github actions add timeout-minutes

- SubscriptionInterval.hpp includes Subscription.hpp, but not vice versa
- The time literal 1_s is defined in the namespace time_literals

.ci/Jenkinsfile-compile

@@ -13,7 +13,6 @@ pipeline {
             arm64: "px4io/px4-dev-aarch64:2021-05-04",
             base: "px4io/px4-dev-base-bionic:2021-05-04",
             nuttx: "px4io/px4-dev-nuttx-focal:2021-05-04",
-            snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
           ]
 
           def armhf_builds = [
@@ -106,14 +105,8 @@ pipeline {
             archive: true
           ]
 
-          def snapdragon_builds = [
-            target: ["atlflight_eagle_qurt", "atlflight_eagle_default"],
-            image: docker_images.snapdragon,
-            archive: false
-          ]
-
           def docker_builds = [
-            armhf_builds, base_builds, nuttx_builds_archive//, snapdragon_builds
+            armhf_builds, base_builds, nuttx_builds_archive
           ]
 
           for (def build_type = 0; build_type < docker_builds.size(); build_type++) {
@@ -165,12 +158,6 @@ pipeline {
 def createBuildNode(Boolean archive, String docker_image, String target) {
   return {
 
-    // TODO: fix the snapdragon image
-    bypass_entrypoint = ''
-    if (docker_image == 'lorenzmeier/px4-dev-snapdragon:2020-04-01') {
-      bypass_entrypoint = ' --entrypoint=""'
-    }
-
     node {
       docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
         docker.image(docker_image).inside('-e CCACHE_BASEDIR=${WORKSPACE} -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' + bypass_entrypoint) {

.github/workflows/checks.yml

@@ -11,6 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
+    timeout-minutes: 60
     strategy:
       fail-fast: false
       matrix:

.github/workflows/clang-tidy.yml

@@ -12,6 +12,7 @@ jobs:
   build:
     runs-on: ubuntu-latest
     container: px4io/px4-dev-clang:2021-05-04
+    timeout-minutes: 60
     steps:
     - uses: actions/checkout@v1
       with:

.github/workflows/compile_linux.yml

@@ -12,6 +12,7 @@ jobs:
   build:
     runs-on: ubuntu-latest
     container: px4io/px4-dev-armhf:2021-05-04
+    timeout-minutes: 60
     strategy:
       matrix:
         config: [

.github/workflows/compile_linux_arm64.yml

@@ -12,6 +12,7 @@ jobs:
   build:
     runs-on: ubuntu-latest
     container: px4io/px4-dev-aarch64:2021-05-04
+    timeout-minutes: 60
     strategy:
       matrix:
         config: [

.github/workflows/compile_macos.yml

@@ -11,6 +11,7 @@ on:
 jobs:
   build:
     runs-on: macos-10.15
+    timeout-minutes: 60
     strategy:
       matrix:
         config: [

.github/workflows/compile_nuttx.yml

@@ -12,83 +12,50 @@ jobs:
   build:
     runs-on: ubuntu-latest
     container: px4io/px4-dev-nuttx-focal:2021-05-04
+    timeout-minutes: 60
     strategy:
       matrix:
         config: [
-          airmind_mindpx-v2_default,
-          ark_can-flow_canbootloader,
-          ark_can-flow_debug,
-          ark_can-flow_default,
-          ark_can-gps_canbootloader,
-          ark_can-gps_debug,
-          ark_can-gps_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_default,
-          cubepilot_cubeorange_test,
-          cubepilot_cubeyellow_default,
-          cubepilot_cubeyellow_test,
-          cubepilot_io-v2_default,
-          freefly_can-rtk-gps_canbootloader,
-          freefly_can-rtk-gps_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,
-          modalai_fc-v2_default,
-          mro_ctrl-zero-f7-oem_default,
-          mro_ctrl-zero-f7_default,
-          mro_ctrl-zero-h7-oem_default,
-          mro_ctrl-zero-h7_default,
-          mro_pixracerpro_default,
-          mro_x21-777_default,
-          mro_x21_default,
-          nxp_fmuk66-e_default,
-          nxp_fmuk66-e_rtps,
-          nxp_fmuk66-e_socketcan,
-          nxp_fmuk66-v3_default,
-          nxp_fmuk66-v3_rtps,
-          nxp_fmuk66-v3_socketcan,
-          nxp_fmurt1062-v1_default,
-          nxp_ucans32k146_canbootloader,
-          nxp_ucans32k146_default,
-          omnibus_f4sd_default,
-          px4_fmu-v2_default,
-          px4_fmu-v2_fixedwing,
-          px4_fmu-v2_multicopter,
-          px4_fmu-v2_rover,
-          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-v6x_default,
-          px4_io-v2_default,
-          spracing_h7extreme_default,
-          uvify_core_default
+          airmind_mindpx-v2,
+          ark_can-flow,
+          ark_can-gps,
+          av_x-v1,
+          bitcraze_crazyflie,
+          bitcraze_crazyflie21,
+          cuav_can-gps-v1,
+          cuav_nora,
+          cuav_x7pro,
+          cubepilot_cubeorange,
+          cubepilot_cubeyellow,
+          freefly_can-rtk-gps,
+          holybro_can-gps-v1,
+          holybro_durandal-v1,
+          holybro_kakutef7,
+          holybro_pix32v5,
+          modalai_fc-v1,
+          modalai_fc-v2,
+          mro_ctrl-zero-f7,
+          mro_ctrl-zero-f7-oem,
+          mro_ctrl-zero-h7,
+          mro_ctrl-zero-h7-oem,
+          mro_pixracerpro,
+          mro_x21,
+          mro_x21-777,
+          nxp_fmuk66-e,
+          nxp_fmuk66-v3,
+          nxp_fmurt1062-v1,
+          nxp_ucans32k146,
+          omnibus_f4sd,
+          px4_fmu-v2,
+          px4_fmu-v3,
+          px4_fmu-v4,
+          px4_fmu-v4pro,
+          px4_fmu-v5,
+          px4_fmu-v5x,
+          px4_fmu-v6u,
+          px4_fmu-v6x,
+          spracing_h7extreme,
+          uvify_core
           ]
     steps:
     - uses: actions/checkout@v1
@@ -117,8 +84,8 @@ jobs:
           ccache -s
           ccache -z
 
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
+    - name: make all_variants_${{matrix.config}}
+      run: make all_variants_${{matrix.config}}
     - name: make ${{matrix.config}} bloaty_compileunits
       run: make ${{matrix.config}} bloaty_compileunits || true
     - name: make ${{matrix.config}} bloaty_inlines
@@ -137,7 +104,7 @@ jobs:
       run: ccache -s
 
     - name: Upload px4 package
-      uses: actions/upload-artifact@v1
+      uses: actions/upload-artifact@v2
       with:
         name: px4_package_${{matrix.config}}
-        path: build/${{matrix.config}}/${{matrix.config}}.px4
+        path: build/**/*.px4

.github/workflows/compile_nuttx_cannode.yml

@@ -12,6 +12,7 @@ jobs:
   build:
     runs-on: ubuntu-latest
     container: px4io/px4-dev-nuttx-focal:2021-05-04
+    timeout-minutes: 60
     strategy:
       matrix:
         config: [

.github/workflows/ekf_functional_change_indicator.yml

@@ -8,13 +8,14 @@ jobs:
     container: px4io/px4-dev-base-focal:2021-05-04
     steps:
     - uses: actions/checkout@v2.3.1
+      with:
+        fetch-depth: 0
     - name: checkout newest version of branch
       run: |
         git fetch origin pull/${{github.event.pull_request.number}}/head:${{github.head_ref}}
         git checkout ${GITHUB_HEAD_REF}
     - name: main test
-      run: cd ${GITHUB_WORKSPACE}/src/lib/ecl; make test
-      working-directory: src/lib/ecl
+      run: make tests TESTFILTER=EKF
     - name: Check if there is a functional change
       run: git diff --exit-code
-      working-directory: src/lib/ecl/test/change_indication
+      working-directory: src/modules/ekf2/test/change_indication

.github/workflows/ekf_standalone_build_tests.yml

@@ -1,56 +0,0 @@
-
-name: EKF Build Tests
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-    branches:
-      - '*'
-
-jobs:
-  Linux-GCC:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
-    steps:
-    - uses: actions/checkout@v1
-    - name: main build
-      run: make
-      working-directory: src/lib/ecl
-    - name: clean build
-      run: make clean
-      working-directory: src/lib/ecl
-    - name: main test
-      run: make test
-      working-directory: src/lib/ecl
-  Linux-Clang:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2021-05-04
-    env:
-      CC: clang
-      CXX: clang++
-    steps:
-      - uses: actions/checkout@v1
-      - name: main build
-        run: make
-        working-directory: src/lib/ecl
-      - name: clean build
-        run: make clean
-        working-directory: src/lib/ecl
-      - name: main test
-        run: make test
-        working-directory: src/lib/ecl
-  Mac-OS:
-    runs-on: macos-latest
-    steps:
-      - uses: actions/checkout@v1
-      - name: main build
-        run: make
-        working-directory: src/lib/ecl
-      - name: clean build
-        run: make clean
-        working-directory: src/lib/ecl
-      - name: main test
-        run: make test
-        working-directory: src/lib/ecl

.github/workflows/ekf_update_change_indicator.yml

@@ -11,11 +11,13 @@ jobs:
       GIT_COMMITTER_NAME: PX4BuildBot
     steps:
     - uses: actions/checkout@v2.3.1
+      with:
+        fetch-depth: 0
     - name: main test updates change indication files
-      run: cd ${GITHUB_WORKSPACE}/src/lib/ecl; make test
+      run: make tests TESTFILTER=EKF
     - name: Check if there exists diff and save result in variable
       run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_ENV
-      working-directory: src/lib/ecl/test/change_indication
+      working-directory: src/modules/ekf2/test/change_indication
     - name: auto-commit any changes to change indication
       uses: stefanzweifel/git-auto-commit-action@v4
       with:

.github/workflows/sitl_tests.yml

@@ -11,6 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
+    timeout-minutes: 60
     strategy:
       fail-fast: false
       matrix:

.gitmodules

@@ -18,10 +18,6 @@
 	path = src/lib/matrix
 	url = https://github.com/PX4/PX4-Matrix.git
 	branch = master
-[submodule "boards/atlflight/cmake_hexagon"]
-	path = boards/atlflight/cmake_hexagon
-	url = https://github.com/PX4/cmake_hexagon.git
-	branch = px4
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/PX4-GPSDrivers.git
@@ -38,9 +34,6 @@
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
 	branch = px4_firmware_nuttx-10.0.0+
-[submodule "platforms/qurt/dspal"]
-	path = platforms/qurt/dspal
-	url = https://github.com/ATLFlight/dspal.git
 [submodule "Tools/flightgear_bridge"]
 	path = Tools/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
@@ -70,3 +63,6 @@
 [submodule "src/lib/events/libevents"]
 	path = src/lib/events/libevents
 	url = https://github.com/mavlink/libevents.git
+[submodule "Tools/simulation-ignition"]
+	path = Tools/simulation-ignition
+	url = https://github.com/Auterion/px4-simulation-ignition.git

Makefile

@@ -174,6 +174,7 @@ endif
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
+	$(eval CMAKE_ARGS += -DCONFIG=$(1))
 	@$(eval BUILD_DIR = "$(SRC_DIR)/build/$(1)")
 	@# check if the desired cmake configuration matches the cache then CMAKE_CACHE_CHECK stays empty
 	@$(call cmake-cache-check)
@@ -213,7 +214,7 @@ define colorecho
 endef
 
