lib/rc: don't share decode buffer between protocols

commander: don't play failsafe tune if disarmed
vscode: do not disable autocomplete on enter
2026-05-31 16:50:06 +08:00 · 2021-09-16 14:40:26 -04:00 · 2021-09-16 09:17:00 -04:00 · 2021-09-16 09:11:52 -04:00 · 2021-09-16 13:59:27 +02:00 · 2021-09-16 13:59:27 +02:00
1245 changed files with 28445 additions and 28337 deletions
@@ -9,11 +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",
-            snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
+            armhf: "px4io/px4-dev-armhf:2021-09-08",
+            arm64: "px4io/px4-dev-aarch64:2021-09-08",
+            base: "px4io/px4-dev-base-bionic:2021-09-08",
+            nuttx: "px4io/px4-dev-nuttx-focal:2021-09-08",
          ]

          def armhf_builds = [
@@ -39,6 +38,7 @@ pipeline {
                     "airmind_mindpx-v2_default",
                     "ark_can-flow_canbootloader",
                     "ark_can-flow_default",
+                     "atl_mantis-edu_default",
                     "av_x-v1_default",
                     "bitcraze_crazyflie_default",
                     "bitcraze_crazyflie21_default",
@@ -72,8 +72,8 @@ pipeline {
                     "nxp_fmuk66-v3_rtps",
                     "nxp_fmuk66-v3_socketcan",
                     "nxp_fmurt1062-v1_default",
-                     "nxp_ucans32k146_default",
                     "nxp_ucans32k146_canbootloader",
+                     "nxp_ucans32k146_default",
                     "omnibus_f4sd_default",
                     "px4_fmu-v2_default",
                     "px4_fmu-v2_fixedwing",
@@ -106,14 +106,8 @@ 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++) {
@@ -133,7 +127,7 @@ 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:2021-09-08' }
    //   }
    //   options {
    //         skipDefaultCheckout()
@@ -165,11 +159,7 @@ 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') {
@@ -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:2021-09-08",

 	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],

@@ -4,7 +4,7 @@ about: Suggest an idea for this project

 ---

-For general questions please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/).
+For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Slack (you can find an invite link on this project README).

 **Describe problem solved by the proposed feature**
 A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
@@ -0,0 +1,24 @@
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="90" height="20">
+  <linearGradient id="smooth" x2="0" y2="100%">
+    <stop offset="0" stop-color="#bbb" stop-opacity=".1"/>
+    <stop offset="1" stop-opacity=".1"/>
+  </linearGradient>
+
+  <mask id="round">
+    <rect width="90" height="20" rx="3" fill="#fff"/>
+  </mask>
+
+  <g mask="url(#round)">
+    <rect width="42" height="20" fill="#555"/>
+    <rect x="42" width="48" height="20" fill="#E01563"/>
+    <rect width="90" height="20" fill="url(#smooth)"/>
+  </g>
+
+  <g fill="#fff" text-anchor="middle" font-family="DejaVu Sans,Verdana,Geneva,sans-serif" font-size="11">
+    <text x="22" y="15" fill="#010101" fill-opacity=".3">slack</text>
+    <text x="22" y="14">slack</text>
+    <text x="65" y="15" fill="#010101" fill-opacity=".3">Join us!</text>
+    <text x="65" y="14">Join us!</text>
+  </g>
+</svg>
+
@@ -29,7 +29,7 @@ jobs:
          "parameters_metadata",
        ]
    container:
-      image: px4io/px4-dev-nuttx-focal:2021-05-04
+      image: px4io/px4-dev-nuttx-focal:2021-09-08
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2021-05-04
+    container: px4io/px4-dev-clang:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2021-05-04
+    container: px4io/px4-dev-armhf:2021-09-08
    strategy:
      matrix:
        config: [
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2021-05-04
+    container: px4io/px4-dev-aarch64:2021-09-08
    strategy:
      matrix:
        config: [
@@ -11,84 +11,51 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-05-04
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
    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,
+          atl_mantis-edu,
+          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
@@ -11,15 +11,16 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-05-04
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
    strategy:
      matrix:
        config: [
          ark_can-flow_default,
+          ark_can-gps_default,
          cuav_can-gps-v1_default,
          freefly_can-rtk-gps_default,
          holybro_can-gps-v1_default,
-          #nxp_ucans32k146_default,
+          nxp_ucans32k146_default,
          px4_fmu-v4_cannode
          ]
    steps:
@@ -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-${{ matrix.container }}:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
@@ -5,16 +5,17 @@ on: pull_request
 jobs:
  unit_tests:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
    steps:
    - uses: actions/checkout@v2.3.1
+      with:
+        fetch-depth: 0
    - name: checkout newest version of branch
      run: |
        git fetch origin pull/${{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
@@ -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
@@ -5,17 +5,19 @@ on: push
 jobs:
  unit_tests:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
    env:
      GIT_COMMITTER_EMAIL: bot@px4.io
      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:
@@ -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:2021-09-08
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -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:2021-09-08
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -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:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
@@ -37,7 +37,7 @@ jobs:

  module:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
@@ -52,7 +52,7 @@ jobs:

  parameter:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
@@ -76,7 +76,7 @@ jobs:

  events:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
@@ -103,7 +103,7 @@ jobs:

  uorb_graph:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-05-04
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
@@ -118,7 +118,7 @@ jobs:

  micrortps_agent:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
@@ -132,7 +132,7 @@ jobs:

  ROS_msgs:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
@@ -145,7 +145,7 @@ jobs:

  ROS2_bridge:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
@@ -154,4 +154,4 @@ jobs:
    - name: PX4 ROS2 bridge
      run: |
        git clone https://github.com/PX4/px4_ros_com.git
-        ./msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml
+        ./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml
@@ -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:2021-09-08
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -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
@@ -33,14 +29,11 @@
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.0.0+
+	branch = px4_firmware_nuttx-10.1.0+
 [submodule "platforms/nuttx/NuttX/apps"]
 	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
+	branch = px4_firmware_nuttx-10.1.0+
 [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
@@ -96,6 +96,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-gps_canbootloader
+    atl_mantis-edu_default:
+      short: atl_mantis-edu
+      buildType: MinSizeRel
+      settings:
+        CONFIG: atl_mantis-edu_default
    av_x-v1_default:
      short: av_x-v1
      buildType: MinSizeRel
@@ -31,7 +31,6 @@
                "esc"
        ],
        "debug.toolBarLocation": "docked",
-        "editor.acceptSuggestionOnEnter": "off",
        "editor.defaultFormatter": "chiehyu.vscode-astyle",
        "editor.dragAndDrop": false,
        "editor.insertSpaces": false,
@@ -443,8 +443,10 @@ endforeach()

 add_custom_command(OUTPUT ${uorb_graph_config}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
-		${graph_module_list}
+		${graph_module_list} --src-path src/lib
+		--merge-depends
 		--exclude-path src/examples
+		--exclude-path src/lib/parameters # FIXME: enable & fix
 		--file ${PX4_SOURCE_DIR}/Tools/uorb_graph/graph_${uorb_graph_config}
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	COMMENT "Generating uORB graph"
@@ -143,6 +143,24 @@ pipeline {
          }
        }

+        stage('msg file docs') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+          }
+          steps {
+            sh 'mkdir -p build/msg_docs; ./msg/tools/generate_msg_docs.py -d build/msg_docs'
+            dir('build') {
+              archiveArtifacts(artifacts: 'msg_docs/*.md')
+              stash includes: 'msg_docs/*.md', name: 'msg_documentation'
+            }
+          }
+          post {
+            always {
+              sh 'make distclean'
+            }
+          }
+        }
+
        stage('uORB graphs') {
          agent {
            docker {
@@ -156,8 +174,8 @@ pipeline {
            sh 'git fetch --all --tags'
            sh 'make uorb_graphs'
            dir('Tools/uorb_graph') {
-              archiveArtifacts(artifacts: 'graph_px4_sitl.json')
-              stash includes: 'graph_px4_sitl.json', name: 'uorb_graph'
+              archiveArtifacts(artifacts: 'graph_*.json')
+              stash includes: 'graph_*.json', name: 'uorb_graph'
            }
          }
          post {
@@ -183,11 +201,15 @@ pipeline {
            unstash 'metadata_airframes'
            unstash 'metadata_parameters'
            unstash 'metadata_module_documentation'
+            unstash 'msg_documentation'
+            unstash 'uorb_graph'
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_user_guide.git')
              sh('cp airframes.md px4_user_guide/en/airframes/airframe_reference.md')
              sh('cp parameters.md px4_user_guide/en/advanced_config/parameter_reference.md')
              sh('cp -R modules/*.md px4_user_guide/en/modules/')
+              sh('cp -R graph_*.json px4_user_guide/.vuepress/public/en/middleware/')
+              sh('cp -R msg_docs/*.md px4_user_guide/en/msg_docs/')
              sh('cd px4_user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
              sh('cd px4_user_guide; git push origin master || true')
              sh('rm -rf px4_user_guide')
@@ -301,7 +323,7 @@ pipeline {
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
              // deploy uORB RTPS ID map
-              sh('./msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml')
+              sh('./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml')
              sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
              sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
              // deploy uORB RTPS required tools
@@ -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
 # --------------------------------------------------------------------

