mission_block: acquire gimbal control also when the command from the gimbal

protocol v2 is parsed
Battery: delay initialization of SoC (#20729 )
2026-08-06 23:00:35 +08:00 · 2023-01-13 12:07:30 +01:00 · 2023-01-12 15:25:26 +01:00 · 2023-01-12 15:25:19 +01:00 · 2023-01-12 15:25:11 +01:00 · 2023-01-12 15:22:52 +01:00
808 changed files with 24497 additions and 17265 deletions
@@ -1,11 +1,17 @@
 ---
 Checks:          '*,
+                  -*-avoid-c-arrays,
+                  -*-uppercase-literal-suffix,
+                  -*-magic-numbers,
+                  -altera-id-dependent-backward-branch,
+                  -altera-unroll-loops,
                  -android*,
                  -bugprone-integer-division,
                  -cert-dcl50-cpp,
                  -cert-env33-c,
                  -cert-err34-c,
                  -cert-err58-cpp,
+                  -cert-flp30-c,
                  -cert-msc30-c,
                  -cert-msc50-cpp,
                  -clang-analyzer-core.CallAndMessage,
@@ -18,6 +24,7 @@ Checks:          '*,
                  -clang-analyzer-deadcode.DeadStores,
                  -clang-analyzer-optin.cplusplus.VirtualCall,
                  -clang-analyzer-optin.performance.Padding,
+                  -clang-analyzer-security.FloatLoopCounter,
                  -clang-analyzer-security.insecureAPI.strcpy,
                  -clang-analyzer-unix.API,
                  -clang-analyzer-unix.cstring.BadSizeArg,
@@ -37,8 +44,7 @@ Checks:          '*,
                  -cppcoreguidelines-pro-type-union-access,
                  -cppcoreguidelines-pro-type-vararg,
                  -cppcoreguidelines-special-member-functions,
-                  -fuchsia-default-arguments,
-                  -fuchsia-overloaded-operator,
+                  -fuchsia-*,
                  -google-build-using-namespace,
                  -google-explicit-constructor,
                  -google-global-names-in-headers,
@@ -62,6 +68,7 @@ Checks:          '*,
                  -hicpp-use-equals-delete,
                  -hicpp-use-override,
                  -hicpp-vararg,
+                  -llvmlibc-*,
                  -llvm-header-guard,
                  -llvm-include-order,
                  -llvm-namespace-comment,
@@ -84,6 +91,7 @@ Checks:          '*,
                  -modernize-use-override,
                  -modernize-use-trailing-return-type,
                  -modernize-use-using,
+                  -modernize-use-trailing-return-type,
                  -performance-inefficient-string-concatenation,
                  -readability-avoid-const-params-in-decls,
                  -readability-container-size-empty,
@@ -1,17 +1,14 @@
-Please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.
+**How this PR solves the problem**
+Depending on how complex the PR is, something between a line and a few paragraphs with logs and videos.

-## Describe problem solved by this pull request
-A clear and concise description of the problem this proposed change will solve. Or, what it will improve.
-E.g. For this use case I ran into...
+**JIRA ID in title, and link here**
+Add a link and the title of the JIRA for context

-## Describe your solution
-A clear and concise description of what you have implemented.
+**Upstream/develop PR that this was backported from**
+If applicable, link to PR and/or commit

-## Describe possible alternatives
-A clear and concise description of alternative solutions or features you've considered.
+**Critical bug that needs backporting?**
+Yes/No, link to backport PR when applicable

