ORB queue depth completely static

We had a special handling for RTL triggered in vtol_takeoff state.
The idea is to wait until the VTOL Takeoff is completed and only
then switch to RTL. On a second thought this special handling isn't
really necessary and for the sake of simplicity should be removed.
This also removes the side effect of the indicated flight mode
after RTL being set to VTOL_Takeoff again.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

.ackrc

@@ -1 +0,0 @@
---ignore-dir=Documentation

.ci/Jenkinsfile-compile

@@ -40,16 +40,16 @@ pipeline {
                      "ark_can-flow_default",
                      "ark_can-gps_canbootloader",
                      "ark_can-gps_default",
-                     "ark_cannode_canbootloader",
-                     "ark_cannode_default",
                      "ark_can-rtk-gps_canbootloader",
                      "ark_can-rtk-gps_default",
+                     "ark_cannode_canbootloader",
+                     "ark_cannode_default",
                      "ark_fmu-v6x_bootloader",
                      "ark_fmu-v6x_default",
                      "atl_mantis-edu_default",
                      "av_x-v1_default",
-                     "bitcraze_crazyflie_default",
                      "bitcraze_crazyflie21_default",
+                     "bitcraze_crazyflie_default",
                      "cuav_can-gps-v1_canbootloader",
                      "cuav_can-gps-v1_default",
                      "cuav_nora_default",
@@ -66,8 +66,8 @@ pipeline {
                      "holybro_durandal-v1_default",
                      "holybro_kakutef7_default",
                      "holybro_kakuteh7_default",
-                     "holybro_kakuteh7v2_default",
                      "holybro_kakuteh7mini_default",
+                     "holybro_kakuteh7v2_default",
                      "holybro_pix32v5_default",
                      "matek_gnss-m9n-f4_canbootloader",
                      "matek_gnss-m9n-f4_default",
@@ -77,8 +77,8 @@ pipeline {
                      "modalai_fc-v1_default",
                      "modalai_fc-v2_default",
                      "mro_ctrl-zero-classic_default",
-                     "mro_ctrl-zero-f7_default",
                      "mro_ctrl-zero-f7-oem_default",
+                     "mro_ctrl-zero-f7_default",
                      "mro_ctrl-zero-h7-oem_default",
                      "mro_ctrl-zero-h7_default",
                      "mro_pixracerpro_default",
@@ -104,22 +104,28 @@ pipeline {
                      "px4_fmu-v5_debug",
                      "px4_fmu-v5_default",
                      "px4_fmu-v5_lto",
+                     "px4_fmu-v5_rover",
                      "px4_fmu-v5_stackcheck",
                      "px4_fmu-v5_uavcanv0periph",
                      "px4_fmu-v5x_default",
+                     "px4_fmu-v5x_rover",
                      "px4_fmu-v6c_default",
+                     "px4_fmu-v6c_rover",
                      "px4_fmu-v6u_default",
+                     "px4_fmu-v6u_rover",
                      "px4_fmu-v6x_default",
+                     "px4_fmu-v6x_rover",
                      "px4_fmu-v6xrt_bootloader",
                      "px4_fmu-v6xrt_default",
+                     "px4_fmu-v6xrt_rover",
                      "px4_io-v2_default",
                      "raspberrypi_pico_default",
+                     "siyi_n7_default",
                      "sky-drones_smartap-airlink_default",
                      "spracing_h7extreme_default",
                      "thepeach_k1_default",
                      "thepeach_r1_default",
                      "uvify_core_default",
-                     "siyi_n7_default"
             ],
             image: docker_images.nuttx,
             archive: true

.github/workflows/compile_nuttx.yml

@@ -25,6 +25,7 @@ jobs:
           ark_can-rtk-gps,
           ark_cannode,
           ark_fmu-v6x,
+          ark_septentrio-gps,
           atl_mantis-edu,
           av_x-v1,
           bitcraze_crazyflie,
@@ -48,6 +49,7 @@ jobs:
           matek_h743-slim,
           modalai_fc-v1,
           modalai_fc-v2,
+          mro_ctrl-zero-classic,
           mro_ctrl-zero-f7,
           mro_ctrl-zero-f7-oem,
           mro_ctrl-zero-h7,

.github_changelog_generator

@@ -1,33 +0,0 @@
-# How to install:
-#   gem install github_changelog_generator
-# How to run:
-#   github_changelog_generator -u PX4 -p Firmware
-# Description:
-#   The following params are sensible defaults for the PX4 project,
-#   if you want to do a changelog before a release you need to update since-tag and future-releases,
-
-# Params:
-#   github_changelog_generator --help for all options
-
-# max-issues
-#   max threshold for github api queries
-#   make sure you set your CHANGELOG_GITHUB_TOKEN before
-#   running
-max-issues=1500
-
-# exclude-tags-regex
-#   excludes release candidates
-exclude-tags-regex=rc[0-9]{1,}|beta[0-9]{1,}
-
-# since-tag
-#   version of last stable release
-#   you need to change this depending on what you need
-#   if you want a changelog between versions this is the lowest version
-since-tag=1.6.5
-
-# future-release
-#   version you are about to release
-#   if you want a changelog between a version and all unreleased changes grouped as a release
-#     eg: v1.6.5 to v1.7.0
-future-release=v1.7.0
-

.gitmodules

@@ -76,3 +76,10 @@
 	path = src/lib/heatshrink/heatshrink
 	url = https://github.com/PX4/heatshrink.git
 	branch = px4
+[submodule "Tools/simulation/gz"]
+	path = Tools/simulation/gz
+	url = https://github.com/PX4/PX4-gazebo-models.git
+	branch = main
+[submodule "boards/modalai/voxl2/libfc-sensor-api"]
+	path = src/modules/muorb/apps/libfc-sensor-api
+	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git

.travis.yml

@@ -1,35 +0,0 @@
-language: cpp
-
-git:
-  depth: 100
-  submodules: false
-
-matrix:
-  fast_finish: true
-  include:
-    - os: linux
-      dist: xenial
-      # In order to stay under the coverity rate limit, we only run this weekly
-      # and not on push which is configured in travis-ci settings.
-      if: branch = main
-
-before_install:
-    - echo -n | openssl s_client -connect scan.coverity.com:443 | sed -ne '/-BEGIN CERTIFICATE-/,/-END CERTIFICATE-/p' | sudo tee -a /etc/ssl/certs/ca-
-
-install:
-    - export PATH=$HOME/.local/bin:$PATH
-    - pip install --user --upgrade pip
-    - pip install --user -r Tools/setup/requirements.txt
-
-script:
-    - make
-
-addons:
-  coverity_scan:
-    project:
-      name: "PX4/Firmware"
-      description: "Build submitted via Travis CI"
-    notification_email: ci@px4.io
-    build_command_prepend: "make distclean"
-    build_command: "make px4_sitl_default"
-    branch_pattern: coverity_scan

.vscode/cmake-variants.yaml

@@ -71,6 +71,26 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: px4_fmu-v5x_default
+    px4_fmu-v6c_default:
+      short: px4_fmu-v6c
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6c_default
+    px4_fmu-v6c_bootloader:
+      short: px4_fmu-v6c_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6c_bootloader
+    px4_fmu-v6u_default:
+      short: px4_fmu-v6u
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6u_default
+    px4_fmu-v6u_bootloader:
+      short: px4_fmu-v6u_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6u_bootloader
     px4_fmu-v6x_default:
       short: px4_fmu-v6x
       buildType: MinSizeRel
@@ -131,6 +151,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_can-rtk-gps_canbootloader
+    ark_septentrio_gps_default:
+      short: ark_septentrio_gps_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_septentrio_gps_default
+    ark_septentrio_gps_canbootloader:
+      short: ark_septentrio_gps_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_septentrio_gps_canbootloader
     ark_cannode_default:
       short: ark_cannode_default
       buildType: MinSizeRel

.ycm_extra_conf.py

@@ -1,172 +0,0 @@
-# This file is NOT licensed under the GPLv3, which is the license for the rest
-# of YouCompleteMe.
-#
-# Here's the license text for this file:
-#
-# This is free and unencumbered software released into the public domain.
-#
-# Anyone is free to copy, modify, publish, use, compile, sell, or
-# distribute this software, either in source code form or as a compiled
-# binary, for any purpose, commercial or non-commercial, and by any
-# means.
-#
-# In jurisdictions that recognize copyright laws, the author or authors
-# of this software dedicate any and all copyright interest in the
-# software to the public domain. We make this dedication for the benefit
-# of the public at large and to the detriment of our heirs and
-# successors. We intend this dedication to be an overt act of
-# relinquishment in perpetuity of all present and future rights to this
-# software under copyright law.
-#
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
-# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
-# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
-# IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
-# OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
-# ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
-# OTHER DEALINGS IN THE SOFTWARE.
-#
-# For more information, please refer to <http://unlicense.org/>
-
-import os
-import ycm_core
-
-# These are the compilation flags that will be used in case there's no
-# compilation database set (by default, one is not set).
-# CHANGE THIS LIST OF FLAGS. YES, THIS IS THE DROID YOU HAVE BEEN LOOKING FOR.
-flags = [
-'-Wall',
-'-Wextra',
-'-Werror',
-#'-Wc++98-compat',
-'-Wno-long-long',
-'-Wno-variadic-macros',
-'-fexceptions',
-'-DNDEBUG',
-# You 100% do NOT need -DUSE_CLANG_COMPLETER in your flags; only the YCM
-# source code needs it.
-#'-DUSE_CLANG_COMPLETER',
-# THIS IS IMPORTANT! Without a "-std=<something>" flag, clang won't know which
-# language to use when compiling headers. So it will guess. Badly. So C++
-# headers will be compiled as C headers. You don't want that so ALWAYS specify
-# a "-std=<something>".
-# For a C project, you would set this to something like 'c99' instead of
-# 'c++14'.
-'-std=c++14',
-# ...and the same thing goes for the magic -x option which specifies the
-# language that the files to be compiled are written in. This is mostly
-# relevant for c++ headers.
-# For a C project, you would set this to 'c' instead of 'c++'.
-'-x',
-'c++',
-'-undef', # get rid of standard definitions to allow us to include arm math header
-'-I', os.path.join(os.path.expanduser("~"),'gcc-arm-none-eabi-4_7-2013q3/arm-none-eabi/include'),
-'-I', 'Build/px4_io-v2_default.build/nuttx-export/include/',
-'-I', './NuttX/nuttx/arch/arm/include',
-'-include', './src/include/visibility.h',
-'-I', './src',
-'-I', './src/modules',
-'-I', './src/include',
-'-I', './src/lib',
-'-I', './NuttX',
-]
-
-
-# Set this to the absolute path to the folder (NOT the file!) containing the
-# compile_commands.json file to use that instead of 'flags'. See here for
-# more details: http://clang.llvm.org/docs/JSONCompilationDatabase.html
-#
-# Most projects will NOT need to set this to anything; you can just change the
-# 'flags' list of compilation flags. Notice that YCM itself uses that approach.
-compilation_database_folder = ''
-
-if os.path.exists( compilation_database_folder ):
-  database = ycm_core.CompilationDatabase( compilation_database_folder )
-else:
-  database = None
-
-SOURCE_EXTENSIONS = [ '.cpp', '.cxx', '.cc', '.c', '.m', '.mm' ]
-
-def DirectoryOfThisScript():
-  return os.path.dirname( os.path.abspath( __file__ ) )
-
-
-def MakeRelativePathsInFlagsAbsolute( flags, working_directory ):
-  if not working_directory:
-    return list( flags )
-  new_flags = []
-  make_next_absolute = False
-  path_flags = [ '-isystem', '-I', '-iquote', '--sysroot=' ]
-  for flag in flags:
-    new_flag = flag
-
-    if make_next_absolute:
-      make_next_absolute = False
-      if not flag.startswith( '/' ):
-        new_flag = os.path.join( working_directory, flag )
-
-    for path_flag in path_flags:
-      if flag == path_flag:
-        make_next_absolute = True
-        break
-
-      if flag.startswith( path_flag ):
-        path = flag[ len( path_flag ): ]
-        new_flag = path_flag + os.path.join( working_directory, path )
-        break
-
-    if new_flag:
-      new_flags.append( new_flag )
-  return new_flags
-
-
-def IsHeaderFile( filename ):
-  extension = os.path.splitext( filename )[ 1 ]
-  return extension in [ '.h', '.hxx', '.hpp', '.hh' ]
-
-
-def GetCompilationInfoForFile( filename ):
-  # The compilation_commands.json file generated by CMake does not have entries
-  # for header files. So we do our best by asking the db for flags for a
-  # corresponding source file, if any. If one exists, the flags for that file
-  # should be good enough.
-  if IsHeaderFile( filename ):
-    basename = os.path.splitext( filename )[ 0 ]
-    for extension in SOURCE_EXTENSIONS:
-      replacement_file = basename + extension
-      if os.path.exists( replacement_file ):
-        compilation_info = database.GetCompilationInfoForFile(
-          replacement_file )
-        if compilation_info.compiler_flags_:
-          return compilation_info
-    return None
-  return database.GetCompilationInfoForFile( filename )
-
-
-def FlagsForFile( filename, **kwargs ):
-  if database:
-    # Bear in mind that compilation_info.compiler_flags_ does NOT return a
-    # python list, but a "list-like" StringVec object
-    compilation_info = GetCompilationInfoForFile( filename )
-    if not compilation_info:
-      return None
-
-    final_flags = MakeRelativePathsInFlagsAbsolute(
-      compilation_info.compiler_flags_,
-      compilation_info.compiler_working_dir_ )
-
-    # NOTE: This is just for YouCompleteMe; it's highly likely that your project
-    # does NOT need to remove the stdlib flag. DO NOT USE THIS IN YOUR
-    # ycm_extra_conf IF YOU'RE NOT 100% SURE YOU NEED IT.
-    #try:
-    #  final_flags.remove( '-stdlib=libc++' )
-    #except ValueError:
-    #  pass
-  else:
-    relative_to = DirectoryOfThisScript()
-    final_flags = MakeRelativePathsInFlagsAbsolute( flags, relative_to )
-
-  return {
-    'flags': final_flags,
-    'do_cache': True
-  }