@@ -306,10 +293,17 @@ 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)$(BUILD_DIR_SUFFIX)))
+
 uorb_graphs:
-	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib --file Tools/uorb_graph/graph_full
+	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --merge-depends --file Tools/uorb_graph/graph_full
+	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --exclude-path src/modules/mavlink --merge-depends --file Tools/uorb_graph/graph_full_no_mavlink
 	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
 	@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
+	@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
 	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph


@@ -360,7 +354,6 @@ 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)
@@ -488,6 +481,7 @@ submodulesupdate:
 	@git submodule update --quiet --init --recursive --jobs 4 || true
 	@git submodule sync --recursive
 	@git submodule update --init --recursive --jobs 4
+	@git fetch --all --tags --recurse-submodules=yes --jobs=4

 gazeboclean:
 	@rm -rf ~/.gazebo/*
@@ -497,7 +491,7 @@ distclean: gazeboclean
 	@rm -rf "$(SRC_DIR)/build"
 	@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"

-# Help / Error
+# Help / Error / Misc
 # --------------------------------------------------------------------

 # All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
@@ -511,7 +505,7 @@ 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."
@@ -531,3 +525,18 @@ check_px4: $(call make_list,nuttx,"px4") \

 check_nxp: $(call make_list,nuttx,"nxp") \
 	sizes
+
+ifneq ($(ROS2_WS_DIR),)
+  ROS2_WS_DIR := $(basename ${ROS2_WS_DIR})
+else
+  ROS2_WS_DIR := ~/colcon_ws
+endif
+
+update_ros2_bridge:
+	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --all
+
+update_px4_ros_com:
+	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_ros_com
+
+update_px4_msgs:
+	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_msgs
@@ -4,11 +4,11 @@

 [![Nuttx Targets](https://github.com/PX4/PX4-Autopilot/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)

-[![Slack](https://px4-slack.herokuapp.com/badge.svg)](http://slack.px4.io)
+[![Slack](/.github/slack.svg)](https://join.slack.com/t/px4/shared_invite/zt-si4xo5qs-R4baYFmMjlrT4rQK5yUnaA)

 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)):
@@ -120,6 +120,7 @@ add_custom_command(
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
 	WORKING_DIRECTORY ${romfs_gen_root_dir}
 	DEPENDS ${romfs_tar_file}
+	VERBATIM
 	)

 add_custom_command(
@@ -15,10 +15,6 @@ set +e
 #
 #------------------------------------------------------------------------------
 set R /
-#
-# Mount the procfs.
-#
-mount -t procfs /proc

 #
 # Start CDC/ACM serial driver.
@@ -34,9 +34,10 @@
 add_subdirectory(airframes)

 px4_add_romfs_files(
-	px4-rc.params
-	px4-rc.simulator
 	px4-rc.mavlink
+	px4-rc.params
+	px4-rc.rtps
+	px4-rc.simulator
 	rc.replay
 	rcS
 )
@@ -8,6 +8,6 @@
 . ${R}etc/init.d/rc.mc_defaults

 param set-default MC_PITCHRATE_P 0.1
-param set-default MC_ROLLRATE_P 0.1
+param set-default MC_ROLLRATE_P 0.05

 set MIXER quad_x
@@ -11,8 +11,6 @@ param set-default NAV_DLL_ACT 0
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-#param set CBRK_GPSFAIL 240024
-
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}

@@ -11,8 +11,6 @@ param set-default NAV_DLL_ACT 0
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-#param set CBRK_GPSFAIL 240024
-
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}

@@ -42,15 +42,9 @@ param set-default NAV_LOITER_RAD 50

 param set-default RWTO_TKOFF 1

-# fix takeoff failure for JSBsim in autonomous mission mode.
-#param set FW_THR_SLEW_MAX 0.3
-
 param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_MAX_ROLL 10

-# fix takeoff failure for JSBsim in autonomous mission mode.
-#param set-default RWTO_MAX_THR 0.6
-
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8

@@ -42,15 +42,9 @@ param set-default NAV_LOITER_RAD 50

 param set-default RWTO_TKOFF 1

-# fix takeoff failure for JSBsim in autonomous mission mode.
-#param set FW_THR_SLEW_MAX 0.3
-
 param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_MAX_ROLL 10

-# fix takeoff failure for JSBsim in autonomous mission mode.
-#param set RWTO_MAX_THR 0.6
-
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8

@@ -1,5 +1,5 @@
 #!/bin/sh
 # shellcheck disable=SC2154

-#param set MAV_SYS_ID $((px4_instance+1))
-#param set IMU_INTEG_RATE 250
+#param set-default MAV_SYS_ID $((px4_instance+1))
+#param set-default IMU_INTEG_RATE 250
@@ -0,0 +1,4 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
@@ -21,8 +21,6 @@ then
 fi

 # initialize script variables
-set AUX_MODE                    none
-set AUX_BANK2			none
 set IO_PRESENT                  no
 set MAV_TYPE                    none
 set MIXER                       none
@@ -228,8 +226,7 @@ navigator start
 # Try to start the micrortps_client with UDP transport if module exists
 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))
+	. px4-rc.rtps
 fi

 if param greater -s MNT_MODE_IN -1
@@ -19,6 +19,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v2 exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -26,3 +26,5 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027
+
+param set SIH_VEHICLE_TYPE 0
@@ -0,0 +1,40 @@
+#!/bin/sh
+#
+# @name SIH plane AERT
+#
+# @type Simulation
+# @class Plane
+#
+# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+set MIXER AERT
+set PWM_OUT 1234
+
+# set SYS_HITL to 2 to start the SIH and avoid sensors startup
+param set-default SYS_HITL 2
+
+# disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default COM_PREARM_MODE 0
+param set-default CBRK_IO_SAFETY 22027
+
+param set-default BAT_N_CELLS 3
+
+param set SIH_T_MAX 6.0
+param set SIH_MASS 0.3
+param set SIH_IXX 0.00402
+param set SIH_IYY 0.0144
+param set SIH_IZZ 0.0177
+param set SIH_IXZ 0.00046
+param set SIH_KDV 0.2
+
+param set SIH_VEHICLE_TYPE 1 	# sih as fixed wing
@@ -21,8 +21,8 @@
 . ${R}etc/init.d/rc.fw_defaults


-param set-default BAT_CAPACITY 3300
-param set-default BAT_N_CELLS 3
+param set-default BAT1_CAPACITY 3300
+param set-default BAT1_N_CELLS 3

 param set-default PWM_AUX_RATE 50
 param set-default PWM_MAIN_RATE 50
@@ -26,7 +26,8 @@ param set-default GPS_UBX_DYNMODEL 8
 param set-default SER_TEL2_BAUD 9600

 param set-default SENS_BOARD_ROT 0
-        param set MAV_TYPE 8  # MAV_TYPE_FREE_BALLOON
+set MAV_TYPE 8
+param set MAV_TYPE ${MAV_TYPE}


 set MIXER IO_pass
@@ -23,6 +23,7 @@
 # @maintainer William Peale <develop707@gmail.com>
 #
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v2 exclude
 #

