[DO NOT MERGE] test param save from HPWORK

.ci/Jenkinsfile-compile

@@ -9,10 +9,10 @@ pipeline {
         script {
           def build_nodes = [:]
           def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2021-04-29",
+            armhf: "px4io/px4-dev-armhf:2021-02-04",
-            arm64: "px4io/px4-dev-aarch64:2021-04-29",
+            arm64: "px4io/px4-dev-aarch64:2021-02-04",
-            base: "px4io/px4-dev-base-bionic:2021-04-29",
+            base: "px4io/px4-dev-base-bionic:2021-02-04",
-            nuttx: "px4io/px4-dev-nuttx-focal:2021-04-29",
+            nuttx: "px4io/px4-dev-nuttx-focal:2021-02-04",
             snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
           ]
 
@@ -46,7 +46,9 @@ pipeline {
                      "cuav_can-gps-v1_default",
                      "cuav_nora_default",
                      "cuav_x7pro_default",
+                     "cubepilot_cubeorange_console",
                      "cubepilot_cubeorange_default",
+                     "cubepilot_cubeyellow_console",
                      "cubepilot_cubeyellow_default",
                      "holybro_can-gps-v1_canbootloader",
                      "holybro_can-gps-v1_default",
@@ -54,7 +56,6 @@ pipeline {
                      "holybro_kakutef7_default",
                      "holybro_pix32v5_default",
                      "modalai_fc-v1_default",
-                     "modalai_fc-v1_rtps",
                      "mro_ctrl-zero-f7_default",
                      "mro_ctrl-zero-f7-oem_default",
                      "mro_ctrl-zero-h7_default",
@@ -76,6 +77,7 @@ pipeline {
                      "px4_fmu-v2_fixedwing",
                      "px4_fmu-v2_multicopter",
                      "px4_fmu-v2_rover",
+                     "px4_fmu-v2_test",
                      "px4_fmu-v3_default",
                      "px4_fmu-v4_cannode",
                      "px4_fmu-v4_default",
@@ -94,6 +96,7 @@ pipeline {
                      "px4_fmu-v5x_base_phy_DP83848C",
                      "px4_fmu-v5x_default",
                      "px4_fmu-v6u_default",
+                     "px4_fmu-v6u_test",
                      "px4_fmu-v6x_default",
                      "px4_io-v2_default",
                      "spracing_h7extreme_default",
@@ -130,7 +133,7 @@ pipeline {
     // TODO: actually upload artifacts to S3
     // stage('S3 Upload') {
     //   agent {
-    //     docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
+    //     docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
     //   }
     //   options {
     //         skipDefaultCheckout()

.ci/Jenkinsfile-hardware

@@ -7,12 +7,12 @@ pipeline {
 
       parallel {
 
-        stage("cubepilot_cubeorange_test") {
+        stage("cubepilot_cubeorange_console") {
           stages {
-            stage("build cubepilot_cubeorange_test") {
+            stage("build cubepilot_cubeorange_console") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -22,10 +22,10 @@ pipeline {
                 sh 'make distclean'
                 sh 'ccache -s'
                 sh 'git fetch --tags'
-                sh 'make cubepilot_cubeorange_test'
+                sh 'make cubepilot_cubeorange_console'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cubepilot_cubeorange_console'
               }
               post {
                 always {
@@ -42,9 +42,9 @@ pipeline {
                   steps {
                     sh 'export'
                     sh 'find /dev/serial'
-                    unstash 'cubepilot_cubeorange_test'
+                    unstash 'cubepilot_cubeorange_console'
                     // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_console/cubepilot_cubeorange_console.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
@@ -52,12 +52,12 @@ pipeline {
                     // configure
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/cubepilot_io-v2_default.bin" || true' // force px4io update
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                   }
                 }
                 stage("status") {
@@ -84,12 +84,12 @@ pipeline {
           }
         }
 
-        stage("cuav_x7pro_test") {
+        stage("cuav_x7pro_default") {
           stages {
-            stage("build cuav_x7pro_test") {
+            stage("build cuav_x7pro_default") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -99,10 +99,10 @@ pipeline {
                 sh 'make distclean'
                 sh 'ccache -s'
                 sh 'git fetch --tags'
-                sh 'make cuav_x7pro_test'
+                sh 'make cuav_x7pro_default'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cuav_x7pro_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cuav_x7pro_default'
               }
               post {
                 always {
@@ -119,21 +119,21 @@ pipeline {
                   steps {
                     sh 'export'
                     sh 'find /dev/serial'
-                    unstash 'cuav_x7pro_test'
+                    unstash 'cuav_x7pro_default'
                     // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_default/cuav_x7pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
                   steps {
                     // configure
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                   }
                 }
                 stage("status") {
@@ -160,12 +160,64 @@ pipeline {
           }
         }
 
-        stage("px4_fmu-v3_test") {
+        // stage("px4_fmu-v2_test") {
+        //   stages {
+        //     stage("build px4_fmu-v2_test") {
+        //       agent {
+        //         docker {
+        //           image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+        //           args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+        //         }
+        //       }
+        //       steps {
+        //         sh 'export'
+        //         sh 'make distclean'
+        //         sh 'ccache -s'
+        //         sh 'git fetch --tags'
+        //         sh 'make px4_fmu-v2_test'
+        //         sh 'make sizes'
+        //         sh 'ccache -s'
+        //         stash includes: 'build/px4_fmu-v2_test/px4_fmu-v2_test.elf', name: 'px4_fmu-v2_test'
+        //       }
+        //       post {
+        //         always {
+        //             sh 'make distclean'
+        //         }
+        //       }
+        //     } // stage build
+        //     stage("test") {
+        //       agent {
+        //         label 'px4_fmu-v2'
+        //       }
+        //       stages {
+        //         stage("flash") {
+        //           steps {
+        //             sh 'export'
+        //             sh 'find /dev/serial'
+        //             unstash 'px4_fmu-v2_test'
+        //             // flash board and watch bootup
+        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+        //           }
+        //         }
+        //         stage("reset") {
+        //           steps {
+        //             cleanupFTDI();
+        //           }
+        //         }
+        //       }
+        //       options {
+        //         timeout(time: 90, unit: 'MINUTES')
+        //       }
+        //     }
+        //   }
+        // }
+
+        stage("px4_fmu-v3_default") {
           stages {
-            stage("build px4_fmu-v3_test") {
+            stage("build px4_fmu-v3_default") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -175,10 +227,10 @@ pipeline {
                 sh 'make distclean'
                 sh 'ccache -s'
                 sh 'git fetch --tags'
-                sh 'make px4_fmu-v3_test'
+                sh 'make px4_fmu-v3_default'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v3_default'
               }
               post {
                 always {
@@ -195,21 +247,21 @@ pipeline {
                   steps {
                     sh 'export'
                     sh 'find /dev/serial'
-                    unstash 'px4_fmu-v3_test'
+                    unstash 'px4_fmu-v3_default'
                     // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_default/px4_fmu-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
                   steps {
                     // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"'   // generic vtol standard
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                   }
                 }
                 stage("status") {
@@ -236,12 +288,12 @@ pipeline {
           }
         }
 
-        stage("px4_fmu-v4_test") {
+        stage("px4_fmu-v4_default") {
           stages {
-            stage("build px4_fmu-v4_test") {
+            stage("build px4_fmu-v4_default") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -251,10 +303,10 @@ pipeline {
                 sh 'make distclean'
                 sh 'ccache -s'
                 sh 'git fetch --tags'
-                sh 'make px4_fmu-v4_test'
+                sh 'make px4_fmu-v4_default'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4_default'
               }
               post {
                 always {
@@ -271,21 +323,20 @@ pipeline {
                   steps {
                     sh 'export'
                     sh 'find /dev/serial'
-                    unstash 'px4_fmu-v4_test'
+                    unstash 'px4_fmu-v4_default'
                     // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_default/px4_fmu-v4_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
                   steps {
                     // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                   }
                 }
                 stage("status") {
@@ -312,12 +363,12 @@ pipeline {
           }
         }
 
-        stage("px4_fmu-v4pro_test") {
+        stage("px4_fmu-v4pro_default") {
           stages {
-            stage("build px4_fmu-v4pro_test") {
+            stage("build px4_fmu-v4pro_default") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -327,10 +378,10 @@ pipeline {
                 sh 'make distclean'
                 sh 'ccache -s'
                 sh 'git fetch --tags'
-                sh 'make px4_fmu-v4pro_test'
+                sh 'make px4_fmu-v4pro_default'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4pro_default'
               }
               post {
                 always {
@@ -347,21 +398,21 @@ pipeline {
                   steps {
                     sh 'export'
                     sh 'find /dev/serial'
-                    unstash 'px4_fmu-v4pro_test'
+                    unstash 'px4_fmu-v4pro_default'
                     // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
                   steps {
                     // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"'   // generic vtol standard
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                   }
                 }
                 stage("status") {
@@ -388,12 +439,12 @@ pipeline {
           }
         }
 
-        stage("px4_fmu-v5_test") {
+        stage("px4_fmu-v5_default") {
           stages {
-            stage("build px4_fmu-v5_test") {
+            stage("build px4_fmu-v5_default") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -403,10 +454,10 @@ pipeline {
                 sh 'make distclean'
                 sh 'ccache -s'
                 sh 'git fetch --tags'
-                sh 'make px4_fmu-v5_test'
+                sh 'make px4_fmu-v5_default'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_default'
               }
               post {
                 always {
@@ -423,21 +474,21 @@ pipeline {
                   steps {
                     sh 'export'
                     sh 'find /dev/serial'
-                    unstash 'px4_fmu-v5_test'
+                    unstash 'px4_fmu-v5_default'
                     // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_default/px4_fmu-v5_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
                   steps {
                     // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                   }
                 }
                 stage("status") {
@@ -469,7 +520,7 @@ pipeline {
             stage("build px4_fmu-v5_debug") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -510,14 +561,13 @@ pipeline {
                 stage("configure") {
                   steps {
                     // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'   // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"'  // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'   // generic multicopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                 // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                   }
                 }
                 stage("status") {
@@ -549,7 +599,7 @@ pipeline {
             stage("build px4_fmu-v5_optimized") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -587,13 +637,12 @@ pipeline {
                 stage("configure") {
                   steps {
                     // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                   }
                 }
                 stage("status") {
@@ -625,7 +674,7 @@ pipeline {
             stage("build px4_fmu-v5_stackcheck") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -666,14 +715,13 @@ pipeline {
                 stage("configure") {
                   steps {
                     // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'   // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"'  // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0"'        // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0"'       // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'   // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                 // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                   }
                 }
                 stage("status") {
@@ -700,12 +748,12 @@ pipeline {
           }
         }
 
-        stage("modalai_fc-v1_test") {
+        stage("modalai_fc-v1_default") {
           stages {
-            stage("build modalai_fc-v1_test") {
+            stage("build modalai_fc-v1_default") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -715,10 +763,10 @@ pipeline {
                 sh 'make distclean'
                 sh 'ccache -s'
                 sh 'git fetch --tags'
-                sh 'make modalai_fc-v1_test'
+                sh 'make modalai_fc-v1_default'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_default'
               }
               post {
                 always {
@@ -735,21 +783,20 @@ pipeline {
                   steps {
                     sh 'export'
                     sh 'find /dev/serial'
-                    unstash 'modalai_fc-v1_test'
+                    unstash 'modalai_fc-v1_default'
                     // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_default/modalai_fc-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
                   steps {
                     // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'  // generic vtol standardulticopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                   }
                 }
                 stage("status") {
@@ -776,12 +823,12 @@ pipeline {
           }
         }
 
-        stage("holybro_durandal-v1_test") {
+        stage("holybro_durandal-v1_default") {
           stages {
-            stage("build holybro_durandal-v1_test") {
+            stage("build holybro_durandal-v1_default") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -791,10 +838,10 @@ pipeline {
                 sh 'make distclean'
                 sh 'ccache -s'
                 sh 'git fetch --tags'
-                sh 'make holybro_durandal-v1_test'
+                sh 'make holybro_durandal-v1_default'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'holybro_durandal-v1_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'holybro_durandal-v1_default'
               }
               post {
                 always {
@@ -811,21 +858,24 @@ pipeline {
                   steps {
                     sh 'export'
                     sh 'find /dev/serial'
-                    unstash 'holybro_durandal-v1_test'
+                    unstash 'holybro_durandal-v1_default'
                     // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_test/holybro_durandal-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
                   steps {
                     // configure
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set DSHOT_CONFIG 600"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 4000"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_USE_IO 0"'          // for dshot
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                   }
                 }
                 stage("status") {
@@ -853,12 +903,12 @@ pipeline {
           }
         }
 
-        stage("nxp_fmuk66-v3_test") {
+        stage("nxp_fmuk66-v3_default") {
           stages {
-            stage("build nxp_fmuk66-v3_test") {
+            stage("build nxp_fmuk66-v3_default") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -868,10 +918,10 @@ pipeline {
                 sh 'make distclean'
                 sh 'ccache -s'
                 sh 'git fetch --tags'
-                sh 'make nxp_fmuk66-v3_test'
+                sh 'make nxp_fmuk66-v3_default'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_default'
               }
               post {
                 always {
@@ -888,21 +938,20 @@ pipeline {
                   steps {
                     sh 'export'
                     sh 'find /dev/serial'
-                    unstash 'nxp_fmuk66-v3_test'
+                    unstash 'nxp_fmuk66-v3_default'
                     // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
                   steps {
                     // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                   }
                 }
                 stage("status") {
@@ -978,7 +1027,6 @@ void statusFTDI() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gps"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag"'
@@ -990,7 +1038,6 @@ void statusFTDI() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_gps_position"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position"'

.devcontainer/devcontainer.json

@@ -2,7 +2,7 @@
 // https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
 {
 	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2021-04-29",
+	"image": "px4io/px4-dev-nuttx-focal:2021-02-04",
 
 	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
 

.github/workflows/checks.yml

@@ -28,7 +28,7 @@ jobs:
           "parameters_metadata",
         ]
     container:
-      image: ghcr.io/px4/px4-dev:2021-05-06
+      image: px4io/px4-dev-nuttx-focal:2021-02-04
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1

.github/workflows/clang-tidy.yml

@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2021-04-29
+    container: px4io/px4-dev-clang:2021-02-04
     steps:
     - uses: actions/checkout@v1
       with:

.github/workflows/compile_linux.yml

@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2021-04-29
+    container: px4io/px4-dev-armhf:2021-02-04
     strategy:
       matrix:
         config: [

.github/workflows/compile_linux_arm64.yml

@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2021-04-29
+    container: px4io/px4-dev-aarch64:2021-02-04
     strategy:
       matrix:
         config: [

.github/workflows/compile_nuttx.yml

@@ -4,7 +4,6 @@ on:
   push:
     branches:
     - 'master'
-    - 'github-actions'
   pull_request:
     branches:
     - '*'
@@ -12,39 +11,34 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: ghcr.io/px4/px4-dev:2021-05-06
+    container: px4io/px4-dev-nuttx-focal:2021-02-04
     strategy:
       matrix:
         config: [
           airmind_mindpx-v2_default,
           ark_can-flow_canbootloader,
-          ark_can-flow_debug,
           ark_can-flow_default,
           av_x-v1_default,
           bitcraze_crazyflie21_default,
           bitcraze_crazyflie_default,
           cuav_can-gps-v1_canbootloader,
-          cuav_can-gps-v1_debug,
           cuav_can-gps-v1_default,
           cuav_nora_default,
           cuav_x7pro_default,
+          cubepilot_cubeorange_console,
           cubepilot_cubeorange_default,
-          cubepilot_cubeorange_test,
+          cubepilot_cubeyellow_console,
           cubepilot_cubeyellow_default,
-          cubepilot_cubeyellow_test,
-          cubepilot_io-v2_default,
           holybro_can-gps-v1_canbootloader,
-          holybro_can-gps-v1_debug,
           holybro_can-gps-v1_default,
           holybro_durandal-v1_default,
           holybro_kakutef7_default,
           holybro_pix32v5_default,
           modalai_fc-v1_default,
-          modalai_fc-v1_rtps,
-          mro_ctrl-zero-f7-oem_default,
           mro_ctrl-zero-f7_default,
-          mro_ctrl-zero-h7-oem_default,
+          mro_ctrl-zero-f7-oem_default,
           mro_ctrl-zero-h7_default,
+          mro_ctrl-zero-h7-oem_default,
           mro_pixracerpro_default,
           mro_x21-777_default,
           mro_x21_default,
@@ -55,31 +49,31 @@ jobs:
           nxp_fmuk66-v3_rtps,
           nxp_fmuk66-v3_socketcan,
           nxp_fmurt1062-v1_default,
-          nxp_ucans32k146_canbootloader,
           nxp_ucans32k146_default,
+          nxp_ucans32k146_canbootloader,
           omnibus_f4sd_default,
           px4_fmu-v2_default,
           px4_fmu-v2_fixedwing,
           px4_fmu-v2_multicopter,
           px4_fmu-v2_rover,
+          px4_fmu-v2_test,
           px4_fmu-v3_default,
           px4_fmu-v4_cannode,
           px4_fmu-v4_default,
           px4_fmu-v4pro_default,
           px4_fmu-v5_ctrlalloc,
-          px4_fmu-v5_debug,
           px4_fmu-v5_default,
           px4_fmu-v5_fixedwing,
           px4_fmu-v5_multicopter,
           px4_fmu-v5_optimized,
           px4_fmu-v5_rover,
           px4_fmu-v5_rtps,
-          px4_fmu-v5_stackcheck,
           px4_fmu-v5_uavcanv0periph,
           px4_fmu-v5_uavcanv1,
           px4_fmu-v5x_base_phy_DP83848C,
           px4_fmu-v5x_default,
           px4_fmu-v6u_default,
+          px4_fmu-v6u_test,
           px4_fmu-v6x_default,
           px4_io-v2_default,
           spracing_h7extreme_default,
@@ -124,8 +118,6 @@ jobs:
       run: make ${{matrix.config}} bloaty_symbols || true
     - name: make ${{matrix.config}} bloaty_templates
       run: make ${{matrix.config}} bloaty_templates || true
-    - name: make ${{matrix.config}} bloaty_ram
-      run: make ${{matrix.config}} bloaty_ram || true
     - name: make ${{matrix.config}} bloaty_compare_master
       run: make ${{matrix.config}} bloaty_compare_master || true
     - name: ccache post-run

.github/workflows/compile_nuttx_cannode.yml

@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: ghcr.io/px4/px4-dev:2021-05-06
+    container: px4io/px4-dev-nuttx-focal:2021-02-04
     strategy:
       matrix:
         config: [

.github/workflows/container.yml

@@ -1,31 +0,0 @@
-name: Build and publish Docker image
-
-on:
-  push:
-    branches:
-    - 'master'
-    - 'github-actions'
-
-jobs:
-  docker:
-    runs-on: ubuntu-latest
-    steps:
-      - name: Login to GitHub Container Registry
-        uses: docker/login-action@v1
-        with:
-          registry: ghcr.io
-          username: ${{ github.repository_owner }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Build and push
-        uses: docker/build-push-action@v2
-        with:
-          context: .
-          platforms: linux/amd64
-          push: true
-          tags: |
-            px4/px4-dev:latest
-            ghcr.io/px4/px4-dev:latest
-
-      - name: Image digest
-        run: echo ${{ steps.docker_build.outputs.digest }}

.github/workflows/deploy_all.yml

@@ -23,7 +23,7 @@ jobs:
     needs: enumerate_targets
     strategy:
       matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
-    container: px4io/px4-dev-${{ matrix.container }}:2021-04-29
+    container: px4io/px4-dev-${{ matrix.container }}:2021-02-04
     steps:
     - uses: actions/checkout@v1
       with:

.github/workflows/mavros_avoidance_tests.yml

@@ -0,0 +1,131 @@
+name: MAVROS Avoidance Tests
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - {test_file: "mavros_posix_test_avoidance.test",    vehicle: "iris_obs_avoid", mission: "avoidance",       build_type: "RelWithDebInfo"}
+          - {test_file: "mavros_posix_test_safe_landing.test", vehicle: "iris_obs_avoid", mission: "MC_safe_landing", build_type: "RelWithDebInfo"}
+
+    container:
+      image: px4io/px4-dev-ros-melodic:2021-02-04
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: check environment
+      run: |
+          export
+          ulimit -a
+    - name: Build PX4 and sitl_gazebo
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        ccache -z
+        make px4_sitl_default
+        make px4_sitl_default sitl_gazebo
+        ccache -s
+
+    - name: Core dump settings
+      run: |
+          ulimit -c unlimited
+          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+
+    - name: Run SITL tests
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        export
+        ./test/rostest_avoidance_run.sh ${{matrix.config.test_file}} mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}} || true
+
+    - name: Look at core files
+      if: failure()
+      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+    - name: Upload px4 coredump
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: coredump
+        path: px4.core
+
+    # - name: ecl EKF analysis
+    #   if: always()
+    #   run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg
+
+    - name: Upload logs to flight review
+      if: always()
+      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
+
+    - name: Upload px4 binary
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: binary
+        path: build/px4_sitl_default/bin/px4
+
+    - name: Store PX4 log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: px4_log
+        path: ~/.ros/log/*/*.ulg
+
+    - name: Store ROS log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: ros_log
+        path: ~/.ros/**/rostest-*.log
+
+    # Report test coverage
+    - name: Upload coverage
+      if: contains(matrix.config.build_type, 'Coverage')
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+          mkdir -p coverage
+          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+    - name: Upload coverage information to Codecov
+      if: contains(matrix.config.build_type, 'Coverage')
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: mavros_avoidance
+        file: coverage/lcov.info

.github/workflows/mavros_mission_tests.yml

@@ -25,7 +25,7 @@ jobs:
           #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
 
     container:
-      image: px4io/px4-dev-ros-melodic:2021-04-29
+      image: px4io/px4-dev-ros-melodic:2021-02-04
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1