 # Get a list of all config targets boards/*/*.cmake
-ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 ! -name '*common*' ! -name '*sdflight*' -name '*.cmake' -print | sed -e 's|boards\/||' | sed -e 's|\.cmake||' | sed -e 's|\/|_|g' | sort)
+ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 -name '*.cmake' -print | sed -e 's|boards\/||' | sed -e 's|\.cmake||' | sed -e 's|\/|_|g' | sort)
 
 # ADD CONFIGS HERE
 # --------------------------------------------------------------------
@@ -221,16 +222,12 @@ ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 ! -name '*comm
 
 # All targets.
 $(ALL_CONFIG_TARGETS):
-	@$(eval PX4_CONFIG = $@)
-	@$(eval CMAKE_ARGS += -DCONFIG=$(PX4_CONFIG))
-	@$(call cmake-build,$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))
+	@$(call cmake-build,$@$(BUILD_DIR_SUFFIX))
 
 # Filter for only default targets to allow omiting the "_default" postfix
 CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG_TARGETS)))
 $(CONFIG_TARGETS_DEFAULT):
-	@$(eval PX4_CONFIG = $@_default)
-	@$(eval CMAKE_ARGS += -DCONFIG=$(PX4_CONFIG))
-	@$(call cmake-build,$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))
+	@$(call cmake-build,$@_default$(BUILD_DIR_SUFFIX))
 
 all_config_targets: $(ALL_CONFIG_TARGETS)
 all_default_targets: $(CONFIG_TARGETS_DEFAULT)
@@ -243,16 +240,6 @@ endef
 # All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
 .PHONY: all px4_sitl_default all_config_targets all_default_targets
 
-# Multi- config targets.
-eagle_default: atlflight_eagle_default atlflight_eagle_qurt
-eagle_rtps: atlflight_eagle_rtps atlflight_eagle_qurt-rtps
-
-excelsior_default: atlflight_excelsior_default atlflight_excelsior_qurt
-excelsior_rtps: atlflight_excelsior_rtps atlflight_excelsior_qurt-rtps
-
-.PHONY: eagle_default eagle_rtps
-.PHONY: excelsior_default excelsior_rtps
-
 # Other targets
 # --------------------------------------------------------------------
 
@@ -306,6 +293,11 @@ check_%:
 	@$(MAKE) --no-print-directory $(subst check_,,$@)
 	@echo
 
+all_variants_%:
+	@echo 'Building all $(subst all_variants_,,$@) variants:'  $(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS))
+	@echo
+	$(foreach a,$(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS)), $(call cmake-build,$(a)$(BUILD_DIR_SUFFIX)))
+
 uorb_graphs:
 	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib --file Tools/uorb_graph/graph_full
 	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
@@ -360,7 +352,6 @@ format:
 .PHONY: rostest python_coverage
 
 tests:
-	$(eval CMAKE_ARGS += -DCONFIG=px4_sitl_test)
 	$(eval CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
 	$(eval ARGS += test_results)
 	$(eval ASAN_OPTIONS += color=always:check_initialization_order=1:detect_stack_use_after_return=1)
@@ -511,7 +502,7 @@ help:
 	@echo "Where <target> is one of:"
 	@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
 		awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
-		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(posix|eagle|Makefile)'
+		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(Makefile)'
 	@echo
 	@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
 	@echo "Use '$(MAKE) list_config_targets' for a list of configuration targets."

README.md

@@ -8,7 +8,7 @@
 
 This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
 
-PX4 is highly portable, OS-independent and supports Linux, NuttX and QuRT out of the box.
+PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.
 
 * Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
 * [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):

Tools/HIL/monitor_firmware_upload.py

@@ -5,46 +5,62 @@ import subprocess
 from subprocess import call, Popen
 from argparse import ArgumentParser
 import re
+import sys
+import datetime
+
+COLOR_RED    = "\x1b[31m"
+COLOR_GREEN  = "\x1b[32m"
+COLOR_YELLOW = "\x1b[33m"
+COLOR_WHITE  = "\x1b[37m"
+COLOR_RESET  = "\x1b[0m"
+
+def print_line(line):
+    if "WARNING" in line:
+        line = line.replace("WARNING", f"{COLOR_YELLOW}WARNING{COLOR_RESET}", 1)
+    elif "WARN" in line:
+        line = line.replace("WARN", f"{COLOR_YELLOW}WARN{COLOR_RESET}", 1)
+    elif "ERROR" in line:
+        line = line.replace("ERROR", f"{COLOR_RED}ERROR{COLOR_RESET}", 1)
+    elif "INFO" in line:
+        line = line.replace("INFO", f"{COLOR_WHITE}INFO{COLOR_RESET}", 1)
+
+    if "PASSED" in line:
+        line = line.replace("PASSED", f"{COLOR_GREEN}PASSED{COLOR_RESET}", 1)
+
+    if "FAILED" in line:
+        line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
+
+    current_time = datetime.datetime.now()
+    print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
 
 def monitor_firmware_upload(port, baudrate):
-    databits = serial.EIGHTBITS
-    stopbits = serial.STOPBITS_ONE
-    parity = serial.PARITY_NONE
-    ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=1)
+    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=True, rtscts=False, dsrdtr=False)
 
-    finished = 0
-
-    timeout = 300  # 5 minutes
+    timeout = 180  # 3 minutes
     timeout_start = time.time()
     timeout_newline = time.time()
 
-    while finished == 0:
+    while True:
         serial_line = ser.readline().decode("ascii", errors='ignore')
-        if (len(serial_line) > 0):
-            print(serial_line.replace('\n', ''))
+
+        if len(serial_line) > 0:
+            print_line(serial_line)
 
         if "NuttShell (NSH)" in serial_line:
-            finished = 1
-            break
-
-        if time.time() - timeout_start > 10:
-            if "nsh>" in serial_line:
-                finished = 1
-                break
+            sys.exit(0)
+        elif "nsh>" in serial_line:
+            sys.exit(0)
 
         if time.time() > timeout_start + timeout:
             print("Error, timeout")
-            finished = 1
-            break
+            sys.exit(-1)
 
         # newline every 10 seconds if still running
         if time.time() - timeout_newline > 10:
             timeout_newline = time.time()
-            ser.write('\n'.encode("ascii"))
+            ser.write("\n".encode("ascii"))
             ser.flush()
 
-    ser.close()
-
 def main():
     parser = ArgumentParser(description=__doc__)
     parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)

Tools/HIL/nsh_param_set.py

@@ -0,0 +1,137 @@
+#! /usr/bin/env python3
+
+import serial, time
+import subprocess
+from subprocess import call, Popen
+from argparse import ArgumentParser
+import re
+import sys
+
+COLOR_RED    = "\x1b[31m"
+COLOR_GREEN  = "\x1b[32m"
+COLOR_YELLOW = "\x1b[33m"
+COLOR_WHITE  = "\x1b[37m"
+COLOR_RESET  = "\x1b[0m"
+
+def print_line(line):
+    if "WARNING" in line:
+        line = line.replace("WARNING", f"{COLOR_YELLOW}WARNING{COLOR_RESET}", 1)
+    elif "WARN" in line:
+        line = line.replace("WARN", f"{COLOR_YELLOW}WARN{COLOR_RESET}", 1)
+    elif "ERROR" in line:
+        line = line.replace("ERROR", f"{COLOR_RED}ERROR{COLOR_RESET}", 1)
+    elif "INFO" in line:
+        line = line.replace("INFO", f"{COLOR_WHITE}INFO{COLOR_RESET}", 1)
+
+    if "PASSED" in line:
+        line = line.replace("PASSED", f"{COLOR_GREEN}PASSED{COLOR_RESET}", 1)
+
+    if "FAILED" in line:
+        line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
+
+    print(line, end='')
+
+def do_param_set_cmd(port, baudrate, param_name, param_value):
+    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.1, xonxoff=True, rtscts=False, dsrdtr=False)
+
+    timeout_start = time.time()
+    timeout = 10  # 10 seconds
+
+    # wait for nsh prompt
+    while True:
+        ser.write("\n".encode("ascii"))
+        ser.flush()
+
+        serial_line = ser.readline().decode("ascii", errors='ignore')
+
+        if "nsh>" in serial_line:
+            break
+        else:
+            if len(serial_line) > 0:
+                print_line(serial_line)
+
+        if time.time() > timeout_start + timeout:
+            print("Error, timeout waiting for prompt")
+            sys.exit(1)
+
+    # clear
+    ser.readlines()
+
+    # run command
+    timeout_start = time.time()
+    timeout = 10  # 10 seconds
+
+    cmd = "param set " + param_name + " " + param_value
+
+    # write command (param set) and wait for command echo
+    serial_cmd = '{0}\r\n'.format(cmd)
+    ser.write(serial_cmd.encode("ascii"))
+    ser.flush()
+    while True:
+        serial_line = ser.readline().decode("ascii", errors='ignore')
+
+        if cmd in serial_line:
+            print_line(serial_line)
+            break
+        else:
+            if len(serial_line) > 0:
+                print_line(serial_line)
+
+        if time.time() > timeout_start + timeout:
+            print("Error, timeout waiting for command echo")
+            break
+
+    # verify param value
+    cmd = "param show " + param_name
+    serial_cmd = '{0}\r\n'.format(cmd)
+    ser.write(serial_cmd.encode("ascii"))
+    ser.flush()
+
+    param_show_response = param_name + " ["
+
+    timeout_start = time.time()
+    timeout = 2  # 2 seconds
+
+    while True:
+        serial_line = ser.readline().decode("ascii", errors='ignore')
+
+        if param_show_response in serial_line:
+            print_line(serial_line)
+            current_param_value = serial_line.split(":")[-1].strip()
+
+            if (current_param_value == param_value):
+                sys.exit(0)
+            else:
+                sys.exit(1)
+        else:
+            if len(serial_line) > 0:
+                print_line(serial_line)
+
+            if time.time() > timeout_start + timeout:
+                if "nsh>" in serial_line:
+                    sys.exit(1) # error, command didn't complete successfully
+                elif "NuttShell (NSH)" in serial_line:
+                    sys.exit(1) # error, command didn't complete successfully
+
+        if len(serial_line) <= 0:
+            ser.write("\r\n".encode("ascii"))
+            ser.flush()
+
+        if time.time() > timeout_start + timeout:
+            print("Error, timeout")
+            sys.exit(-1)
+
+    ser.close()
+
+def main():
+    parser = ArgumentParser(description=__doc__)
+    parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
+    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
+    parser.add_argument("--name", "-p", dest="param_name", help="Parameter name")
+    parser.add_argument("--value", "-v", dest="param_value", help="Parameter value")
+    args = parser.parse_args()
+
+    do_param_set_cmd(args.device, args.baudrate, args.param_name, args.param_value)
+
+if __name__ == "__main__":
+   main()

Tools/HIL/run_nsh_cmd.py

@@ -6,52 +6,89 @@ from subprocess import call, Popen
 from argparse import ArgumentParser
 import re
 import sys
+import datetime
+
+COLOR_RED    = "\x1b[31m"
+COLOR_GREEN  = "\x1b[32m"
+COLOR_YELLOW = "\x1b[33m"
+COLOR_WHITE  = "\x1b[37m"
+COLOR_RESET  = "\x1b[0m"
+
+def print_line(line):
+    if "WARNING" in line:
+        line = line.replace("WARNING", f"{COLOR_YELLOW}WARNING{COLOR_RESET}", 1)
+    elif "WARN" in line:
+        line = line.replace("WARN", f"{COLOR_YELLOW}WARN{COLOR_RESET}", 1)
+    elif "ERROR" in line:
+        line = line.replace("ERROR", f"{COLOR_RED}ERROR{COLOR_RESET}", 1)
+    elif "INFO" in line:
+        line = line.replace("INFO", f"{COLOR_WHITE}INFO{COLOR_RESET}", 1)
+
+    if "PASSED" in line:
+        line = line.replace("PASSED", f"{COLOR_GREEN}PASSED{COLOR_RESET}", 1)
+
+    if "FAILED" in line:
+        line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
+
+    current_time = datetime.datetime.now()
+    print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
 
 def do_nsh_cmd(port, baudrate, cmd):
-    databits = serial.EIGHTBITS
-    stopbits = serial.STOPBITS_ONE
-    parity = serial.PARITY_NONE
-    ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=0.1)
+    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.1, xonxoff=True, rtscts=False, dsrdtr=False)
 
-    # run command
     timeout_start = time.time()
     timeout = 10  # 10 seconds
 
+    # wait for nsh prompt
+    while True:
+        ser.write("\n".encode("ascii"))
+        ser.flush()
+
+        serial_line = ser.readline().decode("ascii", errors='ignore')
+
+        if "nsh>" in serial_line:
+            break
+        else:
+            if len(serial_line) > 0:
+                print_line(serial_line)
+
+        if time.time() > timeout_start + timeout:
+            print("Error, timeout waiting for prompt")
+            sys.exit(1)
+
     # clear
-    ser.write("\n".encode("ascii"))
-    ser.flush()
-    ser.readline()
+    ser.readlines()
+
+    # run command
+    timeout_start = time.time()
+    timeout = 1  # 1 second
 
     success_cmd = "cmd succeeded!"
 
