Run ignition gazebo as distributed lockstep

ign sim fix alt ground truth and baro
WIP: add X3
2026-05-24 11:37:36 +08:00 · 2022-08-15 11:15:03 +02:00 · 2022-08-14 15:22:24 -04:00 · 2022-08-14 15:15:24 -04:00 · 2022-08-14 13:04:08 -04:00 · 2022-08-14 17:14:25 +02:00
670 changed files with 48973 additions and 9269 deletions
@@ -1,11 +1,17 @@
 ---
 Checks:          '*,
+                  -*-avoid-c-arrays,
+                  -*-uppercase-literal-suffix,
+                  -*-magic-numbers,
+                  -altera-id-dependent-backward-branch,
+                  -altera-unroll-loops,
                  -android*,
                  -bugprone-integer-division,
                  -cert-dcl50-cpp,
                  -cert-env33-c,
                  -cert-err34-c,
                  -cert-err58-cpp,
+                  -cert-flp30-c,
                  -cert-msc30-c,
                  -cert-msc50-cpp,
                  -clang-analyzer-core.CallAndMessage,
@@ -18,6 +24,7 @@ Checks:          '*,
                  -clang-analyzer-deadcode.DeadStores,
                  -clang-analyzer-optin.cplusplus.VirtualCall,
                  -clang-analyzer-optin.performance.Padding,
+                  -clang-analyzer-security.FloatLoopCounter,
                  -clang-analyzer-security.insecureAPI.strcpy,
                  -clang-analyzer-unix.API,
                  -clang-analyzer-unix.cstring.BadSizeArg,
@@ -37,8 +44,7 @@ Checks:          '*,
                  -cppcoreguidelines-pro-type-union-access,
                  -cppcoreguidelines-pro-type-vararg,
                  -cppcoreguidelines-special-member-functions,
-                  -fuchsia-default-arguments,
-                  -fuchsia-overloaded-operator,
+                  -fuchsia-*,
                  -google-build-using-namespace,
                  -google-explicit-constructor,
                  -google-global-names-in-headers,
@@ -62,6 +68,7 @@ Checks:          '*,
                  -hicpp-use-equals-delete,
                  -hicpp-use-override,
                  -hicpp-vararg,
+                  -llvmlibc-*,
                  -llvm-header-guard,
                  -llvm-include-order,
                  -llvm-namespace-comment,
@@ -84,6 +91,7 @@ Checks:          '*,
                  -modernize-use-override,
                  -modernize-use-trailing-return-type,
                  -modernize-use-using,
+                  -modernize-use-trailing-return-type,
                  -performance-inefficient-string-concatenation,
                  -readability-avoid-const-params-in-decls,
                  -readability-container-size-empty,
@@ -20,7 +20,7 @@ A clear and concise description of what you expected to happen.

 ## Log Files and Screenshots
 *Always* provide a link to the flight log file:
- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/master/en/getting_started/flight_reporting.html)).
+- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
 - Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
 - Share the link to the log (Copy and paste the URL of the log)

@@ -53,9 +53,6 @@
 [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/PX4/px4-simulation-ignition.git
 [submodule "src/lib/crypto/libtomcrypt"]
 	path = src/lib/crypto/libtomcrypt
 	url = https://github.com/PX4/libtomcrypt.git
@@ -6,6 +6,11 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_default
+    px4_sitl_ign:
+      short: px4_sitl_ign
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_ign
    px4_sitl_rtps:
      short: px4_sitl_rtps
      buildType: RelWithDebInfo
@@ -49,185 +49,18 @@
                "group": "test"
            }
        },
-        {
-            "label": "jmavsim build",
-            "type": "shell",
-            "command": "ant create_run_jar copy_res",
-            "options": {
-                "cwd": "${workspaceFolder}/Tools/jMAVSim"
-            },
-            "problemMatcher": [],
-            "presentation":{
-                "echo": true,
-                "reveal": "never",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false,
-            }
-        },
-        {
-            "label": "jmavsim",
-            "type": "shell",
-            "dependsOn": "jmavsim build",
-            "command": "java -Djava.ext.dirs= -jar jmavsim_run.jar -r 250 -lockstep -tcp localhost:4560 -qgc",
-            "options": {
-                "cwd": "${workspaceFolder}/Tools/jMAVSim/out/production",
-                "env": {
-                    "PX4_SIM_SPEED_FACTOR": "1"
-                }
-            },
-            "isBackground": true,
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false
-            },
-            "problemMatcher": [
-                {
-                    "pattern": [
-                        {
-                            "regexp": ".",
-                            "file": 1,
-                            "location": 2,
-                            "message": 3
-                        }
-                    ],
-                    "background": {
-                        "activeOnStart": true,
-                        "beginsPattern": ".",
-                        "endsPattern": ".",
-                    }
-                }
-            ]
-        },
-        {
-            "label": "jmavsim kill",
-            "type": "shell",
-            "command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}')",
-            "presentation": {
-                "echo": false,
-                "reveal": "never",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false
-            },
-            "problemMatcher": []
-        },
-        {
-            "label": "gazebo build",
-            "type": "shell",
-            "command": "make px4_sitl_default sitl_gazebo",
-            "options": {
-                "cwd": "${workspaceFolder}"
-            },
-            "problemMatcher": [],
-            "presentation":{
-                "echo": true,
-                "reveal": "always",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false,
-            }
-        },
-        {
-            "label": "gazebo start",
-            "type": "shell",
-            "dependsOn": "gazebo build",
-            "options": {
-                "cwd": "${workspaceFolder}",
-                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
-                    "PX4_SIM_SPEED_FACTOR": "1"
-                }
-            },
-            "command": "gzserver --verbose ${workspaceFolder}/Tools/sitl_gazebo/worlds/${input:gazeboWorld}.world",
-            "isBackground": true,
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false
-            },
-            "problemMatcher": [
-                {
-                    "pattern": [
-                        {
-                            "regexp": ".",
-                            "file": 1,
-                            "location": 2,
-                            "message": 3
-                        }
-                    ],
-                    "background": {
-                        "activeOnStart": true,
-                        "beginsPattern": ".",
-                        "endsPattern": ".",
-                    }
-                }
-            ]
-        },
+
        {
            "label": "gazebo",
            "type": "shell",
-            "dependsOn": "gazebo start",
            "options": {
                "cwd": "${workspaceFolder}",
                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
+                    "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/gazebo/models",
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
-            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/sitl_gazebo/models/${input:vehicleModel}/${input:vehicleModel}.sdf --model-name=${input:vehicleModel} -x 1.01 -y 0.98 -z 0.83",
-            "isBackground": false,
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false
-            },
-            "problemMatcher": [
-                {
-                    "pattern": [
-                        {
-                            "regexp": ".",
-                            "file": 1,
-                            "location": 2,
-                            "message": 3
-                        }
-                    ],
-                    "background": {
-                        "activeOnStart": true,
-                        "beginsPattern": ".",
-                        "endsPattern": ".",
-                    }
-                }
-            ]
-        },
-        {
-            "label": "gazebo client",
-            "type": "shell",
-            "dependsOn": "gazebo build",
-            "options": {
-                "cwd": "${workspaceFolder}",
-                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
-                    "PX4_SIM_SPEED_FACTOR": "1"
-                }
-            },
-            "command": "gzclient --verbose",
+            "command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/gazebo/worlds/${input:gazeboWorld}.sdf",
            "isBackground": true,
            "presentation": {
                "echo": true,
@@ -255,10 +88,11 @@
                }
            ]
        },
+
        {
            "label": "gazebo kill",
            "type": "shell",
-            "command": "killall gzserver",
+            "command": "killall ign",
            "presentation": {
                "echo": true,
                "reveal": "silent",
@@ -270,6 +104,7 @@
            "problemMatcher": [],
            "dependsOn":["px4_sitl_cleanup"]
        },
+
        {
            "label": "px4_sitl_cleanup",
            "type": "shell",
@@ -335,39 +170,14 @@
        }
    ],
    "inputs": [
-        {
-            "type": "pickString",
-            "id": "vehicleModel",
-            "description": "gazebo model",
-            "options": [
-              "iris",
-              "typhoon_h480",
-              "plane",
-              "plane_catapult",
-              "plane_lidar",
-              "standard_vtol",
-              "tailsitter",
-              "tiltrotor",
-              "r1_rover",
-              "boat"
-            ],
-            "default": "iris"
-        },
        {
            "type": "pickString",
            "id": "gazeboWorld",
            "description": "gazebo world",
            "options": [
-                "baylands",
-                "empty",
-                "ksql_airport",
-                "mcmillan_airfield",
-                "sonoma_raceway",
-                "warehouse",
-                "windy",
-                "yosemite"
+                "x4"
            ],
-            "default": "empty"
+            "default": "x4"
        }
    ]
 }
@@ -175,6 +175,12 @@ include(kconfig)
 message(STATUS "PX4 config: ${PX4_CONFIG}")
 message(STATUS "PX4 platform: ${PX4_PLATFORM}")

+if($ENV{CLION_IDE})
+	# CLion automatically executes some compiler commands after configuring the
+	# project. This would fail on NuttX, as visibility.h tries to (indirectly)
+	# include nuttx/config.h, which at that point does not exist yet
+	add_definitions(-DPX4_DISABLE_GCC_POISON)
+endif()

 if(${PX4_PLATFORM} STREQUAL "posix")
 	if(ENABLE_LOCKSTEP_SCHEDULER)
@@ -8,7 +8,7 @@ First [fork and clone](https://help.github.com/articles/fork-a-repo) the project

 ### Create a feature branch

-*Always* branch off master for new features.
+*Always* branch off main for new features.

 ```
 git checkout -b mydescriptivebranchname
@@ -16,7 +16,7 @@ git checkout -b mydescriptivebranchname

 ### Edit and build the code

-The [developer guide](http://dev.px4.io/) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://dev.px4.io/master/en/contribute/code.html) when editing files.
+The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://docs.px4.io/main/en/contribute/code.html) when editing files.

 ### Commit your changes

@@ -7,7 +7,8 @@ pipeline {
    stage('Analysis') {
      when {
        anyOf {
-          branch 'master'
+          branch 'main'
+          branch 'master' // should be removed, but in case there is something going on...
          branch 'pr-jenkins' // for testing
        }
      }
@@ -204,20 +205,21 @@ pipeline {
            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')
+              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 main || true')
+              sh('rm -rf PX4-user_guide')
            }
          }
          when {
            anyOf {
-              branch 'master'
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
              branch 'pr-jenkins' // for testing
            }
          }
@@ -245,7 +247,8 @@ pipeline {
          }
          when {
            anyOf {
-              branch 'master'
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
              branch 'pr-jenkins' // for testing
            }
          }
@@ -278,7 +281,8 @@ pipeline {
          }
          when {
            anyOf {
-              branch 'master'
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
              branch 'pr-jenkins' // for testing
            }
          }
@@ -307,7 +311,8 @@ pipeline {
          }
          when {
            anyOf {
-              branch 'master'
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
              branch 'pr-jenkins' // for testing
            }
          }
@@ -350,7 +355,8 @@ pipeline {
          }
          when {
            anyOf {
-              branch 'master'
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
              branch 'pr-jenkins' // for testing
            }
          }
@@ -373,7 +379,8 @@ pipeline {
          }
          when {
            anyOf {
-              branch 'master'
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
              branch 'pr-jenkins' // for testing
            }
          }
@@ -6,38 +6,38 @@

 [![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.
+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/main/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 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)):
-  * [Multicopters](https://docs.px4.io/master/en/frames_multicopter/)
-  * [Fixed wing](https://docs.px4.io/master/en/frames_plane/)
-  * [VTOL](https://docs.px4.io/master/en/frames_vtol/)
-  * [Autogyro](https://docs.px4.io/master/en/frames_autogyro/)
-  * [Rover](https://docs.px4.io/master/en/frames_rover/)
+* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/main/LICENSE))
+* [Supported airframes](https://docs.px4.io/main/en/airframes/airframe_reference.html) ([portfolio](https://px4.io/ecosystem/commercial-systems/)):
+  * [Multicopters](https://docs.px4.io/main/en/frames_multicopter/)
+  * [Fixed wing](https://docs.px4.io/main/en/frames_plane/)
+  * [VTOL](https://docs.px4.io/main/en/frames_vtol/)
+  * [Autogyro](https://docs.px4.io/main/en/frames_autogyro/)
+  * [Rover](https://docs.px4.io/main/en/frames_rover/)
  * many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
 * Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)


 ## Building a PX4 based drone, rover, boat or robot

-The [PX4 User Guide](https://docs.px4.io/master/en/) explains how to assemble [supported vehicles](https://docs.px4.io/master/en/airframes/airframe_reference.html) and fly drones with PX4.
-See the [forum and chat](https://docs.px4.io/master/en/#support) if you need help!
+The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4.
+See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!


 ## Changing code and contributing

-This [Developer Guide](https://docs.px4.io/master/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
+This [Developer Guide](https://docs.px4.io/main/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.

-Developers should read the [Guide for Contributions](https://docs.px4.io/master/en/contribute/).
-See the [forum and chat](https://dev.px4.io/master/en/#support) if you need help!
+Developers should read the [Guide for Contributions](https://docs.px4.io/main/en/contribute/).
+See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!


 ### Weekly Dev Call

-The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/contribute/#dev_call).
+The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/contribute/).

 > **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. It includes a QA session for newcomers. All regular calls are listed in the [Dronecode calendar](https://www.dronecode.org/calendar/).