.github/workflows/mavros_offboard_tests.yml

@@ -20,7 +20,7 @@ jobs:
           #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
 
     container:
-      image: px4io/px4-dev-ros-melodic:2021-04-29
+      image: px4io/px4-dev-ros-melodic:2021-02-04
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1

.github/workflows/metadata.yml

@@ -11,7 +11,7 @@ jobs:
 
   airframe:
     runs-on: ubuntu-latest
-    container: ghcr.io/px4/px4-dev:2021-05-06
+    container: px4io/px4-dev-base-focal:2021-02-04
     steps:
     - uses: actions/checkout@v1
       with:
@@ -26,7 +26,7 @@ jobs:
 
   module:
     runs-on: ubuntu-latest
-    container: ghcr.io/px4/px4-dev:2021-05-06
+    container: px4io/px4-dev-base-focal:2021-02-04
     steps:
     - uses: actions/checkout@v1
       with:
@@ -41,7 +41,7 @@ jobs:
 
   parameter:
     runs-on: ubuntu-latest
-    container: ghcr.io/px4/px4-dev:2021-05-06
+    container: px4io/px4-dev-base-focal:2021-02-04
     steps:
     - uses: actions/checkout@v1
       with:
@@ -65,7 +65,7 @@ jobs:
 
   uorb_graph:
     runs-on: ubuntu-latest
-    container: ghcr.io/px4/px4-dev:2021-05-06
+    container: px4io/px4-dev-nuttx-focal:2021-02-04
     steps:
     - uses: actions/checkout@v1
       with:
@@ -80,7 +80,7 @@ jobs:
 
   micrortps_agent:
     runs-on: ubuntu-latest
-    container: ghcr.io/px4/px4-dev:2021-05-06
+    container: px4io/px4-dev-base-focal:2021-02-04
     steps:
     - uses: actions/checkout@v1
       with:
@@ -94,7 +94,7 @@ jobs:
 
   ROS_msgs:
     runs-on: ubuntu-latest
-    container: ghcr.io/px4/px4-dev:2021-05-06
+    container: px4io/px4-dev-base-focal:2021-02-04
     steps:
     - uses: actions/checkout@v1
       with:
@@ -107,7 +107,7 @@ jobs:
 
   ROS2_bridge:
     runs-on: ubuntu-latest
-    container: ghcr.io/px4/px4-dev:2021-05-06
+    container: px4io/px4-dev-base-focal:2021-02-04
     steps:
     - uses: actions/checkout@v1
       with:

.github/workflows/sitl_tests.yml

@@ -20,7 +20,7 @@ jobs:
           - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo", model: "tailsitter"    } # Florida
           - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",       model: "standard_vtol" } # Zurich
     container:
-      image: px4io/px4-dev-simulation-focal:2021-04-29
+      image: px4io/px4-dev-simulation-focal:2021-02-04
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1
@@ -28,9 +28,9 @@ jobs:
         token: ${{ secrets.ACCESS_TOKEN }}
 
     - name: Download MAVSDK
-      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.36.0/mavsdk_0.36.0_ubuntu20.04_amd64.deb
     - name: Install MAVSDK
-      run: dpkg -i "mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+      run: dpkg -i mavsdk_0.36.0_ubuntu20.04_amd64.deb
 
     - name: Prepare ccache timestamp
       id: ccache_cache_timestamp

.gitmodules

@@ -33,7 +33,7 @@
 [submodule "src/modules/micrortps_bridge/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
 	url = https://github.com/PX4/Micro-CDR.git
-	branch = master
+	branch = px4
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
@@ -59,11 +59,7 @@
 	url = https://github.com/UAVCAN/public_regulated_data_types.git
 [submodule "src/drivers/uavcannode_gps_demo/public_regulated_data_types"]
 	path = src/drivers/uavcannode_gps_demo/public_regulated_data_types
-	url = https://github.com/UAVCAN/public_regulated_data_types.git
+	url = https://github.com/UAVCAN/public_regulated_data_types
 [submodule "src/drivers/uavcannode_gps_demo/libcanard"]
 	path = src/drivers/uavcannode_gps_demo/libcanard
-	url = https://github.com/UAVCAN/libcanard.git
+	url = https://github.com/UAVCAN/libcanard
-[submodule "src/drivers/uavcan_v1/legacy_data_types"]
-	path = src/drivers/uavcan_v1/legacy_data_types
-	url = https://github.com/px4/public_regulated_data_types/
-	branch = legacy

.vscode/cmake-variants.yaml

@@ -96,26 +96,21 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: cuav_x7pro_default
-    cubepilot_cubeorange_test:
+    cubepilot_cubeorange_default:
       short: cubepilot_cubeorange
       buildType: MinSizeRel
       settings:
-        CONFIG: cubepilot_orange_test
+        CONFIG: cubepilot_orange_default
+    cubepilot_cubeyellow_default:
+      short: cubepilot_cubeyellow
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cubepilot_cubeyellow_default
     emlid_navio2_default:
       short: emlid_navio2
       buildType: MinSizeRel
       settings:
         CONFIG: emlid_navio2_default
-    holybro_can-gps-v1_canbootloader:
-      short: holybro_can-gps-v1_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: holybro_can-gps-v1_canbootloader
-    holybro_can-gps-v1_default:
-      short: holybro_can-gps-v1_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: holybro_can-gps-v1_default
     holybro_durandal-v1_default:
       short: holybro_durandal-v1
       buildType: MinSizeRel

CMakeLists.txt

@@ -185,8 +185,6 @@ if((CMAKE_BUILD_TYPE STREQUAL "Debug") OR (CMAKE_BUILD_TYPE STREQUAL "Coverage")
 	set(MAX_CUSTOM_OPT_LEVEL -O0)
 elseif(CMAKE_BUILD_TYPE MATCHES "Sanitizer")
 	set(MAX_CUSTOM_OPT_LEVEL -O1)
-elseif(CMAKE_BUILD_TYPE MATCHES "Release")
-	set(MAX_CUSTOM_OPT_LEVEL -O3)
 else()
 	if(px4_constrained_flash_build)
 		set(MAX_CUSTOM_OPT_LEVEL -Os)

Dockerfile

@@ -1,29 +0,0 @@
-#
-# PX4 development environment
-#
-
-FROM ubuntu:20.04
-LABEL maintainer="Daniel Agar <daniel@agar.ca>"
-
-COPY Tools/setup/ubuntu.sh /tmp/ubuntu.sh
-COPY Tools/setup/requirements.txt /tmp/requirements.txt
-RUN DEBIAN_FRONTEND=noninteractive /tmp/ubuntu.sh --no-sim-tools \
-	&& apt-get -y autoremove \
-	&& apt-get clean autoclean \
-	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
-
-# create user with id 1001 (jenkins docker workflow default)
-RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout user
-
-ENV CCACHE_UMASK=000
-ENV PATH="/usr/lib/ccache:$PATH"
-
-# SITL UDP PORTS
-EXPOSE 14556/udp
-EXPOSE 14557/udp
-
-# create and start as LOCAL_USER_ID
-COPY Tools/setup/entrypoint.sh /usr/local/bin/entrypoint.sh
-ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
-
-CMD ["/bin/bash"]

Jenkinsfile

@@ -15,7 +15,7 @@ pipeline {
         // stage('Catkin build on ROS workspace') {
         //   agent {
         //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2021-04-29'
+        //       image 'px4io/px4-dev-ros-melodic:2021-02-04'
         //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
         //     }
         //   }
@@ -56,7 +56,7 @@ pipeline {
         stage('Colcon build on ROS2 workspace') {
           agent {
             docker {
-              image 'px4io/px4-dev-ros2-foxy:2021-04-29'
+              image 'px4io/px4-dev-ros2-foxy:2021-02-04'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
             }
           }
@@ -85,11 +85,10 @@ pipeline {
 
         stage('Airframe') {
           agent {
-            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
           }
           steps {
             sh 'make distclean'
-            sh 'git fetch --all --tags'
             sh 'make airframe_metadata'
             dir('build/px4_sitl_default/docs') {
               archiveArtifacts(artifacts: 'airframes.md, airframes.xml')
@@ -105,15 +104,14 @@ pipeline {
 
         stage('Parameter') {
           agent {
-            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
           }
           steps {
             sh 'make distclean'
-            sh 'git fetch --all --tags'
             sh 'make parameters_metadata'
             dir('build/px4_sitl_default/docs') {
-              archiveArtifacts(artifacts: 'parameters.md, parameters.xml, parameters.json.xz')
+              archiveArtifacts(artifacts: 'parameters.md, parameters.xml, params.json.xz')
-              stash includes: 'parameters.md, parameters.xml, parameters.json.xz', name: 'metadata_parameters'
+              stash includes: 'parameters.md, parameters.xml, params.json.xz', name: 'metadata_parameters'
             }
           }
           post {
@@ -125,11 +123,10 @@ pipeline {
 
         stage('Module') {
           agent {
-            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
           }
           steps {
             sh 'make distclean'
-            sh 'git fetch --all --tags'
             sh 'make module_documentation'
             dir('build/px4_sitl_default/docs') {
               archiveArtifacts(artifacts: 'modules/*.md')
@@ -146,14 +143,13 @@ pipeline {
         stage('uORB graphs') {
           agent {
             docker {
-              image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+              image 'px4io/px4-dev-nuttx-focal:2021-02-04'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
           steps {
             sh 'export'
             sh 'make distclean'
-            sh 'git fetch --all --tags'
             sh 'make uorb_graphs'
             dir('Tools/uorb_graph') {
               archiveArtifacts(artifacts: 'graph_px4_sitl.json')
@@ -176,7 +172,7 @@ pipeline {
 
         stage('Userguide') {
           agent {
-            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
           }
           steps {
             sh('export')
@@ -206,7 +202,7 @@ pipeline {
 
         stage('QGroundControl') {
           agent {
-            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
           }
           steps {
             sh('export')
@@ -234,7 +230,7 @@ pipeline {
 
         stage('microRTPS agent') {
           agent {
-            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
           }
           steps {
             sh('export')
@@ -264,7 +260,7 @@ pipeline {
 
         stage('PX4 ROS msgs') {
           agent {
-            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
           }
           steps {
             sh('export')
@@ -293,7 +289,7 @@ pipeline {
 
         stage('PX4 ROS2 bridge') {
           agent {
-            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
           }
           steps {
             sh('export')
@@ -336,7 +332,7 @@ pipeline {
 
         stage('S3') {
           agent {
-            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
           }
           steps {
             sh('export')
@@ -346,7 +342,7 @@ pipeline {
             withAWS(credentials: 'px4_aws_s3_key', region: 'us-east-1') {
               s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'airframes.xml', path: 'Firmware/master/')
               s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.xml', path: 'Firmware/master/')
-              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.json.xz', path: 'Firmware/master/')
+              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'params.json.xz', path: 'Firmware/master/')
             }
           }
           when {

Makefile

@@ -303,7 +303,7 @@ check_%:
 	@echo
 
 uorb_graphs:
-	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib --file Tools/uorb_graph/graph_full
+	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --file Tools/uorb_graph/graph_full
 	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
 	@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
 	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
@@ -469,7 +469,6 @@ validate_module_configs:
 
 clean:
 	@rm -rf "$(SRC_DIR)"/build
-	@git submodule foreach git clean -df
 
 submodulesclean:
 	@git submodule foreach --quiet --recursive git clean -ff -x -d
@@ -487,7 +486,7 @@ gazeboclean:
 
 distclean: gazeboclean
 	@git submodule deinit -f .
-	@git clean -ff -x -d -e ".cproject" -e ".idea" -e ".project" -e ".settings" -e ".vscode"
+	@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode"
 
 # Help / Error
 # --------------------------------------------------------------------

README.md

@@ -17,7 +17,7 @@ PX4 is highly portable, OS-independent and supports Linux, NuttX and QuRT out of
   * [VTOL](https://docs.px4.io/master/en/frames_vtol/)
   * [Autogyro](https://docs.px4.io/master/en/frames_autogyro/)
   * [Rover](https://docs.px4.io/master/en/frames_rover/)
-  * many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
+  * many more experimental types (Blimps, Boats, Submarines, Autogyros, etc)
 * Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
 
 
@@ -85,24 +85,23 @@ See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and
 This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.
 
 ### Pixhawk Standard Boards
-  * FMUv6X and FMUv6U (STM32H7, 2021)
+  * FMUv2
-    * Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
+    * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
-  * FMUv5 and FMUv5X (STM32F7, 2019/20)
+    * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
-    * [Pixhawk 4 (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
+  * FMUv3
-    * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
-    * [CUAV V5+ (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
-    * [CUAV V5 nano (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
-    * [Auterion Skynode (FMUv5X)](https://docs.px4.io/master/en/flight_controller/auterion_skynode.html)
-  * FMUv4 (STM32F4, 2015)
-    * [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
-    * [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
-  * FMUv3 (STM32F4, 2014)
     * [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
     * [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
     * [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
-  * FMUv2 (STM32F4, 2013)
+  * FMUv4 (STM32F4)
-    * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
+    * [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
-    * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
+    * [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
+  * FMUv5 (STM32F7)
+    * [Pixhawk 4](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
+    * [Pixhawk 4 mini](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
+    * [CUAV V5+](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
+    * [CUAV V5 nano](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
+  * FMUv6X and FMUv6U (STM32H7)
+    * Various vendors will provide FMUv6X and FMUv6U based designs Q2/2021
 
 ### Manufacturer and Community supported
   * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)

ROMFS/cannode/init.d/rcS

@@ -76,6 +76,15 @@ unset BOARD_RC_DEFAULTS
 #
 rgbled start -X -q
 rgbled_ncp5623c start -X -q
+rgbled_pwm start
+
+if param greater -s LIGHT_EN_BLINKM 0
+then
+	if blinkm start -X
+	then
+		blinkm systemstate
+	fi
+fi
 
 #
 # board sensors: rc.sensors

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

@@ -34,9 +34,6 @@
 add_subdirectory(airframes)
 
 px4_add_romfs_files(
-	px4-rc.params
-	px4-rc.simulator
-	px4-rc.mavlink
 	rc.replay
 	rcS
 )

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

@@ -10,39 +10,43 @@
 . ${R}etc/init.d/rc.mc_defaults
 . ${R}etc/init.d/rc.ctrlalloc
 
-param set-default MPC_USE_HTE 0
+if [ $AUTOCNF = yes ]
+then
+	param set MPC_USE_HTE 0
 
-param set-default VM_MASS 1.5
+	param set VM_MASS 1.5
-param set-default VM_INERTIA_XX 0.03
+	param set VM_INERTIA_XX 0.03
-param set-default VM_INERTIA_YY 0.03
+	param set VM_INERTIA_YY 0.03
-param set-default VM_INERTIA_ZZ 0.05
+	param set VM_INERTIA_ZZ 0.05
 
-param set-default CA_AIRFRAME 0
+	param set CA_AIRFRAME 0
-param set-default CA_METHOD 1
+	param set CA_METHOD 1
-param set-default CA_ACT0_MIN 0.0
+	param set CA_ACT0_MIN 0.0
-param set-default CA_ACT1_MIN 0.0
+	param set CA_ACT1_MIN 0.0
-param set-default CA_ACT2_MIN 0.0
+	param set CA_ACT2_MIN 0.0
-param set-default CA_ACT3_MIN 0.0
+	param set CA_ACT3_MIN 0.0
-param set-default CA_ACT0_MAX 1.0
+	param set CA_ACT0_MAX 1.0
-param set-default CA_ACT1_MAX 1.0
+	param set CA_ACT1_MAX 1.0
-param set-default CA_ACT2_MAX 1.0
+	param set CA_ACT2_MAX 1.0
-param set-default CA_ACT3_MAX 1.0
+	param set CA_ACT3_MAX 1.0
 
-param set-default CA_MC_R0_PX 0.1515
+	param set CA_MC_R0_PX 0.1515
-param set-default CA_MC_R0_PY 0.245
+	param set CA_MC_R0_PY 0.245
-param set-default CA_MC_R0_CT 6.5
+	param set CA_MC_R0_CT 6.5
-param set-default CA_MC_R0_KM 0.05
+	param set CA_MC_R0_KM 0.05
-param set-default CA_MC_R1_PX -0.1515
+	param set CA_MC_R1_PX -0.1515
-param set-default CA_MC_R1_PY -0.1875
+	param set CA_MC_R1_PY -0.1875
-param set-default CA_MC_R1_CT 6.5
+	param set CA_MC_R1_CT 6.5
-param set-default CA_MC_R1_KM 0.05
+	param set CA_MC_R1_KM 0.05
-param set-default CA_MC_R2_PX 0.1515
+	param set CA_MC_R2_PX 0.1515
-param set-default CA_MC_R2_PY -0.245
+	param set CA_MC_R2_PY -0.245
-param set-default CA_MC_R2_CT 6.5
+	param set CA_MC_R2_CT 6.5
-param set-default CA_MC_R2_KM -0.05
+	param set CA_MC_R2_KM -0.05
-param set-default CA_MC_R3_PX -0.1515
+	param set CA_MC_R3_PX -0.1515
-param set-default CA_MC_R3_PY 0.1875
+	param set CA_MC_R3_PY 0.1875
-param set-default CA_MC_R3_CT 6.5
+	param set CA_MC_R3_CT 6.5
-param set-default CA_MC_R3_KM -0.05
+	param set CA_MC_R3_KM -0.05
+
+fi
 
 set MIXER direct

ROMFS/px4fmu_common/init.d-posix/airframes/10018_iris_foggy_lidar

@@ -7,6 +7,8 @@
 
 . ${R}etc/init.d-posix/airframes/10016_iris
 
-param set-default EKF2_RNG_AID 1
+if [ $AUTOCNF = yes ]
-param set-default EKF2_RNG_A_HMAX 10
+then
-
+	param set EKF2_RNG_AID 1
+	param set EKF2_RNG_A_HMAX 10
+fi

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

@@ -8,12 +8,15 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-# EKF2: Multi GPS blending (as the model has 2 GPS's)
+if [ $AUTOCNF = yes ]
-param set-default SENS_GPS_MASK 7
+then
-param set-default TRIG_INTERFACE 3
+	# EKF2: Multi GPS blending (as the model has 2 GPS's)
-param set-default TRIG_MODE 4
+	param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
-param set-default MNT_MODE_IN 4
+	param set TRIG_INTERFACE 3
-param set-default MNT_MODE_OUT 2
+	param set TRIG_MODE 4
-param set-default MNT_DO_STAB 2
+	param set MNT_MODE_IN 4
+	param set MNT_MODE_OUT 2
+	param set MNT_DO_STAB 2
+fi
 
 set MIXER quad_x

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

@@ -7,14 +7,16 @@
 
 . ${R}etc/init.d-posix/airframes/10016_iris
 
-# EKF2
+if [ $AUTOCNF = yes ]
-param set-default EKF2_AID_MASK 2
+then
-param set-default EKF2_EVP_NOISE 0.05
+	# EKF2
-param set-default EKF2_EVA_NOISE 0.05
+	param set EKF2_AID_MASK 2
+	param set EKF2_EVP_NOISE 0.05
+	param set EKF2_EVA_NOISE 0.05
 
-# LPE: Flow-only mode
+	# LPE: Flow-only mode
-param set-default LPE_FUSION 242
+	param set LPE_FUSION 242
-param set-default LPE_FAKE_ORIGIN 1
+	param set LPE_FAKE_ORIGIN 1
-
-param set-default MPC_ALT_MODE 2
 
+	param set MPC_ALT_MODE 2
+fi

ROMFS/px4fmu_common/init.d-posix/airframes/1011_iris_irlock

@@ -7,9 +7,12 @@
 
 . ${R}etc/init.d-posix/airframes/10016_iris
 
-# enable fusion of landing target velocity
+if [ $AUTOCNF = yes ]
-param set-default LTEST_MODE 1
+then
-param set-default PLD_HACC_RAD 0.1
+	# enable fusion of landing target velocity
+	param set LTEST_MODE 1
+	param set PLD_HACC_RAD 0.1
+fi
 
 # Start up Landing Target Estimator module
 landing_target_estimator start

ROMFS/px4fmu_common/init.d-posix/airframes/1012_iris_rplidar

@@ -7,5 +7,7 @@
 
 . ${R}etc/init.d-posix/airframes/10016_iris
 
-param set-default LPE_FUSION 242
+if [ $AUTOCNF = yes ]
-
+then
+	param set LPE_FUSION 242
+fi

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

@@ -7,13 +7,15 @@
 
 . ${R}etc/init.d-posix/airframes/10016_iris
 
-# EKF2: Vision position and heading
+if [ $AUTOCNF = yes ]
-param set-default EKF2_AID_MASK 24
+then
-param set-default EKF2_EV_DELAY 5
+	# EKF2: Vision position and heading
+	param set EKF2_AID_MASK 24
+	param set EKF2_EV_DELAY 5
 
-# LPE: Vision + baro
+	# LPE: Vision + baro
-param set-default LPE_FUSION 132
+	param set LPE_FUSION 132
-
-# AEQ: External heading set to use vision input
-param set-default ATT_EXT_HDG_M 1
 
+	# AEQ: External heading set to use vision input
+	param set ATT_EXT_HDG_M 1
+fi

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

@@ -7,7 +7,10 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-param set-default MC_PITCHRATE_P 0.1
+if [ $AUTOCNF = yes ]
-param set-default MC_ROLLRATE_P 0.1
+then
+	param set MC_PITCHRATE_P 0.1
+	param set MC_ROLLRATE_P 0.1
+fi
 
 set MIXER quad_x

ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid

@@ -7,6 +7,8 @@
 
 . ${R}etc/init.d-posix/airframes/10016_iris
 
-param set-default COM_OBS_AVOID 1
+if [ $AUTOCNF = yes ]
-param set-default MPC_XY_CRUISE 5.0
+then
-
+	param set COM_OBS_AVOID 1
+	param set MPC_XY_CRUISE 5.0
+fi

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

@@ -7,12 +7,15 @@
 
 . ${R}etc/init.d-posix/airframes/10016_iris
 
-# EKF2
+if [ $AUTOCNF = yes ]
-param set-default EKF2_AID_MASK 2
+then
-param set-default SENS_FLOW_ROT 0
+	# EKF2
+	param set EKF2_AID_MASK 2
+	param set SENS_FLOW_ROT 0
 