-## Test data / coverage
-How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.
-
-## Additional context
+**Additional context**
 Add any other related context or media.
@@ -1,34 +0,0 @@
-name: ClusterFuzzLite batch fuzzing
-on:
-  schedule:
-    - cron: '0 6 * * *'  # UTC 6am every day.
-permissions: read-all
-jobs:
-  BatchFuzzing:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        sanitizer:
-        - address
-        - undefined
-        - memory
-    steps:
-    - name: Build Fuzzers (${{ matrix.sanitizer }})
-      id: build
-      uses: google/clusterfuzzlite/actions/build_fuzzers@v1
-      with:
-        sanitizer: ${{ matrix.sanitizer }}
-    - name: Run Fuzzers (${{ matrix.sanitizer }})
-      id: run
-      uses: google/clusterfuzzlite/actions/run_fuzzers@v1
-      with:
-        github-token: ${{ secrets.GITHUB_TOKEN }}
-        fuzz-seconds: 1800 # 30 mins
-        mode: 'batch'
-        sanitizer: ${{ matrix.sanitizer }}
-        # Optional but recommended: For storing certain artifacts from fuzzing.
-        # See later section on "Git repo for storage".
-        # storage-repo: https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/OWNER/STORAGE-REPO-NAME.git
-        # storage-repo-branch: main   # Optional. Defaults to "main"
-        # storage-repo-branch-coverage: gh-pages  # Optional. Defaults to "gh-pages".
@@ -1,51 +0,0 @@
-name: Checks
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        check: [
-          "check_format",
-          "tests",
-          "tests_coverage",
-          "px4_fmu-v2_default stack_check",
-          "validate_module_configs",
-          "shellcheck_all",
-          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
-          "NO_NINJA_BUILD=1 px4_sitl_default",
-          "BUILD_MICRORTPS_AGENT=1 px4_sitl_rtps",
-          "airframe_metadata",
-          "module_documentation",
-          "parameters_metadata",
-        ]
-    container:
-      image: px4io/px4-dev-nuttx-focal:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: ${{matrix.check}}
-      run: make ${{matrix.check}}
-    - name: upload coverage
-      if: contains(matrix.check, 'coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: unittests
-        file: coverage/lcov.info
@@ -1,21 +0,0 @@
-name: Clang Tidy
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: make clang-tidy-quiet
-      run: make clang-tidy-quiet
@@ -1,54 +0,0 @@
-name: Linux Targets
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2021-09-08
-    strategy:
-      matrix:
-        config: [
-          beaglebone_blue_default,
-          emlid_navio2_default,
-          px4_raspberrypi_default,
-          scumaker_pilotpi_default,
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
-    - name: ccache post-run
-      run: ccache -s
@@ -1,51 +0,0 @@
-name: Linux ARM64 Targets
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2021-09-08
-    strategy:
-      matrix:
-        config: [
-          scumaker_pilotpi_arm64,
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
-    - name: ccache post-run
-      run: ccache -s
@@ -1,56 +0,0 @@
-name: MacOS build
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: macos-10.15
-    strategy:
-      matrix:
-        config: [
-          px4_fmu-v5_default,
-          px4_sitl
-          #tests, # includes px4_sitl
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: setup
-      run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: macos_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: macos_${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 40M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: |
-          ccache -z
-          make ${{matrix.config}}
-          ccache -s
@@ -1,126 +0,0 @@
-name: Nuttx Targets
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-09-08
-    strategy:
-      fail-fast: false
-      matrix:
-        config: [
-          airmind_mindpx-v2,
-          ark_can-flow,
-          ark_can-gps,
-          ark_can-rtk-gps,
-          ark_cannode,
-          atl_mantis-edu,
-          av_x-v1,
-          bitcraze_crazyflie,
-          bitcraze_crazyflie21,
-          cuav_can-gps-v1,
-          cuav_nora,
-          cuav_x7pro,
-          cubepilot_cubeorange,
-          cubepilot_cubeyellow,
-          diatone_mamba-f405-mk2,
-          freefly_can-rtk-gps,
-          holybro_can-gps-v1,
-          holybro_durandal-v1,
-          holybro_kakutef7,
-          holybro_kakuteh7,
-          holybro_pix32v5,
-          matek_gnss-m9n-f4,
-          matek_h743,
-          matek_h743-mini,
-          matek_h743-slim,
-          modalai_fc-v1,
-          modalai_fc-v2,
-          mro_ctrl-zero-f7,
-          mro_ctrl-zero-f7-oem,
-          mro_ctrl-zero-h7,
-          mro_ctrl-zero-h7-oem,
-          mro_pixracerpro,
-          mro_x21,
-          mro_x21-777,
-          nxp_fmuk66-e,
-          nxp_fmuk66-v3,
-          nxp_fmurt1062-v1,
-          nxp_ucans32k146,
-          omnibus_f4sd,
-          px4_fmu-v2,
-          px4_fmu-v3,
-          px4_fmu-v4,
-          px4_fmu-v4pro,
-          px4_fmu-v5,
-          px4_fmu-v5x,
-          px4_fmu-v6c,
-          px4_fmu-v6u,
-          px4_fmu-v6x,
-          raspberrypi_pico,
-          sky-drones_smartap-airlink,
-          spracing_h7extreme,
-          uvify_core
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 120M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make all_variants_${{matrix.config}}
-      run: make all_variants_${{matrix.config}}
-      timeout-minutes: 45
-    - name: make ${{matrix.config}} bloaty_compileunits
-      run: make ${{matrix.config}} bloaty_compileunits || true
-    - name: make ${{matrix.config}} bloaty_inlines
-      run: make ${{matrix.config}} bloaty_inlines || true
-    - name: make ${{matrix.config}} bloaty_segments
-      run: make ${{matrix.config}} bloaty_segments || true
-    - name: make ${{matrix.config}} bloaty_symbols
-      run: make ${{matrix.config}} bloaty_symbols || true
-    - name: make ${{matrix.config}} bloaty_templates
-      run: make ${{matrix.config}} bloaty_templates || true
-    - name: make ${{matrix.config}} bloaty_ram
-      run: make ${{matrix.config}} bloaty_ram || true
-    - name: make ${{matrix.config}} bloaty_compare_master
-      run: make ${{matrix.config}} bloaty_compare_master || true
-    - name: ccache post-run
-      run: ccache -s
-
-    - name: Upload px4 package
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_package_${{matrix.config}}
-        path: |
-          build/**/*.px4
-          build/**/*.bin
@@ -1,54 +0,0 @@
-name: Deploy metadata for all targets
-
-on:
-  push:
-    branches:
-    - 'master'
-    - 'release/*'
-    - 'pr-metadata-test'
-
-jobs:
-  enumerate_targets:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    outputs:
-      matrix: ${{ steps.set-matrix.outputs.matrix }}
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-    - id: set-matrix
-      run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py)"
-  build:
-    runs-on: ubuntu-latest
-    needs: enumerate_targets
-    strategy:
-      matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
-    container: px4io/px4-dev-${{ matrix.container }}:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: make ${{matrix.target}}
-      run: make ${{matrix.target}}
-
-    - name: parameter & events metadata
-      run: |
-        make ${{matrix.target}} ver_gen events_json actuators_json
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
-        cd build/${{ matrix.target }}
-        mkdir _metadata || true
-        cp parameters.* events/*.xz actuators.json* _metadata
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
-        DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
-
@@ -1,21 +0,0 @@
-name: EKF Change Indicator
-
-on: pull_request
-
-jobs:
-  unit_tests:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v2.3.1
-      with:
-        fetch-depth: 0
-    - name: checkout newest version of branch
-      run: |
-        git fetch origin pull/${{github.event.pull_request.number}}/head:${{github.head_ref}}
-        git checkout ${GITHUB_HEAD_REF}
-    - name: main test
-      run: make tests TESTFILTER=EKF
-    - name: Check if there is a functional change
-      run: git diff --exit-code
-      working-directory: src/modules/ekf2/test/change_indication
@@ -1,29 +0,0 @@
-name: EKF Update Change Indicator
-
-on: push
-
-jobs:
-  unit_tests:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    env:
-      GIT_COMMITTER_EMAIL: bot@px4.io
-      GIT_COMMITTER_NAME: PX4BuildBot
-    steps:
-    - uses: actions/checkout@v2.3.1
-      with:
-        fetch-depth: 0
-    - name: main test updates change indication files
-      run: make tests TESTFILTER=EKF
-    - name: Check if there exists diff and save result in variable
-      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_ENV
-      working-directory: src/modules/ekf2/test/change_indication
-    - name: auto-commit any changes to change indication
-      uses: stefanzweifel/git-auto-commit-action@v4
-      with:
-        commit_message: '[AUTO COMMIT] update change indication'
-        commit_user_name: ${GIT_COMMITTER_NAME}
-        commit_user_email: ${GIT_COMMITTER_EMAIL}
-    - if: ${{env.CHANGE_INDICATED}}
-      name: if there is a functional change, fail check
-      run: exit 1
@@ -1,139 +0,0 @@
-name: MAVROS Mission Tests
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          - {vehicle: "iris",          mission: "MC_mission_box",  build_type: "RelWithDebInfo"}
-          - {vehicle: "rover",         mission: "rover_mission_1", build_type: "RelWithDebInfo"}
-          #- {vehicle: "plane",         mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
-          #- {vehicle: "plane_catapult",mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
-          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "Coverage"}
-          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "AddressSanitizer"}
-          #- {vehicle: "tailsitter",    mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
-          #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
-
-    container:
-      image: px4io/px4-dev-ros-melodic:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4 and sitl_gazebo
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        ccache -z
-        make px4_sitl_default
-        make px4_sitl_default sitl_gazebo
-        ccache -s
-
-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run SITL tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        export
-        ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
-      timeout-minutes: 45
-
-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: coredump
-        path: px4.core
-
-    - name: ecl EKF analysis
-      if: always()
-      run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
-
-    - name: Upload logs to flight review
-      if: always()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
-
-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
-
-    - name: Store PX4 log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_log
-        path: ~/.ros/log/*/*.ulg
-
-    - name: Store ROS log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: ros_log
-        path: ~/.ros/**/rostest-*.log
-
-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      if: contains(matrix.config.build_type, 'Coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavros_mission
-        file: coverage/lcov.info
@@ -1,134 +0,0 @@
-name: MAVROS Offboard Tests
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          - {test_file: "mavros_posix_tests_offboard_posctl.test",    vehicle: "iris", build_type: "RelWithDebInfo"}
-          #- {test_file: "mavros_posix_tests_offboard_attctl.test",    vehicle: "iris", build_type: "RelWithDebInfo"}
-          #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
-
-    container:
-      image: px4io/px4-dev-ros-melodic:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4 and sitl_gazebo
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        ccache -z
-        make px4_sitl_default
-        make px4_sitl_default sitl_gazebo
-        ccache -s
-
-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run SITL tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        export
-        ./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
-      timeout-minutes: 45
-
-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: coredump
-        path: px4.core
-
-    - name: ecl EKF analysis
-      if: always()
-      run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
-
-    - name: Upload logs to flight review
-      if: always()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
-
-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
-
-    - name: Store PX4 log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_log
-        path: ~/.ros/log/*/*.ulg
-
-    - name: Store ROS log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: ros_log
-        path: ~/.ros/**/rostest-*.log
-
-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      if: contains(matrix.config.build_type, 'Coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavros_offboard
-        file: coverage/lcov.info
@@ -1,157 +0,0 @@
-name: Metadata
-
-on:
-  push:
-    branches:
-    - 'master'
-    - 'release/*'
-    - 'pr-metadata-test'
-
-jobs:
-
-  airframe:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: airframe metadata
-      run: |
-        make airframe_metadata
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
-        cd build/px4_sitl_default/docs
-      # TODO: deploy to userguide gitbook
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/px4_sitl_default/docs/'
-        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
-
-  module:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: module documentation
-      run: |
-        make module_documentation
-        cd build/px4_sitl_default/docs
-        ls -ls *
-      # TODO: deploy to userguide gitbook and s3
-
-  parameter:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: parameter metadata
-      run: |
-        make parameters_metadata
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/px4_sitl_default/docs/'
-        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
-
-  events:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: events metadata
-      run: |
-        make extract_events
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
-        cd build/px4_sitl_default
-        mkdir _events_full || true
-        cp events/all_events_full.json.xz _events_full/all_events.json.xz
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/px4_sitl_default/_events_full/'
-        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
-
-  uorb_graph:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: uORB graph
-      run: |
-        make uorb_graphs
-        cd Tools/uorb_graph
-        ls -ls *
-      # TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/
-
-  micrortps_agent:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: microRTPS agent
-      run: |
-        make px4_sitl_rtps
-        git clone https://github.com/PX4/micrortps_agent.git
-        cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent
-
-  ROS_msgs:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: PX4 ROS msgs
-      run: |
-        git clone https://github.com/PX4/px4_msgs.git
-        python3 msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/
-
-  ROS2_bridge:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: PX4 ROS2 bridge
-      run: |
-        git clone https://github.com/PX4/px4_ros_com.git
-        ./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml
@@ -1,25 +0,0 @@
-name: Python CI Checks
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-    - name: Install Python3
-      run: sudo apt-get install python3 python3-setuptools python3-pip -y
-    - name: Install tools
-      run: pip3 install --user mypy types-requests flake8
-    - name: Check MAVSDK test scripts with mypy
-      run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
-    - name: Check MAVSDK test scripts with flake8
-      run: $HOME/.local/bin/flake8 test/mavsdk_tests/*.py
@@ -1,135 +0,0 @@
-name: SITL Tests
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          - {model: "iris",          latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
-          - {model: "standard_vtol", latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer" } # Australia
-          - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
-          - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
-
-    container:
-      image: px4io/px4-dev-simulation-focal:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: Download MAVSDK
-      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
-    - name: Install MAVSDK
-      run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: check environment
-      env:
-        PX4_HOME_LAT: ${{matrix.config.latitude}}
-        PX4_HOME_LON: ${{matrix.config.longitude}}
-        PX4_HOME_ALT: ${{matrix.config.altitude}}
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: make px4_sitl_default
-    - name: ccache post-run px4/firmware
-      run: ccache -s
-    - name: Build SITL Gazebo
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: make px4_sitl_default sitl_gazebo
-    - name: ccache post-run sitl_gazebo
-      run: ccache -s
-    - name: Build MAVSDK tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        DONT_RUN: 1
-      run: make px4_sitl_default gazebo mavsdk_tests
-    - name: ccache post-run mavsdk_tests
-      run: ccache -s
-
-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run SITL tests
-      env:
-        PX4_HOME_LAT: ${{matrix.config.latitude}}
-        PX4_HOME_LON: ${{matrix.config.longitude}}
-        PX4_HOME_ALT: ${{matrix.config.altitude}}
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
-      timeout-minutes: 45
-
-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: coredump
-        path: px4.core
-
-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
-
-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      if: contains(matrix.config.build_type, 'Coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavsdk
-        file: coverage/lcov.info
@@ -1,6 +1,6 @@
 [submodule "src/modules/mavlink/mavlink"]
 	path = src/modules/mavlink/mavlink
-	url = https://github.com/mavlink/mavlink.git
+	url = https://github.com/Auterion/mavlink.git
 	branch = master
 [submodule "src/drivers/uavcan/libuavcan"]
 	path = src/drivers/uavcan/libuavcan
@@ -12,8 +12,8 @@
 	branch = master
 [submodule "Tools/sitl_gazebo"]
 	path = Tools/sitl_gazebo
-	url = https://github.com/PX4/PX4-SITL_gazebo.git
-	branch = master
+	url = git@github.com:Auterion/sitl_gazebo.git
+	branch = develop
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/PX4-GPSDrivers.git
@@ -175,6 +175,12 @@ include(kconfig)
 message(STATUS "PX4 config: ${PX4_CONFIG}")
 message(STATUS "PX4 platform: ${PX4_PLATFORM}")

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

 if(${PX4_PLATFORM} STREQUAL "posix")
 	if(ENABLE_LOCKSTEP_SCHEDULER)
@@ -185,6 +191,18 @@ if(${PX4_PLATFORM} STREQUAL "posix")
 	endif()
 endif()

+
+option(PX4_RESTRICTED_BUILD "Enable restricted build (limit param access)" OFF)
+if(PX4_RESTRICTED_BUILD)
+	add_definitions(-DPX4_RESTRICTED_BUILD)
+	message(STATUS "Enabling restricted build")
+endif()
+
+if(PX4_EXPORT_CONTROLLED_BUILD)
+	add_definitions(-DPX4_EXPORT_CONTROLLED_BUILD)
+	message(STATUS "Enabling export controlled build (with flight time and wind restrictions)")
+endif()
+
 # external modules
 set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location")

