commander: skip estimatorCheck for now

simulator_mavlink: add heading_good_for_control
simulation: HIL_STATE_QUATERNION add angular acceleration and protect from initial lat/lon 0
2026-05-28 23:00:05 +08:00 · 2024-02-15 15:46:31 -05:00 · 2024-02-15 15:46:14 -05:00 · 2024-02-15 15:20:33 -05:00 · 2024-02-15 14:57:37 -05:00 · 2024-02-15 13:24:40 -05:00
511 changed files with 19804 additions and 8488 deletions
@@ -1 +0,0 @@
--ignore-dir=Documentation
@@ -40,16 +40,16 @@ pipeline {
                     "ark_can-flow_default",
                     "ark_can-gps_canbootloader",
                     "ark_can-gps_default",
-                     "ark_cannode_canbootloader",
-                     "ark_cannode_default",
                     "ark_can-rtk-gps_canbootloader",
                     "ark_can-rtk-gps_default",
+                     "ark_cannode_canbootloader",
+                     "ark_cannode_default",
                     "ark_fmu-v6x_bootloader",
                     "ark_fmu-v6x_default",
                     "atl_mantis-edu_default",
                     "av_x-v1_default",
-                     "bitcraze_crazyflie_default",
                     "bitcraze_crazyflie21_default",
+                     "bitcraze_crazyflie_default",
                     "cuav_can-gps-v1_canbootloader",
                     "cuav_can-gps-v1_default",
                     "cuav_nora_default",
@@ -66,8 +66,8 @@ pipeline {
                     "holybro_durandal-v1_default",
                     "holybro_kakutef7_default",
                     "holybro_kakuteh7_default",
-                     "holybro_kakuteh7v2_default",
                     "holybro_kakuteh7mini_default",
+                     "holybro_kakuteh7v2_default",
                     "holybro_pix32v5_default",
                     "matek_gnss-m9n-f4_canbootloader",
                     "matek_gnss-m9n-f4_default",
@@ -77,8 +77,8 @@ pipeline {
                     "modalai_fc-v1_default",
                     "modalai_fc-v2_default",
                     "mro_ctrl-zero-classic_default",
-                     "mro_ctrl-zero-f7_default",
                     "mro_ctrl-zero-f7-oem_default",
+                     "mro_ctrl-zero-f7_default",
                     "mro_ctrl-zero-h7-oem_default",
                     "mro_ctrl-zero-h7_default",
                     "mro_pixracerpro_default",
@@ -104,22 +104,28 @@ pipeline {
                     "px4_fmu-v5_debug",
                     "px4_fmu-v5_default",
                     "px4_fmu-v5_lto",
+                     "px4_fmu-v5_rover",
                     "px4_fmu-v5_stackcheck",
                     "px4_fmu-v5_uavcanv0periph",
                     "px4_fmu-v5x_default",
+                     "px4_fmu-v5x_rover",
                     "px4_fmu-v6c_default",
+                     "px4_fmu-v6c_rover",
                     "px4_fmu-v6u_default",
+                     "px4_fmu-v6u_rover",
                     "px4_fmu-v6x_default",
+                     "px4_fmu-v6x_rover",
                     "px4_fmu-v6xrt_bootloader",
                     "px4_fmu-v6xrt_default",
+                     "px4_fmu-v6xrt_rover",
                     "px4_io-v2_default",
                     "raspberrypi_pico_default",
+                     "siyi_n7_default"
                     "sky-drones_smartap-airlink_default",
                     "spracing_h7extreme_default",
                     "thepeach_k1_default",
                     "thepeach_r1_default",
                     "uvify_core_default",
-                     "siyi_n7_default"
            ],
            image: docker_images.nuttx,
            archive: true
@@ -25,6 +25,7 @@ jobs:
          ark_can-rtk-gps,
          ark_cannode,
          ark_fmu-v6x,
+          ark_septentrio-gps,
          atl_mantis-edu,
          av_x-v1,
