ORB queue depth completely static

Merge remote-tracking branch 'px4/main' into pr-modalai-muorb-updates
Made setting of queue size in orb node based on topic definition
2026-06-02 03:10:05 +08:00 · 2024-03-08 10:47:43 -05:00 · 2024-03-08 10:08:36 -05:00 · 2024-03-01 14:18:52 -08:00 · 2024-02-27 20:12:59 -08:00 · 2024-02-27 19:57:46 -08:00
1345 changed files with 18707 additions and 52386 deletions
@@ -46,8 +46,6 @@ pipeline {
                     "ark_cannode_default",
                     "ark_fmu-v6x_bootloader",
                     "ark_fmu-v6x_default",
-                     "ark_pi6x_bootloader",
-                     "ark_pi6x_default",
                     "atl_mantis-edu_default",
                     "av_x-v1_default",
                     "bitcraze_crazyflie21_default",
@@ -15,7 +15,6 @@
 	"extensions": [
 		"chiehyu.vscode-astyle",
 		"dan-c-underwood.arm",
-		"editorconfig.editorconfig",
 		"fredericbonnet.cmake-test-adapter",
 		"github.vscode-pull-request-github",
 		"marus25.cortex-debug",
@@ -1,14 +0,0 @@
-root = true
-
-[*]
-insert_final_newline = true
-
-[{*.{c,cpp,cc,h,hpp},CMakeLists.txt,Kconfig}]
-indent_style = tab
-tab_width = 8
-# Not in the official standard, but supported by many editors
-max_line_length = 120
-
-[*.yaml, *.yml]
-indent_style = space
-indent_size = 2
@@ -1,89 +0,0 @@
-name: Build all targets
-
-on:
-  push:
-    branches:
-    - 'mrpollo/ci_runner_groups'
-
-jobs:
-  group_targets:
-    runs-on: [runs-on,runner=2cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
-    # container:
-    #   image: px4io/px4-dev-base-focal:2021-09-08
-      # options: --user 1001
-    outputs:
-      matrix: ${{ steps.set-matrix.outputs.matrix }}
-      timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
-    steps:
-    - uses: actions/checkout@v4
-      #   token: ${{ secrets.ACCESS_TOKEN }}
-    - name: Install Python dependencies
-      uses: py-actions/py-dependency-install@v4
-      with:
-        path: "./Tools/setup/requirements.txt"
-    - id: set-matrix
-      run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py --group)"
-    # - name: debug groups
-    #   run: |
-    #       echo "::group::DebugTargets"
-    #       ./Tools/generate_board_targets_json.py --group --verbose
-    #       echo "::endgroup::"
-    - id: set-timestamp
-      run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
-
-  setup:
-    name: ${{ matrix.group }}
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
-    needs: group_targets
-    strategy:
-      # matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
-      matrix:
-        include:
-          - group: 'nuttx-px4'
-            targets: 'px4_fmu-v5x_default,px4_fmu-v6x_default'
-            container: 'px4io/px4-dev-nuttx-focal:2022-08-12'
-            arch: 'nuttx'
-    container:
-      image: ${{ matrix.container }}
-      # options: --user 1001
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-        #   token: ${{ secrets.ACCESS_TOKEN }}
-      - name: debug permissions
-        run: |
-          echo "::group::DebugPermissions"
-          echo $UID
-          echo $PATH
-          echo "::endgroup::"
-      - name: ccache setup keys
-        uses: actions/cache@v4
-        with:
-          path: ~/.ccache
-          key: ${{ matrix.arch }}-ccache-${{ needs.group_targets.outputs.timestamp }}
-          restore-keys: ${{ matrix.arch }}-ccache-${{ needs.group_targets.outputs.timestamp }}
-
-      - 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: Debug with tmate session
-        uses: mxschmitt/action-tmate@v3
-        with:
-          detached: true
-          # sudo: false
-
-      - name: build target group
-        run: |
-            ./Tools/ci_build_all_runner.sh ${{matrix.targets}}
-
-      - name: ccache post-run
-        run: ccache -s
@@ -16,7 +16,6 @@ jobs:
      matrix:
        check: [
          "check_format",
-          "check_newlines",
          "tests",
          "tests_coverage",
          "px4_fmu-v2_default stack_check",
@@ -24,7 +23,6 @@ jobs:
          "shellcheck_all",
          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
          "NO_NINJA_BUILD=1 px4_sitl_default",
-          "px4_sitl_allyes",
          "airframe_metadata",
          "module_documentation",
          "parameters_metadata",
@@ -0,0 +1,58 @@
+name: Compile Linux Targets
+
+on:
+  push:
+    branches:
+    - 'main'
+    - 'stable'
+    - 'beta'
+    - 'release/*'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-armhf:2023-06-26
+    strategy:
+      matrix:
+        config: [
+          beaglebone_blue_default,
+          emlid_navio2_default,
+          px4_raspberrypi_default,
+          scumaker_pilotpi_default,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+    - name: ownership workaround
+      run: git config --system --add safe.directory '*'
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${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