CMakeLists.txt

@@ -148,6 +148,7 @@ define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
                  BRIEF_DOCS "PX4 module paths"
                  FULL_DOCS "List of paths to all PX4 modules"
                  )
+
 define_property(GLOBAL PROPERTY PX4_SRC_FILES
                  BRIEF_DOCS "src files from all PX4 modules & libs"
                  FULL_DOCS "SRC files from px4_add_{module,library}"

Firmware.sublime-project

@@ -1,83 +0,0 @@
-{
-	"folders":
-	[
-		{
-			"path": ".",
-			"file_exclude_patterns":
-			[
-				"*.o",
-				"*.a",
-				"*.d",
-				".built",
-				".context",
-				".depend",
-				".config",
-				".version",
-				"Make.dep",
-				".configured",
-				"*.sublime-project",
-				"*.sublime-workspace",
-				".project",
-				".cproject",
-				"cscope.out"
-			],
-			"folder_exclude_patterns":
-			[
-				".settings",
-				"nuttx/arch/arm/src/board",
-				"nuttx/arch/arm/src/chip",
-				"build_*"
-			]
-		}
-	],
-	"settings":
-	{
-		"tab_size": 8,
-		"translate_tabs_to_spaces": false,
-		"highlight_line": true,
-		"AStyleFormatter":
-		{
-			"options_c":
-			{
-				"use_only_additional_options": true,
-				"additional_options_file": "${project_path}/Tools/astyle/astylerc"
-			},
-			"options_c++":
-			{
-				"use_only_additional_options": true,
-				"additional_options_file": "${project_path}/Tools/astyle/astylerc"
-			}
-		}
-	},
-	"build_systems":
-	[
-		{
-			"name": "PX4: make all",
-			"working_dir": "${project_path}",
-			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
-			"cmd": ["make"],
-			"shell": true
-		},
-		{
-			"name": "PX4: make and upload",
-			"working_dir": "${project_path}",
-			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
-			"cmd": ["make upload px4_fmu-v2_default -j8"],
-			"shell": true
-		},
-		{
-			"name": "PX4: make posix",
-			"working_dir": "${project_path}",
-			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
-			"cmd": ["make posix"],
-			"shell": true
-		},
-		{
-			"name": "MindPX_V2: make and upload",
-			"working_dir": "${project_path}",
-			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
-			"cmd": ["make upload mindpx-v2_default -j8"],
-			"shell": true
-		}
-	]
-}

ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx

@@ -22,18 +22,17 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_KM 0.05
-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 PWM_MAIN_FUNC1 101

ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane

@@ -26,7 +26,7 @@ param set-default CBRK_IO_SAFETY 22027
 
 param set-default BAT_N_CELLS 3
 
-param set-default SIH_T_MAX 6.0
+param set-default SIH_T_MAX 6
 param set-default SIH_MASS 0.3
 param set-default SIH_IXX 0.00402
 param set-default SIH_IYY 0.0144
@@ -45,9 +45,9 @@ param set-default CA_ROTOR_COUNT 1
 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS1_TRQ_P 1.0
+param set-default CA_SV_CS1_TRQ_P 1
 param set-default CA_SV_CS1_TYPE 3
-param set-default CA_SV_CS2_TRQ_Y 1.0
+param set-default CA_SV_CS2_TRQ_Y 1
 param set-default CA_SV_CS2_TYPE 4
 param set-default PWM_MAIN_FUNC3 201
 param set-default PWM_MAIN_FUNC4 202

ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert

@@ -35,14 +35,14 @@ param set-default CBRK_IO_SAFETY 22027
 
 param set-default BAT_N_CELLS 3
 
-param set-default SIH_T_MAX 2.0
+param set-default SIH_T_MAX 2
 param set-default SIH_Q_MAX 0.0165
 param set-default SIH_MASS 0.2
 # IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
 param set-default SIH_IXX 0.00354
 param set-default SIH_IYY 0.000625
 param set-default SIH_IZZ 0.00300
-param set-default SIH_IXZ 0.0
+param set-default SIH_IXZ 0
 param set-default SIH_KDV 0.2
 param set-default SIH_L_ROLL 0.145
 

ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo-classic_iris_opt_flow

@@ -47,5 +47,5 @@ param set-default MPC_ALT_MODE 2
 
 param set-default SENS_FLOW_ROT 6
 param set-default SENS_FLOW_MINHGT 0.7
-param set-default SENS_FLOW_MAXHGT 3.0
+param set-default SENS_FLOW_MAXHGT 3
 param set-default SENS_FLOW_MAXR 2.5

ROMFS/px4fmu_common/init.d-posix/airframes/1021_gazebo-classic_uuv_hippocampus

@@ -8,34 +8,34 @@
 param set-default CA_AIRFRAME 7
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_R_REV 255
-param set-default CA_ROTOR0_AX 1.0000
-param set-default CA_ROTOR0_AY 0.0000
-param set-default CA_ROTOR0_AZ 0.0000
-param set-default CA_ROTOR0_KM 0.0000
-param set-default CA_ROTOR0_PX 0.0000
-param set-default CA_ROTOR0_PY -0.3000
-param set-default CA_ROTOR0_PZ -0.3000
-param set-default CA_ROTOR1_AX 1.0000
-param set-default CA_ROTOR1_AY 0.0000
-param set-default CA_ROTOR1_AZ 0.0000
-param set-default CA_ROTOR1_KM 0.0000
-param set-default CA_ROTOR1_PX 0.0000
-param set-default CA_ROTOR1_PY 0.3000
-param set-default CA_ROTOR1_PZ -0.3000
-param set-default CA_ROTOR2_AX 1.0000
-param set-default CA_ROTOR2_AY 0.0000
-param set-default CA_ROTOR2_AZ 0.0000
-param set-default CA_ROTOR2_KM 0.0000
-param set-default CA_ROTOR2_PX 0.0000
-param set-default CA_ROTOR2_PY 0.3000
-param set-default CA_ROTOR2_PZ 0.3000
-param set-default CA_ROTOR3_AX 1.0000
-param set-default CA_ROTOR3_AY 0.0000
-param set-default CA_ROTOR3_AZ 0.0000
-param set-default CA_ROTOR3_KM 0.0000
-param set-default CA_ROTOR3_PX 0.0000
-param set-default CA_ROTOR3_PY -0.3000
-param set-default CA_ROTOR3_PZ 0.3000
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AY 0
+param set-default CA_ROTOR0_AZ 0
+param set-default CA_ROTOR0_KM 0
+param set-default CA_ROTOR0_PX 0
+param set-default CA_ROTOR0_PY -0.3
+param set-default CA_ROTOR0_PZ -0.3
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AY 0
+param set-default CA_ROTOR1_AZ 0
+param set-default CA_ROTOR1_KM 0
+param set-default CA_ROTOR1_PX 0
+param set-default CA_ROTOR1_PY 0.3
+param set-default CA_ROTOR1_PZ -0.3
+param set-default CA_ROTOR2_AX 1
+param set-default CA_ROTOR2_AY 0
+param set-default CA_ROTOR2_AZ 0
+param set-default CA_ROTOR2_KM 0
+param set-default CA_ROTOR2_PX 0
+param set-default CA_ROTOR2_PY 0.3
+param set-default CA_ROTOR2_PZ 0.3
+param set-default CA_ROTOR3_AX 1
+param set-default CA_ROTOR3_AY 0
+param set-default CA_ROTOR3_AZ 0
+param set-default CA_ROTOR3_KM 0
+param set-default CA_ROTOR3_PX 0
+param set-default CA_ROTOR3_PY -0.3
+param set-default CA_ROTOR3_PZ 0.3
 
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102

ROMFS/px4fmu_common/init.d-posix/airframes/1022_gazebo-classic_uuv_bluerov2_heavy

@@ -9,49 +9,49 @@ param set-default CA_AIRFRAME 7
 
 param set-default CA_ROTOR_COUNT 8
 param set-default CA_R_REV 255
-param set-default CA_ROTOR0_AX 1.0000
-param set-default CA_ROTOR0_AY -1.0000
-param set-default CA_ROTOR0_AZ 0.0000
-param set-default CA_ROTOR0_KM 0.0000
-param set-default CA_ROTOR0_PX 0.5000
-param set-default CA_ROTOR0_PY 0.3000
-param set-default CA_ROTOR0_PZ 0.2000
-param set-default CA_ROTOR1_AX 1.0000
-param set-default CA_ROTOR1_AY 1.0000
-param set-default CA_ROTOR1_AZ 0.0000
-param set-default CA_ROTOR1_KM 0.0000
-param set-default CA_ROTOR1_PX 0.5000
-param set-default CA_ROTOR1_PY -0.3000
-param set-default CA_ROTOR1_PZ 0.2000
-param set-default CA_ROTOR2_AX 1.0000
-param set-default CA_ROTOR2_AY 1.0000
-param set-default CA_ROTOR2_AZ 0.0000
-param set-default CA_ROTOR2_KM 0.0000
-param set-default CA_ROTOR2_PX -0.5000
-param set-default CA_ROTOR2_PY 0.3000
-param set-default CA_ROTOR2_PZ 0.2000
-param set-default CA_ROTOR3_AX 1.0000
-param set-default CA_ROTOR3_AY -1.0000
-param set-default CA_ROTOR3_AZ 0.0000
-param set-default CA_ROTOR3_KM 0.0000
-param set-default CA_ROTOR3_PX -0.5000
-param set-default CA_ROTOR3_PY -0.3000
-param set-default CA_ROTOR3_PZ 0.2000
-param set-default CA_ROTOR4_AZ -1.0000
-param set-default CA_ROTOR4_KM 0.0000
-param set-default CA_ROTOR4_PX 0.5000
-param set-default CA_ROTOR4_PY 0.5000
-param set-default CA_ROTOR5_AZ 1.0000
-param set-default CA_ROTOR5_KM 0.0000
-param set-default CA_ROTOR5_PX 0.5000
-param set-default CA_ROTOR5_PY -0.5000
-param set-default CA_ROTOR6_AZ 1.0000
-param set-default CA_ROTOR6_KM 0.0000
-param set-default CA_ROTOR6_PX -0.5000
-param set-default CA_ROTOR6_PY 0.5000
-param set-default CA_ROTOR7_KM 0.0000
-param set-default CA_ROTOR7_PX -0.5000
-param set-default CA_ROTOR7_PY -0.5000
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AY -1
+param set-default CA_ROTOR0_AZ 0
+param set-default CA_ROTOR0_KM 0
+param set-default CA_ROTOR0_PX 0.5
+param set-default CA_ROTOR0_PY 0.3
+param set-default CA_ROTOR0_PZ 0.2
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AY 1
+param set-default CA_ROTOR1_AZ 0
+param set-default CA_ROTOR1_KM 0
+param set-default CA_ROTOR1_PX 0.5
+param set-default CA_ROTOR1_PY -0.3
+param set-default CA_ROTOR1_PZ 0.2
+param set-default CA_ROTOR2_AX 1
+param set-default CA_ROTOR2_AY 1
+param set-default CA_ROTOR2_AZ 0
+param set-default CA_ROTOR2_KM 0
+param set-default CA_ROTOR2_PX -0.5
+param set-default CA_ROTOR2_PY 0.3
+param set-default CA_ROTOR2_PZ 0.2
+param set-default CA_ROTOR3_AX 1
+param set-default CA_ROTOR3_AY -1
+param set-default CA_ROTOR3_AZ 0
+param set-default CA_ROTOR3_KM 0
+param set-default CA_ROTOR3_PX -0.5
+param set-default CA_ROTOR3_PY -0.3
+param set-default CA_ROTOR3_PZ 0.2
+param set-default CA_ROTOR4_AZ -1
+param set-default CA_ROTOR4_KM 0
+param set-default CA_ROTOR4_PX 0.5
+param set-default CA_ROTOR4_PY 0.5
+param set-default CA_ROTOR5_AZ 1
+param set-default CA_ROTOR5_KM 0
+param set-default CA_ROTOR5_PX 0.5
+param set-default CA_ROTOR5_PY -0.5
+param set-default CA_ROTOR6_AZ 1
+param set-default CA_ROTOR6_KM 0
+param set-default CA_ROTOR6_PX -0.5
+param set-default CA_ROTOR6_PY 0.5
+param set-default CA_ROTOR7_KM 0
+param set-default CA_ROTOR7_PX -0.5
+param set-default CA_ROTOR7_PY -0.5
 
