WIP: afbrs50 try SPI_LOCK

.ci/Jenkinsfile-compile

@@ -9,10 +9,10 @@ pipeline {
         script {
           def build_nodes = [:]
           def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2021-05-04",
-            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",
+            armhf: "px4io/px4-dev-armhf:2021-04-29",
+            arm64: "px4io/px4-dev-aarch64:2021-04-29",
+            base: "px4io/px4-dev-base-bionic:2021-04-29",
+            nuttx: "px4io/px4-dev-nuttx-focal:2021-04-29",
             snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
           ]
 
@@ -133,7 +133,7 @@ pipeline {
     // TODO: actually upload artifacts to S3
     // stage('S3 Upload') {
     //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+    //     docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
     //   }
     //   options {
     //         skipDefaultCheckout()

.ci/Jenkinsfile-hardware

@@ -12,7 +12,7 @@ pipeline {
             stage("build cubepilot_cubeorange_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -86,7 +86,7 @@ pipeline {
             stage("build cuav_x7pro_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -159,7 +159,7 @@ pipeline {
             stage("build px4_fmu-v3_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -232,7 +232,7 @@ pipeline {
             stage("build px4_fmu-v4_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -305,7 +305,7 @@ pipeline {
             stage("build px4_fmu-v4pro_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -378,7 +378,7 @@ pipeline {
             stage("build px4_fmu-v5_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -451,7 +451,7 @@ pipeline {
             stage("build px4_fmu-v5_debug") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -528,7 +528,7 @@ pipeline {
             stage("build px4_fmu-v5_optimized") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -601,7 +601,7 @@ pipeline {
             stage("build px4_fmu-v5_stackcheck") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -678,7 +678,7 @@ pipeline {
             stage("build modalai_fc-v1_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -746,12 +746,86 @@ pipeline {
           }
         }
 
+        stage("holybro_durandal-v1_test") {
+          stages {
+            stage("build holybro_durandal-v1_test") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                checkout scm
+                sh 'export'
+                sh 'make distclean'
+                sh 'ccache -s'
+                sh 'git fetch --tags'
+                sh 'make holybro_durandal-v1_test'
+                sh 'make sizes'
+                sh 'ccache -s'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'holybro_durandal-v1_test'
+              }
+              post {
+                always {
+                    sh 'make distclean'
+                }
+              }
+            } // stage build
+            stage("test") {
+              agent {
+                label 'holybro_durandal-v1'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'holybro_durandal-v1_test'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_test/holybro_durandal-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                  }
+                }
+                stage("configure") {
+                  steps {
+                    // configure
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
+                  }
+                }
+                stage("status") {
+                  steps {
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dshot status"'
+                    statusFTDI()
+                  }
+                }
+                stage("tests") {
+                  steps {
+                    // run tests
+                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
+                  }
+                }
+                stage("reset") {
+                  steps {
+                    cleanupFTDI()
+                  }
+                }
+              }
+            } // stage test
+          }
+        }
+
         stage("nxp_fmuk66-v3_test") {
           stages {
             stage("build nxp_fmuk66-v3_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }

.devcontainer/devcontainer.json

@@ -2,7 +2,7 @@
 // https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
 {
 	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2021-05-04",
+	"image": "px4io/px4-dev-nuttx-focal:2021-04-29",
 
 	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
 

.github/workflows/checks.yml

@@ -29,7 +29,7 @@ jobs:
           "parameters_metadata",
         ]
     container:
-      image: px4io/px4-dev-nuttx-focal:2021-05-04
+      image: px4io/px4-dev-nuttx-focal:2021-04-29
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1

.github/workflows/clang-tidy.yml

@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2021-05-04
+    container: px4io/px4-dev-clang:2021-04-29
     steps:
     - uses: actions/checkout@v1
       with:

.github/workflows/compile_linux.yml

@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2021-05-04
+    container: px4io/px4-dev-armhf:2021-04-29
     strategy:
       matrix:
         config: [

.github/workflows/compile_linux_arm64.yml

@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2021-05-04
+    container: px4io/px4-dev-aarch64:2021-04-29
     strategy:
       matrix:
         config: [

.github/workflows/compile_nuttx.yml

@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-05-04
+    container: px4io/px4-dev-nuttx-focal:2021-04-29
     strategy:
       matrix:
         config: [

.github/workflows/compile_nuttx_cannode.yml

@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-05-04
+    container: px4io/px4-dev-nuttx-focal:2021-04-29
     strategy:
       matrix:
         config: [

.github/workflows/deploy_all.yml

@@ -23,7 +23,7 @@ jobs:
     needs: enumerate_targets
     strategy:
       matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
-    container: px4io/px4-dev-${{ matrix.container }}:2021-05-04
+    container: px4io/px4-dev-${{ matrix.container }}:2021-04-29
     steps:
     - uses: actions/checkout@v1
       with:
@@ -56,13 +56,13 @@ jobs:
     - name: ccache post-run
       run: ccache -s
 
-    - name: parameter & events metadata
+    - name: parameter metadata
       run: |
-        make ${{matrix.target}} ver_gen events_json
+        make ${{matrix.target}} ver_gen
         ./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
         cd build/${{ matrix.target }}
         mkdir _metadata || true
-        cp parameters.* events/*.xz _metadata
+        cp parameters.* _metadata
 
     - uses: jakejarvis/s3-sync-action@master
       with:

.github/workflows/ekf_functional_change_indicator.yml

@@ -1,20 +0,0 @@
-name: EKF Change Indicator
-
-on: pull_request
-
-jobs:
-  unit_tests:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
-    steps:
-    - uses: actions/checkout@v2.3.1
-    - 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
-    - name: Check if there is a functional change
-      run: git diff --exit-code
-      working-directory: src/lib/ecl/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

@@ -1,27 +0,0 @@
-name: EKF Update Change Indicator
-
-on: push
-
-jobs:
-  unit_tests:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
-    env:
-      GIT_COMMITTER_EMAIL: bot@px4.io
-      GIT_COMMITTER_NAME: PX4BuildBot
-    steps:
-    - uses: actions/checkout@v2.3.1
-    - name: main test updates change indication files
-      run: cd ${GITHUB_WORKSPACE}/src/lib/ecl; make test
-    - name: Check if there exists diff and save result in variable
-      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_ENV
-      working-directory: src/lib/ecl/test/change_indication
-    - name: auto-commit any changes to change indication
-      uses: stefanzweifel/git-auto-commit-action@v4
-      with:
-        commit_message: '[AUTO COMMIT] update change indication'
-        commit_user_name: ${GIT_COMMITTER_NAME}
-        commit_user_email: ${GIT_COMMITTER_EMAIL}
-    - if: ${{env.CHANGE_INDICATED}}
-      name: if there is a functional change, fail check
-      run: exit 1

.github/workflows/mavros_mission_tests.yml

@@ -25,7 +25,7 @@ jobs:
           #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
 
     container:
-      image: px4io/px4-dev-ros-melodic:2021-05-04
+      image: px4io/px4-dev-ros-melodic:2021-04-29
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1

.github/workflows/mavros_offboard_tests.yml

@@ -20,7 +20,7 @@ jobs:
           #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
 
     container:
-      image: px4io/px4-dev-ros-melodic:2021-05-04
+      image: px4io/px4-dev-ros-melodic:2021-04-29
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1

.github/workflows/metadata.yml

@@ -11,7 +11,7 @@ jobs:
 
   airframe:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-04-29
     steps:
     - uses: actions/checkout@v1
       with:
@@ -20,24 +20,13 @@ jobs:
     - name: airframe metadata
       run: |
         make airframe_metadata
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
         cd build/px4_sitl_default/docs
-      # TODO: deploy to userguide gitbook
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/px4_sitl_default/docs/'
-        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
+        ls -ls *
+      # TODO: deploy to userguide gitbook and s3
 
   module:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-04-29
     steps:
     - uses: actions/checkout@v1
       with:
@@ -52,7 +41,7 @@ jobs:
 
   parameter:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-04-29
     steps:
     - uses: actions/checkout@v1
       with:
@@ -74,36 +63,9 @@ jobs:
         SOURCE_DIR: 'build/px4_sitl_default/docs/'
         DEST_DIR: 'Firmware/${{ env.version }}/_general/'
 