@@ -129,6 +129,22 @@ else
 	BUILD_DIR_SUFFIX :=
 endif

+ifdef PX4_RESTRICTED_BUILD
+	CMAKE_ARGS += -DPX4_RESTRICTED_BUILD=ON
+	BUILD_DIR_SUFFIX := $(BUILD_DIR_SUFFIX)_restricted
+endif
+
+# pass the PX4_EXPORT_CONTROLLED_BUILD on to CMAKE_ARGS, and set it to 0 (OFF) by default
+PX4_EXPORT_CONTROLLED_BUILD ?= 0
+ifeq ($(PX4_EXPORT_CONTROLLED_BUILD),1)
+	CMAKE_ARGS += -DPX4_EXPORT_CONTROLLED_BUILD=ON
+	BUILD_DIR_SUFFIX := $(BUILD_DIR_SUFFIX)_export_controlled
+else ifeq ($(PX4_EXPORT_CONTROLLED_BUILD),0)
+	CMAKE_ARGS += -DPX4_EXPORT_CONTROLLED_BUILD=OFF
+else
+        $(error ERROR: Invalid value of flag PX4_EXPORT_CONTROLLED_BUILD, has to be '0' or '1')
+endif
+
 # additional config parameters passed to cmake
 ifdef EXTERNAL_MODULES_LOCATION
 	CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
@@ -245,6 +261,12 @@ define deprecation_warning
 	$(warning $(1) has been deprecated and will be removed, please use $(2)!)
 endef

+skynode:
+	$(MAKE) px4_fmu-v5x $(ARGS)
+
+skynode_rtps:
+	$(MAKE) px4_fmu-v5x_rtps $(ARGS)
+
 # All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
 .PHONY: all px4_sitl_default all_config_targets all_default_targets

@@ -314,7 +336,9 @@ uorb_graphs:
 	@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
 	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph

-px4io_update: px4_io-v2_default cubepilot_io-v2_default
+px4io_update:
+	@$(MAKE) --no-print-directory px4_io-v2_default
+	@$(MAKE) --no-print-directory cubepilot_io-v2_default
 	# px4_io-v2_default
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/pix32v5/extras/px4_io-v2_default.bin
@@ -86,28 +86,10 @@ unset BOARD_RC_SENSORS
 . ${R}etc/init.d/rc.serial

 # Check for flow sensor
-if param compare -s SENS_EN_PX4FLOW 1
+if param compare SENS_EN_PX4FLOW 1
 then
 	px4flow start -X &
 fi

-if param compare -s IMU_GYRO_CAL_EN 1
-then
-	gyro_calibration start
-fi
-
-
-if param compare -s MBE_ENABLE 1
-then
-	# conservative mag bias estimation
-	param set-default MBE_LEARN_GAIN 5
-	param set-default IMU_GYRO_CUTOFF 20
-	mag_bias_estimator start
-fi
-
-param set-default SENS_MAG_RATE 100
-
-sensors start
-
 uavcannode start
 unset R
@@ -9,28 +9,4 @@

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

-param set-default SYS_CTRL_ALLOC 1
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-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 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
-
-set MIXER skip
-set MIXER_AUX none
+set MIXER quad_w
@@ -0,0 +1,37 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL
+#
+# @type Quadrotor Wide
+#
+# @maintainer Julian Oes <julian@oes.ch>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default SYS_CTRL_ALLOC 1
+
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+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 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
+
+set MIXER skip
+set MIXER_AUX none
@@ -0,0 +1,10 @@
+
+mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
+
+mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
+
+# shellcheck disable=SC2154
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
+# shellcheck disable=SC2154
+mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local
@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Quadrotor SITL model for JSBSim
+#
+# @type Quadrotor Wide
+#
+# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER quad_w
@@ -0,0 +1,30 @@
+#!/bin/sh
+#
+# @name Hexacopter SITL model for JSBSim
+#
+# @type Hexarotor x
+#
+# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+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_ROLLRATE_P 0.15
+param set-default MC_ROLLRATE_I 0.1
+param set-default MC_ROLL_P 6.0
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_P_ACC 3
+
+param set-default RTL_DESCEND_ALT 10
+
+param set-default TRIG_INTERFACE 3
+param set-default TRIG_MODE 4
+param set-default MNT_MODE_IN 4
+param set-default MNT_DO_STAB 2
+
+param set-default MAV_TYPE 13
+
+set MIXER hexa_x
@@ -18,7 +18,3 @@ param set-default LPE_FAKE_ORIGIN 1

 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_MAXR 2.5
@@ -7,31 +7,7 @@

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

-param set-default SYS_CTRL_ALLOC 1
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.145
-param set-default CA_ROTOR0_PY 0.145
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.145
-param set-default CA_ROTOR1_PY -0.145
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.145
-param set-default CA_ROTOR2_PY -0.145
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.145
-param set-default CA_ROTOR3_PY 0.145
-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 MC_PITCHRATE_P 0.1
 param set-default MC_ROLLRATE_P 0.05

-set MIXER skip
-set MIXER_AUX none
+set MIXER quad_x
@@ -9,6 +9,7 @@

 # EKF2
 param set-default EKF2_AID_MASK 2
+param set-default SENS_FLOW_ROT 0

 # LPE: Flow-only mode
 param set-default LPE_FUSION 242
@@ -0,0 +1,11 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Depth Camera)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+# param set COM_OBS_AVOID 1
+param set-default MPC_XY_CRUISE 5.0
@@ -10,16 +10,12 @@ param set-default EKF2_MAG_YAWLIM 0

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

 param set-default FW_L1_PERIOD 12

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

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

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

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

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

 param set-default FW_L1_PERIOD 25

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

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

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

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

 param set-default FW_L1_PERIOD 25

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

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

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

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

 param set-default FW_L1_PERIOD 15

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

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

 param set-default FW_L1_PERIOD 25

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

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

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

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

 param set-default FW_L1_PERIOD 12

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

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

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

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

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

-param set-default FW_THR_CRUISE 0.0
+param set-default FW_THR_TRIM 0.0
 param set-default RWTO_TKOFF 0
@@ -49,21 +49,20 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203

 param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3
-param set-default FW_THR_CRUISE 0.25
+param set-default FW_THR_TRIM 0.25
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_T_CLMB_MAX 8
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2

+param set-default MC_AIRMODE 1
 param set-default MC_ROLLRATE_P 0.3
 param set-default MC_YAW_P 1.6

@@ -44,14 +44,12 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_REV 96 # invert both elevons

 param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_I 0.2
 param set-default FW_PR_P 0.2
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_P 0.2
-param set-default FW_THR_CRUISE 0.33
+param set-default FW_THR_TRIM 0.33
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_T_ALT_TC 2
@@ -61,6 +59,7 @@ param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
 param set-default FW_T_TAS_TC 2

+param set-default MC_AIRMODE 1
 param set-default MC_ROLLRATE_P 0.3

 param set-default MPC_ACC_HOR_MAX 2
@@ -35,9 +35,7 @@ param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default CA_SV_CS2_TYPE 3
 param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_TL0_CT 0
 param set-default CA_SV_TL1_CT 0
-param set-default CA_SV_TL2_CT 0
 param set-default CA_SV_TL3_CT 0
 param set-default CA_SV_TL_COUNT 4

@@ -54,15 +52,13 @@ param set-default PWM_MAIN_FUNC10 202
 param set-default PWM_MAIN_FUNC11 203

 param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3
-param set-default FW_THR_CRUISE 0.38
+param set-default FW_THR_TRIM 0.38
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_T_CLMB_MAX 8
@@ -70,6 +66,9 @@ param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2

 param set-default MC_YAW_P 1.6
+param set-default MC_AIRMODE 1
+param set-default MC_YAWRATE_P 0.3
+param set-default MC_YAWRATE_I 0.3

 param set-default MIS_TAKEOFF_ALT 10

@@ -8,15 +8,13 @@
 . ${R}etc/init.d/rc.vtol_defaults

 param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3
-param set-default FW_THR_CRUISE 0.25
+param set-default FW_THR_TRIM 0.25
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_T_ALT_TC 2
@@ -0,0 +1,17 @@
+#!/bin/sh
+#
+# @name Standard VTOL with gimbal
+#
+# @type Standard VTOL with gimbal
+#
+
+. ${R}etc/init.d-posix/1040_standard_vtol
+
+param set-default TRIG_INTERFACE 3
+param set-default TRIG_MODE 4
+param set-default MNT_MODE_IN 0
+
+param set-default MAV_TYPE 22
+
+set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
+set MIXER custom
@@ -0,0 +1,10 @@
+
+mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
+
+mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
+
+# shellcheck disable=SC2154
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
+# shellcheck disable=SC2154
+mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local
@@ -0,0 +1,54 @@
+#!/bin/sh
+#
+# @name VTOL Tiltrotor Tricopter
+#
+# @type VTOL Tiltrotor Tricopter
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set-default FW_AIRSPD_MAX 25
+param set-default FW_AIRSPD_MIN 14
+param set-default FW_AIRSPD_TRIM 16
+param set-default FW_L1_PERIOD 12
+
+param set-default MC_ROLLRATE_P 0.3
+
+param set-default MIS_LTRMIN_ALT 10
+param set-default MIS_TAKEOFF_ALT 10
+param set-default MIS_YAW_TMT 10
+
+param set-default MC_PITCHRATE_P 0.3
+param set-default MC_PITCH_P 5.0
+param set-default MC_ROLLRATE_P 0.4
+param set-default MC_ROLL_P 5.0
+param set-default MC_YAWRATE_P 0.8
+param set-default MC_YAW_P 1.5
+
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_MAN_Y_MAX 70
+param set-default MPC_THR_MIN 0.1
+param set-default MPC_TKO_SPEED 1
+param set-default MPC_XY_P 0.15
+param set-default MPC_XY_VEL_D 0.005
+param set-default MPC_XY_VEL_I 0.2
+param set-default MPC_XY_VEL_P 0.05
+param set-default MPC_Z_VEL_MAX_DN 1.5
+param set-default MPC_Z_VEL_P 0.8
+
+param set-default NAV_ACC_RAD 5
+param set-default NAV_LOITER_RAD 80
+
+param set-default VT_F_TRANS_DUR 5.0
+param set-default VT_F_TRANS_THR 0.75
+param set-default VT_TILT_FW 3.1415
+param set-default VT_TILT_TRANS 1.2
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_TYPE 1
+param set-default VT_B_TRANS_DUR 8
+
+param set-default MAV_TYPE 24
+
+set MIXER_FILE etc/mixers-sitl/tiltrotor_tri_sitl.main.mix
+set MIXER custom
@@ -0,0 +1,39 @@
+#!/bin/sh
+#
+# @name Rover
+#
+
+. ${R}etc/init.d/rc.rover_defaults
+
+param set-default GND_L1_DIST 5
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_SPEED_D 0.001
+param set-default GND_SPEED_I 3
+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_IDLE 0
+param set-default GND_THR_MAX 0.5
+param set-default GND_THR_MIN 0
+
+param set-default MIS_LTRMIN_ALT 0.01
+param set-default MIS_TAKEOFF_ALT 0.01
+param set-default NAV_ACC_RAD 0.5
+param set-default NAV_LOITER_RAD 2
+
+param set-default CBRK_AIRSPD_CHK 162128
+
+param set-default GND_MAX_ANG 0.6
+param set-default GND_WHEEL_BASE 2.0
+
+param set-default TRIG_INTERFACE 3
+param set-default TRIG_MODE 4
+param set-default MNT_MODE_IN 4
+param set-default MNT_MODE_OUT 2
+param set-default MNT_DO_STAB 2
+
+param set-default MAV_TYPE 10
+
+set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
@@ -0,0 +1,10 @@
+
+mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
+
+mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
+
+# shellcheck disable=SC2154
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
+# shellcheck disable=SC2154
+mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local
@@ -38,10 +38,9 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_R_LIM 30