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102

ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane

@@ -54,9 +54,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam

@@ -57,9 +57,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult

@@ -57,9 +57,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

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

@@ -42,9 +42,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

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

@@ -42,9 +42,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo-classic_techpod

@@ -40,9 +40,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

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

@@ -42,9 +42,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer

@@ -48,9 +48,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider

@@ -55,9 +55,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal

@@ -47,9 +47,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo-classic_advanced_plane

@@ -45,9 +45,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol

@@ -27,8 +27,8 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.1515
 param set-default CA_ROTOR3_PY 0.1875
 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_AX 1
+param set-default CA_ROTOR4_AZ 0
 param set-default CA_ROTOR4_PX 0.2
 
 param set-default CA_SV_CS_COUNT 3
@@ -37,7 +37,7 @@ 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 3
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103

ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo-classic_tailsitter

@@ -50,11 +50,11 @@ param set-default SENS_IMU_MODE 1
 
 param set-default FW_P_TC 0.6
 
-param set-default FW_PR_FF 0.1
+param set-default FW_PR_FF 0.0
 param set-default FW_PSP_OFF 2
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_I 0.2
-param set-default FW_RR_P 0.3
+param set-default FW_RR_P 0.5
 param set-default FW_THR_TRIM 0.35
 param set-default FW_THR_MAX 0.8
 param set-default FW_THR_MIN 0.05
@@ -66,8 +66,6 @@ param set-default FW_T_SINK_MIN 1.6
 param set-default MC_AIRMODE 1
 param set-default MC_ROLL_P 3
 param set-default MC_PITCH_P 3
-param set-default MC_ROLLRATE_P 0.3
-param set-default MC_PITCHRATE_P 0.3
 
 param set-default VT_ARSP_TRANS 10
 param set-default VT_B_TRANS_DUR 5

ROMFS/px4fmu_common/init.d-posix/airframes/1042_gazebo-classic_tiltrotor

@@ -31,7 +31,7 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_TL_COUNT 2

ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo-classic_standard_vtol_drop

@@ -27,8 +27,8 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.1515
 param set-default CA_ROTOR3_PY 0.1875
 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_AX 1
+param set-default CA_ROTOR4_AZ 0
 param set-default CA_ROTOR4_PX 0.2
 
 param set-default CA_SV_CS_COUNT 3
@@ -37,7 +37,7 @@ 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 3
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103

ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar

@@ -57,9 +57,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover

@@ -22,7 +22,7 @@ param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
 
 param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 2.0
+param set-default GND_WHEEL_BASE 2
 
 param set-default CA_AIRFRAME 5
 

ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo-classic_r1_rover

@@ -4,31 +4,9 @@
 # @type Rover
 # @class Rover
 
-. ${R}etc/init.d/rc.rover_defaults
+. ${R}etc/init.d/rc.rover_differential_defaults
 
-param set-default GND_L1_DIST 5
-param set-default GND_SP_CTRL_MODE 1
-param set-default GND_SPEED_D 3
-param set-default GND_SPEED_I 0.001
-param set-default GND_SPEED_IMAX 0.125
-param set-default GND_SPEED_P 0.25
-param set-default GND_SPEED_THR_SC 1
-param set-default GND_SPEED_TRIM 4
-param set-default GND_THR_CRUISE 0.3
-param set-default GND_THR_MAX 0.5
-param set-default GND_THR_MIN 0
-
-param set-default NAV_ACC_RAD 0.5
-param set-default NAV_LOITER_RAD 2
-
-param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 2.0
-
-param set-default CA_AIRFRAME 6
-
-param set-default CA_R_REV 3
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 101
 param set-default PWM_MAIN_FUNC6 102
 param set-default PWM_MAIN_FUNC7 102
-

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

@@ -29,7 +29,7 @@ param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
 
 param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 3.0
+param set-default GND_WHEEL_BASE 3
 
 param set-default CA_AIRFRAME 5
 

ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo-classic_boat

@@ -22,7 +22,7 @@ param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
 
 param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 2.0
+param set-default GND_WHEEL_BASE 2
 
 param set-default CA_AIRFRAME 9
 

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

@@ -14,7 +14,7 @@
 
 param set-default FW_AIRSPD_STALL 8
 
-param set-default FW_P_RMAX_NEG 20.0
+param set-default FW_P_RMAX_NEG 20
 param set-default FW_W_RMAX 10
 param set-default FW_W_EN 1
 
@@ -37,7 +37,7 @@ 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_MAN_R_MAX 30
 
 param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0

ROMFS/px4fmu_common/init.d-posix/airframes/17002_flightgear_tf-g2

@@ -14,7 +14,7 @@
 
 param set-default FW_AIRSPD_STALL 5
 
-param set-default FW_P_RMAX_NEG 20.0
+param set-default FW_P_RMAX_NEG 20
 param set-default FW_W_RMAX 10
 param set-default FW_W_EN 1
 
@@ -29,9 +29,9 @@ param set-default NAV_LOITER_RAD 50
 # 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 AG_PROT_MIN_RPM 50
+#param set-default AG_PROT_TRG_RPM 900
+#param set-defoult AG_ROTOR_RPM 900
 
 param set-default FW_ARSP_SCALE_EN 0
 
@@ -42,7 +42,7 @@ 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_MAN_R_MAX 30
 
 param set-default FW_THR_CRUISE 0.8
 param set-default FW_THR_IDLE 0

ROMFS/px4fmu_common/init.d-posix/airframes/2507_gazebo-classic_cloudship

@@ -14,21 +14,21 @@
 param set-default CA_AIRFRAME 9
 
 param set-default CA_ROTOR_COUNT 3
-param set-default CA_ROTOR0_AX 1.0000
-param set-default CA_ROTOR0_AZ 0.0000
-param set-default CA_ROTOR0_KM 0.0000
-param set-default CA_ROTOR0_PY 2.0000
-param set-default CA_ROTOR1_AX 1.0000
-param set-default CA_ROTOR1_AZ 0.0000
-param set-default CA_ROTOR1_KM 0.0000
-param set-default CA_ROTOR1_PY -2.0000
-param set-default CA_ROTOR2_AY -1.0000
-param set-default CA_ROTOR2_AZ 0.0000
-param set-default CA_ROTOR2_KM 0.0000
-param set-default CA_ROTOR2_PX -10.0000
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AZ 0
+param set-default CA_ROTOR0_KM 0
+param set-default CA_ROTOR0_PY 2
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AZ 0
+param set-default CA_ROTOR1_KM 0
+param set-default CA_ROTOR1_PY -2
+param set-default CA_ROTOR2_AY -1
+param set-default CA_ROTOR2_AZ 0
+param set-default CA_ROTOR2_KM 0
+param set-default CA_ROTOR2_PX -10
 
 param set-default CA_SV_CS_COUNT 1
-param set-default CA_SV_CS0_TRQ_P 1.0000
+param set-default CA_SV_CS0_TRQ_P 1
 
 param set-default CA_R_REV 7
 

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

@@ -13,9 +13,9 @@ param set-default MAV_TYPE 13
 
 param set-default MC_PITCHRATE_P 0.1
 param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCH_P 6.0
+param set-default MC_PITCH_P 6
 param set-default MC_ROLLRATE_I 0.1
-param set-default MC_ROLL_P 6.0
+param set-default MC_ROLL_P 6
 param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_P_ACC 3
 
@@ -27,11 +27,11 @@ param set-default MNT_MODE_IN 4
 param set-default MNT_DO_STAB 2
 
 
-param set-default CA_ROTOR0_PX 0.0
-param set-default CA_ROTOR0_PY 1.0
+param set-default CA_ROTOR0_PX 0
+param set-default CA_ROTOR0_PY 1
 param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0.0
-param set-default CA_ROTOR1_PY -1.0
+param set-default CA_ROTOR1_PX 0
+param set-default CA_ROTOR1_PY -1
 param set-default CA_ROTOR1_KM 0.05
 param set-default CA_ROTOR2_PX 0.866025
 param set-default CA_ROTOR2_PY -0.5

ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna

@@ -70,9 +70,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol

@@ -40,8 +40,8 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.1515
 param set-default CA_ROTOR3_PY 0.1875
 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_AX 1
+param set-default CA_ROTOR4_AZ 0
 param set-default CA_ROTOR4_PX 0.2
 
 param set-default SIM_GZ_EC_FUNC1 101
@@ -66,7 +66,6 @@ param set-default SIM_GZ_SV_FUNC2 202
 param set-default SIM_GZ_SV_FUNC3 203
 
 param set-default COM_RC_IN_MODE 1
-param set-default ASPD_PRIMARY 1
 
 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_CS0_TYPE 1
@@ -74,7 +73,7 @@ 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 3
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 
 param set-default NPFG_PERIOD 12
 param set-default FW_PR_FF 0.2

ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision

@@ -52,12 +52,8 @@ param set-default MAV_1_MODE 9
 # param set-default SER_TEL1_BAUD 921600	Not found
 
 # Vehicle attitude PID tuning
-param set-default MC_ACRO_EXPO 0
-param set-default MC_ACRO_EXPO_Y 0
 param set-default MC_ACRO_P_MAX 200
 param set-default MC_ACRO_R_MAX 200
-param set-default MC_ACRO_SUPEXPO 0
-param set-default MC_ACRO_SUPEXPOY 0
 param set-default MC_ACRO_Y_MAX 150
 param set-default MC_PITCHRATE_D 0.0015
 param set-default MC_ROLLRATE_D 0.0015
@@ -109,31 +105,19 @@ param set-default CBRK_IO_SAFETY 22027
 
 param set-default THR_MDL_FAC 0.3
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_KM 0.05
-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
 
-# Outputs
-# param set-default PWM_AUX_FUNC1 101
-# param set-default PWM_AUX_FUNC2 102
-# param set-default PWM_AUX_FUNC3 103
-# param set-default PWM_AUX_FUNC4 104
-
-# param set-default PWM_MAIN_FUNC1 101
-# param set-default PWM_MAIN_FUNC2 102
-# param set-default PWM_MAIN_FUNC3 103
-# param set-default PWM_MAIN_FUNC4 104
-
 param set-default SIM_GZ_EC_FUNC1 101
 param set-default SIM_GZ_EC_FUNC2 102
 param set-default SIM_GZ_EC_FUNC3 103
@@ -148,5 +132,3 @@ param set-default SIM_GZ_EC_MAX1 1100
 param set-default SIM_GZ_EC_MAX2 1100
 param set-default SIM_GZ_EC_MAX3 1100
 param set-default SIM_GZ_EC_MAX4 1100
-
-

ROMFS/px4fmu_common/init.d-posix/airframes/4008_gz_advanced_plane

@@ -63,9 +63,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover

@@ -0,0 +1,31 @@
+#!/bin/sh
+# @name Aion Robotics R1 Rover
+# @type Rover
+# @class Rover
+
+. ${R}etc/init.d/rc.rover_differential_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover}
+
+param set-default SIM_GZ_EN 1 # Gazebo bridge
+
+# Simulated sensors
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 1
+
+# Actuator mapping
+param set-default SIM_GZ_WH_FUNC1 101 # right wheel
+param set-default SIM_GZ_WH_MIN1 0
+param set-default SIM_GZ_WH_MAX1 200
+param set-default SIM_GZ_WH_DIS1 100
+
+param set-default SIM_GZ_WH_FUNC2 102 # left wheel
+param set-default SIM_GZ_WH_MIN2 0
+param set-default SIM_GZ_WH_MAX2 200
+param set-default SIM_GZ_WH_DIS2 100
+
+param set-default SIM_GZ_WH_REV 1 # reverse right wheel

ROMFS/px4fmu_common/init.d-posix/airframes/4010_gz_x500_mono_cam

@@ -0,0 +1,10 @@
+#!/bin/sh
+#
+# @name Gazebo x500 mono cam
+#
+# @type Quadrotor
+#
+
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_mono_cam}
+
+. ${R}etc/init.d-posix/airframes/4001_gz_x500

ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower

@@ -0,0 +1,80 @@
+#!/bin/sh
+# @name Gazebo lawnmower
+# @type Rover
+# @class Rover
+
+. ${R}etc/init.d/rc.rover_differential_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=lawnmower}
+
+param set-default SIM_GZ_EN 1 # Gazebo bridge
+
+# Simulated sensors
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 1
+# We can arm and drive in manual mode when it slides and GPS check fails:
+param set-default COM_ARM_WO_GPS 1
+
+# Set Differential Drive Kinematics Library parameters:
+param set RDD_WHEEL_BASE 0.9
+param set RDD_WHEEL_RADIUS 0.22
+param set RDD_WHEEL_SPEED 10.0	# Maximum wheel speed rad/s, approx 8 km/h
+
+# Actuator mapping - set SITL motors/servos output parameters:
+
+# "Motors" - motor channels 0 (Right) and 1 (Left) - via Wheels GZ bridge:
+param set-default SIM_GZ_WH_FUNC1 101 # right wheel
+#param set-default SIM_GZ_WH_MIN1 0
+#param set-default SIM_GZ_WH_MAX1 200
+#param set-default SIM_GZ_WH_DIS1 100
+#param set-default SIM_GZ_WH_FAIL1 100
+
+param set-default SIM_GZ_WH_FUNC2 102 # left wheel
+#param set-default SIM_GZ_WH_MIN2 0
+#param set-default SIM_GZ_WH_MAX2 200
+#aram set-default SIM_GZ_WH_DIS2 100
+#param set-default SIM_GZ_WH_FAIL2 100
+
+param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels
+
+# Note: The servo configurations ( SIM_GZ_SV_FUNC*) outlined below are intended for educational purposes in this simulation. 
+# They do not have physical effects in the simulated environment, except for actuating the joints. Their definitions are meant to demonstrate 
+# how actuators could be mapped and configured in a real-world application, providing a foundation for understanding and implementing actuator 
+# controls in practical scenarios.
+
+# Cutter deck blades clutch, PCA9685 servo channel 3,  "RC FLAPS" (406) - leftmost switch, or "Servo 3" (203):
+param set-default SIM_GZ_SV_FUNC3 203
+param set-default SIM_GZ_SV_MIN3 0
+param set-default SIM_GZ_SV_MAX3 1000
+param set-default SIM_GZ_SV_DIS3 500
+param set-default SIM_GZ_SV_FAIL3 500
+
+# Gas engine throttle, PCA9685 servo channel 4, "RC AUX1" (407) - left knob, or "Servo 4" (204):
+#    - on minimum when disarmed or failed:
+param set-default SIM_GZ_SV_FUNC4 204
+param set-default SIM_GZ_SV_MIN4 0
+param set-default SIM_GZ_SV_MAX4 1000
+param set-default SIM_GZ_SV_DIS4 500
+param set-default SIM_GZ_SV_FAIL4 500
+
+# Controlling PCA9685 servos 5,6,7,8 directly via "Servo 5..8" setting, by publishing actuator_servos.control[]:
+
+# Strobes, PCA9685 servo channel 5, "Servo 5" (205) - flashing indicates Mission mode:
+#param set-default SIM_GZ_SV_FUNC5 205
+#param set-default SIM_GZ_SV_MIN5 1000
+#param set-default SIM_GZ_SV_MAX5 2000
+#param set-default SIM_GZ_SV_DIS5 1000
+#param set-default SIM_GZ_SV_FAIL5 1000
+
+# Horn, PCA9685 servo channel 6, "Servo 6" (206) - for alarms like GPS failure:
+#param set-default SIM_GZ_SV_FUNC6 206
+
+# Spare PCA9685 servo channel 7 on "RC AUX2" (408) - right knob, or "Servo 7" (207):
+#param set-default SIM_GZ_SV_FUNC7 207
+
+# Spare PCA9685 servo channel 8 - "Servo 8" (208):
+#param set-default SIM_GZ_SV_FUNC8 208

ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480

@@ -9,14 +9,14 @@
 
 param set-default MAV_TYPE 13
 
-param set-default MC_PITCHRATE_P 0.0800
-param set-default MC_PITCHRATE_I 0.0400
-param set-default MC_PITCHRATE_D 0.0010
-param set-default MC_PITCH_P 9.0
-param set-default MC_ROLLRATE_P 0.0800
-param set-default MC_ROLLRATE_I 0.0400
-param set-default MC_ROLLRATE_D 0.0010
-param set-default MC_ROLL_P 9.0
+param set-default MC_PITCHRATE_P 0.08
+param set-default MC_PITCHRATE_I 0.04
+param set-default MC_PITCHRATE_D 0.001
+param set-default MC_PITCH_P 9
+param set-default MC_ROLLRATE_P 0.08
+param set-default MC_ROLLRATE_I 0.04
+param set-default MC_ROLLRATE_D 0.001
+param set-default MC_ROLL_P 9
 param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_P_ACC 3
 
@@ -31,11 +31,11 @@ param set-default MAV_PROTO_VER 2
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 6
 
-param set-default CA_ROTOR0_PX 0.0
-param set-default CA_ROTOR0_PY 1.0
+param set-default CA_ROTOR0_PX 0
+param set-default CA_ROTOR0_PY 1
 param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0.0
-param set-default CA_ROTOR1_PY -1.0
+param set-default CA_ROTOR1_PX 0
+param set-default CA_ROTOR1_PY -1
 param set-default CA_ROTOR1_KM 0.05
 param set-default CA_ROTOR2_PX 0.866025
 param set-default CA_ROTOR2_PY -0.5

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

@@ -80,6 +80,9 @@ px4_add_romfs_files(
 	4005_gz_x500_vision
 	4006_gz_px4vision
 	4008_gz_advanced_plane
+	4009_gz_r1_rover
+	4010_gz_x500_mono_cam
+	4011_gz_lawnmower
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post

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

@@ -37,156 +37,120 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 	fi
 
 elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
+	# Use Gazebo
 
-	# set local coordinate frame reference
-	if [ -n "${PX4_HOME_LAT}" ]; then
-		param set SIM_GZ_HOME_LAT ${PX4_HOME_LAT}
-	fi
+	echo "INFO  [init] Gazebo simulator"
 
-	if [ -n "${PX4_HOME_LON}" ]; then
-		param set SIM_GZ_HOME_LON ${PX4_HOME_LON}
-	fi
+	# Only start up Gazebo if PX4_GZ_STANDALONE is not set.
+	if [ -z "${PX4_GZ_STANDALONE}" ]; then
 
-	if [ -n "${PX4_HOME_ALT}" ]; then
-		param set SIM_GZ_HOME_ALT ${PX4_HOME_LON}
-	fi
+		# "gz sim" only available in Garden and later
+		GZ_SIM_VERSIONS=$(gz sim --versions 2>&1)
+		if [ $? -eq 0 ] && [ "${GZ_SIM_VERSIONS}" != "" ]
+		then
+			# "gz sim" from Garden on
+			gz_command="gz"
+			gz_sub_command="sim"
 
-	# source generated gz_env.sh for GZ_SIM_RESOURCE_PATH
-	if [ -f ./gz_env.sh ]; then
-		. ./gz_env.sh
-
-	elif [ -f ../gz_env.sh ]; then
-		. ../gz_env.sh
-	fi
-
-	# "gz sim" only avaiilable in Garden and later
-	GZ_SIM_VERSIONS=$(gz sim --versions 2>&1)
-	if [ $? -eq 0 ] && [ "${GZ_SIM_VERSIONS}" != "" ]
-	then
-		# "gz sim" from Garden on
-		gz_command="gz"
-		gz_sub_command="sim"
-	else
-		echo "ERROR [init] Gazebo gz please install gz-garden"
-		exit 1
-	fi
-
-	# look for running ${gz_command} gazebo world
-	gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
-
-	# shellcheck disable=SC2153
-	if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLDS}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
-
-		echo "INFO  [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
-
-		${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
-
-		if [ -z "${HEADLESS}" ]; then
-			# HEADLESS not set, starting gui
-			${gz_command} ${gz_sub_command} -g &
+			# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
+			# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
+			if [ -n "${PX4_GZ_SIM_RENDER_ENGINE}" ]; then
+				echo "INFO  [init] Setting Gazebo render engine to '${PX4_GZ_SIM_RENDER_ENGINE}'!"
+				gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
+			fi
+		else
+			echo "ERROR [init] Gazebo gz please install gz-garden"
+			exit 1
 		fi
 
+		# look for running ${gz_command} gazebo world
+		gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+
+		# shellcheck disable=SC2153
+		if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
+
+			# source generated gz_env.sh for GZ_SIM_RESOURCE_PATH
+			if [ -f ./gz_env.sh ]; then
+				. ./gz_env.sh
+
+			elif [ -f ../gz_env.sh ]; then
+				. ../gz_env.sh
+			fi
+
+			echo "INFO  [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
+
+			${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
+
+			if [ -z "${HEADLESS}" ]; then
+				# HEADLESS not set, starting gui
+				${gz_command} ${gz_sub_command} -g &
+			fi
+
+		else
+			# Gazebo is already running, do not start the simulator, nor the GUI
+			echo "INFO  [init] gazebo already running world: ${gz_world}"
+			PX4_GZ_WORLD=${gz_world}
+		fi
 	else
-		echo "INFO  [init] gazebo already running world: ${gz_world}"
-		PX4_GZ_WORLD=${gz_world}
+		echo "INFO  [init] Standalone PX4 launch, waiting for Gazebo"
 	fi
 
 	# start gz_bridge
-	if [ -n "${PX4_GZ_MODEL}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
+	if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
 		# model specified, gz_bridge will spawn model
 
 		if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
+			# model pose provided: [x, y, z, roll, pitch, yaw]
+
 			# Clean potential input line formatting.
 			model_pose="$( echo "${PX4_GZ_MODEL_POSE}" | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
 			echo "INFO  [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
 
 		else
+			# model pose not provided, origin will be used
+
 			echo "WARN  [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
 			model_pose="0,0,0,0,0,0"
 		fi
 
 		# start gz bridge with pose arg.
-		if gz_bridge start -p "${model_pose}" -m "${PX4_GZ_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
-			if param compare -s SENS_EN_BAROSIM 1
-			then
-				sensor_baro_sim start
-			fi
-			if param compare -s SENS_EN_GPSSIM 1
-			then
-				sensor_gps_sim start
-			fi
-			if param compare -s SENS_EN_MAGSIM 1
-			then
-				sensor_mag_sim start
-			fi
-			if param compare -s SENS_EN_ARSPDSIM 1
-			then
-				sensor_airspeed_sim start
-			fi
-
-		else
-			echo "ERROR [init] gz_bridge failed to start"
+		if ! gz_bridge start -p "${model_pose}" -m "${PX4_SIM_MODEL#*gz_}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
+			echo "ERROR [init] gz_bridge failed to start and spawn model"
 			exit 1
 		fi
 
-	elif [ -n "${PX4_GZ_MODEL_NAME}" ] && [ -z "${PX4_GZ_MODEL}" ]; then
+	elif [ -n "${PX4_GZ_MODEL_NAME}" ]; then
 		# model name specificed, gz_bridge will attach to existing model
 
-		if gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
-			if param compare -s SENS_EN_BAROSIM 1
-			then
-				sensor_baro_sim start
-			fi
-			if param compare -s SENS_EN_GPSSIM 1
-			then
-				sensor_gps_sim start
-			fi
-			if param compare -s SENS_EN_MAGSIM 1
-			then
-				sensor_mag_sim start
-			fi
-			if param compare -s SENS_EN_ARSPDSIM 1
-			then
-				sensor_airspeed_sim start
-			fi
-
-		else
-			echo "ERROR [init] gz_bridge failed to start"
-			exit 1
-		fi
-
-	elif [ -n "${PX4_SIM_MODEL}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ] && [ -z "${PX4_GZ_MODEL}" ]; then
-
-		echo "WARN  [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."
-
-		if gz_bridge start -m "${PX4_SIM_MODEL#*gz_}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
-			if param compare -s SENS_EN_BAROSIM 1
-			then
-				sensor_baro_sim start
-			fi
-			if param compare -s SENS_EN_GPSSIM 1
-			then
-				sensor_gps_sim start
-			fi
-			if param compare -s SENS_EN_MAGSIM 1
-			then
-				sensor_mag_sim start
-			fi
-			if param compare -s SENS_EN_ARSPDSIM 1
-			then
-				sensor_airspeed_sim start
-			fi
-
-		else
-			echo "ERROR [init] gz_bridge failed to start"
+		echo "INFO  [init] PX4_GZ_MODEL_NAME set, PX4 will attach to existing model"
+		if ! gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
+			echo "ERROR [init] gz_bridge failed to start and attach to existing model"
 			exit 1
 		fi
 
 	else
-		echo "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
+		echo "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_SIM_MODEL"
 		exit 1
 	fi
 
+	# Start the sensor simulator modules
+	if param compare -s SENS_EN_BAROSIM 1
+	then
+		sensor_baro_sim start
+	fi
+	if param compare -s SENS_EN_GPSSIM 1
+	then
+		sensor_gps_sim start
+	fi
+	if param compare -s SENS_EN_MAGSIM 1
+	then
+		sensor_mag_sim start
+	fi
+	if param compare -s SENS_EN_ARSPDSIM 1
+	then
+		sensor_airspeed_sim start
+	fi
+
 elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "10017" ]; then
 
 	echo "INFO  [init] jMAVSim simulator"
@@ -203,6 +167,12 @@ elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)"
 
 else
 	# otherwise start simulator (mavlink) module
+
+	# EKF2 specifics
+	param set-default EKF2_GPS_DELAY 10
+	param set-default EKF2_MULTI_IMU 3
+	param set-default SENS_IMU_MODE 0
+
 	simulator_tcp_port=$((4560+px4_instance))
 
 	# Check if PX4_SIM_HOSTNAME environment variable is empty

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -153,7 +153,6 @@ fi
 
 param set-default BAT1_N_CELLS 4
 
-param set-default CBRK_AIRSPD_CHK 0
 param set-default CBRK_SUPPLY_CHK 894281
 
 # disable check, no CPU load reported on posix yet
@@ -165,10 +164,6 @@ param set-default COM_RC_IN_MODE 1
 # Speedup SITL startup
 param set-default EKF2_REQ_GPS_H 0.5
 
-# Multi-EKF
-param set-default EKF2_MULTI_IMU 3
-param set-default SENS_IMU_MODE 0
-
 param set-default IMU_GYRO_FFT_EN 1
 param set-default MAV_PROTO_VER 2 # Ensures QGC does not drop the first few packets after a SITL restart due to MAVLINK 1 packets
 