-# LPE: Flow-only mode
+	# LPE: Flow-only mode
-param set-default LPE_FUSION 242
+	param set LPE_FUSION 242
-param set-default LPE_FAKE_ORIGIN 1
+	param set LPE_FAKE_ORIGIN 1
 
-param set-default MPC_ALT_MODE 2
+	param set MPC_ALT_MODE 2
+fi

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

@@ -7,6 +7,9 @@
 
 . ${R}etc/init.d-posix/airframes/10016_iris
 
-# EKF2: Vision velocity and heading
+if [ $AUTOCNF = yes ]
-param set-default EKF2_AID_MASK 272
+then
-param set-default EKF2_EV_DELAY 5
+	# EKF2: Vision velocity and heading
+	param set EKF2_AID_MASK 272
+	param set EKF2_EV_DELAY 5
+fi

ROMFS/px4fmu_common/init.d-posix/airframes/1019_iris_dual_gps

@@ -7,5 +7,8 @@
 
 . ${R}etc/init.d-posix/airframes/10016_iris
 
-# EKF2: Multi GPS blending
+if [ $AUTOCNF = yes ]
-param set-default SENS_GPS_MASK 7
+then
+	# EKF2: Multi GPS blending
+	param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
+fi

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

@@ -5,13 +5,16 @@
 
 . ${R}etc/init.d/rc.uuv_defaults
 
-#Set data link loss failsafe mode (0: disabled)
+if [ $AUTOCNF = yes ]
-param set-default NAV_DLL_ACT 0
+then
+	#Set data link loss failsafe mode (0: disabled)
+	param set NAV_DLL_ACT 0
 
-# disable circuit breaker for airspeed sensor
+	# disable circuit breaker for airspeed sensor
-param set-default CBRK_AIRSPD_CHK 162128
+	param set CBRK_AIRSPD_CHK 162128
 
-#param set CBRK_GPSFAIL 240024
+	#param set CBRK_GPSFAIL 240024
+fi
 
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}

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

@@ -5,13 +5,16 @@
 
 . ${R}etc/init.d/rc.uuv_defaults
 
-#Set data link loss failsafe mode (0: disabled)
+if [ $AUTOCNF = yes ]
-param set-default NAV_DLL_ACT 0
+then
+	#Set data link loss failsafe mode (0: disabled)
+	param set NAV_DLL_ACT 0
 
-# disable circuit breaker for airspeed sensor
+	# disable circuit breaker for airspeed sensor
-param set-default CBRK_AIRSPD_CHK 162128
+	param set CBRK_AIRSPD_CHK 162128
 
-#param set CBRK_GPSFAIL 240024
+	#param set CBRK_GPSFAIL 240024
+fi
 
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}

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

@@ -5,11 +5,15 @@
 
 . ${R}etc/init.d/rc.uuv_defaults
 
-#Set data link loss failsafe mode (0: disabled)
+if [ $AUTOCNF = yes ]
-param set-default NAV_DLL_ACT 0
+then
+	#Set data link loss failsafe mode (0: disabled)
+	param set NAV_DLL_ACT 0
 
-# disable circuit breaker for airspeed sensor
+	# disable circuit breaker for airspeed sensor
-param set-default CBRK_AIRSPD_CHK 162128
+	param set CBRK_AIRSPD_CHK 162128
+
+fi
 
 set PWM_OUT 12345678
 set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix

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

@@ -5,50 +5,54 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default EKF2_ARSP_THR 8
+if [ $AUTOCNF = yes ]
-param set-default EKF2_FUSE_BETA 1
+then
-param set-default EKF2_MAG_ACCLIM 0
+	param set EKF2_ARSP_THR 8
-param set-default EKF2_MAG_YAWLIM 0
+	param set EKF2_FUSE_BETA 1
+	param set EKF2_MAG_ACCLIM 0
+	param set EKF2_MAG_YAWLIM 0
 
-param set-default FW_LND_AIRSPD_SC 1
+	param set FW_LND_AIRSPD_SC 1
-param set-default FW_LND_ANG 8
+	param set FW_LND_ANG 8
-param set-default FW_THR_LND_MAX 0
+	param set FW_THR_LND_MAX 0
 
-param set-default FW_L1_PERIOD 12
+	param set FW_L1_PERIOD 12
 
-param set-default FW_MAN_P_MAX 30
+	param set FW_MAN_P_MAX 30
 
-param set-default FW_PR_I 0.4
+	param set FW_PR_I 0.4
-param set-default FW_PR_P 0.9
+	param set FW_PR_P 0.9
-param set-default FW_PR_FF 0.2
+	param set FW_PR_FF 0.2
-param set-default FW_PSP_OFF 2
+	param set FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
+	param set FW_P_LIM_MAX 32
-param set-default FW_P_LIM_MIN -15
+	param set FW_P_LIM_MIN -15
 
-param set-default FW_RR_FF 0.1
+	param set FW_RR_FF 0.1
-param set-default FW_RR_P 0.3
+	param set FW_RR_P 0.3
 
-param set-default FW_THR_MAX 0.6
+	param set FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
+	param set FW_THR_MIN 0.05
-param set-default FW_THR_CRUISE 0.25
+	param set FW_THR_CRUISE 0.25
 
-param set-default FW_T_ALT_TC 2
+	param set FW_T_ALT_TC 2
-param set-default FW_T_CLMB_MAX 8
+	param set FW_T_CLMB_MAX 8
-param set-default FW_T_HRATE_FF 0.5
+	param set FW_T_HRATE_FF 0.5
-param set-default FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
+	param set FW_T_SINK_MIN 2.2
-param set-default FW_T_TAS_TC 2
+	param set FW_T_TAS_TC 2
 
-param set-default FW_W_EN 1
+	param set FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
+	param set MIS_LTRMIN_ALT 30
-param set-default MIS_TAKEOFF_ALT 30
+	param set MIS_TAKEOFF_ALT 30
 
-param set-default NAV_ACC_RAD 15
+	param set NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
+	param set NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 50
+	param set NAV_LOITER_RAD 50
 
-param set-default RWTO_TKOFF 1
+	param set RWTO_TKOFF 1
+
+fi
 
 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1031_plane_cam

@@ -5,8 +5,10 @@
 
 . ${R}etc/init.d-posix/airframes/1030_plane
 
-# Camera trigger interface is MAVLink
+if [ $AUTOCNF = yes ]
-param set-default TRIG_INTERFACE 3
+then
-
+	# Camera trigger interface is MAVLink
-# Distance trigger mode enabled
+	param set TRIG_INTERFACE 3
-param set-default TRIG_MODE 4
+	# Distance trigger mode enabled
+	param set TRIG_MODE 4
+fi

ROMFS/px4fmu_common/init.d-posix/airframes/1032_plane_catapult

@@ -5,5 +5,8 @@
 
 . ${R}etc/init.d-posix/airframes/1030_plane
 
-param set-default RWTO_TKOFF 0
+if [ $AUTOCNF = yes ]
+then
+	param set RWTO_TKOFF 0
 
+fi

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

@@ -5,5 +5,8 @@
 
 . ${R}etc/init.d-posix/airframes/1030_plane
 
-param set-default FW_LND_USETER 1
+if [ $AUTOCNF = yes ]
+then
+	param set FW_LND_USETER 1
 
+fi

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

@@ -5,55 +5,54 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default EKF2_ARSP_THR 8
+if [ $AUTOCNF = yes ]
-param set-default EKF2_FUSE_BETA 1
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	#param set EKF2_MAG_ACCLIM 0
+	#param set EKF2_MAG_YAWLIM 0
 
-param set-default FW_LND_AIRSPD_SC 1.1
+	param set FW_LND_AIRSPD_SC 1.1
-param set-default FW_LND_ANG 5
+	param set FW_LND_ANG 5
-param set-default FW_THR_LND_MAX 0
+	param set FW_THR_LND_MAX 0
-param set-default FW_LND_HHDIST 30
+	param set FW_LND_HHDIST 30
-param set-default FW_LND_FL_PMIN 9.5
+	param set FW_LND_FL_PMIN 9.5
-param set-default FW_LND_FL_PMAX 20
+	param set FW_LND_FL_PMAX 20
-param set-default FW_LND_FLALT 5
+	param set FW_LND_FLALT 5
-param set-default FW_LND_TLALT 15
+	param set FW_LND_TLALT 15
 
-param set-default FW_L1_PERIOD 25
+	param set FW_L1_PERIOD 25
 
-param set-default FW_P_TC 0.4
+	param set FW_P_TC 0.4
-param set-default FW_PR_FF 0.40
+	param set FW_PR_FF 0.40
-param set-default FW_PR_I 0.05
+	param set FW_PR_I 0.05
-param set-default FW_PR_P 0.05
+	param set FW_PR_P 0.05
 
-param set-default FW_R_TC 0.45
+	param set FW_R_TC 0.45
-param set-default FW_RR_FF 0.40
+	param set FW_RR_FF 0.40
-param set-default FW_RR_I 0.132
+	param set FW_RR_I 0.132
-param set-default FW_RR_P 0.085
+	param set FW_RR_P 0.085
 
-param set-default FW_W_EN 1
+	param set FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
+	param set MIS_LTRMIN_ALT 30
-param set-default MIS_TAKEOFF_ALT 20
+	param set MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500
+	param set MIS_DIST_1WP 2500
-param set-default MIS_DIST_WPS 10000
+	param set MIS_DIST_WPS 10000
 
-param set-default NAV_ACC_RAD 15
+	param set NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
+	param set NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 50
+	param set NAV_LOITER_RAD 50
 
-param set-default RWTO_TKOFF 1
+	param set RWTO_TKOFF 1
-
+	#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
-# fix takeoff failure for JSBsim in autonomous mission mode.
+	param set RWTO_MAX_PITCH 20
-#param set FW_THR_SLEW_MAX 0.3
+	param set RWTO_MAX_ROLL 10
-
+	#param set RWTO_MAX_THR 0.6		# fix takeoff failure for JSBsim in autonomous mission mode.
-param set-default RWTO_MAX_PITCH 20
+	param set RWTO_PSP 8
-param set-default RWTO_MAX_ROLL 10
+	param set RWTO_AIRSPD_SCL 1.8
-
-# fix takeoff failure for JSBsim in autonomous mission mode.
-#param set-default RWTO_MAX_THR 0.6
-
-param set-default RWTO_PSP 8
-param set-default RWTO_AIRSPD_SCL 1.8
 
+fi
 
 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom

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

@@ -5,54 +5,54 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default EKF2_ARSP_THR 8
+if [ $AUTOCNF = yes ]
-param set-default EKF2_FUSE_BETA 1
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	#param set EKF2_MAG_ACCLIM 0
+	#param set EKF2_MAG_YAWLIM 0
 
-param set-default FW_LND_AIRSPD_SC 1.1
+	param set FW_LND_AIRSPD_SC 1.1
-param set-default FW_LND_ANG 5
+	param set FW_LND_ANG 5
-param set-default FW_THR_LND_MAX 0
+	param set FW_THR_LND_MAX 0
-param set-default FW_LND_HHDIST 30
+	param set FW_LND_HHDIST 30
-param set-default FW_LND_FL_PMIN 9.5
+	param set FW_LND_FL_PMIN 9.5
-param set-default FW_LND_FL_PMAX 20
+	param set FW_LND_FL_PMAX 20
-param set-default FW_LND_FLALT 5
+	param set FW_LND_FLALT 5
-param set-default FW_LND_TLALT 15
+	param set FW_LND_TLALT 15
 
-param set-default FW_L1_PERIOD 25
+	param set FW_L1_PERIOD 25
 
-param set-default FW_P_TC 0.4
+	param set FW_P_TC 0.4
-param set-default FW_PR_FF 0.40
+	param set FW_PR_FF 0.40
-param set-default FW_PR_I 0.05
+	param set FW_PR_I 0.05
-param set-default FW_PR_P 0.05
+	param set FW_PR_P 0.05
 
-param set-default FW_R_TC 0.45
+	param set FW_R_TC 0.45
-param set-default FW_RR_FF 0.40
+	param set FW_RR_FF 0.40
-param set-default FW_RR_I 0.132
+	param set FW_RR_I 0.132
-param set-default FW_RR_P 0.085
+	param set FW_RR_P 0.085
 
-param set-default FW_W_EN 1
+	param set FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
+	param set MIS_LTRMIN_ALT 30
-param set-default MIS_TAKEOFF_ALT 20
+	param set MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500
+	param set MIS_DIST_1WP 2500
-param set-default MIS_DIST_WPS 10000
+	param set MIS_DIST_WPS 10000
 
-param set-default NAV_ACC_RAD 15
+	param set NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
+	param set NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 50
+	param set NAV_LOITER_RAD 50
 
-param set-default RWTO_TKOFF 1
+	param set RWTO_TKOFF 1
+	#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
+	param set RWTO_MAX_PITCH 20
+	param set RWTO_MAX_ROLL 10
+	#param set RWTO_MAX_THR 0.6		# fix takeoff failure for JSBsim in autonomous mission mode.
+	param set RWTO_PSP 8
+	param set RWTO_AIRSPD_SCL 1.8
 
-# fix takeoff failure for JSBsim in autonomous mission mode.
+fi
-#param set FW_THR_SLEW_MAX 0.3
-
-param set-default RWTO_MAX_PITCH 20
-param set-default RWTO_MAX_ROLL 10
-
-# fix takeoff failure for JSBsim in autonomous mission mode.
-#param set RWTO_MAX_THR 0.6
-
-param set-default RWTO_PSP 8
-param set-default RWTO_AIRSPD_SCL 1.8
 
 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom

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

@@ -5,39 +5,43 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default EKF2_ARSP_THR 8
+if [ $AUTOCNF = yes ]
-param set-default EKF2_FUSE_BETA 1
+then
-param set-default EKF2_MAG_ACCLIM 0
+	param set EKF2_ARSP_THR 8
-param set-default EKF2_MAG_YAWLIM 0
+	param set EKF2_FUSE_BETA 1
+	param set EKF2_MAG_ACCLIM 0
+	param set EKF2_MAG_YAWLIM 0
 
-param set-default FW_LND_AIRSPD_SC 1
+	param set FW_LND_AIRSPD_SC 1
-param set-default FW_LND_ANG 8
+	param set FW_LND_ANG 8
-param set-default FW_THR_LND_MAX 0
+	param set FW_THR_LND_MAX 0
 
-param set-default FW_L1_PERIOD 15
+	param set FW_L1_PERIOD 15
 
-param set-default FW_P_TC 0.5
+	param set FW_P_TC 0.5
-param set-default FW_PR_FF 0.40
+	param set FW_PR_FF 0.40
-param set-default FW_PR_I 0.05
+	param set FW_PR_I 0.05
-param set-default FW_PR_P 0.05
+	param set FW_PR_P 0.05
 
-param set-default FW_R_TC 0.7
+	param set FW_R_TC 0.7
-param set-default FW_RR_FF 0.20
+	param set FW_RR_FF 0.20
-param set-default FW_RR_I 0.02
+	param set FW_RR_I 0.02
-param set-default FW_RR_P 0.22
+	param set FW_RR_P 0.22
 
-param set-default FW_L1_PERIOD 12
+	param set FW_L1_PERIOD 12
 
-param set-default FW_W_EN 1
+	param set FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
+	param set MIS_LTRMIN_ALT 30
-param set-default MIS_TAKEOFF_ALT 30
+	param set MIS_TAKEOFF_ALT 30
 
-param set-default NAV_ACC_RAD 15
+	param set NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
+	param set NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 50
+	param set NAV_LOITER_RAD 50
 
-param set-default RWTO_TKOFF 1
+	param set RWTO_TKOFF 1
+
+fi
 
 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom

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

@@ -5,46 +5,52 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default EKF2_ARSP_THR 8
+if [ $AUTOCNF = yes ]
-param set-default EKF2_FUSE_BETA 1
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	#param set EKF2_MAG_ACCLIM 0
+	#param set EKF2_MAG_YAWLIM 0
 
-param set-default FW_LND_AIRSPD_SC 1.1
+	param set FW_LND_AIRSPD_SC 1.1
-param set-default FW_LND_ANG 5
+	param set FW_LND_ANG 5
-param set-default FW_THR_LND_MAX 0
+	param set FW_THR_LND_MAX 0
-param set-default FW_LND_HHDIST 30
+	param set FW_LND_HHDIST 30
-param set-default FW_LND_FL_PMIN 9.5
+	param set FW_LND_FL_PMIN 9.5
-param set-default FW_LND_FL_PMAX 20
+	param set FW_LND_FL_PMAX 20
-param set-default FW_LND_FLALT 5
+	param set FW_LND_FLALT 5
-param set-default FW_LND_TLALT 15
+	param set FW_LND_TLALT 15
 
-param set-default FW_L1_PERIOD 25
+	param set FW_L1_PERIOD 25
 
-param set-default FW_P_TC 0.4
+	param set FW_P_TC 0.4
-param set-default FW_PR_FF 0.40
+	param set FW_PR_FF 0.40
-param set-default FW_PR_I 0.05
+	param set FW_PR_I 0.05
-param set-default FW_PR_P 0.05
+	param set FW_PR_P 0.05
 
-param set-default FW_R_TC 0.45
+	param set FW_R_TC 0.45
-param set-default FW_RR_FF 0.40
+	param set FW_RR_FF 0.40
-param set-default FW_RR_I 0.132
+	param set FW_RR_I 0.132
-param set-default FW_RR_P 0.085
+	param set FW_RR_P 0.085
 
-param set-default FW_W_EN 1
+	param set FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
+	param set MIS_LTRMIN_ALT 30
-param set-default MIS_TAKEOFF_ALT 20
+	param set MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500
+	param set MIS_DIST_1WP 2500
-param set-default MIS_DIST_WPS 10000
+	param set MIS_DIST_WPS 10000
 
-param set-default NAV_ACC_RAD 15
+	param set NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
+	param set NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 50
+	param set NAV_LOITER_RAD 50
 
-param set-default RWTO_TKOFF 1
+	param set RWTO_TKOFF 1
-param set-default RWTO_MAX_PITCH 20
+	param set RWTO_MAX_PITCH 20
-param set-default RWTO_MAX_ROLL 10
+	param set RWTO_MAX_ROLL 10
-param set-default RWTO_PSP 8
+	param set RWTO_PSP 8
-param set-default RWTO_AIRSPD_SCL 1.8
+	param set RWTO_AIRSPD_SCL 1.8
+
+fi
 
 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom

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

@@ -7,46 +7,50 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-param set-default FW_L1_PERIOD 12
+if [ $AUTOCNF = yes ]
-param set-default FW_MAN_P_MAX 30
+then
-param set-default FW_PR_FF 0.2
+	param set FW_L1_PERIOD 12
-param set-default FW_PR_I 0.4
+	param set FW_MAN_P_MAX 30
-param set-default FW_PR_P 0.9
+	param set FW_PR_FF 0.2
-param set-default FW_PSP_OFF 2
+	param set FW_PR_I 0.4
-param set-default FW_P_LIM_MAX 32
+	param set FW_PR_P 0.9
-param set-default FW_P_LIM_MIN -15
+	param set FW_PSP_OFF 2
-param set-default FW_RR_FF 0.1
+	param set FW_P_LIM_MAX 32
-param set-default FW_RR_P 0.3
+	param set FW_P_LIM_MIN -15
-param set-default FW_THR_CRUISE 0.25
+	param set FW_RR_FF 0.1
-param set-default FW_THR_MAX 0.6
+	param set FW_RR_P 0.3
-param set-default FW_THR_MIN 0.05
+	param set FW_THR_CRUISE 0.25
-param set-default FW_T_ALT_TC 2
+	param set FW_THR_MAX 0.6
-param set-default FW_T_CLMB_MAX 8
+	param set FW_THR_MIN 0.05
-param set-default FW_T_HRATE_FF 0.5
+	param set FW_T_ALT_TC 2
-param set-default FW_T_SINK_MAX 2.7
+	param set FW_T_CLMB_MAX 8
-param set-default FW_T_SINK_MIN 2.2
+	param set FW_T_HRATE_FF 0.5
-param set-default FW_T_TAS_TC 2
+	param set FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MIN 2.2
+	param set FW_T_TAS_TC 2
 
-param set-default MC_ROLLRATE_P 0.3
+	param set MC_ROLLRATE_P 0.3
-param set-default MC_YAW_P 1.6
+	param set MC_YAW_P 1.6
 
-param set-default MIS_TAKEOFF_ALT 10
+	param set MIS_TAKEOFF_ALT 10
 
-param set-default MPC_ACC_HOR_MAX 2
+	param set MPC_ACC_HOR_MAX 2
-param set-default MPC_XY_P 0.8
+	param set MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 3
+	param set MPC_XY_VEL_P_ACC 3
-param set-default MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_D_ACC 0.1
+	param set MPC_XY_VEL_D_ACC 0.1
 
-param set-default NAV_ACC_RAD 5
+	param set NAV_ACC_RAD 5
-param set-default NAV_LOITER_RAD 80
+	param set NAV_LOITER_RAD 80
 