-  events:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: events metadata
-      run: |
-        make extract_events
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
-        cd build/px4_sitl_default
-        mkdir _events_full || true
-        cp events/all_events_full.json.xz _events_full/all_events.json.xz
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/px4_sitl_default/_events_full/'
-        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
-
   uorb_graph:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-05-04
+    container: px4io/px4-dev-nuttx-focal:2021-04-29
     steps:
     - uses: actions/checkout@v1
       with:
@@ -118,7 +80,7 @@ jobs:
 
   micrortps_agent:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-04-29
     steps:
     - uses: actions/checkout@v1
       with:
@@ -132,7 +94,7 @@ jobs:
 
   ROS_msgs:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-04-29
     steps:
     - uses: actions/checkout@v1
       with:
@@ -145,7 +107,7 @@ jobs:
 
   ROS2_bridge:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-04-29
     steps:
     - uses: actions/checkout@v1
       with:

.github/workflows/sitl_tests.yml

@@ -21,7 +21,7 @@ jobs:
           - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",         model: "standard_vtol" } # Zurich
 
     container:
-      image: px4io/px4-dev-simulation-focal:2021-05-04
+      image: px4io/px4-dev-simulation-focal:2021-04-29
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1

.gitmodules

@@ -18,6 +18,10 @@
 	path = src/lib/matrix
 	url = https://github.com/PX4/PX4-Matrix.git
 	branch = master
+[submodule "src/lib/ecl"]
+	path = src/lib/ecl
+	url = https://github.com/PX4/PX4-ECL.git
+	branch = master
 [submodule "boards/atlflight/cmake_hexagon"]
 	path = boards/atlflight/cmake_hexagon
 	url = https://github.com/PX4/cmake_hexagon.git
@@ -66,7 +70,3 @@
 [submodule "src/lib/crypto/monocypher"]
 	path = src/lib/crypto/monocypher
 	url = https://github.com/PX4/Monocypher.git
-	branch = px4
-[submodule "src/lib/events/libevents"]
-	path = src/lib/events/libevents
-	url = https://github.com/mavlink/libevents.git

.vscode/cmake-variants.yaml

@@ -6,16 +6,6 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_default
-    px4_sitl_asan:
-      short: px4_sitl (AddressSanitizer)
-      buildType: AddressSanitizer
-      settings:
-        CONFIG: px4_sitl_default
-    px4_sitl_ubsan:
-      short: px4_sitl (UndefinedBehaviorSanitizer)
-      buildType: UndefinedBehaviorSanitizer
-      settings:
-        CONFIG: px4_sitl_default
     px4_sitl_replay:
       short: px4_sitl_replay
       buildType: RelWithDebInfo
@@ -61,16 +51,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: px4_fmu-v5x_default
-    px4_fmu-v6x_default:
-      short: px4_fmu-v6x
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6x_default
-    px4_fmu-v6x_bootloader:
-      short: px4_fmu-v6x_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6x_bootloader
     airmind_mindpx-v2_default:
       short: airmind_mindpx-v2
       buildType: MinSizeRel

CMakeLists.txt

@@ -129,10 +129,6 @@ define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
                  BRIEF_DOCS "PX4 module paths"
                  FULL_DOCS "List of paths to all PX4 modules"
                  )
-define_property(GLOBAL PROPERTY PX4_SRC_FILES
-                 BRIEF_DOCS "src files from all PX4 modules & libs"
-                 FULL_DOCS "SRC files from px4_add_{module,library}"
-                 )
 
 #=============================================================================
 # configuration
@@ -421,9 +417,6 @@ foreach(module ${config_module_list})
 	add_subdirectory(src/${module})
 endforeach()
 
-# add events lib after modules and libs as it needs to know all source files (PX4_SRC_FILES)
-add_subdirectory(src/lib/events EXCLUDE_FROM_ALL)
-
 # must be the last module before firmware
 add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
 target_link_libraries(parameters_interface INTERFACE parameters)

Jenkinsfile

@@ -15,7 +15,7 @@ pipeline {
         // stage('Catkin build on ROS workspace') {
         //   agent {
         //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2021-05-04'
+        //       image 'px4io/px4-dev-ros-melodic:2021-04-29'
         //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
         //     }
         //   }
@@ -56,7 +56,7 @@ pipeline {
         stage('Colcon build on ROS2 workspace') {
           agent {
             docker {
-              image 'px4io/px4-dev-ros2-foxy:2021-05-04'
+              image 'px4io/px4-dev-ros2-foxy:2021-04-29'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
             }
           }
@@ -85,7 +85,7 @@ pipeline {
 
         stage('Airframe') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh 'make distclean'
@@ -105,7 +105,7 @@ pipeline {
 
         stage('Parameter') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh 'make distclean'
@@ -125,7 +125,7 @@ pipeline {
 
         stage('Module') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh 'make distclean'
@@ -146,7 +146,7 @@ pipeline {
         stage('uORB graphs') {
           agent {
             docker {
-              image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+              image 'px4io/px4-dev-nuttx-focal:2021-04-29'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
@@ -176,7 +176,7 @@ pipeline {
 
         stage('Userguide') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh('export')
@@ -206,7 +206,7 @@ pipeline {
 
         stage('QGroundControl') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh('export')
@@ -234,7 +234,7 @@ pipeline {
 
         stage('microRTPS agent') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh('export')
@@ -264,7 +264,7 @@ pipeline {
 
         stage('PX4 ROS msgs') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh('export')
@@ -293,7 +293,7 @@ pipeline {
 
         stage('PX4 ROS2 bridge') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh('export')
@@ -336,7 +336,7 @@ pipeline {
 
         stage('S3') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh('export')

Makefile

@@ -279,6 +279,7 @@ misc_qgc_extra_firmware: \
 	check_bitcraze_crazyflie_default \
 	check_bitcraze_crazyflie21_default \
 	check_airmind_mindpx-v2_default \
+	check_px4_fmu-v2_lpe \
 	sizes
 
 # builds with RTPS
@@ -319,21 +320,18 @@ coverity_scan: px4_sitl_default
 
 # Documentation
 # --------------------------------------------------------------------
-.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata doxygen
+.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata doxygen
 
 parameters_metadata:
 	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen
 
 airframe_metadata:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes ver_gen
+	@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes
 
 module_documentation:
 	@$(MAKE) --no-print-directory px4_sitl_default metadata_module_documentation
 
-extract_events:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_extract_events ver_gen
-
-px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events
+px4_metadata: parameters_metadata airframe_metadata module_documentation
 
 doxygen:
 	@mkdir -p "$(SRC_DIR)"/build/doxygen

README.md

@@ -110,7 +110,7 @@ This repository contains code supporting Pixhawk standard boards (best supported
   * [Hex Cube Yellow](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_yellow.html)
   * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
   * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
-  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/complete_vehicles/crazyflie2.html)
+  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/flight_controller/crazyflie2.html)
   * [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
   * [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
   * [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)

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

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

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

@@ -60,7 +60,6 @@ px4_add_romfs_files(
 	1034_rascal-electric
 	1035_techpod
 	1036_malolo
-	1037_believer
 	1040_standard_vtol
 	1041_tailsitter
 	1042_tiltrotor

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -48,10 +48,10 @@ else
 	# shellcheck disable=SC2012
 	REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
 	if [ -z "$REQUESTED_AUTOSTART" ]; then
-		echo "ERROR  [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
+		echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
 		exit 1
 	else
-		echo "INFO  [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
+		echo "Info: found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
 	fi
 fi
 