@@ -0,0 +1,54 @@
+name: Compile Linux ARM64 Targets
+
+on:
+  push:
+    branches:
+    - 'main'
+    - 'stable'
+    - 'beta'
+    - 'release/*'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-aarch64:2022-08-12
+    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
@@ -0,0 +1,135 @@
+name: Compile Nuttx Targets
+
+on:
+  push:
+    branches:
+    - 'main'
+    - 'stable'
+    - 'beta'
+    - 'release/*'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-nuttx-focal:2022-08-12
+    strategy:
+      fail-fast: false
+      matrix:
+        config: [
+          airmind_mindpx-v2,
+          ark_can-flow,
+          ark_can-gps,
+          ark_can-rtk-gps,
+          ark_cannode,
+          ark_fmu-v6x,
+          ark_septentrio-gps,
+          atl_mantis-edu,
+          av_x-v1,
+          bitcraze_crazyflie,
+          bitcraze_crazyflie21,
+          cuav_can-gps-v1,
+          cuav_nora,
+          cuav_x7pro,
+          cubepilot_cubeorange,
+          cubepilot_cubeorangeplus,
+          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-classic,
+          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_mr-canhubk3,
+          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,
+          px4_fmu-v6xrt,
+          raspberrypi_pico,
+          sky-drones_smartap-airlink,
+          spracing_h7extreme,
+          uvify_core,
+          siyi_n7
+          ]
+    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
@@ -54,3 +54,4 @@ jobs:
        AWS_REGION: 'us-west-1'
        SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
        DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
+
@@ -11,8 +11,6 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    env:
-      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
    strategy:
      fail-fast: false
      matrix:
@@ -11,8 +11,6 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    env:
-      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
    strategy:
      fail-fast: false
      matrix:
@@ -71,7 +71,7 @@
 [submodule "src/modules/zenoh/zenoh-pico"]
 	path = src/modules/zenoh/zenoh-pico
 	url = https://github.com/px4/zenoh-pico
-	branch = dev/1.0.0-px4
+	branch = pr-zubf-werror-fix
 [submodule "src/lib/heatshrink/heatshrink"]
 	path = src/lib/heatshrink/heatshrink
 	url = https://github.com/PX4/heatshrink.git
@@ -81,5 +81,5 @@
 	url = https://github.com/PX4/PX4-gazebo-models.git
 	branch = main
 [submodule "boards/modalai/voxl2/libfc-sensor-api"]
-	path = boards/modalai/voxl2/libfc-sensor-api
+	path = src/modules/muorb/apps/libfc-sensor-api
 	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git
@@ -2,4 +2,4 @@
 	{
 		"name": "PX4 detect"
 	}
-]
+]
@@ -151,16 +151,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-rtk-gps_canbootloader
-    ark_septentrio-gps_default:
-      short: ark_septentrio-gps_default
+    ark_septentrio_gps_default:
+      short: ark_septentrio_gps_default
      buildType: MinSizeRel
      settings:
-        CONFIG: ark_septentrio-gps_default
-    ark_septentrio-gps_canbootloader:
-      short: ark_septentrio-gps_canbootloader
+        CONFIG: ark_septentrio_gps_default
+    ark_septentrio_gps_canbootloader:
+      short: ark_septentrio_gps_canbootloader
      buildType: MinSizeRel
      settings:
-        CONFIG: ark_septentrio-gps_canbootloader
+        CONFIG: ark_septentrio_gps_canbootloader
    ark_cannode_default:
      short: ark_cannode_default
      buildType: MinSizeRel
@@ -181,16 +181,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_fmu-v6x_default
-    ark_pi6x_bootloader:
-      short: ark_pi6x_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_pi6x_bootloader
-    ark_pi6x_default:
-      short: ark_pi6x_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_pi6x_default
    atl_mantis-edu_default:
      short: atl_mantis-edu
      buildType: MinSizeRel
@@ -4,7 +4,6 @@
    "recommendations": [
        "chiehyu.vscode-astyle",
        "dan-c-underwood.arm",
-        "editorconfig.editorconfig",
        "fredericbonnet.cmake-test-adapter",
        "github.vscode-pull-request-github",
        "marus25.cortex-debug",
@@ -15,7 +15,6 @@
        "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
        "cmake.configureOnOpen": true,
        "cmake.ctest.parallelJobs": 1,
-        "cmake.options.statusBarVisibility": "compact",
        "cmake.skipConfigureIfCachePresent": true,
        "cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
        "cmakeExplorer.parallelJobs": 1,
@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2017 - 2024 PX4 Development Team. All rights reserved.
+# Copyright (c) 2017 - 2022 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -132,9 +132,7 @@ list(GET VERSION_LIST 2 PX4_VERSION_PATCH)
 string(REPLACE "-" ";" PX4_VERSION_PATCH ${PX4_VERSION_PATCH})
 list(GET PX4_VERSION_PATCH 0 PX4_VERSION_PATCH)

