R}etc/init.d/rc.rover_defaults
+
+param set-default GND_L1_DIST 5
+param set-default GND_L1_PERIOD 10
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_SPEED_D 0.001
+param set-default GND_SPEED_I 3
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_P 0.25
+param set-default GND_SPEED_THR_SC 1
+param set-default GND_SPEED_TRIM 4
+param set-default GND_THR_CRUISE 0.3
+param set-default GND_THR_MAX 0.5
+param set-default GND_THR_MIN 0
+
+param set-default NAV_ACC_RAD 0.5
+param set-default NAV_LOITER_RAD 2
+
+param set-default GND_MAX_ANG 0.6
+param set-default GND_WHEEL_BASE 2
+
+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/1061_gazebo-classic_r1_rover

@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Aion Robotics R1 Rover
+# @type Rover
+# @class Rover
+
+. ${R}etc/init.d/rc.rover_differential_defaults
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 101
+param set-default PWM_MAIN_FUNC6 102
+param set-default PWM_MAIN_FUNC7 102

ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover

@@ -39,7 +39,7 @@ param set-default RO_YAW_P 5
 param set-default RO_SPEED_LIM 2
 param set-default RO_SPEED_I 0.01
 param set-default RO_SPEED_P 0.1
-param set-default RO_SPEED_RED 1
+param set-defatul RO_SPEED_RED 1
 
 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1

ROMFS/px4fmu_common/init.d-posix/airframes/50000_gz_rover_differential

@@ -1,56 +0,0 @@
-#!/bin/sh
-# @name Generic Differential Rover
-# @type Rover
-# @class Rover
-
-. ${R}etc/init.d/rc.rover_differential_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_differential}
-
-param set-default SIM_GZ_EN 1 # Gazebo bridge
-
-param set-default NAV_ACC_RAD 0.5
-
-# Differential Parameters
-param set-default RD_WHEEL_TRACK 0.6
-param set-default RD_TRANS_DRV_TRN 0.785398
-param set-default RD_TRANS_TRN_DRV 0.174533
-
-# Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.01
-param set-default RO_YAW_RATE_P 0.25
-param set-default RO_YAW_RATE_LIM 250
-param set-default RO_YAW_ACCEL_LIM 400
-param set-default RO_YAW_DECEL_LIM 800
-param set-default RO_YAW_RATE_CORR 1
-
-# Attitude Control Parameters
-param set-default RO_YAW_P 5
-
-# Velocity Control Parameters
-param set-default RO_ACCEL_LIM 4
-param set-default RO_DECEL_LIM 6
-param set-default RO_JERK_LIM 10
-param set-default RO_MAX_THR_SPEED 2
-param set-default RO_SPEED_LIM 1.8
-param set-default RO_SPEED_I 0.01
-param set-default RO_SPEED_P 0.01
-param set-default RO_SPEED_RED 1
-
-# Pure Pursuit parameters
-param set-default PP_LOOKAHD_GAIN 1
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1
-
-# Actuator mapping
-param set-default SIM_GZ_WH_FUNC1 101 # right wheel
-param set-default SIM_GZ_WH_MIN1 80
-param set-default SIM_GZ_WH_MAX1 120
-param set-default SIM_GZ_WH_DIS1 100
-
-param set-default SIM_GZ_WH_FUNC2 102 # left wheel
-param set-default SIM_GZ_WH_MIN2 80
-param set-default SIM_GZ_WH_MAX2 120
-param set-default SIM_GZ_WH_DIS2 100

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

@@ -62,6 +62,8 @@ px4_add_romfs_files(
 	1043_gazebo-classic_standard_vtol_drop
 	1044_gazebo-classic_plane_lidar
 	1045_gazebo-classic_quadtailsitter
+	1060_gazebo-classic_rover
+	1061_gazebo-classic_r1_rover
 	1062_flightgear_tf-r1
 	1070_gazebo-classic_boat
 
@@ -108,13 +110,10 @@ px4_add_romfs_files(
 	10042_sihsim_xvert
 	10043_sihsim_standard_vtol
 	10044_sihsim_hex
-	10045_sihsim_rover_ackermann
 