          bitcraze_crazyflie,
@@ -48,6 +49,7 @@ jobs:
          matek_h743-slim,
          modalai_fc-v1,
          modalai_fc-v2,
+          mro_ctrl-zero-classic,
          mro_ctrl-zero-f7,
          mro_ctrl-zero-f7-oem,
          mro_ctrl-zero-h7,
@@ -1,33 +0,0 @@
-# How to install:
-#   gem install github_changelog_generator
-# How to run:
-#   github_changelog_generator -u PX4 -p Firmware
-# Description:
-#   The following params are sensible defaults for the PX4 project,
-#   if you want to do a changelog before a release you need to update since-tag and future-releases,
-
-# Params:
-#   github_changelog_generator --help for all options
-
-# max-issues
-#   max threshold for github api queries
-#   make sure you set your CHANGELOG_GITHUB_TOKEN before
-#   running
-max-issues=1500
-
-# exclude-tags-regex
-#   excludes release candidates
-exclude-tags-regex=rc[0-9]{1,}|beta[0-9]{1,}
-
-# since-tag
-#   version of last stable release
-#   you need to change this depending on what you need
-#   if you want a changelog between versions this is the lowest version
-since-tag=1.6.5
-
-# future-release
-#   version you are about to release
-#   if you want a changelog between a version and all unreleased changes grouped as a release
-#     eg: v1.6.5 to v1.7.0
-future-release=v1.7.0
-
@@ -79,3 +79,7 @@
 [submodule "Tools/simulation/gz"]
 	path = Tools/simulation/gz
 	url = https://github.com/PX4/PX4-gazebo-models.git
+	branch = main
+[submodule "boards/modalai/voxl2/libfc-sensor-api"]
+	path = src/modules/muorb/apps/libfc-sensor-api
+	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git
@@ -1,35 +0,0 @@
-language: cpp
-
-git:
-  depth: 100
-  submodules: false
-
-matrix:
-  fast_finish: true
-  include:
-    - os: linux
-      dist: xenial
-      # In order to stay under the coverity rate limit, we only run this weekly
-      # and not on push which is configured in travis-ci settings.
-      if: branch = main
-
-before_install:
-    - echo -n | openssl s_client -connect scan.coverity.com:443 | sed -ne '/-BEGIN CERTIFICATE-/,/-END CERTIFICATE-/p' | sudo tee -a /etc/ssl/certs/ca-
-
-install:
-    - export PATH=$HOME/.local/bin:$PATH
-    - pip install --user --upgrade pip
-    - pip install --user -r Tools/setup/requirements.txt
-
-script:
-    - make
-
-addons:
-  coverity_scan:
-    project:
-      name: "PX4/Firmware"
-      description: "Build submitted via Travis CI"
-    notification_email: ci@px4.io
-    build_command_prepend: "make distclean"
-    build_command: "make px4_sitl_default"
-    branch_pattern: coverity_scan
@@ -71,6 +71,26 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: px4_fmu-v5x_default
+    px4_fmu-v6c_default:
+      short: px4_fmu-v6c
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6c_default
+    px4_fmu-v6c_bootloader:
+      short: px4_fmu-v6c_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6c_bootloader
+    px4_fmu-v6u_default:
+      short: px4_fmu-v6u
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6u_default
+    px4_fmu-v6u_bootloader:
+      short: px4_fmu-v6u_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6u_bootloader
    px4_fmu-v6x_default:
      short: px4_fmu-v6x
      buildType: MinSizeRel
@@ -131,6 +151,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-rtk-gps_canbootloader
+    ark_septentrio_gps_default:
+      short: ark_septentrio_gps_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_septentrio_gps_default
+    ark_septentrio_gps_canbootloader:
+      short: ark_septentrio_gps_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_septentrio_gps_canbootloader
    ark_cannode_default:
      short: ark_cannode_default
      buildType: MinSizeRel
@@ -1,172 +0,0 @@
-# This file is NOT licensed under the GPLv3, which is the license for the rest
-# of YouCompleteMe.