-# # Capture only the hash part after 'g'
-string(REGEX MATCH "g([a-f0-9]+)$" GIT_HASH "${PX4_GIT_TAG}")
-set(PX4_GIT_HASH ${CMAKE_MATCH_1})
+message(STATUS "PX4 version: ${PX4_GIT_TAG} (${PX4_VERSION_MAJOR}.${PX4_VERSION_MINOR}.${PX4_VERSION_PATCH})")

 define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                 BRIEF_DOCS "PX4 module libs"
@@ -487,7 +485,7 @@ include(package)

 # install python requirements using configured python
 add_custom_target(install_python_requirements
-	COMMAND ${PYTHON_EXECUTABLE} -m pip install --break-system-packages --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+	COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	USES_TERMINAL
 )
@@ -171,9 +171,9 @@ pipeline {
              sh('cp airframes.md PX4-user_guide/en/airframes/airframe_reference.md')
              sh('cp parameters.md PX4-user_guide/en/advanced_config/parameter_reference.md')
              sh('cp -R modules/*.md PX4-user_guide/en/modules/')
-              sh('cp -R graph_*.json PX4-user_guide/public/middleware/')  // vitepress
+              sh('cp -R graph_*.json PX4-user_guide/.vuepress/public/en/middleware/')
              sh('cp -R msg_docs/*.md PX4-user_guide/en/msg_docs/')
-              sh('cp -R failsafe_sim/* PX4-user_guide/public/config/failsafe')  // vitepress
+              sh('cp -R failsafe_sim/* PX4-user_guide/.vuepress/public/en/config/failsafe')
              sh('cd PX4-user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
              sh('cd PX4-user_guide; git push origin main || true')
              sh('rm -rf PX4-user_guide')
@@ -185,17 +185,6 @@ menu "Serial ports"
        string "EXT2 tty port"
 endmenu

-menu "File paths"
-
-    config BOARD_ROOT_PATH
-        string "PX4 Root file path"
-        default "/fs/microsd"
-
-    config BOARD_PARAM_FILE
-        string "Parameter file"
-        default "/fs/mtd_params"
-endmenu
-
 menu "drivers"
 source "src/drivers/Kconfig"
 endmenu
@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 - 2024 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 - 2020 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -323,32 +323,7 @@ px4io_update:
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status

-bootloaders_update: \
-	ark_fmu-v6x_bootloader \
-	ark_pi6x_bootloader \
-	cuav_nora_bootloader \
-	cuav_x7pro_bootloader \
-	cubepilot_cubeorange_bootloader \
-	cubepilot_cubeorangeplus_bootloader \
-	hkust_nxt-dual_bootloader \
-	hkust_nxt-v1_bootloader \
-	holybro_durandal-v1_bootloader \
-	holybro_kakuteh7_bootloader \
-	holybro_kakuteh7mini_bootloader \
-	holybro_kakuteh7v2_bootloader \
-	matek_h743_bootloader \
-	matek_h743-mini_bootloader \
-	matek_h743-slim_bootloader \
-	modalai_fc-v2_bootloader \
-	mro_ctrl-zero-classic_bootloader \
-	mro_ctrl-zero-h7_bootloader \
-	mro_ctrl-zero-h7-oem_bootloader \
-	mro_pixracerpro_bootloader \
-	px4_fmu-v6c_bootloader \
-	px4_fmu-v6u_bootloader \
-	px4_fmu-v6x_bootloader \
-	px4_fmu-v6xrt_bootloader \
-	siyi_n7_bootloader
+bootloaders_update: ark_fmu-v6x_bootloader cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
 	git status

 .PHONY: coverity_scan
@@ -379,9 +354,9 @@ doxygen:
 	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
 	@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll

-# Style
+# Astyle
 # --------------------------------------------------------------------
-.PHONY: check_format format check_newlines
+.PHONY: check_format format

 check_format:
 	$(call colorecho,'Checking formatting with astyle')
@@ -392,10 +367,6 @@ format:
 	$(call colorecho,'Formatting with astyle')
 	@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh --fix

-check_newlines:
-	$(call colorecho,'Checking for missing or duplicate newlines at the end of files')
-	@"$(SRC_DIR)"/Tools/astyle/check_newlines.sh
-
 # Testing
 # --------------------------------------------------------------------
 .PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance
@@ -120,7 +120,6 @@ add_custom_command(
 		${romfs_gen_root_dir}/init.d/rc.serial
 		${romfs_gen_root_dir}/init.d/rc.autostart
 		${romfs_gen_root_dir}/init.d/rc.autostart.post
-		${romfs_gen_root_dir}/init.d/rc.filepaths
 		${romfs_copy_stamp}
 	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
 	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
@@ -132,9 +131,6 @@ add_custom_command(
 		--rc-dir ${romfs_gen_root_dir}/init.d
 		--serial-ports ${board_serial_ports} ${added_arguments}
 		--config-files ${module_config_files} #--verbose
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/filepaths/generate_config.py
-		--rc-dir ${romfs_gen_root_dir}/init.d
-		--params-file ${CONFIG_BOARD_PARAM_FILE}
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
 	WORKING_DIRECTORY ${romfs_gen_root_dir}
 	DEPENDS ${romfs_tar_file}
@@ -324,7 +320,6 @@ add_custom_target(romfs_gen_files_target
 	DEPENDS
 		${romfs_copy_stamp}
 		${romfs_gen_root_dir}/init.d/rc.serial
-		${romfs_gen_root_dir}/init.d/rc.filepaths
 		romfs_extras.stamp
 	)

@@ -21,14 +21,25 @@ set R /
 #
 ver all

-# Load param file location from kconfig
-. ${R}etc/init.d/rc.filepaths
+if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
+then
+	set PARAM_FILE /fs/mtd_params
+fi
+
+if mft query -q -k MTD -s MTD_PARAMETERS -v /dev/eeeprom0
+then
+	set PARAM_FILE /dev/eeeprom0
+fi
+
+if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/qspi/params
+then
+	set PARAM_FILE /mnt/qspi/params
+fi