@@ -126,7 +126,7 @@ then
 	param set SYS_RESTART_TYPE 2
 fi
 
-param set-default BAT1_N_CELLS 4
+param set-default BAT_N_CELLS 4
 
 param set-default CBRK_AIRSPD_CHK 0
 param set-default CBRK_SUPPLY_CHK 894281
@@ -229,7 +229,7 @@ navigator start
 if px4-micrortps_client status > /dev/null 2>&1
 then
 	# shellcheck disable=SC2154
-	micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
+	micrortps_client start -t UDP $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
 fi
 
 if param greater -s MNT_MODE_IN -1

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

@@ -13,13 +13,12 @@
 # @output MAIN6 gear
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
-# @board px4_fmu-v2 exclude
 #
 
 . ${R}etc/init.d/rc.fw_defaults
 
 
-param set-default BAT1_N_CELLS 3
+param set-default BAT_N_CELLS 3
 
 param set-default FW_AIRSPD_MAX 20
 param set-default FW_AIRSPD_MIN 12

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

@@ -38,9 +38,8 @@ param set-default MC_YAWRATE_P 0.25
 param set-default MC_YAWRATE_I 0.25
 param set-default MC_YAWRATE_D 0
 
-param set-default BAT1_V_DIV 12.27559
-param set-default BAT1_A_PER_V 15.39103
-
+param set-default BAT_V_DIV 12.27559
+param set-default BAT_A_PER_V 15.39103
 set MIXER quad_w
 
 set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d

@@ -26,7 +26,7 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 
-param set-default BAT1_N_CELLS 4
+param set-default BAT_N_CELLS 4
 
 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.13

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

@@ -26,8 +26,8 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 
-param set-default BAT1_N_CELLS 6
-param set-default BAT1_V_EMPTY 3.5
+param set-default BAT_N_CELLS 6
+param set-default BAT_V_EMPTY 3.5
 
 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.08
@@ -45,7 +45,6 @@ param set-default MC_YAWRATE_D 0
 param set-default MPC_XY_VEL_MAX 2
 
 param set-default PWM_MAIN_MIN 1080
-
 set MIXER quad_w
 
 set PWM_OUT 1234

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

@@ -6,7 +6,6 @@
 # @class Copter
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
-# @board px4_fmu-v2 exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults

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

@@ -14,7 +14,7 @@
 . ${R}etc/init.d/rc.vtol_defaults
 
 
-param set-default BAT1_N_CELLS 3
+param set-default BAT_N_CELLS 3
 
 param set-default COM_RC_IN_MODE 1
 

ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik

@@ -44,8 +44,7 @@ param set-default MPC_HOLD_MAX_XY 0.25
 param set-default MPC_THR_MIN 0.15
 param set-default MPC_Z_VEL_MAX_DN 2
 
-param set-default BAT1_N_CELLS 4
-
+param set-default BAT_N_CELLS 4
 set MIXER octo_cox_w
 
 set PWM_OUT 12345678

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

@@ -23,9 +23,9 @@
 . ${R}etc/init.d/rc.vtol_defaults
 
 
-param set-default BAT1_CAPACITY 23000
-param set-default BAT1_N_CELLS 4
-param set-default BAT1_R_INTERNAL 0.0025
+param set-default BAT_CAPACITY 23000
+param set-default BAT_N_CELLS 4
+param set-default BAT_R_INTERNAL 0.0025
 
 param set-default CBRK_AIRSPD_CHK 162128
 param set-default CBRK_IO_SAFETY 22027

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

@@ -23,7 +23,8 @@
 . ${R}etc/init.d/rc.vtol_defaults
 
 
-param set-default BAT1_N_CELLS 6
+
+param set-default BAT_N_CELLS 6
 
 param set-default FW_AIRSPD_MAX 30
 param set-default FW_AIRSPD_MIN 19

ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+

@@ -13,7 +13,6 @@
 # @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
 #
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v2 exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw-

@@ -13,7 +13,6 @@
 # @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
 #
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v2 exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2

@@ -26,8 +26,8 @@
 . ${R}etc/init.d/rc.fw_defaults
 
 
-param set-default BAT1_CAPACITY 2500
-param set-default BAT1_N_CELLS 3
+param set-default BAT_CAPACITY 2500
+param set-default BAT_N_CELLS 3
 
 param set-default PWM_AUX_RATE 50
 param set-default PWM_MAIN_RATE 50
@@ -46,6 +46,5 @@ param set-default FW_R_LIM 40
 param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
-
 set MIXER TF-AutoG2
 set MIXER_AUX pass

ROMFS/px4fmu_common/init.d/airframes/3031_phantom

@@ -48,7 +48,8 @@ param set-default PWM_MAIN_DISARM 1000
 # the payload bay is pitched up about 7 degrees
 param set-default SENS_BOARD_Y_OFF 7
 
-set MIXER fw_generic_wing
+
+set MIXER phantom
 
 # Provide ESC a constant 1000 us pulse
 set PWM_OUT 4

ROMFS/px4fmu_common/init.d/airframes/3033_wingwing

@@ -23,7 +23,7 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default BAT1_N_CELLS 2
+param set-default BAT_N_CELLS 2
 param set-default FW_AIRSPD_MAX 15
 param set-default FW_AIRSPD_MIN 10
 param set-default FW_AIRSPD_TRIM 13
@@ -48,7 +48,7 @@ param set-default PWM_MAIN_DISARM 1000
 set MAV_TYPE 1
 
 # Set mixer.
-set MIXER fw_generic_wing
+set MIXER wingwing
 
 # Provide ESC a constant 1000 us pulse.
 set PWM_OUT 4

ROMFS/px4fmu_common/init.d/airframes/3034_fx79

@@ -27,4 +27,5 @@ param set-default FW_AIRSPD_TRIM 15
 
 param set-default NAV_LOITER_RAD 150
 
-set MIXER fw_generic_wing
+
+set MIXER FX79

ROMFS/px4fmu_common/init.d/airframes/3036_pigeon

@@ -49,7 +49,8 @@ param set-default PWM_MAIN_DISARM 1000
 # the payload bay is pitched up about 7 degrees
 param set-default SENS_BOARD_Y_OFF 11.9
 
-set MIXER fw_generic_wing
+
+set MIXER phantom
 
 # Provide ESC a constant 1000 us pulse
 set PWM_OUT 4

ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha

@@ -63,6 +63,6 @@ param set-default PWM_MAIN_REV2 1
 param set-default PWM_MAIN_MIN 900
 param set-default PWM_MAIN_MAX 2100
 
-set MIXER fw_generic_wing
 
+set MIXER caipi
 set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/4003_qavr5

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# @name Lumenier QAV-R (raceblade) 5inch arms
+# @name Lumenier QAV-R (raceblade) 5" arms
 #
 # @type Quadrotor x
 # @class Copter

ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision

@@ -127,9 +127,9 @@ param set-default IMU_GYRO_CUTOFF 100
 param set-default SENS_EN_PMW3901 1
 
 # Power Parameters
-param set-default BAT1_N_CELLS 4
-param set-default BAT1_A_PER_V 36.364
-param set-default BAT1_V_DIV 18.182
+param set-default BAT_N_CELLS 4
+param set-default BAT_A_PER_V 36.364
+param set-default BAT_V_DIV 18.182
 
 # Circuit breakers
 param set-default CBRK_IO_SAFETY 22027

ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb

@@ -0,0 +1,38 @@
+#!/bin/sh
+#
+# @name Hobbyking Micro PCB
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Thomas Gubler <thomas@px4.io>
+#
+# @board px4_fmu-v2 exclude
+# @board px4_fmu-v3 exclude
+# @board px4_fmu-v4 exclude
+# @board px4_fmu-v4pro exclude
+# @board px4_fmu-v5 exclude
+# @board px4_fmu-v5x exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER quad_x
+set PWM_OUT 1234
+
+
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_P 0.1
+param set-default MC_ROLLRATE_I 0.05
+param set-default MC_ROLLRATE_D 0.003
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_P 0.1
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCHRATE_D 0.003
+param set-default MC_YAW_P 2.8
+param set-default MC_YAWRATE_P 0.2
+param set-default MC_YAWRATE_I 0.1
+param set-default MC_YAWRATE_D 0
+
+param set-default PWM_MAIN_MIN 1200