 set VEHICLE_TYPE mc
@@ -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
@@ -6,6 +6,7 @@
 # @class Copter
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
+# @board px4_fmu-v2 exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -0,0 +1,207 @@
+#!/bin/sh
+#
+# @name Advanced Technology Labs (ATL) Mantis EDU
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+#
+# @maintainer
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER none
+set MIXER_AUX none
+
+
+# Battery settings
+param set-default BAT_CRIT_THR 0.20
+param set-default BAT_EMERGEN_THR 0.05
+param set-default BAT_LOW_THR 0.25
+
+param set-default BAT1_CAPACITY 2800.0
+param set-default BAT1_N_CELLS 3
+param set-default BAT1_R_INTERNAL 0.02
+param set-default BAT1_V_CHARGED 4.26
+param set-default BAT1_V_EMPTY 3.45
+
+param set-default CBRK_SUPPLY_CHK 894281
+
+param set-default COM_DISARM_LAND 0.1
+param set-default COM_DISARM_PRFLT 3
+param set-default COM_DL_LOSS_T 10
+param set-default COM_FLTMODE1 -1
+param set-default COM_FLTMODE2 -1
+param set-default COM_FLTMODE3 -1
+param set-default COM_FLTMODE4  2
+param set-default COM_FLTMODE5 -1
+param set-default COM_FLTMODE6  6
+param set-default COM_RC_LOSS_T 3
+param set-default COM_RC_OVERRIDE 1
+
+
+# ekf2
+param set-default EKF2_AID_MASK 35
+param set-default EKF2_BARO_DELAY 0
+param set-default EKF2_BARO_NOISE 2.0
+
+param set-default EKF2_BCOEF_X 31.5
+param set-default EKF2_BCOEF_Y 25.5
+
+param set-default EKF2_GPS_DELAY 100
+param set-default EKF2_GPS_POS_X 0.06
+param set-default EKF2_GPS_POS_Y 0.0
+param set-default EKF2_GPS_POS_Z 0.0
+param set-default EKF2_GPS_V_NOISE 0.5
+
+param set-default EKF2_IMU_POS_X 0.06
+param set-default EKF2_IMU_POS_Y 0.0
+param set-default EKF2_IMU_POS_Z 0.0
+
+param set-default EKF2_MAG_DELAY 0
+param set-default EKF2_MAG_NOISE 0.1
+
+param set-default EKF2_MIN_RNG 0.15
+
+param set-default EKF2_OF_DELAY 38
+param set-default EKF2_OF_GATE 2.0
+param set-default EKF2_OF_POS_X -0.035
+param set-default EKF2_OF_POS_Y 0.0
+param set-default EKF2_OF_POS_Z 0.033
+
+param set-default EKF2_PCOEF_XN -0.3
+param set-default EKF2_PCOEF_XP -0.4
+param set-default EKF2_PCOEF_YN -0.4
+param set-default EKF2_PCOEF_YP -0.4
+param set-default EKF2_PCOEF_Z 0.0
+
+param set-default EKF2_RNG_A_VMAX 1.0
+param set-default EKF2_RNG_AID 0
+param set-default EKF2_RNG_DELAY 55
+param set-default EKF2_RNG_POS_X -0.035
+param set-default EKF2_RNG_POS_Y 0.0
+param set-default EKF2_RNG_POS_Z 0.033
+
+param set-default EKF2_TERR_NOISE 1.0
+
+
+# Maximum allowed angle velocity in the landed state
+param set-default LNDMC_ROT_MAX 40.0
+
+# Maximum vertical velocity allowed in the landed state
+param set-default LNDMC_Z_VEL_MAX 0.7
+
+
+# filtering
+param set-default IMU_DGYRO_CUTOFF 50
+param set-default IMU_GYRO_CUTOFF 65
+
+
+# Pitch angle & rate setting
+param set-default MC_PITCHRATE_P 0.075
+param set-default MC_PITCHRATE_I 0.1
+param set-default MC_PITCHRATE_D 0.0005
+param set-default MC_PITCHRATE_MAX 360.0
+param set-default MC_PITCH_P 8.0
+
+# Roll angle & rate setting
+param set-default MC_ROLLRATE_P 0.055
+param set-default MC_ROLLRATE_I 0.1
+param set-default MC_ROLLRATE_D 0.0005
+param set-default MC_ROLLRATE_MAX 360.0
+param set-default MC_ROLL_P 8.0
+
+# Yaw angle & rate setting
+param set-default MC_YAWRATE_P 0.1
+param set-default MC_YAWRATE_I 0.1
+param set-default MC_YAWRATE_MAX 120.0
+param set-default MC_YAW_P 2.5
+
+param set-default MPC_ACC_DOWN_MAX 2.0
+param set-default MPC_ACC_HOR 3.0
+param set-default MPC_ACC_HOR_MAX 10.0
+param set-default MPC_ACC_UP_MAX 3.0
+param set-default MPC_ALT_MODE 0
+param set-default MPC_LAND_SPEED 0.5
+param set-default MPC_LAND_VEL_XY 10
+param set-default MPC_MAN_TILT_MAX 20
+param set-default MPC_YAWRAUTO_MAX 80.0
+param set-default MPC_POS_MODE 4
+param set-default MPC_THR_HOVER 0.54
+param set-default MPC_THR_MAX 0.9
+param set-default MPC_THR_MIN 0.06
+param set-default MPC_TILTMAX_AIR 30
+param set-default MPC_XY_P 1.0
+param set-default MPC_XY_VEL_D 0.005
+param set-default MPC_XY_VEL_I 0.02
+param set-default MPC_XY_VEL_P 0.15
+param set-default MPC_Z_P 2.0
+param set-default MPC_Z_VEL_D 0.0
+param set-default MPC_Z_VEL_I 0.02
+param set-default MPC_Z_VEL_MAX_DN 2.0
+param set-default MPC_Z_VEL_MAX_UP 3.0
+param set-default MPC_Z_VEL_P 0.27
+
+
+# gimbal configuration
+param set-default MNT_MODE_IN 1
+param set-default MNT_MODE_OUT 2
+param set-default MNT_MAN_PITCH 1
+
+
+# RC
+param set-default RC_CHAN_CNT       12
+
+param set-default RC_MAP_THROTTLE   1
+param set-default RC_MAP_ROLL       2
+param set-default RC_MAP_PITCH      3
+param set-default RC_MAP_YAW        4
+param set-default RC_MAP_FLTMODE    5
+param set-default RC_MAP_AUX1       7
+
+param set-default RC1_DZ            10
+param set-default RC1_MAX           3413
+param set-default RC1_MIN           683
+param set-default RC1_REV           1
+param set-default RC1_TRIM          683
+param set-default RC2_DZ            10
+param set-default RC2_MAX           3413
+param set-default RC2_MIN           683
+param set-default RC2_REV           -1
+param set-default RC2_TRIM          2048
+param set-default RC3_DZ            10
+param set-default RC3_MAX           3413
+param set-default RC3_MIN           683
+param set-default RC3_REV           1
+param set-default RC3_TRIM          2048
+param set-default RC4_DZ            10
+param set-default RC4_MAX           3413
+param set-default RC4_MIN           683
+param set-default RC4_REV           -1
+param set-default RC4_TRIM          2048
+param set-default RC5_DZ            10
+param set-default RC5_MAX           3414
+param set-default RC5_MIN           2048
+param set-default RC5_REV           1
+param set-default RC5_TRIM          2048
+param set-default RC7_DZ            10
+param set-default RC7_MAX           3413
+param set-default RC7_MIN           683
+param set-default RC7_REV           1
+param set-default RC7_TRIM          2048
+
+
+# optical flow
+param set-default SENS_FLOW_MAXR   7.4
+param set-default SENS_FLOW_MINHGT 0.15
+param set-default SENS_FLOW_MAXHGT 5.0
+param set-default SENS_FLOW_ROT    4
+
+
+mixer load /dev/tap_esc /etc/mixers/quad_x.main.mix
@@ -27,48 +27,29 @@ set PWM_OUT 1234


 # Attitude & rate gains
-#param set MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.15
-#param set MC_ROLLRATE_I 0.9
 param set-default MC_ROLLRATE_D 0.0013

-#param set MC_PITCH_P 7
 param set-default MC_PITCHRATE_P 0.15
-#param set MC_PITCHRATE_I 1.1
 param set-default MC_PITCHRATE_D 0.0016

 param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.2
-#param set MC_YAWRATE_I 0.15
 param set-default MC_YAWRATE_D 0
 param set-default MC_YAW_FF 0.5

-#param set MC_ROLL_TC 0.19
-#param set MC_PITCH_TC 0.16
-
-# Manual mode settings: Unleash Draco R's power :)
-#param set MPC_MAN_TILT_MAX 70
-#param set MC_PITCHRATE_MAX 1600
-#param set MC_ROLLRATE_MAX 1600
-#param set MC_YAWRATE_MAX 700
 param set-default MPC_MANTHR_MAX 0.9
 param set-default MPC_MANTHR_MIN 0.08
-#param set MPC_MAN_TILT_MAX 35
-#param set MPC_TILTMAX_AIR 20

 # Filter settings
 param set-default IMU_DGYRO_CUTOFF 90
 param set-default IMU_GYRO_CUTOFF 100

-# Thrust curve (avoids the need for TPA)
-#param set THR_MDL_FAC 0.25
-
 # System
 param set-default PWM_MAIN_MAX 1950
 param set-default PWM_MAIN_MIN 1100
 param set-default PWM_MAIN_RATE 0

-#param set SYS_FMU_TASK 1
 param set-default SENS_BOARD_ROT 10

 # EKF2
@@ -96,7 +77,6 @@ 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 CBRK_IO_SAFETY 22027
 param set-default COM_DISARM_LAND 2

 # Filter settings
@@ -106,9 +86,6 @@ param set-default IMU_DGYRO_CUTOFF 70
 # Don't try to be intelligent on RC loss: just cut the motors
 param set-default NAV_RCL_ACT 6

-# enable to use high-rate logging for better rate tracking analysis
-# param set SDLOG_PROFILE 19
-
 # TELEM1 ttyS1 - Wifi module
 param set-default MAV_0_CONFIG 101
 param set-default MAV_0_RATE 0
@@ -75,23 +75,11 @@ param set-default SENS_BOARD_ROT 2

 param set-default BAT1_SOURCE 0
 param set-default CBRK_IO_SAFETY 22027
-#param set COM_DISARM_LAND 3