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

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

@@ -20,8 +20,14 @@ 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 MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_P_ACC 3
+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 RTL_DESCEND_ALT 10
 param set-default RTL_LAND_DELAY 0
@@ -33,9 +33,13 @@

 px4_add_romfs_files(
 	10016_iris
+	10017_iris_ctrlalloc
 	10018_iris_foggy_lidar
 	10019_omnicopter
 	10020_if750a
+	10020_if750a.post
+	10028_quadrotor_x
+	10029_hexarotor_x
 	10030_px4vision
 	10040_quadx
 	10041_airplane
@@ -55,6 +59,7 @@ px4_add_romfs_files(
 	1020_uuv_generic
 	1021_uuv_hippocampus
 	1022_uuv_bluerov2_heavy
+	1025_iris_depth_camera
 	1030_plane
 	1031_plane_cam
 	1032_plane_catapult
@@ -70,9 +75,14 @@ px4_add_romfs_files(
 	1042_tiltrotor
 	1043_standard_vtol_drop
 	1043_standard_vtol_drop.post
+	1058_standard_vtol_gimbal
+	1058_standard_vtol_gimbal.post
+	1059_tiltrotor_tri
 	1060_rover
 	1061_r1_rover
 	1062_tf-r1
+	1063_rover_gimbal
+	1063_rover_gimbal.post
 	1070_boat
 	3010_quadrotor_x
 	3011_hexarotor_x
@@ -24,6 +24,7 @@ mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local

 # API/Offboard link
 mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
+mavlink stream -r 2 -s COMMAND_CANCEL -u $udp_offboard_port_local

 # Onboard link to camera
 mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
@@ -30,6 +30,7 @@ set MIXER_FILE                  none
 set OUTPUT_MODE                 sim
 set EXTRA_MIXER_MODE            none
 set PWM_OUT                     none
+set PWM_AUX_OUT                 none
 set SDCARD_MIXERS_PATH          etc/mixers
 set USE_IO                      no
 set VEHICLE_TYPE                none
@@ -103,6 +104,7 @@ fi
 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
+param set MNT_MAV_SYSID $((px4_instance+1))

 if [ $AUTOCNF = yes ]
 then
@@ -255,6 +257,12 @@ then
 	gyro_calibration start
 fi

+# Payload deliverer module if gripper is enabled
+if param compare -s PD_GRIPPER_EN 1
+then
+	payload_deliverer start
+fi
+
 #user defined mavlink streams for instances can be in PATH
 . px4-rc.mavlink

@@ -39,8 +39,10 @@ px4_add_romfs_files(
 	rc.balloon_apps
 	rc.balloon_defaults
 	rc.boat_defaults
+	rc.autostart_ext
 	rc.fw_apps
 	rc.fw_defaults
+	rc.heli_defaults
 	rc.interface
 	rc.logging
 	rc.mc_apps
@@ -29,9 +29,6 @@ param set-default FW_L1_DAMPING 0.74
 param set-default FW_L1_PERIOD 16
 param set-default FW_LND_ANG 15
 param set-default FW_LND_FLALT 5
-param set-default FW_LND_HVIRT 13
-param set-default FW_LND_TLALT 5
-param set-default FW_THR_LND_MAX 0
 param set-default FW_PR_FF 0.35
 param set-default FW_PR_P 0.2
 param set-default FW_RR_FF 0.6
@@ -1,36 +0,0 @@
-#!/bin/sh
-#
-# @name Team Blacksheep Discovery
-#
-# @type Quadrotor Wide
-# @class Copter
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 feed-through of RC AUX1 channel
-# @output MAIN6 feed-through of RC AUX2 channel
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-# @output AUX4 feed-through of RC FLAPS channel
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default MC_ROLLRATE_P 0.1
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.0017
-param set-default MC_PITCHRATE_P 0.14
-param set-default MC_PITCHRATE_I 0.1
-param set-default MC_PITCHRATE_D 0.0025
-param set-default MC_YAWRATE_P 0.28
-
-set MIXER quad_w
@@ -1,40 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor
-#
-# @type Quadrotor Wide
-# @class Copter
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-# @output AUX4 feed-through of RC FLAPS channel
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-# TODO tune roll/pitch separately
-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_YAW_P 2.5
-param set-default MC_YAWRATE_P 0.25
-param set-default MC_YAWRATE_I 0.25
-
-param set-default BAT1_V_DIV 12.27559
-param set-default BAT1_A_PER_V 15.391030303103
-
-set MIXER quad_w
@@ -1,43 +0,0 @@
-#!/bin/sh
-#
-# @name Team Blacksheep Discovery Endurance
-#
-# @type Quadrotor Wide
-# @class Copter
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 feed-through of RC AUX1 channel
-# @output MAIN6 feed-through of RC AUX2 channel
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-# @output AUX4 feed-through of RC FLAPS channel
-#
-# @maintainer Simon Wilks <simon@uaventure.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default BAT1_N_CELLS 6
-param set-default BAT1_V_EMPTY 3.5
-
-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.08
-param set-default MC_ROLLRATE_I 0.02
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.13
-param set-default MC_PITCHRATE_I 0.02
-param set-default MC_PITCHRATE_D 0.005
-
-param set-default MPC_XY_VEL_MAX 2
-
-param set-default PWM_MAIN_MIN 1080
-
-set MIXER quad_w
@@ -45,7 +45,6 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_P_ACC 3
 param set-default MPC_Z_VEL_P_ACC 12
 param set-default MPC_Z_VEL_I_ACC 3
-param set-default MPC_Z_VEL_MAX_DN 1.5

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

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

+param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 2
 param set-default CA_ROTOR_COUNT 5
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
 param set-default CA_ROTOR4_AX 1.0
 param set-default CA_ROTOR4_AZ 0.0
-param set-default CA_ROTOR4_PX 0.2
 param set-default CA_SV_CS_COUNT 4
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS0_TRQ_R -0.5
@@ -48,16 +36,5 @@ param set-default CA_SV_CS2_TYPE 3
 param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
-
-param set-default PWM_AUX_DIS5 950
-
 param set-default VT_TYPE 2
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-
 param set-default MAV_TYPE 22
-
-set MIXER quad_x
-set MIXER_AUX vtol_AAERT
-
-set PWM_OUT 1234
@@ -1,43 +0,0 @@
-#!/bin/sh
-#
-# @name Caipiroshka Duo Tailsitter
-#
-# @type VTOL Duo Tailsitter
-# @class VTOL
-#
-# @output MAIN1 motor right
-# @output MAIN2 motor left
-# @output MAIN5 elevon right
-# @output MAIN6 elevon left
-#
-# @maintainer Roman Bapst <roman@px4.io>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default MAV_TYPE 19
-
-param set-default MC_ROLL_P 6
-param set-default MC_ROLLRATE_P 0.12
-param set-default MC_ROLLRATE_I 0.002
-
-param set-default MC_PITCH_P 4.5
-param set-default MC_PITCHRATE_P 0.3
-param set-default MC_PITCHRATE_I 0.002
-
-param set-default MC_YAW_P 3.8
-param set-default MC_YAWRATE_P 0.22
-param set-default MC_YAWRATE_I 0.02
-
-param set-default VT_IDLE_PWM_MC  1080
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_MOT_ID 12
-param set-default VT_TYPE 0
-
-set MIXER vtol_tailsitter_duo
-
-set PWM_OUT 123456
@@ -1,53 +0,0 @@
-#!/bin/sh
-#
-# @name BirdsEyeView Aerobotics FireFly6
-# @type VTOL Tiltrotor
-# @class VTOL
-#
-# @maintainer Roman Bapst <roman@uaventure.com>
-#
-# @output MAIN1 Front right motor bottom
-# @output MAIN2 Front right motor top
-# @output MAIN3 Back motor bottom
-# @output MAIN4 Back motor top
-# @output MAIN5 Front left motor bottom
-# @output MAIN6 Front left motor top
-# @output AUX1 Tilt servo
-# @output AUX2 Elevon 1
-# @output AUX3 Elevon 2
-# @output AUX4 Gear
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default MAV_TYPE 21
-
-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.19
-param set-default MC_ROLLRATE_I 0.002
-param set-default MC_ROLLRATE_D 0.005
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.14
-param set-default MC_PITCHRATE_I 0.002
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_YAW_P 4
-param set-default MC_YAWRATE_P 0.22
-param set-default MC_YAWRATE_I 0.02
-
-param set-default VT_FW_MOT_OFFID 34
-param set-default VT_IDLE_PWM_MC 1080
-param set-default VT_MOT_ID 123456
-param set-default VT_FW_MOT_OFFID 56
-param set-default VT_TILT_MC 0.08
-param set-default VT_TILT_TRANS 0.5
-param set-default VT_TILT_FW 0.9
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_TYPE 1
-
-set MIXER firefly6
-set MIXER_AUX firefly6
-
-set PWM_OUT 12345678
@@ -43,7 +43,7 @@ param set-default MPC_YAWRAUTO_MAX 40
 param set-default FW_PR_I 0.02
 param set-default FW_RR_FF 0.6
 param set-default FW_RR_I 0.01
-param set-default FW_THR_CRUISE 0.75
+param set-default FW_THR_TRIM 0.75