-    serial_cmd = '{0}; echo "{1}"\n'.format(cmd, success_cmd)
+    # wait for command echo
+    serial_cmd = '{0}; echo "{1}"\r\n'.format(cmd, success_cmd)
     ser.write(serial_cmd.encode("ascii"))
     ser.flush()
-    ser.readline()
+    while True:
+        serial_line = ser.readline().decode("ascii", errors='ignore')
 
-    # TODO: require successful command echo
-    # while True:
-    #     serial_cmd = '{0}; echo "{1}"\n'.format(cmd, success_cmd)
-    #     ser.write(serial_cmd.encode("ascii"))
-    #     ser.flush()
+        if cmd in serial_line:
+            break
+        elif serial_line.startswith(success_cmd) and len(serial_line) <= len(success_cmd) + 2:
+            print_line(serial_line)
+            # we missed the echo, but command ran and succeeded
+            sys.exit(0)
+        else:
+            if len(serial_line) > 0:
+                print_line(serial_line)
 
-    #     serial_line = ser.readline().decode("ascii", errors='ignore')
-
-    #     if cmd in serial_line:
-    #         break
-    #     else:
-    #         print(serial_line, end='')
-
-    #     if time.time() > timeout_start + timeout:
-    #         print("Error, timeout")
-    #         sys.exit(-1)
-    #         break
-
-    #     time.sleep(1)
+        if time.time() > timeout_start + timeout:
+            print("Error, timeout waiting for command echo")
+            break
 
 
     timeout_start = time.time()
-    timeout = 30  # 30 seconds
+    timeout = 180 # 3 minutes
 
     while True:
         serial_line = ser.readline().decode("ascii", errors='ignore')
@@ -60,17 +97,15 @@ def do_nsh_cmd(port, baudrate, cmd):
             break
         else:
             if len(serial_line) > 0:
-                print(serial_line, end='')
+                print_line(serial_line)
 
             if "nsh>" in serial_line:
-                #sys.exit(-1) # error, command didn't complete successfully
-                break # TODO: return error on failure
+                sys.exit(1) # error, command didn't complete successfully
             elif "NuttShell (NSH)" in serial_line:
-                #sys.exit(-1) # error, command didn't complete successfully
-                break # TODO: return error on failure
+                sys.exit(1) # error, command didn't complete successfully
 
         if len(serial_line) <= 0:
-            ser.write("\n".encode("ascii"))
+            ser.write("\r\n".encode("ascii"))
             ser.flush()
 
         if time.time() > timeout_start + timeout:

Tools/HIL/run_tests.py

@@ -8,12 +8,58 @@ import re
 import unittest
 import os
 import sys
+import datetime
+
+COLOR_RED    = "\x1b[31m"
+COLOR_GREEN  = "\x1b[32m"
+COLOR_YELLOW = "\x1b[33m"
+COLOR_WHITE  = "\x1b[37m"
+COLOR_RESET  = "\x1b[0m"
+
+def print_line(line):
+    if "WARNING" in line:
+        line = line.replace("WARNING", f"{COLOR_YELLOW}WARNING{COLOR_RESET}", 1)
+    elif "WARN" in line:
+        line = line.replace("WARN", f"{COLOR_YELLOW}WARN{COLOR_RESET}", 1)
+    elif "ERROR" in line:
+        line = line.replace("ERROR", f"{COLOR_RED}ERROR{COLOR_RESET}", 1)
+    elif "INFO" in line:
+        line = line.replace("INFO", f"{COLOR_WHITE}INFO{COLOR_RESET}", 1)
+
+    if "PASSED" in line:
+        line = line.replace("PASSED", f"{COLOR_GREEN}PASSED{COLOR_RESET}", 1)
+
+    if "FAILED" in line:
+        line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
+
+    current_time = datetime.datetime.now()
+    print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
 
 def do_test(port, baudrate, test_name):
-    databits = serial.EIGHTBITS
-    stopbits = serial.STOPBITS_ONE
-    parity = serial.PARITY_NONE
-    ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=1)
+    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)
+
+    timeout_start = time.time()
+    timeout = 10  # 10 seconds
+
+    # wait for nsh prompt
+    while True:
+        ser.write("\n".encode("ascii"))
+        ser.flush()
+
+        serial_line = ser.readline().decode("ascii", errors='ignore')
+
+        if "nsh>" in serial_line:
+            break
+        else:
+            if len(serial_line) > 0:
+                print(serial_line, end='')
+
+        if time.time() > timeout_start + timeout:
+            print("Error, timeout waiting for prompt")
+            return False
+
+    # clear
+    ser.readlines()
 
     success = False
 
@@ -22,48 +68,38 @@ def do_test(port, baudrate, test_name):
     cmd = 'tests ' + test_name
     print("| Running:", cmd)
     print('|======================================================================')
+
     timeout_start = time.time()
-    timeout = 10  # 10 seconds
-
-    # clear
-    ser.write("\n".encode("ascii"))
-    ser.flush()
-    ser.readline()
+    timeout = 2  # 2 seconds
 
+    # wait for command echo
     serial_cmd = '{0}\n'.format(cmd)
     ser.write(serial_cmd.encode("ascii"))
     ser.flush()
-    ser.readline()
+    while True:
+        serial_line = ser.readline().decode("ascii", errors='ignore')
 
-    # TODO: retry command
-    # while True:
-    #     serial_cmd = '{0}\n'.format(cmd)
-    #     ser.write(serial_cmd.encode("ascii"))
-    #     ser.flush()
+        if cmd in serial_line:
+            break
+        else:
+            if len(serial_line) > 0:
+                print_line(serial_line)
 
-    #     serial_line = ser.readline().decode("ascii", errors='ignore')
-
-    #     if cmd in serial_line:
-    #         break
-    #     else:
-    #         print(serial_line.replace('\n', ''))
-
-    #     if time.time() > timeout_start + timeout:
-    #         print("Error, unable to write cmd")
-    #         return False
-
-    #     time.sleep(1)
+        if time.time() > timeout_start + timeout:
+            print("Error, timeout waiting for command echo")
+            break
 
 
     # print results, wait for final result (PASSED or FAILED)
-    timeout = 180  # 3 minutes
+    timeout = 300  # 5 minutes
     timeout_start = time.time()
     timeout_newline = timeout_start
 
     while True:
         serial_line = ser.readline().decode("ascii", errors='ignore')
-        if (len(serial_line) > 0):
-            print(serial_line, end='')
+
+        if len(serial_line) > 0:
+            print_line(serial_line)
 
         if test_name + " PASSED" in serial_line:
             success = True
@@ -74,7 +110,7 @@ def do_test(port, baudrate, test_name):
 
         if time.time() > timeout_start + timeout:
             print("Error, timeout")
-            print(test_name + " FAILED")
+            print(test_name + f" {COLOR_RED}FAILED{COLOR_RESET}")
             success = False
             break
 
@@ -103,15 +139,30 @@ class TestHardwareMethods(unittest.TestCase):
     def test_bson(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))
 
-    # def test_dataman(self):
-    #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
+    def test_conv(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "conv"))
 
-    def floattest_float(self):
+    def test_dataman(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
+
+    # def test_file(self):
+    #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "file"))
+
+    def test_file2(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "file2"))
+
+    def test_float(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "float"))
 
     def test_hrt(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "hrt"))
 
+    def test_int(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "int"))
+
+    def test_i2c_spi_cli(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "i2c_spi_cli"))
+
     def test_IntrusiveQueue(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "IntrusiveQueue"))
 
@@ -127,21 +178,6 @@ class TestHardwareMethods(unittest.TestCase):
     def test_matrix(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "matrix"))
 
-    def test_microbench_atomic(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_atomic"))
-
-    def test_microbench_hrt(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_hrt"))
-
-    def test_microbench_math(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_math"))
-
-    def test_microbench_matrix(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_matrix"))
-
-    def test_microbench_uorb(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_uorb"))
-
     # def test_mixer(self):
     #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "mixer"))
 

Tools/astyle/files_to_check_code_style.sh

@@ -12,16 +12,16 @@ exec find boards msg src platforms test \
     -path platforms/nuttx/NuttX -prune -o \
     -path platforms/qurt/dspal -prune -o \
     -path src/drivers/uavcan/libuavcan -prune -o \
+    -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
     -path src/drivers/uavcan_v1/libcanard -prune -o \
     -path src/drivers/uavcannode_gps_demo/libcanard -prune -o \
-    -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
-    -path src/lib/ecl -prune -o \
+    -path src/lib/crypto/monocypher -prune -o \
     -path src/lib/events/libevents -prune -o \
     -path src/lib/matrix -prune -o \
     -path src/lib/parameters/uthash -prune -o \
+    -path src/modules/ekf2/EKF -prune -o \
     -path src/modules/gyro_fft/CMSIS_5 -prune -o \
     -path src/modules/micrortps_bridge/micro-CDR -prune -o \
     -path src/modules/micrortps_bridge/microRTPS_client -prune -o \
     -path test/mavsdk_tests/catch2 -prune -o \
-    -path src/lib/crypto/monocypher -prune -o \
     -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN

Tools/docker_run.sh

@@ -11,9 +11,6 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
 		# scumaker_pilotpi_arm64
 		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest"
-	elif [[ $@ =~ .*eagle.* ]] || [[ $@ =~ .*excelsior.* ]]; then
-		# eagle, excelsior
-		PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2020-04-01"
 	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
 		# posix_rpi_cross, posix_bebop_default
 		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"

Tools/px4airframes/markdownout.py

@@ -5,17 +5,47 @@ import html
 
 class MarkdownTablesOutput():
     def __init__(self, groups, board, image_path):
-        result = ("# Airframes Reference\n"
-                  "> **Note** **This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/master/Tools/px4airframes/markdownout.py) from the source code**.\n"
-                  "> \n"
-                  "> **AUX** channels may not be present on some flight controllers.\n"
-                  "> If present, PWM AUX channels are commonly labelled **AUX OUT**.\n"
-                  "> \n"
-                  "\n")
+        result = """# Airframes Reference
 