 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2
 
-	50000_gz_rover_differential
-
 	71002_gz_spacecraft_2d
 
 	# [22000, 22999] Reserve for custom models

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -69,6 +69,15 @@ if(CONFIG_MODULES_MC_RATE_CONTROL)
 	)
 endif()
 
+if(CONFIG_MODULES_ROVER_POS_CONTROL)
+	px4_add_romfs_files(
+		rc.rover_apps
+		rc.rover_defaults
+
+		rc.boat_defaults # hack
+	)
+endif()
+
 if(CONFIG_MODULES_ROVER_DIFFERENTIAL)
 	px4_add_romfs_files(
 		rc.rover_differential_apps

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

@@ -5,5 +5,8 @@
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
 
 . ${R}etc/init.d/rc.rover_differential_defaults

ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover

@@ -7,6 +7,9 @@
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
 
 . ${R}etc/init.d/rc.rover_differential_defaults
 

ROMFS/px4fmu_common/init.d/airframes/51000_generic_rover_ackermann

@@ -5,5 +5,8 @@
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
 
 . ${R}etc/init.d/rc.rover_ackermann_defaults

ROMFS/px4fmu_common/init.d/airframes/51001_axial_scx10_2_trail_honcho

@@ -7,6 +7,9 @@
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
 
 . ${R}etc/init.d/rc.rover_ackermann_defaults
 

ROMFS/px4fmu_common/init.d/airframes/52000_generic_rover_mecanum

@@ -5,5 +5,8 @@
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
 
 . ${R}etc/init.d/rc.rover_mecanum_defaults

ROMFS/px4fmu_common/init.d/airframes/59000_generic_ground_vehicle

@@ -0,0 +1,49 @@
+#!/bin/sh
+#
+# @name Generic Ground Vehicle (Deprecated)
+#
+# @type Rover
+# @class Rover
+#
+# @output Motor1 throttle
+# @output Servo1 steering
+#
+# @maintainer
+#
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.rover_defaults
+
+param set-default BAT1_N_CELLS 2
+
+param set-default EKF2_ANGERR_INIT 0.01
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_MAG_TYPE 1
+
+param set-default FW_AIRSPD_MAX 3
+param set-default FW_AIRSPD_MIN 0
+param set-default FW_AIRSPD_TRIM 1
+
+# Settings for a typical wheelbase 0f 0.3m
+param set-default GND_L1_DIST 1
+param set-default GND_L1_PERIOD 5
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_SPEED_P 0.25
+param set-default GND_SPEED_I 3
+param set-default GND_SPEED_D 0.001
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_THR_SC 1
+param set-default GND_THR_CRUISE 0.3
+param set-default GND_THR_MAX 0.5
+param set-default GND_THR_MIN 0
+
+param set-default NAV_ACC_RAD 0.5
+
+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/airframes/59001_nxpcup_car_dfrobot_gpx