 param set-default VT_ARSP_BLEND 6
 param set-default VT_ARSP_TRANS 12
@@ -1,53 +0,0 @@
-#!/bin/sh
-#
-# @name QuadRanger
-#
-# @type Standard VTOL
-# @class VTOL
-#
-# @maintainer Sander Smeets <sander@droneslab.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-
-param set-default FW_THR_CRUISE 65
-param set-default FW_RR_FF 0.6
-
-param set-default MIS_YAW_TMT 10
-
-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_I 0.1
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_I 0.1
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_YAW_P 3.5
-param set-default MC_YAWRATE_P 0.6
-param set-default MC_YAWRATE_I 0.04
-param set-default MC_YAWRATE_MAX 40
-
-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_Z_VEL_MAX_DN 1.5
-param set-default MPC_LAND_SPEED 0.8
-param set-default MPC_YAWRAUTO_MAX 40
-
-param set-default PWM_AUX_DIS5 950
-param set-default PWM_AUX_REV1 1
-param set-default PWM_AUX_REV2 1
-
-param set-default VT_ARSP_TRANS 15
-param set-default VT_ARSP_BLEND 8
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_IDLE_PWM_MC 1080
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_TYPE 2
-
-set MIXER quad_x
-set MIXER_AUX vtol_AAERT
-
-set PWM_OUT 1234
@@ -1,83 +0,0 @@
-#!/bin/sh
-#
-# @name Sparkle Tech Ranger VTOL
-#
-# @type Standard VTOL
-# @class VTOL
-#
-# @maintainer Andreas Antener <andreas@uaventure.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default FW_AIRSPD_MAX   22
-param set-default FW_AIRSPD_MIN   14
-param set-default FW_AIRSPD_TRIM  16
-param set-default FW_L1_PERIOD    25
-param set-default FW_PR_P 0.060
-param set-default FW_P_RMAX_NEG   40
-param set-default FW_P_RMAX_POS   40
-param set-default FW_RR_FF    0.4
-param set-default FW_RR_P 0.04
-param set-default FW_R_RMAX   40
-
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_PITCHRATE_I 0
-param set-default MC_PITCHRATE_MAX 60
-param set-default MC_PITCHRATE_P 0.21
-param set-default MC_PITCH_P 4
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_ROLLRATE_I 0.002
-param set-default MC_ROLLRATE_MAX 60
-param set-default MC_ROLLRATE_P 0.24
-param set-default MC_ROLL_P 4
-param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_MAX 40
-param set-default MC_YAWRATE_P 0.18
-
-param set-default MIS_TAKEOFF_ALT 2.5
-param set-default MIS_YAW_TMT 20
-
-param set-default MPC_ACC_HOR_MAX 1
-param set-default MPC_HOLD_MAX_XY 0.5
-param set-default MPC_HOLD_MAX_Z  0.5
-param set-default MPC_LAND_SPEED  1
-param set-default MPC_MANTHR_MIN  0.05
-param set-default MPC_MAN_Y_MAX   120
-param set-default MPC_THR_MIN 0.07
-param set-default MPC_TILTMAX_AIR 35
-param set-default MPC_TILTMAX_LND 20
-param set-default MPC_TKO_SPEED   1
-param set-default MPC_XY_P    0.3
-param set-default MPC_XY_VEL_MAX  3
-param set-default MPC_XY_VEL_P_ACC 1
-param set-default MPC_Z_P 0.5
-param set-default MPC_Z_VEL_P_ACC 2
-param set-default MPC_YAWRAUTO_MAX 40
-
-param set-default NAV_ACC_RAD 3
-
-param set-default PWM_AUX_REV1    1
-param set-default PWM_AUX_REV2    1
-param set-default PWM_AUX_REV3    1
-param set-default PWM_AUX_REV4    1
-
-param set-default PWM_AUX_DIS5 950
-
-param set-default VT_ARSP_TRANS   15
-param set-default VT_F_TRANS_THR    0.6
-param set-default VT_IDLE_PWM_MC 1180
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_TRANS_MIN_TM 5
-param set-default VT_TRANS_TIMEOUT    30
-param set-default VT_TYPE 2
-
-set MIXER quad_x
-set MIXER_AUX vtol_AAERT
-
-set PWM_OUT 1234
@@ -34,8 +34,6 @@ param set-default FW_ACRO_X_MAX   270
 param set-default FW_ACRO_Y_MAX   270
 param set-default FW_ACRO_Z_MAX   180
 param set-default FW_PSP_OFF  5
-param set-default FW_P_LIM_MAX    30
-param set-default FW_P_LIM_MIN    -30
 param set-default FW_RR_FF    0.33
 param set-default FW_RR_P 0.11

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

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

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

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

-set MIXER vtol_tailsitter_duo
-
-set PWM_OUT 1234
+param set-default MAV_TYPE 19
+param set-default VT_TYPE 0
+param set-default VT_ELEV_MC_LOCK 0
@@ -1,54 +1,26 @@
 #!/bin/sh
 #
-# @name Blade 130X
+# @name Generic Helicopter (Tail ESC)
 #
 # @type Helicopter
 # @class Copter
 #
-# @maintainer Bart Slinger <bartslinger@gmail.com>
-#
-# @output MAIN1 main motor
-# @output MAIN2 front swashplate servo
-# @output MAIN3 right swashplate servo
-# @output MAIN4 left swashplate servo
-# @output MAIN5 tail-rotor servo
-#
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.heli_defaults

-# Configure as helicopter (number 4 defined in commander_helper.cpp)
-param set-default MAV_TYPE 4

-set MIXER blade130
-
-set PWM_OUT none
-
-param set-default ATT_BIAS_MAX 0
-
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default MC_ROLL_P 5
+# Disable PID gains for initial setup. These should be enabled after setting the FF gain.
+# P is expected to be lower than FF.
 param set-default MC_ROLLRATE_P 0
 param set-default MC_ROLLRATE_I 0
 param set-default MC_ROLLRATE_D 0
-param set-default MC_ROLLRATE_FF 0.15
+param set-default MC_ROLLRATE_FF 0.1
 param set-default MC_PITCHRATE_P 0
 param set-default MC_PITCHRATE_I 0
 param set-default MC_PITCHRATE_D 0
-param set-default MC_PITCHRATE_FF 0.15
-param set-default MC_YAW_P 3
-param set-default MC_YAWRATE_P 0.1
-param set-default MC_YAWRATE_I 0
-param set-default MC_ROLLRATE_MAX 720
-param set-default MC_PITCHRATE_MAX 720
-param set-default MC_YAWRATE_MAX 400
-param set-default MC_ACRO_R_MAX 360
-param set-default MC_ACRO_P_MAX 360
+param set-default MC_PITCHRATE_FF 0.1

-param set-default MPC_THR_MIN 0.06
-param set-default MPC_MANTHR_MIN 0.06
-
-param set-default PWM_MAIN_MIN 1075
+param set-default CA_AIRFRAME 10
@@ -1,51 +0,0 @@
-#!/bin/sh
-#
-# @name ThunderFly Auto-G2
-#
-# @type Autogyro
-# @class Autogyro
-#
-# @output MAIN1 rotor_head_L
-# @output MAIN2 rotor_head_R
-# @output MAIN3 elevator
-# @output MAIN4 rudder
-# @output MAIN5 rudder (second, optional)
-# @output MAIN6 throttle
-# @output MAIN7 wheel
-#
-# @output AUX1 feed-through of RC AUX1 channel for prerotator (optional)
-# @output AUX2 feed-through of RC AUX2 channel for release device (optional)
-#
-# @url https://github.com/ThunderFly-aerospace/Auto-G2/
-# @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-
-param set-default BAT1_CAPACITY 2500
-param set-default BAT1_N_CELLS 3
-
-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_RATE 50
-
-param set-default SENS_BOARD_ROT 8
-
-param set-default FW_AIRSPD_MAX 20
-param set-default FW_AIRSPD_MIN 7
-param set-default FW_AIRSPD_TRIM 13
-param set-default FW_THR_CRUISE 0.8
-
-param set-default FW_MAN_P_MAX 25
-param set-default FW_MAN_R_MAX 25
-param set-default FW_PR_I 0.02
-param set-default FW_R_LIM 40
-param set-default FW_P_LIM_MAX 25
-param set-default FW_P_LIM_MIN -5
-param set-default FW_P_RMAX_NEG 20
-
-set MIXER TF-AutoG2
-set MIXER_AUX pass
@@ -1,46 +0,0 @@
-#!/bin/sh
-#
-# @name ThunderFly TF-G2
-#
-# @type Autogyro
-# @class Autogyro
-#
-# @output MAIN2 rotor_head_L
-# @output MAIN3 rotor_head_R
-# @output MAIN4 rudder
-# @output MAIN5 throttle
-#
-#
-# @url https://github.com/ThunderFly-aerospace/TF-G2/
-# @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-
-param set-default BAT1_CAPACITY 3300
-param set-default BAT1_N_CELLS 3
-
-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_RATE 50
-
-param set-default SENS_BOARD_ROT 4
-
-param set-default FW_AIRSPD_MAX 20
-param set-default FW_AIRSPD_MIN 7
-param set-default FW_AIRSPD_TRIM 13
-param set-default FW_THR_CRUISE 0.8
-
-param set-default FW_MAN_P_MAX 25
-param set-default FW_MAN_R_MAX 25
-param set-default FW_PR_I 0.02
-param set-default FW_R_LIM 40
-param set-default FW_P_LIM_MAX 25
-param set-default FW_P_LIM_MIN -5
-param set-default FW_P_RMAX_NEG 20
-
-set MIXER TF-G2
-set MIXER_AUX pass
@@ -1,28 +1,16 @@
 #!/bin/sh
 #
-# @name Standard Plane
+# @name Generic Standard Plane
 #
 # @type Standard Plane
 # @class Plane
 #
-# @output MAIN1 aileron
-# @output MAIN2 elevator
-# @output MAIN3 throttle
-# @output MAIN4 rudder
-# @output MAIN5 flaps
-# @output MAIN6 gear
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
 # @board bitcraze_crazyflie exclude
 #