@@ -88,35 +88,43 @@ This repository contains code supporting Pixhawk standard boards (best supported
  * FMUv6X and FMUv6U (STM32H7, 2021)
    * Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
  * FMUv5 and FMUv5X (STM32F7, 2019/20)
-    * [Pixhawk 4 (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
-    * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
-    * [CUAV V5+ (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
-    * [CUAV V5 nano (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
-    * [Auterion Skynode (FMUv5X)](https://docs.px4.io/master/en/flight_controller/auterion_skynode.html)
+    * [Pixhawk 4 (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4.html)
+    * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4_mini.html)
+    * [CUAV V5+ (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_plus.html)
+    * [CUAV V5 nano (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_nano.html)
+    * [Auterion Skynode (FMUv5X)](https://docs.auterion.com/skynode)
  * FMUv4 (STM32F4, 2015)
-    * [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
-    * [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
+    * [Pixracer](https://docs.px4.io/main/en/flight_controller/pixracer.html)
+    * [Pixhawk 3 Pro](https://docs.px4.io/main/en/flight_controller/pixhawk3_pro.html)
  * FMUv3 (STM32F4, 2014)
-    * [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
-    * [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
-    * [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
+    * [Pixhawk 2](https://docs.px4.io/main/en/flight_controller/pixhawk-2.html)
+    * [Pixhawk Mini](https://docs.px4.io/main/en/flight_controller/pixhawk_mini.html)
+    * [CUAV Pixhack v3](https://docs.px4.io/main/en/flight_controller/pixhack_v3.html)
  * FMUv2 (STM32F4, 2013)
-    * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
-    * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
+    * [Pixhawk](https://docs.px4.io/main/en/flight_controller/pixhawk.html)
+    * [Pixfalcon](https://docs.px4.io/main/en/flight_controller/pixfalcon.html)

 ### Manufacturer and Community supported
-  * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
-  * [Hex Cube Orange](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_orange.html)
-  * [Hex Cube Yellow](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_yellow.html)
+  * [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html)
+  * [Hex Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
+  * [Hex Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
  * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
  * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
-  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/complete_vehicles/crazyflie2.html)
-  * [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
-  * [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
-  * [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)
+  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/main/en/complete_vehicles/crazyflie2.html)
+  * [Omnibus F4 SD](https://docs.px4.io/main/en/flight_controller/omnibus_f4_sd.html)
+  * [Holybro Kakute F7](https://docs.px4.io/main/en/flight_controller/kakutef7.html)
+  * [Raspberry PI with Navio 2](https://docs.px4.io/main/en/flight_controller/raspberry_pi_navio2.html)

-Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/master/en/flight_controller/).
+Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).

 ## Project Roadmap

 A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).
+
+## Project Governance
+
+The PX4 Autopilot project including all of its trademarks is hosted under [Dronecode](https://www.dronecode.org/), part of the Linux Foundation.
+
+<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://mavlink.io/assets/site/logo_dronecode.png" alt="Dronecode Logo" width="110px"/></a>
+<a href="https://www.linuxfoundation.org/projects" style="padding:20px;"><img src="https://mavlink.io/assets/site/logo_linux_foundation.png" alt="Linux Foundation Logo" width="80px" /></a>
+<div style="padding:10px">&nbsp;</div>
@@ -112,23 +112,17 @@ add_custom_command(
 		${PX4_SOURCE_DIR}/Tools/px4airframes/xmlout.py
 		${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
 	)
-set(romfs_extract_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_extract.stamp)
-add_custom_command(
-	OUTPUT ${romfs_extract_stamp}
-	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
-	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
-	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
-	WORKING_DIRECTORY ${romfs_gen_root_dir}
-	DEPENDS ${romfs_tar_file}
-	VERBATIM
-	)

+
+set(romfs_copy_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_copy.stamp)
 add_custom_command(
 	OUTPUT
 		${romfs_gen_root_dir}/init.d/rc.serial
 		${romfs_gen_root_dir}/init.d/rc.autostart
 		${romfs_gen_root_dir}/init.d/rc.autostart.post
-		romfs_copy.stamp
+		${romfs_copy_stamp}
+	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
+	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		--airframes-path ${romfs_gen_root_dir}/init.d
 		--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
@@ -137,9 +131,9 @@ add_custom_command(
 		--rc-dir ${romfs_gen_root_dir}/init.d
 		--serial-ports ${board_serial_ports} ${added_arguments}
 		--config-files ${module_config_files} #--verbose
-	COMMAND ${CMAKE_COMMAND} -E touch romfs_copy.stamp
-	DEPENDS
-		${romfs_extract_stamp}
+	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
+	WORKING_DIRECTORY ${romfs_gen_root_dir}
+	DEPENDS ${romfs_tar_file}
 	COMMENT "ROMFS: copying, generating airframes"
 	)

@@ -311,7 +305,7 @@ add_custom_command(OUTPUT romfs_extras.stamp

 add_custom_target(romfs_gen_files_target
 	DEPENDS
-		${romfs_extract_stamp}
+		${romfs_copy_stamp}
 		${romfs_gen_root_dir}/init.d/rc.serial
 		romfs_extras.stamp
 	)
@@ -10,16 +10,12 @@ param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8
-param set-default FW_THR_LND_MAX 0

 param set-default FW_L1_PERIOD 12

-param set-default FW_MAN_P_MAX 30
-
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.2
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15

 param set-default FW_RR_FF 0.1
@@ -29,7 +25,7 @@ param set-default FW_SPOILERS_LND 0.4

 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
-param set-default FW_THR_CRUISE 0.25
+param set-default FW_THR_TRIM 0.25

 param set-default FW_T_CLMB_MAX 8
 param set-default FW_T_SINK_MAX 2.7
@@ -7,12 +7,9 @@

 param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
-param set-default FW_THR_LND_MAX 0
-param set-default FW_LND_HHDIST 30
 param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5
-param set-default FW_LND_TLALT 15

 param set-default FW_L1_PERIOD 25

@@ -38,7 +35,6 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1

 param set-default RWTO_MAX_PITCH 20
-param set-default RWTO_MAX_ROLL 10

 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8
@@ -7,12 +7,9 @@

 param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
-param set-default FW_THR_LND_MAX 0
-param set-default FW_LND_HHDIST 30
 param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5
-param set-default FW_LND_TLALT 15

 param set-default FW_L1_PERIOD 25

@@ -38,7 +35,6 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1

 param set-default RWTO_MAX_PITCH 20
-param set-default RWTO_MAX_ROLL 10

 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8
@@ -10,7 +10,6 @@ param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8
-param set-default FW_THR_LND_MAX 0

 param set-default FW_L1_PERIOD 15

@@ -7,12 +7,9 @@

 param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
-param set-default FW_THR_LND_MAX 0
-param set-default FW_LND_HHDIST 30
 param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5
-param set-default FW_LND_TLALT 15

 param set-default FW_L1_PERIOD 25

@@ -37,7 +34,6 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1
 param set-default RWTO_MAX_PITCH 20
-param set-default RWTO_MAX_ROLL 10
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8

@@ -10,16 +10,12 @@ param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8
-param set-default FW_THR_LND_MAX 0

 param set-default FW_L1_PERIOD 12

-param set-default FW_MAN_P_MAX 30
-
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.2
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15

 param set-default FW_RR_FF 0.1
@@ -27,7 +23,7 @@ param set-default FW_RR_P 0.3

 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
-param set-default FW_THR_CRUISE 0.25
+param set-default FW_THR_TRIM 0.25

 param set-default FW_T_ALT_TC 2
 param set-default FW_T_CLMB_MAX 8
@@ -5,5 +5,5 @@

 . ${R}etc/init.d-posix/airframes/1030_plane

-param set-default FW_THR_CRUISE 0.0
+param set-default FW_THR_TRIM 0.0
 param set-default RWTO_TKOFF 0
@@ -49,15 +49,13 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203

 param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3
-param set-default FW_THR_CRUISE 0.25
+param set-default FW_THR_TRIM 0.25
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_T_CLMB_MAX 8
@@ -44,14 +44,12 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_REV 96 # invert both elevons

 param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_I 0.2
 param set-default FW_PR_P 0.2
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_P 0.2
-param set-default FW_THR_CRUISE 0.33
+param set-default FW_THR_TRIM 0.33
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_T_ALT_TC 2
@@ -54,15 +54,13 @@ param set-default PWM_MAIN_FUNC10 202
 param set-default PWM_MAIN_FUNC11 203

 param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3
-param set-default FW_THR_CRUISE 0.38
+param set-default FW_THR_TRIM 0.38
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_T_CLMB_MAX 8
@@ -8,15 +8,13 @@
 . ${R}etc/init.d/rc.vtol_defaults

 param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3
-param set-default FW_THR_CRUISE 0.25
+param set-default FW_THR_TRIM 0.25
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_T_ALT_TC 2
@@ -38,10 +38,9 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_R_LIM 30

-param set-default FW_MAN_P_MAX 30.0
 param set-default FW_MAN_R_MAX 30.0

-param set-default FW_THR_CRUISE 0.8
+param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0

@@ -0,0 +1,54 @@
+#!/bin/sh
+#
+# @name ThunderFly TF-G2
+# ThunderFly TF-G2 autogyro airframe. Only for FlightGear simulator
+#
+# @type Autogyro
+# @class Autogyro
+#
+# @url https://github.com/ThunderFly-aerospace/TF-G2/
+#
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default FW_AIRSPD_STALL 5
+
+param set-default FW_P_RMAX_NEG 20.0
+param set-default FW_W_RMAX 10
+param set-default FW_W_EN 1
+
+param set-default FW_RR_P 0.08
+
+param set-default MIS_LTRMIN_ALT 50
+param set-default MIS_TAKEOFF_ALT 7
+
+param set-default NAV_ACC_RAD 20
+param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 50
+
+param set-default RWTO_TKOFF 0
+# Parameters related to autogyro takeoff PR
+#param set-default AG_TKOFF 1
+#param set-default AG_PROT_TYPE 1
+#param set-default AG_PROT_MIN_RPM 50.0
+#param set-default AG_PROT_TRG_RPM 900.0
+#param set-defoult AG_ROTOR_RPM 900.0
+
+param set-default FW_ARSP_SCALE_EN 0
+
+param set-default FW_AIRSPD_MAX 35
+param set-default FW_AIRSPD_MIN 7
+
+param set-default FW_P_LIM_MAX 25
+param set-default FW_P_LIM_MIN -5
+param set-default FW_R_LIM 30
+
+param set-default FW_MAN_R_MAX 30.0
+
+param set-default FW_THR_CRUISE 0.8
+param set-default FW_THR_IDLE 0
+param set-default COM_DISARM_PRFLT 0
+
+set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
+set MIXER custom
@@ -0,0 +1,10 @@
+#!/bin/sh
+#
+# @name Ignition Gazebo X3
+#
+# @type Quadrotor
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER quad_w
@@ -0,0 +1,13 @@
+#!/bin/sh
+#
+# @name Ignition Gazebo X4
+#
+# @type Quadrotor
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default MC_PITCHRATE_P 0.1
+param set-default MC_ROLLRATE_P 0.05
+
+set MIXER hexa_x
@@ -77,8 +77,14 @@ px4_add_romfs_files(
 	1070_boat
 	3010_quadrotor_x
 	3011_hexarotor_x
+
+	4001_x3
+
 	17001_tf-g1
+	17002_tf-g2
 	2507_cloudship
+
+	6001_x4
 	6011_typhoon_h480
 	6011_typhoon_h480.post
 	6012_typhoon_h480_ctrlalloc
@@ -1,20 +1,33 @@
 #!/bin/sh
 # shellcheck disable=SC2154

-simulator_tcp_port=$((4560+px4_instance))

-# Check if PX4_SIM_HOSTNAME environment variable is empty
-# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
-# If both are empty use localhost for simulator
-if [ -z "${PX4_SIM_HOSTNAME}" ]; then
-  if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
-    echo "PX4 SIM HOST: localhost"
-    simulator start -c $simulator_tcp_port
-  else
-    echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
-    simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
-  fi
+if ignition_simulator start
+then
+
+	sensor_baro_sim start
+	sensor_gps_sim start
+	sensor_mag_sim start
+
 else
-  echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
-  simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
+	simulator_tcp_port=$((4560+px4_instance))
+
+	# Check if PX4_SIM_HOSTNAME environment variable is empty
+	# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
+	# If both are empty use localhost for simulator
+	if [ -z "${PX4_SIM_HOSTNAME}" ]; then
+
+		if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
+			echo "PX4 SIM HOST: localhost"
+			simulator start -c $simulator_tcp_port
+		else
+			echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
+			simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
+		fi
+
+	else
+		echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
+		simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
+	fi
+
 fi
@@ -1,6 +1,6 @@
 #!/bin/sh

-set -e
+#set -e