-        result += """This page lists all supported airframes and types including
- the motor assignment and numbering. The motors in **green** rotate clockwise,
- the ones in **blue** counterclockwise.\n\n"""
+:::note
+**This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/master/Tools/px4airframes/markdownout.py) from the source code** using the build command: `make airframe_metadata`.
+:::
+
+This page lists all supported airframes and types including the motor assignment and numbering.
+The motors in **green** rotate clockwise, the ones in **blue** counterclockwise.
+
+**AUX** channels may not be present on some flight controllers.
+If present, PWM AUX channels are commonly labelled **AUX OUT**.
+
+<style>
+table {
+   display: table;
+   table-layout: fixed;
+   margin-bottom: 5px;
+}
+table.common {
+   float: right; 
+   width: 70%;
+}
+table.airframes {
+   width: 100%;
+}
+table.airframes th:nth-child(1) {
+  width: 30%;
+  }
+
+tr > * {
+    vertical-align : top;
+}
+td, th {
+  text-align : left;
+  }
+img {
+  max-height: 180px;
+  width: 29%;
+  padding-top: 10px;
+}
+</style>\n\n"""
  
         type_set = set()
         
@@ -33,7 +63,7 @@ class MarkdownTablesOutput():
             image_name = group.GetImageName()
             result += '<div>\n'
             image_name = image_path + image_name
-            result += '<img src="%s.svg" width="29%%" style="max-height: 180px;"/>\n' % (image_name)
+            result += '<img src="%s.svg"/>\n' % (image_name)
 
             # check if all outputs are equal for the group: if so, show them
             # only once
@@ -63,19 +93,17 @@ class MarkdownTablesOutput():
                     outputs_prev[i] = ''
 
             if outputs_match[0] or outputs_match[1]:
-                result += '<table style="float: right; width: 70%; font-size:1.5rem;">\n'
-                result += ' <colgroup><col></colgroup>\n'
+                result += '<table class="common">\n'
                 result += ' <thead>\n'
                 result += '   <tr><th>Common Outputs</th></tr>\n'
                 result += ' </thead>\n'
-                result += '<tbody>\n'
-                result += '<tr>\n <td style="vertical-align: top;"><ul>%s%s</ul></td>\n</tr>\n' % (outputs_prev[0], outputs_prev[1])
+                result += ' <tbody>\n'
+                result += '<tr>\n <td><ul>%s%s</ul></td>\n</tr>\n' % (outputs_prev[0], outputs_prev[1])
                 result += '</tbody></table>\n'
 
             result += '</div>\n\n'
 
-            result += '<table style="width: 100%; table-layout:fixed; font-size:1.5rem;">\n'
-            result += ' <colgroup><col style="width: 30%"><col style="width: 70%"></colgroup>\n'
+            result += '<table class="generic">\n'
             result += ' <thead>\n'
             result += '   <tr><th>Name</th><th></th></tr>\n'
             result += ' </thead>\n'
@@ -90,10 +118,12 @@ class MarkdownTablesOutput():
                     maintainer = param.GetMaintainer()
                     maintainer_entry = ''
                     if maintainer != '':
-                        maintainer_entry = '<p>Maintainer: %s</p>' % (html.escape(maintainer))
+                        maintainer_entry = 'Maintainer: %s' % (html.escape(maintainer))
                     url = param.GetFieldValue('url')
-                    name_anchor='id="%s_%s_%s"' % (group.GetClass(),group.GetName(),name)
+                    name_anchor='%s_%s_%s' % (group.GetClass(),group.GetName(),name)
                     name_anchor=name_anchor.replace(' ','_').lower()
+                    name_anchor=name_anchor.replace('"','_').lower()
+                    name_anchor='id="%s"' % name_anchor
                     name_entry = name
                     if url != '':
                         name_entry = '<a href="%s">%s</a>' % (url, name)
@@ -120,7 +150,7 @@ class MarkdownTablesOutput():
                     else:
                         outputs_entry = ''
 
-                    result += ('<tr %s>\n <td style="vertical-align: top;">%s</td>\n <td style="vertical-align: top;">%s%s%s</td>\n\n</tr>\n' %
+                    result += ('<tr %s>\n <td>%s</td>\n <td>%s%s%s</td>\n</tr>\n' %
                         (name_anchor, name_entry, maintainer_entry, airframe_id_entry,
                         outputs_entry))
 

Tools/setup_ignition.bash

@@ -0,0 +1,23 @@
+#!/bin/bash
+#
+# Setup environment to make PX4 visible to Gazebo.
+#
+# Note, this is not necessary if using a ROS catkin workspace with the px4
+# package as the paths are exported.
+#
+# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
+
+if [ "$#" != 2 ]; then
+    echo -e "usage: source setup_gazebo.bash src_dir build_dir\n"
+    return 1
+fi
+
+SRC_DIR=$1
+BUILD_DIR=$2
+
+# setup Gazebo env and update package path
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${SRC_DIR}/build/px4_sitl_default/build_ign_gazebo
+export IGN_GAZEBO_SYSTEM_PLUGIN_PATH=$IGN_GAZEBO_SYSTEM_PLUGIN_PATH:${SRC_DIR}/build/px4_sitl_default/build_ign_gazebo
+export IGN_GAZEBO_RESOURCE_PATH=$IGN_GAZEBO_RESOURCE_PATH:${SRC_DIR}/Tools/simulation-ignition/models
+
+echo -e "LD_LIBRARY_PATH $LD_LIBRARY_PATH"

Tools/sitl_run.sh

@@ -177,6 +177,10 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
 		echo "You need to have gazebo simulator installed!"
 		exit 1
 	fi
+elif [ "$program" == "ignition" ] && [ -z "$no_sim" ]; then
+	echo "Ignition Gazebo"
+	source "$src_path/Tools/setup_ignition.bash" "${src_path}" "${build_path}"
+	ign gazebo -r "${src_path}/Tools/simulation-ignition/worlds/ignition.world"&
 elif [ "$program" == "flightgear" ] && [ -z "$no_sim" ]; then
 	echo "FG setup"
 	cd "${src_path}/Tools/flightgear_bridge/"

boards/atlflight/eagle/CMakeLists.txt

@@ -1,32 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################

boards/atlflight/eagle/cmake/upload.cmake

@@ -1,64 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-if("${PX4_PLATFORM}" MATCHES "qurt")
-
-	add_custom_target(upload
-		COMMAND ${PX4_BOARD_DIR}/scripts/adb_upload.sh
-				${PX4_BINARY_DIR}/platforms/qurt/libpx4.so ${PX4_BINARY_DIR}/platforms/qurt/libpx4muorb_skel.so ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/px4.config # source
-				/usr/share/data/adsp # destination
-		DEPENDS px4 px4muorb_skel ${PX4_BOARD_DIR}/scripts/adb_upload.sh
-		COMMENT "uploading px4"
-		USES_TERMINAL
-	)
-
-else()
-
-	add_custom_target(upload
-		COMMAND ${PX4_BOARD_DIR}/scripts/adb_upload.sh
-				${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config ${PX4_BINARY_DIR}/etc # source
-				/home/linaro # destination
-		DEPENDS px4 ${PX4_BOARD_DIR}/scripts/adb_upload.sh
-		COMMENT "uploading px4"
-		USES_TERMINAL
-	)
-
-	add_custom_target(sanity
-		COMMAND ./px4_snapflight_sanitytest.sh -i -t
-		DEPENDS px4
-		WORKING_DIRECTORY ${PX4_BOARD_DIR}/scripts
-		COMMENT "uploading px4"
-		USES_TERMINAL
-	)
-
-endif()

boards/atlflight/eagle/default.cmake

@@ -1,128 +0,0 @@
-
-# The Eagle board is the first generation Snapdragon Flight board by Qualcomm.
-
-include(px4_git)
-px4_add_git_submodule(TARGET git_cmake_hexagon PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
-list(APPEND CMAKE_MODULE_PATH
-	"${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon"
-	"${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon/toolchain"
-	)
-
-# Get $QC_SOC_TARGET from environment if existing.
-if (DEFINED ENV{QC_SOC_TARGET})
-	set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
-else()
-	set(QC_SOC_TARGET "APQ8074")
-endif()
-
-# Disable the creation of the parameters.xml file by scanning individual
-# source files, and scan all source files.  This will create a parameters.xml
-# file that contains all possible parameters, even if the associated module
-# is not used.  This is necessary for parameter synchronization between the
-# ARM and DSP processors.
-set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
-
-set(CONFIG_SHMEM "1")
-add_definitions(-DORB_COMMUNICATOR)
-
-# atlflight toolchain doesn't properly set the compiler, so these aren't set automatically
-add_compile_options($<$<COMPILE_LANGUAGE:C>:-std=gnu99>)
-add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-std=gnu++11>)
-
-add_definitions(
-	-D__PX4_POSIX_EAGLE
-	-D__PX4_LINUX
-)
-
-px4_add_board(
-	PLATFORM posix
-	VENDOR atlflight
-	MODEL eagle
-	LABEL default
-	TOOLCHAIN arm-linux-gnueabihf
-	ROMFSROOT px4fmu_common
-	DRIVERS
-		#barometer # all available barometer drivers
-		batt_smbus
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		gps
-		#imu # all available imu drivers
-		#lights/rgbled
-		#magnetometer # all available magnetometer drivers
-		pwm_out_sim
-		qshell/posix
-		rc_input
-		smart_battery/batmon
-		#telemetry # all available telemetry drivers
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		gyro_calibration
-		gyro_fft
-		land_detector
-		landing_target_estimator
-		#load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		#micrortps_bridge
-		muorb/krait
-		muorb/test
-		navigator
-		rc_update
-		rover_pos_control
-		sensors
-		#sih
-		temperature_compensation
-		simulator
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		#bl_update
-		#dumpfile
-		esc_calib
-		#hardfault_log
-		led_control
-		mixer
-		motor_ramp
-		motor_test
-		#mtd
-		#nshterm
-		param
-		perf
-		pwm
-		sd_bench
-		shutdown
-		system_time
-		#top
-		topic_listener
-		tune_control
-		uorb
-		ver
-		work_queue
-	EXAMPLES
-		#fake_gps
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
-		#matlab_csv_serial
-		#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
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
-	)

boards/atlflight/eagle/qurt.cmake

@@ -1,88 +0,0 @@
-
-# The Eagle board is the first generation Snapdragon Flight board by Qualcomm.
-#
-# This cmake config builds for QURT which is the operating system running on
-# the DSP side.
-
-# Get $QC_SOC_TARGET from environment if existing.
-if (DEFINED ENV{QC_SOC_TARGET})
-	set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
-else()
-	set(QC_SOC_TARGET "APQ8074")
-endif()
-
-include(px4_git)
-px4_add_git_submodule(TARGET git_cmake_hexagon PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
-list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
-
-if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
-	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
-else()
-	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
-endif()
-
-include(toolchain/Toolchain-qurt)
-include(qurt_flags)
-include_directories(${HEXAGON_SDK_INCLUDES})
-
-set(CONFIG_SHMEM "1")
-add_definitions(-DORB_COMMUNICATOR)
-
-# Disable the creation of the parameters.xml file by scanning individual
-# source files, and scan all source files.  This will create a parameters.xml
-# file that contains all possible parameters, even if the associated module
-# is not used.  This is necessary for parameter synchronization between the
-# ARM and DSP processors.
-set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
-
-# This definition allows to differentiate the specific board.
-add_definitions(-D__PX4_QURT_EAGLE)
-
-px4_add_board(
-	PLATFORM qurt
-	VENDOR atlflight
-	MODEL eagle
-	LABEL qurt
-	DRIVERS
-		barometer/bmp280
-		gps
-		imu/invensense/mpu9250
-		#magnetometer/hmc5883
-		qshell/qurt
-		snapdragon_spektrum_rc
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		commander
-		ekf2
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		gyro_calibration
-		gyro_fft
-		land_detector
-		landing_target_estimator
-		local_position_estimator
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		muorb/adsp
-		rc_update
-		rover_pos_control
-		sensors
-		temperature_compensation
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		led_control
-		mixer
-		#motor_ramp
-		motor_test
-		param
-		perf
-		#pwm
-		#topic_listener
-		ver
-		work_queue
-	)