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

+param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
@@ -34,11 +22,3 @@ param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default CA_SV_CS2_TYPE 3
 param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
-
-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_RATE 50
-
-set MIXER AETRFG
-
-# Rate must be set by group (see pwm info).
-# Throttle is in the same group as servos.
@@ -1,45 +0,0 @@
-#!/bin/sh
-#
-# @name Bormatec Maja
-#
-# @type Standard Plane
-# @class Plane
-#
-# @output MAIN1 aileron
-# @output MAIN2 aileron
-# @output MAIN3 elevator
-# @output MAIN4 rudder
-# @output MAIN5 throttle
-# @output MAIN6 wheel
-# @output MAIN7 flaps
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Andreas Antener <andreas@uaventure.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default FW_MAN_P_MAX 55
-param set-default FW_MAN_R_MAX 55
-param set-default FW_R_LIM 55
-
-param set-default FW_WR_FF 0.2
-param set-default FW_WR_I 0.2
-param set-default FW_WR_IMAX 0.8
-param set-default FW_WR_P 1
-param set-default FW_W_RMAX 0
-
-# set disarmed value for the ESC
-param set-default PWM_MAIN_DISARM 1000
-
-
-set MIXER AAERTWF
-
-# use PWM parameters for throttle channel
-set PWM_OUT 5
@@ -1,48 +0,0 @@
-#!/bin/sh
-#
-# @name X-UAV Mini Talon
-#
-# @type Plane V-Tail
-# @class Plane
-#
-# @output MAIN1 aileron right
-# @output MAIN2 aileron left
-# @output MAIN3 v-tail right
-# @output MAIN4 v-tail left
-# @output MAIN5 throttle
-# @output MAIN6 wheel
-# @output MAIN7 flaps right
-# @output MAIN8 flaps left
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Friedrich Beckmann <friedrich.beckmann@hs-augsburg.de>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default FW_MAN_P_MAX 55
-param set-default FW_MAN_R_MAX 55
-param set-default FW_R_LIM 55
-
-param set-default FW_WR_FF 0.2
-param set-default FW_WR_I 0.2
-param set-default FW_WR_IMAX 0.8
-param set-default FW_WR_P 1
-param set-default FW_W_RMAX 0
-
-# set disarmed value for the ESC
-param set-default PWM_MAIN_DISARM 1000
-
-# The Mini Talon does not have a wheel and
-# no flaps. I leave them here because the mixer
-# computes also wheel and flap controls.
-set MIXER AAVVTWFF_vtail
-
-# use PWM parameters for throttle channel
-set PWM_OUT 5
@@ -5,19 +5,20 @@
 # @type Flying Wing
 # @class Plane
 #
-# @output MAIN1 left aileron
-# @output MAIN2 right aileron
-# @output MAIN4 throttle
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer
-#
 # @board bitcraze_crazyflie exclude
 #

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

-set MIXER fw_generic_wing
+param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_SV_CS_COUNT 2
+param set-default CA_SV_CS0_TYPE 5
+param set-default CA_SV_CS0_TRQ_P 0.5
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 6
+param set-default CA_SV_CS1_TRQ_P 0.5
+param set-default CA_SV_CS1_TRQ_R 0.5
@@ -1,49 +0,0 @@
-#!/bin/sh
-#
-# @name Phantom FPV Flying Wing
-#
-# @url https://docs.px4.io/master/en/frames_plane/wing_wing_z84.html
-#
-# @type Flying Wing
-# @class Plane
-#
-# @output MAIN1 left aileron
-# @output MAIN2 right aileron
-# @output MAIN4 throttle
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Simon Wilks <simon@uaventure.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default FW_AIRSPD_MIN 13
-param set-default FW_AIRSPD_MAX 25
-param set-default FW_R_TC 0.3
-param set-default FW_P_TC 0.3
-param set-default FW_L1_PERIOD 15
-param set-default FW_PR_FF 0.2
-param set-default FW_PR_IMAX 0.2
-param set-default FW_PR_P 0.03
-param set-default FW_P_LIM_MAX 50
-param set-default FW_P_LIM_MIN -50
-param set-default FW_RR_P 0.08
-param set-default FW_R_LIM 50
-param set-default FW_R_RMAX 50
-
-param set-default PWM_MAIN_DISARM 1000
-
-# Bottom of bay and nominal zero-pitch attitude differ
-# the payload bay is pitched up about 7 degrees
-param set-default SENS_BOARD_Y_OFF 7
-
-set MIXER fw_generic_wing
-
-# Provide ESC a constant 1000 us pulse
-set PWM_OUT 4
@@ -1,40 +0,0 @@
-#!/bin/sh
-#
-# @name Skywalker X5 Flying Wing
-#
-# @type Flying Wing
-# @class Plane
-#
-# @output MAIN1 left aileron
-# @output MAIN2 right aileron
-# @output MAIN4 throttle
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Julian Oes <julian@px4.io>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default FW_AIRSPD_MIN 15
-param set-default FW_AIRSPD_TRIM 20
-param set-default FW_AIRSPD_MAX 40
-param set-default FW_R_TC 0.3
-param set-default FW_P_TC 0.3
-param set-default FW_L1_DAMPING 0.74
-param set-default FW_L1_PERIOD 16
-param set-default FW_LND_ANG 15
-param set-default FW_LND_FLALT 5
-param set-default FW_LND_HVIRT 13
-param set-default FW_LND_TLALT 5
-param set-default FW_THR_LND_MAX 0
-param set-default FW_PR_FF 0.35
-param set-default FW_RR_FF 0.6
-param set-default FW_RR_P 0.04
-
-set MIXER fw_generic_wing
@@ -1,48 +0,0 @@
-#!/bin/sh
-#
-# @name Wing Wing (aka Z-84) Flying Wing
-#
-# @url https://docs.px4.io/master/en/frames_plane/wing_wing_z84.html
-#
-# @type Flying Wing
-# @class Plane
-#
-# @output MAIN1 left aileron
-# @output MAIN2 right aileron
-# @output MAIN4 throttle
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default BAT1_N_CELLS 2
-param set-default FW_AIRSPD_MAX 15
-param set-default FW_AIRSPD_TRIM 13
-param set-default FW_R_TC 0.3
-param set-default FW_P_TC 0.3
-param set-default FW_L1_DAMPING 0.74
-param set-default FW_L1_PERIOD 16
-param set-default FW_LND_ANG 15
-param set-default FW_LND_FLALT 5
-param set-default FW_LND_HVIRT 13
-param set-default FW_LND_TLALT 5
-param set-default FW_THR_LND_MAX 0
-param set-default FW_PR_FF 0.35
-param set-default FW_RR_FF 0.6
-param set-default FW_RR_P 0.04
-
-param set-default PWM_MAIN_DISARM 1000
-
-# Set mixer.
-set MIXER fw_generic_wing
-
-# Provide ESC a constant 1000 us pulse.
-set PWM_OUT 4
@@ -1,49 +0,0 @@
-#!/bin/sh
-#
-# @name Sparkle Tech Pigeon
-#
-# @url http://www.sparkletech.hk/
-#
-# @type Flying Wing
-# @class Plane
-#
-# @output MAIN1 left aileron
-# @output MAIN2 right aileron
-# @output MAIN4 throttle
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Simon Wilks <simon@uaventure.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default FW_AIRSPD_MIN 15
-param set-default FW_AIRSPD_TRIM 20
-param set-default FW_AIRSPD_MAX 27
-param set-default FW_ATT_TC 0.3
-param set-default FW_PR_FF 0.35
-param set-default FW_PR_IMAX 0.2
-param set-default FW_PR_P 0.05
-param set-default FW_P_TC 0.3
-param set-default FW_RR_FF 0.3
-param set-default FW_RR_P 0.03
-param set-default FW_R_LIM 40
-param set-default FW_R_RMAX 50
-param set-default FW_R_TC 0.3
-
-param set-default PWM_MAIN_DISARM 1000
-
-# Bottom of bay and nominal zero-pitch attitude differ
-# the payload bay is pitched up about 7 degrees
-param set-default SENS_BOARD_Y_OFF 11.9
-
-set MIXER fw_generic_wing
-
-# Provide ESC a constant 1000 us pulse
-set PWM_OUT 4
@@ -1,61 +0,0 @@
-#!/bin/sh
-#
-# @name TBS Caipirinha
-#
-# @type Flying Wing
-# @class Plane
-#
-# @output MAIN1 left aileron
-# @output MAIN2 right aileron
-# @output MAIN4 throttle
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default FW_AIRSPD_MAX 25
-param set-default FW_AIRSPD_MIN 12.5
-param set-default FW_AIRSPD_TRIM 16.5
-param set-default FW_L1_PERIOD 15
-param set-default FW_LND_ANG 15
-param set-default FW_LND_FLALT 8
-param set-default FW_LND_HVIRT 13
-param set-default FW_LND_TLALT 10
-param set-default FW_THR_LND_MAX 0
-param set-default FW_P_LIM_MAX 20
-param set-default FW_P_LIM_MIN -30
-param set-default FW_R_LIM 45
-param set-default FW_PR_FF 0.45
-param set-default FW_PR_P 0.005
-param set-default FW_RR_FF 0.45
-param set-default FW_RR_P 0.013
-param set-default FW_P_RMAX_NEG 70
-param set-default FW_P_RMAX_POS 70
-param set-default FW_R_RMAX 70
-param set-default FW_THR_CRUISE 0.55
-
-param set-default LNDFW_AIRSPD_MAX 6
-param set-default LNDFW_XYACC_MAX 4
-param set-default LNDFW_VEL_XY_MAX 3
-param set-default LNDFW_VEL_Z_MAX 5
-
-param set-default MIS_TAKEOFF_ALT 50
-
-param set-default NAV_LOITER_RAD 30
-
-param set-default PWM_MAIN_REV1 1
-param set-default PWM_MAIN_REV2 1
-param set-default PWM_MAIN_MIN 900
-param set-default PWM_MAIN_MAX 2100
-
-set MIXER fw_generic_wing
-
-set PWM_OUT 1234
@@ -69,7 +69,6 @@ param set-default CP_DIST 6
 param set-default MPC_ACC_DOWN_MAX 5
 param set-default MPC_ACC_HOR_MAX 10
 param set-default MPC_ACC_UP_MAX 4
-param set-default MPC_MANTHR_MIN 0
 param set-default MPC_MAN_Y_MAX 120
 param set-default MPC_TILTMAX_AIR 45
 param set-default MPC_THR_HOVER 0.3
@@ -104,6 +103,7 @@ param set-default SDLOG_PROFILE 131
 param set-default SENS_CM8JL65_CFG 104
 param set-default SENS_FLOW_MAXHGT 25
 param set-default SENS_FLOW_MINHGT 0.5
+param set-default SENS_FLOW_ROT 0
 param set-default IMU_GYRO_CUTOFF 100
 param set-default SENS_EN_PMW3901 1