 # PX4 commands need the 'px4-' prefix in bash.
 # (px4-alias.sh is expected to be in the PATH)
@@ -212,6 +212,7 @@ elif ! replay tryapplyparams
 then
  . px4-rc.simulator
 fi
+
 load_mon start
 battery_simulator start
 tone_alarm start
@@ -29,9 +29,6 @@ param set-default FW_L1_DAMPING 0.74
 param set-default FW_L1_PERIOD 16
 param set-default FW_LND_ANG 15
 param set-default FW_LND_FLALT 5
-param set-default FW_LND_HVIRT 13
-param set-default FW_LND_TLALT 5
-param set-default FW_THR_LND_MAX 0
 param set-default FW_PR_FF 0.35
 param set-default FW_PR_P 0.2
 param set-default FW_RR_FF 0.6
@@ -45,7 +45,6 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_P_ACC 3
 param set-default MPC_Z_VEL_P_ACC 12
 param set-default MPC_Z_VEL_I_ACC 3
-param set-default MPC_Z_VEL_MAX_DN 1.5

 param set-default NAV_ACC_RAD 5
 param set-default NAV_DLL_ACT 2
@@ -1,22 +1,10 @@
 #!/bin/sh
 #
-# @name Generic Quadplane VTOL
+# @name Generic Standard VTOL
 #
 # @type Standard VTOL
 # @class VTOL
-#
-# @maintainer
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output AUX1 Aileron 1
-# @output AUX2 Aileron 2
-# @output AUX3 Elevator
-# @output AUX4 Rudder
-# @output AUX5 Throttle
-#
+
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 # @board holybro_kakutef7 exclude
@@ -24,21 +12,21 @@

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

+param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 2
 param set-default CA_ROTOR_COUNT 5
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
 param set-default CA_ROTOR4_AX 1.0
 param set-default CA_ROTOR4_AZ 0.0
-param set-default CA_ROTOR4_PX 0.2
 param set-default CA_SV_CS_COUNT 4
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS0_TRQ_R -0.5
@@ -48,16 +36,5 @@ param set-default CA_SV_CS2_TYPE 3
 param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
-
-param set-default PWM_AUX_DIS5 950
-
 param set-default VT_TYPE 2
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-
 param set-default MAV_TYPE 22
-
-set MIXER quad_x
-set MIXER_AUX vtol_AAERT
-
-set PWM_OUT 1234
@@ -43,7 +43,7 @@ param set-default MPC_YAWRAUTO_MAX 40
 param set-default FW_PR_I 0.02
 param set-default FW_RR_FF 0.6
 param set-default FW_RR_I 0.01
-param set-default FW_THR_CRUISE 0.75
+param set-default FW_THR_TRIM 0.75

 param set-default VT_ARSP_BLEND 6
 param set-default VT_ARSP_TRANS 12
@@ -14,7 +14,7 @@
 . ${R}etc/init.d/rc.vtol_defaults


-param set-default FW_THR_CRUISE 65
+param set-default FW_THR_TRIM 65
 param set-default FW_RR_FF 0.6

 param set-default MIS_YAW_TMT 10
@@ -31,7 +31,6 @@ param set-default MC_YAWRATE_I 0.04
 param set-default MC_YAWRATE_MAX 40

 param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_Z_VEL_MAX_DN 1.5
 param set-default MPC_LAND_SPEED 0.8
 param set-default MPC_YAWRAUTO_MAX 40

@@ -34,8 +34,6 @@ param set-default FW_ACRO_X_MAX   270
 param set-default FW_ACRO_Y_MAX   270
 param set-default FW_ACRO_Z_MAX   180
 param set-default FW_PSP_OFF  5
-param set-default FW_P_LIM_MAX    30
-param set-default FW_P_LIM_MIN    -30
 param set-default FW_RR_FF    0.33
 param set-default FW_RR_P 0.11

@@ -74,4 +72,4 @@ then
 	set PWM_OUT 1234
 else
 	set PWM_OUT 3456
-fi	
+fi
@@ -53,9 +53,8 @@ param set-default FW_T_CLMB_MAX 3
 param set-default FW_T_SINK_MAX 3
 param set-default FW_T_SINK_MIN 1
 param set-default FW_T_VERT_ACC 6
-param set-default FW_THR_CRUISE 0.70
+param set-default FW_THR_TRIM 0.70
 param set-default FW_THR_SLEW_MAX 1
-param set-default FW_MAN_P_MAX 30
 param set-default FW_P_LIM_MAX 15
 param set-default FW_P_LIM_MIN -25
 param set-default FW_P_RMAX_NEG 45
@@ -90,7 +89,6 @@ param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_LAND_SPEED 1.2
 param set-default MPC_TILTMAX_LND 35
 param set-default MPC_Z_VEL_MAX_UP 1.5
-param set-default MPC_Z_VEL_MAX_DN 1.5
 param set-default MPC_HOLD_MAX_XY 0.5
 param set-default MPC_HOLD_MAX_Z 0.5
 param set-default MPC_TKO_RAMP_T 0.8
@@ -31,7 +31,6 @@ param set-default FW_AIRSPD_MAX 30
 param set-default FW_AIRSPD_MIN 19
 param set-default FW_AIRSPD_TRIM 23
 param set-default FW_L1_R_SLEW_MAX 40
-param set-default FW_MAN_P_MAX 30
 param set-default FW_PSP_OFF 3
 param set-default FW_P_LIM_MAX 18
 param set-default FW_P_LIM_MIN -25
@@ -39,7 +38,7 @@ param set-default FW_RLL_TO_YAW_FF 0.1
 param set-default FW_RR_P 0.08
 param set-default FW_R_LIM 45
 param set-default FW_R_RMAX 50
-param set-default FW_THR_CRUISE 0.65
+param set-default FW_THR_TRIM 0.65
 param set-default FW_THR_MIN 0.3
 param set-default FW_THR_SLEW_MAX 0.6
 param set-default FW_T_HRATE_FF 0
@@ -62,7 +61,7 @@ param set-default MPC_JERK_AUTO 4
 param set-default MPC_LAND_SPEED 1
 param set-default MPC_MAN_TILT_MAX 25
 param set-default MPC_MAN_Y_MAX 40
-param set-default MPC_SPOOLUP_TIME 1.5
+param set-default COM_SPOOLUP_TIME 1.5
 param set-default MPC_THR_HOVER 0.45
 param set-default MPC_TILTMAX_AIR 25
 param set-default MPC_TKO_RAMP_T 1.8
@@ -71,7 +70,6 @@ param set-default MPC_VEL_MANUAL 3
 param set-default MPC_XY_CRUISE 3
 param set-default MPC_XY_VEL_MAX 3.5
 param set-default MPC_YAWRAUTO_MAX 40
-param set-default MPC_Z_VEL_MAX_DN 1.5
 param set-default MPC_Z_VEL_MAX_UP 2

 param set-default NAV_ACC_RAD 3
@@ -0,0 +1,44 @@
+#!/bin/sh
+#
+# @name Generic Tiltrotor VTOL
+#
+# @type VTOL Tiltrotor
+# @class VTOL
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set-default SYS_CTRL_ALLOC 1
+
+param set-default CA_AIRFRAME 3
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR0_TILT 2
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR2_TILT 1
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05
+param set-default CA_SV_CS_COUNT 4
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS2_TYPE 7
+param set-default CA_SV_CS2_TRQ_P 0.5
+param set-default CA_SV_CS2_TRQ_Y 0.5
+param set-default CA_SV_CS3_TYPE 8
+param set-default CA_SV_CS3_TRQ_P 0.5
+param set-default CA_SV_CS3_TRQ_Y -0.5
+param set-default CA_SV_TL_COUNT 2
+
+param set-default MAV_TYPE 21
+param set-default VT_TYPE 1
@@ -1,17 +1,10 @@
 #!/bin/sh
 #
-# @name Generic Tailsitter
+# @name Generic VTOL Tailsitter
 #
-# @type VTOL Duo Tailsitter
+# @type VTOL Tailsitter
 # @class VTOL
 #
-# @output MAIN1 motor right
-# @output MAIN2 motor left
-# @output MAIN5 elevon right
-# @output MAIN6 elevon left
-#
-# @maintainer Roman Bapst <roman@px4.io>
-#
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 # @board holybro_kakutef7 exclude
@@ -19,18 +12,13 @@

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

-param set-default MAV_TYPE 19
-
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_MOT_COUNT 2
-param set-default VT_TYPE 0
-
+param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 4
 param set-default CA_ROTOR_COUNT 2
 param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR0_PY 0.2
-param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR1_PY -0.2
+param set-default CA_ROTOR0_PY -0.2
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR1_PY 0.2
 param set-default CA_SV_CS_COUNT 2
 param set-default CA_SV_CS0_TRQ_P 0.5
 param set-default CA_SV_CS0_TRQ_Y 0.5
@@ -39,6 +27,6 @@ param set-default CA_SV_CS1_TRQ_P 0.5
 param set-default CA_SV_CS1_TRQ_Y -0.5
 param set-default CA_SV_CS1_TYPE 6

-set MIXER vtol_tailsitter_duo
-
-set PWM_OUT 1234
+param set-default MAV_TYPE 19
+param set-default VT_TYPE 0
+param set-default VT_ELEV_MC_LOCK 0
@@ -37,7 +37,7 @@ param set-default SENS_BOARD_ROT 8
 param set-default FW_AIRSPD_MAX 20
 param set-default FW_AIRSPD_MIN 7
 param set-default FW_AIRSPD_TRIM 13
-param set-default FW_THR_CRUISE 0.8
+param set-default FW_THR_TRIM 0.8

 param set-default FW_MAN_P_MAX 25
 param set-default FW_MAN_R_MAX 25
@@ -32,7 +32,7 @@ param set-default SENS_BOARD_ROT 4
 param set-default FW_AIRSPD_MAX 20
 param set-default FW_AIRSPD_MIN 7
 param set-default FW_AIRSPD_TRIM 13
-param set-default FW_THR_CRUISE 0.8
+param set-default FW_THR_TRIM 0.8

 param set-default FW_MAN_P_MAX 25
 param set-default FW_MAN_R_MAX 25
@@ -1,28 +1,16 @@
 #!/bin/sh
 #
-# @name Standard Plane
+# @name Generic Standard Plane
 #
 # @type Standard Plane
 # @class Plane
 #
-# @output MAIN1 aileron
-# @output MAIN2 elevator
-# @output MAIN3 throttle
-# @output MAIN4 rudder
-# @output MAIN5 flaps
-# @output MAIN6 gear
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
 # @board bitcraze_crazyflie exclude
 #

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

+param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
@@ -34,11 +22,3 @@ param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default CA_SV_CS2_TYPE 3
 param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
-
-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_RATE 50
-
-set MIXER AETRFG
-
-# Rate must be set by group (see pwm info).
-# Throttle is in the same group as servos.
@@ -5,19 +5,20 @@
 # @type Flying Wing
 # @class Plane
 #
-# @output MAIN1 left aileron
-# @output MAIN2 right aileron
-# @output MAIN4 throttle
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer
-#
 # @board bitcraze_crazyflie exclude
 #

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

-set MIXER fw_generic_wing
+param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_SV_CS_COUNT 2
+param set-default CA_SV_CS0_TYPE 5
+param set-default CA_SV_CS0_TRQ_P 0.5
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 6
+param set-default CA_SV_CS1_TRQ_P 0.5
+param set-default CA_SV_CS1_TRQ_R 0.5
@@ -2,7 +2,7 @@
 #
 # @name Phantom FPV Flying Wing
 #
-# @url https://docs.px4.io/master/en/frames_plane/wing_wing_z84.html
+# @url https://docs.px4.io/main/en/frames_plane/wing_wing_z84.html
 #
 # @type Flying Wing
 # @class Plane
@@ -30,9 +30,6 @@ param set-default FW_L1_DAMPING 0.74
 param set-default FW_L1_PERIOD 16
 param set-default FW_LND_ANG 15
 param set-default FW_LND_FLALT 5
-param set-default FW_LND_HVIRT 13
-param set-default FW_LND_TLALT 5
-param set-default FW_THR_LND_MAX 0
 param set-default FW_PR_FF 0.35
 param set-default FW_RR_FF 0.6
 param set-default FW_RR_P 0.04
@@ -2,7 +2,7 @@
 #
 # @name Wing Wing (aka Z-84) Flying Wing
 #
-# @url https://docs.px4.io/master/en/frames_plane/wing_wing_z84.html
+# @url https://docs.px4.io/main/en/frames_plane/wing_wing_z84.html
 #
 # @type Flying Wing
 # @class Plane
@@ -32,9 +32,6 @@ param set-default FW_L1_DAMPING 0.74
 param set-default FW_L1_PERIOD 16
 param set-default FW_LND_ANG 15
 param set-default FW_LND_FLALT 5
-param set-default FW_LND_HVIRT 13
-param set-default FW_LND_TLALT 5
-param set-default FW_THR_LND_MAX 0
 param set-default FW_PR_FF 0.35
 param set-default FW_RR_FF 0.6
 param set-default FW_RR_P 0.04
@@ -27,11 +27,7 @@ param set-default FW_AIRSPD_TRIM 16.5
 param set-default FW_L1_PERIOD 15
 param set-default FW_LND_ANG 15
 param set-default FW_LND_FLALT 8
-param set-default FW_LND_HVIRT 13
-param set-default FW_LND_TLALT 10
-param set-default FW_THR_LND_MAX 0
 param set-default FW_P_LIM_MAX 20
-param set-default FW_P_LIM_MIN -30
 param set-default FW_R_LIM 45
 param set-default FW_PR_FF 0.45
 param set-default FW_PR_P 0.005
@@ -40,7 +36,7 @@ param set-default FW_RR_P 0.013
 param set-default FW_P_RMAX_NEG 70
 param set-default FW_P_RMAX_POS 70
 param set-default FW_R_RMAX 70
-param set-default FW_THR_CRUISE 0.55
+param set-default FW_THR_TRIM 0.55

 param set-default LNDFW_AIRSPD_MAX 6
 param set-default LNDFW_XYACC_MAX 4
@@ -1,7 +1,7 @@
 #!/bin/sh
 #
 # @name Spedix S250AQ
-# @url https://docs.px4.io/master/en/frames_multicopter/spedix_s250_pixracer.html
+# @url https://docs.px4.io/main/en/frames_multicopter/spedix_s250_pixracer.html
 #
 # @type Quadrotor asymmetric
 # @class Copter
@@ -2,7 +2,7 @@
 #
 # @name HolyBro QAV250
 #
-# @url https://docs.px4.io/master/en/frames_multicopter/holybro_qav250_pixhawk4_mini.html
+# @url https://docs.px4.io/main/en/frames_multicopter/holybro_qav250_pixhawk4_mini.html
 #
 # @type Quadrotor x
 # @class Copter
@@ -124,6 +124,7 @@ px4_add_romfs_files(
 	13007_vtol_AAVVT_quad
 	13008_QuadRanger
 	13009_vtol_spt_ranger
+	13100_generic_vtol_tiltrotor
 	13012_convergence
 	13013_deltaquad
 	13014_vtol_babyshark
@@ -21,16 +21,20 @@ param set-default HTE_VXY_THR 2.0
 param set-default MIS_DIST_WPS 5000

 param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_TKO_SPEED 1
-param set-default MPC_VEL_MANUAL 3
-param set-default MPC_XY_CRUISE 3
+param set-default MPC_VEL_MANUAL 5
+param set-default MPC_XY_CRUISE 5
 param set-default MPC_XY_ERR_MAX 5
-param set-default MPC_XY_VEL_MAX 4
-param set-default MPC_Z_VEL_MAX_DN 1.5
+param set-default MPC_XY_VEL_MAX 8
 param set-default MPC_JERK_MAX 4.5
 param set-default MPC_YAW_MODE 4

-param set-default NAV_ACC_RAD 3
+# reduce aggressiveness around roll and yaw axis,
+# as VTOLs usually have high intertia and lot af drag due to wings
+param set-default MC_ROLL_P 5
+param set-default MC_ROLLRATE_MAX 120
+param set-default MC_YAW_P 2
+param set-default MC_YAWRATE_MAX 120
+param set-default MPC_MAN_Y_MAX 90

 param set-default PWM_AUX_RATE 50
 param set-default PWM_MAIN_RATE 400
@@ -206,6 +206,26 @@ else
 	fi
 	unset BOARD_RC_DEFAULTS

+	#
+	# Set parameters and env variables for selected SYS_AUTOSTART.