boards/atlflight/eagle/scripts/.gitignore

@@ -1,2 +0,0 @@
-minidm.log
-px4.log

boards/atlflight/eagle/scripts/adb_upload.sh

@@ -1,32 +0,0 @@
-#!/bin/bash
-
-if [[ "$#" < 2 ]]; then
-	echo "usage: adb_upload.sh SRC1 [SRC2 ...] DEST"
-	exit
-fi
-
-# Get last argument
-for last; do true; done
-
-echo "Wait for device..."
-adb wait-for-device
-
-echo "Creating folder structure..."
-adb shell mkdir -p $last
-
-echo "Uploading..."
-# Go through source files and push them one by one.
-i=0
-for arg
-do
-	if [[ $((i+1)) == "$#" ]]; then
-		break
-	fi
-	# echo "Pushing $arg to $last"
-	adb push $arg $last
-	((i+=1))
-done
-
-# Make sure they are synced to the file system
-echo "Syncing FS..."
-adb shell sync

boards/atlflight/eagle/scripts/px4_snapflight_sanitytest.sh

@@ -1,288 +0,0 @@
-#!/bin/bash
-
-#################################################################################################
-#
-# This script loads PX4 binaries to the Snapdragon Flight target and does a quick on-target sanity test.
-#
-# Pre-requisites:
-#  - Snapdragon Flight board connected to the host computer via USB cable
-#  - Snapdragon Flight board must have the latest platform BSP and flight controller addon installed"
-#  - mini-dm installed on host computer (see https://github.com/ATLFlight/ATLFlightDocs/blob/master/UserGuide.md#adsp)
-#  - PX4 software was built and binaries are in their usual locations in the Firmware tree.
-#
-# This script supports two modes:
-#  - Default mode (supported by PX4 community)
-#  - Legacy mode (uses proprietary drivers for ESC and RC Receiver, supported by Qualcomm)
-#
-# For help and cmd line options, run the script with the -h option
-#
-#################################################################################################
-
-# Halt on error
-set -e
-
-# Verbose mode
-## set -x
-
-# Mode of operation
-readonly MODE_DEFAULT=0
-readonly MODE_LEGACY=1
-readonly MODE_8x96=2
-readonly MODE_MAX=$MODE_8x96
-
-readonly RESULT_PASS=0
-readonly RESULT_FAIL=3
-readonly EXIT_ERROR=3
-
-
-# List of expected strings from the apps proc
-declare -a appsproc_strings_present=(
-   "on udp port 14556 remote port 14550"
-   )
-
-# List of unexpected strings from the apps proc
-declare -a appsproc_strings_absent=(
-   "ERROR"
-   "Getting Bulk data from fastRPC link"
-   "Segmentation fault"
-   )
-
-# List of expected strings from the DSP
-declare -a dsp_strings_present=(
-    "EKF aligned"
-   )
-
-# List of unexpected strings from the DSP
-declare -a dsp_strings_absent=(
-   "Segmentation fault"
-   )
-
-
-install=0
-test=0
-mode=0
-result=$RESULT_PASS
-
-# Default mini-dm path (needs to be installed in this location or overriden through cmd line
-minidmPath=~/Qualcomm/Hexagon_SDK/3.0/tools/debug/mini-dm/Linux_Debug
-
-# Default workspace path (parent directory of the script location)
-workspace=`pwd`/../../../..
-
-
-verifypx4test() {
-
-   #TODO: This needs to be fixed. For now, skip string checks for 8x96 platform.
-   if [ $mode == 2 ]; then
-      echo -e "[WARNING] Skipping string checks for 8x96 platform"
-      return
-   fi
-
-   echo -e "Verifying test results..."
-
-   # verify the presence of expected stings in the apps proc console log
-   for lineString in "${appsproc_strings_present[@]}"
-   do
-   	if ! grep -Fq "$lineString" px4.log
-   	then
-         # code if not found
-         echo -e "[ERROR] Missing expected string in apps proc log: $lineString"
-         result=$RESULT_FAIL
-      fi
-   done
-
-   # verify the absence of unexpected stings in the apps proc console log
-   for lineString in "${appsproc_strings_absent[@]}"
-   do
-   	if grep -Fq "$lineString" px4.log
-   	then
-         # code if not found
-         echo -e "[ERROR] Found unexpected string in apps proc log: $lineString"
-         result=$RESULT_FAIL
-      fi
-   done
-
-   echo -e "Displaying the content of the minidm.log"
-   cat minidm.log
-   echo -e "Analyzing the log for success and failure indications."
-
-   # verify the presence of expected stings in the DSP console log
-   for lineString in "${dsp_strings_present[@]}"
-   do
-   	if ! grep -Fq "$lineString" minidm.log
-   	then
-         # code if not found
-         echo -e "[ERROR] Missing expected string in DSP log: $lineString"
-         result=$RESULT_FAIL
-      fi
-   done
-
-   # verify the absence of unexpected stings in the DSP console log
-   for lineString in "${dsp_strings_absent[@]}"
-   do
-   	if grep -Fq "$lineString" minidm.log
-   	then
-         # code if not found
-         echo -e "[ERROR] Found unexpected string in DSP log: $lineString"
-         result=$RESULT_FAIL
-      fi
-   done
-
-   echo -e "Verification complete."
-
-   if [ $result -eq $RESULT_FAIL ]; then
-      echo -e "PX4 test result: FAIL"
-   else
-      echo -e "PX4 test result: PASS"
-   fi
-}
-
-installpx4() {
-
-   if [ $install -eq 0 ]; then
-      echo -e "SKIPPING install"
-      return 0;
-   fi
-
-   # Reboot the target before beginning the installation
-   echo -e "Rebooting the target..."
-   adb reboot
-   adb wait-for-usb-device
-   # Wait a bit longer after bootup, before copying binaries to the target.
-   sleep 30
-   adb devices
-
-   echo -e "Now installing PX4 binaries..."
-   # Copy binaries to the target
-   if [ $mode == 0 ]; then
-      # copy default binaries
-      echo -e "Copying the PX4 binaries from the eagle_default build tree..."
-      adb push $workspace/build/atlflight_eagle_qurt/platforms/qurt/libpx4.so /usr/share/data/adsp
-      adb push $workspace/build/atlflight_eagle_qurt/platforms/qurt/libpx4muorb_skel.so /usr/share/data/adsp
-      adb push $workspace/build/atlflight_eagle_default/bin/px4 /home/linaro
-      adb push $workspace/posix-configs/eagle/flight/px4.config /usr/share/data/adsp
-      adb push $workspace/posix-configs/eagle/flight/mainapp.config /home/linaro
-   fi
-
-   echo -e "Installation complete."
-}
-
-
-testpx4() {
-
-   if [ $test -eq 0 ]; then
-      echo -e "SKIPPING test"
-      return 0;
-   fi
-
-   echo -e "Starting PX4 test..."
-
-   # Remove previous instances of the file
-   rm px4.log | true
-   rm minidm.log | true
-
-   # Start mini-dm
-   echo -e "Starting mini-dm..."
-   ${minidmPath}/mini-dm > minidm.log &
-   sleep 5
-   # Verify that mini-dm is running
-   checkProc=$(ps -aef | grep mini-dm | grep -v grep)
-
-   if [ -z "${checkProc}" ]; then
-      echo "[ERROR] Unable to start mini-dm from path: ${minidmPath}"
-      exit $EXIT_ERROR
-   fi
-
-
-   # Start PX4
-   echo -e "Starting PX4..."
-   if [ $mode == 2 ]; then
-      # 8x96 platform
-      adb shell "/home/root/px4 /home/root/mainapp.config" > px4.log 2>&1 &
-   else
-      # 8x74 platform
-      adb shell "/home/linaro/px4 /home/linaro/mainapp.config" > px4.log 2>&1 &
-   fi
-   sleep 20
-   # Verify that PX4 is still running
-   checkProc=$(adb shell "ps -aef | grep px4 | grep -v grep")
-   if [ -z "${checkProc}" ]; then
-      echo "[ERROR] PX4 is not running on target!"
-      exit $EXIT_ERROR
-   fi
-
-   # Stop the PX4 process on target
-   adb shell "ps -eaf | grep px4 | grep -v grep | awk '{print $2}' | tr -s ' ' | cut -d' ' -f2 | xargs kill"
-   sleep 5
-
-   # Stop the mini-dm
-   killall mini-dm
-
-   echo -e "PX4 test complete."
-
-   # Verify the results
-   verifypx4test
-
-   echo -e "For more information, see px4.log and minidm.log."
-}
-
-
-usage() {
-  echo -e "\nThis script can copy PX4 binaries to the Snapdragon Flight target and do a quick on-target sanity test.\n"
-  echo -e "Pre-requisites:"
-  echo -e "- Snapdragon Flight board must be connected to host computer via USB"
-  echo -e "- Snapdragon Flight board must have the latest platform BSP and flight controller addon installed"
-  echo -e "- mini-dm must be installed on host computer (see https://github.com/ATLFlight/ATLFlightDocs/blob/master/UserGuide.md#adsp)"
-  echo -e "- PX4 software was built and binaries are in their usual locations in the tree\n"
-  echo -e "USAGE:\n ${0} [-m mode] [-i] [-t] [-l <minidm-path>]"
-  echo -e "    -m --> Build mode (0 = default mode, 1 = legacy mode)"
-  echo -e "    -i --> Install the PX4 binaries"
-  echo -e "    -t --> Test PX4 on target"
-  echo -e "    -l --> location of the mini-dm executable (Default: ${minidmPath})"
-  echo -e "    -h --> Display this help information"
-}
-
-# Parse the command line options
-while getopts "m:l:ith" opt;
-   do
-      case $opt in
-         m)
-            if [ $OPTARG -gt $MODE_MAX ]; then
-               echo "Invalid mode: $OPTARG (max allowed is $MODE_MAX)"
-               exit $EXIT_ERROR
-            fi
-            mode=$OPTARG
-            echo "Will run the script in mode $mode."
-            ;;
-         i)
-            install=1
-            ;;
-         t)
-            test=1
-            ;;
-         l)
-            minidmPath=$OPTARG
-            ;;
-         h)
-            usage
-            exit 0
-            ;;
-         :)
-            echo "Option -$OPTARG requires an argument" >&2
-            exit 1;;
-         ?)
-            echo "Unknown arg $opt"
-            usage
-            exit 1
-            ;;
-      esac
-done
-
-# Install the PX4 binaries
-installpx4
-
-# Run the sanity test
-testpx4
-
-exit $result
-

boards/atlflight/eagle/src/CMakeLists.txt

@@ -1,39 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-add_library(drivers_board
-	board_config.h
-	i2c.cpp
-	init.c
-	spi.cpp
-)

boards/atlflight/eagle/src/board_config.h

@@ -1,53 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2017 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file board_config.h
- *
- * EAGLE internal definitions
- */
-
-#pragma once
-
-#define BOARD_OVERRIDE_UUID "EAGLEID000000000" // must be of length 16
-#define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_EAGLE
-
-/*
- * I2C busses
- */
-#define PX4_NUMBER_I2C_BUSES    3
-
-// Battery ADC channels
-
-#include <system_config.h>
-#include <px4_platform_common/board_common.h>

boards/atlflight/eagle/src/i2c.cpp

@@ -1,40 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/i2c_hw_description.h>
-
-constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
-	initI2CBusExternal(2),
-	initI2CBusExternal(3),
-	initI2CBusExternal(9),
-};

boards/atlflight/eagle/src/spi.cpp

@@ -1,41 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/spi_hw_description.h>
-#include <drivers/drv_sensor.h>
-
-constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(1, {
-		initSPIDevice(DRV_IMU_DEVTYPE_MPU9250),
-	}),
-};