@@ -249,7 +244,12 @@ then
 fi
 
 load_mon start
-battery_simulator start
+
+if param compare SIM_BAT_ENABLE 1
+then
+	battery_simulator start
+fi
+
 tone_alarm start
 rc_update start
 manual_control start

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -34,26 +34,79 @@
 add_subdirectory(airframes)
 
 px4_add_romfs_files(
-	rc.airship_apps
-	rc.airship_defaults
+
 	rc.autostart_ext
-	rc.balloon_apps
-	rc.balloon_defaults
-	rc.boat_defaults
-	rc.fw_apps
-	rc.fw_defaults
-	rc.heli_defaults
-	rc.logging
-	rc.mc_apps
-	rc.mc_defaults
+
 	rcS
 	rc.sensors
-	rc.thermal_cal
-	rc.rover_apps
-	rc.rover_defaults
-	rc.uuv_apps
-	rc.uuv_defaults
 	rc.vehicle_setup
-	rc.vtol_apps
-	rc.vtol_defaults
+
+	# TODO
+	rc.balloon_apps
+	rc.balloon_defaults
 )
+
+if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL)
+	px4_add_romfs_files(
+		rc.airship_apps
+		rc.airship_defaults
+	)
+endif()
+
+if(CONFIG_MODULES_FW_RATE_CONTROL)
+	px4_add_romfs_files(
+		rc.fw_apps
+		rc.fw_defaults
+	)
+endif()
+
+if(CONFIG_MODULES_MC_RATE_CONTROL)
+	px4_add_romfs_files(
+		rc.heli_defaults
+		rc.mc_apps
+		rc.mc_defaults
+	)
+endif()
+
+if(CONFIG_MODULES_ROVER_POS_CONTROL)
+	px4_add_romfs_files(
+		rc.rover_apps
+		rc.rover_defaults
+
+		rc.boat_defaults # hack
+	)
+endif()
+
+if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
+	px4_add_romfs_files(
+		rc.rover_differential_apps
+		rc.rover_differential_defaults
+	)
+endif()
+
+if(CONFIG_MODULES_UUV_ATT_CONTROL)
+	px4_add_romfs_files(
+		rc.uuv_apps
+		rc.uuv_defaults
+	)
+endif()
+
+if(CONFIG_MODULES_VTOL_ATT_CONTROL)
+	px4_add_romfs_files(
+		rc.vtol_apps
+		rc.vtol_defaults
+	)
+endif()
+
+
+if(CONFIG_MODULES_LOGGER)
+	px4_add_romfs_files(
+		rc.logging
+	)
+endif()
+
+if(CONFIG_MODULES_TEMPERATURE_COMPENSATION)
+	px4_add_romfs_files(
+		rc.thermal_cal
+	)
+endif()

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

@@ -11,30 +11,30 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-
 param set SYS_HITL 1
 
 param set UAVCAN_ENABLE 0
 
-param set-default CA_ROTOR_COUNT 4
-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_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_KM -0.05
-
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
-
 # disable some checks to allow to fly
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027
+
+# Square quadrotor X PX4 numbering
+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_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 -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default HIL_ACT_FUNC1 101
+param set-default HIL_ACT_FUNC2 102
+param set-default HIL_ACT_FUNC3 103
+param set-default HIL_ACT_FUNC4 104

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

@@ -14,7 +14,6 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
 param set-default BAT1_N_CELLS 3
 
 param set-default COM_RC_IN_MODE 1
@@ -55,26 +54,29 @@ param set-default VT_TYPE 2
 
 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_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_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
 param set-default CA_ROTOR4_PX 0.2
 
+# Square quadrotor X PX4 numbering
+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_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 -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05
+
 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
 
 param set-default HIL_ACT_FUNC1 101
@@ -98,5 +100,3 @@ param set-default CBRK_SUPPLY_CHK 894281
 param set-default CBRK_IO_SAFETY 22027
 
 param set-default MAV_TYPE 22
-
-

ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil

@@ -12,26 +12,8 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-
 param set UAVCAN_ENABLE 0
 
-param set-default CA_ROTOR_COUNT 4
-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_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_KM -0.05
-
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
-
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2
 
@@ -42,3 +24,21 @@ param set-default CBRK_SUPPLY_CHK 894281
 param set-default CBRK_IO_SAFETY 22027
 
 param set SIH_VEHICLE_TYPE 0
+
+# Square quadrotor X PX4 numbering
+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_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 -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default HIL_ACT_FUNC1 101
+param set-default HIL_ACT_FUNC2 102
+param set-default HIL_ACT_FUNC3 103
+param set-default HIL_ACT_FUNC4 104

ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil

@@ -21,9 +21,9 @@ param set-default CA_ROTOR0_PX 0.3
 param set-default CA_SV_CS_COUNT 4
 param set-default CA_SV_CS0_TRQ_R 0.5
 param set-default CA_SV_CS0_TYPE 2
-param set-default CA_SV_CS1_TRQ_P 1.0
+param set-default CA_SV_CS1_TRQ_P 1
 param set-default CA_SV_CS1_TYPE 3
-param set-default CA_SV_CS2_TRQ_Y 1.0
+param set-default CA_SV_CS2_TRQ_Y 1
 param set-default CA_SV_CS2_TYPE 4
 param set-default CA_SV_CS3_TYPE 10
 
@@ -46,7 +46,7 @@ param set-default CBRK_IO_SAFETY 22027
 
 param set-default BAT_N_CELLS 3
 
-param set SIH_T_MAX 6.0
+param set SIH_T_MAX 6
 param set SIH_MASS 0.3
 param set SIH_IXX 0.00402
 param set SIH_IYY 0.0144

ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil

@@ -71,7 +71,7 @@ param set SIH_MASS 0.2
 param set SIH_IXX 0.00354
 param set SIH_IYY 0.000625
 param set SIH_IZZ 0.00300
-param set SIH_IXZ 0.0
+param set SIH_IXZ 0
 param set SIH_KDV 0.2
 param set SIH_L_ROLL 0.145
 

ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard

@@ -14,6 +14,21 @@
 
 param set-default CA_AIRFRAME 2
 param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
+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 3
+param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS3_TRQ_Y 1
+param set-default CA_SV_CS3_TYPE 4
+param set-default VT_TYPE 2
+param set-default MAV_TYPE 22
+
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR0_PX 1
 param set-default CA_ROTOR0_PY 1
 param set-default CA_ROTOR1_PX -1
@@ -24,16 +39,3 @@ 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_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
-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 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 VT_TYPE 2
-param set-default MAV_TYPE 22

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

@@ -28,13 +28,13 @@ param set-default BAT1_CAPACITY 23000
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_R_INTERNAL 0.0025
 
-param set-default CBRK_AIRSPD_CHK 162128
+param set-default SYS_HAS_NUM_ASPD 0
 param set-default CBRK_IO_SAFETY 22027
 
 param set-default EKF2_GPS_POS_X -0.12
 param set-default EKF2_IMU_POS_X -0.12
 
-param set-default FW_ARSP_MODE 1
+param set-default FW_USE_AIRSPD 0
 param set-default NPFG_PERIOD 25
 param set-default FW_PR_FF 0.7
 param set-default FW_PR_I 0.18
@@ -120,8 +120,8 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.1515
 param set-default CA_ROTOR3_PY 0.1875
 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_AX 1
+param set-default CA_ROTOR4_AZ 0
 param set-default CA_ROTOR4_PX 0.2
 
 param set-default CA_SV_CS_COUNT 3
@@ -130,4 +130,4 @@ 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 3
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1

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

@@ -80,6 +80,10 @@ param set-default VT_TYPE 2
 
 param set-default CA_AIRFRAME 2
 param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
+
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR0_PX 1
 param set-default CA_ROTOR0_PY 1
 param set-default CA_ROTOR1_PX -1
@@ -90,18 +94,16 @@ 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_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
 
 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_CS0_TYPE 15
-param set-default CA_SV_CS0_TRQ_R 1.0
-param set-default CA_SV_CS1_TRQ_P 0.5000
-param set-default CA_SV_CS1_TRQ_R 0.0000
-param set-default CA_SV_CS1_TRQ_Y -0.5000
+param set-default CA_SV_CS0_TRQ_R 1
+param set-default CA_SV_CS1_TRQ_P 0.5
+param set-default CA_SV_CS1_TRQ_R 0
+param set-default CA_SV_CS1_TRQ_Y -0.5
 param set-default CA_SV_CS1_TYPE 13
-param set-default CA_SV_CS2_TRQ_P 0.5000
-param set-default CA_SV_CS2_TRQ_Y 0.5000
+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_CS2_TYPE 14
 
 param set-default PWM_MAIN_FUNC1 201

ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor

@@ -19,30 +19,30 @@ param set-default MAV_TYPE 21
 param set-default VT_TYPE 1
 
 param set-default CA_AIRFRAME 3
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
 param set-default CA_ROTOR0_TILT 1
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
 param set-default CA_ROTOR1_TILT 2
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR2_TILT 3
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
 param set-default CA_ROTOR3_TILT 4
 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_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_TL_COUNT 4
 
-
+# Square quadrotor X PX4 numbering
+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_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 -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05

ROMFS/px4fmu_common/init.d/airframes/13100_generic_vtol_tiltrotor

@@ -12,19 +12,22 @@
 . ${R}etc/init.d/rc.vtol_defaults
 
 param set-default CA_AIRFRAME 3
+param set-default CA_ROTOR0_TILT 2
+param set-default CA_ROTOR2_TILT 1
+
+# Square quadrotor X PX4 numbering
 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

ROMFS/px4fmu_common/init.d/airframes/14001_generic_mc_with_tilt

@@ -20,16 +20,16 @@ param set-default MAV_TYPE 15
 
 param set-default CA_AIRFRAME 8
 # Tricopter
-param set-default CA_ROTOR0_PX 0.2500
-param set-default CA_ROTOR0_PY 0.4330
-param set-default CA_ROTOR1_PX 0.2500
-param set-default CA_ROTOR1_PY -0.4300
-param set-default CA_ROTOR2_PX -0.5000
-param set-default CA_ROTOR2_PY 0.0000
+param set-default CA_ROTOR0_PX 0.25
+param set-default CA_ROTOR0_PY 0.433
+param set-default CA_ROTOR1_PX 0.25
+param set-default CA_ROTOR1_PY -0.43
+param set-default CA_ROTOR2_PX -0.5
+param set-default CA_ROTOR2_PY 0
 param set-default CA_ROTOR2_TILT 1
 param set-default CA_ROTOR_COUNT 3
-param set-default CA_SV_TL0_MAXA 45.0000
-param set-default CA_SV_TL0_MINA -45.0000
+param set-default CA_SV_TL0_MAXA 45
+param set-default CA_SV_TL0_MINA -45
 param set-default CA_SV_TL0_TD 90
 param set-default CA_SV_TL_COUNT 1
 

ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane

@@ -18,7 +18,7 @@ param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4

ROMFS/px4fmu_common/init.d/airframes/2106_albatross

@@ -35,17 +35,17 @@ param set-default FW_W_RMAX 0
 param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_SV_CS_COUNT 7
-param set-default CA_SV_CS0_TRQ_R -0.5000
+param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1 #left aileron
-param set-default CA_SV_CS1_TRQ_R 0.5000
+param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2 #right aileron
-param set-default CA_SV_CS2_TRQ_P 0.5000
-param set-default CA_SV_CS2_TRQ_Y -0.5000
+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_CS2_TYPE 13 #left A-tail
-param set-default CA_SV_CS3_TRQ_P 0.5000
-param set-default CA_SV_CS3_TRQ_Y 0.5000
+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_CS3_TYPE 14 #right A-tail
-param set-default CA_SV_CS4_TRQ_Y 1.0000
+param set-default CA_SV_CS4_TRQ_Y 1
 param set-default CA_SV_CS4_TYPE 12
 param set-default CA_SV_CS5_TYPE 9 #left flap
 param set-default CA_SV_CS6_TYPE 10 #right flap

ROMFS/px4fmu_common/init.d/airframes/2507_cloudship

@@ -21,21 +21,21 @@ param set-default CBRK_IO_SAFETY 22027
 param set-default CA_AIRFRAME 9
 
 param set-default CA_ROTOR_COUNT 3
-param set-default CA_ROTOR0_AX 1.0000
-param set-default CA_ROTOR0_AZ 0.0000
-param set-default CA_ROTOR0_KM 0.0000
-param set-default CA_ROTOR0_PY 2.0000
-param set-default CA_ROTOR1_AX 1.0000
-param set-default CA_ROTOR1_AZ 0.0000
-param set-default CA_ROTOR1_KM 0.0000
-param set-default CA_ROTOR1_PY -2.0000
-param set-default CA_ROTOR2_AY -1.0000
-param set-default CA_ROTOR2_AZ 0.0000
-param set-default CA_ROTOR2_KM 0.0000
-param set-default CA_ROTOR2_PX -10.0000
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AZ 0
+param set-default CA_ROTOR0_KM 0
+param set-default CA_ROTOR0_PY 2
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AZ 0
+param set-default CA_ROTOR1_KM 0
+param set-default CA_ROTOR1_PY -2
+param set-default CA_ROTOR2_AY -1
+param set-default CA_ROTOR2_AZ 0
+param set-default CA_ROTOR2_KM 0
+param set-default CA_ROTOR2_PX -10
 
 param set-default CA_SV_CS_COUNT 1
-param set-default CA_SV_CS0_TRQ_P 1.0000
+param set-default CA_SV_CS0_TRQ_P 1
 
 param set-default CA_R_REV 7
 

ROMFS/px4fmu_common/init.d/airframes/4001_quad_x

@@ -10,15 +10,15 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-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
-