 #
 # Load parameters.
 #
 param select $PARAM_FILE
-
 if ! param load
 then
 	param reset_all
@@ -29,3 +29,4 @@ 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
+
@@ -30,3 +30,4 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

 param set-default EKF2_RNG_A_HMAX 10
+
@@ -94,3 +94,4 @@ param set-default CA_METHOD 0
 # disable attitude failure detection
 param set-default FD_FAIL_P 0
 param set-default FD_FAIL_R 0
+
@@ -12,3 +12,4 @@ 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
+
@@ -24,6 +24,8 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027

+param set-default BAT_N_CELLS 3
+
 param set-default SIH_T_MAX 6
 param set-default SIH_MASS 0.3
 param set-default SIH_IXX 0.00402
@@ -33,6 +33,8 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027

+param set-default BAT_N_CELLS 3
+
 param set-default SIH_T_MAX 2
 param set-default SIH_Q_MAX 0.0165
 param set-default SIH_MASS 0.2
@@ -30,3 +30,4 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

 param set-default LPE_FUSION 242
+
@@ -18,3 +18,4 @@ param set-default LPE_FUSION 132

 # AEQ: External heading set to use vision input
 param set-default ATT_EXT_HDG_M 1
+
@@ -41,3 +41,4 @@ 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
+
@@ -61,3 +61,4 @@ param set-default PWM_MAIN_FUNC5 105
 param set-default PWM_MAIN_FUNC6 106
 param set-default PWM_MAIN_FUNC7 107
 param set-default PWM_MAIN_FUNC8 108
+
@@ -68,3 +68,5 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
+
+
@@ -39,6 +39,7 @@ param set-default FW_T_SINK_MIN 2.2

 param set-default FW_W_EN 1

+param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
@@ -41,6 +41,7 @@ param set-default FW_T_SINK_MIN 2.2

 param set-default FW_W_EN 1

+param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
@@ -70,3 +71,4 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
+
@@ -24,6 +24,7 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1

 param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -55,3 +56,4 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
+
@@ -24,6 +24,7 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1

 param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -54,3 +54,4 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
+
@@ -24,6 +24,7 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1

 param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -55,3 +56,4 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
+
@@ -62,3 +62,4 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
+
@@ -39,6 +39,7 @@ param set-default FW_T_SINK_MIN 2.2

 param set-default FW_W_EN 1

+param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
@@ -23,7 +23,9 @@ param set-default FW_RR_P 0.085

 param set-default FW_W_EN 1

+param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -78,3 +78,4 @@ param set-default VT_FWD_THRUST_EN 4
 param set-default VT_FWD_THRUST_SC 1
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_TYPE 2
+
@@ -75,3 +75,4 @@ param set-default VT_F_TRANS_DUR 1.5
 param set-default VT_TYPE 0

 param set-default WV_EN 0
+
@@ -88,3 +88,4 @@ param set-default PWM_MAIN_FUNC11 422
 param set-default RC_MAP_AUX1 8
 param set-default RC_MAP_AUX2 9
 param set-default RC_MAP_AUX3 10
+
@@ -39,6 +39,7 @@ param set-default FW_T_SINK_MIN 2.2

 param set-default FW_W_EN 1

+param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
@@ -31,3 +31,4 @@ param set-default PWM_MAIN_FUNC1 201
 param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101
+
@@ -38,3 +38,4 @@ param set-default PWM_MAIN_FUNC1 201
 param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101
+
@@ -41,3 +41,4 @@ param set-default CA_R_REV 3

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
+
@@ -64,3 +64,4 @@ param set-default PWM_MAIN_FUNC4 203
 param set-default PWM_MAIN_FUNC5 407
 param set-default PWM_MAIN_FUNC6 408
 param set-default PWM_MAIN_FUNC7 409
+
@@ -69,3 +69,4 @@ param set-default PWM_MAIN_FUNC4 203
 param set-default PWM_MAIN_FUNC5 407
 param set-default PWM_MAIN_FUNC6 408
 param set-default PWM_MAIN_FUNC7 409
+
@@ -36,3 +36,4 @@ param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 201
 param set-default PWM_MAIN_FUNC4 103
+
@@ -52,4 +52,3 @@ param set-default SIM_GZ_EC_MAX3 1000
 param set-default SIM_GZ_EC_MAX4 1000

 param set-default MPC_THR_HOVER 0.60
-param set-default NAV_DLL_ACT 2
@@ -101,9 +101,8 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1