-param set-default VT_FWD_THRUST_EN 4
+	param set VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 0.75
+	param set VT_F_TRANS_THR 0.75
-param set-default VT_MOT_ID 1234
+	param set VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
+	param set VT_FW_MOT_OFFID 1234
-param set-default VT_B_TRANS_DUR 8
+	param set VT_B_TRANS_DUR 8
-param set-default VT_TYPE 2
+	param set VT_TYPE 2
+
+fi
 
 set MAV_TYPE 22
 

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

@@ -7,40 +7,44 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-param set-default FW_L1_PERIOD 12
+if [ $AUTOCNF = yes ]
-param set-default FW_MAN_P_MAX 30
+then
-param set-default FW_PR_I 0.2
+	param set FW_L1_PERIOD 12
-param set-default FW_PR_P 0.3
+	param set FW_MAN_P_MAX 30
-param set-default FW_PSP_OFF 2
+	param set FW_PR_I 0.2
-param set-default FW_P_LIM_MAX 32
+	param set FW_PR_P 0.3
-param set-default FW_P_LIM_MIN -15
+	param set FW_PSP_OFF 2
-param set-default FW_RR_P 0.3
+	param set FW_P_LIM_MAX 32
-param set-default FW_THR_CRUISE 0.33
+	param set FW_P_LIM_MIN -15
-param set-default FW_THR_MAX 0.6
+	param set FW_RR_P 0.3
-param set-default FW_THR_MIN 0.05
+	param set FW_THR_CRUISE 0.33
-param set-default FW_T_ALT_TC 2
+	param set FW_THR_MAX 0.6
-param set-default FW_T_CLMB_MAX 8
+	param set FW_THR_MIN 0.05
-param set-default FW_T_HRATE_FF 0.5
+	param set FW_T_ALT_TC 2
-param set-default FW_T_SINK_MAX 2.7
+	param set FW_T_CLMB_MAX 8
-param set-default FW_T_SINK_MIN 2.2
+	param set FW_T_HRATE_FF 0.5
-param set-default FW_T_TAS_TC 2
+	param set FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MIN 2.2
+	param set FW_T_TAS_TC 2
 
-param set-default MC_ROLLRATE_P 0.3
+	param set MC_ROLLRATE_P 0.3
 
-param set-default MPC_ACC_HOR_MAX 2
+	param set MPC_ACC_HOR_MAX 2
-param set-default MPC_XY_P 0.8
+	param set MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 3
+	param set MPC_XY_VEL_P_ACC 3
-param set-default MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_D_ACC 0.1
+	param set MPC_XY_VEL_D_ACC 0.1
 
-param set-default NAV_ACC_RAD 5
+	param set NAV_ACC_RAD 5
-param set-default NAV_LOITER_RAD 80
+	param set NAV_LOITER_RAD 80
 
-param set-default VT_F_TRANS_DUR 1.5
+	param set VT_F_TRANS_DUR 1.5
-param set-default VT_F_TRANS_THR 0.7
+	param set VT_F_TRANS_THR 0.7
-param set-default VT_TYPE 0
+	param set VT_TYPE 0
 
-param set-default WV_EN 0
+	param set WV_EN 0
+
+fi
 
 set MAV_TYPE 20
 

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

@@ -7,44 +7,48 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-param set-default FW_L1_PERIOD 12
+if [ $AUTOCNF = yes ]
-param set-default FW_MAN_P_MAX 30
+then
-param set-default FW_PR_FF 0.2
+	param set FW_L1_PERIOD 12
-param set-default FW_PR_I 0.4
+	param set FW_MAN_P_MAX 30
-param set-default FW_PR_P 0.9
+	param set FW_PR_FF 0.2
-param set-default FW_PSP_OFF 2
+	param set FW_PR_I 0.4
-param set-default FW_P_LIM_MAX 32
+	param set FW_PR_P 0.9
-param set-default FW_P_LIM_MIN -15
+	param set FW_PSP_OFF 2
-param set-default FW_RR_FF 0.1
+	param set FW_P_LIM_MAX 32
-param set-default FW_RR_P 0.3
+	param set FW_P_LIM_MIN -15
-param set-default FW_THR_CRUISE 0.38
+	param set FW_RR_FF 0.1
-param set-default FW_THR_MAX 0.6
+	param set FW_RR_P 0.3
-param set-default FW_THR_MIN 0.05
+	param set FW_THR_CRUISE 0.38
-param set-default FW_T_ALT_TC 2
+	param set FW_THR_MAX 0.6
-param set-default FW_T_CLMB_MAX 8
+	param set FW_THR_MIN 0.05
-param set-default FW_T_HRATE_FF 0.5
+	param set FW_T_ALT_TC 2
-param set-default FW_T_SINK_MAX 2.7
+	param set FW_T_CLMB_MAX 8
-param set-default FW_T_SINK_MIN 2.2
+	param set FW_T_HRATE_FF 0.5
-param set-default FW_T_TAS_TC 2
+	param set FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MIN 2.2
+	param set FW_T_TAS_TC 2
 
-param set-default MC_YAW_P 1.6
+	param set MC_YAW_P 1.6
 
-param set-default MIS_TAKEOFF_ALT 10
+	param set MIS_TAKEOFF_ALT 10
 
-param set-default MPC_ACC_HOR_MAX 2
+	param set MPC_ACC_HOR_MAX 2
-param set-default MPC_XY_P 0.8
+	param set MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 3
+	param set MPC_XY_VEL_P_ACC 3
-param set-default MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_D_ACC 0.1
+	param set MPC_XY_VEL_D_ACC 0.1
 
-param set-default NAV_ACC_RAD 5
+	param set NAV_ACC_RAD 5
-param set-default NAV_LOITER_RAD 80
+	param set NAV_LOITER_RAD 80
 
-param set-default VT_B_TRANS_DUR 8
+	param set VT_B_TRANS_DUR 8
-param set-default VT_FWD_THRUST_EN 4
+	param set VT_FWD_THRUST_EN 4
-param set-default VT_MOT_ID 1234
+	param set VT_MOT_ID 1234
-param set-default VT_TILT_TRANS 0.6
+	param set VT_TILT_TRANS 0.6
-param set-default VT_TYPE 1
+	param set VT_TYPE 1
+
+fi
 
 set MAV_TYPE 21
 

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

@@ -7,50 +7,53 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-param set-default FW_L1_PERIOD 12
+if [ $AUTOCNF = yes ]
-param set-default FW_MAN_P_MAX 30
+then
-param set-default FW_PR_FF 0.2
+	param set FW_L1_PERIOD 12
-param set-default FW_PR_I 0.4
+	param set FW_MAN_P_MAX 30
-param set-default FW_PR_P 0.9
+	param set FW_PR_FF 0.2
-param set-default FW_PSP_OFF 2
+	param set FW_PR_I 0.4
-param set-default FW_P_LIM_MAX 32
+	param set FW_PR_P 0.9
-param set-default FW_P_LIM_MIN -15
+	param set FW_PSP_OFF 2
-param set-default FW_RR_FF 0.1
+	param set FW_P_LIM_MAX 32
-param set-default FW_RR_P 0.3
+	param set FW_P_LIM_MIN -15
-param set-default FW_THR_CRUISE 0.25
+	param set FW_RR_FF 0.1
-param set-default FW_THR_MAX 0.6
+	param set FW_RR_P 0.3
-param set-default FW_THR_MIN 0.05
+	param set FW_THR_CRUISE 0.25
-param set-default FW_T_ALT_TC 2
+	param set FW_THR_MAX 0.6
-param set-default FW_T_CLMB_MAX 8
+	param set FW_THR_MIN 0.05
-param set-default FW_T_HRATE_FF 0.5
+	param set FW_T_ALT_TC 2
-param set-default FW_T_SINK_MAX 2.7
+	param set FW_T_CLMB_MAX 8
-param set-default FW_T_SINK_MIN 2.2
+	param set FW_T_HRATE_FF 0.5
-param set-default FW_T_TAS_TC 2
+	param set FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MIN 2.2
+	param set FW_T_TAS_TC 2
 
-param set-default MC_ROLLRATE_P 0.3
+	param set MC_ROLLRATE_P 0.3
-param set-default MC_YAW_P 1.6
+	param set MC_YAW_P 1.6
 
-param set-default MIS_TAKEOFF_ALT 10
+	param set MIS_TAKEOFF_ALT 10
 
-param set-default MPC_ACC_HOR_MAX 2
+	param set MPC_ACC_HOR_MAX 2
-param set-default MPC_XY_P 0.8
+	param set MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 3
+	param set MPC_XY_VEL_P_ACC 3
-param set-default MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_D_ACC 0.1
+	param set MPC_XY_VEL_D_ACC 0.1
 
-param set-default NAV_ACC_RAD 5
+	param set NAV_ACC_RAD 5
-param set-default NAV_LOITER_RAD 80
+	param set NAV_LOITER_RAD 80
 
-param set-default VT_FWD_THRUST_EN 4
+	param set VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 0.75
+	param set VT_F_TRANS_THR 0.75
-param set-default VT_MOT_ID 1234
+	param set VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
+	param set VT_FW_MOT_OFFID 1234
-param set-default VT_B_TRANS_DUR 8
+	param set VT_B_TRANS_DUR 8
-param set-default VT_TYPE 2
+	param set VT_TYPE 2
 
-param set-default RC_MAP_AUX1 8
+	param set RC_MAP_AUX1 8
-param set-default RC_MAP_AUX2 9
+	param set RC_MAP_AUX2 9
-param set-default RC_MAP_AUX3 10
+	param set RC_MAP_AUX3 10
+fi
 
 set MAV_TYPE 22
 

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

@@ -5,28 +5,32 @@
 
 . ${R}etc/init.d/rc.rover_defaults
 
-param set-default GND_L1_DIST 5
+if [ $AUTOCNF = yes ]
-param set-default GND_L1_PERIOD 10
+then
-param set-default GND_SP_CTRL_MODE 1
+	param set GND_L1_DIST 5
-param set-default GND_SPEED_D 0.001
+	param set GND_L1_PERIOD 10
-param set-default GND_SPEED_I 3
+	param set GND_SP_CTRL_MODE 1
-param set-default GND_SPEED_IMAX 0.125
+	param set GND_SPEED_D 0.001
-param set-default GND_SPEED_P 0.25
+	param set GND_SPEED_I 3
-param set-default GND_SPEED_THR_SC 1
+	param set GND_SPEED_IMAX 0.125
-param set-default GND_SPEED_TRIM 4
+	param set GND_SPEED_P 0.25
-param set-default GND_THR_CRUISE 0.3
+	param set GND_SPEED_THR_SC 1
-param set-default GND_THR_MAX 0.5
+	param set GND_SPEED_TRIM 4
-param set-default GND_THR_MIN 0
+	param set GND_THR_CRUISE 0.3
+	param set GND_THR_MAX 0.5
+	param set GND_THR_MIN 0
 
-param set-default MIS_LTRMIN_ALT 0.01
+	param set MIS_LTRMIN_ALT 0.01
-param set-default MIS_TAKEOFF_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
-param set-default NAV_ACC_RAD 0.5
+	param set NAV_ACC_RAD 0.5
-param set-default NAV_LOITER_RAD 2
+	param set NAV_LOITER_RAD 2
 
-param set-default CBRK_AIRSPD_CHK 162128
+	param set CBRK_AIRSPD_CHK 162128
 
-param set-default GND_MAX_ANG 0.6
+	param set GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 2.0
+	param set GND_WHEEL_BASE 2.0
+
+fi
 
 set MAV_TYPE 10
 

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

@@ -6,27 +6,31 @@
 
 . ${R}etc/init.d/rc.rover_defaults
 
-param set-default GND_L1_DIST 5
+if [ $AUTOCNF = yes ]
-param set-default GND_SP_CTRL_MODE 1
+then
-param set-default GND_SPEED_D 3
+	param set GND_L1_DIST 5
-param set-default GND_SPEED_I 0.001
+	param set GND_SP_CTRL_MODE 1
-param set-default GND_SPEED_IMAX 0.125
+	param set GND_SPEED_D 3
-param set-default GND_SPEED_P 0.25
+	param set GND_SPEED_I 0.001
-param set-default GND_SPEED_THR_SC 1
+	param set GND_SPEED_IMAX 0.125
-param set-default GND_SPEED_TRIM 4
+	param set GND_SPEED_P 0.25
-param set-default GND_THR_CRUISE 0.3
+	param set GND_SPEED_THR_SC 1
-param set-default GND_THR_MAX 0.5
+	param set GND_SPEED_TRIM 4
-param set-default GND_THR_MIN 0
+	param set GND_THR_CRUISE 0.3
+	param set GND_THR_MAX 0.5
+	param set GND_THR_MIN 0
 
-param set-default MIS_LTRMIN_ALT 0.01
+	param set MIS_LTRMIN_ALT 0.01
-param set-default MIS_TAKEOFF_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
-param set-default NAV_ACC_RAD 0.5
+	param set NAV_ACC_RAD 0.5
-param set-default NAV_LOITER_RAD 2
+	param set NAV_LOITER_RAD 2
 
-param set-default CBRK_AIRSPD_CHK 162128
+	param set CBRK_AIRSPD_CHK 162128
 
-param set-default GND_MAX_ANG 0.6
+	param set GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 2.0
+	param set GND_WHEEL_BASE 2.0
+
+fi
 
 set MAV_TYPE 10
 

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

@@ -10,28 +10,32 @@
 
 . ${R}etc/init.d/rc.rover_defaults
 
-param set-default GND_L1_DIST 5
+if [ $AUTOCNF = yes ]
-param set-default GND_SP_CTRL_MODE 1
+then
-param set-default GND_SPEED_D 3
+	param set GND_L1_DIST 5
-param set-default GND_SPEED_I 0.001
+	param set GND_SP_CTRL_MODE 1
-param set-default GND_SPEED_IMAX 0.125
+	param set GND_SPEED_D 3
-param set-default GND_SPEED_P 0.25
+	param set GND_SPEED_I 0.001
-param set-default GND_SPEED_THR_SC 1
+	param set GND_SPEED_IMAX 0.125
-param set-default GND_SPEED_TRIM 15
+	param set GND_SPEED_P 0.25
-param set-default GND_SPEED_MAX 25
+	param set GND_SPEED_THR_SC 1
-param set-default GND_THR_CRUISE 0.3
+	param set GND_SPEED_TRIM 15
-param set-default GND_THR_MAX 0.5
+	param set GND_SPEED_MAX 25
-param set-default GND_THR_MIN 0
+	param set GND_THR_CRUISE 0.3
+	param set GND_THR_MAX 0.5
+	param set GND_THR_MIN 0
 
-param set-default MIS_LTRMIN_ALT 0.01
+	param set MIS_LTRMIN_ALT 0.01
-param set-default MIS_TAKEOFF_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
-param set-default NAV_ACC_RAD 0.5
+	param set NAV_ACC_RAD 0.5
-param set-default NAV_LOITER_RAD 2
+	param set NAV_LOITER_RAD 2
 
-param set-default CBRK_AIRSPD_CHK 162128
+	param set CBRK_AIRSPD_CHK 162128
 
-param set-default GND_MAX_ANG 0.6
+	param set GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 3.0
+	param set GND_WHEEL_BASE 3.0
+
+fi
 
 set MAV_TYPE 10
 

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

@@ -5,28 +5,32 @@
 
 . ${R}etc/init.d/rc.boat_defaults
 
-param set-default GND_L1_DIST 5
+if [ $AUTOCNF = yes ]
-param set-default GND_L1_PERIOD 100
+then
-param set-default GND_SP_CTRL_MODE 1
+	param set GND_L1_DIST 5
-param set-default GND_SPEED_D 0.001
+	param set GND_L1_PERIOD 100
-param set-default GND_SPEED_I 8
+	param set GND_SP_CTRL_MODE 1
-param set-default GND_SPEED_IMAX 0.125
+	param set GND_SPEED_D 0.001
-param set-default GND_SPEED_P 2
+	param set GND_SPEED_I 8
-param set-default GND_SPEED_THR_SC 1
+	param set GND_SPEED_IMAX 0.125
-param set-default GND_SPEED_TRIM 1
+	param set GND_SPEED_P 2
-param set-default GND_THR_CRUISE 0.85
+	param set GND_SPEED_THR_SC 1
-param set-default GND_THR_MAX 1
+	param set GND_SPEED_TRIM 1
-param set-default GND_THR_MIN 0
+	param set GND_THR_CRUISE 0.85
+	param set GND_THR_MAX 1
+	param set GND_THR_MIN 0
 
-param set-default MIS_LTRMIN_ALT 0.01
+	param set MIS_LTRMIN_ALT 0.01
-param set-default MIS_TAKEOFF_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
-param set-default NAV_ACC_RAD 0.5
+	param set NAV_ACC_RAD 0.5
-param set-default NAV_LOITER_RAD 2
+	param set NAV_LOITER_RAD 2
 
-param set-default CBRK_AIRSPD_CHK 162128
+	param set CBRK_AIRSPD_CHK 162128
 
-param set-default GND_MAX_ANG 0.6
+	param set GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 2.0
+	param set GND_WHEEL_BASE 2.0
+
+fi
 
 set MAV_TYPE 11
 

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

@@ -12,47 +12,52 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default EKF2_ARSP_THR 8
+if [ $AUTOCNF = yes ]
-param set-default EKF2_FUSE_BETA 1
+then
-param set-default ASPD_STALL 10.0
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	param set ASPD_STALL 10.0
 
-param set-default FW_P_RMAX_NEG 20.0
+	param set FW_P_RMAX_NEG 20.0
-param set-default FW_P_RMAX_POS 60.0
+	param set FW_P_RMAX_POS 60.0
-param set-default FW_W_RMAX 10
+	param set FW_W_RMAX 10
-param set-default FW_W_EN 1
+	param set FW_W_EN 1
 
-param set-default FW_PR_IMAX 0.4
+	param set FW_PR_IMAX 0.4
-param set-default FW_R_TC 0.4
+	param set FW_R_TC 0.4
-param set-default FW_RR_FF 0.5
+	param set FW_RR_FF 0.5
-param set-default FW_RR_I 0.1
+	param set FW_RR_I 0.1
-param set-default FW_RR_IMAX 0.2
+	param set FW_RR_IMAX 0.2
-param set-default FW_RR_P 0.08
+	param set FW_RR_P 0.08
 
-param set-default MIS_LTRMIN_ALT 50
+	param set MIS_LTRMIN_ALT 50
-param set-default MIS_TAKEOFF_ALT 3
+	param set MIS_TAKEOFF_ALT 3
 
-param set-default NAV_ACC_RAD 20
+	param set NAV_ACC_RAD 20
-param set-default NAV_DLL_ACT 2
+	param set NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 100
+	param set NAV_LOITER_RAD 100
 
-param set-default RWTO_TKOFF 1
+	param set RWTO_TKOFF 1
 
-param set-default FW_ARSP_SCALE_EN 0
+	param set FW_ARSP_SCALE_EN 0
 
-param set-default FW_AIRSPD_MAX 35
+	param set FW_AIRSPD_MAX 35
-param set-default FW_AIRSPD_MIN 7
+	param set FW_AIRSPD_MIN 7
-param set-default FW_AIRSPD_TRIM 15
+	param set FW_AIRSPD_TRIM 15
 
-param set-default FW_P_LIM_MAX 25
+	param set FW_P_LIM_MAX 25
-param set-default FW_P_LIM_MIN -5
+	param set FW_P_LIM_MIN -5
-param set-default FW_R_LIM 30
+	param set FW_R_LIM 30
 
-param set-default FW_MAN_P_MAX 30.0
+	param set FW_MAN_P_MAX 30.0
-param set-default FW_MAN_R_MAX 30.0
+	param set FW_MAN_R_MAX 30.0
+
+	param set FW_THR_CRUISE 0.8
+	param set FW_THR_IDLE 0
+	param set COM_DISARM_PRFLT 0
+
+fi
 
-param set-default FW_THR_CRUISE 0.8
-param set-default FW_THR_IDLE 0
-param set-default COM_DISARM_PRFLT 0
 
 set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
 set MIXER custom

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

@@ -9,21 +9,24 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-param set-default MC_PITCHRATE_P 0.1
+if [ $AUTOCNF = yes ]
-param set-default MC_PITCHRATE_I 0.05
+then
-param set-default MC_PITCH_P 6.0
+	param set MC_PITCHRATE_P 0.1
-param set-default MC_ROLLRATE_P 0.15
+	param set MC_PITCHRATE_I 0.05
-param set-default MC_ROLLRATE_I 0.1
+	param set MC_PITCH_P 6.0
-param set-default MC_ROLL_P 6.0
+	param set MC_ROLLRATE_P 0.15
-param set-default MPC_XY_VEL_I_ACC 4
+	param set MC_ROLLRATE_I 0.1
-param set-default MPC_XY_VEL_P_ACC 3
+	param set MC_ROLL_P 6.0
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_P_ACC 3
 
-param set-default RTL_DESCEND_ALT 10
+	param set RTL_DESCEND_ALT 10
 
-param set-default TRIG_INTERFACE 3
+	param set TRIG_INTERFACE 3
-param set-default TRIG_MODE 4
+	param set TRIG_MODE 4
-param set-default MNT_MODE_IN 4
+	param set MNT_MODE_IN 4
-param set-default MNT_DO_STAB 2
+	param set MNT_DO_STAB 2
+fi
 
 set MAV_TYPE 13
 

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

@@ -7,24 +7,27 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-param set-default MC_PITCHRATE_P 0.0800
+if [ $AUTOCNF = yes ]
-param set-default MC_PITCHRATE_I 0.0400
+then
-param set-default MC_PITCHRATE_D 0.0010
+	param set MC_PITCHRATE_P 0.0800
-param set-default MC_PITCH_P 9.0
+	param set MC_PITCHRATE_I 0.0400
-param set-default MC_ROLLRATE_P 0.0800
+	param set MC_PITCHRATE_D 0.0010
-param set-default MC_ROLLRATE_I 0.0400
+	param set MC_PITCH_P 9.0
-param set-default MC_ROLLRATE_D 0.0010
+	param set MC_ROLLRATE_P 0.0800
-param set-default MC_ROLL_P 9.0
+	param set MC_ROLLRATE_I 0.0400
-param set-default MPC_XY_VEL_I_ACC 4
+	param set MC_ROLLRATE_D 0.0010
-param set-default MPC_XY_VEL_P_ACC 3
+	param set MC_ROLL_P 9.0
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_P_ACC 3
 
-param set-default RTL_DESCEND_ALT 10
+	param set RTL_DESCEND_ALT 10
 
-param set-default TRIG_INTERFACE 3
+	param set TRIG_INTERFACE 3
-param set-default TRIG_MODE 4
+	param set TRIG_MODE 4
-param set-default MNT_MODE_IN 4
+	param set MNT_MODE_IN 4
-param set-default MNT_MODE_OUT 2
+	param set MNT_MODE_OUT 2
-param set-default MAV_PROTO_VER 2
+	param set MAV_PROTO_VER 2
+fi
 
 set MAV_TYPE 13
 

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

@@ -8,63 +8,66 @@
 . ${R}etc/init.d/rc.mc_defaults
 . ${R}etc/init.d/rc.ctrlalloc
 