+	#
+	set AUTOSTART_PATH etc/init.d/rc.autostart
+	if ! param compare SYS_AUTOSTART 0
+	then
+		if param greater SYS_AUTOSTART 1000000
+		then
+			# Use external startup file
+			if [ $SDCARD_AVAILABLE = yes ]
+			then
+				set AUTOSTART_PATH etc/init.d/rc.autostart_ext
+			else
+				echo "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
+			fi
+		fi
+		. ${R}$AUTOSTART_PATH
+	fi
+	unset AUTOSTART_PATH
+
 	#
 	# Start the tone_alarm driver.
 	# Needs to be started after the parameters are loaded (for CBRK_BUZZER).
@@ -243,26 +263,6 @@ else
 	rgbled start -X -q
 	rgbled_ncp5623c start -X -q

-	#
-	# Set parameters and env variables for selected AUTOSTART.
-	#
-	set AUTOSTART_PATH etc/init.d/rc.autostart
-	if ! param compare SYS_AUTOSTART 0
-	then
-		if param greater SYS_AUTOSTART 1000000
-		then
-			# Use external startup file
-			if [ $SDCARD_AVAILABLE = yes ]
-			then
-				set AUTOSTART_PATH etc/init.d/rc.autostart_ext
-			else
-				echo "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
-			fi
-		fi
-		. ${R}$AUTOSTART_PATH
-	fi
-	unset AUTOSTART_PATH
-
 	#
 	# Override parameters from user configuration file.
 	#
@@ -303,7 +303,7 @@ else
 	then
 		# Check for the mini using build with px4io fw file
 		# but not a px4IO
-		if ver hwtypecmp V540 V560
+		if ver hwtypecmp V5004000 V5006000
 		then
 			param set SYS_USE_IO 0
 		else
@@ -5,7 +5,7 @@ Tailsitter duo mixer
 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
 are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
-on the main PWM ouput port, two at 400Hz for the motors, and two at 50Hz for the
+on the main PWM output port, two at 400Hz for the motors, and two at 50Hz for the
 elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
 at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used.

@@ -4,7 +4,7 @@ Tailsitter duo mixer
 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
 are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
-on the main PWM ouput port, two at 400Hz for the motors, and two at 50Hz for the
+on the main PWM output port, two at 400Hz for the motors, and two at 50Hz for the
 elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
 at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used.

@@ -17,6 +17,7 @@ exec find boards msg src platforms test \
    -path src/lib/crypto/monocypher -prune -o \
    -path src/lib/events/libevents -prune -o \
    -path src/lib/parameters/uthash -prune -o \
+    -path src/lib/wind_estimator/python/generated -prune -o \
    -path src/modules/ekf2/EKF -prune -o \
    -path src/modules/gyro_fft/CMSIS_5 -prune -o \
    -path src/modules/mavlink/mavlink -prune -o \
@@ -3019,7 +3019,7 @@ class MAVLink(object):
                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
                press_abs                 : Absolute pressure (hectopascal) (float)
                press_diff                : Differential pressure 1 (hectopascal) (float)
-                temperature               : Temperature measurement (0.01 degrees celsius) (int16_t)
+                temperature               : Temperature measurement (0.01 degrees Celsius) (int16_t)

                '''
                msg = MAVLink_scaled_pressure_message(time_boot_ms, press_abs, press_diff, temperature)
@@ -3035,7 +3035,7 @@ class MAVLink(object):
                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
                press_abs                 : Absolute pressure (hectopascal) (float)
                press_diff                : Differential pressure 1 (hectopascal) (float)
-                temperature               : Temperature measurement (0.01 degrees celsius) (int16_t)
+                temperature               : Temperature measurement (0.01 degrees Celsius) (int16_t)

                '''
                return self.send(self.scaled_pressure_encode(time_boot_ms, press_abs, press_diff, temperature))
@@ -4879,7 +4879,7 @@ class MAVLink(object):
                abs_pressure              : Absolute pressure in millibar (float)
                diff_pressure             : Differential pressure in millibar (float)
                pressure_alt              : Altitude calculated from pressure (float)
-                temperature               : Temperature in degrees celsius (float)
+                temperature               : Temperature in degrees Celsius (float)
                fields_updated            : Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature (uint16_t)

                '''
@@ -4904,7 +4904,7 @@ class MAVLink(object):
                abs_pressure              : Absolute pressure in millibar (float)
                diff_pressure             : Differential pressure in millibar (float)
                pressure_alt              : Altitude calculated from pressure (float)
-                temperature               : Temperature in degrees celsius (float)
+                temperature               : Temperature in degrees Celsius (float)
                fields_updated            : Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature (uint16_t)

                '''
@@ -330,7 +330,7 @@ def get_mixers(yaml_config, output_functions, verbose):
        option = select_param + '==' + str(type_index)
        mixer_config = {
                'option': option,
-                'help-url': 'https://docs.px4.io/master/en/config/actuators.html',
+                'help-url': 'https://docs.px4.io/main/en/config/actuators.html',
            }
        for optional in ['type', 'title']:
            if optional in current_type:
@@ -8,7 +8,7 @@ class MarkdownTablesOutput():
        result = """# Airframes Reference

 :::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 list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/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.
@@ -14,12 +14,14 @@ class MarkdownOutput():

        result = """
 # Modules & Commands Reference
-The following pages document the PX4 modules, drivers and commands. They
-describe the provided functionality, high-level implementation overview and how
+
+The following pages document the PX4 modules, drivers and commands.
+They describe the provided functionality, high-level implementation overview and how
 to use the command-line interface.

-> **Note** **This is auto-generated from the source code** and contains the
-> most recent modules documentation.
+:::note
+**This is auto-generated from the source code** and contains the most recent modules documentation.
+:::

 It is not a complete list and NuttX provides some additional commands
 as well (such as `free`). Use `help` on the console to get a list of all
@@ -29,6 +31,7 @@ Since this is generated from source, errors must be reported/fixed
 in the [PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) repository.
 The documentation pages can be generated by running the following command from
 the root of the PX4-Autopilot directory:
+
 ```
 make module_documentation
 ```
@@ -66,7 +69,7 @@ The generated files will be written to the `modules` directory.
        result = ''
        for module in module_list:
            result += "## %s\n" % module.name()
-            result += "Source: [%s](https://github.com/PX4/PX4-Autopilot/tree/master/src/%s)\n\n" % (module.scope(), module.scope())
+            result += "Source: [%s](https://github.com/PX4/PX4-Autopilot/tree/main/src/%s)\n\n" % (module.scope(), module.scope())
            doc = module.documentation()
            if len(doc) > 0:
                result += "%s\n" % doc
@@ -12,7 +12,7 @@ class ModuleDocumentation(object):
    """

    # If you add categories or subcategories, they also need to be added to the
-    # TOC in https://github.com/PX4/Devguide/blob/master/en/SUMMARY.md
+    # TOC in https://github.com/PX4/PX4-user_guide/blob/main/en/SUMMARY.md
    valid_categories = ['driver', 'estimator', 'controller', 'system',
                        'communication', 'command', 'template', 'simulation', 'autotune']
    valid_subcategories = ['', 'distance_sensor', 'imu', 'airspeed_sensor',
@@ -331,7 +331,7 @@ class uploader(object):

        except NotImplementedError:
            raise RuntimeError("Programing not supported for this version of silicon!\n"
-                               "See https://docs.px4.io/master/en/flight_controller/silicon_errata.html")
+                               "See https://docs.px4.io/main/en/flight_controller/silicon_errata.html")
        except RuntimeError:
            # timeout, no response yet
            return False
@@ -26,3 +26,5 @@ requests
 setuptools>=39.2.0
 six>=1.12.0
 toml>=0.9
+symforce>=0.5.0
+sympy>=1.10.1
@@ -104,7 +104,7 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
 echo
 echo "Installing PX4 Python3 dependencies"
 if [ -n "$VIRTUAL_ENV" ]; then
-	# virtual envrionments don't allow --user option
+	# virtual environments don't allow --user option
 	python -m pip install -r ${DIR}/requirements.txt
 else
 	# older versions of Ubuntu require --user option
@@ -1,23 +0,0 @@
-#!/bin/bash
-#
-# Setup environment to make PX4 visible to Gazebo.
-#
-# Note, this is not necessary if using a ROS catkin workspace with the px4
-# package as the paths are exported.
-#
-# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
-
-if [ "$#" != 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"
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>x3</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+
+  <author>
+    <name>Carlos Aguero</name>
+    <email>caguero@openrobotics.org</email>
+  </author>
+
+  <author>
+    <name>Cole Biesemeyer</name>
+    <email>cole@openrobotics.org</email>
+  </author>
+
+  <description>
+  </description>
+</model>
@@ -0,0 +1,374 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version="1.6">
+   <model name="X3">
+      <pose>0 0 0.053302 0 0 0</pose>
+      <link name="base_link">
+         <pose frame="">0 0 0 0 -0 0</pose>
+         <inertial>
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <mass>1.5</mass>
+            <inertia>
+               <ixx>0.0347563</ixx>
+               <ixy>0</ixy>
+               <ixz>0</ixz>
+               <iyy>0.07</iyy>
+               <iyz>0</iyz>
+               <izz>0.0977</izz>
+            </inertia>
+         </inertial>
+         <collision name="base_link_inertia_collision">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <box>
+                  <size>0.47 0.47 0.11</size>
+               </box>
+            </geometry>
+         </collision>
+         <visual name="base_link_inertia_visual">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <mesh>
+                  <scale>1 1 1</scale>
+                  <uri>meshes/x3.dae</uri>
+               </mesh>
+            </geometry>
+         </visual>
+         <sensor name="imu_sensor" type="imu">
+            <always_on>1</always_on>
+            <update_rate>250</update_rate>
+         </sensor>
+      </link>
+      <link name="rotor_0">
+         <pose frame="">0.13 -0.22 0.023 0 -0 0</pose>
+         <inertial>
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <mass>0.005</mass>
+            <inertia>
+               <ixx>9.75e-07</ixx>
+               <ixy>0</ixy>
+               <ixz>0</ixz>
+               <iyy>4.17041e-05</iyy>
+               <iyz>0</iyz>
+               <izz>4.26041e-05</izz>
+            </inertia>
+         </inertial>
+         <collision name="rotor_0_collision">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <cylinder>
+                  <length>0.005</length>
+                  <radius>0.1</radius>
+               </cylinder>
+            </geometry>
+            <surface>
+               <contact>
+                  <ode />
+               </contact>
+               <friction>
+                  <ode />
+               </friction>
+            </surface>
+         </collision>
+         <visual name="rotor_0_visual">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <mesh>
+                  <scale>0.1 0.1 0.1</scale>
+                  <uri>meshes/propeller_ccw.dae</uri>
+               </mesh>
+            </geometry>
+            <material>
+               <script>
+                  <name>Gazebo/Blue</name>
+                  <uri>file://media/materials/scripts/gazebo.material</uri>
+               </script>
+            </material>
+         </visual>
+         <gravity>1</gravity>
+         <velocity_decay />
+      </link>
+      <joint name="rotor_0_joint" type="revolute">
+         <child>rotor_0</child>
+         <parent>base_link</parent>
+         <axis>
+            <xyz>0 0 1</xyz>
+            <limit>
+               <lower>-1e+16</lower>
+               <upper>1e+16</upper>
+            </limit>
+            <dynamics>
+               <spring_reference>0</spring_reference>
+               <spring_stiffness>0</spring_stiffness>
+            </dynamics>
+            <use_parent_model_frame>1</use_parent_model_frame>
+         </axis>
+      </joint>
+      <link name="rotor_1">
+         <pose frame="">-0.13 0.2 0.023 0 -0 0</pose>
+         <inertial>
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <mass>0.005</mass>
+            <inertia>
+               <ixx>9.75e-07</ixx>
+               <ixy>0</ixy>
+               <ixz>0</ixz>
+               <iyy>4.17041e-05</iyy>
+               <iyz>0</iyz>
+               <izz>4.26041e-05</izz>
+            </inertia>
+         </inertial>
+         <collision name="rotor_1_collision">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <cylinder>
+                  <length>0.005</length>
+                  <radius>0.1</radius>
+               </cylinder>
+            </geometry>
+            <surface>
+               <contact>
+                  <ode />
+               </contact>
+               <friction>
+                  <ode />
+               </friction>
+            </surface>
+         </collision>
+         <visual name="rotor_1_visual">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <mesh>
+                  <scale>0.1 0.1 0.1</scale>
+                  <uri>meshes/propeller_ccw.dae</uri>
+               </mesh>
+            </geometry>
+            <material>
+               <script>
+                  <name>Gazebo/Red</name>
+                  <uri>file://media/materials/scripts/gazebo.material</uri>
+               </script>
+            </material>
+         </visual>
+         <gravity>1</gravity>
+         <velocity_decay />
+      </link>
+      <joint name="rotor_1_joint" type="revolute">
+         <child>rotor_1</child>
+         <parent>base_link</parent>
+         <axis>
+            <xyz>0 0 1</xyz>
+            <limit>
+               <lower>-1e+16</lower>
+               <upper>1e+16</upper>
+            </limit>
+            <dynamics>
+               <spring_reference>0</spring_reference>