ROMFS/px4fmu_common/init.d/airframes/4041_beta75x

@@ -54,7 +54,7 @@ param set-default DSHOT_CONFIG 600
 param set-default SYS_HAS_BARO 0
 param set-default SYS_HAS_MAG 0
 
-param set-default BAT1_N_CELLS 2
+param set-default BAT_N_CELLS 2
 # The Whoop uses reversed props
 set MIXER quad_h
 set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250

@@ -20,7 +20,7 @@ set PWM_OUT 1234
 
 
 # The set does not include a battery, but most people will probably use 4S
-param set-default BAT1_N_CELLS 4
+param set-default BAT_N_CELLS 4
 
 param set-default IMU_GYRO_CUTOFF 120
 param set-default IMU_DGYRO_CUTOFF 45

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

@@ -17,7 +17,7 @@ set MIXER quad_x
 set PWM_OUT 1234
 
 
-param set-default BAT1_N_CELLS 4
+param set-default BAT_N_CELLS 4
 
 param set-default GPS_1_CONFIG 0
 param set-default RC_PORT_CONFIG 201

ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100

@@ -17,7 +17,7 @@ set MIXER quad_x
 set PWM_OUT 1234
 
 
-param set-default BAT1_N_CELLS 6
+param set-default BAT_N_CELLS 6
 
 param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.05

ROMFS/px4fmu_common/init.d/airframes/4071_ifo

@@ -92,10 +92,10 @@ param set-default MPC_TKO_RAMP_T 1
 param set-default MPC_TKO_SPEED 1.1
 param set-default MPC_VEL_MANUAL 3
 
-param set-default BAT1_SOURCE 0
-param set-default BAT1_N_CELLS 4
-param set-default BAT1_V_DIV 10.14
-param set-default BAT1_A_PER_V 18.18
+param set-default BAT_SOURCE 0
+param set-default BAT_N_CELLS 4
+param set-default BAT_V_DIV 10.14
+param set-default BAT_A_PER_V 18.18
 #param set CBRK_IO_SAFETY 22027
 param set-default COM_DISARM_LAND 2
 

ROMFS/px4fmu_common/init.d/airframes/4072_draco

@@ -73,7 +73,7 @@ param set-default PWM_MAIN_RATE 0
 
 param set-default SENS_BOARD_ROT 2
 
-param set-default BAT1_SOURCE 0
+param set-default BAT_SOURCE 0
 param set-default CBRK_IO_SAFETY 22027
 #param set COM_DISARM_LAND 3
 

ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s

@@ -102,10 +102,10 @@ param set-default MPC_TKO_RAMP_T 1
 param set-default MPC_TKO_SPEED 1.1
 param set-default MPC_VEL_MANUAL 3
 
-param set-default BAT1_SOURCE 0
-param set-default BAT1_N_CELLS 4
-param set-default BAT1_V_DIV 10.14
-param set-default BAT1_A_PER_V 18.18
+param set-default BAT_SOURCE 0
+param set-default BAT_N_CELLS 4
+param set-default BAT_V_DIV 10.14
+param set-default BAT_A_PER_V 18.18
 #param set CBRK_IO_SAFETY 22027
 param set-default COM_DISARM_LAND 2
 

ROMFS/px4fmu_common/init.d/airframes/4090_nanomind

@@ -21,7 +21,7 @@ set MIXER quad_x
 set PWM_OUT 1234
 
 
-param set-default BAT1_N_CELLS 1
+param set-default BAT_N_CELLS 1
 
 param set-default MC_ROLL_P 8
 param set-default MC_ROLLRATE_P 0.19

ROMFS/px4fmu_common/init.d/airframes/4250_teal

@@ -32,18 +32,17 @@ set PWM_OUT 1234
 param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* CAL_MAG* SENS_BOARD* EKF2_MAGBIAS*
 
 # battery
+param set-default BAT_CAPACITY 2750
 param set-default BAT_CRIT_THR 0.15
 param set-default BAT_EMERGEN_THR 0.075
 param set-default BAT_LOW_THR 0.20
-
-param set-default BAT1_CAPACITY 2750
-param set-default BAT1_N_CELLS 4
-param set-default BAT1_R_INTERNAL 0.06
-param set-default BAT1_SOURCE 1
-param set-default BAT1_V_CHARGED 4.15
-param set-default BAT1_V_DIV 11.1625
-param set-default BAT1_V_EMPTY 3.65
-param set-default BAT1_V_OFFS_CURR -0.0045
+param set-default BAT_N_CELLS 4
+param set-default BAT_R_INTERNAL 0.06
+param set-default BAT_SOURCE 1
+param set-default BAT_V_CHARGED 4.15
+param set-default BAT_V_DIV 11.1625
+param set-default BAT_V_EMPTY 3.65
+param set-default BAT_V_OFFS_CURR -0.0045
 
 # sensor calibration
 param set-default CAL_MAG_SIDES 63

ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie

@@ -19,9 +19,9 @@
 set MIXER quad_x_cw
 set PWM_OUT 1234
 
-param set-default BAT1_N_CELLS 1
-param set-default BAT1_CAPACITY 240
-param set-default BAT1_SOURCE 1
+param set-default BAT_N_CELLS 1
+param set-default BAT_CAPACITY 240
+param set-default BAT_SOURCE 1
 
 param set-default CBRK_SUPPLY_CHK 894281
 param set-default CBRK_USB_CHK 197848

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

@@ -16,7 +16,7 @@
 . ${R}etc/init.d/rc.rover_defaults
 
 
-param set-default BAT1_N_CELLS 2
+param set-default BAT_N_CELLS 2
 
 param set-default EKF2_ANGERR_INIT 0.01
 param set-default EKF2_GBIAS_INIT 0.01

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

@@ -19,7 +19,7 @@
 . ${R}etc/init.d/rc.rover_defaults
 
 
-param set-default BAT1_N_CELLS 4
+param set-default BAT_N_CELLS 4
 
 param set-default EKF2_GBIAS_INIT 0.01
 param set-default EKF2_ANGERR_INIT 0.01

ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx

@@ -21,7 +21,7 @@
 . ${R}etc/init.d/rc.rover_defaults
 
 
-param set-default BAT1_N_CELLS 2
+param set-default BAT_N_CELLS 2
 
 param set-default EKF2_GBIAS_INIT 0.01
 param set-default EKF2_ANGERR_INIT 0.01

ROMFS/px4fmu_common/init.d/airframes/6002_draco_r

@@ -116,9 +116,9 @@ param set-default COM_DISARM_LAND 3
 param set-default PWM_MAIN_RATE 0
 
 # Battery
-param set-default BAT1_SOURCE 0
-param set-default BAT1_N_CELLS 4
-param set-default BAT1_V_DIV 10.133
+param set-default BAT_SOURCE 0
+param set-default BAT_N_CELLS 4
+param set-default BAT_V_DIV 10.133
 
 # TELEM1 ttyS1
 param set-default MAV_0_CONFIG 101

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

@@ -71,6 +71,7 @@ px4_add_romfs_files(
 	4016_holybro_px4vision
 	4017_nxp_hovergames
 	4018_s500_ctrlalloc
+	4020_hk_micro_pcb
 	4030_3dr_solo
 	4031_3dr_quad
 	4040_reaper

ROMFS/px4fmu_common/init.d/rc.interface

@@ -226,8 +226,6 @@ then
 	fi
 fi
 
-param set PWM_AUX_OUT ${PWM_AUX_OUT}
-
 if [ $MIXER_AUX != none -a $AUX_MODE = none -a -e $OUTPUT_AUX_DEV ]
 then
 	#
@@ -270,8 +268,6 @@ then
 	fi
 fi
 