@@ -0,0 +1,64 @@
+#!/bin/sh
+#
+# @name NXP Cup car: DF Robot GPX (Deprecated)
+
+#
+# @type Rover
+# @class Rover
+#
+# @board px4_fmu-v2 exclude
+#
+# @output Motor1 Speed of left wheels
+# @output Servo1 Steering servo
+#
+# @maintainer Katrin Moritz
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.rover_defaults
+
+param set-default BAT1_N_CELLS 2
+
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_ANGERR_INIT 0.01
+param set-default EKF2_MAG_TYPE 1
+
+param set-default FW_AIRSPD_MIN 0
+param set-default FW_AIRSPD_TRIM 1
+param set-default FW_AIRSPD_MAX 3
+
+param set-default GND_THR_CRUISE 0.3
+param set-default GND_THR_MAX 0.5
+
+# Differential drive acts like ackermann steering with a maximum turn angle of 60 degrees, or pi/3 radians
+param set-default GND_MAX_ANG 1.042
+param set-default GND_WHEEL_BASE 0.17
+
+# TODO: Set to -1, to allow reversing. This will require many changes in the codebase
+# to support negative throttle.
+param set-default GND_THR_MIN 0
+param set-default GND_SPEED_P 0.25
+param set-default GND_SPEED_I 3
+param set-default GND_SPEED_D 0.001
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_THR_SC 1
+
+param set-default NAV_ACC_RAD 0.5
+
+param set-default CA_AIRFRAME 5
+
+param set-default CA_R_REV 1
+param set-default PWM_MAIN_FUNC2 201
+param set-default PWM_MAIN_FUNC3 101
+param set-default PWM_MAIN_FUNC4 101
+
+# Provide ESC a constant 1500 us pulse to idle
+param set-default PWM_MAIN_DIS2 1500
+param set-default PWM_MAIN_DIS3 1485
+param set-default PWM_MAIN_DIS4 1485
+param set-default PWM_MAIN_FAIL3 1485
+param set-default PWM_MAIN_FAIL4 1485
+param set-default PWM_MAIN_MIN3 970
+param set-default PWM_MAIN_MIN4 970

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

@@ -158,6 +158,14 @@ if(CONFIG_MODULES_ROVER_MECANUM)
 	)
 endif()
 
+if(CONFIG_MODULES_ROVER_POS_CONTROL)
+	px4_add_romfs_files(
+		# [59000, 59999] Rover position control (deprecated)
+		59000_generic_ground_vehicle
+		59001_nxpcup_car_dfrobot_gpx
+	)
+endif()
+
 if(CONFIG_MODULES_UUV_ATT_CONTROL)
 	px4_add_romfs_files(
 		# [60000, 61000] (Unmanned) Underwater Robots

ROMFS/px4fmu_common/init.d/rc.fw_apps

@@ -14,6 +14,7 @@ control_allocator start
 # Start attitude controller.
 #
 fw_rate_control start
+fw_indi_pos_control start
 fw_att_control start
 fw_mode_manager start
 fw_lat_lon_control start

ROMFS/px4fmu_common/init.d/rc.rover_apps

@@ -0,0 +1,21 @@
+#!/bin/sh
+#
+# Standard apps for unmanned ground vehicles (UGV).
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+#
+# Start Control Allocator
+#
+control_allocator start
+
+#
+# Start attitude controllers.
+#
+rover_pos_control start
+
+#
+# Start Land Detector.
+#
+land_detector start rover

ROMFS/px4fmu_common/init.d/rc.rover_defaults

@@ -0,0 +1,19 @@
+#!/bin/sh
+#
+# UGV default parameters.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+set VEHICLE_TYPE rover
+
+# MAV_TYPE_GROUND_ROVER 10
+param set-default MAV_TYPE 10
+
+param set-default MIS_TAKEOFF_ALT 0.01
+
+param set-default NAV_ACC_RAD 2
+param set-default NAV_LOITER_RAD 2
+
+# Temporary.
+param set-default NAV_FW_ALT_RAD 1000

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -234,9 +234,7 @@ then
 		lis3mdl -X -q -a 0x1c start
 	fi
 	qmc5883l -X -q start
-	qmc5883p -X -q start
 	rm3100 -X -q start
-	bmm350 -X -q start
 
 	# start last (wait for possible icm20948 passthrough mode)
 	ak09916 -X -q start

ROMFS/px4fmu_common/init.d/rcS

@@ -224,7 +224,7 @@ else
 		# Look for airframe in ROMFS
 		. ${R}etc/init.d/rc.autostart
 
-		if [ ${VEHICLE_TYPE} = none ]
+		if [ ${VEHICLE_TYPE} == none ]
 		then
 			# Use external startup file
 			if [ $STORAGE_AVAILABLE = yes ]
@@ -235,7 +235,7 @@ else
 			fi
 		fi
 
-		if [ ${VEHICLE_TYPE} = none ]
+		if [ ${VEHICLE_TYPE} == none ]
 		then
 			echo "ERROR [init] No airframe file found for SYS_AUTOSTART value"
 			param set SYS_AUTOSTART 0