boards/atlflight/excelsior/default.cmake

@@ -1,126 +0,0 @@
-
-# Excelsior is the code name of a board currently in development.
-
-include(px4_git)
-px4_add_git_submodule(TARGET git_cmake_hexagon PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
-list(APPEND CMAKE_MODULE_PATH
-	"${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon"
-	"${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon/toolchain"
-	)
-
-# Get $QC_SOC_TARGET from environment if existing.
-if (DEFINED ENV{QC_SOC_TARGET})
-	set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
-else()
-	set(QC_SOC_TARGET "APQ8074")
-endif()
-
-# Disable the creation of the parameters.xml file by scanning individual
-# source files, and scan all source files.  This will create a parameters.xml
-# file that contains all possible parameters, even if the associated module
-# is not used.  This is necessary for parameter synchronization between the
-# ARM and DSP processors.
-set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
-
-set(CONFIG_SHMEM "1")
-add_definitions(-DORB_COMMUNICATOR)
-
-# atlflight toolchain doesn't properly set the compiler, so these aren't set automatically
-add_compile_options($<$<COMPILE_LANGUAGE:C>:-std=gnu99>)
-add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-std=gnu++11>)
-
-add_definitions(
-	-D__PX4_POSIX_EXCELSIOR
-	-D__PX4_LINUX
-)
-
-px4_add_board(
-	PLATFORM posix
-	VENDOR atlflight
-	MODEL excelsior
-	LABEL default
-	TOOLCHAIN arm-oemllib32-linux-gnueabi
-	DRIVERS
-		#barometer # all available barometer drivers
-		batt_smbus
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		gps
-		#imu # all available imu drivers
-		#lights/rgbled
-		#magnetometer # all available magnetometer drivers
-		pwm_out_sim
-		qshell/posix
-		rc_input
-		smart_battery/batmon
-		#telemetry # all available telemetry drivers
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		gyro_calibration
-		gyro_fft
-		land_detector
-		landing_target_estimator
-		#load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		#micrortps_bridge
-		muorb/krait
-		muorb/test
-		navigator
-		rc_update
-		rover_pos_control
-		sensors
-		#sih
-		simulator
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		#bl_update
-		#dumpfile
-		esc_calib
-		#hardfault_log
-		led_control
-		mixer
-		motor_ramp
-		motor_test
-		#mtd
-		#nshterm
-		param
-		perf
-		pwm
-		sd_bench
-		shutdown
-		system_time
-		#top
-		topic_listener
-		tune_control
-		uorb
-		ver
-		work_queue
-	EXAMPLES
-		#fake_gps
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
-		#matlab_csv_serial
-		#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
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
-	)

boards/atlflight/excelsior/qurt.cmake

@@ -1,88 +0,0 @@
-
-# Excelsior is the code name of a board currently in development.
-#
-# This cmake config builds for QURT which is the operating system running on
-# the DSP side.
-
-# Get $QC_SOC_TARGET from environment if existing.
-if (DEFINED ENV{QC_SOC_TARGET})
-	set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
-else()
-	set(QC_SOC_TARGET "APQ8074")
-endif()
-
-include(px4_git)
-px4_add_git_submodule(TARGET git_cmake_hexagon PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
-list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
-
-if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
-	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
-else()
-	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
-endif()
-
-include(toolchain/Toolchain-qurt)
-include(qurt_flags)
-include_directories(${HEXAGON_SDK_INCLUDES})
-
-set(CONFIG_SHMEM "1")
-add_definitions(-DORB_COMMUNICATOR)
-
-# Disable the creation of the parameters.xml file by scanning individual
-# source files, and scan all source files.  This will create a parameters.xml
-# file that contains all possible parameters, even if the associated module
-# is not used.  This is necessary for parameter synchronization between the
-# ARM and DSP processors.
-set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
-
-# This definition allows to differentiate the specific board.
-add_definitions(-D__PX4_QURT_EXCELSIOR)
-
-px4_add_board(
-	PLATFORM qurt
-	VENDOR atlflight
-	MODEL excelsior
-	LABEL qurt
-	DRIVERS
-		barometer/bmp280
-		gps
-		imu/invensense/mpu9250
-		magnetometer/hmc5883
-		qshell/qurt
-		snapdragon_spektrum_rc
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		commander
-		ekf2
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		gyro_calibration
-		gyro_fft
-		land_detector
-		landing_target_estimator
-		local_position_estimator
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		muorb/adsp
-		rc_update
-		rover_pos_control
-		sensors
-		temperature_compensation
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		led_control
-		mixer
-		#motor_ramp
-		motor_test
-		param
-		perf
-		#pwm
-		#topic_listener
-		ver
-		work_queue
-	)

boards/atlflight/excelsior/src/board_config.h

@@ -1,51 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2017 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file board_config.h
- *
- * EXCELSIOR internal definitions
- */
-
-#pragma once
-
-#define BOARD_OVERRIDE_UUID "EAGLEID000000000" // must be of length 16
-#define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_EAGLE
-
-/*
- * I2C busses
- */
-#define PX4_NUMBER_I2C_BUSES    3
-
-#include <system_config.h>
-#include <px4_platform_common/board_common.h>

boards/atlflight/excelsior/src/i2c.cpp

@@ -1,40 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/i2c_hw_description.h>
-
-constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
-	initI2CBusExternal(2),
-	initI2CBusExternal(3),
-	initI2CBusExternal(9),
-};

boards/atlflight/excelsior/src/spi.cpp

@@ -1,41 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/spi_hw_description.h>
-#include <drivers/drv_sensor.h>
-
-constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(1, {
-		initSPIDevice(DRV_IMU_DEVTYPE_MPU9250),
-	}),
-};

boards/bitcraze/crazyflie/syslink/ringbuffer.cpp

@@ -244,22 +244,6 @@ RingBuffer::force(double val)
 	return force(&val, sizeof(val));
 }
 
-// FIXME - clang crashes on this get() call
-#ifdef __PX4_QURT
-#define __PX4_SBCAP my_sync_bool_compare_and_swap
-static inline bool my_sync_bool_compare_and_swap(volatile unsigned *a, unsigned b, unsigned c)
-{
-	if (*a == b) {
-		*a = c;
-		return true;
-	}
-
-	return false;
-}
-
-#else
-#define __PX4_SBCAP __sync_bool_compare_and_swap
-#endif
 bool
 RingBuffer::get(void *val, size_t val_size)
 {
@@ -284,7 +268,7 @@ RingBuffer::get(void *val, size_t val_size)
 			}
 
 			/* if the tail pointer didn't change, we got our item */
-		} while (!__PX4_SBCAP(&_tail, candidate, next));
+		} while (!__sync_bool_compare_and_swap(&_tail, candidate, next));
 
 		return true;
 

boards/cuav/nora/src/board_config.h

@@ -105,6 +105,7 @@
 
 /* HEATER */
 #define GPIO_HEATER_OUTPUT   /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
+#define HEATER_OUTPUT_EN(on_true)      px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
 
 /* PWM */
 #define DIRECT_PWM_OUTPUT_CHANNELS   14

boards/cuav/nora/test.cmake

@@ -31,7 +31,7 @@ px4_add_board(
 		gps
 		heater
 		#imu # all available imu drivers
-		imu/analog_devices/adis16448
+		#imu/analog_devices/adis16448
 		imu/bosch/bmi088
 		imu/invensense/icm20649
 		imu/invensense/icm20689
@@ -102,6 +102,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test

boards/cuav/x7pro/src/board_config.h

@@ -105,6 +105,7 @@
 
 /* HEATER */
 #define GPIO_HEATER_OUTPUT   /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
+#define HEATER_OUTPUT_EN(on_true)      px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
 
 /* PWM */
 #define DIRECT_PWM_OUTPUT_CHANNELS   14
@@ -117,8 +118,8 @@
 #define GPIO_nPOWER_IN_CAN              /* PG2  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2)
 #define GPIO_nPOWER_IN_C                /* PG0  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN0)
 
-#define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_CAN /* Brick 1 is Chosen */
-#define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_ADC /* Brick 2 is Chosen  */
+#define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_ADC /* Brick 1 is Chosen */
+#define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_CAN /* Brick 2 is Chosen  */
 #define GPIO_nVDD_USB_VALID             GPIO_nPOWER_IN_C   /* USB     is Chosen */
 
 #define GPIO_VDD_5V_HIPOWER_EN          /* PD11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)

boards/cuav/x7pro/test.cmake

@@ -103,6 +103,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test

boards/cubepilot/cubeorange/test.cmake

@@ -100,6 +100,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test

boards/cubepilot/cubeyellow/test.cmake

@@ -98,6 +98,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test

boards/holybro/durandal-v1/src/board_config.h

@@ -174,6 +174,7 @@
  * PWM in future
  */
 #define GPIO_HEATER_OUTPUT   /* PA7  T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
+#define HEATER_OUTPUT_EN(on_true)              px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
 
 /* PWM Capture
  *

boards/holybro/durandal-v1/test.cmake

@@ -98,6 +98,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test

boards/holybro/pix32v5/src/board_config.h

@@ -209,6 +209,7 @@
  * PWM in future
  */
 #define GPIO_HEATER_OUTPUT   /* PA7  T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
+#define HEATER_OUTPUT_EN(on_true)              px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
 
 /* PWM Capture
  *

boards/holybro/pix32v5/test.cmake

@@ -102,6 +102,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test

boards/modalai/fc-v1/test.cmake

@@ -95,6 +95,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test

boards/modalai/fc-v2/test.cmake

@@ -100,6 +100,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test

boards/nxp/fmuk66-e/nuttx-config/nsh/defconfig

@@ -80,6 +80,7 @@ CONFIG_KINETIS_I2C0=y
 CONFIG_KINETIS_I2C1=y
 CONFIG_KINETIS_LPTMR0=y
 CONFIG_KINETIS_LPUART0=y
+CONFIG_KINETIS_LPUART0_RXDMA=y
 CONFIG_KINETIS_MERGE_TTY=y
 CONFIG_KINETIS_PDB=y
 CONFIG_KINETIS_PIT=y

boards/nxp/fmuk66-e/nuttx-config/socketcan/defconfig

@@ -81,6 +81,7 @@ CONFIG_KINETIS_I2C0=y
 CONFIG_KINETIS_I2C1=y
 CONFIG_KINETIS_LPTMR0=y
 CONFIG_KINETIS_LPUART0=y
+CONFIG_KINETIS_LPUART0_RXDMA=y
 CONFIG_KINETIS_MERGE_TTY=y
 CONFIG_KINETIS_PDB=y
 CONFIG_KINETIS_PIT=y

boards/nxp/fmuk66-e/src/init.c

@@ -64,8 +64,7 @@
 
 #include <kinetis.h>
 #include <kinetis_uart.h>
-#include <hardware/kinetis_uart.h>
-#include <hardware/kinetis_sim.h>
+#include <kinetis_lpuart.h>
 #include "board_config.h"
 
 #include "arm_arch.h"
@@ -189,6 +188,26 @@ kinetis_boardinitialize(void)
 
 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 }
+/****************************************************************************
+ * Name: kinetis_serial_dma_poll_all
+ *
+ * Description:
+ *   Checks receive DMA buffers for received bytes that have not accumulated
+ *   to the point where the DMA half/full interrupt has triggered.
+ *
+ *   This function should be called from a timer or other periodic context.
+ *
+ ****************************************************************************/
+
+void kinetis_lpserial_dma_poll_all(void)
+{
+#if defined(LPSERIAL_HAVE_DMA)
+	kinetis_lpserial_dma_poll();
+#endif
+#if defined(SERIAL_HAVE_DMA)
+	kinetis_serial_dma_poll();
+#endif
+}
 