 # Filter settings
 param set-default IMU_GYRO_CUTOFF 90
 param set-default IMU_DGYRO_CUTOFF 100

-# Don't try to be intelligent on RC loss: just cut the motors
-#param set NAV_RCL_ACT 6
-
 # enable to use high-rate logging for better rate tracking analysis
 param set-default SDLOG_PROFILE 27

-# TELEM1 ttyS1
-#param set MAV_0_CONFIG 101
-#param set MAV_0_MODE 2  # onboard
-#param set MAV_0_RATE 20000
-#param set SER_TEL1_BAUD 921600
-
-# TELEM2 ttyS2
-#param set MAV_1_CONFIG 0
@@ -27,44 +27,21 @@ set PWM_OUT 1234


 # Attitude & rate gains
-#param set MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.15
-#param set MC_ROLLRATE_I 0.9
 param set-default MC_ROLLRATE_D 0.0013

-#param set MC_PITCH_P 7
 param set-default MC_PITCHRATE_P 0.15
-#param set MC_PITCHRATE_I 1.1
 param set-default MC_PITCHRATE_D 0.0016

 param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.2
-#param set MC_YAWRATE_I 0.15
 param set-default MC_YAWRATE_D 0

-#param set MC_ROLL_TC 0.19
-#param set MC_PITCH_TC 0.16
-
-# Manual mode settings: Unleash Draco R's power :)
-#param set MPC_MAN_TILT_MAX 70
-#param set MC_PITCHRATE_MAX 1600
-#param set MC_ROLLRATE_MAX 1600
-#param set MC_YAWRATE_MAX 700
 param set-default MPC_MANTHR_MIN 0.08
-#param set MPC_MAN_TILT_MAX 35
-#param set MPC_TILTMAX_AIR 20

 # Filter settings
 param set-default IMU_GYRO_CUTOFF 100

-# Thrust curve (avoids the need for TPA)
-#param set THR_MDL_FAC 0.25
-
-# Obsolete
-#param set PWM_MAIN_MAX 1950
-#param set PWM_MAIN_MIN 1100
-#param set PWM_MAIN_RATE 0
-
 # Sensors
 param set-default SENS_BOARD_ROT 10
 # Yaw 180
@@ -106,7 +83,6 @@ 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 CBRK_IO_SAFETY 22027
 param set-default COM_DISARM_LAND 2

 # Filter settings
@@ -115,9 +91,6 @@ param set-default IMU_GYRO_CUTOFF 90
 # Don't try to be intelligent on RC loss: just cut the motors
 param set-default NAV_RCL_ACT 6

-# enable to use high-rate logging for better rate tracking analysis
-# param set SDLOG_PROFILE 19
-
 # TELEM1 ttyS1 - Wifi module
 param set-default MAV_0_CONFIG 101
 param set-default MAV_0_RATE 0
@@ -38,8 +38,6 @@ param set-default MC_ACRO_R_MAX 1000
 param set-default MC_ACRO_P_MAX 1000
 param set-default MC_ACRO_Y_MAX 1000

-# param set NAV_RCL_ACT 6 # Lockdown
-
 param set-default PWM_MAIN_MIN 1075
 param set-default PWM_MAIN_RATE 400
 param set-default PWM_MAIN_DISARM 900
@@ -24,9 +24,6 @@

 . ${R}etc/init.d/rc.mc_defaults

-#Parameters here:
-param set LED_RGB_MAXBRT 8
-

 # Configure this as Quadrotor
 # set MAV_TYPE 14
@@ -189,7 +189,7 @@ param set-default CAL_ACC1_PRIO 0
 param set-default CAL_GYRO0_PRIO 255
 param set-default CAL_GYRO1_PRIO 0
 # Logger mode. Default(1) + estimator replay(2) + thermal calibration(4)
-param set SDLOG_PROFILE 6
+param set-default SDLOG_PROFILE 6

 # Do not start frsky_telemetry on port ttyS6 by default, PGA460 lives there. 500 is in arbitrary unused number.
 param set TEL_FRSKY_CONFIG 500
@@ -24,7 +24,6 @@ param set-default SYS_HAS_MAG 0
 param set-default EKF2_AID_MASK 2
 param set-default EKF2_MAG_TYPE 5

-param set-default BAT_N_CELLS 1
 param set-default BAT1_N_CELLS 1
 param set-default BAT1_SOURCE 1

@@ -54,8 +53,6 @@ param set-default MPC_Z_VEL_P_ACC 8
 param set-default MPC_Z_VEL_I_ACC 6
 param set-default MPC_HOLD_MAX_XY 0.1
 param set-default MPC_MAX_FLOW_HGT 3
-#param set IMU_GYRO_NF_FREQ 10
-#param set IMU_GYRO_NF_BW 20

 param set-default NAV_RCL_ACT 3

@@ -72,7 +72,6 @@ param set-default GND_MAX_ANG 3.1415
 param set-default RBCLW_BAUD 8
 param set-default RBCLW_COUNTS_REV 1200
 param set-default RBCLW_ADDRESS 128
-# param set SER_TEL4_BAUD 115200
 # 104 corresponds to Telem 4
 param set-default RBCLW_SER_CFG 104
 # Start this driver after setting parameters, because the driver uses some of those parameters.
@@ -20,6 +20,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v2 exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -20,7 +20,6 @@ param set-default NAV_DLL_ACT 0
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-#param set CBRK_GPSFAIL 240024
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}

@@ -20,7 +20,6 @@ param set-default NAV_DLL_ACT 0
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-#param set CBRK_GPSFAIL 240024
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}

@@ -39,6 +39,7 @@ px4_add_romfs_files(
 	1001_rc_quad_x.hil
 	1002_standard_vtol.hil
 	1100_rc_quad_x_sih.hil
+	1101_rc_plane_sih.hil

 	# [2000, 2999] Standard planes"
 	2100_standard_plane
@@ -80,6 +81,7 @@ px4_add_romfs_files(
 	4052_holybro_qav250
 	4053_holybro_kopis2
 	4060_dji_matrice_100
+	4061_atl_mantis_edu
 	4071_ifo
 	4072_draco
 	4073_ifo-s
@@ -29,12 +29,6 @@ then
        fi
 fi

-# USE_IO is set to 'no' for all boards w/o px4io driver or SYS_USE_IO disabled
-if [ $USE_IO = no -a $AUX_BANK2 = none ]
-then
-	set AUX_MODE none
-fi
-
 #
 # Set the default output mode if none was set.
 #
@@ -76,15 +70,6 @@ then
 		fi
 	fi

-	if [ $OUTPUT_MODE = $OUTPUT_CMD ]
-	then
-		if ! $OUTPUT_CMD mode_$FMU_MODE
-		then
-			echo "$OUTPUT_CMD start failed"
-			tune_control play error
-		fi
-	fi
-
 	if [ $OUTPUT_MODE = uavcan_esc ]
 	then
 		if param compare UAVCAN_ENABLE 0
@@ -98,6 +83,15 @@ then
 		. ${R}etc/init.d/rc.io
 	fi

+	if [ $OUTPUT_MODE = $OUTPUT_CMD -o $OUTPUT_MODE = io ]
+	then
+		if ! $OUTPUT_CMD start
+		then
+			echo "$OUTPUT_CMD start failed"
+			tune_control play error
+		fi
+	fi
+
 	#
 	# Start IO for RC input if needed.
 	#
@@ -161,7 +155,7 @@ else
 	fi
 fi

-if [ $MIXER_AUX != none -a $AUX_MODE != none ]
+if [ $MIXER_AUX != none ]
 then
 	#
 	# Load aux mixer.
@@ -179,34 +173,26 @@ then

 	if [ $MIXER_AUX_FILE != none ]
 	then
-		# Start the output module
-		if $OUTPUT_CMD mode_${AUX_MODE}
+		# Append aux mixer to main device.
+		if param greater SYS_HITL 0
 		then
-			# Append aux mixer to main device.
-			if param greater SYS_HITL 0
+			if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
 			then
-				if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
-				then
-					echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
-				else
-					echo "ERROR  [init] Failed appending mixer: ${MIXER_AUX_FILE}"
-				fi
-			fi
-			if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
-			then
-				if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
-				then
-					echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
-				else
-					echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
-				fi
+				echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
 			else
-				echo "INFO  [init] setting PWM_AUX_OUT none"
-				set PWM_AUX_OUT none
+				echo "ERROR  [init] Failed appending mixer: ${MIXER_AUX_FILE}"
+			fi
+		fi
+		if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
+		then
+			if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
+			then
+				echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
+			else
+				echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
 			fi
 		else
-			echo "ERROR: Could not start: pwm_out mode_pwm"
-			tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
+			echo "INFO  [init] setting PWM_AUX_OUT none"
 			set PWM_AUX_OUT none
 		fi