ROMFS/px4fmu_common/init.d/airframes/4014_s500

@@ -18,14 +18,15 @@ param set-default MC_PITCHRATE_P 0.18
 param set-default MC_ROLLRATE_I 0.15
 param set-default MC_PITCHRATE_I 0.15
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-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

ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500

@@ -22,14 +22,15 @@ param set-default MC_PITCHRATE_I 0.3
 param set-default MC_ROLLRATE_D 0.004
 param set-default MC_PITCHRATE_D 0.004
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-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

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

@@ -45,12 +45,8 @@ param set-default MAV_1_MODE 9
 param set-default SER_TEL1_BAUD 921600
 
 # Vehicle attitude PID tuning
-param set-default MC_ACRO_EXPO 0
-param set-default MC_ACRO_EXPO_Y 0
 param set-default MC_ACRO_P_MAX 200
 param set-default MC_ACRO_R_MAX 200
-param set-default MC_ACRO_SUPEXPO 0
-param set-default MC_ACRO_SUPEXPOY 0
 param set-default MC_ACRO_Y_MAX 150
 param set-default MC_PITCHRATE_D 0.0015
 param set-default MC_ROLLRATE_D 0.0015
@@ -101,18 +97,17 @@ param set-default CBRK_IO_SAFETY 22027
 
 param set-default THR_MDL_FAC 0.3
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_KM 0.05
-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
 
 # Outputs
@@ -120,4 +115,3 @@ param set-default PWM_AUX_FUNC1 101
 param set-default PWM_AUX_FUNC2 102
 param set-default PWM_AUX_FUNC3 103
 param set-default PWM_AUX_FUNC4 104
-

ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames

@@ -21,14 +21,15 @@ param set-default MC_ROLLRATE_I 0.15
 param set-default MC_PITCHRATE_P 0.18
 param set-default MC_PITCHRATE_I 0.15
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-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

ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2

@@ -22,19 +22,20 @@ param set-default MC_PITCHRATE_I 0.3
 param set-default MC_ROLLRATE_D 0.004
 param set-default MC_PITCHRATE_D 0.004
 
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.25
-param set-default CA_ROTOR0_PY 0.25
-param set-default CA_ROTOR1_PX -0.25
-param set-default CA_ROTOR1_PY -0.25
-param set-default CA_ROTOR2_PX 0.25
-param set-default CA_ROTOR2_PY -0.25
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.25
-param set-default CA_ROTOR3_PY 0.25
-param set-default CA_ROTOR3_KM -0.05
-
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
+
+# Square quadrotor X PX4 numbering
+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_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 -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05

ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5

@@ -45,12 +45,8 @@ param set-default MAV_1_MODE 9
 param set-default SER_TEL1_BAUD 921600
 
 # Vehicle attitude PID tuning
-param set-default MC_ACRO_EXPO 0
-param set-default MC_ACRO_EXPO_Y 0
 param set-default MC_ACRO_P_MAX 200
 param set-default MC_ACRO_R_MAX 200
-param set-default MC_ACRO_SUPEXPO 0
-param set-default MC_ACRO_SUPEXPOY 0
 param set-default MC_ACRO_Y_MAX 150
 param set-default MC_PITCHRATE_D 0.0015
 param set-default MC_ROLLRATE_D 0.0015
@@ -102,18 +98,17 @@ param set-default CBRK_IO_SAFETY 22027
 
 param set-default THR_MDL_FAC 0.3
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_KM 0.05
-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
 
 # Outputs
@@ -121,4 +116,3 @@ param set-default PWM_AUX_FUNC1 101
 param set-default PWM_AUX_FUNC2 102
 param set-default PWM_AUX_FUNC3 103
 param set-default PWM_AUX_FUNC4 104
-

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

@@ -1,65 +0,0 @@
-#!/bin/sh
-#
-# @name Reaper 500 Quad
-#
-# @type Quadrotor H
-# @class Copter
-#
-# @maintainer Blankered
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default MC_ROLLRATE_P 0.14
-param set-default MC_ROLLRATE_I 0.1
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_PITCH_P 6
-param set-default MC_PITCHRATE_P 0.14
-param set-default MC_PITCHRATE_I 0.09
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_YAW_P 4
-
-param set-default NAV_ACC_RAD 2
-
-param set-default RTL_RETURN_ALT 30
-param set-default RTL_DESCEND_ALT 10
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-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_KM 0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_MIN1 1100
-param set-default PWM_MAIN_MIN2 1100
-param set-default PWM_MAIN_MIN3 1100
-param set-default PWM_MAIN_MIN4 1100
-param set-default PWM_MAIN_MAX1 1900
-param set-default PWM_MAIN_MAX2 1900
-param set-default PWM_MAIN_MAX3 1900
-param set-default PWM_MAIN_MAX4 1900
-
-param set-default PWM_MAIN_TIM0 50
-param set-default PWM_MAIN_TIM1 50
-param set-default PWM_MAIN_TIM2 50
-
-param set-default PWM_AUX_TIM0 50
-param set-default PWM_AUX_TIM1 50
-param set-default PWM_AUX_TIM2 50
-
-

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

@@ -46,22 +46,20 @@ param set-default SYS_HAS_MAG 0
 
 param set-default BAT1_N_CELLS 2
 
+# Square quadrotor X with reverse turn direction
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.03
-param set-default CA_ROTOR0_PY 0.03
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
 param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX -0.03
-param set-default CA_ROTOR1_PY -0.03
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
 param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR2_PX 0.03
-param set-default CA_ROTOR2_PY -0.03
-param set-default CA_ROTOR2_KM 0.05
-param set-default CA_ROTOR3_PX -0.03
-param set-default CA_ROTOR3_PY 0.03
-param set-default CA_ROTOR3_KM 0.05
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 
 param set-default PWM_MAIN_FUNC1 104
 param set-default PWM_MAIN_FUNC2 101
 param set-default PWM_MAIN_FUNC3 102
 param set-default PWM_MAIN_FUNC4 103
-

ROMFS/px4fmu_common/init.d/airframes/4050_generic_250

@@ -36,16 +36,15 @@ param set-default SDLOG_PROFILE 19
 param set-default IMU_DGYRO_CUTOFF 50
 param set-default IMU_GYRO_CUTOFF 90
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-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
-
-

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

@@ -46,20 +46,20 @@ param set-default MPC_Z_VEL_I_ACC 1.7
 
 param set-default THR_MDL_FAC 0.3
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-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 PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
-

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

@@ -53,16 +53,17 @@ param set-default MC_AIRMODE 1
 
 param set-default EV_TSK_RC_LOSS 1
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-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 PWM_MAIN_FUNC1 104
@@ -72,5 +73,3 @@ param set-default PWM_MAIN_FUNC4 103
 
 param set-default PWM_MAIN_TIM0 -2
 param set-default PWM_MAIN_TIM1 -2
-
-

ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu

@@ -11,12 +11,11 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-
 # Battery settings
 param set-default BAT_CRIT_THR 0.20
 param set-default BAT_LOW_THR 0.25
 
-param set-default BAT1_CAPACITY 2800.0
+param set-default BAT1_CAPACITY 2800
 param set-default BAT1_N_CELLS 3
 param set-default BAT1_R_INTERNAL 0.02
 param set-default BAT1_V_CHARGED 4.26
@@ -38,7 +37,7 @@ param set-default COM_RC_LOSS_T 3
 
 # ekf2
 param set-default EKF2_TERR_MASK 1
-param set-default EKF2_BARO_NOISE 2.0
+param set-default EKF2_BARO_NOISE 2
 
 param set-default EKF2_BCOEF_X 31.5
 param set-default EKF2_BCOEF_Y 25.5
@@ -56,11 +55,11 @@ param set-default EKF2_MAG_NOISE 0.1
 param set-default EKF2_MIN_RNG 0.15
 
 param set-default EKF2_OF_DELAY 38
-param set-default EKF2_OF_GATE 2.0
+param set-default EKF2_OF_GATE 2
 param set-default EKF2_OF_POS_X -0.035
 param set-default EKF2_OF_POS_Z 0.033
 param set-default EKF2_OF_MIN_RNG 0.01
-param set-default EKF2_OF_A_HMAX 7.0
+param set-default EKF2_OF_A_HMAX 7
 param set-default EKF2_OF_QMIN 30
 
 param set-default EKF2_PCOEF_XN -0.3
@@ -68,18 +67,18 @@ param set-default EKF2_PCOEF_XP -0.4
 param set-default EKF2_PCOEF_YN -0.4
 param set-default EKF2_PCOEF_YP -0.4
 
-param set-default EKF2_RNG_A_VMAX 1.0
+param set-default EKF2_RNG_A_VMAX 1
 param set-default EKF2_RNG_CTRL 0
 param set-default EKF2_RNG_DELAY 55
 param set-default EKF2_RNG_POS_X -0.035
-param set-default EKF2_RNG_POS_Y 0.0
+param set-default EKF2_RNG_POS_Y 0
 param set-default EKF2_RNG_POS_Z 0.033
 
-param set-default EKF2_TERR_NOISE 1.0
+param set-default EKF2_TERR_NOISE 1
 
 
 # Maximum allowed angle velocity in the landed state
-param set-default LNDMC_ROT_MAX 40.0
+param set-default LNDMC_ROT_MAX 40
 
 # Maximum vertical velocity allowed in the landed state
 param set-default LNDMC_Z_VEL_MAX 0.7
@@ -94,36 +93,36 @@ param set-default IMU_GYRO_CUTOFF 65
 param set-default MC_PITCHRATE_P 0.075
 param set-default MC_PITCHRATE_I 0.1
 param set-default MC_PITCHRATE_D 0.0005
-param set-default MC_PITCHRATE_MAX 360.0
-param set-default MC_PITCH_P 8.0
+param set-default MC_PITCHRATE_MAX 360
+param set-default MC_PITCH_P 8
 
 # Roll angle & rate setting
 param set-default MC_ROLLRATE_P 0.055
 param set-default MC_ROLLRATE_I 0.1
 param set-default MC_ROLLRATE_D 0.0005
-param set-default MC_ROLLRATE_MAX 360.0
-param set-default MC_ROLL_P 8.0
+param set-default MC_ROLLRATE_MAX 360
+param set-default MC_ROLL_P 8
 
 # Yaw angle & rate setting
 param set-default MC_YAWRATE_P 0.1
-param set-default MC_YAWRATE_MAX 120.0
+param set-default MC_YAWRATE_MAX 120
 param set-default MC_YAW_P 2.5
 
-param set-default MPC_ACC_DOWN_MAX 2.0
-param set-default MPC_ACC_HOR 3.0
-param set-default MPC_ACC_HOR_MAX 10.0
-param set-default MPC_ACC_UP_MAX 3.0
+param set-default MPC_ACC_DOWN_MAX 2
+param set-default MPC_ACC_HOR 3
+param set-default MPC_ACC_HOR_MAX 10
+param set-default MPC_ACC_UP_MAX 3
 param set-default MPC_ALT_MODE 0
 param set-default MPC_LAND_SPEED 0.5
 param set-default MPC_MAN_TILT_MAX 20
-param set-default MPC_YAWRAUTO_MAX 80.0
+param set-default MPC_YAWRAUTO_MAX 80
 param set-default MPC_THR_HOVER 0.54
 param set-default MPC_THR_MAX 0.9
 param set-default MPC_THR_MIN 0.06
 param set-default MPC_TILTMAX_AIR 30
-param set-default MPC_XY_P 1.0
-param set-default MPC_Z_P 2.0
-param set-default MPC_Z_VEL_MAX_DN 2.0
+param set-default MPC_XY_P 1
+param set-default MPC_Z_P 2
+param set-default MPC_Z_VEL_MAX_DN 2
 
 # gimbal configuration
 param set-default MNT_MODE_IN 0
@@ -150,21 +149,22 @@ param set-default RC1_TRIM          1000
 # optical flow
 param set-default SENS_FLOW_MAXR   7.4
 param set-default SENS_FLOW_MINHGT 0.15
-param set-default SENS_FLOW_MAXHGT 5.0
+param set-default SENS_FLOW_MAXHGT 5
 
 # ignore the SD card errors and use normal startup sound
 set STARTUP_TUNE "1"
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-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 TAP_ESC_FUNC1 101

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

@@ -73,23 +73,22 @@ param set-default MAV_1_CONFIG 102
 param set-default MAV_1_MODE 0
 param set-default SER_TEL2_BAUD 57600
 
-
-param set-default CA_ROTOR_COUNT 4
-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_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_KM -0.05
-
 param set-default PWM_MAIN_TIM0 0
 
+# Square quadrotor X PX4 numbering
+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_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 -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05
+
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
-

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

@@ -91,22 +91,22 @@ param set-default EKF2_OF_POS_Z -0.07
 # Failsafe
 param set-default COM_LOW_BAT_ACT 3
 
-param set-default CA_ROTOR_COUNT 4
-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_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_KM -0.05
-
 param set-default PWM_MAIN_TIM0 -3
 
+# Square quadrotor X PX4 numbering
+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_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 -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05
+
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
-