-param set PWM_MAIN_OUT ${PWM_OUT}
-
 if [ $EXTRA_MIXER_MODE != none ]
 then
 

ROMFS/px4fmu_common/mixers/CMakeLists.txt

@@ -39,6 +39,7 @@ px4_add_romfs_files(
 	AETRFG.main.mix
 	babyshark.main.mix
 	blade130.main.mix
+	caipi.main.mix
 	CCPM.main.mix
 	claire.aux.mix
 	claire.main.mix
@@ -52,6 +53,7 @@ px4_add_romfs_files(
 	firefly6.aux.mix
 	firefly6.main.mix
 	fw_generic_wing.main.mix
+	FX79.main.mix
 	generic_diff_rover.main.mix
 	hexa_cox.main.mix
 	hexa_+.main.mix
@@ -64,6 +66,7 @@ px4_add_romfs_files(
 	octo_+.main.mix
 	octo_x.main.mix
 	pass.aux.mix
+	phantom.main.mix
 	quad_dc.main.mix
 	quad_h.main.mix
 	quad_+.main.mix
@@ -91,4 +94,5 @@ px4_add_romfs_files(
 	vtol_convergence.main.mix
 	vtol_delta.aux.mix
 	vtol_tailsitter_duo.main.mix
+	wingwing.main.mix
 )

ROMFS/px4fmu_common/mixers/FX79.main.mix

@@ -0,0 +1,50 @@
+FX-79 Delta-wing mixer for PX4FMU
+=================================
+
+Designed for FX-79.
+
+TODO (sjwilks): Add mixers for flaps.
+
+This file defines mixers suitable for controlling a delta wing aircraft using
+PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
+servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
+assumed to be unused.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+Elevon mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two elevon servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+The scaling factor for roll inputs is adjusted to implement differential travel
+for the elevons.
+
+M: 2
+S: 0 0   8500   8500      0 -10000  10000
+S: 0 1   9500   9500      0 -10000  10000
+
+M: 2
+S: 0 0   8500   8500      0 -10000  10000
+S: 0 1  -9500  -9500      0 -10000  10000
+
+Output 2
+--------
+This mixer is empty.
+
+Z:
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000

ROMFS/px4fmu_common/mixers/babyshark.main.mix

@@ -2,7 +2,6 @@
 # 1-4 (main): Ailerons (Y-cable), A-tail left, Pusher, A-tail right
 # 5-8 (main): quad motors
 #=============================
-# @board px4_fmu-v2 exclude
 
 
 Aileron mixer (roll)

ROMFS/px4fmu_common/mixers/caipi.main.mix

@@ -0,0 +1,48 @@
+Delta-wing mixer
+===========================
+
+Designed for TBS Caipirinha
+
+This file defines mixers suitable for controlling a delta wing aircraft using
+PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
+servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
+assumed to be unused.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+Elevon mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two elevon servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+The scaling factor for roll inputs is adjusted to implement differential travel
+for the elevons.
+
+M: 2
+S: 0 0   8000   8000      0 -10000  10000
+S: 0 1   9000   9000      0 -10000  10000
+
+M: 2
+S: 0 0   8000   8000      0 -10000  10000
+S: 0 1  -9000  -9000      0 -10000  10000
+
+Output 2
+--------
+This mixer is empty.
+
+Z:
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000

ROMFS/px4fmu_common/mixers/cloudship.main.mix

@@ -1,8 +1,6 @@
 Thrust tilt/ Starboard Thrust / Port Thrust / Tail Thrust mixer for PX4FMU
 =======================================================
 
-# @board px4_fmu-v2 exclude
-
 This file defines mixers suitable for controlling an airship with
 a thrust tilt, starboard and port thruster and a tail thruster using PX4FMU.
 The configuration assumes the starboard thruster is connected to PX4FMU

ROMFS/px4fmu_common/mixers/deltaquad.main.mix

@@ -1,6 +1,5 @@
 # DeltaQuad mixer for PX4FMU
 #=============================
-# @board px4_fmu-v2 exclude
 
 Quad motors 1 - 4
 -------------

ROMFS/px4fmu_common/mixers/dodeca_bottom_cox.aux.mix

@@ -1,4 +1,3 @@
 # Dodeca Cox
-# @board px4_fmu-v2 exclude
 
 R: 6a

ROMFS/px4fmu_common/mixers/dodeca_top_cox.main.mix

@@ -1,4 +1,3 @@
 # Dodeca Cox
-# @board px4_fmu-v2 exclude
 
 R: 6m

ROMFS/px4fmu_common/mixers/firefly6.aux.mix

@@ -1,8 +1,6 @@
 # mixer for the FireFly6 tilt mechansim servo, elevons and landing gear
 =======================================================================
 
-# @board px4_fmu-v2 exclude
-
 Tilt mechanism servo mixer
 ---------------------------
 M: 1

ROMFS/px4fmu_common/mixers/firefly6.main.mix

@@ -1,6 +1,4 @@
 # FireFly6 mixer for PX4FMU
 #
 #===========================
-# @board px4_fmu-v2 exclude
-
 R: 6c

ROMFS/px4fmu_common/mixers/mount_legs.aux.mix

@@ -1,4 +1,3 @@
-# @board px4_fmu-v2 exclude
 
 # Roll channel for mount
 M: 1

ROMFS/px4fmu_common/mixers/phantom.main.mix

@@ -0,0 +1,45 @@
+Phantom FX-61 mixer
+===================
+
+This file defines mixers suitable for controlling a delta wing aircraft using
+PX4/Pixhawk. The configuration assumes the elevon servos are connected to
+servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
+assumed to be unused.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+Elevon mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two elevon servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+The scaling factor are set so that pitch will have more travel than roll.
+
+M: 2
+S: 0 0  -6000  -6000      0 -10000  10000
+S: 0 1   6500   6500      0 -10000  10000
+
+M: 2
+S: 0 0  -6000  -6000      0 -10000  10000
+S: 0 1  -6500  -6500      0 -10000  10000
+
+Output 2
+--------
+This mixer is empty.
+
+Z:
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000

ROMFS/px4fmu_common/mixers/tilt_quad.aux.mix

@@ -1,8 +1,6 @@
 Tilt-Quadrotor mixer for PX4FMU (2/2) V2
 ===========================
 
-# @board px4_fmu-v2 exclude
-
 This file defines the aux outputs mixer for a Tilt-quadrotor in the + configuration.
 
 # @output AUX1 Outer servo motor for rotor 2 arm

ROMFS/px4fmu_common/mixers/tilt_quad.main.mix

@@ -1,8 +1,6 @@
 Tilt-Quadrotor mixer for PX4FMU (1/2) V2
 ===========================
 
-# @board px4_fmu-v2 exclude
-
 This file defines the main outputs mixer for a Tilt-quadrotor in the + configuration.
 