@@ -26,7 +26,6 @@ param set-default MC_ROLLRATE_MAX 1600
 param set-default MC_PITCHRATE_MAX 1600
 param set-default MC_YAWRATE_MAX 1000

-param set-default MPC_MANTHR_MIN 0
 param set-default MPC_MAN_TILT_MAX 60

 # use thrust curve factor (instead of TPA)
@@ -47,7 +47,6 @@ param set-default COM_RC_LOSS_T 3

 # ekf2
 param set-default EKF2_AID_MASK 33
-param set-default EKF2_TERR_MASK 1
 param set-default EKF2_BARO_DELAY 0
 param set-default EKF2_BARO_NOISE 2.0

@@ -174,7 +173,7 @@ param set-default RC1_TRIM          1000
 param set-default SENS_FLOW_MAXR   7.4
 param set-default SENS_FLOW_MINHGT 0.15
 param set-default SENS_FLOW_MAXHGT 5.0
-param set-default SENS_FLOW_ROT 0
+param set-default SENS_FLOW_ROT    0

 # ignore the SD card errors and use normal startup sound
 set STARTUP_TUNE "1"
@@ -44,19 +44,12 @@ px4_add_romfs_files(

 	# [2000, 2999] Standard planes"
 	2100_standard_plane
-	2105_maja
 	2106_albatross
-	2200_mini_talon

 	2507_cloudship

 	# [3000, 3999] Flying wing"
 	3000_generic_wing
-	3031_phantom
-	3032_skywalker_x5
-	3033_wingwing
-	3036_pigeon
-	3100_tbs_caipirinha

 	# [4000, 4999] Quadrotor x"
 	4001_quad_x
@@ -67,8 +60,6 @@ px4_add_romfs_files(
 	4016_holybro_px4vision
 	4017_nxp_hovergames
 	4019_x500_v2
-	4030_3dr_solo
-	4031_3dr_quad
 	4040_reaper
 	4041_beta75x
 	4050_generic_250
@@ -77,11 +68,8 @@ px4_add_romfs_files(
 	4053_holybro_kopis2
 	4061_atl_mantis_edu
 	4071_ifo
-	4072_draco
 	4073_ifo-s
 	4080_zmr250
-	4090_nanomind
-	4100_tiltquadrotor
 	4500_clover4
 	4900_crazyflie
 	4901_crazyflie21
@@ -102,10 +90,6 @@ px4_add_romfs_files(
 	# [9000, 9999] Octorotor +"
 	9001_octo_+

-	# [10000, 10999] Quadrotor Wide arm / H frame"
-	10015_tbs_discovery
-	10016_3dr_iris
-	10018_tbs_endurance

 	# [11000, 11999] Hexa Cox
 	11001_hexa_cox
@@ -115,44 +99,31 @@ px4_add_romfs_files(

 	# [13000, 13999] VTOL
 	13000_generic_vtol_standard
-	13001_caipirinha_vtol
-	13002_firefly6
 	13003_quad_tailsitter
 	13004_quad+_tailsitter
 	13005_vtol_AAERT_quad
 	13006_vtol_standard_delta
 	13007_vtol_AAVVT_quad
-	13008_QuadRanger
-	13009_vtol_spt_ranger
-	13012_convergence
+	13100_generic_vtol_tiltrotor
 	13013_deltaquad
 	13014_vtol_babyshark
 	13030_generic_vtol_quad_tiltrotor
-	13050_generic_vtol_octo
 	13200_generic_vtol_tailsitter

 	# [14000, 14999] Tri Y
-	14001_tri_y_yaw+
-	14002_tri_y_yaw-

-	15001_coax_heli

 	16001_helicopter

 	# [17000, 17999] Autogyro
-	17002_TF-AutoG2
-	17003_TF-G2
+

 	# [18000, 18999] High-altitude balloons
 	18001_TF-B1

 	# [22000, 22999] Reserve for custom models

-	24001_dodeca_cox
-
 	50000_generic_ground_vehicle
-	50003_aion_robotics_r1_rover
-	50004_nxpcup_car_dfrobot_gpx

 	# [60000, 61000] (Unmanned) Underwater Robots
 	60000_uuv_generic
@@ -14,7 +14,7 @@ param set-default MAV_TYPE 1
 # Default parameters for fixed wing UAVs.
 #
 param set-default COM_POS_FS_DELAY 5
-param set-default COM_POS_FS_EPH 15
+param set-default COM_POS_FS_EPH 50
 param set-default COM_POS_FS_EPV 30
 param set-default COM_VEL_FS_EVH 5
 # Disable preflight disarm to not interfere with external launching
@@ -0,0 +1,17 @@
+#!/bin/sh
+#
+# Helicopter default parameters.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+# Inherit from mc
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default MAV_TYPE 4
+
+param set-default COM_PREARM_MODE 2
+param set-default COM_SPOOLUP_TIME 10
+
+# No need for minimum collective pitch (or airmode) to keep torque authority
+param set-default MPC_MANTHR_MIN 0
@@ -32,14 +32,17 @@ fi

 #
 # If mount (gimbal) control is enabled and output mode is AUX, set the aux
-# mixer to mount (override the airframe-specific MIXER_AUX setting).
+# mixer to mount if no other aux mixer has been set.
 #
 if param greater -s MNT_MODE_IN -1
 then
-        if param compare -s MNT_MODE_OUT 0
-        then
-                set MIXER_AUX mount
-        fi
+	if param compare -s MNT_MODE_OUT 0
+	then
+		if [ $MIXER_AUX = none ]
+		then
+			set MIXER_AUX mount
+		fi
+	fi
 fi

 #
@@ -129,11 +129,7 @@ fi
 # Sensirion SDP3X differential pressure sensor external I2C
 if param compare -s SENS_EN_SDP3X 1
 then
-	if ! sdp3x start -X
-	then
-		# try another common address
-		sdp3x start -X -a 0x22
-	fi
+	sdp3x start -X -k
 fi

 # TE MS4515 differential pressure sensor external I2C
@@ -10,6 +10,8 @@ set VEHICLE_TYPE vtol
 # MAV_TYPE_VTOL_FIXEDROTOR 22
 param set-default MAV_TYPE 22

+param set-default COM_POS_FS_EPH 50
+
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_YAW_TMT 10

@@ -21,16 +23,20 @@ param set-default HTE_VXY_THR 2.0
 param set-default MIS_DIST_WPS 5000

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

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

 param set-default PWM_AUX_RATE 50
 param set-default PWM_MAIN_RATE 400
@@ -107,6 +107,16 @@ then
 		fi
 	fi

+	# Check for an update
+	if [ -e /fs/microsd/new ]
+	then
+		echo "Updating external autostart files"
+		# FIXME: add NuttX support for recursive rm, then we can remove the
+		# directory (for now this is done during updating via MAVLink FTP)
+		#rm -r $SDCARD_EXT_PATH
+		mv /fs/microsd/new $SDCARD_EXT_PATH
+	fi
+
 	set PARAM_FILE /fs/microsd/params
 fi

@@ -206,6 +216,26 @@ else
 	fi
 	unset BOARD_RC_DEFAULTS

+	#
+	# Set parameters and env variables for selected SYS_AUTOSTART.
+	#
+	set AUTOSTART_PATH etc/init.d/rc.autostart
+	if ! param compare SYS_AUTOSTART 0
+	then
+		if param greater SYS_AUTOSTART 1000000
+		then
+			# Use external startup file
+			if [ $SDCARD_AVAILABLE = yes ]
+			then
+				set AUTOSTART_PATH etc/init.d/rc.autostart_ext
+			else
+				echo "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
+			fi
+		fi
+		. ${R}$AUTOSTART_PATH
+	fi
+	unset AUTOSTART_PATH
+
 	#
 	# Start the tone_alarm driver.
 	# Needs to be started after the parameters are loaded (for CBRK_BUZZER).
@@ -243,26 +273,6 @@ else
 	rgbled start -X -q
 	rgbled_ncp5623c start -X -q

-	#
-	# Set parameters and env variables for selected AUTOSTART.
-	#
-	set AUTOSTART_PATH etc/init.d/rc.autostart
-	if ! param compare SYS_AUTOSTART 0
-	then
-		if param greater SYS_AUTOSTART 1000000
-		then
-			# Use external startup file
-			if [ $SDCARD_AVAILABLE = yes ]
-			then
-				set AUTOSTART_PATH etc/init.d/rc.autostart_ext
-			else
-				echo "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
-			fi
-		fi
-		. ${R}$AUTOSTART_PATH
-	fi
-	unset AUTOSTART_PATH
-
 	#
 	# Override parameters from user configuration file.
 	#
@@ -303,7 +313,7 @@ else
 	then
 		# Check for the mini using build with px4io fw file
 		# but not a px4IO
-		if ver hwtypecmp V540 V560
+		if ver hwtypecmp V5004000 V5006000
 		then
 			param set SYS_USE_IO 0
 		else
@@ -399,6 +409,21 @@ else
 		commander start
 	fi

+	# PPS capture driver (before pwm_out)
+	if param greater -s PPS_CAP_ENABLE 0
+	then
+		pps_capture start
+	fi
+
+	# Camera capture driver (before pwm_out)
+	if param greater -s CAM_CAP_FBACK 0
+	then
+		if camera_capture start
+		then
+			camera_capture on
+		fi
+	fi
+
 	#
 	# Configure vehicle type specific parameters.
 	# Note: rc.vehicle_setup is the entry point for rc.interface,
@@ -441,21 +466,6 @@ else
 		rc_input start $RC_INPUT_ARGS
 	fi

-	# PPS capture driver (before pwm_out)
-	if param greater -s PPS_CAP_ENABLE 0
-	then
-		pps_capture start
-	fi
-
-	# Camera capture driver (before pwm_out)
-	if param greater -s CAM_CAP_FBACK 0
-	then
-		if camera_capture start
-		then
-			camera_capture on
-		fi
-	fi
-
 	#
 	# Play the startup tune (if not disabled or there is an error)
 	#
@@ -505,6 +515,12 @@ else
 		px4flow start -X &
 	fi