 /****************************************************************************
  * Name: board_app_initialize
@@ -235,6 +254,25 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "DMA alloc FAILED\n");
 	}
 
+	/* set up the serial DMA polling */
+#if defined(SERIAL_HAVE_DMA) || defined(LPSERIAL_HAVE_DMA)
+	static struct hrt_call serial_dma_call;
+	struct timespec ts;
+
+	/*
+	 * Poll at 1ms intervals for received bytes that have not triggered
+	 * a DMA event.
+	 */
+	ts.tv_sec = 0;
+	ts.tv_nsec = 1000000;
+
+	hrt_call_every(&serial_dma_call,
+		       ts_to_abstime(&ts),
+		       ts_to_abstime(&ts),
+		       (hrt_callout)kinetis_lpserial_dma_poll_all,
+		       NULL);
+#endif
+
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);

boards/nxp/fmuk66-v3/nuttx-config/nsh/defconfig

@@ -81,6 +81,7 @@ CONFIG_KINETIS_I2C0=y
 CONFIG_KINETIS_I2C1=y
 CONFIG_KINETIS_LPTMR0=y
 CONFIG_KINETIS_LPUART0=y
+CONFIG_KINETIS_LPUART0_RXDMA=y
 CONFIG_KINETIS_MERGE_TTY=y
 CONFIG_KINETIS_PDB=y
 CONFIG_KINETIS_PIT=y

boards/nxp/fmuk66-v3/nuttx-config/socketcan/defconfig

@@ -82,6 +82,7 @@ CONFIG_KINETIS_I2C0=y
 CONFIG_KINETIS_I2C1=y
 CONFIG_KINETIS_LPTMR0=y
 CONFIG_KINETIS_LPUART0=y
+CONFIG_KINETIS_LPUART0_RXDMA=y
 CONFIG_KINETIS_MERGE_TTY=y
 CONFIG_KINETIS_PDB=y
 CONFIG_KINETIS_PIT=y

boards/nxp/fmuk66-v3/src/init.c

@@ -64,8 +64,7 @@
 
 #include <kinetis.h>
 #include <kinetis_uart.h>
-#include <hardware/kinetis_uart.h>
-#include <hardware/kinetis_sim.h>
+#include <kinetis_lpuart.h>
 #include "board_config.h"
 
 #include "arm_arch.h"
@@ -189,6 +188,26 @@ kinetis_boardinitialize(void)
 
 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 }
+/****************************************************************************
+ * Name: kinetis_serial_dma_poll_all
+ *
+ * Description:
+ *   Checks receive DMA buffers for received bytes that have not accumulated
+ *   to the point where the DMA half/full interrupt has triggered.
+ *
+ *   This function should be called from a timer or other periodic context.
+ *
+ ****************************************************************************/
+
+void kinetis_lpserial_dma_poll_all(void)
+{
+#if defined(LPSERIAL_HAVE_DMA)
+	kinetis_lpserial_dma_poll();
+#endif
+#if defined(SERIAL_HAVE_DMA)
+	kinetis_serial_dma_poll();
+#endif
+}
 
 /****************************************************************************
  * Name: board_app_initialize
@@ -235,6 +254,25 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "DMA alloc FAILED\n");
 	}
 
+	/* set up the serial DMA polling */
+#if defined(SERIAL_HAVE_DMA) || defined(LPSERIAL_HAVE_DMA)
+	static struct hrt_call serial_dma_call;
+	struct timespec ts;
+
+	/*
+	 * Poll at 1ms intervals for received bytes that have not triggered
+	 * a DMA event.
+	 */
+	ts.tv_sec = 0;
+	ts.tv_nsec = 1000000;
+
+	hrt_call_every(&serial_dma_call,
+		       ts_to_abstime(&ts),
+		       ts_to_abstime(&ts),
+		       (hrt_callout)kinetis_lpserial_dma_poll_all,
+		       NULL);
+#endif
+
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);

boards/nxp/fmuk66-v3/test.cmake

@@ -94,6 +94,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test

boards/nxp/fmurt1062-v1/src/board_config.h

@@ -215,6 +215,7 @@
  */
 #define HEATER_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_50OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST)
 #define GPIO_HEATER_OUTPUT   /* GPIO_B1_09 QTIMER2_TIMER3 GPIO2_IO25 */ (GPIO_QTIMER2_TIMER3_1 | HEATER_IOMUX)
+#define HEATER_OUTPUT_EN(on_true)	px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
 
 /* PWM Capture
  *

boards/px4/fmu-v2/test.cmake

@@ -45,7 +45,7 @@ px4_add_board(
 		#magnetometer # all available magnetometer drivers
 		magnetometer/hmc5883
 		#optical_flow # all available optical flow drivers
-		optical_flow/px4flow
+		#optical_flow/px4flow
 		#osd
 		#pca9685
 		#protocol_splitter
@@ -97,6 +97,7 @@ px4_add_board(
 		#i2cdetect
 		#led_control
 		mft
+		microbench
 		mixer
 		#motor_ramp
 		#motor_test

boards/px4/fmu-v3/test.cmake

@@ -101,6 +101,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test

boards/px4/fmu-v4/src/board_config.h

@@ -147,6 +147,7 @@
 /* Heater pins */
 #define GPIO_HEATER_INPUT            (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN6)
 #define GPIO_HEATER_OUTPUT           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6)
+#define HEATER_OUTPUT_EN(on_true)    px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
 
 /* Power switch controls */
 

boards/px4/fmu-v4/test.cmake

@@ -100,6 +100,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test

boards/px4/fmu-v4pro/test.cmake

@@ -100,6 +100,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test

boards/px4/fmu-v5/debug.cmake

@@ -69,7 +69,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
-		gyro_calibration
+		#gyro_calibration
 		#gyro_fft
 		land_detector
 		#landing_target_estimator

boards/px4/fmu-v5/optimized.cmake

@@ -42,13 +42,13 @@ px4_add_board(
 		#lights/rgbled_pwm
 		#magnetometer # all available magnetometer drivers
 		magnetometer/isentek/ist8310
-		optical_flow # all available optical flow drivers
+		#optical_flow # all available optical flow drivers
 		#osd
 		#pca9685
 		#pca9685_pwm_out
 		#power_monitor/ina226
 		#protocol_splitter
-		pwm_input
+		#pwm_input
 		pwm_out_sim
 		pwm_out
 		px4io
@@ -96,9 +96,9 @@ px4_add_board(
 		#uuv_att_control
 		#uuv_pos_control
 		#vmount
-		vtol_att_control
+		#vtol_att_control
 	SYSTEMCMDS
-		#bl_update
+		bl_update
 		dmesg
 		#dumpfile
 		#esc_calib
@@ -107,6 +107,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		#motor_ramp
 		motor_test

boards/px4/fmu-v5/src/board_config.h

@@ -209,6 +209,8 @@
  * PWM in future
  */
 #define GPIO_HEATER_OUTPUT   /* PA7  T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
+#define HEATER_OUTPUT_EN(on_true)              px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
+
 
 /* PWM Capture
  *

boards/px4/fmu-v5/stackcheck.cmake

@@ -71,8 +71,8 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
-		gyro_calibration
-		gyro_fft
+		#gyro_calibration
+		#gyro_fft
 		land_detector
 		#landing_target_estimator
 		load_mon

boards/px4/fmu-v5/test.cmake

@@ -101,6 +101,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test

boards/px4/fmu-v5x/src/board_config.h

@@ -202,6 +202,7 @@
  * PWM in future
  */
 #define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
 
 /* PWM Capture
  *

boards/px4/fmu-v5x/test.cmake

@@ -34,6 +34,7 @@ px4_add_board(
 		imu/bosch/bmi088
 		imu/invensense/icm20602
 		imu/invensense/icm20948 # required for ak09916 mag
+		imu/invensense/icm20649
 		imu/invensense/icm42688p
 		irlock
 		lights # all available light drivers
@@ -41,7 +42,7 @@ px4_add_board(
 		optical_flow # all available optical flow drivers
 		osd
 		pca9685
-		pca9685_pwm_out
+		#pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_input
@@ -49,9 +50,10 @@ px4_add_board(
 		pwm_out
 		px4io
 		rc_input
-		roboclaw
-		rpm
+		#roboclaw
+		#rpm
 		safety_button
+		#smart_battery/batmon
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -73,7 +75,7 @@ px4_add_board(
 		land_detector
 		landing_target_estimator
 		load_mon
-		local_position_estimator
+		#local_position_estimator
 		logger
 		mavlink
 		mc_att_control
@@ -101,6 +103,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test

boards/px4/fmu-v6u/src/board_config.h

@@ -189,6 +189,7 @@
  * PWM in future
  */
 #define GPIO_HEATER_OUTPUT   /* PA2  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)
+#define HEATER_OUTPUT_EN(on_true)	      px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
 
 /* PWM Capture
  *

boards/px4/fmu-v6u/test.cmake

@@ -99,6 +99,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test

boards/px4/fmu-v6x/src/board_config.h

@@ -227,6 +227,7 @@
  * PWM in future
  */
 #define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
 
 /* PWM Capture
  *

boards/px4/fmu-v6x/test.cmake

@@ -73,7 +73,7 @@ px4_add_board(
 		land_detector
 		landing_target_estimator
 		load_mon
-		local_position_estimator
+		#local_position_estimator
 		logger
 		mavlink
 		mc_att_control
@@ -100,6 +100,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_test
 		mtd

boards/uvify/core/src/board_config.h

@@ -145,6 +145,7 @@
 /* Heater pins (reserved) */
 #define GPIO_HEATER_INPUT            (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN6)
 #define GPIO_HEATER_OUTPUT           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6)
+#define HEATER_OUTPUT_EN(on_true)    px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
 
 /* Power switch controls */
 

cmake/px4_add_module.cmake

@@ -179,9 +179,7 @@ function(px4_add_module)
 	endif()
 	set_target_properties(${MODULE} PROPERTIES STACK_MAX ${STACK_MAX})
 
-	if(${PX4_PLATFORM} STREQUAL "qurt")
-		set_property(TARGET ${MODULE} PROPERTY POSITION_INDEPENDENT_CODE TRUE)
-	elseif(${PX4_PLATFORM} STREQUAL "nuttx")
+	if(${PX4_PLATFORM} STREQUAL "nuttx")
 		target_compile_options(${MODULE} PRIVATE -Wframe-larger-than=${STACK_MAX})
 	endif()
 

msg/CMakeLists.txt

@@ -44,6 +44,7 @@ set(msg_files
 	airspeed.msg
 	airspeed_validated.msg
 	airspeed_wind.msg
+	baro_bias_estimate.msg
 	battery_status.msg
 	camera_capture.msg
 	camera_trigger.msg

msg/baro_bias_estimate.msg

@@ -0,0 +1,10 @@
+uint64 timestamp                # time since system start (microseconds)
+uint64 timestamp_sample         # the timestamp of the raw data (microseconds)
+
+uint32 baro_device_id		# unique device ID for the sensor that does not change between power cycles
+float32 bias			# estimated barometric altitude bias (m)
+float32 bias_var		# estimated barometric altitude bias variance (m^2)
+
+float32 innov			# innovation of the last measurement fusion (m)
+float32 innov_var		# innovation variance of the last measurement fusion (m^2)
+float32 innov_test_ratio	# normalized innovation squared test ratio

msg/templates/urtps/microRTPS_transport.cpp

@@ -331,16 +331,16 @@ int UART_node::init()
 	}
 
 	// Set up the UART for non-canonical binary communication: 8 bits, 1 stop bit, no parity.
-	uart_config.c_iflag &= !(INPCK | ISTRIP | INLCR | IGNCR | ICRNL | IXON | IXANY | IXOFF);
+	uart_config.c_iflag &= ~(INPCK | ISTRIP | INLCR | IGNCR | ICRNL | IXON | IXANY | IXOFF);
 	uart_config.c_iflag |= IGNBRK | IGNPAR;
 