 param set-default NAV_ACC_RAD 5
-param set-default NAV_DLL_ACT 2

 param set-default VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 0.3
+param set-default VT_F_TRANS_THR 0.75
 param set-default VT_TYPE 2
 param set-default FD_ESCS_EN 0
@@ -132,5 +132,3 @@ param set-default SIM_GZ_EC_MAX1 1100
 param set-default SIM_GZ_EC_MAX2 1100
 param set-default SIM_GZ_EC_MAX3 1100
 param set-default SIM_GZ_EC_MAX4 1100
-
-param set-default NAV_DLL_ACT 2
@@ -1,49 +0,0 @@
-#!/bin/sh
-# @name Rover Ackermann
-# @type Rover
-# @class Rover
-
-. ${R}etc/init.d/rc.rover_ackermann_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
-
-param set-default SIM_GZ_EN 1 # Gazebo bridge
-
-# Rover parameters
-param set-default NAV_ACC_RAD 0.5
-param set-default RA_ACC_RAD_GAIN 2
-param set-default RA_ACC_RAD_MAX 3
-param set-default RA_MAX_ACCEL 1.5
-param set-default RA_MAX_JERK 15
-param set-default RA_MAX_SPEED 3
-param set-default RA_MAX_STR_ANG 0.5236
-param set-default RA_MAX_STR_RATE 360
-param set-default RA_MISS_VEL_DEF 3
-param set-default RA_MISS_VEL_GAIN 5
-param set-default RA_MISS_VEL_MIN 1
-param set-default RA_SPEED_I 0.01
-param set-default RA_SPEED_P 2
-param set-default RA_WHEEL_BASE 0.321
-
-# Pure Pursuit parameters
-param set-default PP_LOOKAHD_GAIN 1
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1
-
-# Simulated sensors
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
-
-# Wheels
-param set-default SIM_GZ_WH_FUNC1 101
-param set-default SIM_GZ_WH_MIN1 0
-param set-default SIM_GZ_WH_MAX1 200
-param set-default SIM_GZ_WH_DIS1 100
-
-# Steering
-param set-default SIM_GZ_SV_FUNC1 201
-param set-default SIM_GZ_SV_REV 1
@@ -1,10 +0,0 @@
-#!/bin/sh
-#
-# @name Gazebo x500 lidar
-#
-# @type Quadrotor
-#
-
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_lidar}
-
-. ${R}etc/init.d-posix/airframes/4001_gz_x500
@@ -63,3 +63,4 @@ param set-default PWM_MAIN_FUNC9 422
 # Landing gear
 param set-default PWM_MAIN_FUNC10 400
 param set-default PWM_MAIN_FUNC11 400
+
@@ -119,3 +119,4 @@ param set-default CA_METHOD 0
 # disable attitude failure detection
 param set-default FD_FAIL_P 0
 param set-default FD_FAIL_R 0
+
@@ -83,8 +83,6 @@ px4_add_romfs_files(
 	4009_gz_r1_rover
 	4010_gz_x500_mono_cam
 	4011_gz_lawnmower
-	4012_gz_rover_ackermann
-	4013_gz_x500_lidar

 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post
@@ -15,9 +15,6 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 	if [ -n "${PX4_HOME_LON}" ]; then
 		param set SIH_LOC_LON0 ${PX4_HOME_LON}
 	fi
-	if [ -n "${PX4_HOME_ALT}" ]; then
-		param set SIH_LOC_H0 ${PX4_HOME_ALT}
-	fi

 	if simulator_sih start; then

@@ -157,7 +157,6 @@ param set-default CBRK_SUPPLY_CHK 894281

 # disable check, no CPU load reported on posix yet
 param set-default COM_CPU_MAX -1
-param set-default COM_RAM_MAX -1

 # Don't require RC calibration and configuration
 param set-default COM_RC_IN_MODE 1
@@ -183,6 +182,10 @@ param set-default SYS_FAILURE_EN 1
 # does not go below 50% by default, but failure injection can trigger failsafes.
 param set-default COM_LOW_BAT_ACT 2

+# Allow to override SYS_MC_EST_GROUP via env
+if [ -n "$SYS_MC_EST_GROUP" ]; then
+	param set SYS_MC_EST_GROUP $SYS_MC_EST_GROUP
+fi

 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
@@ -253,23 +256,6 @@ manual_control start
 sensors start
 commander start

-#
-# state estimator selection
-if param compare -s EKF2_EN 1
-then
-	ekf2 start &
-fi
-
-if param compare -s LPE_EN 1
-then
-	local_position_estimator start
-fi
-
-if param compare -s ATT_EN 1
-then
-	attitude_estimator_q start
-fi
-
 if ! pwm_out_sim start -m sim
 then
 	tune_control play error
@@ -344,7 +330,7 @@ fi
 [ -e "$autostart_file".post ] && . "$autostart_file".post

 # Run script to start logging
-if param compare -s EKF2_EN 1
+if param compare SYS_MC_EST_GROUP 2
 then
 	set LOGGER_ARGS "-p ekf2_timestamps"
 else
@@ -44,7 +44,6 @@ px4_add_romfs_files(
 	# TODO
 	rc.balloon_apps
 	rc.balloon_defaults
-	rc.sysinit
 )

 if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL)
@@ -85,13 +84,6 @@ if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
 	)
 endif()

-if(CONFIG_MODULES_ROVER_ACKERMANN)
-	px4_add_romfs_files(
-		rc.rover_ackermann_apps
-		rc.rover_ackermann_defaults
-	)
-endif()
-
 if(CONFIG_MODULES_UUV_ATT_CONTROL)
 	px4_add_romfs_files(
 		rc.uuv_apps
@@ -44,3 +44,4 @@ param set-default CA_ROTOR4_KM -0.05
 param set-default CA_ROTOR5_PX 0.25
 param set-default CA_ROTOR5_PY -0.433
 param set-default CA_ROTOR5_PZ 0.05
+
@@ -44,6 +44,8 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027