 # @output MAIN1 motor 1

ROMFS/px4fmu_common/mixers/vectored6dof.main.mix

@@ -1,5 +1,3 @@
-# @board px4_fmu-v2 exclude
-
 # Motor 1
 M: 3
 S: 0 2  -4000  -4000  0   -4000  +4000

ROMFS/px4fmu_common/mixers/vtol_AAERT.aux.mix

@@ -1,8 +1,6 @@
 Mixer for an AAERT VTOL
 =======================
 
-# @board px4_fmu-v2 exclude
-
 Aileron 1 mixer
 ---------------
 M: 1

ROMFS/px4fmu_common/mixers/vtol_AAVVT.aux.mix

@@ -1,8 +1,6 @@
 Aileron/v-tail/throttle VTOL mixer for PX4FMU
 =======================================================
 
-# @board px4_fmu-v2 exclude
-
 This file defines mixers suitable for controlling a fixed wing aircraft with
 aileron, v-tail (rudder, elevator) and throttle using PX4FMU.
 The configuration assumes the aileron servos are connected to PX4FMU 

ROMFS/px4fmu_common/mixers/vtol_TTTTAAER.aux.mix

@@ -1,7 +1,5 @@
 # Generic quadplane tiltrotor servo mixer
 
-# @board px4_fmu-v2 exclude
-
 # Tilt mechanism servo mixer
 ---------------------------
 # front left up:2000 down:1000

ROMFS/px4fmu_common/mixers/vtol_convergence.main.mix

@@ -1,5 +1,4 @@
 # E-flite Convergence Tricopter Y-Configuration Mixer
-# @board px4_fmu-v2 exclude
 
 # Motors
 R: 3y

ROMFS/px4fmu_common/mixers/wingwing.main.mix

@@ -0,0 +1,48 @@
+Delta-wing mixer for PX4FMU
+===========================
+
+Designed for Wing Wing Z-84
+
+This file defines mixers suitable for controlling a delta wing aircraft using
+PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
+servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
+assumed to be unused.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+Elevon mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two elevon servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+The scaling factor for roll inputs is adjusted to implement differential travel
+for the elevons.
+
+M: 2
+S: 0 0  -6000  -6000      0 -10000  10000
+S: 0 1   6500   6500      0 -10000  10000
+
+M: 2
+S: 0 0  -6000  -6000      0 -10000  10000
+S: 0 1  -6500  -6500      0 -10000  10000
+
+Output 2
+--------
+This mixer is empty.
+
+Z:
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000

Tools/astyle/files_to_check_code_style.sh

@@ -16,7 +16,6 @@ exec find boards msg src platforms test \
     -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/events/libevents -prune -o \
     -path src/lib/matrix -prune -o \
     -path src/lib/parameters/uthash -prune -o \
     -path src/modules/gyro_fft/CMSIS_5 -prune -o \

Tools/compress.py

@@ -1,20 +0,0 @@
-#!/usr/bin/env python
-
-import argparse
-import lzma
-
-parser = argparse.ArgumentParser(description="""Compress a file with xz""")
-parser.add_argument('filename', metavar='file', help='Input file (output: file.xz)')
-
-args = parser.parse_args()
-filename = args.filename
-
-def save_compressed(filename):
-    #create xz compressed version
-    xz_filename=filename+'.xz'
-    with lzma.open(xz_filename, 'wt', preset=9) as f:
-        with open(filename, 'r') as content_file:
-            f.write(content_file.read())
-
-save_compressed(filename)
-

Tools/docker_run.sh

@@ -4,7 +4,7 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	echo "guessing PX4_DOCKER_REPO based on input";
 	if [[ $@ =~ .*px4_fmu.* ]]; then
 		# nuttx-px4fmu-v{1,2,3,4,5}
-		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-05-04"
+		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-04-29"
 	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
 		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
 		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"
@@ -30,7 +30,7 @@ fi
 
 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-05-04"
+	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-04-29"
 fi
 
 # docker hygiene

Tools/px4events/jsonout.py

@@ -1,58 +0,0 @@
-import codecs
-import json
-import sys
-import os
-
-
-class JsonOutput():
-    def __init__(self, groups):
-        all_json = {}
-        all_json['version'] = 1
-        component = {}
-        all_json['components'] = {1: component} #1: autopilot component
-
-        all_events = {}
-        component['namespace'] = "px4"
-        component['event_groups'] = all_events
-
-        for group in groups:
-            current_group = {}
-            current_events = {}
-            current_group['events'] = current_events
-            all_events[group] = current_group
-
-            for e in groups[group]:
-                event_obj = {}
-                event_obj['name'] = e.name
-                event_obj['message'] = e.message
-                if e.description is not None:
-                    event_obj['description'] = e.description
-                args = []
-                for i in range(len(e.arguments)):
-                    arg = {}
-                    arg['type'] = e.arguments[i][0]
-                    arg['name'] = e.arguments[i][1]
-                    args.append(arg)
-                if len(args) > 0:
-                    event_obj['arguments'] = args
-                sub_id = e.sub_id
-                assert sub_id not in current_events, \
-                        "Duplicate event ID for {0} (message: '{1}'), other event message: '{2}'".format(
-                        e.name, e.message, current_events[sub_id]['message'])
-                current_events[sub_id] = event_obj
-
-        self.json = all_json
-
-    def save(self, filename):
-        need_to_write = True
-        # only write if current file is not the same, to avoid updating the file
-        # timestamp
-        if os.path.isfile(filename):
-            with open(filename, 'rb') as json_file:
-                existing_data = json.load(json_file)
-                if existing_data == self.json:
-                    need_to_write = False
-        if need_to_write:
-            with codecs.open(filename, 'w', 'utf-8') as f:
-                f.write(json.dumps(self.json,indent=2))
-