@@ -228,36 +214,6 @@ fi

 param set PWM_AUX_OUT ${PWM_AUX_OUT}

-if [ $MIXER_AUX != none -a $AUX_MODE = none -a -e $OUTPUT_AUX_DEV ]
-then
-	#
-	# Load aux mixer.
-	#
-	if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix ]
-	then
-		set MIXER_AUX_FILE ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix
-	else
-
-		if [ -f /etc/mixers/${MIXER_AUX}.aux.mix ]
-		then
-			set MIXER_AUX_FILE /etc/mixers/${MIXER_AUX}.aux.mix
-		fi
-	fi
-
-	if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
-	then
-		echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
-
-		# Set PWM_AUX output frequency.
-		if [ $PWM_AUX_RATE != none ]
-		then
-			pwm rate -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
-		fi
-	else
-		echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
-	fi
-fi
-
 if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
 then
 	if [ $PWM_OUT != none ]
@@ -127,6 +127,34 @@ then
 	fi
 fi

+# Eagle Tree airspeed sensor external I2C
+if param compare -s SENS_EN_ETSASPD 1
+then
+	ets_airspeed start -X
+fi
+
+# Sensirion SDP3X differential pressure sensor external I2C
+if param compare -s SENS_EN_SDP3X 1
+then
+	if ! sdp3x_airspeed start -X
+	then
+		# try another common address
+		sdp3x_airspeed start -X -a 0x22
+	fi
+fi
+
+# TE MS4525 differential pressure sensor external I2C
+if param compare -s SENS_EN_MS4525 1
+then
+	ms4525_airspeed start -X
+fi
+
+# TE MS5525 differential pressure sensor external I2C
+if param compare -s SENS_EN_MS5525 1
+then
+	ms5525_airspeed start -X
+fi
+
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
@@ -143,30 +171,6 @@ then

 	# start last (wait for possible icm20948 passthrough mode)
 	ak09916 -X -q start
-
-	# differential pressure sensors
-	if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ]
-	then
-		# Always try to start the airspeed sensors
-		# even if their usage might be disabled
-		sdp3x_airspeed start -X -q
-		sdp3x_airspeed start -X -a 0x22 -q
-
-		# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
-		# detected as MS5525 because the chip manufacturer was so
-		# clever to assign the same I2C address and skip a WHO_AM_I
-		# register.
-		if [ $BOARD_FMUV3 = 21 ]
-		then
-			ms5525_airspeed start -X -b 2 -q
-		else
-			ms5525_airspeed start -X -q
-		fi
-
-		ms4525_airspeed start -X -q
-
-		ets_airspeed start -X -q
-	fi
 fi

 ###############################################################################
@@ -22,10 +22,8 @@ set +e
 #
 set R /
 set AUTOCNF no
-set AUX_MODE pwm
 set FCONFIG /fs/microsd/etc/config.txt
 set FEXTRAS /fs/microsd/etc/extras.txt
-set FMU_MODE pwm
 set FRC /fs/microsd/etc/rc.txt
 set IOFW "/etc/extras/px4_io-v2_default.bin"
 set IO_PRESENT no
@@ -51,11 +49,6 @@ set STARTUP_TUNE 1
 set USE_IO no
 set VEHICLE_TYPE none

-#
-# Mount the procfs.
-#
-mount -t procfs /proc
-
 #
 # Start CDC/ACM serial driver.
 #
@@ -69,8 +62,43 @@ ver all
 #
 # Try to mount the microSD card.
 #
+set SDCARD_AVAILABLE no
 # REBOOTWORK this needs to start after the flight control loop.
 if mount -t vfat /dev/mmcsd0 /fs/microsd
+then
+	set PX4_INIT_TEST_FILE "/fs/microsd/.px4_init_test_file"
+	date >> $PX4_INIT_TEST_FILE
+
+	if [ -f $PX4_INIT_TEST_FILE ]
+	then
+		cat $PX4_INIT_TEST_FILE
+		rm $PX4_INIT_TEST_FILE
+
+		if [ ! -f $PX4_INIT_TEST_FILE ]
+		then
+			set SDCARD_AVAILABLE yes
+		fi
+	fi
+fi
+
+if [ $SDCARD_AVAILABLE = no ]
+then
+	set STARTUP_TUNE 14 # tune 14 = SD_INIT
+	if mkfatfs -F 32 /dev/mmcsd0
+	then
+		if mount -t vfat /dev/mmcsd0 /fs/microsd
+		then
+			set SDCARD_AVAILABLE yes
+			echo "INFO [init] card formatted"
+
+		else
+			set STARTUP_TUNE 15 # tune 15 = SD_ERROR
+			echo "ERROR [init] format failed"
+		fi
+	fi
+fi
+
+if [ $SDCARD_AVAILABLE = yes ]
 then
 	if hardfault_log check
 	then
@@ -81,20 +109,8 @@ then
 			hardfault_log reset
 		fi
 	fi
-else
-	# tune SD_INIT
-	set STARTUP_TUNE 14 # tune 14 = SD_INIT
-	if mkfatfs /dev/mmcsd0
-	then
-		if mount -t vfat /dev/mmcsd0 /fs/microsd
-		then
-			echo "INFO [init] card formatted"
-		else
-			set STARTUP_TUNE 15 # tune 15 = SD_ERROR
-			echo "ERROR [init] format failed"
-		fi
-	fi
 fi
+unset SDCARD_AVAILABLE

 #
 # Look for an init script on the microSD card.
@@ -128,7 +144,7 @@ else
 	then
 		param reset_all
 	fi
-	if ver hwtypecmp V5X00 V5X90 V5Xa0
+	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X
 	then
 		netman update -i eth0
 	fi
@@ -358,52 +374,9 @@ else
 		commander start
 	fi

-	# Sensors on the PWM interface bank.
-	if param compare -s SENS_EN_LL40LS 1
-	then
-		# Clear pins 5 and 6.
-		set FMU_MODE pwm4
-		set AUX_MODE pwm4
-	fi
-
-
-	# Check if ATS is enabled
-	if param compare FD_EXT_ATS_EN 1
-	then
-		# Clear pins 5 and 6.
-		set FMU_MODE pwm4
-		set AUX_MODE pwm4
-	fi

 	if param greater -s TRIG_MODE 0
 	then
-		if param compare TRIG_PINS_EX 0
-		then
-			# We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
-			if param compare TRIG_PINS 56
-			then
-				# clear pins 5 and 6
-				set FMU_MODE pwm4
-				set AUX_MODE pwm4
-			else
-				if param compare TRIG_PINS 78
-				then
-					# clear pins 7 and 8
-					set FMU_MODE pwm6
-					set AUX_MODE pwm6
-				else
-					set FMU_MODE none
-					set AUX_MODE none
-				fi
-			fi
-		else
-			if param compare TRIG_PINS_EX 12288
-			then
-				set FMU_MODE pwm12
-				set AUX_MODE pwm12
-			fi
-		fi
-
 		camera_trigger start
 		camera_feedback start
 	fi
@@ -431,14 +404,7 @@ else
 		rc_input start $RC_INPUT_ARGS
 	fi

-	#
-	# Configure vehicle type specific parameters.
-	# Note: rc.vehicle_setup is the entry point for rc.interface,
-	#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
-	#
-	. ${R}etc/init.d/rc.vehicle_setup
-
-	# Camera capture driver
+	# Camera capture driver (before pwm_out)
 	if param greater -s CAM_CAP_FBACK 0
 	then
 		if camera_capture start
@@ -447,6 +413,13 @@ else
 		fi
 	fi

+	#
+	# Configure vehicle type specific parameters.
+	# Note: rc.vehicle_setup is the entry point for rc.interface,
+	#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
+	#
+	. ${R}etc/init.d/rc.vehicle_setup
+
 	#
 	# Start the navigator.
 	#
@@ -546,10 +519,8 @@ fi
 #
 unset R
 unset AUTOCNF
-unset AUX_MODE
 unset FCONFIG
 unset FEXTRAS
-unset FMU_MODE
 unset FRC
 unset IO_PRESENT
 unset IOFW
@@ -1,5 +1,6 @@
 Aileron/rudder/elevator/throttle mixer for PX4FMU
 ==================================================
+# @board px4_fmu-v2 exclude

 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
 (roll), 1 (pitch) and 3 (thrust).
@@ -1,5 +1,6 @@
 TF-G2 autogyro mixer
 ==================================================
+# @board px4_fmu-v2 exclude

 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
 (roll), 1 (pitch) and 3 (thrust).
@@ -1,5 +1,6 @@
 Viper Delta-wing mixer
 =================================
+# @board px4_fmu-v2 exclude

 Designed for Viper.