Tools/astyle/check_code_style_all.sh

@@ -43,7 +43,7 @@ fi
 
 # install git pre-commit hook
 HOOK_FILE="$DIR/../../.git/hooks/pre-commit"
-if [[ ! -f "$HOOK_FILE" && "$CI" != "true" && $- == *i* ]]; then
+if [ ! -f $HOOK_FILE ] && [ "$CI" != "true" ] && [ $- == *i* ]; then
 	echo ""
 	echo -e "\033[31mNinja tip: add a git pre-commit hook to automatically check code style\033[0m"
 	echo -e "Would you like to install one now? (\033[94mcp ./Tools/astyle/pre-commit .git/hooks/pre-commit\033[0m): [y/\033[1mN\033[0m]"

Tools/astyle/check_newlines.sh

@@ -3,14 +3,14 @@
 return_value=0
 
 # Check if there are files checked in that don't end in a newline (POSIX requirement)
-git grep --cached -Il '' -- ':!docs/public/' ':!docs/ko/' ':!docs/uk/' ':!docs/zh/' | xargs -L1 bash -c 'if test "$(tail -c 1 "$0")"; then echo "No new line at end of $0"; exit 1; fi'
+git grep --cached -Il '' -- ':!docs/*' | xargs -L1 bash -c 'if test "$(tail -c 1 "$0")"; then echo "No new line at end of $0"; exit 1; fi'
 
 if [ $? -ne 0 ]; then
 	return_value=1
 fi
 
 # Check if there are files checked in that have duplicate newlines at the end (fail trailing whitespace checks)
-git grep --cached -Il '' -- ':!docs/public/' ':!docs/ko/' ':!docs/uk/' ':!docs/zh/' | xargs -L1 bash -c 'if tail -c 2 "$0" | ( read x && read y && [ x"$x" = x ] && [ x"$y" = x ]); then echo "Multiple newlines at the end of $0"; exit 1; fi'
+git grep --cached -Il '' -- ':!docs/*' | xargs -L1 bash -c 'if tail -c 2 "$0" | ( read x && read y && [ x"$x" = x ] && [ x"$y" = x ]); then echo "Multiple newlines at the end of $0"; exit 1; fi'
 
 if [ $? -ne 0 ]; then
 	return_value=1

Tools/astyle/files_to_check_code_style.sh

@@ -24,7 +24,6 @@ exec find boards msg src platforms test \
     -path src/modules/ekf2/EKF/yaw_estimator/derivation/generated -prune -o \
     -path src/modules/gyro_fft/CMSIS_5 -prune -o \
     -path src/modules/mavlink/mavlink -prune -o \
-    -path test/fuzztest -prune -o \
     -path test/mavsdk_tests/catch2 -prune -o \
     -path src/lib/crypto/monocypher -prune -o \
     -path src/lib/crypto/libtomcrypt -prune -o \

Tools/ci/run_fuzz_tests.sh

@@ -1,19 +0,0 @@
-#!/bin/bash
-# This script runs the fuzz tests from a given binary for a certain amount of time
-set -e
-
-if [[ "$1" == "--help" || "$1" == "-h" || -z "$1" ]]; then
-  echo "Usage: $0 <binary> [<duration>]"
-  echo "duration can be for example 5m or 5h"
-  exit 0
-fi
-
-binary="$1"
-duration="$2"
-[[ -z "$duration" ]] && duration="1m"
-
-# Iterate over all available fuzz tests in the binary
-for t in $("$binary" --fuzz=__non_existent__ 2>&1 | sed '1,/^Valid tests:$/d' | tr -d ' '); do
-  echo "Running $t"
-  "$binary" --fuzz="$t" --fuzz_for="$duration"
-done