ROMFS/px4fmu_common/init.d/airframes/4500_clover4

@@ -27,16 +27,17 @@ param set-default MPC_XY_P 1.1
 param set-default MPC_Z_VEL_P_ACC 4.8
 param set-default MPC_Z_P 1.2
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-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 PWM_MAIN_FUNC1 101

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

@@ -1,91 +0,0 @@
-#!/bin/sh
-#
-# @name Crazyflie 2
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @maintainer Dennis Shtatov <densht@gmail.com>
-#
-# @board px4_fmu-v2 exclude
-# @board px4_fmu-v3 exclude
-# @board px4_fmu-v4 exclude
-# @board px4_fmu-v4pro exclude
-# @board px4_fmu-v5 exclude
-# @board px4_fmu-v5x exclude
-# @board diatone_mamba-f405-mk2 exclude
-#
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default BAT1_N_CELLS 1
-param set-default BAT1_CAPACITY 240
-param set-default BAT1_SOURCE 1
-
-param set-default CBRK_SUPPLY_CHK 894281
-param set-default COM_RC_IN_MODE 1
-
-param set-default EKF2_ABL_LIM 2
-param set-default EKF2_HGT_REF 2
-param set-default EKF2_RNG_CTRL 2
-param set-default EKF2_MAG_TYPE 1
-param set-default EKF2_OF_CTRL 1
-param set-default EKF2_OF_DELAY 10
-
-param set-default IMU_GYRO_CUTOFF 100
-param set-default IMU_ACCEL_CUTOFF 30
-
-param set-default MC_AIRMODE 1
-param set-default IMU_DGYRO_CUTOFF 70
-param set-default MC_PITCHRATE_D 0.002
-param set-default MC_PITCHRATE_P 0.07
-param set-default MC_ROLLRATE_D 0.002
-param set-default MC_ROLLRATE_P 0.07
-param set-default MC_YAW_P 3
-
-param set-default MPC_THR_HOVER 0.7
-param set-default MPC_Z_P 1.5
-param set-default MPC_Z_VEL_P_ACC 8
-param set-default MPC_Z_VEL_I_ACC 6
-param set-default MPC_HOLD_MAX_XY 0.1
-param set-default MPC_MAX_FLOW_HGT 3
-
-param set-default NAV_RCL_ACT 3
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.03
-param set-default CA_ROTOR0_PY 0.03
-param set-default CA_ROTOR1_PX -0.03
-param set-default CA_ROTOR1_PY 0.03
-param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR2_PX -0.03
-param set-default CA_ROTOR2_PY -0.03
-param set-default CA_ROTOR3_PX 0.03
-param set-default CA_ROTOR3_PY -0.03
-param set-default CA_ROTOR3_KM -0.05
-
-# Run the motors at 328.125 kHz (recommended)
-param set-default PWM_MAIN_TIM0 3921
-param set-default PWM_MAIN_TIM1 3921
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_DIS0 0
-param set-default PWM_MAIN_DIS1 0
-param set-default PWM_MAIN_DIS2 0
-param set-default PWM_MAIN_DIS3 0
-param set-default PWM_MAIN_MIN0 0
-param set-default PWM_MAIN_MIN1 0
-param set-default PWM_MAIN_MIN2 0
-param set-default PWM_MAIN_MIN3 0
-param set-default PWM_MAIN_MAX0 255
-param set-default PWM_MAIN_MAX1 255
-param set-default PWM_MAIN_MAX2 255
-param set-default PWM_MAIN_MAX3 255
-
-
-param set-default SENS_FLOW_MINRNG 0.05
-
-syslink start
-mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000

ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21

@@ -17,7 +17,6 @@
 #
 . ${R}etc/init.d/rc.mc_defaults
 
-
 param set-default SYS_MC_EST_GROUP 2
 param set-default SYS_HAS_MAG 0
 param set-default EKF2_OF_CTRL 1
@@ -50,22 +49,22 @@ param set-default MPC_MAX_FLOW_HGT 3
 
 param set-default NAV_RCL_ACT 3
 
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.03
-param set-default CA_ROTOR0_PY 0.03
-param set-default CA_ROTOR1_PX -0.03
-param set-default CA_ROTOR1_PY 0.03
-param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR2_PX -0.03
-param set-default CA_ROTOR2_PY -0.03
-param set-default CA_ROTOR3_PX 0.03
-param set-default CA_ROTOR3_PY -0.03
-param set-default CA_ROTOR3_KM -0.05
-
 # Run the motors at 328.125 kHz (recommended)
 param set-default PWM_MAIN_TIM0 3921
 param set-default PWM_MAIN_TIM1 3921
 
+# Square quadrotor X clockwise numbering
+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_ROTOR1_KM -0.05
+param set-default CA_ROTOR2_PX -1
+param set-default CA_ROTOR2_PY -1
+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 PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103

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

@@ -11,51 +11,15 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.rover_defaults
+. ${R}etc/init.d/rc.rover_differential_defaults
 
 param set-default BAT1_N_CELLS 4
 
 param set-default EKF2_GBIAS_INIT 0.01
 param set-default EKF2_ANGERR_INIT 0.01
-param set-default EKF2_MAG_TYPE 1
-
-param set-default FW_AIRSPD_MIN 0
-param set-default FW_AIRSPD_TRIM 1
-param set-default FW_AIRSPD_MAX 3
-
-param set-default GND_SP_CTRL_MODE 1
-param set-default GND_L1_DIST 5
-param set-default GND_L1_PERIOD 3
-param set-default GND_THR_CRUISE 0.7
-param set-default GND_THR_MAX 0.5
-
-# Because this is differential drive, it can make a turn with radius 0.
-# This corresponds to a turn angle of pi radians.
-# If a special case is made for differential-drive, this will need to change.
-param set-default GND_MAX_ANG 3.142
-param set-default GND_WHEEL_BASE 0.3
-
-# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
-# to support negative throttle.
-param set-default GND_THR_MIN 0
-param set-default GND_SPEED_P 0.25
-param set-default GND_SPEED_I 3
-param set-default GND_SPEED_D 0.001
-param set-default GND_SPEED_IMAX 0.125
-param set-default GND_SPEED_THR_SC 1
-
-param set-default NAV_ACC_RAD 0.5
-
-# Differential drive acts like ackermann steering with a maximum turn angle of 180 degrees, or pi radians
-param set-default GND_MAX_ANG 3.1415
 
 # Set geometry & output configration
-param set-default CA_AIRFRAME 6
-param set-default CA_R_REV 3
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_DIS1 1500
-param set-default PWM_MAIN_DIS2 1500
-param set-default PWM_MAIN_TIM0 50
-param set-default PWM_MAIN_TIM1 50
-
+param set-default RBCLW_ADDRESS 128
+param set-default RBCLW_FUNC1 101
+param set-default RBCLW_FUNC2 102
+param set-default RBCLW_REV 1 # reverse right wheels

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

@@ -36,9 +36,9 @@ param set-default GND_THR_MAX 0.5
 param set-default GND_MAX_ANG 1.042
 param set-default GND_WHEEL_BASE 0.17
 
-# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
+# TODO: Set to -1, to allow reversing. This will require many changes in the codebase
 # to support negative throttle.
-param set-default GND_THR_MIN 0.0
+param set-default GND_THR_MIN 0
 param set-default GND_SPEED_P 0.25
 param set-default GND_SPEED_I 3
 param set-default GND_SPEED_D 0.001

ROMFS/px4fmu_common/init.d/airframes/5001_quad_+

@@ -1,12 +1,10 @@
 #!/bin/sh
 #
-# @name Generic 10" Quad + geometry
+# @name Generic Quad + geometry
 #
 # @type Quadrotor +
 # @class Copter
 #
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
 # @board bitcraze_crazyflie exclude
 # @board px4_fmu-v2 exclude
 #
@@ -14,13 +12,17 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+
+param set-default CA_ROTOR0_PX 0
+param set-default CA_ROTOR0_PY 1
+
+param set-default CA_ROTOR1_PX 0
+param set-default CA_ROTOR1_PY -1
+
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY 0
+param set-default CA_ROTOR2_KM -0.05
+
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 0
+param set-default CA_ROTOR3_KM -0.05

ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic

@@ -5,8 +5,6 @@
 # @type Underwater Robot
 # @class Underwater Robot
 #
-# @maintainer
-#
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 #

ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus

@@ -12,38 +12,7 @@
 #
 
 . ${R}etc/init.d/rc.uuv_defaults
-
-param set-default CA_AIRFRAME 7
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_R_REV 255
-param set-default CA_ROTOR0_AX 1
-param set-default CA_ROTOR0_AY 0
-param set-default CA_ROTOR0_AZ 0
-param set-default CA_ROTOR0_KM 0
-param set-default CA_ROTOR0_PX 0
-param set-default CA_ROTOR0_PY -0.3
-param set-default CA_ROTOR0_PZ -0.3
-param set-default CA_ROTOR1_AX 1
-param set-default CA_ROTOR1_AY 0
-param set-default CA_ROTOR1_AZ 0
-param set-default CA_ROTOR1_KM 0
-param set-default CA_ROTOR1_PX 0
-param set-default CA_ROTOR1_PY 0.3
-param set-default CA_ROTOR1_PZ -0.3
-param set-default CA_ROTOR2_AX 1
-param set-default CA_ROTOR2_AY 0
-param set-default CA_ROTOR2_AZ 0
-param set-default CA_ROTOR2_KM 0
-param set-default CA_ROTOR2_PX 0
-param set-default CA_ROTOR2_PY 0.3
-param set-default CA_ROTOR2_PZ 0.3
-param set-default CA_ROTOR3_AX 1
-param set-default CA_ROTOR3_AY 0
-param set-default CA_ROTOR3_AZ 0
-param set-default CA_ROTOR3_KM 0
-param set-default CA_ROTOR3_PX 0
-param set-default CA_ROTOR3_PY -0.3
-param set-default CA_ROTOR3_PZ 0.3
+. ${R}etc/init.d/airframes/60000_uuv_generic
 
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102

ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy

@@ -30,7 +30,7 @@ param set-default MAV_1_CONFIG 102
 
 param set-default BAT1_A_PER_V 37.8798
 param set-default BAT1_CAPACITY 18000
-param set-default BAT1_V_DIV 11.0
+param set-default BAT1_V_DIV 11
 param set-default BAT1_N_CELLS 4
 param set-default BAT_V_OFFS_CURR 0.33
 
@@ -38,49 +38,49 @@ param set-default CA_AIRFRAME 7
 
 param set-default CA_ROTOR_COUNT 8
 param set-default CA_R_REV 255
-param set-default CA_ROTOR0_AX 1.0000
-param set-default CA_ROTOR0_AY -1.0000
-param set-default CA_ROTOR0_AZ 0.0000
-param set-default CA_ROTOR0_KM 0.0000
-param set-default CA_ROTOR0_PX 0.5000
-param set-default CA_ROTOR0_PY 0.3000
-param set-default CA_ROTOR0_PZ 0.2000
-param set-default CA_ROTOR1_AX 1.0000
-param set-default CA_ROTOR1_AY 1.0000
-param set-default CA_ROTOR1_AZ 0.0000
-param set-default CA_ROTOR1_KM 0.0000
-param set-default CA_ROTOR1_PX 0.5000
-param set-default CA_ROTOR1_PY -0.3000
-param set-default CA_ROTOR1_PZ 0.2000
-param set-default CA_ROTOR2_AX 1.0000
-param set-default CA_ROTOR2_AY 1.0000
-param set-default CA_ROTOR2_AZ 0.0000
-param set-default CA_ROTOR2_KM 0.0000
-param set-default CA_ROTOR2_PX -0.5000
-param set-default CA_ROTOR2_PY 0.3000
-param set-default CA_ROTOR2_PZ 0.2000
-param set-default CA_ROTOR3_AX 1.0000
-param set-default CA_ROTOR3_AY -1.0000
-param set-default CA_ROTOR3_AZ 0.0000
-param set-default CA_ROTOR3_KM 0.0000
-param set-default CA_ROTOR3_PX -0.5000
-param set-default CA_ROTOR3_PY -0.3000
-param set-default CA_ROTOR3_PZ 0.2000
-param set-default CA_ROTOR4_AZ -1.0000
-param set-default CA_ROTOR4_KM 0.0000
-param set-default CA_ROTOR4_PX 0.5000
-param set-default CA_ROTOR4_PY 0.5000
-param set-default CA_ROTOR5_AZ 1.0000
-param set-default CA_ROTOR5_KM 0.0000
-param set-default CA_ROTOR5_PX 0.5000
-param set-default CA_ROTOR5_PY -0.5000
-param set-default CA_ROTOR6_AZ 1.0000
-param set-default CA_ROTOR6_KM 0.0000
-param set-default CA_ROTOR6_PX -0.5000
-param set-default CA_ROTOR6_PY 0.5000
-param set-default CA_ROTOR7_KM 0.0000
-param set-default CA_ROTOR7_PX -0.5000
-param set-default CA_ROTOR7_PY -0.5000
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AY -1
+param set-default CA_ROTOR0_AZ 0
+param set-default CA_ROTOR0_KM 0
+param set-default CA_ROTOR0_PX 0.5
+param set-default CA_ROTOR0_PY 0.3
+param set-default CA_ROTOR0_PZ 0.2
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AY 1
+param set-default CA_ROTOR1_AZ 0
+param set-default CA_ROTOR1_KM 0
+param set-default CA_ROTOR1_PX 0.5
+param set-default CA_ROTOR1_PY -0.3
+param set-default CA_ROTOR1_PZ 0.2
+param set-default CA_ROTOR2_AX 1
+param set-default CA_ROTOR2_AY 1
+param set-default CA_ROTOR2_AZ 0
+param set-default CA_ROTOR2_KM 0
+param set-default CA_ROTOR2_PX -0.5
+param set-default CA_ROTOR2_PY 0.3
+param set-default CA_ROTOR2_PZ 0.2
+param set-default CA_ROTOR3_AX 1
+param set-default CA_ROTOR3_AY -1
+param set-default CA_ROTOR3_AZ 0
+param set-default CA_ROTOR3_KM 0
+param set-default CA_ROTOR3_PX -0.5
+param set-default CA_ROTOR3_PY -0.3
+param set-default CA_ROTOR3_PZ 0.2
+param set-default CA_ROTOR4_AZ -1
+param set-default CA_ROTOR4_KM 0
+param set-default CA_ROTOR4_PX 0.5
+param set-default CA_ROTOR4_PY 0.5
+param set-default CA_ROTOR5_AZ 1
+param set-default CA_ROTOR5_KM 0
+param set-default CA_ROTOR5_PX 0.5
+param set-default CA_ROTOR5_PY -0.5
+param set-default CA_ROTOR6_AZ 1
+param set-default CA_ROTOR6_KM 0
+param set-default CA_ROTOR6_PX -0.5
+param set-default CA_ROTOR6_PY 0.5
+param set-default CA_ROTOR7_KM 0
+param set-default CA_ROTOR7_PX -0.5
+param set-default CA_ROTOR7_PY -0.5
 