@@ -1,4 +1,5 @@
 # CruiseAder Claire Main Multirotor mixer for PX4FMU
+# @board px4_fmu-v2 exclude

 #

@@ -1,5 +1,6 @@
 Delta-wing mixer for PX4FMU
 ===========================
+# @board px4_fmu-v2 exclude

 This file defines mixers suitable for controlling a delta wing aircraft using
 PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
@@ -1,4 +1,5 @@
 # Direct mixer
+# @board px4_fmu-v2 exclude

 A: 0
 A: 1
@@ -1,3 +1,4 @@
 # Octo coaxial with wide arms
+# @board px4_fmu-v2 exclude

 R: 8cw
@@ -1,5 +1,6 @@
 Delta-wing VTOL mixer
 =====================
+# @board px4_fmu-v2 exclude

 This file defines mixers suitable for controlling a delta wing VTOL aircraft using
 PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
@@ -1,5 +1,6 @@
 Tailsitter duo mixer
 ============================
+# @board px4_fmu-v2 exclude

 This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
 has two motors in total, one attached to each wing. It also has two elevons which
@@ -5,46 +5,70 @@ 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)
+
+    if "\n" in line:
+        current_time = datetime.datetime.now()
+        print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
+    else:
+        print('{0}'.format(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:
+    return_code = 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:
+            if "ERROR" in serial_line:
+                return_code = -1
+
+            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(return_code)
+        elif "nsh>" in serial_line:
+            sys.exit(return_code)

        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)
@@ -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 = 30  # 30 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()
@@ -6,71 +6,116 @@ 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)
+
+    if "\n" in line:
+        current_time = datetime.datetime.now()
+        print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
+    else:
+        print('{0}'.format(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)
-
-    # run command
-    timeout_start = time.time()
-    timeout = 10  # 10 seconds
-
-    # clear
-    ser.write("\n".encode("ascii"))
-    ser.flush()
-    ser.readline()
-
-    success_cmd = "cmd succeeded!"
-
-    serial_cmd = '{0}; echo "{1}"\n'.format(cmd, success_cmd)
-    ser.write(serial_cmd.encode("ascii"))
-    ser.flush()
-    ser.readline()
-
-    # 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()
-
-    #     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)
-
+    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 = 30  # 30 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 = 1  # 1 second
+
+    success_cmd = "cmd succeeded!"
+
+    # wait for command echo
+    serial_cmd = '{0}; echo "{1}"\r\n'.format(cmd, success_cmd)
+    ser.write(serial_cmd.encode("ascii"))
+    ser.flush()
+    while True:
+        serial_line = ser.readline().decode("ascii", errors='ignore')
+
+        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)
+
+        if time.time() > timeout_start + timeout:
+            print("Error, timeout waiting for command echo")
+            break
+
+
+    timeout_start = time.time()
+    timeout = 180 # 3 minutes
+
+    return_code = 0
+
    while True:
        serial_line = ser.readline().decode("ascii", errors='ignore')

        if success_cmd in serial_line:
+            sys.exit(return_code)
            break
        else:
            if len(serial_line) > 0:
-                print(serial_line, end='')
+                if "ERROR " in serial_line:
+                    return_code = -1
+
+                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:
@@ -8,12 +8,61 @@ 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)
+
+    if "\n" in line:
+        current_time = datetime.datetime.now()
+        print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
+    else:
+        print('{0}'.format(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 = 30  # 30 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 +71,38 @@ 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 +113,7 @@ 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 +142,30 @@ 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 +181,6 @@ 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"))

@@ -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
@@ -4,19 +4,16 @@ 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:2021-09-08"
 	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"
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
 	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"
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
 	elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
 		# clang tools
 		PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
@@ -30,7 +27,7 @@ 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:2021-09-08"
 fi

 # docker hygiene
@@ -86,8 +86,15 @@ sleep 1

 source ${src_path}/Tools/setup_gazebo.bash ${src_path} ${src_path}/build/${target}

+# To use gazebo_ros ROS2 plugins
+if [[ -n "$ROS_VERSION" ]] && [ "$ROS_VERSION" == "2" ]; then
+	ros_args="-s libgazebo_ros_init.so -s libgazebo_ros_factory.so"
+else
+	ros_args=""
+fi
+
 echo "Starting gazebo"
-gzserver ${src_path}/Tools/sitl_gazebo/worlds/${world}.world --verbose &
+gzserver ${src_path}/Tools/sitl_gazebo/worlds/${world}.world --verbose $ros_args &
 sleep 5

 n=0
@@ -10,7 +10,7 @@ extra_args=
 baudrate=921600
 device=
 ip="127.0.0.1"
-while getopts ":b:d:p:qsr:f:i:lo" opt; do
+while getopts ":b:d:p:qsr:f:i:loa" opt; do
 	case $opt in
 		b)
 			baudrate=$OPTARG
@@ -39,6 +39,9 @@ while getopts ":b:d:p:qsr:f:i:lo" opt; do
 		o)
 			extra_args="$extra_args -disponly"
 			;;
+		a)
+			extra_args="$extra_args -fw" # aircraft
+			;;
 		\?)
 			echo "Invalid option: -$OPTARG" >&2
 			exit 1
@@ -13,6 +13,7 @@ import datetime
 from timeit import default_timer as timer
 os.environ['MAVLINK20'] = '1' # The commands require mavlink 2
 from argparse import ArgumentParser
+import signal

 try:
    from pymavlink import mavutil
@@ -24,6 +25,8 @@ except ImportError as e:
    print("")
    sys.exit(1)

+class LoggingCompleted(Exception):
+    pass

 class MavlinkLogStreaming():
    '''Streams log data via MAVLink.
@@ -49,6 +52,7 @@ class MavlinkLogStreaming():
        self.logging_started = False
        self.num_dropouts = 0
        self.target_component = 1
+        self.got_sig_int = False

    def debug(self, s, level=1):
        '''write some debug text'''
@@ -67,13 +71,24 @@ class MavlinkLogStreaming():
                mavutil.mavlink.MAV_CMD_LOGGING_STOP, 0,
                0, 0, 0, 0, 0, 0, 0)

+    def _int_handler(self, sig, frame):
+        self.got_sig_int = True
+
    def read_messages(self):
        ''' main loop reading messages '''
        measure_time_start = timer()
        measured_data = 0

        next_heartbeat_time = timer()
+        old_handler = signal.signal(signal.SIGINT, self._int_handler)
+
        while True:
+            if self.got_sig_int:
+                signal.signal(signal.SIGINT, old_handler)
+                self.got_sig_int = False
+                print('\nStopping log...')
+                self.stop_log()
+                # Continue reading until we get an ACK

            # handle heartbeat sending
            heartbeat_time = timer()
@@ -120,6 +135,9 @@ class MavlinkLogStreaming():
                        print('Logging started. Waiting for Header...')
                    else:
                        raise Exception('Logging start failed', m.result)
+                elif m.command == mavutil.mavlink.MAV_CMD_LOGGING_STOP and \
+                        m.result == mavutil.mavlink.MAV_RESULT_ACCEPTED:
+                    raise LoggingCompleted()
                return None, 0, 0

            # m is either 'LOGGING_DATA_ACKED' or 'LOGGING_DATA':
@@ -137,7 +155,8 @@ class MavlinkLogStreaming():

                if m.get_type() == 'LOGGING_DATA':
                    if not self.got_header_section:
-                        print('Header received in {:0.2f}s'.format(timer()-self.start_time))
+                        print('Header received in {:0.2f}s (size: {:.1f} KB)'.format(
+                              timer()-self.start_time, self.file.tell()/1024))
                        self.logging_started = True
                        self.got_header_section = True
                self.last_sequence = m.sequence
@@ -256,14 +275,10 @@ def main():
        print('Starting log...')
        mav_log_streaming.start_log()
        mav_log_streaming.read_messages()
-
-        print('Stopping log')
-        mav_log_streaming.stop_log()
-
    except KeyboardInterrupt:
-        print('Stopping log')
-        mav_log_streaming.stop_log()
-
+        print('Aborting')
+    except LoggingCompleted:
+        print('Done')

 if __name__ == '__main__':
    main()
@@ -5,17 +5,52 @@ 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>
+div.frame_common table, div.frame_common table {
+   display: table;
+   table-layout: fixed;
+   margin-bottom: 5px;
+}
+
+div.frame_common table {
+   float: right; 
+   width: 70%;
+}
+
+div.frame_common img {
+  max-height: 180px;
+  width: 29%;
+  padding-top: 10px;
+}
+
+div.frame_variant table {
+   width: 100%;
+}
+
+div.frame_variant th:nth-child(1) {
+  width: 30%;
+  }
+
+div.frame_variant tr > * {
+    vertical-align : top;
+}
+
+div.frame_variant td, div.frame_variant th {
+  text-align : left;
+}
+</style>\n\n"""
 
        type_set = set()
        
@@ -31,9 +66,9 @@ class MarkdownTablesOutput():

            # Display an image of the frame
            image_name = group.GetImageName()
-            result += '<div>\n'
+            result += '<div class="frame_common">\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 +98,18 @@ 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>\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 += '<div class="frame_variant">\n'
+            result += '<table>\n'
            result += ' <thead>\n'
            result += '   <tr><th>Name</th><th></th></tr>\n'
            result += ' </thead>\n'
@@ -90,10 +124,12 @@ 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)
@@ -120,13 +156,13 @@ 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))