Tools/serial/rc.serial_port.jinja

@@ -5,7 +5,7 @@
 set SERIAL_DEV none
 {% for serial_device in serial_devices -%}
 if param compare "$PRT" {{ serial_device.index }}; then
-	if [ "$PRT_{{ serial_device.tag }}_" = "" ]; then
+	if [ "x$PRT_{{ serial_device.tag }}_" = "x" ]; then
 		set SERIAL_DEV {{ serial_device.device }}
 		set BAUD_PARAM SER_{{ serial_device.tag }}_BAUD
 		set PRT_{{ serial_device.tag }}_ 1

boards/3dr/ctrl-zero-h7-oem-revg/default.px4board

@@ -62,6 +62,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/airmind/mindpx-v2/default.px4board

@@ -67,6 +67,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/ark/fmu-v6x/default.px4board

@@ -79,6 +79,7 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y

boards/auterion/fmu-v6s/default.px4board

@@ -18,6 +18,7 @@ CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DATAMAN_PERSISTENT_STORAGE=n
+CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM350=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y

boards/av/x-v1/default.px4board

@@ -63,6 +63,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/beaglebone/blue/default.px4board

@@ -51,6 +51,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_BATTERY_SIMULATOR=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_MAVLINK=y

boards/bluerobotics/navigator/default.px4board

@@ -57,6 +57,7 @@ CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DYN=y

boards/cubepilot/cubeyellow/default.px4board

@@ -67,6 +67,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/diatone/mamba-f405-mk2/default.px4board

@@ -14,7 +14,6 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_PWM_OUT=y

boards/diatone/mamba-f405-mk2/init/rc.board_sensors

@@ -5,16 +5,14 @@
 
 board_adc start
 
-if ! mpu6000 -R 6 -s start; then
+if ! mpu6000 -R 6 -s start
+then
 	# some boards such as the Hobbywing XRotor F4 G2 use the ICM-20602
-	if ! icm20602 -s -R 6 start; then
-		# The ICM-42688-P is used on the Diatone Mamba F405 MK2 v2
-		icm42688p -s -R 4 start
-	fi
+	icm20602 -s -R 6 start
 fi
 
 if ! hmc5883 -T -X start
-then
+then	
 	if mpu9250_i2c -X -b 2 -a 0x68 -R 28 start; then
 		sleep 1 # wait for mpu9250 to be configured with bypass enabled
 		ak8963 -X -b 2 -R 30 start # -R 34

boards/diatone/mamba-f405-mk2/src/spi.cpp

@@ -39,7 +39,6 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
 		initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortA, GPIO::Pin4}),
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortA, GPIO::Pin4}),
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin4}),
 	}),
 	initSPIBus(SPI::Bus::SPI2, {
 		initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}),

boards/emlid/navio2/default.px4board

@@ -53,6 +53,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_BATTERY_SIMULATOR=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_MAVLINK=y

boards/hkust/nxt-dual/default.px4board

@@ -60,6 +60,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y

boards/hkust/nxt-v1/default.px4board

@@ -62,6 +62,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y

boards/holybro/durandal-v1/default.px4board

@@ -63,6 +63,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/holybro/kakuteh7-wing/default.px4board

@@ -6,7 +6,6 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
-CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_BAROMETER_GOERTEK_SPA06=y
@@ -63,6 +62,7 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y

boards/holybro/kakuteh7/default.px4board

@@ -66,6 +66,7 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/holybro/kakuteh7dualimu/default.px4board

@@ -6,7 +6,6 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS5"
-CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
@@ -31,6 +30,7 @@ CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=6
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -70,17 +70,22 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_MODULES_TEMPERATURE_COMPENSATION is not set
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y

boards/holybro/kakuteh7dualimu/firmware.prototype

@@ -7,7 +7,7 @@
     "summary": "KAKUTEH7",
     "version": "0.1",
     "image_size": 0,
-    "image_maxsize": 1703936,
+    "image_maxsize": 1835008,
     "git_identity": "",
     "board_revision": 0
 }

boards/holybro/kakuteh7dualimu/nuttx-config/scripts/script.ld

@@ -110,7 +110,7 @@
 MEMORY
 {
 	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1664K /* params in last two sectors */
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */
 