-param set-default MPC_XY_VEL_I_ACC 4
+if [ $AUTOCNF = yes ]
-param set-default MPC_XY_VEL_P_ACC 3
+then
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_P_ACC 3
 
-param set-default RTL_DESCEND_ALT 10
+	param set RTL_DESCEND_ALT 10
-param set-default RTL_LAND_DELAY 0
+	param set RTL_LAND_DELAY 0
 
-param set-default TRIG_INTERFACE 3
+	param set TRIG_INTERFACE 3
-param set-default TRIG_MODE 4
+	param set TRIG_MODE 4
-param set-default MNT_MODE_IN 0
+	param set MNT_MODE_IN 0
-param set-default MAV_PROTO_VER 2
+	param set MAV_PROTO_VER 2
 
-param set-default MPC_USE_HTE 0
+	param set MPC_USE_HTE 0
 
-param set-default VM_MASS 2.66
+	param set VM_MASS 2.66
-param set-default VM_INERTIA_XX 0.06
+	param set VM_INERTIA_XX 0.06
-param set-default VM_INERTIA_YY 0.06
+	param set VM_INERTIA_YY 0.06
-param set-default VM_INERTIA_ZZ 0.10
+	param set VM_INERTIA_ZZ 0.10
 
-param set-default CA_AIRFRAME 0
+	param set CA_AIRFRAME 0
-param set-default CA_METHOD 1
+	param set CA_METHOD 1
-param set-default CA_ACT0_MIN 0.0
+	param set CA_ACT0_MIN 0.0
-param set-default CA_ACT1_MIN 0.0
+	param set CA_ACT1_MIN 0.0
-param set-default CA_ACT2_MIN 0.0
+	param set CA_ACT2_MIN 0.0
-param set-default CA_ACT3_MIN 0.0
+	param set CA_ACT3_MIN 0.0
-param set-default CA_ACT4_MIN 0.0
+	param set CA_ACT4_MIN 0.0
-param set-default CA_ACT5_MIN 0.0
+	param set CA_ACT5_MIN 0.0
-param set-default CA_ACT0_MAX 1.0
+	param set CA_ACT0_MAX 1.0
-param set-default CA_ACT1_MAX 1.0
+	param set CA_ACT1_MAX 1.0
-param set-default CA_ACT2_MAX 1.0
+	param set CA_ACT2_MAX 1.0
-param set-default CA_ACT3_MAX 1.0
+	param set CA_ACT3_MAX 1.0
-param set-default CA_ACT4_MAX 1.0
+	param set CA_ACT4_MAX 1.0
-param set-default CA_ACT5_MAX 1.0
+	param set CA_ACT5_MAX 1.0
 
-param set-default CA_MC_R0_PX 0.0
+	param set CA_MC_R0_PX 0.0
-param set-default CA_MC_R0_PY 1.0
+	param set CA_MC_R0_PY 1.0
-param set-default CA_MC_R0_CT 9.5
+	param set CA_MC_R0_CT 9.5
-param set-default CA_MC_R0_KM -0.05
+	param set CA_MC_R0_KM -0.05
-param set-default CA_MC_R1_PX 0.0
+	param set CA_MC_R1_PX 0.0
-param set-default CA_MC_R1_PY -1.0
+	param set CA_MC_R1_PY -1.0
-param set-default CA_MC_R1_CT 9.5
+	param set CA_MC_R1_CT 9.5
-param set-default CA_MC_R1_KM 0.05
+	param set CA_MC_R1_KM 0.05
-param set-default CA_MC_R2_PX 0.866025
+	param set CA_MC_R2_PX 0.866025
-param set-default CA_MC_R2_PY -0.5
+	param set CA_MC_R2_PY -0.5
-param set-default CA_MC_R2_CT 9.5
+	param set CA_MC_R2_CT 9.5
-param set-default CA_MC_R2_KM -0.05
+	param set CA_MC_R2_KM -0.05
-param set-default CA_MC_R3_PX -0.866025
+	param set CA_MC_R3_PX -0.866025
-param set-default CA_MC_R3_PY 0.5
+	param set CA_MC_R3_PY 0.5
-param set-default CA_MC_R3_CT 9.5
+	param set CA_MC_R3_CT 9.5
-param set-default CA_MC_R3_KM 0.05
+	param set CA_MC_R3_KM 0.05
-param set-default CA_MC_R4_PX 0.866025
+	param set CA_MC_R4_PX 0.866025
-param set-default CA_MC_R4_PY 0.5
+	param set CA_MC_R4_PY 0.5
-param set-default CA_MC_R4_CT 9.5
+	param set CA_MC_R4_CT 9.5
-param set-default CA_MC_R4_KM 0.05
+	param set CA_MC_R4_KM 0.05
-param set-default CA_MC_R5_PX -0.866025
+	param set CA_MC_R5_PX -0.866025
-param set-default CA_MC_R5_PY -0.5
+	param set CA_MC_R5_PY -0.5
-param set-default CA_MC_R5_CT 9.5
+	param set CA_MC_R5_CT 9.5
-param set-default CA_MC_R5_KM -0.05
+	param set CA_MC_R5_KM -0.05
+fi
 
 set MAV_TYPE 13
 

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

@@ -1,32 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-udp_offboard_port_local=$((14580+px4_instance))
-udp_offboard_port_remote=$((14540+px4_instance))
-[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
-udp_onboard_payload_port_local=$((14280+px4_instance))
-udp_onboard_payload_port_remote=$((14030+px4_instance))
-udp_onboard_gimbal_port_local=$((13030+px4_instance))
-udp_onboard_gimbal_port_remote=$((13280+px4_instance))
-udp_gcs_port_local=$((18570+px4_instance))
-
-# GCS link
-mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
-mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
-mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
-mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
-mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
-mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
-mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
-mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
-
-# API/Offboard link
-mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
-
-# Onboard link to camera
-mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
-
-# Onboard link to gimbal
-mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote

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

@@ -1,5 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-#param set MAV_SYS_ID $((px4_instance+1))
-#param set IMU_INTEG_RATE 250

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

@@ -1,20 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-simulator_tcp_port=$((4560+px4_instance))
-
-# Check if PX4_SIM_HOSTNAME environment variable is empty
-# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
-# If both are empty use localhost for simulator
-if [ -z "${PX4_SIM_HOSTNAME}" ]; then
-  if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
-    echo "PX4 SIM HOST: localhost"
-    simulator start -c $simulator_tcp_port
-  else
-    echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
-    simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
-  fi
-else
-  echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
-  simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
-fi

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -5,8 +5,7 @@
 # shellcheck disable=SC1091
 . px4-alias.sh
 
-#search path for sourcing px4-rc.*
+SCRIPT_DIR="$(CDPATH='' cd -- "$(dirname -- "$0")" && pwd)"
-PATH="$PATH:${R}etc/init.d-posix"
 
 #
 # Main SITL startup script
@@ -46,9 +45,9 @@ else
 	# Find the matching Autostart ID (file name has the form: [0-9]+_${PX4_SIM_MODEL})
 	# TODO: unify with rc.autostart generation
 	# shellcheck disable=SC2012
-	REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
+	REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
 	if [ -z "$REQUESTED_AUTOSTART" ]; then
-		echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
+		echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on $SCRIPT_DIR/airframes)"
 		exit 1
 	else
 		echo "Info: found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
@@ -99,12 +98,21 @@ then
 	set AUTOCNF yes
 
 	# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
-	param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
+	param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT_UUID
 fi
 
 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
+simulator_tcp_port=$((4560+px4_instance))
+udp_offboard_port_local=$((14580+px4_instance))
+udp_offboard_port_remote=$((14540+px4_instance))
+[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
+udp_onboard_payload_port_local=$((14280+px4_instance))
+udp_onboard_payload_port_remote=$((14030+px4_instance))
+udp_onboard_gimbal_port_local=$((13030+px4_instance))
+udp_onboard_gimbal_port_remote=$((13280+px4_instance))
+udp_gcs_port_local=$((18570+px4_instance))
 
 if [ $AUTOCNF = yes ]
 then
@@ -169,10 +177,6 @@ if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
 	COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
 	echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
 	param set COM_OF_LOSS_T $COM_OF_LOSS_T_LONGER
-
-	COM_OBC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 5.0" | bc)
-	echo "COM_OBC_LOSS_T set to $COM_OBC_LOSS_T_LONGER"
-	param set COM_OBC_LOSS_T $COM_OBC_LOSS_T_LONGER
 fi
 
 # Autostart ID
@@ -208,14 +212,11 @@ fi
 # Simulator IMU data provided at 250 Hz
 param set IMU_INTEG_RATE 250
 
-#user defined params for instances can be in PATH
-. px4-rc.params
-
 dataman start
 # only start the simulator if not in replay mode, as both control the lockstep time
 if ! replay tryapplyparams
 then
-  . px4-rc.simulator
+	simulator start -c $simulator_tcp_port
 fi
 load_mon start
 battery_simulator start
@@ -253,8 +254,32 @@ fi
 #
 . ${R}etc/init.d/rc.vehicle_setup
 
-#user defined mavlink streams for instances can be in PATH
+if [ -e etc/init.d-posix/rc.mavlink_override ]
-. px4-rc.mavlink
+then
+	echo "Running non-default mavlink config rc.mavlink_override"
+	sh etc/init.d-posix/rc.mavlink_override
+else
+	# GCS link
+	mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
+	mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
+	mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
+	mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
+	mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
+	mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
+	mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
+	mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
+	mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
+	mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
+
+	# API/Offboard link
+	mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
+
+	# Onboard link to camera
+	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
+
+	# Onboard link to gimbal
+	mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
+fi
 
 # execute autostart post script if any
 [ -e "$autostart_file".post ] && . "$autostart_file".post

ROMFS/px4fmu_common/init.d/airframes/13010_claire

@@ -14,7 +14,7 @@
 . ${R}etc/init.d/rc.vtol_defaults
 
 
-param set-default PWM_AUX_DISARM 1000
+param set-default PWM_AUX_DISARMED 1000
 param set-default PWM_AUX_MAX 2000
 param set-default PWM_AUX_MIN 1000
 param set-default PWM_AUX_RATE 50

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

@@ -112,7 +112,7 @@ param set-default MPC_YAWRAUTO_MAX 20
 param set-default NAV_DLL_ACT 0
 param set-default NAV_LOITER_RAD 100
 
-param set-default PWM_AUX_DISARM 950
+param set-default PWM_AUX_DISARMED 950
 
 param set-default PWM_MAIN_DIS5 1500
 param set-default PWM_MAIN_DIS6 1500

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

@@ -111,6 +111,5 @@ set MAV_TYPE 22
 set MIXER babyshark
 set MIXER_AUX pass
 
-# Mark outputs for the alternate rate
-# or D-Shot
 set PWM_OUT 5678
+set PWM_AUX_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox

@@ -31,7 +31,7 @@ set VEHICLE_TYPE mc
 param set-default NAV_ACC_RAD 2
 
 param set-default PWM_AUX_RATE 400
-param set-default PWM_AUX_DISARM 900
+param set-default PWM_AUX_DISARMED 900
 param set-default PWM_AUX_MIN 1075
 param set-default PWM_AUX_MAX 1950
 

ROMFS/px4fmu_common/init.d/airframes/4040_reaper

@@ -33,7 +33,7 @@ param set-default MC_YAW_P 4
 
 param set-default NAV_ACC_RAD 2
 
-param set-default PWM_AUX_DISARM 950
+param set-default PWM_AUX_DISARMED 950
 param set-default PWM_AUX_RATE 50
 param set-default PWM_MAIN_MIN 1100
 param set-default PWM_MAIN_MAX 1900

ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2

@@ -16,6 +16,8 @@
 set MIXER quad_x
 set PWM_OUT 1234
 
+set PARAM_DEFAULTS_VER 2
+
 
 param set-default BAT_N_CELLS 4
 

ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover

@@ -7,6 +7,8 @@
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+#
 # @output MAIN0 Speed of left wheels
 # @output MAIN1 Speed of right wheels
 #

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -16,8 +16,6 @@ param set-default COM_POS_FS_EPV 30
 param set-default COM_POS_FS_GAIN 0
 param set-default COM_POS_FS_PROB 1
 param set-default COM_VEL_FS_EVH 5
-# Disable preflight disarm to not interfere with external launching
-param set-default COM_DISARM_PRFLT -1
 
 param set-default EKF2_ARSP_THR 8
 param set-default EKF2_FUSE_BETA 1

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -108,18 +108,11 @@ then
 	vl53l1x start -X
 fi
 
-# ADIS16448 spi external IMU
-if param compare -s SENS_EN_ADIS164X 1
-then
-	adis16448 -S start
-fi
-
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
-	icm20948_i2c_passthrough -X -q start
-
 	# compasses
+	ak09916 -X -R 6 -q start # external AK09916 (Here2) is rotated 270 degrees yaw
 	hmc5883 -T -X -q start
 	ist8308 -X -q start
 	ist8310 -X -q start
@@ -128,9 +121,6 @@ then
 	qmc5883l -X -q start
 	rm3100 -X -q start
 
-	# start last (wait for possible icm20948 passthrough mode)
-	ak09916 -X -q start
-
 	# differential pressure sensors
 	if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ]
 	then

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -23,7 +23,6 @@ param set-default MPC_XY_ERR_MAX 5
 param set-default MPC_XY_VEL_MAX 4
 param set-default MPC_Z_VEL_MAX_DN 1.5
 param set-default MPC_JERK_MAX 4.5
-param set-default MPC_YAW_MODE 4
 
 param set-default NAV_ACC_RAD 3
 

ROMFS/px4fmu_common/init.d/rcS

@@ -51,6 +51,12 @@ set STARTUP_TUNE 1
 set USE_IO no
 set VEHICLE_TYPE none
 
+# Airframe parameter versioning: airframe maintainers can set this in the
+# airframe startup script, and then increase it by one whenever an airframe
+# parameter is updated - it will ensure that these parameters will be updated
+# when the firmware is flashed.
+set PARAM_DEFAULTS_VER 1
+
 #
 # Mount the procfs.
 #
@@ -165,8 +171,12 @@ else
 	#
 	if param greater SYS_AUTOCONFIG 0
 	then
-		# Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID
+		if param compare SYS_AUTOCONFIG 1
-		param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
+		then
+			# Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID
+			param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT* SYS_PARAM_VER
+		fi
+
 		set AUTOCNF yes
 	fi
 
@@ -229,6 +239,14 @@ else
 	rgbled start -X -q
 	rgbled_ncp5623c start -X -q
 
+	if param greater -s LIGHT_EN_BLINKM 0
+	then
+		if blinkm start -X
+		then
+			blinkm systemstate
+		fi
+	fi
+
 	#
 	# Set parameters and env variables for selected AUTOSTART.
 	#
@@ -254,34 +272,6 @@ else
 		param set SYS_AUTOCONFIG 0
 	fi
 
-	#
-	# Check if UAVCAN is enabled, default to it for ESCs.
-	#
-	if param greater -s UAVCAN_ENABLE 0
-	then
-		# Start core UAVCAN module.
-		if uavcan start
-		then
-			if param greater UAVCAN_ENABLE 1
-			then
-				# Start UAVCAN firmware update server and dynamic node ID allocation server.
-				uavcan start fw
-				tune_control play -t 1
-				if param greater UAVCAN_ENABLE 2
-				then
-					set OUTPUT_MODE uavcan_esc
-				fi
-			fi
-		else
-			tune_control play error
-		fi
-	else
-		if param greater -s UAVCAN_V1_ENABLE 0
-		then
-			uavcan_v1 start
-		fi
-	fi
-
 	#
 	# Check if PX4IO present and update firmware if needed.
 	# Assumption IOFW set to firmware file and IO_PRESENT = no
@@ -313,8 +303,6 @@ else
 					else
 						tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 					fi
-				else
-					tune_control stop
 				fi
 			fi
 		fi
@@ -426,6 +414,34 @@ else
 		camera_feedback start
 	fi
 
+	#
+	# Check if UAVCAN is enabled, default to it for ESCs.
+	#
+	if param greater -s UAVCAN_ENABLE 0
+	then
+		# Start core UAVCAN module.
+		if uavcan start
+		then
+			if param greater UAVCAN_ENABLE 1
+			then
+				# Start UAVCAN firmware update server and dynamic node ID allocation server.
+				uavcan start fw
+				tune_control play -t 1
+				if param greater UAVCAN_ENABLE 2
+				then
+					set OUTPUT_MODE uavcan_esc
+				fi
+			fi
+		else
+			tune_control play error
+		fi
+	fi
+
+	if param greater -s UAVCAN_V1_ENABLE 0
+	then
+		uavcan_v1 start
+	fi
+
 	#
 	# Optional board mavlink streams: rc.board_mavlink
 	#
@@ -554,6 +570,15 @@ else
 		fi
 	fi
 
+	if ! param compare SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
+	then
+		echo "Switched to different parameter version. Resetting parameters."
+		param set SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
+		param set SYS_AUTOCONFIG 2
+		param save
+		reboot
+	fi
+
 #
 # End of autostart.
 #
@@ -578,6 +603,7 @@ unset MIXER
 unset MIXER_AUX
 unset MIXER_FILE
 unset OUTPUT_MODE
+unset PARAM_DEFAULTS_VER
 unset PARAM_FILE
 unset PWM_AUX_OUT
 unset PWM_AUX_RATE

Tools/astyle/check_code_style_all.sh

@@ -59,7 +59,7 @@ if [ ! -f $HOOK_FILE ] && [ "$CI" != "true" ]; then
 	fi
 fi
 
-${DIR}/files_to_check_code_style.sh | xargs -P 8 -I % ${DIR}/check_code_style.sh %
+${DIR}/files_to_check_code_style.sh | xargs -n 1 -P 8 -I % ${DIR}/check_code_style.sh %
 
 if [ $? -eq 0 ]; then
     echo "Format checks passed"

Tools/bloaty_static_ram.bloaty

@@ -1,13 +0,0 @@
-custom_data_source: {
-  name: "bloaty_static_ram"
-  base_data_source: "sections"
-
-  rewrite: {
-    pattern: "^\\.bss"
-    replacement: "ram"
-  }
-  rewrite: {
-    pattern: "^\\.data"
-    replacement: "ram"
-  }
-}

Tools/docker_run.sh

@@ -2,7 +2,10 @@
 
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	echo "guessing PX4_DOCKER_REPO based on input";
-	if [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
+	if [[ $@ =~ .*px4_fmu.* ]]; then
+		# nuttx-px4fmu-v{1,2,3,4,5}
+		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-02-04"
+	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
 		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
 		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"
 	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
@@ -27,7 +30,7 @@ fi
 
 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="ghcr.io/px4/px4-dev:2021-05-06"
+	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2020-09-14"
 fi
 
 # docker hygiene
@@ -64,5 +67,4 @@ docker run -it --rm -w "${SRC_DIR}" \
 	--publish 14556:14556/udp \
 	--volume=${CCACHE_DIR}:${CCACHE_DIR}:rw \
 	--volume=${SRC_DIR}:${SRC_DIR}:rw \
-	-v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=$DISPLAY -h $HOSTNAME
 	${PX4_DOCKER_REPO} /bin/bash -c "$1 $2 $3"

Tools/process_sensor_caldata.py

@@ -1,4 +1,4 @@
-#! /usr/bin/env python3
+#! /usr/bin/env python
 
 from __future__ import print_function
 
@@ -7,7 +7,6 @@ import os
 import math
 import matplotlib.pyplot as plt
 import numpy as np
-import scipy as sp
 
 from pyulog import *
 
@@ -64,9 +63,6 @@ def resampleWithDeltaX(x,y):
 
     return resampledX,resampledY
 
-def median_filter(data):
-    return sp.signal.medfilt(data, 31)
-
 parser = argparse.ArgumentParser(description='Reads in IMU data from a static thermal calibration test and performs a curve fit of gyro, accel and baro bias vs temperature')
 parser.add_argument('filename', metavar='file.ulg', help='ULog input file')
 parser.add_argument('--no_resample', dest='noResample', action='store_const',
@@ -188,16 +184,12 @@ if num_gyros >= 1 and not math.isnan(sensor_gyro_0['temperature'][0]):
     temp_rel_resample = np.linspace(gyro_0_params['TC_G0_TMIN']-gyro_0_params['TC_G0_TREF'], gyro_0_params['TC_G0_TMAX']-gyro_0_params['TC_G0_TREF'], 100)
     temp_resample = temp_rel_resample + gyro_0_params['TC_G0_TREF']
 
-    sensor_gyro_0['x'] = median_filter(sensor_gyro_0['x'])
-    sensor_gyro_0['y'] = median_filter(sensor_gyro_0['y'])
-    sensor_gyro_0['z'] = median_filter(sensor_gyro_0['z'])
-
     # fit X axis
     if noResample:
-        coef_gyro_0_x = np.polyfit(temp_rel, sensor_gyro_0['x'], 3)
+        coef_gyro_0_x = np.polyfit(temp_rel,sensor_gyro_0['x'],3)
     else:
-        temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_0['x'])
+        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_0['x'])
-        coef_gyro_0_x = np.polyfit(temp, sens, 3)
+        coef_gyro_0_x = np.polyfit(temp, sens ,3)
 
     gyro_0_params['TC_G0_X3_0'] = coef_gyro_0_x[0]
     gyro_0_params['TC_G0_X2_0'] = coef_gyro_0_x[1]
@@ -208,10 +200,10 @@ if num_gyros >= 1 and not math.isnan(sensor_gyro_0['temperature'][0]):
 