Tools/px4events/srcparser.py

@@ -1,308 +0,0 @@
-import sys
-import re
-import math
-
-def hash_32_fnv1a(data: str):
-    hash_val = 0x811c9dc5
-    prime = 0x1000193
-    for i in range(len(data)):
-        value = ord(data[i])
-        hash_val = hash_val ^ value
-        hash_val *= prime
-        hash_val &= 0xffffffff
-    return hash_val
-
-
-class Event(object):
-    """
-    Single event definition
-    """
-
-    def __init__(self):
-        self.name = None
-        self.message = None
-        self.description = None
-        self.group = "default"
-        self._arguments = []
-
-    @staticmethod
-    def _get_id(name):
-        return 0xffffff & hash_32_fnv1a(name)
-
-    @property
-    def arguments(self):
-        """ list of (type: str, name: str) tuples """
-        return self._arguments
-
-    def set_default_arguments(self, num_args):
-        """ set argument names to default (if not specified) """
-        for i in range(num_args):
-            self.add_argument(None, "arg"+str(i))
-
-    def _shift_printed_arguments(self, msg, offset):
-        """ shift all {<idx> arguments by an offset """
-        i = 0
-        while i < len(msg):
-
-            if msg[i] == '\\': # escaped character
-                i += 2
-                continue
-
-            if msg[i] == '{':
-                m = re.match(r"^(\d+)", msg[i+1:])
-                if m:
-                    arg_idx = int(m.group(1)) + offset
-                    msg = msg[:i+1] + str(arg_idx) + msg[i+1+len(m.group(1)):]
-            i += 1
-        return msg
-
-    def prepend_arguments(self, arguments):
-        """ prepend additional arguments, and shift all '{<index>}' in the
-            description and message
-            :param arguments: list of (type: str, name: str) tuples
-        """
-        self._arguments = arguments + self._arguments
-        num_added = len(arguments)
-        if self.message is not None:
-            self.message = self._shift_printed_arguments(self.message, num_added)
-        if self.description is not None:
-            self.description = self._shift_printed_arguments(self.description, num_added)
-
-    def add_argument(self, arg_type, name):
-        self._arguments.append((arg_type, name))
-
-    @property
-    def sub_id(self):
-        return self._get_id(self.name)
-
-    def validate(self):
-        if self.name is None: raise Exception("missing event name")
-        if self.message is None: raise Exception("missing event message for {}".format(self.name))
-        # just to ensure a common convention
-        assert self.message[-1] != '.', "Avoid event message ending in '.' ({:})".format(self.message)
-        # description is optional
-
-class SourceParser(object):
-    """
-    Parses provided data and stores all found events internally.
-    """
-
-    re_split_lines = re.compile(r'[\r\n]+')
-    re_comment_start = re.compile(r'^\/\*\s*EVENT$')
-    re_events_send = re.compile(r'^events::send[<\(]')
-    re_comment_content = re.compile(r'^\*\s*(.*)')
-    re_comment_tag = re.compile(r'^@([a-zA-Z][a-zA-Z0-9_]*):?\s*(.*)')
-    re_comment_end = re.compile(r'(.*?)\s*\*\/$')
-    re_code_end = re.compile(r'(.*?)\s*;$')
-    re_template_args = re.compile(r'([a-zA-Z0-9_:\.]+)\s*<([a-zA-Z0-9_,\s:]+)\s*>\s*\((.*)\);$')
-    re_no_template_args = re.compile(r'([a-zA-Z0-9_:\.]+)\s*\((.*)\);$')
-    re_event_id = re.compile(r'(events::)?ID\("([a-zA-Z0-9_]+)\"')
-
-    def __init__(self):
-        self._events = {}
-
-    @property
-    def events(self):
-        """ dict of 'group': [Event] list """
-        return self._events
-
-    def Parse(self, contents):
-        """
-        Incrementally parse program contents and append all found events
-        to the list.
-        """
-        # This code is essentially a comment-parsing grammar. "state"
-        # represents parser state. It contains human-readable state
-        # names.
-        state = None
-        def finalize_current_tag(event, tag, value):
-            if tag is None: return
-            if tag == "description":
-                descr = value.strip()
-                # merge continued lines (but not e.g. enumerations)
-                for i in range(1, len(descr)-1):
-                    if descr[i-1] != '\n' and descr[i] == '\n' and descr[i+1].isalpha():
-                        descr = descr[:i] + ' ' + descr[i+1:]
-                event.description = descr
-            elif tag == "group":
-                known_groups = ["calibration", "health", "arming_check", "normal"]
-                event.group = value.strip()
-                if not event.group in known_groups:
-                    raise Exception("Unknown event group: '{}'\nKnown groups: {}\n" \
-                        "If this is not a typo, add the new group to the script".format(event.group, known_groups))
-            elif tag.startswith("arg"):
-                arg_index = int(tag[3:])-1
-                arg_name = value.strip()
-                assert len(event.arguments) == arg_index, "Invalid argument ordering/duplicate ({}, {})".format(tag, value)
-                event.add_argument(None, arg_name)
-            else:
-                raise Exception("Invalid tag: {}\nvalue: {}".format(tag, value))
-
-        for line in self.re_split_lines.split(contents):
-            line = line.strip()
-            # Ignore empty lines
-            if line == "":
-                continue
-
-            assert not line.startswith("using namespace events;"), "Avoid 'using namespace events;', as it prevents proper events extraction"
-
-            # Check for '/* EVENT'
-            if self.re_comment_start.match(line):
-                state = "parse-comments"
-                event = Event()
-                current_tag = None
-                current_value = None
-                current_code = ""
-                continue
-
-            # Check for events::send (allow '/* EVENT' to be optional)
-            if state is None and self.re_events_send.match(line):
-                state = "parse-command"
-                event = Event()
-                current_tag = None
-                current_value = None
-                current_code = ""
-
-            if state is None:
-                assert 'events::ID(' not in line or line.startswith('//'), \
-                    "unmatched 'events::ID(' found in line '{:}'".format(line)
-                continue
-
-            if state == "parse-command":
-                current_code += line
-                m = self.re_code_end.search(line)
-                if m:
-                    # extract template arguments
-                    m = self.re_template_args.search(current_code)
-                    if m:
-                        call, template_args, args = m.group(1, 2, 3)
-                        template_args = template_args.split(',')
-                    else:
-                        m = self.re_no_template_args.search(current_code)
-                        if m:
-                            template_args = []
-                            call, args = m.group(1, 2)
-                        else:
-                            raise Exception("Failed to parse code line {:}".format(current_code))
-
-                    # if event arguments are not specified, use default naming
-                    if len(event.arguments) == 0:
-                        event.set_default_arguments(len(template_args))
-
-                    # get argument types from template arguments
-                    assert len(template_args) == len(event.arguments), \
-                        "Number of arguments mismatch (args: {:})".format(template_args)
-                    num_args = len(template_args)
-                    for i in range(num_args):
-                        arg_name = event.arguments[i][1]
-                        arg_type = template_args[i].strip()
-                        if arg_type.startswith('events::'):
-                            arg_type = arg_type[8:]
-                        arg_type = arg_type.replace('enums::', '')
-                        event.arguments[i] = (arg_type, arg_name)
-                    #print("method: {}, args: {}, template args: {}".format(call, args, event.arguments))
-
-                    ignore_event = False
-
-                    # extract function arguments
-                    args_split = self._parse_arguments(args)
-                    if call == "events::send" or call == "send":
-                        if len(args_split) == 1:
-                            # This is a send call for a generated event
-                            ignore_event = True
-                        else:
-                            assert len(args_split) == num_args + 3, \
-                                "Unexpected Number of arguments for: {:}, " \
-                                "num template args: {:} (missing template args?)" \
-                                .format(args_split, num_args)
-                            m = self.re_event_id.search(args_split[0])
-                            if m:
-                                _, event_name = m.group(1, 2)
-                            else:
-                                raise Exception("Could not extract event ID from {:}".format(args_split[0]))
-                            event.name = event_name
-                            event.message = args_split[2][1:-1]
-                    elif call in ['reporter.healthFailure', 'reporter.armingCheckFailure']:
-                        assert len(args_split) == num_args + 5, \
-                            "Unexpected Number of arguments for: {:}, {:}".format(args_split, num_args)
-                        m = self.re_event_id.search(args_split[2])
-                        if m:
-                            _, event_name = m.group(1, 2)
-                        else:
-                            raise Exception("Could not extract event ID from {:}".format(args_split[2]))
-                        event.name = event_name
-                        event.message = args_split[4][1:-1]
-                        if 'health' in call:
-                            event.group = "health"
-                        else:
-                            event.group = "arming_check"
-                        event.prepend_arguments([('common::navigation_mode_category_t', 'modes'),
-                                ('uint8_t', 'health_component_index')])
-                    else:
-                        raise Exception("unknown event method call: {}, args: {}".format(call, args))
-
-                    if not ignore_event:
-                        event.validate()
-
-                        # insert
-                        if not event.group in self._events:
-                            self._events[event.group] = []
-                        self._events[event.group].append(event)
-
-                    state = None
-
-            else: # parse-comments
-                m = self.re_comment_end.search(line)
-                if m:
-                    line = m.group(1)
-                    last_comment_line = True
-                else:
-                    last_comment_line = False
-                m = self.re_comment_content.match(line)
-                if m:
-                    comment_content = m.group(1)
-                    m = self.re_comment_tag.match(comment_content)
-                    if m:
-                        finalize_current_tag(event, current_tag, current_value)
-                        current_tag, current_value = m.group(1, 2)
-                    elif current_tag is not None:
-                        current_value += "\n"+comment_content
-                    # else: empty line before any tag
-                elif not last_comment_line:
-                    # Invalid comment line (inside comment, but not starting with
-                    # "*" or "*/".
-                    raise Exception("Excpected a comment, got '{}'".format(line))
-                if last_comment_line:
-                    finalize_current_tag(event, current_tag, current_value)
-                    state = "parse-command"
-        return True
-
-    def _parse_arguments(self, args):
-        """
-        given a string of arguments, returns a list of strings split into the
-        arguments, with respecting brackets.
-        args is expected to be a single line.
-        Note: comments are not handled, also template arguments.
-
-        e.g. "32, test(4,4), \"e(c\", ab" -> ["32", "test(4,4)", "\"e(c\"", "ab"]
-        """
-        args_split = []
-        start = 0
-        bracket = 0
-        in_string = False
-        for i in range(len(args)):
-            if in_string and args[i] == "\"" and args[i-1] != "\\":
-                in_string = False
-            elif not in_string and args[i] == "\"":
-                in_string = True
-            if in_string:
-                continue
-            if args[i] in "{([":
-                bracket += 1
-            if args[i] in "})]":
-                bracket -= 1
-            if bracket == 0 and args[i] == ',':
-                args_split.append(args[start:i].strip())
-                start = i + 1
-        args_split.append(args[start:].strip())
-        return args_split