+	# Payload deliverer module if gripper is enabled
+	if param compare -s PD_GRIPPER_EN 1
+	then
+		payload_deliverer start
+	fi
+
 	#
 	# Optional board supplied extras: rc.board_extras
 	#
@@ -39,5 +39,6 @@ px4_add_romfs_files(
 	quad_x_vtol.main.mix
 	standard_vtol_sitl.main.mix
 	tiltrotor_sitl.main.mix
+	tiltrotor_tri_sitl.main.mix
 	uuv_x_sitl.main.mix
 )
@@ -0,0 +1,38 @@
+Mixer for quad tiltrotor (x motor configuration)
+================================================
+
+This file defines a single mixer for a tiltrotor (SITL gazebo) with motors in X configuration. The plane has two ailerons and one elevator.
+
+R: 3y 10000 10000 10000 0
+
+# tilt servo motor 1 (right)
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000
+S: 0 2 -10000 -10000       0 -10000  10000
+
+# tilt servo motor 2 (left)
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000
+S: 0 2  10000  10000      0  -10000  10000
+
+# tilt servo motor 3 (rear)
+-------------
+M: 1
+S: 1 8      0  20000  -10000 -10000  10000
+
+# mixer for the left aileron
+M: 1
+O:      10000  10000   0 -10000  10000
+S: 1 0  -10000 -10000    0 -10000  10000
+
+# mixer for the right aileron
+M: 1
+O:      10000  10000   0 -10000  10000
+S: 1 0  10000  10000    0 -10000  10000
+
+# mixer for the elevator
+M: 1
+O:       10000   10000   0 -10000  10000
+S: 1 1   10000   10000    0 -10000  10000
@@ -1,48 +0,0 @@
-Helicopter 120 degree Cyclic-Collective-Pitch Mixing (CCPM) for PX4FMU
-==================================================
-
-
-Output 0 - Rear Servo Mixer
----------------
-
-Rear Servo = Collective (Thrust - 3) + Elevator (Pitch - 1)
-
-M: 2
-S: 0 3  10000  10000      0 -10000  10000
-S: 0 1  10000  10000      0 -10000  10000
-
-
-Output 1 - Left Servo Mixer
-----------------
-Left Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) + 0.866 * Aileron (Roll - 0)
-
-M: 3
-S: 0 3  -10000  -10000      0 -10000  10000
-S: 0 1   -5000   -5000      0 -10000  10000
-S: 0 0    8660    8660      0 -10000  10000
-
-
-Output 2 - Right Servo Mixer
----------------
-Right Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) - 0.866 * Aileron (Roll - 0)
-
-
-M: 3
-S: 0 3  -10000  -10000      0 -10000  10000
-S: 0 1   -5000   -5000      0 -10000  10000
-S: 0 0   -8660   -8660      0 -10000  10000
-
-Output 3 - Tail Servo Mixer
----------------
-Tail Servo = Yaw (control index = 2)
-
-M: 1
-S: 0 2  10000  10000      0 -10000  10000
-
-
-Output 4 - Motor speed mixer
-----------------
-This would be the motor speed control output from governor power demand- not sure what index to use here?
-
-M: 1
-S: 0 4      0  20000 -10000 -10000  10000
@@ -38,16 +38,11 @@ px4_add_romfs_files(
 	AERT.main.mix
 	AETRFG.main.mix
 	babyshark.main.mix
-	blade130.main.mix
-	CCPM.main.mix
 	cloudship.main.mix
-	coax.main.mix
 	delta.main.mix
 	deltaquad.main.mix
 	dodeca_bottom_cox.aux.mix
 	dodeca_top_cox.main.mix
-	firefly6.aux.mix
-	firefly6.main.mix
 	fw_generic_wing.main.mix
 	generic_diff_rover.main.mix
 	hexa_cox.main.mix
@@ -74,7 +69,6 @@ px4_add_romfs_files(
 	rover_diff_and_servo.main.mix
 	rover_generic.main.mix
 	standard_vtol_hitl.main.mix
-	TF-AutoG2.main.mix
 	tilt_quad.aux.mix
 	tilt_quad.main.mix
 	tri_y_yaw+.main.mix
@@ -84,8 +78,6 @@ px4_add_romfs_files(
 	vtol_AAERT.aux.mix
 	vtol_AAVVT.aux.mix
 	vtol_TTTTAAER.aux.mix
-	vtol_convergence.main.mix
 	vtol_delta.aux.mix
 	vtol_tailsitter_duo.main.mix
-	vtol_tailsitter_duo_sat.main.mix
 )
@@ -1,56 +0,0 @@
-Aileron/rudder/elevator/throttle mixer for PX4FMU
-==================================================
-# @board px4_fmu-v2 exclude
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
-
-CH1, 2: rotor-head mixer
-------------
-Two scalers total (output, roll).
-
-M: 2
-O: 10000 10000 0 -10000 10000
-S: 0 0 -10000 -10000 0 -10000 10000
-S: 0 1  10000  10000      0 -10000  10000
-
-
-M: 2
-O: 10000 10000 0 -10000 10000
-S: 0 0 -10000 -10000 0 -10000 10000
-S: 0 1 -10000 -10000      0 -10000  10000
-
-
-CH3: Elevator, prerotator mixer
------------
-Two scalers total (output, roll).
-
-M: 1
-O: 7500 7500 0 -10000 10000
-S: 3 6 10000 10000 0 -10000 10000
-
-
-CH4, 5: Rudder mixer
------------
-Two scalers total (output, yaw).
-
-M: 1
-S: 0 2  10000  10000      0 -10000  10000
-
-M: 1
-S: 0 2  -10000  -10000      0 -10000  10000
-
-CH4: Motor speed mixer
-----------------
-Two scalers total (output, thrust).
-
-M: 1
-S: 0 3      0  20000 -10000 -10000  10000
-
-
-CH3: Wheel mixer
------------
-Two scalers total (output, yaw).
-
-M: 1
-S: 0 2  10000  10000      0 -10000  10000
@@ -1,40 +0,0 @@
-TF-G2 autogyro mixer
-==================================================
-# @board px4_fmu-v2 exclude
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
-
-CH1: empty - fixing cuav nano jittering of 1st output. 
-Z:
-
-
-CH2, 3: rotor-head mixer
-------------
-Two scalers total (output, roll).
-
-M: 2
-O: 10000 10000 0 -10000 10000
-S: 0 0 -10000 -10000 0 -10000 10000
-S: 0 1  10000  10000      0 -10000  10000
-
-M: 2
-O: 10000 10000 0 -10000 10000
-S: 0 0 -10000 -10000 0 -10000 10000
-S: 0 1 -10000 -10000      0 -10000  10000
-
-
-CH4: Rudder mixer
------------
-Two scalers total (output, yaw).
-
-M: 1
-S: 0 2  10000  10000      0 -10000  10000
-
-
-CH5: Motor speed mixer
-----------------
-Two scalers total (output, thrust).
-
-M: 1
-S: 0 3      0  20000 -10000 -10000  10000
@@ -1,15 +0,0 @@
-Helicopter Cyclic-Collective-Pitch Mixing (CCPM) for PX4FMU
-Blade 130x helicopter has longer servo arms left and right. The front servo arm is shortest and has normalized length 10000.
-==================================================
-
-H: 3
-T:      0   3000   6000   8000  10000
-P:    500   1500   2500   3500   4500
-# Swash plate servos:
-S:      0  10000  10000      0  -8000   8000
-S:    140  13054  10000      0  -8000   8000
-S:    220  13054  10000      0  -8000   8000
-
-# Tail servo:
-M: 1
-S: 0 2  10000  10000      0 -10000  10000
@@ -1,29 +0,0 @@
-Coaxial helicopter mixer
- Two servomotors act on the swashplate (90 degree angle on the swashplate, decoupled effect on roll and pitch).
- No collective pitch.
- One motor per rotor.
-===========================
-
-Left swashplate servomotor, pitch axis
-------------
-M: 1
-S: 0 1  -10000  -10000      0 -10000  10000
-
-Right swashplate servomotor, roll axis
-------------
-M: 1
-S: 0 0  10000  10000      0 -10000  10000
-
-Upper rotor (CCW)
-Mixing between yaw and thrust
-------------
-M: 2
-S: 0 2  10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
-
-Lower rotor (CW)
-Mixing between yaw and thrust
-------------
-M: 2
-S: 0 2  -10000  -10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
@@ -1,24 +0,0 @@
-# mixer for the FireFly6 tilt mechansim servo, elevons and landing gear
-=======================================================================
-
-# @board px4_fmu-v2 exclude
-
-Tilt mechanism servo mixer
---------------------------
-M: 1
-S: 1 8      0  20000 -10000 -10000  10000
-
-Elevon mixers
-------------
-M: 2
-S: 1 0   7500   7500      0 -10000  10000
-S: 1 1   8000   8000      0 -10000  10000
-
-M: 2
-S: 1 0    7500    7500    0 -10000  10000
-S: 1 1   -8000   -8000    0 -10000  10000
-
-Landing gear mixer
------------------
-M: 1
-S: 3 6  10000  10000      0 -10000  10000
@@ -1,6 +0,0 @@
-# FireFly6 mixer for PX4FMU
-#
-#===========================
-# @board px4_fmu-v2 exclude
-
-R: 6c
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Martina Rivizzigno	1b3494fabd	mission_block: acquire gimbal control also when the command from the gimbal protocol v2 is parsed	2023-01-13 12:07:30 +01:00
Yannick Fuhrer	f4948d1404	Battery: delay initialization of SoC (#20729 ) * Battery: delay initialization of SoC * battery: rework of battery initialization delay Co-authored-by: Matthias Grob <maetugr@gmail.com>	2023-01-12 15:25:26 +01:00
bresch	a460808774	HACK: do not trigger a mag reset after takeoff	2023-01-12 15:25:19 +01:00
bresch	34423a6c92	commander: do not check dead-reckoning flag to send GPS invalid msg The dead-reckoning flag comes from EKF2 and isn't in sync with the other commander flags. This can lead to the message not being printed because EKF2 can take a bit more time to stop the GPS fusion and set the DR flag.	2023-01-12 15:25:11 +01:00
Silvan Fuhrer	9fe5652252	HACK: add new topic to log vehicle_gps_position w/o lat/lon Which has the same fields as vehicle_gps_position, but the lat/lon set to 0. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-01-12 15:22:52 +01:00
Silvan Fuhrer	3db5a35005	HACK: add new topic to log local position w/o reference Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-01-12 15:22:37 +01:00
Silvan Fuhrer	ec1fbca575	Logger: add option to disable logging of topics with lat/lon fields (#2147 ) * Logger: add option to disable logging of topics with lat/lon fields Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-01-12 15:22:22 +01:00
Thomas Stastny	ebe0a4095c	wip: squashed patch	2022-12-19 13:12:42 +01:00