     # fit Y axis
     if noResample:
-        coef_gyro_0_y = np.polyfit(temp_rel, sensor_gyro_0['y'], 3)
+        coef_gyro_0_y = np.polyfit(temp_rel,sensor_gyro_0['y'],3)
     else:
         temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_0['y'])
-        coef_gyro_0_y = np.polyfit(temp, sens, 3)
+        coef_gyro_0_y = np.polyfit(temp, sens ,3)
 
     gyro_0_params['TC_G0_X3_1'] = coef_gyro_0_y[0]
     gyro_0_params['TC_G0_X2_1'] = coef_gyro_0_y[1]
@@ -222,9 +214,9 @@ if num_gyros >= 1 and not math.isnan(sensor_gyro_0['temperature'][0]):
 
     # fit Z axis
     if noResample:
-        coef_gyro_0_z = np.polyfit(temp_rel, sensor_gyro_0['z'],3)
+        coef_gyro_0_z = np.polyfit(temp_rel,sensor_gyro_0['z'],3)
     else:
-        temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_0['z'])
+        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_0['z'])
         coef_gyro_0_z = np.polyfit(temp, sens ,3)
 
     gyro_0_params['TC_G0_X3_2'] = coef_gyro_0_z[0]
@@ -300,10 +292,6 @@ if num_gyros >= 2 and not math.isnan(sensor_gyro_1['temperature'][0]):
     temp_rel_resample = np.linspace(gyro_1_params['TC_G1_TMIN']-gyro_1_params['TC_G1_TREF'], gyro_1_params['TC_G1_TMAX']-gyro_1_params['TC_G1_TREF'], 100)
     temp_resample = temp_rel_resample + gyro_1_params['TC_G1_TREF']
 
-    sensor_gyro_1['x'] = median_filter(sensor_gyro_1['x'])
-    sensor_gyro_1['y'] = median_filter(sensor_gyro_1['y'])
-    sensor_gyro_1['z'] = median_filter(sensor_gyro_1['z'])
-
     # fit X axis
     if noResample:
         coef_gyro_1_x = np.polyfit(temp_rel,sensor_gyro_1['x'],3)
@@ -412,10 +400,6 @@ if num_gyros >= 3 and not math.isnan(sensor_gyro_2['temperature'][0]):
     temp_rel_resample = np.linspace(gyro_2_params['TC_G2_TMIN']-gyro_2_params['TC_G2_TREF'], gyro_2_params['TC_G2_TMAX']-gyro_2_params['TC_G2_TREF'], 100)
     temp_resample = temp_rel_resample + gyro_2_params['TC_G2_TREF']
 
-    sensor_gyro_2['x'] = median_filter(sensor_gyro_2['x'])
-    sensor_gyro_2['y'] = median_filter(sensor_gyro_2['y'])
-    sensor_gyro_2['z'] = median_filter(sensor_gyro_2['z'])
-
     # fit X axis
     if noResample:
         coef_gyro_2_x = np.polyfit(temp_rel,sensor_gyro_2['x'],3)
@@ -432,10 +416,10 @@ if num_gyros >= 3 and not math.isnan(sensor_gyro_2['temperature'][0]):
 
     # fit Y axis
     if noResample:
-        coef_gyro_2_y = np.polyfit(temp_rel, sensor_gyro_2['y'], 3)
+        coef_gyro_2_y = np.polyfit(temp_rel,sensor_gyro_2['y'],3)
     else:
-        temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_2['y'])
+        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_2['y'])
-        coef_gyro_2_y = np.polyfit(temp, sens, 3)
+        coef_gyro_2_y = np.polyfit(temp, sens ,3)
 
     gyro_2_params['TC_G2_X3_1'] = coef_gyro_2_y[0]
     gyro_2_params['TC_G2_X2_1'] = coef_gyro_2_y[1]
@@ -446,10 +430,10 @@ if num_gyros >= 3 and not math.isnan(sensor_gyro_2['temperature'][0]):
 
     # fit Z axis
     if noResample:
-        coef_gyro_2_z = np.polyfit(temp_rel,sensor_gyro_2['z'], 3)
+        coef_gyro_2_z = np.polyfit(temp_rel,sensor_gyro_2['z'],3)
     else:
         temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_2['z'])
-        coef_gyro_2_z = np.polyfit(temp, sens, 3)
+        coef_gyro_2_z = np.polyfit(temp, sens ,3)
 
     gyro_2_params['TC_G2_X3_2'] = coef_gyro_2_z[0]
     gyro_2_params['TC_G2_X2_2'] = coef_gyro_2_z[1]
@@ -524,12 +508,8 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
     temp_rel_resample = np.linspace(gyro_3_params['TC_G3_TMIN']-gyro_3_params['TC_G3_TREF'], gyro_3_params['TC_G3_TMAX']-gyro_3_params['TC_G3_TREF'], 100)
     temp_resample = temp_rel_resample + gyro_3_params['TC_G3_TREF']
 
-    sensor_gyro_3['x'] = median_filter(sensor_gyro_3['x'])
-    sensor_gyro_3['y'] = median_filter(sensor_gyro_3['y'])
-    sensor_gyro_3['z'] = median_filter(sensor_gyro_3['z'])
-
     # fit X axis
-    coef_gyro_3_x = np.polyfit(temp_rel,sensor_gyro_3['x'], 3)
+    coef_gyro_3_x = np.polyfit(temp_rel,sensor_gyro_3['x'],3)
     gyro_3_params['TC_G3_X3_0'] = coef_gyro_3_x[0]
     gyro_3_params['TC_G3_X2_0'] = coef_gyro_3_x[1]
     gyro_3_params['TC_G3_X1_0'] = coef_gyro_3_x[2]
@@ -538,7 +518,7 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
     gyro_3_x_resample = fit_coef_gyro_3_x(temp_rel_resample)
 
     # fit Y axis
-    coef_gyro_3_y = np.polyfit(temp_rel,sensor_gyro_3['y'], 3)
+    coef_gyro_3_y = np.polyfit(temp_rel,sensor_gyro_3['y'],3)
     gyro_3_params['TC_G3_X3_1'] = coef_gyro_3_y[0]
     gyro_3_params['TC_G3_X2_1'] = coef_gyro_3_y[1]
     gyro_3_params['TC_G3_X1_1'] = coef_gyro_3_y[2]
@@ -547,7 +527,7 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
     gyro_3_y_resample = fit_coef_gyro_3_y(temp_rel_resample)
 
     # fit Z axis
-    coef_gyro_3_z = np.polyfit(temp_rel,sensor_gyro_3['z'], 3)
+    coef_gyro_3_z = np.polyfit(temp_rel,sensor_gyro_3['z'],3)
     gyro_3_params['TC_G3_X3_2'] = coef_gyro_3_z[0]
     gyro_3_params['TC_G3_X2_2'] = coef_gyro_3_z[1]
     gyro_3_params['TC_G3_X1_2'] = coef_gyro_3_z[2]
@@ -560,8 +540,8 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
 
     # draw plots
     plt.subplot(3,1,1)
-    plt.plot(sensor_gyro_3['temperature'],sensor_gyro_3['x'], 'b')
+    plt.plot(sensor_gyro_3['temperature'],sensor_gyro_3['x'],'b')
-    plt.plot(temp_resample,gyro_3_x_resample, 'r')
+    plt.plot(temp_resample,gyro_3_x_resample,'r')
     plt.title('Gyro 2 ({}) Bias vs Temperature'.format(gyro_3_params['TC_G3_ID']))
     plt.ylabel('X bias (rad/s)')
     plt.xlabel('temperature (degC)')
@@ -621,17 +601,13 @@ if num_accels >= 1 and not math.isnan(sensor_accel_0['temperature'][0]):
     temp_rel_resample = np.linspace(accel_0_params['TC_A0_TMIN']-accel_0_params['TC_A0_TREF'], accel_0_params['TC_A0_TMAX']-accel_0_params['TC_A0_TREF'], 100)
     temp_resample = temp_rel_resample + accel_0_params['TC_A0_TREF']
 
-    sensor_accel_0['x'] = median_filter(sensor_accel_0['x'])
-    sensor_accel_0['y'] = median_filter(sensor_accel_0['y'])
-    sensor_accel_0['z'] = median_filter(sensor_accel_0['z'])
-
     # fit X axis
     correction_x = sensor_accel_0['x'] - np.median(sensor_accel_0['x'])
     if noResample:
-        coef_accel_0_x = np.polyfit(temp_rel,correction_x, 3)
+        coef_accel_0_x = np.polyfit(temp_rel,correction_x,3)
     else:
         temp, sens = resampleWithDeltaX(temp_rel,correction_x)
-        coef_accel_0_x = np.polyfit(temp, sens, 3)
+        coef_accel_0_x = np.polyfit(temp, sens ,3)
 
     accel_0_params['TC_A0_X3_0'] = coef_accel_0_x[0]
     accel_0_params['TC_A0_X2_0'] = coef_accel_0_x[1]
@@ -641,12 +617,12 @@ if num_accels >= 1 and not math.isnan(sensor_accel_0['temperature'][0]):
     correction_x_resample = fit_coef_accel_0_x(temp_rel_resample)
 
     # fit Y axis
-    correction_y = sensor_accel_0['y'] - np.median(sensor_accel_0['y'])
+    correction_y = sensor_accel_0['y']-np.median(sensor_accel_0['y'])
     if noResample:
-        coef_accel_0_y = np.polyfit(temp_rel, correction_y, 3)
+        coef_accel_0_y = np.polyfit(temp_rel,correction_y,3)
     else:
         temp, sens = resampleWithDeltaX(temp_rel,correction_y)
-        coef_accel_0_y = np.polyfit(temp, sens, 3)
+        coef_accel_0_y = np.polyfit(temp, sens ,3)
 
     accel_0_params['TC_A0_X3_1'] = coef_accel_0_y[0]
     accel_0_params['TC_A0_X2_1'] = coef_accel_0_y[1]
@@ -656,12 +632,12 @@ if num_accels >= 1 and not math.isnan(sensor_accel_0['temperature'][0]):
     correction_y_resample = fit_coef_accel_0_y(temp_rel_resample)
 
     # fit Z axis
-    correction_z = sensor_accel_0['z'] - np.median(sensor_accel_0['z'])
+    correction_z = sensor_accel_0['z']-np.median(sensor_accel_0['z'])
     if noResample:
-        coef_accel_0_z = np.polyfit(temp_rel,correction_z, 3)
+        coef_accel_0_z = np.polyfit(temp_rel,correction_z,3)
     else:
         temp, sens = resampleWithDeltaX(temp_rel,correction_z)
-        coef_accel_0_z = np.polyfit(temp, sens, 3)
+        coef_accel_0_z = np.polyfit(temp, sens ,3)
 
     accel_0_params['TC_A0_X3_2'] = coef_accel_0_z[0]
     accel_0_params['TC_A0_X2_2'] = coef_accel_0_z[1]
@@ -736,17 +712,13 @@ if num_accels >= 2 and not math.isnan(sensor_accel_1['temperature'][0]):
     temp_rel_resample = np.linspace(accel_1_params['TC_A1_TMIN']-accel_1_params['TC_A1_TREF'], accel_1_params['TC_A1_TMAX']-accel_1_params['TC_A1_TREF'], 100)
     temp_resample = temp_rel_resample + accel_1_params['TC_A1_TREF']
 
-    sensor_accel_1['x'] = median_filter(sensor_accel_1['x'])
-    sensor_accel_1['y'] = median_filter(sensor_accel_1['y'])
-    sensor_accel_1['z'] = median_filter(sensor_accel_1['z'])
-
     # fit X axis
-    correction_x = sensor_accel_1['x'] - np.median(sensor_accel_1['x'])
+    correction_x = sensor_accel_1['x']-np.median(sensor_accel_1['x'])
     if noResample:
-        coef_accel_1_x = np.polyfit(temp_rel, correction_x, 3)
+        coef_accel_1_x = np.polyfit(temp_rel,correction_x,3)
     else:
-        temp, sens = resampleWithDeltaX(temp_rel, correction_x)
+        temp, sens = resampleWithDeltaX(temp_rel,correction_x)
-        coef_accel_1_x = np.polyfit(temp, sens, 3)
+        coef_accel_1_x = np.polyfit(temp, sens ,3)
 
     accel_1_params['TC_A1_X3_0'] = coef_accel_1_x[0]
     accel_1_params['TC_A1_X2_0'] = coef_accel_1_x[1]
@@ -756,7 +728,7 @@ if num_accels >= 2 and not math.isnan(sensor_accel_1['temperature'][0]):
     correction_x_resample = fit_coef_accel_1_x(temp_rel_resample)
 
     # fit Y axis
-    correction_y = sensor_accel_1['y'] - np.median(sensor_accel_1['y'])
+    correction_y = sensor_accel_1['y']-np.median(sensor_accel_1['y'])
     if noResample:
         coef_accel_1_y = np.polyfit(temp_rel,correction_y,3)
     else:
@@ -771,12 +743,12 @@ if num_accels >= 2 and not math.isnan(sensor_accel_1['temperature'][0]):
     correction_y_resample = fit_coef_accel_1_y(temp_rel_resample)
 
     # fit Z axis
-    correction_z = sensor_accel_1['z'] - np.median(sensor_accel_1['z'])
+    correction_z = (sensor_accel_1['z'])-np.median(sensor_accel_1['z'])
     if noResample:
-        coef_accel_1_z = np.polyfit(temp_rel,correction_z, 3)
+        coef_accel_1_z = np.polyfit(temp_rel,correction_z,3)
     else:
         temp, sens = resampleWithDeltaX(temp_rel,correction_z)
-        coef_accel_1_z = np.polyfit(temp, sens, 3)
+        coef_accel_1_z = np.polyfit(temp, sens ,3)
 
     accel_1_params['TC_A1_X3_2'] = coef_accel_1_z[0]
     accel_1_params['TC_A1_X2_2'] = coef_accel_1_z[1]
@@ -852,17 +824,13 @@ if num_accels >= 3 and not math.isnan(sensor_accel_2['temperature'][0]):
     temp_rel_resample = np.linspace(accel_2_params['TC_A2_TMIN']-accel_2_params['TC_A2_TREF'], accel_2_params['TC_A2_TMAX']-accel_2_params['TC_A2_TREF'], 100)
     temp_resample = temp_rel_resample + accel_2_params['TC_A2_TREF']
 
-    sensor_accel_2['x'] = median_filter(sensor_accel_2['x'])
-    sensor_accel_2['y'] = median_filter(sensor_accel_2['y'])
-    sensor_accel_2['z'] = median_filter(sensor_accel_2['z'])
-
     # fit X axis
-    correction_x = sensor_accel_2['x'] - np.median(sensor_accel_2['x'])
+    correction_x = sensor_accel_2['x']-np.median(sensor_accel_2['x'])
     if noResample:
-        coef_accel_2_x = np.polyfit(temp_rel,correction_x, 3)
+        coef_accel_2_x = np.polyfit(temp_rel,correction_x,3)
     else:
-        temp, sens = resampleWithDeltaX(temp_rel, correction_x)
+        temp, sens = resampleWithDeltaX(temp_rel,correction_x)
-        coef_accel_2_x = np.polyfit(temp, sens, 3)
+        coef_accel_2_x = np.polyfit(temp, sens ,3)
 
     accel_2_params['TC_A2_X3_0'] = coef_accel_2_x[0]
     accel_2_params['TC_A2_X2_0'] = coef_accel_2_x[1]
@@ -872,7 +840,7 @@ if num_accels >= 3 and not math.isnan(sensor_accel_2['temperature'][0]):
     correction_x_resample = fit_coef_accel_2_x(temp_rel_resample)
 
     # fit Y axis
-    correction_y = sensor_accel_2['y'] - np.median(sensor_accel_2['y'])
+    correction_y = sensor_accel_2['y']-np.median(sensor_accel_2['y'])
     if noResample:
         coef_accel_2_y = np.polyfit(temp_rel,correction_y,3)
     else:
@@ -887,7 +855,7 @@ if num_accels >= 3 and not math.isnan(sensor_accel_2['temperature'][0]):
     correction_y_resample = fit_coef_accel_2_y(temp_rel_resample)
 
     # fit Z axis
-    correction_z = sensor_accel_2['z'] - np.median(sensor_accel_2['z'])
+    correction_z = sensor_accel_2['z']-np.median(sensor_accel_2['z'])
     if noResample:
         coef_accel_2_z = np.polyfit(temp_rel,correction_z,3)
     else:
@@ -967,13 +935,9 @@ if num_accels >= 4 and not math.isnan(sensor_accel_3['temperature'][0]):
     temp_rel_resample = np.linspace(accel_3_params['TC_A3_TMIN']-accel_3_params['TC_A3_TREF'], accel_3_params['TC_A3_TMAX']-accel_3_params['TC_A3_TREF'], 100)
     temp_resample = temp_rel_resample + accel_3_params['TC_A3_TREF']
 
-    sensor_accel_3['x'] = median_filter(sensor_accel_3['x'])
-    sensor_accel_3['y'] = median_filter(sensor_accel_3['y'])
-    sensor_accel_3['z'] = median_filter(sensor_accel_3['z'])
-
     # fit X axis
-    correction_x = sensor_accel_3['x'] - np.median(sensor_accel_3['x'])
+    correction_x = sensor_accel_3['x']-np.median(sensor_accel_3['x'])
-    coef_accel_3_x = np.polyfit(temp_rel, correction_x, 3)
+    coef_accel_3_x = np.polyfit(temp_rel,correction_x,3)
     accel_3_params['TC_A3_X3_0'] = coef_accel_3_x[0]
     accel_3_params['TC_A3_X2_0'] = coef_accel_3_x[1]
     accel_3_params['TC_A3_X1_0'] = coef_accel_3_x[2]
@@ -982,8 +946,8 @@ if num_accels >= 4 and not math.isnan(sensor_accel_3['temperature'][0]):
     correction_x_resample = fit_coef_accel_3_x(temp_rel_resample)
 
     # fit Y axis
-    correction_y = sensor_accel_3['y'] - np.median(sensor_accel_3['y'])
+    correction_y = sensor_accel_3['y']-np.median(sensor_accel_3['y'])
-    coef_accel_3_y = np.polyfit(temp_rel, correction_y, 3)
+    coef_accel_3_y = np.polyfit(temp_rel,correction_y,3)
     accel_3_params['TC_A3_X3_1'] = coef_accel_3_y[0]
     accel_3_params['TC_A3_X2_1'] = coef_accel_3_y[1]
     accel_3_params['TC_A3_X1_1'] = coef_accel_3_y[2]
@@ -992,8 +956,8 @@ if num_accels >= 4 and not math.isnan(sensor_accel_3['temperature'][0]):
     correction_y_resample = fit_coef_accel_3_y(temp_rel_resample)
 
     # fit Z axis
-    correction_z = sensor_accel_3['z'] - np.median(sensor_accel_3['z'])
+    correction_z = sensor_accel_3['z']-np.median(sensor_accel_3['z'])
-    coef_accel_3_z = np.polyfit(temp_rel, correction_z, 3)
+    coef_accel_3_z = np.polyfit(temp_rel,correction_z,3)
     accel_3_params['TC_A3_X3_2'] = coef_accel_3_z[0]
     accel_3_params['TC_A3_X2_2'] = coef_accel_3_z[1]
     accel_3_params['TC_A3_X1_2'] = coef_accel_3_z[2]
@@ -1060,10 +1024,8 @@ temp_rel = sensor_baro_0['temperature'] - baro_0_params['TC_B0_TREF']
 temp_rel_resample = np.linspace(baro_0_params['TC_B0_TMIN']-baro_0_params['TC_B0_TREF'], baro_0_params['TC_B0_TMAX']-baro_0_params['TC_B0_TREF'], 100)
 temp_resample = temp_rel_resample + baro_0_params['TC_B0_TREF']
 
-sensor_baro_0['pressure'] = median_filter(sensor_baro_0['pressure'])
-
 # fit data
-median_pressure = np.median(sensor_baro_0['pressure'])
+median_pressure = np.median(sensor_baro_0['pressure']);
 if noResample:
     coef_baro_0_x = np.polyfit(temp_rel,100*(sensor_baro_0['pressure']-median_pressure),5) # convert from hPa to Pa
 else:
@@ -1119,10 +1081,8 @@ if num_baros >= 2:
     temp_rel_resample = np.linspace(baro_1_params['TC_B1_TMIN']-baro_1_params['TC_B1_TREF'], baro_1_params['TC_B1_TMAX']-baro_1_params['TC_B1_TREF'], 100)
     temp_resample = temp_rel_resample + baro_1_params['TC_B1_TREF']
 
-    sensor_baro_1['pressure'] = median_filter(sensor_baro_1['pressure'])
-
     # fit data
-    median_pressure = np.median(sensor_baro_1['pressure'])
+    median_pressure = np.median(sensor_baro_1['pressure']);
     if noResample:
         coef_baro_1_x = np.polyfit(temp_rel,100*(sensor_baro_1['pressure']-median_pressure),5) # convert from hPa to Pa
     else:
@@ -1179,10 +1139,8 @@ if num_baros >= 3:
     temp_rel_resample = np.linspace(baro_2_params['TC_B2_TMIN']-baro_2_params['TC_B2_TREF'], baro_2_params['TC_B2_TMAX']-baro_2_params['TC_B2_TREF'], 100)
     temp_resample = temp_rel_resample + baro_2_params['TC_B2_TREF']
 
-    sensor_baro_2['pressure'] = median_filter(sensor_baro_2['pressure'])
-
     # fit data
-    median_pressure = np.median(sensor_baro_2['pressure'])
+    median_pressure = np.median(sensor_baro_2['pressure']);
     if noResample:
         coef_baro_2_x = np.polyfit(temp_rel,100*(sensor_baro_2['pressure']-median_pressure),5) # convert from hPa to Pa
     else:
@@ -1239,8 +1197,6 @@ if num_baros >= 4:
     temp_rel_resample = np.linspace(baro_3_params['TC_B3_TMIN']-baro_3_params['TC_B3_TREF'], baro_3_params['TC_B3_TMAX']-baro_3_params['TC_B3_TREF'], 100)
     temp_resample = temp_rel_resample + baro_3_params['TC_B3_TREF']
 