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102

ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x

@@ -16,10 +16,10 @@
 param set-default MAV_TYPE 13
 
 param set-default CA_ROTOR_COUNT 6
-param set-default CA_ROTOR0_PX 0.0
+param set-default CA_ROTOR0_PX 0
 param set-default CA_ROTOR0_PY 0.5
 param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0.0
+param set-default CA_ROTOR1_PX 0
 param set-default CA_ROTOR1_PY -0.5
 param set-default CA_ROTOR2_PX 0.43
 param set-default CA_ROTOR2_PY -0.25

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

@@ -97,10 +97,10 @@ param set-default SER_TEL2_BAUD 921600
 
 
 param set-default CA_ROTOR_COUNT 6
-param set-default CA_ROTOR0_PX 0.0
+param set-default CA_ROTOR0_PX 0
 param set-default CA_ROTOR0_PY 0.5
 param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0.0
+param set-default CA_ROTOR1_PX 0
 param set-default CA_ROTOR1_PY -0.5
 param set-default CA_ROTOR2_PX 0.43
 param set-default CA_ROTOR2_PY -0.25

ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+

@@ -17,10 +17,10 @@ param set-default MAV_TYPE 13
 
 param set-default CA_ROTOR_COUNT 6
 param set-default CA_ROTOR0_PX 0.5
-param set-default CA_ROTOR0_PY 0.0
+param set-default CA_ROTOR0_PY 0
 param set-default CA_ROTOR0_KM -0.05
 param set-default CA_ROTOR1_PX -0.5
-param set-default CA_ROTOR1_PY 0.0
+param set-default CA_ROTOR1_PY 0
 param set-default CA_ROTOR2_PX -0.25
 param set-default CA_ROTOR2_PY -0.43
 param set-default CA_ROTOR2_KM -0.05

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

@@ -32,96 +32,127 @@
 ############################################################################
 
 px4_add_romfs_files(
-	# [0-999] Reserved (historical)"
-
-	# [1000, 1999] Simulation setups"
-	1001_rc_quad_x.hil
-	1002_standard_vtol.hil
-	1100_rc_quad_x_sih.hil
-	1101_rc_plane_sih.hil
-	1102_tailsitter_duo_sih.hil
-
-	# [2000, 2999] Standard planes"
-	2100_standard_plane
-	2106_albatross
-
-	2507_cloudship
-
-	# [3000, 3999] Flying wing"
-	3000_generic_wing
-
-	# [4000, 4999] Quadrotor x"
-	4001_quad_x
-	4014_s500
-	4015_holybro_s500
-	4016_holybro_px4vision
-	4017_nxp_hovergames
-	4019_x500_v2
-	4020_holybro_px4vision_v1_5
-	4040_reaper
-	4041_beta75x
-	4050_generic_250
-	4052_holybro_qav250
-	4053_holybro_kopis2
-	4061_atl_mantis_edu
-	4071_ifo
-	4073_ifo-s
-	4500_clover4
-	4900_crazyflie
-	4901_crazyflie21
-
-	# [5000, 5999] Quadrotor +"
-	5001_quad_+
-
-	# [6000, 6999] Hexarotor x"
-	6001_hexa_x
-	6002_draco_r
-
-	# [7000, 7999] Hexarotor +"
-	7001_hexa_+
-
-	# [8000, 8999] Octorotor +"
-	8001_octo_x
-
-	# [9000, 9999] Octorotor +"
-	9001_octo_+
-
-	# [11000, 11999] Hexa Cox
-	11001_hexa_cox
-
-	# [12000, 12999] Octo Cox
-	12001_octo_cox
-
-	# [13000, 13999] VTOL
-	13000_generic_vtol_standard
-	13100_generic_vtol_tiltrotor
-	13013_deltaquad
-	13014_vtol_babyshark
-	13030_generic_vtol_quad_tiltrotor
-	13200_generic_vtol_tailsitter
-
-	# [14000, 14999] MC with tilt
-	14001_generic_mc_with_tilt
-
-	16001_helicopter
-
-	# [17000, 17999] Autogyro
-	17002_TF-AutoG2
-	17003_TF-G2
+	# [0-999] Reserved (historical)
 
 	# [18000, 18999] High-altitude balloons
 	18001_TF-B1
 
 	# [22000, 22999] Reserve for custom models
-
-	24001_dodeca_cox
-
-	50000_generic_ground_vehicle
-	50004_nxpcup_car_dfrobot_gpx
-	50003_aion_robotics_r1_rover
-
-	# [60000, 61000] (Unmanned) Underwater Robots
-	60000_uuv_generic
-	60001_uuv_hippocampus
-	60002_uuv_bluerov2_heavy
 )
+
+if(CONFIG_MODULES_SIMULATION_PWM_OUT_SIM)
+	px4_add_romfs_files(
+		# [1000, 1999] Simulation setups
+		1001_rc_quad_x.hil
+		1002_standard_vtol.hil
+		1100_rc_quad_x_sih.hil
+		1101_rc_plane_sih.hil
+		1102_tailsitter_duo_sih.hil
+	)
+endif()
+
+if(CONFIG_MODULES_MC_RATE_CONTROL)
+	px4_add_romfs_files(
+		# [4000, 4999] Quadrotor x
+		4001_quad_x
+		4014_s500
+		4015_holybro_s500
+		4016_holybro_px4vision
+		4017_nxp_hovergames
+		4019_x500_v2
+		4020_holybro_px4vision_v1_5
+		4041_beta75x
+		4050_generic_250
+		4052_holybro_qav250
+		4053_holybro_kopis2
+		4061_atl_mantis_edu
+		4071_ifo
+		4073_ifo-s
+		4500_clover4
+		4901_crazyflie21
+
+		# [5000, 5999] Quadrotor +
+		5001_quad_+
+
+		# [6000, 6999] Hexarotor x
+		6001_hexa_x
+		6002_draco_r
+
+		# [7000, 7999] Hexarotor +
+		7001_hexa_+
+
+		# [8000, 8999] Octorotor +
+		8001_octo_x
+
+		# [9000, 9999] Octorotor +
+		9001_octo_+
+
+		# [11000, 11999] Hexa Cox
+		11001_hexa_cox
+
+		# [12000, 12999] Octo Cox
+		12001_octo_cox
+
+		# [14000, 14999] MC with tilt
+		14001_generic_mc_with_tilt
+
+		16001_helicopter
+
+		24001_dodeca_cox
+	)
+endif()
+
+if(CONFIG_MODULES_FW_RATE_CONTROL)
+	px4_add_romfs_files(
+		# [2000, 2999] Standard planes
+		2100_standard_plane
+		2106_albatross
+
+		# [3000, 3999] Flying wing
+		3000_generic_wing
+
+		# [17000, 17999] Autogyro
+		17002_TF-AutoG2
+		17003_TF-G2
+	)
+endif()
+
+if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL)
+	px4_add_romfs_files(
+		2507_cloudship
+	)
+endif()
+
+if(CONFIG_MODULES_VTOL_ATT_CONTROL)
+	px4_add_romfs_files(
+		# [13000, 13999] VTOL
+		13000_generic_vtol_standard
+		13100_generic_vtol_tiltrotor
+		13013_deltaquad
+		13014_vtol_babyshark
+		13030_generic_vtol_quad_tiltrotor
+		13200_generic_vtol_tailsitter
+	)
+endif()
+
+if(CONFIG_MODULES_ROVER_POS_CONTROL)
+	px4_add_romfs_files(
+		50000_generic_ground_vehicle
+		50004_nxpcup_car_dfrobot_gpx
+	)
+endif()
+
+if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
+	px4_add_romfs_files(
+		50003_aion_robotics_r1_rover
+	)
+endif()
+
+if(CONFIG_MODULES_UUV_ATT_CONTROL)
+	px4_add_romfs_files(
+		# [60000, 61000] (Unmanned) Underwater Robots
+		60000_uuv_generic
+		60001_uuv_hippocampus
+		60002_uuv_bluerov2_heavy
+	)
+endif()

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -17,7 +17,7 @@ param set-default COM_POS_FS_DELAY 5
 
 # there is a 2.5 factor applied on the _FS thresholds if for invalidation
 param set-default COM_POS_FS_EPH 50
-param set-default COM_VEL_FS_EVH 5
+param set-default COM_VEL_FS_EVH 3
 
 param set-default COM_POS_LOW_EPH 50
 
@@ -28,13 +28,12 @@ param set-default EKF2_ARSP_THR 8
 param set-default EKF2_FUSE_BETA 1
 param set-default EKF2_GPS_CHECK 21
 param set-default EKF2_MAG_ACCLIM 0
-param set-default EKF2_MAG_YAWLIM 0
 param set-default EKF2_REQ_EPH 10
 param set-default EKF2_REQ_EPV 10
 param set-default EKF2_REQ_HDRIFT 0.5
 param set-default EKF2_REQ_SACC 1
-param set-default EKF2_REQ_VDRIFT 1.0
-param set-default EKF2_RNG_QLTY_T 3.0
+param set-default EKF2_REQ_VDRIFT 1
+param set-default EKF2_RNG_QLTY_T 3
 
 param set-default RTL_TYPE 1
 param set-default RTL_RETURN_ALT 100
@@ -54,3 +53,5 @@ param set-default MIS_TKO_LAND_REQ 2
 # FW takeoff acceleration can easily exceed ublox GPS 2G default.
 #
 param set-default GPS_UBX_DYNMODEL 8
+
+param set-default SYS_HAS_NUM_ASPD 1 # by default require an airspeed sensor

ROMFS/px4fmu_common/init.d/rc.rover_apps

@@ -9,8 +9,6 @@
 # Start the attitude and position estimator.
 #
 ekf2 start &
-#attitude_estimator_q start
-#local_position_estimator start
 
 #
 # Start Control Allocator
@@ -22,7 +20,6 @@ control_allocator start
 #
 rover_pos_control start
 
-
 #
 # Start Land Detector.
 #

ROMFS/px4fmu_common/init.d/rc.rover_defaults

@@ -10,9 +10,6 @@ set VEHICLE_TYPE rover
 # MAV_TYPE_GROUND_ROVER 10
 param set-default MAV_TYPE 10
 
-# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
-param set-default CBRK_AIRSPD_CHK 162128
-
 param set-default MIS_TAKEOFF_ALT 0.01
 
 param set-default NAV_ACC_RAD 2

ROMFS/px4fmu_common/init.d/rc.rover_differential_apps

@@ -0,0 +1,11 @@
+#!/bin/sh
+# Standard apps for a differential drive rover.
+
+# Start the attitude and position estimator.
+ekf2 start &
+
+# Start rover differential drive controller.
+differential_drive start
+
+# Start Land Detector.
+land_detector start rover

ROMFS/px4fmu_common/init.d/rc.rover_differential_defaults

@@ -0,0 +1,11 @@
+#!/bin/sh
+# Differential rover parameters.
+
+set VEHICLE_TYPE rover_differential
+
+param set-default MAV_TYPE 10 # MAV_TYPE_GROUND_ROVER
+
+param set-default CA_AIRFRAME 6 # Rover (Differential)
+param set-default CA_R_REV 3 # Right and left motors reversible
+
+param set-default EKF2_MAG_TYPE 1 # make sure magnetometer is fused even when not flying

ROMFS/px4fmu_common/init.d/rc.thermal_cal

@@ -22,6 +22,11 @@ then
 	set TEMP_COMP_START "true"
 fi
 
+if param compare -s TC_M_ENABLE 1
+then
+	set TEMP_COMP_START "true"
+fi
+
 if [ "x$TEMP_COMP_START" != "x" ]
 then
 	temperature_compensation start