+               <spring_stiffness>0</spring_stiffness>
+            </dynamics>
+            <use_parent_model_frame>1</use_parent_model_frame>
+         </axis>
+      </joint>
+      <link name="rotor_2">
+         <pose frame="">0.13 0.22 0.023 0 -0 0</pose>
+         <inertial>
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <mass>0.005</mass>
+            <inertia>
+               <ixx>9.75e-07</ixx>
+               <ixy>0</ixy>
+               <ixz>0</ixz>
+               <iyy>4.17041e-05</iyy>
+               <iyz>0</iyz>
+               <izz>4.26041e-05</izz>
+            </inertia>
+         </inertial>
+         <collision name="rotor_2_collision">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <cylinder>
+                  <length>0.005</length>
+                  <radius>0.1</radius>
+               </cylinder>
+            </geometry>
+            <surface>
+               <contact>
+                  <ode />
+               </contact>
+               <friction>
+                  <ode />
+               </friction>
+            </surface>
+         </collision>
+         <visual name="rotor_2_visual">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <mesh>
+                  <scale>0.1 0.1 0.1</scale>
+                  <uri>meshes/propeller_cw.dae</uri>
+               </mesh>
+            </geometry>
+            <material>
+               <script>
+                  <name>Gazebo/Blue</name>
+                  <uri>file://media/materials/scripts/gazebo.material</uri>
+               </script>
+            </material>
+         </visual>
+         <gravity>1</gravity>
+         <velocity_decay />
+      </link>
+      <joint name="rotor_2_joint" type="revolute">
+         <child>rotor_2</child>
+         <parent>base_link</parent>
+         <axis>
+            <xyz>0 0 1</xyz>
+            <limit>
+               <lower>-1e+16</lower>
+               <upper>1e+16</upper>
+            </limit>
+            <dynamics>
+               <spring_reference>0</spring_reference>
+               <spring_stiffness>0</spring_stiffness>
+            </dynamics>
+            <use_parent_model_frame>1</use_parent_model_frame>
+         </axis>
+      </joint>
+      <link name="rotor_3">
+         <pose frame="">-0.13 -0.2 0.023 0 -0 0</pose>
+         <inertial>
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <mass>0.005</mass>
+            <inertia>
+               <ixx>9.75e-07</ixx>
+               <ixy>0</ixy>
+               <ixz>0</ixz>
+               <iyy>4.17041e-05</iyy>
+               <iyz>0</iyz>
+               <izz>4.26041e-05</izz>
+            </inertia>
+         </inertial>
+         <collision name="rotor_3_collision">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <cylinder>
+                  <length>0.005</length>
+                  <radius>0.1</radius>
+               </cylinder>
+            </geometry>
+            <surface>
+               <contact>
+                  <ode />
+               </contact>
+               <friction>
+                  <ode />
+               </friction>
+            </surface>
+         </collision>
+         <visual name="rotor_3_visual">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <mesh>
+                  <scale>0.1 0.1 0.1</scale>
+                  <uri>meshes/propeller_cw.dae</uri>
+               </mesh>
+            </geometry>
+            <material>
+               <script>
+                  <name>Gazebo/Red</name>
+                  <uri>file://media/materials/scripts/gazebo.material</uri>
+               </script>
+            </material>
+         </visual>
+         <gravity>1</gravity>
+         <velocity_decay />
+      </link>
+      <joint name="rotor_3_joint" type="revolute">
+         <child>rotor_3</child>
+         <parent>base_link</parent>
+         <axis>
+            <xyz>0 0 1</xyz>
+            <limit>
+               <lower>-1e+16</lower>
+               <upper>1e+16</upper>
+            </limit>
+            <dynamics>
+               <spring_reference>0</spring_reference>
+               <spring_stiffness>0</spring_stiffness>
+            </dynamics>
+            <use_parent_model_frame>1</use_parent_model_frame>
+         </axis>
+      </joint>
+      <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+         <robotNamespace>X3</robotNamespace>
+         <jointName>rotor_0_joint</jointName>
+         <linkName>rotor_0</linkName>
+         <turningDirection>ccw</turningDirection>
+         <timeConstantUp>0.0125</timeConstantUp>
+         <timeConstantDown>0.025</timeConstantDown>
+         <maxRotVelocity>800.0</maxRotVelocity>
+         <motorConstant>8.54858e-06</motorConstant>
+         <momentConstant>0.016</momentConstant>
+         <commandSubTopic>command/motor_speed</commandSubTopic>
+         <motorNumber>0</motorNumber>
+         <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+         <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+         <motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
+         <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+         <motorType>velocity</motorType>
+      </plugin>
+      <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+         <robotNamespace>X3</robotNamespace>
+         <jointName>rotor_1_joint</jointName>
+         <linkName>rotor_1</linkName>
+         <turningDirection>ccw</turningDirection>
+         <timeConstantUp>0.0125</timeConstantUp>
+         <timeConstantDown>0.025</timeConstantDown>
+         <maxRotVelocity>800.0</maxRotVelocity>
+         <motorConstant>8.54858e-06</motorConstant>
+         <momentConstant>0.016</momentConstant>
+         <commandSubTopic>command/motor_speed</commandSubTopic>
+         <motorNumber>1</motorNumber>
+         <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+         <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+         <motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
+         <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+         <motorType>velocity</motorType>
+      </plugin>
+      <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+         <robotNamespace>X3</robotNamespace>
+         <jointName>rotor_2_joint</jointName>
+         <linkName>rotor_2</linkName>
+         <turningDirection>cw</turningDirection>
+         <timeConstantUp>0.0125</timeConstantUp>
+         <timeConstantDown>0.025</timeConstantDown>
+         <maxRotVelocity>800.0</maxRotVelocity>
+         <motorConstant>8.54858e-06</motorConstant>
+         <momentConstant>0.016</momentConstant>
+         <commandSubTopic>command/motor_speed</commandSubTopic>
+         <motorNumber>2</motorNumber>
+         <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+         <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+         <motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
+         <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+         <motorType>velocity</motorType>
+      </plugin>
+      <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+         <robotNamespace>X3</robotNamespace>
+         <jointName>rotor_3_joint</jointName>
+         <linkName>rotor_3</linkName>
+         <turningDirection>cw</turningDirection>
+         <timeConstantUp>0.0125</timeConstantUp>
+         <timeConstantDown>0.025</timeConstantDown>
+         <maxRotVelocity>800.0</maxRotVelocity>
+         <motorConstant>8.54858e-06</motorConstant>
+         <momentConstant>0.016</momentConstant>
+         <commandSubTopic>command/motor_speed</commandSubTopic>
+         <motorNumber>3</motorNumber>
+         <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+         <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+         <motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
+         <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+         <motorType>velocity</motorType>
+      </plugin>
+   </model>
+</sdf>
@@ -0,0 +1,529 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-08-21T21:36:07Z</created><keywords></keywords><modified>2018-08-21T21:36:07Z</modified><revision></revision><subject></subject><title></title><unit meter="1.000000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
+  <library_images>
+    <image id="LEDIndicator_ncl1_2-image" name="LEDIndicator_ncl1_2"><init_from>../materials/textures/led.jpg</init_from></image>
+  </library_images>
+  <library_materials>
+    <material id="LEDIndicator_ncl1_1" name="LEDIndicator_ncl1_1">
+      <instance_effect url="#LEDIndicator_ncl1_1-fx"/>
+    </material>
+  </library_materials>
+  <library_effects>
+    <effect id="LEDIndicator_ncl1_1-fx" name="LEDIndicator_ncl1_1">
+      <profile_COMMON>
+        <technique sid="standard">
+          <phong>
+            <emission>
+              <color sid="emission">0.000000  0.000000 0.000000 1.000000</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.588235  0.588235 0.588235 1.000000</color>
+            </ambient>
+            <diffuse>
+              <texture texture="LEDIndicator_ncl1_2-image" texcoord="CHANNEL0">
+                <extra>
+                  <technique profile="MAYA">
+                    <wrapU sid="wrapU0">TRUE</wrapU>
+                    <wrapV sid="wrapV0">TRUE</wrapV>
+                    <blend_mode>ADD</blend_mode>
+                  </technique>
+                </extra>
+              </texture>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.000000  0.000000 0.000000 1.000000</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">2.000000</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0.000000  0.000000 0.000000 1.000000</color>
+            </reflective>
+            <reflectivity>
+              <float sid="reflectivity">1.000000</float>
+            </reflectivity>
+            <transparent opaque="RGB_ZERO">
+              <color sid="transparent">1.000000  1.000000 1.000000 1.000000</color>
+            </transparent>
+            <transparency>
+              <float sid="transparency">0.000000</float>
+            </transparency>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_geometries>
+    <geometry id="LEDIndicator-lib" name="LEDIndicatorMesh">
+      <mesh>
+        <source id="LEDIndicator-POSITION">
+          <float_array id="LEDIndicator-POSITION-array" count="147">
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+0.000000 0.209074 0.000445
+0.179977 0.104537 0.000445
+</float_array>
+          <technique_common>
+            <accessor source="#LEDIndicator-POSITION-array" count="49" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="LEDIndicator-Normal0">
+          <float_array id="LEDIndicator-Normal0-array" count="846">
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+                    <float_array id="shape0-lib-normals-array" count="180">-0.258207 0.0691885 0.963609 -0.258207 -0.069181 0.963609 -0.694739 0.18616 0.694753 -0.694739 0.186157 0.694754 -0.694754 -0.186144 0.694743 -0.694739 -0.18616 0.694753 -0.935114 0.250567 0.250555 -0.935115 0.250557 0.250563 -0.93511 -0.25057 0.250567 -0.935117 -0.250558 0.250555 -0.0691854 0.258206 0.963609 -0.189023 0.189018 0.963609 -0.186156 0.694749 0.694744 -0.186162 0.694744 0.694747 -0.50859 0.508578 0.694756 -0.508583 0.508597 0.694746 -0.250569 0.935111 0.250566 -0.250561 0.935115 0.250557 -0.684541 0.68456 0.250561 -0.684544 0.684555 0.250566 -0.189018 -0.189021 0.96361 -0.0691854 -0.258206 0.963609 -0.508583 -0.508591 0.694751 -0.508596 -0.508586 0.694745 -0.186155 -0.694745 0.694748 -0.186159 -0.694746 0.694746 -0.684558 -0.684545 0.250556 -0.684544 -0.684554 0.250571 -0.250566 -0.935114 0.250557 -0.250561 -0.935114 0.250562 0.0691854 -0.258206 0.963609 0.189023 -0.189018 0.963609 0.186156 -0.694749 0.694744 0.186162 -0.694744 0.694747 0.50859 -0.508578 0.694756 0.508583 -0.508597 0.694746 0.250569 -0.935111 0.250566 0.250561 -0.935115 0.250557 0.684541 -0.68456 0.250561 0.684544 -0.684555 0.250566 0.258207 -0.0691885 0.963609 0.258207 0.069181 0.963609 0.694739 -0.18616 0.694753 0.694739 -0.186157 0.694754 0.694754 0.186144 0.694743 0.694739 0.18616 0.694753 0.935114 -0.250567 0.250555 0.935115 -0.250557 0.250563 0.93511 0.25057 0.250567 0.935117 0.250558 0.250555 0.189018 0.189021 0.96361 0.0691854 0.258206 0.963609 0.508583 0.508591 0.694751 0.508596 0.508586 0.694745 0.186155 0.694745 0.694748 0.186159 0.694746 0.694746 0.684558 0.684545 0.250556 0.684544 0.684554 0.250571 0.250566 0.935114 0.250557 0.250561 0.935114 0.250562</float_array>
+                    <technique_common>
+                        <accessor count="60" source="#shape0-lib-normals-array" stride="3">
+                            <param name="X" type="float"/>
+                            <param name="Y" type="float"/>
+                            <param name="Z" type="float"/>
+                        </accessor>
+                    </technique_common>
+                </source>
+                <source id="shape0-lib-map" name="map">
+                    <float_array id="shape0-lib-map-array" count="360">0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</float_array>
+                    <technique_common>
+                        <accessor count="180" source="#shape0-lib-map-array" stride="2">
+                            <param name="U" type="float"/>
+                            <param name="V" type="float"/>
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="shape0-lib-vertices">
+                    <input semantic="POSITION" source="#shape0-lib-positions"/>
+                </vertices>
+                <triangles count="60">
+                    <input offset="0" semantic="VERTEX" source="#shape0-lib-vertices"/>
+                    <input offset="1" semantic="NORMAL" source="#shape0-lib-normals"/>
+                    <input offset="2" semantic="TEXCOORD" source="#shape0-lib-map"/>
+                    <p>38 0 0 12 0 1 0 0 2 38 1 3 0 1 4 1 1 5 2 2 6 0 2 7 12 2 8 12 3 9 15 3 10 2 3 11 3 4 12 1 4 13 0 4 14 0 5 15 2 5 16 3 5 17 4 6 18 2 6 19 15 6 20 15 7 21 18 7 22 4 7 23 5 8 24 3 8 25 2 8 26 2 9 27 4 9 28 5 9 29 38 10 30 10 10 31 11 10 32 38 11 33 11 11 34 12 11 35 14 12 36 11 12 37 10 12 38 10 13 39 13 13 40 14 13 41 15 14 42 12 14 43 11 14 44 11 15 45 14 15 46 15 15 47 17 16 48 14 16 49 13 16 50 13 17 51 16 17 52 17 17 53 18 18 54 15 18 55 14 18 56 14 19 57 17 19 58 18 19 59 38 20 60 1 20 61 19 20 62 38 21 63 19 21 64 23 21 65 20 22 66 19 22 67 1 22 68 1 23 69 3 23 70 20 23 71 21 24 72 23 24 73 19 24 74 19 25 75 20 25 76 21 25 77 22 26 78 20 26 79 3 26 80 3 27 81 5 27 82 22 27 83 27 28 84 21 28 85 20 28 86 20 29 87 22 29 88 27 29 89 38 30 90 23 30 91 24 30 92 38 31 93 24 31 94 25 31 95 26 32 96 24 32 97 23 32 98 23 33 99 21 33 100 26 33 101 32 34 102 25 34 103 24 34 104 24 35 105 26 35 106 32 35 107 28 36 108 26 36 109 21 36 110 21 37 111 27 37 112 28 37 113 34 38 114 32 38 115 26 38 116 26 39 117 28 39 118 34 39 119 38 40 120 25 40 121 31 40 122 38 41 123 31 41 124 39 41 125 33 42 126 31 42 127 25 42 128 25 43 129 32 43 130 33 43 131 41 44 132 39 44 133 31 44 134 31 45 135 33 45 136 41 45 137 35 46 138 33 46 139 32 46 140 32 47 141 34 47 142 35 47 143 43 48 144 41 48 145 33 48 146 33 49 147 35 49 148 43 49 149 38 50 150 39 50 151 40 50 152 38 51 153 40 51 154 10 51 155 42 52 156 40 52 157 39 52 158 39 53 159 41 53 160 42 53 161 13 54 162 10 54 163 40 54 164 40 55 165 42 55 166 13 55 167 44 56 168 42 56 169 41 56 170 41 57 171 43 57 172 44 57 173 16 58 174 13 58 175 42 58 176 42 59 177 44 59 178 16 59 179</p>