+param set-default BAT_N_CELLS 3
+
 param set SIH_T_MAX 6
 param set SIH_MASS 0.3
 param set SIH_IXX 0.00402
@@ -62,6 +62,8 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027

+param set-default BAT_N_CELLS 3
+
 param set SIH_T_MAX 2.0
 param set SIH_Q_MAX 0.0165
 param set SIH_MASS 0.2
@@ -66,6 +66,7 @@ param set-default MC_PITCHRATE_I 0.05
 param set-default MC_YAWRATE_MAX 20
 param set-default MC_AIRMODE 1

+param set-default MIS_DIST_1WP 100
 param set-default MIS_TAKEOFF_ALT 15

 param set-default MPC_XY_P 0.8
@@ -119,3 +119,5 @@ param set-default PWM_MAIN_TIM0 50
 param set-default PWM_MAIN_DIS1 1500
 param set-default PWM_MAIN_DIS2 1500
 param set-default PWM_MAIN_DIS4 1500
+
+
@@ -32,3 +32,4 @@ param set-default CA_SV_TL0_MAXA 45
 param set-default CA_SV_TL0_MINA -45
 param set-default CA_SV_TL0_TD 90
 param set-default CA_SV_TL_COUNT 1
+
@@ -24,3 +24,5 @@ param set-default MC_PITCHRATE_D 0
 param set-default MC_PITCHRATE_FF 0.1

 param set-default CA_AIRFRAME 10
+
+
@@ -23,3 +23,4 @@ param set-default MAV_0_MODE 1
 param set-default MAV_0_CONFIG 102
 param set-default GPS_UBX_DYNMODEL 8
 param set-default SER_TEL2_BAUD 9600
+
@@ -72,3 +72,5 @@ param set-default PWM_MAIN_DIS5 1000
 param set-default PWM_MAIN_DIS6 1500
 param set-default PWM_MAIN_DIS7 1500
 param set-default PWM_MAIN_DIS8 1500
+
+
@@ -66,3 +66,4 @@ param set-default CA_ROTOR11_PX -0.344
 param set-default CA_ROTOR11_PY -0.25
 param set-default CA_ROTOR11_PZ -0.05
 param set-default CA_ROTOR11_KM -0.05
+
@@ -38,3 +38,4 @@ param set-default CA_SV_CS_COUNT 1
 param set-default CA_SV_CS0_TRQ_P 1

 param set-default CA_R_REV 7
+
@@ -6,7 +6,6 @@
 # @class Copter
 #
 # @board px4_fmu-v2 exclude
-# @board px4_fmu-v5x exclude
 # @board bitcraze_crazyflie exclude
 #
 # @maintainer Iain Galloway <iain.galloway@nxp.com>
@@ -7,10 +7,6 @@
 #
 # @maintainer
 # @board px4_fmu-v2 exclude
-# @board cuav_x7pro exclude
-# @board px4_fmu-v4pro exclude
-# @board px4_fmu-v5x exclude
-# @board px4_fmu-v6x exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -40,6 +36,7 @@ param set-default COM_RC_LOSS_T 3


 # ekf2
+param set-default EKF2_TERR_MASK 1
 param set-default EKF2_BARO_NOISE 2

 param set-default EKF2_BCOEF_X 31.5
@@ -12,7 +12,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude
 #
@@ -10,7 +10,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude
 #
@@ -8,7 +8,6 @@
 # @maintainer Oleg Kalachev <okalachev@gmail.com>
 #
 # @board px4_fmu-v2 exclude
-# @board px4_fmu-v4pro exclude
 # @board bitcraze_crazyflie exclude
 #

@@ -1,80 +0,0 @@
-#!/bin/sh
-#
-# @name Droneblocks DEXI 5
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @maintainer Dennis Baldwin <db@droneblocks.io>
-# @maintainer Alex klimaj <alex@arkelectron.com>
-#
-# @board px4_fmu-v2 exclude
-# @board px4_fmu-v3 exclude
-# @board px4_fmu-v4 exclude
-# @board px4_fmu-v4pro exclude
-# @board px4_fmu-v5 exclude
-# @board px4_fmu-v5x exclude
-# @board px4_fmu-v6x exclude
-# @board bitcraze_crazyflie exclude
-# @board diatone_mamba-f405-mk2 exclude
-# @board ark_fmu-v6x exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default BAT1_CAPACITY 4000
-param set-default BAT1_N_CELLS 6
-param set-default BAT1_V_EMPTY 3.3
-param set-default BAT_AVRG_CURRENT 13
-
-# Square quadrotor X PX4 numbering
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.0762
-param set-default CA_ROTOR0_PY 0.09525
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.0762
-param set-default CA_ROTOR1_PY -0.09525
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.0762
-param set-default CA_ROTOR2_PY -0.09525
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.0762
-param set-default CA_ROTOR3_PY 0.09525
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default EKF2_MIN_RNG 0.01
-param set-default EKF2_OF_POS_X 0.043
-param set-default EKF2_OF_POS_Y 0.011
-param set-default EKF2_OF_QMIN_GND 1
-param set-default EKF2_RNG_POS_X 0.043
-param set-default EKF2_RNG_POS_Y 0.0
-
-param set-default IMU_GYRO_DNF_EN 2
-
-param set-default MC_PITCHRATE_D 0.0013
-param set-default MC_PITCHRATE_I 0.185
-param set-default MC_PITCHRATE_P 0.105
-param set-default MC_PITCH_P 7.5
-param set-default MC_ROLLRATE_D 0.0010
-param set-default MC_ROLLRATE_I 0.165
-param set-default MC_ROLLRATE_P 0.095
-param set-default MC_ROLL_P 7.5
-param set-default MC_YAWRATE_I 0.35
-param set-default MC_YAWRATE_P 0.13
-
-param set-default MPC_THR_HOVER 0.22
-param set-default MPC_THR_MAX 0.5
-param set-default MPC_THR_MIN 0.025
-param set-default MPC_VEL_MANUAL 5.0
-param set-default MPC_XY_VEL_MAX 8.0
-
-param set-default RC_CRSF_PRT_CFG 300
-param set-default RC_CRSF_TEL_EN 1
-
-param set-default RTL_RETURN_ALT 15
-
-param set-default SENS_FLOW_MINHGT 0.0
-
-param set-default SER_TEL2_BAUD 3000000
-
-param set-default UXRCE_DDS_CFG 102
@@ -13,12 +13,11 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board px4_fmu-v6x exclude
 # @board diatone_mamba-f405-mk2 exclude
 #
 . ${R}etc/init.d/rc.mc_defaults