            #Close the table.
-            result += '</tbody></table>\n\n'
+            result += '</tbody>\n</table>\n</div>\n\n'

        self.output = result

@@ -221,7 +221,8 @@ class SourceParser(object):
                            else:
                                raise Exception("Could not extract event ID from {:}".format(args_split[0]))
                            event.name = event_name
-                            event.message = args_split[2][1:-1]
+                            # unescape \x, to treat the string the same as the C++ compiler
+                            event.message = args_split[2][1:-1].encode("utf-8").decode('unicode_escape')
                    elif call in ['reporter.healthFailure', 'reporter.armingCheckFailure']:
                        assert len(args_split) == num_args + 5, \
                            "Unexpected Number of arguments for: {:}, {:}".format(args_split, num_args)
@@ -682,7 +682,28 @@ class uploader(object):

        return True

-    def send_reboot(self):
+    def send_protocol_splitter_format(self, data):
+        # Header Structure:
+        #      bits:   1 2 3 4 5 6 7 8
+        # header[0] - |     Magic     | (='S')
+        # header[1] - |T|   LenH      | (T - 0: mavlink; 1: rtps)
+        # header[2] - |     LenL      |
+        # header[3] - |   Checksum    |
+
+        MAGIC = 83
+
+        len_bytes = len(data).to_bytes(2, "big")
+        LEN_H = len_bytes[0] & 127
+        LEN_L = len_bytes[1] & 255
+        CHECKSUM = MAGIC ^ LEN_H ^ LEN_L
+
+        header_ints = [MAGIC, LEN_H, LEN_L, CHECKSUM]
+        header_bytes = struct.pack("{}B".format(len(header_ints)), *header_ints)
+
+        self.__send(header_bytes)
+        self.__send(data)
+
+    def send_reboot(self, use_protocol_splitter_format=False):
        if (not self.__next_baud_flightstack()):
            return False

@@ -693,15 +714,19 @@ class uploader(object):
            print("If the board does not respond, unplug and re-plug the USB connector.", file=sys.stderr)

        try:
+            send_fct = self.__send
+            if use_protocol_splitter_format:
+                send_fct = self.send_protocol_splitter_format
+
            # try MAVLINK command first
            self.port.flush()
-            self.__send(uploader.MAVLINK_REBOOT_ID1)
-            self.__send(uploader.MAVLINK_REBOOT_ID0)
+            send_fct(uploader.MAVLINK_REBOOT_ID1)
+            send_fct(uploader.MAVLINK_REBOOT_ID0)
            # then try reboot via NSH
-            self.__send(uploader.NSH_INIT)
-            self.__send(uploader.NSH_REBOOT_BL)
-            self.__send(uploader.NSH_INIT)
-            self.__send(uploader.NSH_REBOOT)
+            send_fct(uploader.NSH_INIT)
+            send_fct(uploader.NSH_REBOOT_BL)
+            send_fct(uploader.NSH_INIT)
+            send_fct(uploader.NSH_REBOOT)
            self.port.flush()
            self.port.baudrate = self.baudrate_bootloader
        except Exception:
@@ -726,9 +751,13 @@ def main():
    parser.add_argument('--baud-flightstack', action="store", default="57600", help="Comma-separated list of baud rate of the serial port (default is 57600) when communicating with flight stack (Mavlink or NSH), only required for true serial ports.")
    parser.add_argument('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading')
    parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
+    parser.add_argument('--use-protocol-splitter-format', action='store_true', help='use protocol splitter format for reboot')
    parser.add_argument('firmware', action="store", help="Firmware file to be uploaded")
    args = parser.parse_args()

+    if args.use_protocol_splitter_format:
+        print("Using protocol splitter format to reboot pixhawk!")
+
    # warn people about ModemManager which interferes badly with Pixhawk
    if os.path.exists("/usr/sbin/ModemManager"):
        print("==========================================================================================================")
@@ -830,7 +859,7 @@ def main():

                    except Exception:

-                        if not up.send_reboot():
+                        if not up.send_reboot(args.use_protocol_splitter_format):
                            break

                        # wait for the reboot, without we might run into Serial I/O Error 5
@@ -1,5 +1,7 @@
 #! /usr/bin/env bash

+set -e
+
 ## Bash script to setup PX4 development environment on Ubuntu LTS (20.04, 18.04, 16.04).
 ## Can also be used in docker.
 ##
@@ -193,7 +195,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		java_version=11
 		gazebo_version=9
 	elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
-		java_version=14
+		java_version=13
 		gazebo_version=11
 	else
 		java_version=14
@@ -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"
@@ -56,6 +56,13 @@ else
    follow_mode=""
 fi

+# To use gazebo_ros ROS2 plugins
+if [[ -n "$ROS_VERSION" ]] && [ "$ROS_VERSION" == "2" ]; then
+	ros_args="-s libgazebo_ros_init.so -s libgazebo_ros_factory.so"
+else
+	ros_args=""
+fi
+
 if [ "$program" == "jmavsim" ]; then
 	jmavsim_pid=`ps aux | grep java | grep "\-jar jmavsim_run.jar" | awk '{ print $2 }'`
 	if [ -n "$jmavsim_pid" ]; then
@@ -133,7 +140,7 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
 				world_path="$PX4_SITL_WORLD"
 			fi
 		fi
-		gzserver $verbose $world_path &
+		gzserver $verbose $world_path $ros_args &
 		SIM_PID=$!

 		# Check all paths in ${GAZEBO_MODEL_PATH} for specified model
@@ -177,6 +184,15 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
 		echo "You need to have gazebo simulator installed!"
 		exit 1
 	fi
+elif [ "$program" == "ignition" ] && [ -z "$no_sim" ]; then
+	echo "Ignition Gazebo"
+	if [[ -n "$HEADLESS" ]]; then
+		ignition_headless="-s"
+	else
+		ignition_headless=""
+	fi
+	source "$src_path/Tools/setup_ignition.bash" "${src_path}" "${build_path}"
+	ign gazebo ${verbose} ${ignition_headless} -r "${src_path}/Tools/simulation-ignition/worlds/${model}.world"&
 elif [ "$program" == "flightgear" ] && [ -z "$no_sim" ]; then
 	echo "FG setup"
 	cd "${src_path}/Tools/flightgear_bridge/"
@@ -23,7 +23,7 @@ parser.add_argument('-e', '--exclude-path', action='append',
                    help='Excluded path(s), can be specified multiple times',
                    default=[])
 parser.add_argument('--merge-depends', action='store_true',
-                    help='Merge library topics inte the modules that depend on them.')
+                    help='Merge library topics in the modules that depend on them.')
 parser.add_argument('-v','--verbosity', action='count',
                    help='increase output verbosity; primarily for debugging; repeat for more detail',
                    default=0)
@@ -422,6 +422,7 @@ class Graph(object):
        found_module_def = False
        found_module_depends = False
        found_library_def = False
+        scope_added = False
        for line in datafile:
            if 'px4_add_module' in line: # must contain 'px4_add_module'
                found_module_def = True
@@ -432,6 +433,7 @@ class Graph(object):
                    library_name = tokens[1].split()[0].strip().rstrip(')')
                    library_scope = LibraryScope(library_name)
                    self._current_scope.append(library_scope)
+                    scope_added = True
                    self._found_libraries[library_name] = library_scope
                    if self._in_scope():
                        log.debug('    >> found library: ' + library_name)
@@ -443,16 +445,18 @@ class Graph(object):
            elif found_module_depends:
                # two tabs is a *sketchy* heuristic -- spacing isn't guaranteed by cmake;
                # ... but the hard-tabs *is* specified by PX4 coding standards, so it's likely to be consistent
-                if line.startswith('\t\t'):
+                if line.startswith('\t\t') and not line.strip().startswith('#'):
                    depends = [dep.strip() for dep in line.split()]
                    for name in depends:
+                        log.debug('        >> {:}: found module dep: {:}'
+                            .format(self._current_scope[-1].name, name))
                        self._current_scope[-1].add_dependency(name)
                        if kwargs['merge_depends']:
                            if (0 < len(self._scope_whitelist)) and self._current_scope[-1].name in self._scope_whitelist:
                                # if we whitelist a module with dependencies, whitelist the dependencies, too
                                self._scope_whitelist.add(name)

-                else:
+                elif line.strip() != "":
                    found_module_depends = False  ## done with the 'DEPENDS' section.

            words = line.split()
@@ -461,17 +465,21 @@ class Graph(object):
                module_name = words[1]
                module_scope = ModuleScope(module_name)
                self._current_scope.append(module_scope)
+                scope_added = True
                self._found_modules[module_name] = module_scope
                if self._in_scope():
                    log.debug('    >> Found module name: ' + module_scope.name)

-        return (found_library_def or found_module_def)
+        return scope_added


    def _process_source_file(self, file_name):
        """ extract information from a single source file """