-	uart_config.c_oflag &= !(OPOST | ONLCR | OCRNL | ONOCR | ONLRET | OFILL | NLDLY | VTDLY);
+	uart_config.c_oflag &= ~(OPOST | ONLCR | OCRNL | ONOCR | ONLRET | OFILL | NLDLY | VTDLY);
 	uart_config.c_oflag |= NL0 | VT0;
 
-	uart_config.c_cflag &= !(CSIZE | CSTOPB | PARENB);
+	uart_config.c_cflag &= ~(CSIZE | CSTOPB | PARENB);
 	uart_config.c_cflag |= CS8 | CREAD | CLOCAL;
 
-	uart_config.c_lflag &= !(ISIG | ICANON | ECHO | TOSTOP | IEXTEN);
+	uart_config.c_lflag &= ~(ISIG | ICANON | ECHO | TOSTOP | IEXTEN);
 
 	// Flow control
 	if (hw_flow_control) {

msg/tools/uorb_rtps_message_ids.yaml

@@ -343,6 +343,8 @@ rtps:
     id: 159
   - msg: event
     id: 160
+  - msg: baro_bias_estimate
+    id: 161
   ########## multi topics: begin ##########
   - msg: actuator_controls_0
     id: 180

platforms/common/CMakeLists.txt

@@ -33,7 +33,7 @@
 
 set(SRCS)
 
-if (NOT "${PX4_PLATFORM}" MATCHES "qurt" AND NOT "${PX4_BOARD}" MATCHES "io-v2" AND NOT "${PX4_BOARD_LABEL}" MATCHES "bootloader")
+if(NOT "${PX4_BOARD}" MATCHES "io-v2" AND NOT "${PX4_BOARD_LABEL}" MATCHES "bootloader")
 	list(APPEND SRCS
 		px4_log.cpp
 	)

platforms/common/include/px4_platform_common/atomic.h

@@ -84,10 +84,6 @@ public:
 	 */
 	inline T load() const
 	{
-#ifdef __PX4_QURT
-		return _value;
-#else
-
 #if defined(__PX4_NUTTX)
 
 		if (!__atomic_always_lock_free(sizeof(T), 0)) {
@@ -101,8 +97,6 @@ public:
 		{
 			return __atomic_load_n(&_value, __ATOMIC_SEQ_CST);
 		}
-
-#endif
 	}
 
 	/**
@@ -110,10 +104,6 @@ public:
 	 */
 	inline void store(T value)
 	{
-#ifdef __PX4_QURT
-		_value = value;
-#else
-
 #if defined(__PX4_NUTTX)
 
 		if (!__atomic_always_lock_free(sizeof(T), 0)) {
@@ -126,8 +116,6 @@ public:
 		{
 			__atomic_store(&_value, &value, __ATOMIC_SEQ_CST);
 		}
-
-#endif
 	}
 
 	/**
@@ -136,11 +124,6 @@ public:
 	 */
 	inline T fetch_add(T num)
 	{
-#ifdef __PX4_QURT
-		// TODO: fix
-		return _value++;
-#else
-
 #if defined(__PX4_NUTTX)
 
 		if (!__atomic_always_lock_free(sizeof(T), 0)) {
@@ -154,8 +137,6 @@ public:
 		{
 			return __atomic_fetch_add(&_value, num, __ATOMIC_SEQ_CST);
 		}
-
-#endif
 	}
 
 	/**
@@ -301,13 +282,7 @@ public:
 	}
 
 private:
-#ifdef __PX4_QURT
-	// It seems that __atomic_store  and __atomic_load are not supported on Qurt,
-	// so the best that we can do is to use volatile.
-	volatile T _value{};
-#else
 	T _value {};
-#endif
 };
 
 using atomic_int = atomic<int>;

platforms/common/include/px4_platform_common/defines.h

@@ -89,33 +89,14 @@ constexpr bool PX4_ISFINITE(double x) { return __builtin_isfinite(x); }
 #define USEC_PER_TICK (1000000/PX4_TICKS_PER_SEC)
 #define USEC2TICK(x) (((x)+(USEC_PER_TICK/2))/USEC_PER_TICK)
 
-#ifdef __PX4_QURT
-
-// QURT specific
-#  include "dspal_math.h"
-#  define PX4_ROOTFSDIR "."
-#  define PX4_TICKS_PER_SEC 1000L
-
-#else // __PX4_QURT
-
-// All POSIX except QURT.
-
 __BEGIN_DECLS
 extern long PX4_TICKS_PER_SEC;
 __END_DECLS
 
-#  if defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_EXCELSIOR)
-#    define PX4_ROOTFSDIR "/home/linaro"
-#  else
-#    define PX4_ROOTFSDIR "."
-#  endif
-
-#endif // __PX4_QURT
+#define PX4_ROOTFSDIR "."
 
 #define PX4_STORAGEDIR PX4_ROOTFSDIR
-#endif // __PX4_POSIX
 
-#if defined(__PX4_POSIX)
 /****************************************************************************
  * Defines for POSIX and ROS
  ****************************************************************************/

platforms/common/include/px4_platform_common/shmem.h

@@ -1,82 +0,0 @@
-/****************************************************************************
- *
- * Copyright (c) 2015 Ramakrishna Kintada. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <parameters/param.h>
-
-#define MAX_SHMEM_PARAMS 2000 //MAP_SIZE - (LOCK_SIZE - sizeof(struct shmem_info))
-
-#define PARAM_BUFFER_SIZE (MAX_SHMEM_PARAMS / 8 + 1)
-
-struct shmem_info {
-	union param_value_u params_val[MAX_SHMEM_PARAMS];
-	unsigned char krait_changed_index[MAX_SHMEM_PARAMS / 8 + 1]; /*bit map of all params changed by krait*/
-	unsigned char adsp_changed_index[MAX_SHMEM_PARAMS / 8 + 1]; /*bit map of all params changed by adsp*/
-
-#ifdef __PX4_NUTTX
-};
-#else
-} __attribute__((packed));
-#endif
-
-#if (defined(__PX4_POSIX_EXCELSIOR) || defined(__PX4_QURT_EXCELSIOR))
-#define MAP_ADDRESS    0x861FC000
-#else
-#define MAP_ADDRESS	0xfbfc000
-#endif
-#define MAP_SIZE 	16384
-#define MAP_MASK 	(MAP_SIZE - 1)
-
-#define LOCK_OFFSET	0
-#define LOCK_SIZE	4
-#define LOCK_MEM        1
-#define UNLOCK_MEM      2
-
-#define TYPE_MASK 	0x1
-
-extern bool handle_in_range(param_t);
-
-#ifdef __PX4_QURT
-extern struct shmem_info *shmem_info_p;
-
-int get_shmem_lock(const char *caller_file_name, int caller_line_number);
-void release_shmem_lock(const char *caller_file_name, int caller_line_number);
-void init_shared_memory(void);
-
-void copy_params_to_shmem(const param_info_s *param_info_base);
-#endif
-
-void update_to_shmem(param_t param, union param_value_u value);
-int update_from_shmem(param_t param, union param_value_u *value);
-void update_index_from_shmem(void);

platforms/common/include/px4_platform_common/workqueue.h

@@ -45,10 +45,6 @@
 #include <queue.h>
 #include <px4_platform_types.h>
 
-#ifdef __PX4_QURT
-#include <dspal_types.h>
-#endif
-
 __BEGIN_DECLS
 
 #define HPWORK 0

platforms/common/px4_work_queue/WorkQueue.cpp

@@ -49,7 +49,7 @@ WorkQueue::WorkQueue(const wq_config_t &config) :
 	// set the threads name
 #ifdef __PX4_DARWIN
 	pthread_setname_np(_config.name);
-#elif !defined(__PX4_QURT)
+#else
 	pthread_setname_np(pthread_self(), _config.name);
 #endif
 

platforms/nuttx/CMakeLists.txt

@@ -156,9 +156,9 @@ if((DEFINED ENV{SIGNING_TOOL}) AND (NOT NUTTX_DIR MATCHES "external"))
 		COMMAND $ENV{SIGNING_TOOL} $ENV{SIGNING_ARGS} ${PX4_BINARY_OUTPUT} ${PX4_BINARY_DIR}/${PX4_BOARD}.bin
 		DEPENDS ${PX4_BINARY_OUTPUT}
 		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-)
+	)
 else()
-set(PX4_BINARY_OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_BOARD}.bin)
+	set(PX4_BINARY_OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_BOARD}.bin)
 endif()
 
 add_custom_command(OUTPUT ${PX4_BINARY_OUTPUT}

platforms/nuttx/Debug/jlink_debug_gdb.sh.in

@@ -1,7 +1,5 @@
 #! /bin/sh
 
-set -o xtrace
-
 @JLinkGDBServerExe_PATH@ -device @DEBUG_DEVICE@ -select usb -endian little -if SWD -speed auto -ir -LocalhostOnly 1 -strict -vd -singlerun &
 
 cd @PX4_BINARY_DIR@ && @CMAKE_GDB@ -silent -nh \
@@ -12,3 +10,6 @@ cd @PX4_BINARY_DIR@ && @CMAKE_GDB@ -silent -nh \
 	-ex "monitor reset 0" \
 	-ex "continue" \
 	@PX4_CONFIG@.elf
+
+# exit with status of last command
+exit $?

platforms/nuttx/Debug/jlink_gdb_start.sh.in

@@ -1,7 +1,11 @@
 #! /bin/sh
 
-set -o xtrace
-
 killall JLinkGDBServerCLExe
 
-JLinkGDBServerCLExe -silent -device @DEBUG_DEVICE@ -select usb -if SWD -speed auto -LocalhostOnly 1 -strict -vd -singlerun &
+@JLinkGDBServerCLExe_PATH@ -silent -device @DEBUG_DEVICE@ -select usb -if SWD -speed auto -LocalhostOnly 1 -strict -vd -singlerun -timeout 3000 -powertarget 0 -nogui &
+sleep 2
+
+pgrep -i JLinkGDBServer
+
+# exit with status of last command
+exit $?

platforms/nuttx/Debug/upload_jlink_gdb.sh

@@ -1,14 +1,42 @@
 #! /bin/sh
 
-set -o xtrace
+if command -v gdb-multiarch &> /dev/null
+then
+	GDB_CMD=$(command -v gdb-multiarch)
 
-gdb-multiarch -silent -nx -batch \
-	-ex "target remote localhost:2331" \
-	-ex "monitor reset 0" \
-	-ex "load" \
-	-ex "monitor reset 0" \
-	-ex "monitor go" \
-	-ex "monitor sleep 3000" \
-	-ex "disconnect" \
-	-ex "quit" \
-	${1}
+elif command -v arm-none-eabi-gdb &> /dev/null
+then
+	GDB_CMD=$(command -v arm-none-eabi-gdb)
+
+else
+	echo "gdb arm-none-eabi or multi-arch not found"
+	exit 1
+fi
+
+file ${1}
+
+gdb_cmd_file=$(mktemp)
+
+cat >"${gdb_cmd_file}" <<EOL
+target remote localhost:2331
+monitor reset 0
+load
+monitor reset 0
+monitor go
+EOL
+
+for i in 1 2 3;
+do
+	${GDB_CMD} -silent --nh --nx --nw -batch -x ${gdb_cmd_file} ${1}
+	gdb_ret=$?
+
+	if [ $gdb_ret -ne 0 ]; then
+		echo "GDB error, retrying"
+		killall JLinkGDBServerCLExe
+		sleep 5
+	else
+		exit 0
+	fi
+done
+
+exit 1