-
+param set-default SYS_MC_EST_GROUP 2
 param set-default SYS_HAS_MAG 0
 param set-default EKF2_OF_CTRL 1
 param set-default EKF2_GPS_CTRL 0
@@ -48,3 +48,5 @@ param set-default PWM_MAIN_FUNC1 201
 param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101
+
+
@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# @name Generic ackermann rover
-#
-# @type Rover
-# @class Rover
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.rover_ackermann_defaults
@@ -42,3 +42,4 @@ param set-default CA_ROTOR3_KM 0
 param set-default CA_ROTOR3_PX 0
 param set-default CA_ROTOR3_PY -0.3
 param set-default CA_ROTOR3_PZ 0.3
+
@@ -31,3 +31,5 @@ param set-default CA_ROTOR4_PY 0.25
 param set-default CA_ROTOR5_PX -0.43
 param set-default CA_ROTOR5_PY -0.25
 param set-default CA_ROTOR5_KM -0.05
+
+
@@ -123,3 +123,4 @@ param set-default PWM_MAIN_FUNC6 106
 param set-default PWM_MAIN_TIM0 -1
 param set-default PWM_MAIN_TIM1 -1
 param set-default PWM_MAIN_TIM2 -1
+
@@ -31,3 +31,5 @@ param set-default CA_ROTOR4_PY -0.43
 param set-default CA_ROTOR5_PX -0.25
 param set-default CA_ROTOR5_PY 0.43
 param set-default CA_ROTOR5_KM -0.05
+
+
@@ -36,3 +36,5 @@ param set-default CA_ROTOR6_PY -0.46
 param set-default CA_ROTOR7_KM -0.05
 param set-default CA_ROTOR7_PX -0.19
 param set-default CA_ROTOR7_PY 0.46
+
+
@@ -36,3 +36,4 @@ param set-default CA_ROTOR6_PY -0.5
 param set-default CA_ROTOR7_KM -0.05
 param set-default CA_ROTOR7_PX 0
 param set-default CA_ROTOR7_PY 0.5
+
@@ -69,7 +69,6 @@ if(CONFIG_MODULES_MC_RATE_CONTROL)
 		4071_ifo
 		4073_ifo-s
 		4500_clover4
-		4601_droneblocks_dexi_5
 		4901_crazyflie21

 		# [5000, 5999] Quadrotor +
@@ -149,12 +148,6 @@ if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
 	)
 endif()

-if(CONFIG_MODULES_ROVER_ACKERMANN)
-	px4_add_romfs_files(
-		50010_ackermann_rover_generic
-	)
-endif()
-
 if(CONFIG_MODULES_UUV_ATT_CONTROL)
 	px4_add_romfs_files(
 		# [60000, 61000] (Unmanned) Underwater Robots
@@ -5,6 +5,49 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #

+###############################################################################
+#                       Begin Estimator Group Selection                       #
+###############################################################################
+
+#
+# LPE
+#
+if param compare SYS_MC_EST_GROUP 1
+then
+	#
+	# Try to start LPE. If it fails, start EKF2 as a default.
+	# Unfortunately we do not build it on px4_fmu-v2 due to a limited flash.
+	#
+	if attitude_estimator_q start
+	then
+		echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
+		local_position_estimator start
+	else
+		echo "ERROR [init] Estimator LPE not available. Using EKF2"
+		param set SYS_MC_EST_GROUP 2
+		param save
+		reboot
+	fi
+else
+	#
+	# Q estimator (attitude estimation only)
+	#
+	if param compare SYS_MC_EST_GROUP 3
+	then
+		attitude_estimator_q start
+	else
+		#
+		# EKF2
+		#
+		param set SYS_MC_EST_GROUP 2
+		ekf2 start &
+	fi
+fi
+
+###############################################################################
+#                        End Estimator Group Selection                        #
+###############################################################################
+
 #
 # Start Control Allocator
 #
@@ -4,3 +4,39 @@
 #
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
+
+#
+# Start the attitude and position estimator.
+#
+
+if param compare SYS_MC_EST_GROUP 1
+then
+	#
+	# Try to start LPE. If it fails, start EKF2 as a default.
+	# Unfortunately we do not build it on px4_fmu-v2 due to a limited flash.
+	#
+	if attitude_estimator_q start
+	then
+		echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
+		local_position_estimator start
+	else
+		echo "ERROR [init] Estimator LPE not available. Using EKF2"
+		param set SYS_MC_EST_GROUP 2
+		param save
+		reboot
+	fi
+else
+	#
+	# Q estimator (attitude estimation only)
+	#
+	if param compare SYS_MC_EST_GROUP 3
+	then
+		attitude_estimator_q start
+	else
+		#
+		# EKF2
+		#
+		param set SYS_MC_EST_GROUP 2
+		ekf2 start &
+	fi
+fi
@@ -13,6 +13,4 @@ param set-default MAV_TYPE 8
 #
 # Default parameters for balloon UAVs.
 #
-param set-default LPE_EN 1
-param set-default ATT_EN 1
-param set-default EKF2_EN 0
+param set-default SYS_MC_EST_GROUP 1
@@ -5,6 +5,11 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #

+#
+# Start the attitude and position estimator.
+#
+ekf2 start &
+
 #
 # Start Control Allocator
 #
@@ -5,6 +5,49 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #

+###############################################################################
+#                       Begin Estimator Group Selection                       #
+###############################################################################
+
+#
+# LPE
+#
+if param compare SYS_MC_EST_GROUP 1
+then
+	#
+	# Try to start LPE. If it fails, start EKF2 as a default.
+	# Unfortunately we do not build it on px4_fmu-v2 due to a limited flash.
+	#
+	if attitude_estimator_q start
+	then
+		echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
+		local_position_estimator start
+	else
+		echo "ERROR [init] Estimator LPE not available. Using EKF2"
+		param set SYS_MC_EST_GROUP 2
+		param save
+		reboot
+	fi
+else
+	#
+	# Q estimator (attitude estimation only)
+	#
+	if param compare SYS_MC_EST_GROUP 3
+	then
+		attitude_estimator_q start
+	else
+		#
+		# EKF2
+		#
+		param set SYS_MC_EST_GROUP 2
+		ekf2 start &
+	fi
+fi
+
+###############################################################################
+#                        End Estimator Group Selection                        #
+###############################################################################
+
 #
 # Start Control Allocator
 #
@@ -1,8 +0,0 @@
-#!/bin/sh
-# Standard apps for a ackermann drive rover.
-
-# Start rover ackermann drive controller.
-rover_ackermann start
-
-# Start Land Detector.
-land_detector start rover
@@ -1,13 +0,0 @@
-#!/bin/sh
-# Ackermann rover parameters.
-
-set VEHICLE_TYPE rover_ackermann
-param set-default MAV_TYPE 10 # MAV_TYPE_GROUND_ROVER
-param set-default CA_AIRFRAME 5 # Rover (Ackermann)
-param set-default CA_R_REV 1 # Motor is assumed to be reversible
-param set-default EKF2_MAG_TYPE 1 # make sure magnetometer is fused even when not flying
-param set-default EKF2_GBIAS_INIT 0.01
-param set-default EKF2_ANGERR_INIT 0.01
-param set-default NAV_ACC_RAD 0.5 # Waypoint acceptance radius
-param set-default NAV_RCL_ACT 6 # Disarm on manual control loss
-param set-default COM_FAIL_ACT_T 1 # Delay before failsafe after rc loss
@@ -5,6 +5,11 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #

+#
+# Start the attitude and position estimator.
+#
+ekf2 start &
+
 #
 # Start Control Allocator
 #
@@ -1,6 +1,9 @@
 #!/bin/sh
 # Standard apps for a differential drive rover.

+# Start the attitude and position estimator.
+ekf2 start &
+
 # Start rover differential drive controller.
 differential_drive start

@@ -138,12 +138,6 @@ then
 	adis16507 -S start
 fi

-# SCH16T spi external IMU
-if param compare -s SENS_EN_SCH16T 1
-then
-	sch16t -S start
-fi
-
 # Eagle Tree airspeed sensor external I2C
 if param compare -s SENS_EN_ETSASPD 1
 then
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Daniel Agar	f8a8675e2d	ORB queue depth completely static	2024-03-08 10:47:43 -05:00
Daniel Agar	600b0e6704	Merge remote-tracking branch 'px4/main' into pr-modalai-muorb-updates	2024-03-08 10:08:36 -05:00
Eric Katzfey	dd67766f6c	Made setting of queue size in orb node based on topic definition	2024-03-01 14:18:52 -08:00
Eric Katzfey	4a043a80f1	Fixed error in macro definition	2024-02-27 20:12:59 -08:00
Eric Katzfey	bb617a1a56	Merge branch 'main' of github.com:PX4/PX4-Autopilot into pr-modalai-muorb-updates	2024-02-27 19:57:46 -08:00
Eric Katzfey	01de368616	Removed libfc sensor from format checks	2024-02-27 19:56:59 -08:00
Eric Katzfey	76352765b6	Fixes to the ModalAI muorb implementation	2024-02-27 19:56:17 -08:00