-        log.debug( "        >> extracting topics from file: " + file_name )
+        current_scope = self._get_current_scope()
+        log.debug( "        >> {:}extracting topics from file: {:}"
+            .format(current_scope.name+": " if current_scope is not None else "",
+            file_name))

        with codecs.open(file_name, 'r', 'utf-8') as f:
            try:
@@ -481,7 +489,6 @@ class Graph(object):
                return


-            current_scope = self._get_current_scope()
            if current_scope:
                if current_scope.name in self._scope_blacklist:
                    return
@@ -673,7 +680,7 @@ class OutputJSON(object):
            node['color'] = topic_colors[topic]
            # url is opened when double-clicking on the node
            # TODO: does not work for multi-topics
-            node['url'] = 'https://github.com/PX4/Firmware/blob/master/msg/'+topic+'.msg'
+            node['url'] = 'https://github.com/PX4/PX4-Autopilot/blob/master/msg/'+topic+'.msg'
            nodes.append(node)

        data['nodes'] = nodes
@@ -0,0 +1,135 @@
+#!/usr/bin/env bash
+set -e
+
+agent_template_files_updated=0
+code_generator_files_updated=0
+
+# parse help argument
+if [[ $1 == "-h" ]] || [[ $1 == "--help" ]]; then
+  echo -e "Usage: update_px4_ros2_bridge.bash [options...] \t This script allows to update px4_ros_com and px4_msgs in a specified directory." >&2
+  echo
+  echo -e "\t--ws_dir \t\t Location of the ament/colcon workspace. Default: $HOME/colcon_ws."
+  echo -e "\t--px4_ros_com \t\t Updates px4_ros_com microRTPS agent code generation and templates."
+  echo -e "\t--px4_msgs \t\t Updates px4_msgs messages definition files."
+  echo -e "\t--all \t\t Updates both px4_ros_com and px4_msgs."
+  echo
+  exit 0
+fi
+
+# parse the arguments
+while [ $# -gt 0 ]; do
+  if [[ $1 == *"--"* ]]; then
+    v="${1/--/}"
+    if [ ! -z $2 ]; then
+      declare $v="$2"
+    else
+      declare $v=1
+    fi
+  fi
+  shift
+done
+
+# get script directory
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+
+# get PX4-Autopilot directory
+PX4_DIR=$(cd "$(dirname "$SCRIPT_DIR")" && pwd)
+
+function compare_and_update () {
+  cmp -s "$1" "$2"
+  if [ $? -eq 1 ]; then
+    cp "$1" "$2"
+    return 0
+  fi
+
+  return 1;
+}
+
+# update microRTPS agent code generators / helpers
+function update_agent_code {
+  declare -a templates=( \
+    "microRTPS_agent.cpp.em" \
+    "microRTPS_timesync.cpp.em" \
+    "microRTPS_timesync.h.em" \
+    "microRTPS_transport.cpp" \
+    "microRTPS_transport.h" \
+    "Publisher.cpp.em" \
+    "Publisher.h.em" \
+    "Subscriber.cpp.em" \
+    "Subscriber.h.em" \
+    "RtpsTopics.cpp.em" \
+    "RtpsTopics.h.em" \
+    )
+
+  for file in ${templates[@]}; do
+    compare_and_update "$PX4_DIR/msg/templates/urtps/$file" "$ws_dir/src/px4_ros_com/templates/$file" \
+      && echo -e "--\t\t- '$ws_dir/src/px4_ros_com/templates/$file' updated" && ((agent_template_files_updated+=1))
+  done
+  if [ $agent_template_files_updated -eq 0 ]; then
+    echo -e "--\t\t- No template files updated"
+  elif [ $agent_template_files_updated -eq 1 ]; then
+    echo -e "--\t\t  - 1 template file updated"
+  else
+    echo -e "--\t\t  - $agent_template_files_updated template files updated"
+  fi
+}
+
+# update microRTPS agent code templates
+function update_agent_templates {
+  declare -a code_generators=( \
+    "uorb_rtps_classifier.py" \
+    "generate_microRTPS_bridge.py" \
+    "px_generate_uorb_topic_files.py" \
+    )
+  for file in ${code_generators[@]}; do
+    compare_and_update "$PX4_DIR/msg/tools/$file $ws_dir/src/px4_ros_com/scripts/$file" \
+      && echo -e "--\t\t- '$ws_dir/src/px4_ros_com/scripts/$file' updated" && ((code_generator_files_updated+=1))
+  done
+  if [ $code_generator_files_updated -eq 0 ]; then
+    echo -e "--\t\t- No code generators / helpers files updated"
+  elif [ $code_generator_files_updated -eq 1 ]; then
+    echo -e "--\t\t  - 1 code generator / helper file updated"
+  else
+    echo -e "--\t\t  - $code_generator_files_updated code generator / helper files updated"
+  fi
+}
+
+# update px4_ros_com files
+function update_px4_ros_com {
+  python3 $PX4_DIR/msg/tools/uorb_to_ros_urtps_topics.py -i $PX4_DIR/msg/tools/urtps_bridge_topics.yaml -o $ws_dir/src/px4_ros_com/templates/urtps_bridge_topics.yaml
+  echo -e "---------------          \033[1mmicroRTPS agent code generation and templates update\033[0m          ----------------"
+  echo "-------------------------------------------------------------------------------------------------------"
+  update_agent_code
+  update_agent_templates
+  return 0
+}
+
+# function to update px4_msgs
+function update_px4_msgs {
+  find "$ws_dir/src/px4_msgs/msg/" -maxdepth 1 -type f -delete
+  python3 $PX4_DIR/msg/tools/uorb_to_ros_msgs.py $PX4_DIR/msg/ $ws_dir/src/px4_msgs/msg/
+}
+
+# decisor
+echo "-------------------------------------------------------------------------------------------------------"
+if [ -d "${ws_dir}" ]; then
+  ws_dir=$(cd "$ws_dir" && pwd)
+  if [ ! -z ${all} ]; then
+    update_px4_ros_com
+    echo "-------------------------------------------------------------------------------------------------------"
+    update_px4_msgs
+  elif [ ! -z ${px4_ros_com} ]; then
+    update_px4_ros_com
+    echo "-------------------------------------------------------------------------------------------------------"
+  elif [ ! -z ${px4_msgs} ]; then
+    update_px4_msgs
+  fi
+  echo -e "--------------------------------          \033[0;32mUpdate successful!\033[0m          ---------------------------------"
+  echo "-------------------------------------------------------------------------------------------------------"
+  exit 0
+else
+  echo -e "-- \033[0;31mWorkspace directory doesn't exist...\033[0m"
+  echo -e "----------------------------------          \033[0;31mUpdate failed!\033[0m          -----------------------------------"
+  echo "-------------------------------------------------------------------------------------------------------"
+  exit $ERRCODE
+fi
@@ -1,9 +1,6 @@

 px4_add_board(
 	PLATFORM nuttx
-	VENDOR airmind
-	MODEL mindpx-v2
-	LABEL default
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
@@ -19,6 +19,7 @@
 # CONFIG_NSH_DISABLE_GET is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_TIME is not set
 # CONFIG_STM32_CCMEXCLUDE is not set
@@ -90,7 +91,6 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
-CONFIG_NFILE_DESCRIPTORS=12
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -99,9 +99,6 @@ CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
 CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_MB=y
-CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -95,7 +95,6 @@
 /* AUX PWMs
 */
 #define DIRECT_PWM_OUTPUT_CHANNELS	8
-#define DIRECT_INPUT_TIMER_CHANNELS	8

 /* USB OTG FS
 *
@@ -153,7 +152,6 @@
 #define BOARD_ADC_PERIPH_5V_OC  (0)
 #define BOARD_ADC_HIPOWER_5V_OC (0)

-#define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS

 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120
@@ -2,9 +2,6 @@ include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)

 px4_add_board(
 	PLATFORM nuttx
-	VENDOR ark
-	MODEL can-flow
-	LABEL canbootloader
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
@@ -2,9 +2,6 @@ include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)

 px4_add_board(
 	PLATFORM nuttx
-	VENDOR ark
-	MODEL can-flow
-	LABEL debug
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
@@ -2,9 +2,6 @@ include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)

 px4_add_board(
 	PLATFORM nuttx
-	VENDOR ark
-	MODEL can-flow
-	LABEL default
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_FLASH
@@ -36,7 +36,7 @@ CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_LIB_BOARDCTL=y
-CONFIG_MAX_TASKS=0
+CONFIG_FS_PROCFS_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
 CONFIG_NUNGET_CHARS=0
@@ -15,6 +15,7 @@
 # CONFIG_NSH_DISABLE_GET is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_TIME is not set
 # CONFIG_STM32_DMACAPABLE is not set
@@ -70,7 +71,6 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
-CONFIG_NFILE_DESCRIPTORS=12
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -79,9 +79,6 @@ CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
 CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_MB=y
-CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -2,9 +2,6 @@ include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)

 px4_add_board(
 	PLATFORM nuttx
-	VENDOR ark
-	MODEL can-gps
-	LABEL canbootloader
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
--- a/Show More
+++ b/Show More