+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib"/>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>X4_GPS_RGBD</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+
+  <author>
+    <name>Luis Pinto</name>
+    <email>luis.pinto@mov.ai</email>
+  </author>
+
+
+  <description>
+    X4 UAV with sensor configuration #1: IMU, pressure sensor, magnetometer + GPS , RGBD
+  </description>
+</model>
@@ -0,0 +1,827 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version="1.6">
+   <model name="X4">
+      <pose>0 0 0.121078 0 0 0</pose>
+      <link name="base_link">
+         <pose frame="">0 0 0 0 -0 0</pose>
+         <inertial>
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <mass>3.42</mass>
+            <inertia>
+               <ixx>0.075</ixx>
+               <ixy>0</ixy>
+               <ixz>0</ixz>
+               <iyy>0.075</iyy>
+               <iyz>0</iyz>
+               <izz>0.148916</izz>
+            </inertia>
+         </inertial>
+         <collision name="base_link_inertia_collision">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <box>
+                  <size>0.3 0.3 0.25</size>
+               </box>
+            </geometry>
+         </collision>
+         <visual name="base_link_inertia_visual">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <mesh>
+                  <scale>1 1 1</scale>
+                  <uri>meshes/x4.dae</uri>
+               </mesh>
+            </geometry>
+         </visual>
+         <visual name="marker_visual_1">
+            <pose frame="">-0.1 0 0.077 0 -0.1 0</pose>
+            <geometry>
+               <mesh>
+                  <scale>1 1 1</scale>
+                  <uri>meshes/led.dae</uri>
+               </mesh>
+            </geometry>
+         </visual>
+         <visual name="marker_visual_2">
+            <pose frame="">-0.09 0.059 0.059 -0.785397 -0 0.2</pose>
+            <geometry>
+               <mesh>
+                  <scale>1 1 1</scale>
+                  <uri>meshes/led.dae</uri>
+               </mesh>
+            </geometry>
+         </visual>
+         <visual name="marker_visual_3">
+            <pose frame="">-0.09 -0.059 0.059 0.785397 -0 -0.2</pose>
+            <geometry>
+               <mesh>
+                  <scale>1 1 1</scale>
+                  <uri>meshes/led.dae</uri>
+               </mesh>
+            </geometry>
+         </visual>
+         <visual name="downward_flashlight_visual">
+            <pose frame="">-0.043704 0 0.102914 -0.2 0.000158 -1.57002</pose>
+            <geometry>
+               <mesh>
+                  <scale>0.01 0.01 0.01</scale>
+                  <uri>meshes/spotlight.dae</uri>
+               </mesh>
+            </geometry>
+         </visual>
+         <visual name="left_flashlight_visual">
+            <pose frame="">-0.071985 0.090826 0.066102 0.06 -4.8e-05 -1.27</pose>
+            <geometry>
+               <mesh>
+                  <scale>0.01 0.01 0.01</scale>
+                  <uri>meshes/spotlight.dae</uri>
+               </mesh>
+            </geometry>
+         </visual>
+         <visual name="right_flashlight_visual">
+            <pose frame="">-0.071985 -0.090826 0.066102 0.06 -4.8e-05 -1.87</pose>
+            <geometry>
+               <mesh>
+                  <scale>0.01 0.01 0.01</scale>
+                  <uri>meshes/spotlight.dae</uri>
+               </mesh>
+            </geometry>
+         </visual>
+         <light name="right_light_source" type="spot">
+            <pose frame="">-0.0 -0.11 0.07 3.131592653589795 -1.5107899999999999 2.841592653589791</pose>
+            <attenuation>
+               <range>15</range>
+               <linear>0</linear>
+               <constant>0.1</constant>
+               <quadratic>0.01</quadratic>
+            </attenuation>
+            <diffuse>0.8 0.8 0.5 1</diffuse>
+            <specular>0.8 0.8 0.5 1</specular>
+            <spot>
+               <inner_angle>1</inner_angle>
+               <outer_angle>1.1</outer_angle>
+               <falloff>1</falloff>
+            </spot>
+            <direction>0 0 -1</direction>
+            <cast_shadows>1</cast_shadows>
+         </light>
+         <light name="downward_flashlight_source" type="spot">
+            <pose frame="">0.03 0 0.09 -0.01 -1.3708026535897933 0</pose>
+            <attenuation>
+               <range>15</range>
+               <linear>0</linear>
+               <constant>0.1</constant>
+               <quadratic>0.01</quadratic>
+            </attenuation>
+            <diffuse>0.8 0.8 0.5 1</diffuse>
+            <specular>0.8 0.8 0.5 1</specular>
+            <spot>
+               <inner_angle>1</inner_angle>
+               <outer_angle>1.1</outer_angle>
+               <falloff>1</falloff>
+            </spot>
+            <direction>0 0 -1</direction>
+            <cast_shadows>1</cast_shadows>
+         </light>
+         <light name="left_flashlight_source" type="spot">
+            <pose frame="">-0.0 0.11 0.07 3.131592653589795 -1.5107899999999999 -2.841592653589791</pose>
+            <attenuation>
+               <range>15</range>
+               <linear>0</linear>
+               <constant>0.1</constant>
+               <quadratic>0.01</quadratic>
+            </attenuation>
+            <diffuse>0.8 0.8 0.5 1</diffuse>
+            <specular>0.8 0.8 0.5 1</specular>
+            <spot>
+               <inner_angle>1</inner_angle>
+               <outer_angle>1.1</outer_angle>
+               <falloff>1</falloff>
+            </spot>
+            <direction>0 0 -1</direction>
+            <cast_shadows>1</cast_shadows>
+         </light>
+         <sensor name="imu_sensor" type="imu">
+            <always_on>1</always_on>
+            <update_rate>250</update_rate>
+            <imu>
+               <angular_velocity>
+                  <x>
+                     <noise type="gaussian">
+                        <mean>0</mean>
+                        <stddev>0.009</stddev>
+                        <bias_mean>0.00075</bias_mean>
+                        <bias_stddev>0.005</bias_stddev>
+                        <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
+                        <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+                        <precision>0.00025</precision>
+                     </noise>
+                  </x>
+                  <y>
+                     <noise type="gaussian">
+                        <mean>0</mean>
+                        <stddev>0.009</stddev>
+                        <bias_mean>0.00075</bias_mean>
+                        <bias_stddev>0.005</bias_stddev>
+                        <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
+                        <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+                        <precision>0.00025</precision>
+                     </noise>
+                  </y>
+                  <z>
+                     <noise type="gaussian">
+                        <mean>0</mean>
+                        <stddev>0.009</stddev>
+                        <bias_mean>0.00075</bias_mean>
+                        <bias_stddev>0.005</bias_stddev>
+                        <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
+                        <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+                        <precision>0.00025</precision>
+                     </noise>
+                  </z>
+               </angular_velocity>
+               <linear_acceleration>
+                  <x>
+                     <noise type="gaussian">
+                        <mean>0</mean>
+                        <stddev>0.021</stddev>
+                        <bias_mean>0.05</bias_mean>
+                        <bias_stddev>0.0075</bias_stddev>
+                        <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                        <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+                        <precision>0.005</precision>
+                     </noise>
+                  </x>
+                  <y>
+                     <noise type="gaussian">
+                        <mean>0</mean>
+                        <stddev>0.021</stddev>
+                        <bias_mean>0.05</bias_mean>
+                        <bias_stddev>0.0075</bias_stddev>
+                        <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                        <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+                        <precision>0.005</precision>
+                     </noise>
+                  </y>
+                  <z>
+                     <noise type="gaussian">
+                        <mean>0</mean>
+                        <stddev>0.021</stddev>
+                        <bias_mean>0.05</bias_mean>
+                        <bias_stddev>0.0075</bias_stddev>
+                        <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                        <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+                        <precision>0.005</precision>
+                     </noise>
+                  </z>
+               </linear_acceleration>
+            </imu>
+         </sensor>
+
+         <visual name="camera_mount_base_visual">
+            <pose>0.05 0 -0.030 0 0.0 0</pose>
+            <geometry>
+               <box>
+                  <size>0.06 0.06 0.006</size>
+               </box>
+            </geometry>
+         </visual>
+         <visual name="camera_mount_arm_visual">
+            <pose>0.08 0 -0.040 0 0.0 0</pose>
+            <geometry>
+               <cylinder>
+                  <radius>0.005</radius>
+                  <length>0.08</length>
+               </cylinder>
+            </geometry>
+         </visual>
+         <visual name="camera_mount_arm2_visual">
+            <pose>0.08 0 -0.08 0 1.57 0</pose>
+            <geometry>
+               <cylinder>
+                  <radius>0.01</radius>
+                  <length>0.025</length>
+               </cylinder>
+            </geometry>
+         </visual>
+         <visual name="camera_visual">
+            <pose>0.1 0 -0.08 0 0 0</pose>
+            <geometry>
+               <box>
+                  <size>0.02 0.025 0.025</size>
+               </box>
+            </geometry>
+         </visual>
+         <sensor name="camera_front" type="rgbd_camera">
+            <pose>0.2 0 0 0 +.785 0</pose>
+            <always_on>1</always_on>
+            <update_rate>20</update_rate>
+            <camera name="camera_front">
+               <horizontal_fov>1.0472</horizontal_fov>
+               <lens>
+                  <intrinsics>
+                     <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+                     <fx>277.1</fx>
+                     <fy>277.1</fy>
+                     <!-- cx = ( width + 1 ) / 2 -->
+                     <cx>160.5</cx>
+                     <!-- cy = ( height + 1 ) / 2 -->
+                     <cy>120.5</cy>
+                     <s>0</s>
+                  </intrinsics>
+               </lens>
+               <distortion>
+                  <k1>0.0</k1>
+                  <k2>0.0</k2>
+                  <k3>0.0</k3>
+                  <p1>0.0</p1>
+                  <p2>0.0</p2>
+                  <center>0.5 0.5</center>
+               </distortion>
+               <image>
+                  <width>320</width>
+                  <height>240</height>
+                  <format>R8G8B8</format>
+               </image>
+               <clip>
+                  <near>0.01</near>
+                  <far>300</far>
+               </clip>
+               <depth_camera>
+                  <clip>
+                     <near>0.1</near>
+                     <far>10</far>
+                  </clip>
+               </depth_camera>
+               <noise>
+                  <type>gaussian</type>
+                  <mean>0</mean>
+                  <stddev>0.007</stddev>
+               </noise>
+            </camera>
+         </sensor>
+      </link>
+      <link name="rotor_0">
+         <pose frame="">0.247 0.1506 0.028 0.087267 0 0.523599</pose>
+         <inertial>
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <mass>0.005</mass>
+            <inertia>
+               <ixx>9.75e-07</ixx>
+               <ixy>0</ixy>
+               <ixz>0</ixz>
+               <iyy>8.13545e-05</iyy>
+               <iyz>0</iyz>
+               <izz>8.22545e-05</izz>
+            </inertia>
+         </inertial>
+         <collision name="rotor_0_collision">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <cylinder>
+                  <length>0.005</length>
+                  <radius>0.1397</radius>
+               </cylinder>
+            </geometry>
+            <surface>
+               <contact>
+                  <ode />
+               </contact>
+               <friction>
+                  <ode />
+               </friction>
+            </surface>
+         </collision>
+         <visual name="rotor_0_visual">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <mesh>
+                  <scale>1 1 1</scale>
+                  <uri>meshes/neo11_propeller_ccw.dae</uri>
+               </mesh>
+            </geometry>
+            <material>
+               <diffuse>1 0 0 1</diffuse>
+               <script>
+                  <name>Gazebo/Red</name>
+                  <uri>file:///media/materials/scripts/gazebo.material</uri>
+               </script>
+            </material>
+            <cast_shadows>0</cast_shadows>
+         </visual>
+         <gravity>1</gravity>
+         <velocity_decay />
+      </link>
+      <joint name="rotor_0_joint" type="revolute">
+         <child>rotor_0</child>
+         <parent>base_link</parent>
+         <axis>
+            <xyz>0.043578 -0.075479 0.996195</xyz>
+            <limit>
+               <lower>-1e+16</lower>
+               <upper>1e+16</upper>
+            </limit>
+            <dynamics>
+               <spring_reference>0</spring_reference>
+               <spring_stiffness>0</spring_stiffness>
+            </dynamics>