 	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
 	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K

boards/holybro/kakuteh7dualimu/src/hw_config.h

@@ -72,7 +72,7 @@
 #define BOARD_TYPE                     5409
 #define BOARD_FLASH_SECTORS            (14)
 #define BOARD_FLASH_SIZE               (16 * 128 * 1024)
-#define APP_RESERVATION_SIZE           (2 * 128 * 1024)
+#define APP_RESERVATION_SIZE           (1 * 128 * 1024)
 
 #define OSC_FREQ                       8
 

boards/holybro/kakuteh7dualimu/src/led.c

@@ -48,11 +48,6 @@
  * of leds for system indication at will and there is no
  * separate switch, we need to build independent of the
  * CONFIG_ARCH_LEDS configuration switch.
- *
- * KakuteH7 DualIMU LED configuration:
- * - Red LED (PE9): TRIP LED, active high
- * - Blue LED (PC2): Status LED, active low
- * - Green LED: Hardware controlled, always on when powered (no software control)
  */
 __BEGIN_DECLS
 extern void led_init(void);
@@ -61,28 +56,11 @@ extern void led_off(int led);
 extern void led_toggle(int led);
 __END_DECLS
 
-#ifdef CONFIG_ARCH_LEDS
-static bool nuttx_owns_leds = true;
-//                                B  R  S  G
-//                                0  1  2  3
-static const uint8_t xlatpx4[] = {1, 0, 4, 2};
-#  define xlat(p) xlatpx4[(p)]
-static uint32_t g_ledmap[] = {
-	GPIO_LED_RED,                       // Indexed by BOARD_LED_RED
-	GPIO_nLED_BLUE,                     // Indexed by BOARD_LED_BLUE
-};
 
-static bool g_led_inverted[] = {
-	false, // LED_RED is active high
-	true,  // LED_BLUE is active low
-};
-
-#else
-
-#  define xlat(p) (p)
+#define xlat(p) (p)
 static uint32_t g_ledmap[] = {
 	GPIO_nLED_BLUE,                     // Indexed by LED_BLUE
-	GPIO_LED_RED,                       // Indexed by LED_RED
+	GPIO_LED_RED,                      // Indexed by LED_RED
 };
 
 static bool g_led_inverted[] = {
@@ -90,7 +68,6 @@ static bool g_led_inverted[] = {
 	false, // LED_RED is active high
 };
 
-#endif
 
 __EXPORT void led_init(void)
 {

boards/holybro/kakuteh7mini/default.px4board

@@ -66,6 +66,7 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/holybro/kakuteh7v2/default.px4board

@@ -66,6 +66,7 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/holybro/pix32v5/default.px4board

@@ -71,6 +71,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/modalai/fc-v1/default.px4board

@@ -70,6 +70,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/modalai/fc-v2/default.px4board

@@ -61,6 +61,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y

boards/mro/ctrl-zero-classic/default.px4board

@@ -66,6 +66,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/mro/ctrl-zero-f7-oem/default.px4board

@@ -65,6 +65,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/mro/ctrl-zero-f7/default.px4board

@@ -65,6 +65,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/mro/ctrl-zero-h7-oem/default.px4board

@@ -62,6 +62,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/mro/ctrl-zero-h7/default.px4board

@@ -63,6 +63,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/mro/pixracerpro/default.px4board

@@ -63,6 +63,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/mro/x21-777/default.px4board

@@ -66,6 +66,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y

boards/mro/x21/default.px4board

@@ -67,6 +67,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/nxp/fmuk66-e/default.px4board

@@ -68,6 +68,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/nxp/fmuk66-v3/default.px4board

@@ -69,6 +69,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/nxp/mr-canhubk3/fmu.px4board

@@ -52,6 +52,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y

boards/nxp/mr-canhubk3/sysview.px4board

@@ -39,6 +39,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y

boards/nxp/mr-canhubk3/zenoh.px4board

@@ -43,6 +43,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_MODULES_ZENOH=y

boards/nxp/tropic-community/default.px4board

@@ -25,6 +25,7 @@ CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM350=y
 CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
@@ -71,6 +72,7 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y