-    sensor_baro_3['pressure'] = median_filter(sensor_baro_3['pressure'])
-
     # fit data
     median_pressure = np.median(sensor_baro_3['pressure'])
     coef_baro_3_x = np.polyfit(temp_rel,100*(sensor_baro_3['pressure']-median_pressure),5) # convert from hPa to Pa

Tools/px4airframes/srcparser.py

@@ -98,8 +98,6 @@ class ParameterGroup(object):
             return "Boat"
         elif (self.name == "Balloon"):
             return "Balloon"
-        elif (self.name == "Vectored 6 DOF UUV"):
-            return "Vectored6DofUUV"
         return "AirframeUnknown"
 
     def GetParams(self):

Tools/serial/generate_config.py

@@ -190,6 +190,7 @@ if rc_serial_output_dir is None and serial_params_output_file is None:
 serial_commands = []
 ethernet_configuration = []
 additional_params = ""
+additional_ethernet_params = ""
 
 if ethernet_supported:
     ethernet_configuration.append({
@@ -210,7 +211,7 @@ def parse_yaml_serial_config(yaml_config):
         ret.append(serial_config)
     return ret
 
-def parse_yaml_parameters_config(yaml_config, ethernet_supported):
+def parse_yaml_parameters_config(yaml_config):
     """ parse the parameters section from the yaml config file """
     if 'parameters' not in yaml_config:
         return ''
@@ -223,7 +224,79 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
         param_group = parameters_section.get('group', None)
         for param_name in definitions:
             param = definitions[param_name]
-            if param.get('requires_ethernet', False) and not ethernet_supported:
+            if 'ethernet' in param:
+                continue
+            num_instances = param.get('num_instances', 1)
+            instance_start = param.get('instance_start', 0) # offset
+
+            # get the type and extract all tags
+            tags = '@group {:}'.format(param_group)
+            if param['type'] == 'enum':
+                param_type = 'INT32'
+                for key in param['values']:
+                    tags += '\n * @value {:} {:}'.format(key, param['values'][key])
+            elif param['type'] == 'boolean':
+                param_type = 'INT32'
+                tags += '\n * @boolean'
+            elif param['type'] == 'int32':
+                param_type = 'INT32'
+            elif param['type'] == 'float':
+                param_type = 'FLOAT'
+            else:
+                raise Exception("unknown param type {:}".format(param['type']))
+
+            for tag in ['decimal', 'increment', 'category', 'volatile', 'bit',
+                        'min', 'max', 'unit', 'reboot_required']:
+                if tag in param:
+                    tags += '\n * @{:} {:}'.format(tag, param[tag])
+
+            for i in range(num_instances):
+                # default value
+                default_value = 0
+                if 'default' in param:
+                    # default can be a list of num_instances or a single value
+                    if type(param['default']) == list:
+                        assert len(param['default']) == num_instances
+                        default_value = param['default'][i]
+                    else:
+                        default_value = param['default']
+
+                if type(default_value) == bool:
+                    default_value = int(default_value)
+
+                # output the existing C-style format
+                ret += '''
+/**
+ * {short_descr}
+ *
+ * {long_descr}
+ *
+ * {tags}
+ */
+PARAM_DEFINE_{param_type}({name}, {default_value});
+'''.format(short_descr=param['description']['short'].replace("\n", "\n * "),
+           long_descr=param['description']['long'].replace("\n", "\n * "),
+           tags=tags,
+           param_type=param_type,
+           name=param_name,
+           default_value=default_value,
+          ).replace('${i}', str(i+instance_start))
+    return ret
+
+def parse_yaml_ethernet_parameters_config(yaml_config):
+    """ parse the parameters section from the yaml config file """
+    if 'parameters' not in yaml_config:
+        return ''
+    parameters_section_list = yaml_config['parameters']
+    for parameters_section in parameters_section_list:
+        if 'definitions' not in parameters_section:
+            return ''
+        definitions = parameters_section['definitions']
+        ret = ''
+        param_group = parameters_section.get('group', None)
+        for param_name in definitions:
+            param = definitions[param_name]
+            if 'ethernet' not in param:
                 continue
             num_instances = param.get('num_instances', 1)
             instance_start = param.get('instance_start', 0) # offset
@@ -289,8 +362,9 @@ for yaml_file in args.config_files:
             serial_commands.extend(parse_yaml_serial_config(yaml_config))
 
             # TODO: additional params should be parsed in a separate script
-            additional_params += parse_yaml_parameters_config(
+            additional_params += parse_yaml_parameters_config(yaml_config)
-                yaml_config, ethernet_supported)
+            if ethernet_supported:
+                additional_ethernet_params += parse_yaml_ethernet_parameters_config(yaml_config)
 
         except yaml.YAMLError as exc:
             print(exc)
@@ -355,7 +429,7 @@ for serial_command in serial_commands:
             'default_port': default_port,
             'param_group': port_config['group'],
             'description_extended': port_config.get('description_extended', ''),
-			'supports_networking': serial_command.get('supports_networking', False)
+			'ethernet_config': serial_command.get('ethernet', 'none')
             })
 
 if verbose:
@@ -399,5 +473,6 @@ if serial_params_output_file is not None:
         fid.write(template.render(serial_devices=serial_devices,
             ethernet_configuration=ethernet_configuration,
             commands=commands, serial_ports=serial_ports,
-            additional_definitions=additional_params))
+            additional_definitions=additional_params,
+            additional_ethernet_definitions=additional_ethernet_params))
 

Tools/serial/rc.serial_port.jinja

@@ -17,9 +17,9 @@ if param compare "$PRT" {{ serial_device.index }}; then
 fi
 
 {% endfor %}
-
 {% for config in ethernet_configuration -%}
 if param compare "$PRT" {{ config.index }}; then
 	set SERIAL_DEV ethernet
 fi
+
 {% endfor %}

Tools/serial/serial_params.c.jinja

@@ -58,11 +58,10 @@ PARAM_DEFINE_INT32(SER_{{ serial_device.tag }}_BAUD, {{ serial_device.default_ba
 {%- for serial_device in serial_devices %}
  * @value {{ serial_device.index }} {{ serial_device.label }}
 {%- endfor %}
-{%- if command.supports_networking %}
+{%- if command.ethernet_config != "none" %}
 {%- for config in ethernet_configuration %}
  * @value {{ config.index }} {{ config.label }}
-{%- endfor %}
+{%- endfor %}{% endif %}
-{%- endif %}
  * @group {{ command.param_group }}
  * @reboot_required true
  */
@@ -73,3 +72,5 @@ PARAM_DEFINE_INT32({{ command.port_param_name }}, {{ command.default_port }});
 
 {{ additional_definitions }}
 
+{{ additional_ethernet_definitions }}
+

Tools/setup/Makefile

@@ -1,11 +0,0 @@
-.PHONY: docker_build docker_push all
-
-DATE := $(shell date +%Y-%m-%d)
-
-docker_build:
-	docker build -f Dockerfile -t px4-dev:${DATE} .
-
-docker_push: build
-        docker push px4io/px4-dev:${DATE}
-
-all: docker_build

Tools/setup/arch.sh

@@ -155,7 +155,8 @@ if [[ $INSTALL_SIM == "true" ]]; then
 			# fix VMWare 3D graphics acceleration for gazebo
 			exportline="export SVGA_VGPU10=0"
 
-			if !grep -Fxq "$exportline" $HOME/.profile; then
+			if grep -Fxq "$exportline" $HOME/.profile; then
+			else
 				echo $exportline >> $HOME/.profile;
 			fi
 		fi

Tools/setup/entrypoint.sh

@@ -1,27 +0,0 @@
-#!/bin/bash
-
-# Start virtual X server in the background
-# - DISPLAY default is :99, set in dockerfile
-# - Users can override with `-e DISPLAY=` in `docker run` command to avoid
-#   running Xvfb and attach their screen
-if [[ -x "$(command -v Xvfb)" && "$DISPLAY" == ":99" ]]; then
-	echo "Starting Xvfb"
-	Xvfb :99 -screen 0 1600x1200x24+32 &
-fi
-
-# Check if the ROS_DISTRO is passed and use it
-# to source the ROS environment
-if [ -n "${ROS_DISTRO}" ]; then
-	source "/opt/ros/$ROS_DISTRO/setup.bash"
-fi
-
-# Use the LOCAL_USER_ID if passed in at runtime
-if [ -n "${LOCAL_USER_ID}" ]; then
-	echo "Starting with UID : $LOCAL_USER_ID"
-	# modify existing user's id
-	usermod -u $LOCAL_USER_ID user
-	# run as user
-	exec gosu user "$@"
-else
-	exec "$@"
-fi

Tools/setup/macos.sh

@@ -45,7 +45,7 @@ fi
 
 # Python dependencies
 echo "Installing PX4 Python3 dependencies"
-python3 -m pip install --user -r ${DIR}/requirements.txt
+pip3 install --user -r ${DIR}/requirements.txt
 
 # Optional, but recommended additional simulation tools:
 if [[ $INSTALL_SIM == "--sim-tools" ]]; then

Tools/setup/requirements.txt

@@ -1,26 +1,24 @@
 argcomplete
-argparse
+argparse>=1.2
 cerberus
 coverage
 empy>=3.3
 jinja2>=2.8
-jsonschema
-kconfiglib
 matplotlib>=3.0.*
 numpy>=1.13
-nunavut>=1.1.0
+nunavut
 packaging
+pandas>=0.21
 pkgconfig
 psutil
 pygments
+wheel>=0.31.1
 pymavlink
 pyros-genmsg
 pyserial>=3.0
 pyulog>=0.5.0
 pyyaml
 requests
-serial
 setuptools>=39.2.0
 six>=1.12.0
 toml>=0.9
-wheel>=0.31.1

Tools/setup/ubuntu.sh

@@ -31,9 +31,10 @@ done
 # detect if running in docker
 if [ -f /.dockerenv ]; then
 	echo "Running within docker, installing initial dependencies";
-	apt-get -qq update && DEBIAN_FRONTEND=noninteractive apt-get -q -y --no-install-recommends install \
+	apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
 		ca-certificates \
-		gosu \
+		gnupg \
+		lsb-core \
 		sudo \
 		wget \
 		;
@@ -52,7 +53,7 @@ fi
 
 # check ubuntu version
 # otherwise warn and point to docker?
-UBUNTU_RELEASE=$(cat /etc/os-release | grep VERSION_ID | cut -d "\"" -f 2)
+UBUNTU_RELEASE="`lsb_release -rs`"
 
 if [[ "${UBUNTU_RELEASE}" == "14.04" ]]; then
 	echo "Ubuntu 14.04 is no longer supported"
@@ -62,18 +63,16 @@ elif [[ "${UBUNTU_RELEASE}" == "16.04" ]]; then
 	exit 1
 elif [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
 	echo "Ubuntu 18.04"
-
 elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
 	echo "Ubuntu 20.04"
-
 fi
 
 
 echo
 echo "Installing PX4 general dependencies"
 
-sudo apt-get -qq update
+sudo apt-get update -y --quiet
-sudo DEBIAN_FRONTEND=noninteractive apt-get -q -y --no-install-recommends install \
+sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 	astyle \
 	build-essential \
 	ccache \
@@ -94,23 +93,20 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -q -y --no-install-recommends instal
 	python3-wheel \
 	rsync \
 	shellcheck \
+	unzip \
+	zip \
 	;
 
 if [[ "${UBUNTU_RELEASE}" == "16.04" ]]; then
 	echo "Installing Ubuntu 16.04 PX4-compatible ccache version"
-	wget -q -O /tmp/ccache_3.4.1-1_amd64.deb http://launchpadlibrarian.net/356662933/ccache_3.4.1-1_amd64.deb
+	wget -O /tmp/ccache_3.4.1-1_amd64.deb http://launchpadlibrarian.net/356662933/ccache_3.4.1-1_amd64.deb
 	sudo dpkg -i /tmp/ccache_3.4.1-1_amd64.deb
 fi
 
 # Python3 dependencies
 echo
 echo "Installing PX4 Python3 dependencies"
-if [ -f /.dockerenv ]; then
+python3 -m pip install --user -r ${DIR}/requirements.txt
-	# system wide for docker
-	python3 -m pip install -r ${DIR}/requirements.txt
-else
-	python3 -m pip install --user --quiet -r ${DIR}/requirements.txt
-fi
 
 # NuttX toolchain (arm-none-eabi-gcc)
 if [[ $INSTALL_NUTTX == "true" ]]; then
@@ -118,11 +114,17 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 	echo
 	echo "Installing NuttX dependencies"
 
-	sudo DEBIAN_FRONTEND=noninteractive apt-get -q -y --no-install-recommends install \
+	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-		g++-multilib \
+		autoconf \
-		gcc-multilib \
+		automake \
+		bison \
+		bzip2 \
+		file \
+		flex \
 		gdb-multiarch \
-		genromfs \
+		gperf \
+		libncurses-dev \
+		libtool \
 		pkg-config \
 		screen \
 		vim-common \
@@ -148,7 +150,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 
 	else
 		echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
-		wget -q -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-linux.tar.bz2 && \
+		wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-linux.tar.bz2 && \
 			sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/;
 
 		# add arm-none-eabi-gcc to user's PATH
@@ -169,36 +171,37 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	echo "Installing PX4 simulation dependencies"
 
 	# General simulation dependencies
-	sudo DEBIAN_FRONTEND=noninteractive apt-get -q -y --no-install-recommends install \
+	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		bc \
 		;
 
 	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
+		java_version=11
 		gazebo_version=9
-		MAVSDK_VERSION=0.39.0
-		wget -q "https://github.com/mavlink/MAVSDK/releases/download/v${MAVSDK_VERSION}/mavsdk_{MAVSDK_VERSION})_ubuntu18.04_amd64.deb" -O /tmp/mavsdk.deb && sudo dpkg -i /tmp/mavsdk.deb
 	elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
+		java_version=14
 		gazebo_version=11
-		MAVSDK_VERSION=0.39.0
-		wget -q "https://github.com/mavlink/MAVSDK/releases/download/v{MAVSDK_VERSION}/mavsdk_{MAVSDK_VERSION}_ubuntu20.04_amd64.deb" -O /tmp/mavsdk.deb && sudo dpkg -i /tmp/mavsdk.deb
 	else
+		java_version=14
 		gazebo_version=11
 	fi
-
 	# Java (jmavsim or fastrtps)
-	sudo DEBIAN_FRONTEND=noninteractive apt-get -q -y --no-install-recommends install \
+	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		ant \
-		default-jre-headless \
+		openjdk-$java_version-jre \
-		default-jdk-headless \
+		openjdk-$java_version-jdk \
 		libvecmath-java \
 		;
 
+	# Set Java 11 as default
+	sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")
+
 	# Gazebo
 	sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
-	wget -q http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
+	wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
 	# Update list, since new gazebo-stable.list has been added
-	sudo apt-get update -qq
+	sudo apt-get update -y --quiet
-	sudo DEBIAN_FRONTEND=noninteractive apt-get -q -y --no-install-recommends install \
+	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		dmidecode \
 		gazebo$gazebo_version \
 		gstreamer1.0-plugins-bad \

Tools/uorb_graph/create.py

@@ -44,7 +44,7 @@ parser.add_argument('-m', '--modules', action='store',
                     default='')
 
 
-logging.basicConfig(level=logging.WARNING,format='%(message)s')
+logging.basicConfig(level=logging.WARNING)
 log = logging.getLogger()
 
 def get_N_colors(N, s=0.8, v=0.9):
@@ -61,9 +61,6 @@ class PubSub(object):
     """ Collects either publication or subscription information for nodes
     (modules and topics) & edges """
 
-    # special value to signal an ambiguous was found -- don't record this topic, and stop processing.
-    AMBIGUOUS_SITE_TOPIC = "AMBIGUOUS"
-
     def __init__(self, name, topic_blacklist, regexes):
         """
             :param is_publication: if True, publications, False for
@@ -77,12 +74,13 @@ class PubSub(object):
         self._topic_blacklist = topic_blacklist
         self._regexes = set([ re.compile(regex) for regex in regexes])
 
-    def match(self, source_line: str) -> str:
+    def match(self, source_line: str) -> Set[str]:
         """ Extract subscribed/published topics from a source string
         :param src_str: string of C/C++ code with comments and whitespace removed
-        :return: if any topic was found, returned as a str.   On error, raise on exception.  On ambiguous line, return `AMBIGUOUS_SITE_TOPIC`.  Otherwise, return `None`
+        :return: if any topic was found, it is returned as a str.  Otherwise, None
         """
 
+        matches = set()
         for regex in self._regexes:
             # just the matches for this particular pattern:
             match = regex.search(source_line)
@@ -90,10 +88,11 @@ class PubSub(object):
             if match is None:
                 continue
 
-            # # all regexes should contain 2 capture groups  (or else this code block crashes)
+            # all regexes should contain 2 capture groups
+            # total_match = match.group(0)
             route_group, topic_group = match.groups()
 
-            log.debug("          ####:{}:  {}, {}".format( self._name, route_group, topic_group))
+            log.debug(f"          ####:{self._name}:  {route_group}, {topic_group}")
 
             # # TODO: handle this case... but not sure where, yet
             # if match == 'ORB_ID_VEHICLE_ATTITUDE_CONTROLS': # special case
@@ -103,31 +102,49 @@ class PubSub(object):
             if route_group:
                 if route_group == 'ORB_ID':
                     log.debug("            >>> Found ORB_ID topic: " + topic_group +  "    w/regex: " + str(regex.pattern))
-                    return self._filter_topic(topic_group)
+                    self._add_topic(matches, topic_group)
+                    break
+                elif route_group == '<' and topic_group.endswith('_s'):
+                    topic_group = topic_group[:-2]
+                    log.debug("            >>> Found C++ template-declaration: " + topic_group +  "    w/regex: " + str(regex.pattern))
+                    self._add_topic(matches, topic_group)
+                    # continue processing
+                elif route_group in ['{','('] and topic_group.endswith('_s'):
+                    topic_group = topic_group[:-2]
+                    log.debug("            >>> Found standard declaration: " + topic_group +  "    w/regex: " + str(regex.pattern))
+                    self._add_topic(matches, topic_group)
+                    break
                 elif route_group == '[':
-                    if not topic_group:
+                    if topic_group.endswith('_s'):
-                        log.debug("            !! found an ambiguous site => return an empty set")
+                        topic_group = topic_group[:-2]
-                        return PubSub.AMBIGUOUS_SITE_TOPIC
+                        log.debug("            >>> Found array declaration: " + topic_group +  "    w/regex: " + str(regex.pattern))
+                        self._add_topic(matches, topic_group)
+                        break
+                    else:
+                        # no topic found -- ambiguity -- return an empty set
+                        return set()
+                elif 'Multi' in route_group and topic_group.endswith('_s'):
+                        topic_group = topic_group[:-2]
+                        log.debug("            >>> Found 'multi' declaration: " + topic_group +  "    w/regex: " + str(regex.pattern))
+                        self._add_topic(matches, topic_group)
+                        break
                 else:
                     raise SyntaxError('!!! Encountered regex case:  `route_group` contains unrecognized value!: '+ route_group+'  (::'+str(regex.pattern)+')\n'
                                         + "        ("+ route_group+', '+topic_group +")\n"
                                         + "        " + source_line)
-            elif route_group.empty() and topic_group.empty():
-                log.debug('!!! Found ambiguous site, without `ORB_ID` or topic (::'+str(regex.pattern))
-                return PubSub.AMBIGUOUS_SITE_TOPIC
 
             else:
                 raise SyntaxError("            !!! unhandled case:  unknown-variant: "+route_group+", " + topic_group + " ....from regex: " + str(regex.pattern))
 
-        return None
+        return matches
 
-    def _filter_topic(self, topic_name: str) -> str:
+    def _add_topic(self, topic_set: Set[str], topic_name: str):
         """ add topic to set, unless the topic is ignored """
         if topic_name in self._topic_blacklist:
             log.debug("                    XX Ignoring blacklisted topic " + topic_name)
-            return None
+            return
         else:
-            return topic_name
+            return topic_set.add(topic_name)
 
 class Publications(PubSub):
     """ Collects topic publication information for scopes """
@@ -172,7 +189,7 @@ class Scope(object):
         return self._name
 
     def reduce_ambiguities(self) -> Set[str]:
-        self.ambiguities = self.ambiguities - self.subscriptions - self.publications
+        self.ambiguities = self.ambiguities - self.subscriptions - self.ambiguities
         return self.dependencies
 
     @property
@@ -208,8 +225,8 @@ class Graph(object):
             - topic_blacklist
         """
 
+        self._comment_remove_pattern = re.compile( r'//.*?$|/\*.*?\*/|\'(?:\\.|[^\\\'])*\'|"(?:\\.|[^\\"])*"', re.DOTALL | re.MULTILINE)
         self._whitespace_pattern = re.compile(r'\s+')
-
         self._scope_blacklist = set(kwargs.get('scope_blacklist',set()))
         self._scope_whitelist = set(kwargs.get('scope_whitelist',set()))
 
@@ -232,27 +249,28 @@ class Graph(object):
         self._topic_colors = {} # key = topic, value = color (html string)
 
         # note: the source-file-string is pre-processed to remove whitespace -- regexes should ignore whitespace
-        # note: the regexes should 2 capture groups '()' to correctly register with downstream code
+        # note:  the regexes should have at least 3 capture groups '()'; otherwise they break downstream code
-        capture_cases_sub = [r"orb_subscribe\w*\((ORB_ID)(?:\(|::)(\w+)",
+        capture_cases_sub = [r"\borb_subscribe(?:_multi|)\b\s*\(\s*(ORB_ID)\s*\(\s*(\w+)",
-                             r"orb_copy\((ORB_ID)(?:\(|::)(\w+)",
+                             r"(?:uORB::)Subscription(?:Interval|)\s+\w+\s*[\{\(]\s*(ORB_ID)\s*\(\s*(\w+)",
-                             r"Subscription\w*(?:<[^>]+>|)\w*(?:\[[^]]+\]|)[\{\(](ORB_ID)(?:\(|::)(\w+)",
+                             r"(?:uORB::)Subscription(?:Data|MultiArray|Blocking|)\s*(<)\s*(\w+)",
-                             r"SubscriptionCallbackWorkItem\w+\{this,(ORB_ID)(?:\(|::)(\w+)",
+                             r"(?:uORB::)SubscriptionCallbackWorkItem\s+\w+\s*\{\s*this,\s*(ORB_ID)\((\w+)",
                             ]
         self._subscriptions = Subscriptions( self._topic_blacklist, capture_cases_sub)
 