+            <use_parent_model_frame>1</use_parent_model_frame>
+         </axis>
+      </joint>
+      <link name="rotor_1">
+         <pose frame="">-0.00067 0.28929 0.028 0 -0.087267 0</pose>
+         <inertial>
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <mass>0.005</mass>
+            <inertia>
+               <ixx>9.75e-07</ixx>
+               <ixy>0</ixy>
+               <ixz>0</ixz>
+               <iyy>8.13545e-05</iyy>
+               <iyz>0</iyz>
+               <izz>8.22545e-05</izz>
+            </inertia>
+         </inertial>
+         <collision name="rotor_1_collision">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <cylinder>
+                  <length>0.005</length>
+                  <radius>0.1397</radius>
+               </cylinder>
+            </geometry>
+            <surface>
+               <contact>
+                  <ode />
+               </contact>
+               <friction>
+                  <ode />
+               </friction>
+            </surface>
+         </collision>
+         <visual name="rotor_1_visual">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <mesh>
+                  <scale>1 1 1</scale>
+                  <uri>meshes/neo11_propeller_cw.dae</uri>
+               </mesh>
+            </geometry>
+            <material>
+               <diffuse>0 0 1 1</diffuse>
+               <script>
+                  <name>Gazebo/Blue</name>
+                  <uri>file://media/materials/scripts/gazebo.material</uri>
+               </script>
+            </material>
+            <cast_shadows>0</cast_shadows>
+         </visual>
+         <gravity>1</gravity>
+         <velocity_decay />
+      </link>
+      <joint name="rotor_1_joint" type="revolute">
+         <child>rotor_1</child>
+         <parent>base_link</parent>
+         <axis>
+            <xyz>-0.087156 0 0.996195</xyz>
+            <limit>
+               <lower>-1e+16</lower>
+               <upper>1e+16</upper>
+            </limit>
+            <dynamics>
+               <spring_reference>0</spring_reference>
+               <spring_stiffness>0</spring_stiffness>
+            </dynamics>
+            <use_parent_model_frame>1</use_parent_model_frame>
+         </axis>
+      </joint>
+      <link name="rotor_2">
+         <pose frame="">-0.2501 0.1454 0.028 0.087267 -0 2.61799</pose>
+         <inertial>
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <mass>0.005</mass>
+            <inertia>
+               <ixx>9.75e-07</ixx>
+               <ixy>0</ixy>
+               <ixz>0</ixz>
+               <iyy>8.13545e-05</iyy>
+               <iyz>0</iyz>
+               <izz>8.22545e-05</izz>
+            </inertia>
+         </inertial>
+         <collision name="rotor_2_collision">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <cylinder>
+                  <length>0.005</length>
+                  <radius>0.1397</radius>
+               </cylinder>
+            </geometry>
+            <surface>
+               <contact>
+                  <ode />
+               </contact>
+               <friction>
+                  <ode />
+               </friction>
+            </surface>
+         </collision>
+         <visual name="rotor_2_visual">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <mesh>
+                  <scale>1 1 1</scale>
+                  <uri>meshes/neo11_propeller_ccw.dae</uri>
+               </mesh>
+            </geometry>
+            <material>
+               <diffuse>0 0 1 1</diffuse>
+               <script>
+                  <name>Gazebo/Blue</name>
+                  <uri>file://media/materials/scripts/gazebo.material</uri>
+               </script>
+            </material>
+            <cast_shadows>0</cast_shadows>
+         </visual>
+         <gravity>1</gravity>
+         <velocity_decay />
+      </link>
+      <joint name="rotor_2_joint" type="revolute">
+         <child>rotor_2</child>
+         <parent>base_link</parent>
+         <axis>
+            <xyz>0.043578 0.075479 0.996195</xyz>
+            <limit>
+               <lower>-1e+16</lower>
+               <upper>1e+16</upper>
+            </limit>
+            <dynamics>
+               <spring_reference>0</spring_reference>
+               <spring_stiffness>0</spring_stiffness>
+            </dynamics>
+            <use_parent_model_frame>1</use_parent_model_frame>
+         </axis>
+      </joint>
+      <link name="rotor_3">
+         <pose frame="">-0.2501 -0.1454 0.028 -0.087267 -0 -2.61799</pose>
+         <inertial>
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <mass>0.005</mass>
+            <inertia>
+               <ixx>9.75e-07</ixx>
+               <ixy>0</ixy>
+               <ixz>0</ixz>
+               <iyy>8.13545e-05</iyy>
+               <iyz>0</iyz>
+               <izz>8.22545e-05</izz>
+            </inertia>
+         </inertial>
+         <collision name="rotor_3_collision">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <cylinder>
+                  <length>0.005</length>
+                  <radius>0.1397</radius>
+               </cylinder>
+            </geometry>
+            <surface>
+               <contact>
+                  <ode />
+               </contact>
+               <friction>
+                  <ode />
+               </friction>
+            </surface>
+         </collision>
+         <visual name="rotor_3_visual">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <mesh>
+                  <scale>1 1 1</scale>
+                  <uri>meshes/neo11_propeller_cw.dae</uri>
+               </mesh>
+            </geometry>
+            <material>
+               <diffuse>0 0 1 1</diffuse>
+               <script>
+                  <name>Gazebo/Blue</name>
+                  <uri>file://media/materials/scripts/gazebo.material</uri>
+               </script>
+            </material>
+            <cast_shadows>0</cast_shadows>
+         </visual>
+         <gravity>1</gravity>
+         <velocity_decay />
+      </link>
+      <joint name="rotor_3_joint" type="revolute">
+         <child>rotor_3</child>
+         <parent>base_link</parent>
+         <axis>
+            <xyz>0.043578 -0.075479 0.996195</xyz>
+            <limit>
+               <lower>-1e+16</lower>
+               <upper>1e+16</upper>
+            </limit>
+            <dynamics>
+               <spring_reference>0</spring_reference>
+               <spring_stiffness>0</spring_stiffness>
+            </dynamics>
+            <use_parent_model_frame>1</use_parent_model_frame>
+         </axis>
+      </joint>
+      <link name="rotor_4">
+         <pose frame="">-0.00067 -0.28929 0.028 -0 0.087267 -3.14159</pose>
+         <inertial>
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <mass>0.005</mass>
+            <inertia>
+               <ixx>9.75e-07</ixx>
+               <ixy>0</ixy>
+               <ixz>0</ixz>
+               <iyy>8.13545e-05</iyy>
+               <iyz>0</iyz>
+               <izz>8.22545e-05</izz>
+            </inertia>
+         </inertial>
+         <collision name="rotor_4_collision">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <cylinder>
+                  <length>0.005</length>
+                  <radius>0.1397</radius>
+               </cylinder>
+            </geometry>
+            <surface>
+               <contact>
+                  <ode />
+               </contact>
+               <friction>
+                  <ode />
+               </friction>
+            </surface>
+         </collision>
+         <visual name="rotor_4_visual">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <mesh>
+                  <scale>1 1 1</scale>
+                  <uri>meshes/neo11_propeller_ccw.dae</uri>
+               </mesh>
+            </geometry>
+            <material>
+               <diffuse>0 0 1 1</diffuse>
+               <script>
+                  <name>Gazebo/Blue</name>
+                  <uri>file://media/materials/scripts/gazebo.material</uri>
+               </script>
+            </material>
+            <cast_shadows>0</cast_shadows>
+         </visual>
+         <gravity>1</gravity>
+         <velocity_decay />
+      </link>
+      <joint name="rotor_4_joint" type="revolute">
+         <child>rotor_4</child>
+         <parent>base_link</parent>
+         <axis>
+            <xyz>-0.087156 -0 0.996195</xyz>
+            <limit>
+               <lower>-1e+16</lower>
+               <upper>1e+16</upper>
+            </limit>
+            <dynamics>
+               <spring_reference>0</spring_reference>
+               <spring_stiffness>0</spring_stiffness>
+            </dynamics>
+            <use_parent_model_frame>1</use_parent_model_frame>
+         </axis>
+      </joint>
+      <link name="rotor_5">
+         <pose frame="">0.247 -0.1506 0.028 -0.087267 0 -0.523599</pose>
+         <inertial>
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <mass>0.005</mass>
+            <inertia>
+               <ixx>9.75e-07</ixx>
+               <ixy>0</ixy>
+               <ixz>0</ixz>
+               <iyy>8.13545e-05</iyy>
+               <iyz>0</iyz>
+               <izz>8.22545e-05</izz>
+            </inertia>
+         </inertial>
+         <collision name="rotor_5_collision">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <cylinder>
+                  <length>0.005</length>
+                  <radius>0.1397</radius>
+               </cylinder>
+            </geometry>
+            <surface>
+               <contact>
+                  <ode />
+               </contact>
+               <friction>
+                  <ode />
+               </friction>
+            </surface>
+         </collision>
+         <visual name="rotor_5_visual">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <mesh>
+                  <scale>1 1 1</scale>
+                  <uri>meshes/neo11_propeller_cw.dae</uri>
+               </mesh>
+            </geometry>
+            <material>
+               <diffuse>1 0 0 1</diffuse>
+               <script>
+                  <name>Gazebo/Red</name>
+                  <uri>file://media/materials/scripts/gazebo.material</uri>
+               </script>
+            </material>
+            <cast_shadows>0</cast_shadows>
+         </visual>
+         <gravity>1</gravity>
+         <velocity_decay />
+      </link>
+      <joint name="rotor_5_joint" type="revolute">
+         <child>rotor_5</child>
+         <parent>base_link</parent>
+         <axis>
+            <xyz>0.043578 0.075479 0.996195</xyz>
+            <limit>
+               <lower>-1e+16</lower>
+               <upper>1e+16</upper>
+            </limit>
+            <dynamics>
+               <spring_reference>0</spring_reference>
+               <spring_stiffness>0</spring_stiffness>
+            </dynamics>
+            <use_parent_model_frame>1</use_parent_model_frame>
+         </axis>
+      </joint>
+      <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+         <robotNamespace>X4</robotNamespace>
+         <jointName>rotor_0_joint</jointName>
+         <linkName>rotor_0</linkName>
+         <turningDirection>cw</turningDirection>
+         <timeConstantUp>0.0182</timeConstantUp>
+         <timeConstantDown>0.0182</timeConstantDown>
+         <maxRotVelocity>1000.0</maxRotVelocity>
+         <motorConstant>1.269e-05</motorConstant>
+         <momentConstant>0.016754</momentConstant>
+         <commandSubTopic>command/motor_speed</commandSubTopic>
+         <motorNumber>2</motorNumber>
+         <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
+         <rotorDragCoefficient>0</rotorDragCoefficient>
+         <rollingMomentCoefficient>0</rollingMomentCoefficient>
+         <motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
+         <rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
+         <motorType>velocity</motorType>
+      </plugin>
+      <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+         <robotNamespace>X4</robotNamespace>
+         <jointName>rotor_1_joint</jointName>
+         <linkName>rotor_1</linkName>
+         <turningDirection>ccw</turningDirection>
+         <timeConstantUp>0.0182</timeConstantUp>
+         <timeConstantDown>0.0182</timeConstantDown>
+         <maxRotVelocity>1000.0</maxRotVelocity>
+         <motorConstant>1.269e-05</motorConstant>
+         <momentConstant>0.016754</momentConstant>
+         <commandSubTopic>command/motor_speed</commandSubTopic>
+         <motorNumber>1</motorNumber>
+         <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
+         <rotorDragCoefficient>0</rotorDragCoefficient>
+         <rollingMomentCoefficient>0</rollingMomentCoefficient>
+         <motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
+         <rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
+         <motorType>velocity</motorType>
+      </plugin>
+      <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+         <robotNamespace>X4</robotNamespace>
+         <jointName>rotor_2_joint</jointName>
+         <linkName>rotor_2</linkName>
+         <turningDirection>cw</turningDirection>
+         <timeConstantUp>0.0182</timeConstantUp>
+         <timeConstantDown>0.0182</timeConstantDown>
+         <maxRotVelocity>1000.0</maxRotVelocity>
+         <motorConstant>1.269e-05</motorConstant>
+         <momentConstant>0.016754</momentConstant>
+         <commandSubTopic>command/motor_speed</commandSubTopic>
+         <motorNumber>5</motorNumber>
+         <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
+         <rotorDragCoefficient>0</rotorDragCoefficient>
+         <rollingMomentCoefficient>0</rollingMomentCoefficient>
+         <motorSpeedPubTopic>motor_speed/5</motorSpeedPubTopic>
+         <rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
+         <motorType>velocity</motorType>
+      </plugin>
+      <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+         <robotNamespace>X4</robotNamespace>
+         <jointName>rotor_3_joint</jointName>
+         <linkName>rotor_3</linkName>
+         <turningDirection>ccw</turningDirection>
+         <timeConstantUp>0.0182</timeConstantUp>
+         <timeConstantDown>0.0182</timeConstantDown>
+         <maxRotVelocity>1000.0</maxRotVelocity>
+         <motorConstant>1.269e-05</motorConstant>
+         <momentConstant>0.016754</momentConstant>
+         <commandSubTopic>command/motor_speed</commandSubTopic>
+         <motorNumber>3</motorNumber>
+         <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
+         <rotorDragCoefficient>0</rotorDragCoefficient>
+         <rollingMomentCoefficient>0</rollingMomentCoefficient>
+         <motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
+         <rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
+         <motorType>velocity</motorType>
+      </plugin>