Tools/px4events/srcscanner.py

@@ -1,52 +0,0 @@
-import os
-import re
-import codecs
-import sys
-
-class SourceScanner(object):
-    """
-    Traverses directory tree, reads all source files, and passes their contents
-    to the Parser.
-    """
-
-    def ScanDir(self, srcdirs, parser):
-        """
-        Scans provided path and passes all found contents to the parser using
-        parser.Parse method.
-        """
-        extensions = tuple([".cpp"])
-        for srcdir in srcdirs:
-            if os.path.isfile(srcdir):
-                if not self.ScanFile(srcdir, parser):
-                    return False
-            else:
-                for dirname, dirnames, filenames in os.walk(srcdir):
-                    for filename in filenames:
-                        if filename.endswith(extensions):
-                            path = os.path.join(dirname, filename)
-                            try:
-                                if not self.ScanFile(path, parser):
-                                    return False
-                            except:
-                                print(("Exception in file %s" % path))
-                                raise
-        return True
-
-    def ScanFile(self, path, parser):
-        """
-        Scans provided file and passes its contents to the parser using
-        parser.Parse method.
-        """
-
-        with codecs.open(path, 'r', 'utf-8') as f:
-            try:
-                contents = f.read()
-            except:
-                contents = ''
-                print('Failed reading file: %s, skipping content.' % path)
-                pass
-        try:
-            return parser.Parse(contents)
-        except Exception as e:
-            print("Exception while parsing file {}".format(path))
-            raise

Tools/px_process_events.py

@@ -1,102 +0,0 @@
-#!/usr/bin/env python
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-#
-# PX4 events processor (main executable file)
-#
-# This tool scans the PX4 source code for definitions of events.
-#
-
-import sys
-import os
-import argparse
-from px4events import srcscanner, srcparser, jsonout
-
-import re
-import codecs
-
-
-def main():
-    # Parse command line arguments
-    parser = argparse.ArgumentParser(description="Process events definitions.")
-    parser.add_argument("-s", "--src-path",
-                        default=["../src"],
-                        metavar="PATH",
-                        nargs='*',
-                        help="one or more paths/files to source files to scan for events")
-    parser.add_argument("-j", "--json",
-                        nargs='?',
-                        const="events.json",
-                        metavar="FILENAME",
-                        help="Create Json output file"
-                             " (default FILENAME: events.json)")
-    parser.add_argument('-v', '--verbose',
-                        action='store_true',
-                        help="verbose output")
-
-    args = parser.parse_args()
-
-    # Check for valid command
-    if not (args.json):
-        print("Error: You need to specify at least one output method!")
-        parser.print_usage()
-        sys.exit(1)
-
-    # Initialize source scanner and parser
-    scanner = srcscanner.SourceScanner()
-    parser = srcparser.SourceParser()
-
-    # Scan directories, and parse the files
-    if args.verbose:
-        print("Scanning source path/files " + str(args.src_path))
-
-    # canonicalize + remove duplicates
-    src_paths = set()
-    for path in args.src_path:
-        src_paths.add(os.path.realpath(path))
-
-    if not scanner.ScanDir(src_paths, parser):
-        sys.exit(1)
-
-    events = parser.events
-
-    # Output to JSON file
-    if args.json:
-        if args.verbose: print("Creating Json file " + args.json)
-        cur_dir = os.path.dirname(os.path.realpath(__file__))
-        out = jsonout.JsonOutput(events)
-        out.save(args.json)
-
-if __name__ == "__main__":
-    main()

Tools/setup/requirements.txt

@@ -4,7 +4,6 @@ cerberus
 coverage
 empy>=3.3
 jinja2>=2.8
-jsonschema
 matplotlib>=3.0.*
 numpy>=1.13
 nunavut>=1.1.0

Tools/setup/shell.nix

@@ -44,7 +44,6 @@ in pkgs.mkShell {
 		coverage
 		empy
 		jinja2
-		jsonschema
 		matplotlib
 		numpy
 		packaging

Tools/sitl_gazebo

@@ -1 +1 @@
-Subproject commit 1f3f1b1dec5a31c2c400f141fc344f11f68659c9
+Subproject commit 822050a7ab6fd87972e59f16312f451bce217a56

boards/ark/can-flow/default.cmake

@@ -24,10 +24,10 @@ px4_add_board(
 		#sensors
 	SYSTEMCMDS
 		param
-		perf
+		#perf
 		#reboot
 		#system_time
-		top
+		#top
 		#topic_listener
 		#uorb
 		#ver

boards/ark/can-flow/nuttx-config/include/board_dma_map.h

@@ -35,10 +35,9 @@
 
 // DMA1 Channel/Stream Selections
 //--------------------------------------------//---------------------------//----------------
-#define DMACHAN_SPI2_RX    DMAMAP_SPI2_RX   // DMA1, Stream 3, Channel 0
-#define DMACHAN_SPI2_TX    DMAMAP_SPI2_TX   // DMA1, Stream 4, Channel 0
+
 
 //  DMA2 Channel/Stream Selections
 //--------------------------------------------//---------------------------//----------------
 #define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_2   // DMA2, Stream 2, Channel 3
-#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_2   // DMA2, Stream 5, Channel 3
+#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_1   // DMA2, Stream 5, Channel 3

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

@@ -104,8 +104,8 @@ CONFIG_RAW_BINARY=y
 CONFIG_RTC_DATETIME=y
 CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_HPWORKPRIORITY=254
-CONFIG_SCHED_HPWORKSTACKSIZE=3000
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
@@ -142,10 +142,8 @@ CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32_SPI1=y
 CONFIG_STM32_SPI1_DMA=y
-CONFIG_STM32_SPI1_DMA_BUFFER=2048
+CONFIG_STM32_SPI1_DMA_BUFFER=1024
 CONFIG_STM32_SPI2=y
-CONFIG_STM32_SPI2_DMA=y
-CONFIG_STM32_SPI2_DMA_BUFFER=2048
 CONFIG_STM32_SPI_DMA=y
 CONFIG_STM32_TIM8=y
 CONFIG_STM32_USART2=y

boards/ark/can-gps/debug.cmake

@@ -8,7 +8,6 @@ px4_add_board(
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
-	EXTERNAL_METADATA
 	ROMFSROOT cannode
 	UAVCAN_INTERFACES 1
 	DRIVERS

boards/ark/can-gps/default.cmake

@@ -9,7 +9,6 @@ px4_add_board(
 	ARCHITECTURE cortex-m4
 	#CONSTRAINED_FLASH
 	CONSTRAINED_MEMORY
-	EXTERNAL_METADATA
 	ROMFSROOT cannode
 	UAVCAN_INTERFACES 1
 	DRIVERS

boards/cuav/nora/init/rc.board_defaults

@@ -6,9 +6,11 @@
 # Enables the 2nd bank of mixers
 set AUX_BANK2 yes
 
+param set-default BAT_V_DIV 18
 param set-default BAT1_V_DIV 18
 param set-default BAT2_V_DIV 18
 
+param set-default BAT_A_PER_V 24
 param set-default BAT1_A_PER_V 24
 param set-default BAT2_A_PER_V 24
 

boards/cuav/x7pro/init/rc.board_defaults

@@ -6,9 +6,11 @@
 # Enables the 2nd bank of mixers
 set AUX_BANK2 yes
 
+param set-default BAT_V_DIV 18
 param set-default BAT1_V_DIV 18
 param set-default BAT2_V_DIV 18
 
+param set-default BAT_A_PER_V 24
 param set-default BAT1_A_PER_V 24
 param set-default BAT2_A_PER_V 24
 

boards/cubepilot/cubeorange/init/rc.board_defaults

@@ -3,9 +3,12 @@
 # board specific defaults
 #------------------------------------------------------------------------------
 
+
+param set-default BAT_V_DIV 10.1
 param set-default BAT1_V_DIV 10.1
 param set-default BAT2_V_DIV 10.1
 
+param set-default BAT_A_PER_V 17
 param set-default BAT1_A_PER_V 17
 param set-default BAT2_A_PER_V 17