         # note: the source-file-string is pre-processed to remove whitespace -- regexes should ignore whitespace
-        # note: the regexes should 2 capture groups '()' to correctly register with downstream code
+        # note: the regexes should have at least 3 capture groups '()'; otherwise they break downstream code
-        capture_cases_pub = [r"orb_advertise(?:_multi|_queue|_multi_queue|)\((ORB_ID)(?:\(|::)(\w+)",
+        capture_cases_pub = [r"(?:uORB::)Publication(?:Data|Multi|)\s*(<)(\w+)>",
-                             r"orb_publish(?:_auto|)\((ORB_ID)(?:\(|::)(\w+)",
+                             r"orb_advertise(?:_multi|_queue|_multi_queue|)\s*\(\s*(ORB_ID)\s*\(\s*(\w+)",
-                             r"Publication\w*<\w+>\w+(?:\[[^]]+\]|)[\(\{]*(ORB_ID)(?:\(|::)(\w+)",
+                             r"orb_publish(?:_auto|)\s*\(\s*(ORB_ID)\s*\(\s*(\w+)",
+                             r"(?:uORB::)Publication(?:Data|Multi|)\s*<\w+>\s+\w+\s*[\(\{](ORB_ID)\((\w+)"
                             ]
         self._publications = Publications( self._topic_blacklist, capture_cases_pub)
 
         # note: the source-file-string is pre-processed to remove whitespace -- regexes should ignore whitespace
-        # note: the regexes should 2 capture groups '()' to correctly register with downstream code
+        # note: the regexes should have at least 3 capture groups '()'; otherwise they break downstream code
-        capture_cases_ambiguous = [ r"Publication\w*(?:\<\w+\>|)\w+(\[)()",
+        capture_cases_ambiguous = [ r"orb_copy\s*\(\s*(ORB_ID)\s*\(\s*(\w+)",
-                                    r"Subscription\w*(?:\<\w+\>|)\w+(\[)()",
+                                    r"(?:uORB::)Subscription[^\s]*\s+\w+\s*(\[)\s*\w+\s*\]()",
-                                    r"(ORB_ID)(?:\(|::)(\w+)",
+                                    r"(ORB_ID)\s*\(\s*(\w+)",
                                   ]
         self._ambiguities = Ambiguities( self._topic_blacklist, capture_cases_ambiguous)
 
@@ -261,7 +279,7 @@ class Graph(object):
             return None
         return self._current_scope[-1]
 
-    def build(self, src_path_list, **kwargs):
+    def build(self, src_path_list, path_blacklist=[], **kwargs):
         """ parse the source tree & extract pub/sub information.
             :param use_topic_pubsub_union: if true, use all topics that have a
             publisher or subscriber. If false, use only topics with at least one
@@ -270,8 +288,7 @@ class Graph(object):
             fill in self._module_subsciptions & self._module_publications
         """
 
-
+        self._path_blacklist = [os.path.normpath(p) for p in path_blacklist]
-        self._path_blacklist =  set([ os.path.normpath(p) for p in kwargs.get('path_blacklist',[]) ])
 
         for path in src_path_list:
             log.info("## Add src path: " + path )
@@ -279,9 +296,9 @@ class Graph(object):
 
         # Summarize the found counts: (all topics are defined in 'dependency' library)
         log.info('### Summary: Total Scanned:')
-        log.info('    Library Count:      '+str(len(self._found_libraries)))
+        log.info('    Libraries Count:    '+str(len(self._found_libraries)))
-        log.info('    Module Count:       '+str(len(self._found_modules)))
+        log.info('    Modules Count:      '+str(len(self._found_modules)))
-        log.info('    Warning Count:      '+str(len(self._warnings)))
+        log.info('    Warnings Count:     '+str(len(self._warnings)))
 
         if kwargs['merge_depends']:
             graph.merge_depends()
@@ -290,21 +307,18 @@ class Graph(object):
         self._generate_print_lists(use_topic_pubsub_union=kwargs['use_topic_pubsub_union'], merge_depends=kwargs['merge_depends'])
 
         # Summarize the found counts:
-        log.info('### Summary (in-scope):')
+        print('          ### Summary (in-scope):')
-        log.info('    Scope Count:        '+str(len(self._print_scopes)))
+        print('              Ambiguous Count:    '+str(len(self._print_ambiguities)))
-        log.info('    Ambiguous Topics:   '+str(len(self._print_ambiguities)))
+        print('              Scope Count:        '+str(len(self._print_scopes)))
-        log.info('    Linked Topics:      '+str(len(self._print_topics)))
+        print('              Topics Count:       '+str(len(self._print_topics)))
-        log.info('    Warnings:           '+str(len(self._warnings)))
+        print('              Warnings Count:     '+str(len(self._warnings)))
 
         if 0 < len(self._warnings):
             # print out the list of warning-sites:
             log.info('## Warning Sites:')
             for w in self._warnings:
-                scope_name = 'no-scope'
-                if None is not w[0]:
-                    scope_name = w[0].name
                 # warnings tuple contains: (current_scope, file_name, line_number, line)
-                log.info("    -['{}']:{:<64s}:{} = {}".format(scope_name, w[1].lstrip('/.'), w[2], w[3] ))
+                log.info("    -['{}']:{:<64s}:{} = {}".format(w[0].name, w[1].lstrip('/.'), w[2], w[3] ))
 
         # initialize colors
         color_list = get_N_colors(len(self._print_topics), 0.7, 0.85)
@@ -320,8 +334,9 @@ class Graph(object):
         published_topics = set()
         ambiguous_topics = set()
 
-        # gather all found scopes:
+        # gather all possible modules...
-        all_scopes = { **self._found_libraries, **self._found_modules }
+        # all_scopes = self._found_libraries | self._found_modules         # Python 3.9 or greater
+        all_scopes = { **self._found_libraries, **self._found_modules }    # Python 3.5 or greater
 
         if 0 == len(self._scope_whitelist):
             select_scopes = self._found_modules
@@ -331,28 +346,27 @@ class Graph(object):
                 if scope_name in all_scopes:
                     select_scopes[scope_name] = all_scopes[scope_name]
         if not isinstance(select_scopes, dict) or 0 == len(select_scopes):
-            log.error("!! No requested modules not found -- exiting.")
+            raise TypeError("'select_scopes' should be a set!! aborting.")
-            sys.exit(0)
 
-        log.debug('### Condensing found topics: scope -> total')
+        log.debug(f'    >> Condensing found topics: scope -> total')
         for name,scope in select_scopes.items():
-            log.debug('    # Scope: '+ name )
+            log.debug(f'        @@ Scope: {name}')
 
-            log.debug('        ## Subs: ' + str(len(scope.subscriptions)))
+            log.debug(f'          ## Subs: {name}')
-            for topic in sorted(scope.subscriptions):
+            for topic in scope.subscriptions:
-                log.debug('            - ' + topic)
+                log.debug(f'            - {topic}')
                 subscribed_topics.add(topic)
 
-            log.debug('        ## Pubs: ' + str(len(scope.publications)))
+            log.debug(f'          ## Pubs: {name}')
-            for topic in sorted(scope.publications):
+            for topic in scope.publications:
-                log.debug('            - ' + topic )
+                log.debug(f'            - {topic}')
                 published_topics.add(topic)
 
             scope.reduce_ambiguities()
 
-            log.debug('        ## Ambiguities: ' + str(len(scope.ambiguities)))
+            log.debug(f'          ## Ambiguities: {name}')
-            for topic in sorted(scope.ambiguities):
+            for topic in scope.ambiguities:
-                log.debug('            - ' + topic )
+                log.debug(f'            - {topic}')
                 ambiguous_topics.add(topic)
 
         # filter modules iff they have at least a subscription or a publication
@@ -386,11 +400,11 @@ class Graph(object):
 
         entries = os.listdir(path)
 
-        # check if entering a new scope
+        # check if entering a new module
         cmake_file = 'CMakeLists.txt'
-        new_scope = False
+        new_module = False
         if cmake_file in entries:
-            new_scope = self._extract_build_information(os.path.join(path, cmake_file), **kwargs)
+            new_module = self._extract_build_information(os.path.join(path, cmake_file), **kwargs)
 
         # iterate directories recursively
         for entry in entries:
@@ -400,23 +414,23 @@ class Graph(object):
 
 
         # iterate source files
-        # Note: Skip all entries if we're not in a scope -- both finding known pubs/subs and emitting warnings
+        # Note: Skip all entries if we're not in a module -- both finding known pubs/subs and emitting warnings
-        for entry in entries:
+        if (0 == len(self._scope_whitelist)) or (0 < len(self._current_scope)) and (self._current_scope[-1].name in self._scope_whitelist):
-            file_name = os.path.join(path, entry)
+            for entry in entries:
-            if os.path.isfile(file_name):
+                file_name = os.path.join(path, entry)
-                _, ext = os.path.splitext(file_name)
+                if os.path.isfile(file_name):
-                if ext in ['.cpp', '.c', '.h', '.hpp']:
+                    _, ext = os.path.splitext(file_name)
-                    self._process_source_file(file_name)
+                    if ext in ['.cpp', '.c', '.h', '.hpp']:
+                        self._process_source_file(file_name)
 
-        if new_scope:
+
+        if new_module:
             self._current_scope.pop()
 
 
     def _extract_build_information(self, file_name, **kwargs):
-        """ extract the module or library name from a CMakeLists.txt file and store
+        """ extract the module name from a CMakeLists.txt file and store
-            in self._current_scope if there is any
+            in self._current_scope if there is any """
-            Also records dependencies, if any are specified.
-        """
 
         datafile = open(file_name)
         found_module_def = False
@@ -482,59 +496,52 @@ class Graph(object):
 
 
             current_scope = self._get_current_scope()
-            if current_scope:
-                if current_scope.name in self._scope_blacklist:
-                    return
-                elif current_scope.name == 'uorb_tests': # skip this
-                    return
-                elif current_scope.name == 'uorb':
 
-                    # search and validate the ORB_ID_VEHICLE_ATTITUDE_CONTROLS define
+            if current_scope is None:
-                    matches = self._orb_id_vehicle_attitude_controls_re.findall(content)
+                return  # ignore declarations outside of a declared module
-                    for match in matches:
+            elif current_scope.name in self._scope_blacklist:
-                        if match != 'ORB_ID('+self._orb_id_vehicle_attitude_controls_topic:
+                return
-                            # if we land here, you need to change _orb_id_vehicle_attitude_controls_topic
+            elif current_scope.name == 'uorb_tests': # skip this
-                            raise Exception(
+                return
-                                'The extracted define for ORB_ID_VEHICLE_ATTITUDE_CONTROLS '
+            elif current_scope.name == 'uorb':
-                                'is '+match+' but expected ORB_ID('+
-                                self._orb_id_vehicle_attitude_controls_topic)
 
-                    return # skip uorb module for the rest
+                # search and validate the ORB_ID_VEHICLE_ATTITUDE_CONTROLS define
+                matches = self._orb_id_vehicle_attitude_controls_re.findall(content)
+                for match in matches:
+                    if match != 'ORB_ID('+self._orb_id_vehicle_attitude_controls_topic:
+                        # if we land here, you need to change _orb_id_vehicle_attitude_controls_topic
+                        raise Exception(
+                            'The extracted define for ORB_ID_VEHICLE_ATTITUDE_CONTROLS '
+                            'is '+match+' but expected ORB_ID('+
+                            self._orb_id_vehicle_attitude_controls_topic)
+
+                return # skip uorb module for the rest
 
             line_number = 0
-            for full_line in content.splitlines():
+            for line in content.splitlines():
                 line_number += 1
 
-                short_line = re.sub(self._whitespace_pattern, '', full_line)
+                pub_topics = self._publications.match(line)
+                for each_topic in pub_topics:
+                    current_scope.publications.add(each_topic)
+                if pub_topics:
+                    continue
 
-                topic = self._publications.match(short_line)
+                sub_topics = self._subscriptions.match(line)
-                if topic:
+                for each_topic in sub_topics:
-                    if current_scope:
+                    current_scope.subscriptions.add(each_topic)
-                        current_scope.publications.add(topic)
+                if sub_topics:
-                        continue
+                    continue
-                    else:
-                        raise AssertionError("Encountered Publication topic outside of any scope! " + file_name + " Aborting!")
 
-                topic = self._subscriptions.match(short_line)
+                ambi_topics = self._ambiguities.match(line)
-                if topic:
+                for each_topic in ambi_topics:
-                    if current_scope:
+                    current_scope.ambiguities.add(each_topic)
-                        current_scope.subscriptions.add(topic)
+                    self._warnings.append((current_scope, file_name, line_number, line))
-                        continue
-                    else:
-                        raise AssertionError("Encountered Subscription topic outside of any scope! " + file_name + " Aborting!")
-
-                topic = self._ambiguities.match(short_line)
-                if topic:
-                    if current_scope:
-                        if topic != PubSub.AMBIGUOUS_SITE_TOPIC:
-                            current_scope.ambiguities.add(topic)
-                        self._warnings.append((current_scope, file_name, line_number, full_line))
-                        continue
-                    else:
-                        raise AssertionError("Encountered Ambiguous topic outside of any scope! " + file_name + " Aborting!")
 
     def _in_scope(self, scope_name = None):
-        if 0 < len(self._current_scope):
+        if 0 == len(self._scope_whitelist):
+            return True
+        elif 0 < len(self._current_scope):
             if None is scope_name:
                 scope_name = self._current_scope[-1].name
             if scope_name in self._scope_whitelist:
@@ -543,10 +550,8 @@ class Graph(object):
         return False
 
     def merge_depends(self):
-        log.info('### Merge Depends:')
-
         for modname,module in self._found_modules.items():
-            if modname in self._scope_whitelist or 0==len(self._scope_whitelist):
+            if self._in_scope(modname):
                 for depname in module.dependencies:
                     if depname in self._found_libraries:
                         dep = self._found_libraries[depname]
@@ -725,38 +730,33 @@ if "__main__" == __name__:
     topic_blacklist = [ 'parameter_update', 'mavlink_log', 'log_message' ]
     print('Excluded topics: '+str(topic_blacklist))
 
+    # ignore certain modules; for any reason
+    scope_blacklist = []
+    if scope_blacklist:
+        print('Excluded Modules: '+str(topic_blacklist))
+
     if len(args.modules) == 0:
         scope_whitelist = []
     else:
         scope_whitelist = [ m.strip() for m in args.modules.split(',')]
         scope_whitelist = set(scope_whitelist)
 
-    graph = Graph(scope_whitelist=scope_whitelist, topic_blacklist=topic_blacklist)
+    graph = Graph(scope_whitelist=scope_whitelist, scope_blacklist=scope_blacklist, topic_blacklist=topic_blacklist)
-
-    # if no source paths are supplied, guess that we're in the project root, and apply it to the entire 'src/' tree
     if len(args.src_path) == 0:
         args.src_path = ['src']
 
-    # transcribe only the source paths that actually exist:
+        if not os.path.exists(args.src_path[0]):
-    source_paths = []
+            print(f"    !?could not find source directory: {args.src_path[0]}")
+            script_path = os.path.dirname(os.path.realpath(__file__))
+            args.src_path[0] = os.path.realpath(os.path.join( script_path, '..', '..', 'src' ))
+            print(f"        >> guessing at path: {args.src_path[0]}")
+
     for path in args.src_path:
-        if os.path.exists(path):
+        if not os.path.exists(path):
-            source_paths.append(path)
+            print(f"    !?could not find source directory: {path} -- please check path!")
-        else:
+            print(f"    Exiting.")
-            log.warn("Could not find path: " + path)
 
-    if 0 == len(source_paths):
+    graph.build(args.src_path, args.exclude_path, use_topic_pubsub_union=args.use_topic_union, merge_depends=args.merge_depends)
-        print("!! None of the source directories were valid -- Exiting.")
-        sys.exit(-1)
-
-    # ignore certain paths
-    path_blacklist = ['src/lib/parameters/']
-    if 0 < len(args.exclude_path):
-        path_blacklist = args.exclude_path
-    if path_blacklist:
-        print('Excluded Path: '+str(path_blacklist))
-
-    graph.build(source_paths, path_blacklist=path_blacklist, use_topic_pubsub_union=args.use_topic_union, merge_depends=args.merge_depends)
 
     if args.output == 'json':
         output_json = OutputJSON(graph)

boards/airmind/mindpx-v2/default.cmake

@@ -8,13 +8,13 @@ px4_add_board(
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
 	ROMFSROOT px4fmu_common
+	TESTING
 	UAVCAN_INTERFACES 1
 	SERIAL_PORTS
 		GPS1:/dev/ttyS3
 		TEL1:/dev/ttyS1
 		TEL2:/dev/ttyS2
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -26,18 +26,18 @@ px4_add_board(
 		gps
 		#heater
 		#imu # all available imu drivers
-		imu/invensense/icm20948 # required for ak09916 mag
 		imu/l3gd20
 		imu/lsm303d
 		imu/invensense/mpu6000
 		imu/invensense/mpu6500
 		irlock
-		lights # all available light drivers
+		lights/blinkm
+		lights/rgbled
+		#lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		osd
+		#osd
 		pca9685
-		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_input
@@ -45,8 +45,8 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
-		rpm
 		telemetry # all available telemetry drivers
+		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -57,7 +57,6 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
-		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -74,15 +73,12 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
-		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
 		sensors
 		sih
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -90,7 +86,6 @@ px4_add_board(
 		#dmesg
 		dumpfile
 		esc_calib
-		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -106,8 +101,8 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		serial_test
 		system_time
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -117,15 +112,13 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#fake_magnetometer
+		hello
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hwtest # Hardware test
-		#hello
-		#hwtest # Hardware test
 		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
+		rover_steering_control # Rover example app
-		#uuv_example_app
+		uuv_example_app
-		#work_item
+		work_item
 	)

boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig

@@ -101,7 +101,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -117,7 +116,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
@@ -128,9 +126,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDIO_BLOCKSETUP=y

boards/ark/can-flow/nuttx-config/nsh/defconfig

@@ -81,7 +81,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -97,7 +96,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
@@ -108,9 +106,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0

boards/atlflight/eagle/default.cmake

@@ -39,6 +39,7 @@ px4_add_board(
 	VENDOR atlflight
 	MODEL eagle
 	LABEL default
+	#TESTING
 	TOOLCHAIN arm-linux-gnueabihf
 	ROMFSROOT px4fmu_common
 	DRIVERS
@@ -107,6 +108,7 @@ px4_add_board(
 		sd_bench
 		shutdown
 		system_time
+		#tests # tests and test runner
 		#top
 		topic_listener
 		tune_control

boards/atlflight/eagle/qurt.cmake

@@ -49,7 +49,7 @@ px4_add_board(
 		imu/invensense/mpu9250
 		#magnetometer/hmc5883
 		qshell/qurt
-		snapdragon_spektrum_rc
+		spektrum_rc
 	MODULES
 		airspeed_selector
 		attitude_estimator_q

boards/atlflight/excelsior/default.cmake

@@ -39,6 +39,7 @@ px4_add_board(
 	VENDOR atlflight
 	MODEL excelsior
 	LABEL default
+	#TESTING
 	TOOLCHAIN arm-oemllib32-linux-gnueabi
 	DRIVERS
 		#barometer # all available barometer drivers
@@ -105,6 +106,7 @@ px4_add_board(
 		sd_bench
 		shutdown
 		system_time
+		#tests # tests and test runner
 		#top
 		topic_listener
 		tune_control

boards/atlflight/excelsior/qurt.cmake

@@ -49,7 +49,7 @@ px4_add_board(
 		imu/invensense/mpu9250
 		magnetometer/hmc5883
 		qshell/qurt
-		snapdragon_spektrum_rc
+		spektrum_rc
 	MODULES
 		airspeed_selector
 		attitude_estimator_q

boards/av/x-v1/default.cmake

@@ -7,6 +7,7 @@ px4_add_board(
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
+	TESTING
 	UAVCAN_INTERFACES 2
 	ETHERNET
 	SERIAL_PORTS
@@ -16,7 +17,6 @@ px4_add_board(
 		TEL3:/dev/ttyS2
 		TEL4:/dev/ttyS3
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -26,17 +26,18 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		#dshot
 		gps
+		#heater
 		#imu # all available imu drivers
 		imu/adis16477
 		imu/adis16497
-		imu/invensense/icm20948 # required for ak09916 mag
 		irlock
-		lights # all available light drivers
+		lights/blinkm
+		#lights/rgbled
+		#lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		osd
+		#osd
 		pca9685
-		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		#pwm_input
@@ -44,8 +45,8 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
-		rpm
 		telemetry # all available telemetry drivers
+		test_ppm
 		#tone_alarm
 		uavcan
 	MODULES
@@ -56,7 +57,6 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
-		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -73,23 +73,19 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
-		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
 		sensors
 		sih
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
-		bl_update
+		#bl_update
 		dmesg
 		dumpfile
 		esc_calib
-		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -97,15 +93,14 @@ px4_add_board(
 		motor_ramp
 		motor_test
 		nshterm
-		netman
 		param
 		perf
 		pwm
 		reboot
 		reflect
 		sd_bench
-		serial_test
 		system_time
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -114,15 +109,13 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#fake_magnetometer
+		hello
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hwtest # Hardware test
-		#hello
-		#hwtest # Hardware test
 		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
+		rover_steering_control # Rover example app
-		#uuv_example_app
+		uuv_example_app
-		#work_item
+		work_item
 	)