+      <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+         <robotNamespace>X4</robotNamespace>
+         <jointName>rotor_4_joint</jointName>
+         <linkName>rotor_4</linkName>
+         <turningDirection>cw</turningDirection>
+         <timeConstantUp>0.0182</timeConstantUp>
+         <timeConstantDown>0.0182</timeConstantDown>
+         <maxRotVelocity>1000.0</maxRotVelocity>
+         <motorConstant>1.269e-05</motorConstant>
+         <momentConstant>0.016754</momentConstant>
+         <commandSubTopic>command/motor_speed</commandSubTopic>
+         <motorNumber>0</motorNumber>
+         <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
+         <rotorDragCoefficient>0</rotorDragCoefficient>
+         <rollingMomentCoefficient>0</rollingMomentCoefficient>
+         <motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
+         <rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
+         <motorType>velocity</motorType>
+      </plugin>
+      <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+         <robotNamespace>X4</robotNamespace>
+         <jointName>rotor_5_joint</jointName>
+         <linkName>rotor_5</linkName>
+         <turningDirection>ccw</turningDirection>
+         <timeConstantUp>0.0182</timeConstantUp>
+         <timeConstantDown>0.0182</timeConstantDown>
+         <maxRotVelocity>1000.0</maxRotVelocity>
+         <motorConstant>1.269e-05</motorConstant>
+         <momentConstant>0.016754</momentConstant>
+         <commandSubTopic>command/motor_speed</commandSubTopic>
+         <motorNumber>4</motorNumber>
+         <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
+         <rotorDragCoefficient>0</rotorDragCoefficient>
+         <rollingMomentCoefficient>0</rollingMomentCoefficient>
+         <motorSpeedPubTopic>motor_speed/4</motorSpeedPubTopic>
+         <rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
+         <motorType>velocity</motorType>
+      </plugin>
+
+      <plugin filename="ignition-gazebo-odometry-publisher-system" name="ignition::gazebo::systems::OdometryPublisher">
+         <dimensions>3</dimensions>
+         <odom_frame>X4/odom</odom_frame>
+         <robot_base_frame>X4/base_footprint</robot_base_frame>
+      </plugin>
+   </model>
+</sdf>
@@ -0,0 +1,114 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version="1.6">
+   <world name="quadcopter">
+      <physics name="4ms" type="ode">
+         <max_step_size>0.004</max_step_size>
+         <real_time_factor>1.0</real_time_factor>
+      </physics>
+      <plugin filename="libignition-gazebo-physics-system.so" name="ignition::gazebo::systems::Physics" />
+      <plugin filename="libignition-gazebo-scene-broadcaster-system.so" name="ignition::gazebo::systems::SceneBroadcaster" />
+      <plugin filename="libignition-gazebo-user-commands-system.so" name="ignition::gazebo::systems::UserCommands" />
+      <plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
+         <render_engine>ogre2</render_engine>
+      </plugin>
+      <plugin filename="libignition-gazebo-imu-system.so" name="ignition::gazebo::systems::Imu" />
+      <gui fullscreen="0">
+         <!-- 3D scene -->
+         <plugin filename="GzScene3D" name="3D View">
+            <ignition-gui>
+               <title>3D View</title>
+               <property type="bool" key="showTitleBar">false</property>
+               <property type="string" key="state">docked</property>
+            </ignition-gui>
+            <engine>ogre2</engine>
+            <scene>scene</scene>
+            <ambient_light>0.4 0.4 0.4</ambient_light>
+            <background_color>0.8 0.8 0.8</background_color>
+            <camera_pose>-6 0 6 0 0.5 0</camera_pose>
+         </plugin>
+         <!-- World control -->
+         <plugin filename="WorldControl" name="World control">
+            <ignition-gui>
+               <title>World control</title>
+               <property type="bool" key="showTitleBar">false</property>
+               <property type="bool" key="resizable">false</property>
+               <property type="double" key="height">72</property>
+               <property type="double" key="width">121</property>
+               <property type="double" key="z">1</property>
+               <property type="string" key="state">floating</property>
+               <anchors target="3D View">
+                  <line own="left" target="left" />
+                  <line own="bottom" target="bottom" />
+               </anchors>
+            </ignition-gui>
+            <play_pause>true</play_pause>
+            <step>true</step>
+            <start_paused>true</start_paused>
+            <service>/world/quadcopter/control</service>
+            <stats_topic>/world/quadcopter/stats</stats_topic>
+         </plugin>
+         <!-- World statistics -->
+         <plugin filename="WorldStats" name="World stats">
+            <ignition-gui>
+               <title>World stats</title>
+               <property type="bool" key="showTitleBar">false</property>
+               <property type="bool" key="resizable">false</property>
+               <property type="double" key="height">110</property>
+               <property type="double" key="width">290</property>
+               <property type="double" key="z">1</property>
+               <property type="string" key="state">floating</property>
+               <anchors target="3D View">
+                  <line own="right" target="right" />
+                  <line own="bottom" target="bottom" />
+               </anchors>
+            </ignition-gui>
+            <sim_time>true</sim_time>
+            <real_time>true</real_time>
+            <real_time_factor>true</real_time_factor>
+            <iterations>true</iterations>
+            <topic>/world/quadcopter/stats</topic>
+         </plugin>
+      </gui>
+      <light type="directional" name="sun">
+         <cast_shadows>true</cast_shadows>
+         <pose>0 0 10 0 0 0</pose>
+         <diffuse>0.8 0.8 0.8 1</diffuse>
+         <specular>0.2 0.2 0.2 1</specular>
+         <attenuation>
+            <range>1000</range>
+            <constant>0.9</constant>
+            <linear>0.01</linear>
+            <quadratic>0.001</quadratic>
+         </attenuation>
+         <direction>-0.5 0.1 -0.9</direction>
+      </light>
+      <model name="ground_plane">
+         <static>true</static>
+         <link name="link">
+            <collision name="collision">
+               <geometry>
+                  <plane>
+                     <normal>0 0 1</normal>
+                  </plane>
+               </geometry>
+            </collision>
+            <visual name="visual">
+               <geometry>
+                  <plane>
+                     <normal>0 0 1</normal>
+                     <size>100 100</size>
+                  </plane>
+               </geometry>
+               <material>
+                  <ambient>0.8 0.8 0.8 1</ambient>
+                  <diffuse>0.8 0.8 0.8 1</diffuse>
+                  <specular>0.8 0.8 0.8 1</specular>
+               </material>
+            </visual>
+         </link>
+      </model>
+      <include>
+         <uri>model://X3</uri>
+      </include>
+   </world>
+</sdf>
@@ -0,0 +1,114 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version="1.6">
+   <world name="quadcopter">
+      <physics name="4ms" type="ode">
+         <max_step_size>0.004</max_step_size>
+         <real_time_factor>1.0</real_time_factor>
+      </physics>
+      <plugin filename="libignition-gazebo-physics-system.so" name="ignition::gazebo::systems::Physics" />
+      <plugin filename="libignition-gazebo-scene-broadcaster-system.so" name="ignition::gazebo::systems::SceneBroadcaster" />
+      <plugin filename="libignition-gazebo-user-commands-system.so" name="ignition::gazebo::systems::UserCommands" />
+      <plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
+         <render_engine>ogre2</render_engine>
+      </plugin>
+      <plugin filename="libignition-gazebo-imu-system.so" name="ignition::gazebo::systems::Imu" />
+      <gui fullscreen="0">
+         <!-- 3D scene -->
+         <plugin filename="GzScene3D" name="3D View">
+            <ignition-gui>
+               <title>3D View</title>
+               <property type="bool" key="showTitleBar">false</property>
+               <property type="string" key="state">docked</property>
+            </ignition-gui>
+            <engine>ogre2</engine>
+            <scene>scene</scene>
+            <ambient_light>0.4 0.4 0.4</ambient_light>
+            <background_color>0.8 0.8 0.8</background_color>
+            <camera_pose>-6 0 6 0 0.5 0</camera_pose>
+         </plugin>
+         <!-- World control -->
+         <plugin filename="WorldControl" name="World control">
+            <ignition-gui>
+               <title>World control</title>
+               <property type="bool" key="showTitleBar">false</property>
+               <property type="bool" key="resizable">false</property>
+               <property type="double" key="height">72</property>
+               <property type="double" key="width">121</property>
+               <property type="double" key="z">1</property>
+               <property type="string" key="state">floating</property>
+               <anchors target="3D View">
+                  <line own="left" target="left" />
+                  <line own="bottom" target="bottom" />
+               </anchors>
+            </ignition-gui>
+            <play_pause>true</play_pause>
+            <step>true</step>
+            <start_paused>true</start_paused>
+            <service>/world/quadcopter/control</service>
+            <stats_topic>/world/quadcopter/stats</stats_topic>
+         </plugin>
+         <!-- World statistics -->
+         <plugin filename="WorldStats" name="World stats">
+            <ignition-gui>
+               <title>World stats</title>
+               <property type="bool" key="showTitleBar">false</property>
+               <property type="bool" key="resizable">false</property>
+               <property type="double" key="height">110</property>
+               <property type="double" key="width">290</property>
+               <property type="double" key="z">1</property>
+               <property type="string" key="state">floating</property>
+               <anchors target="3D View">
+                  <line own="right" target="right" />
+                  <line own="bottom" target="bottom" />
+               </anchors>
+            </ignition-gui>
+            <sim_time>true</sim_time>
+            <real_time>true</real_time>
+            <real_time_factor>true</real_time_factor>
+            <iterations>true</iterations>
+            <topic>/world/quadcopter/stats</topic>
+         </plugin>
+      </gui>
+      <light type="directional" name="sun">
+         <cast_shadows>true</cast_shadows>
+         <pose>0 0 10 0 0 0</pose>
+         <diffuse>0.8 0.8 0.8 1</diffuse>
+         <specular>0.2 0.2 0.2 1</specular>
+         <attenuation>
+            <range>1000</range>
+            <constant>0.9</constant>
+            <linear>0.01</linear>
+            <quadratic>0.001</quadratic>
+         </attenuation>
+         <direction>-0.5 0.1 -0.9</direction>
+      </light>
+      <model name="ground_plane">
+         <static>true</static>
+         <link name="link">
+            <collision name="collision">
+               <geometry>
+                  <plane>
+                     <normal>0 0 1</normal>
+                  </plane>
+               </geometry>
+            </collision>
+            <visual name="visual">
+               <geometry>
+                  <plane>
+                     <normal>0 0 1</normal>
+                     <size>100 100</size>
+                  </plane>
+               </geometry>
+               <material>
+                  <ambient>0.8 0.8 0.8 1</ambient>
+                  <diffuse>0.8 0.8 0.8 1</diffuse>
+                  <specular>0.8 0.8 0.8 1</specular>
+               </material>
+            </visual>
+         </link>
+      </model>
+      <include>
+         <uri>model://X4</uri>
+      </include>
+   </world>
+</sdf>
@@ -194,8 +194,12 @@ elif [ "$program" == "ignition" ] && [ -z "$no_sim" ]; then
 	else
 		ignition_headless=""
 	fi
-	source "$src_path/Tools/setup_ignition.bash" "${src_path}" "${build_path}"
-	ign gazebo --force-version 5 ${verbose} ${ignition_headless} -r "${src_path}/Tools/simulation-ignition/worlds/${model}.world"&
+
+	export IGN_GAZEBO_RESOURCE_PATH=$IGN_GAZEBO_RESOURCE_PATH:${src_path}/Tools/simulation/gazebo/models
+	#ign gazebo --force-version 5 ${verbose} ${ignition_headless} -r "${src_path}/Tools/simulation/gazebo/worlds/${model}.world"&
+
+	ign gazebo --distributed --network-role=primary --network-secondaries=1 -r "${src_path}/Tools/simulation/gazebo/worlds/${model}.sdf" &
+
 elif [ "$program" == "flightgear" ] && [ -z "$no_sim" ]; then
 	echo "FG setup"
 	cd "${src_path}/Tools/flightgear_bridge/"
@@ -231,9 +235,9 @@ pushd "$rootfs" >/dev/null
 set +e

 if [[ ${model} == test_* ]] || [[ ${model} == *_generated ]]; then
-	sitl_command="\"$sitl_bin\" $no_pxh \"$src_path\"/ROMFS/px4fmu_test -s \"${src_path}\"/posix-configs/SITL/init/test/${model} -t \"$src_path\"/test_data"
+	sitl_command="\"$sitl_bin\" $no_pxh \"$src_path\"/ROMFS/px4fmu_test -s \"${src_path}\"/posix-configs/SITL/init/test/${model}"
 else
-	sitl_command="\"$sitl_bin\" $no_pxh \"$build_path\"/etc -s etc/init.d-posix/rcS -t \"$src_path\"/test_data"
+	sitl_command="\"$sitl_bin\" $no_pxh \"$build_path\"/etc -s etc/init.d-posix/rcS"
 fi

 echo SITL COMMAND: $sitl_command
@@ -694,7 +694,7 @@ class OutputJSON(object):
            node['type'] = 'topic'
            node['color'] = topic_colors[topic]
            # url is opened when double-clicking on the node
-            node['url'] = 'https://github.com/PX4/PX4-Autopilot/blob/master/msg/'+topic_filename(topic)+'.msg'
+            node['url'] = 'https://github.com/PX4/PX4-Autopilot/blob/main/msg/'+topic_filename(topic)+'.msg'
            nodes.append(node)

        data['nodes'] = nodes
@@ -115,9 +115,7 @@
 #define GPIO_HW_REV_SENSE    /* PC3   */ ADC1_GPIO(13)
 #define GPIO_HW_VER_DRIVE    /* PG0   */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_VER_SENSE    /* PC2   */ ADC1_GPIO(12)
-#define HW_INFO_INIT         {'V','5','x', 'x',0}
-#define HW_INFO_INIT_VER     2
-#define HW_INFO_INIT_REV     3
+#define HW_INFO_INIT_PREFIX    "VAM"

 #define BOARD_TAP_ESC_MODE 2 // select closed-loop control mode for the esc
 // #define BOARD_USE_ESC_CURRENT_REPORT
@@ -41,6 +41,7 @@ add_library(drivers_board

 target_link_libraries(drivers_board
 	PRIVATE
+		arch_io_pins
 		arch_spi
 		drivers__led # drv_led_start
 		nuttx_arch # sdio
--- a/Show More
+++ b/Show More