-#
-# Here's the license text for this file:
-#
-# This is free and unencumbered software released into the public domain.
-#
-# Anyone is free to copy, modify, publish, use, compile, sell, or
-# distribute this software, either in source code form or as a compiled
-# binary, for any purpose, commercial or non-commercial, and by any
-# means.
-#
-# In jurisdictions that recognize copyright laws, the author or authors
-# of this software dedicate any and all copyright interest in the
-# software to the public domain. We make this dedication for the benefit
-# of the public at large and to the detriment of our heirs and
-# successors. We intend this dedication to be an overt act of
-# relinquishment in perpetuity of all present and future rights to this
-# software under copyright law.
-#
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
-# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
-# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
-# IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
-# OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
-# ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
-# OTHER DEALINGS IN THE SOFTWARE.
-#
-# For more information, please refer to <http://unlicense.org/>
-
-import os
-import ycm_core
-
-# These are the compilation flags that will be used in case there's no
-# compilation database set (by default, one is not set).
-# CHANGE THIS LIST OF FLAGS. YES, THIS IS THE DROID YOU HAVE BEEN LOOKING FOR.
-flags = [
-'-Wall',
-'-Wextra',
-'-Werror',
-#'-Wc++98-compat',
-'-Wno-long-long',
-'-Wno-variadic-macros',
-'-fexceptions',
-'-DNDEBUG',
-# You 100% do NOT need -DUSE_CLANG_COMPLETER in your flags; only the YCM
-# source code needs it.
-#'-DUSE_CLANG_COMPLETER',
-# THIS IS IMPORTANT! Without a "-std=<something>" flag, clang won't know which
-# language to use when compiling headers. So it will guess. Badly. So C++
-# headers will be compiled as C headers. You don't want that so ALWAYS specify
-# a "-std=<something>".
-# For a C project, you would set this to something like 'c99' instead of
-# 'c++14'.
-'-std=c++14',
-# ...and the same thing goes for the magic -x option which specifies the
-# language that the files to be compiled are written in. This is mostly
-# relevant for c++ headers.
-# For a C project, you would set this to 'c' instead of 'c++'.
-'-x',
-'c++',
-'-undef', # get rid of standard definitions to allow us to include arm math header
-'-I', os.path.join(os.path.expanduser("~"),'gcc-arm-none-eabi-4_7-2013q3/arm-none-eabi/include'),
-'-I', 'Build/px4_io-v2_default.build/nuttx-export/include/',
-'-I', './NuttX/nuttx/arch/arm/include',
-'-include', './src/include/visibility.h',
-'-I', './src',
-'-I', './src/modules',
-'-I', './src/include',
-'-I', './src/lib',
-'-I', './NuttX',
-]
-
-
-# Set this to the absolute path to the folder (NOT the file!) containing the
-# compile_commands.json file to use that instead of 'flags'. See here for
-# more details: http://clang.llvm.org/docs/JSONCompilationDatabase.html
-#
-# Most projects will NOT need to set this to anything; you can just change the
-# 'flags' list of compilation flags. Notice that YCM itself uses that approach.
-compilation_database_folder = ''
-
-if os.path.exists( compilation_database_folder ):
-  database = ycm_core.CompilationDatabase( compilation_database_folder )
-else:
-  database = None
-
-SOURCE_EXTENSIONS = [ '.cpp', '.cxx', '.cc', '.c', '.m', '.mm' ]
-
-def DirectoryOfThisScript():
-  return os.path.dirname( os.path.abspath( __file__ ) )
-
-
-def MakeRelativePathsInFlagsAbsolute( flags, working_directory ):
-  if not working_directory:
-    return list( flags )
-  new_flags = []
-  make_next_absolute = False
-  path_flags = [ '-isystem', '-I', '-iquote', '--sysroot=' ]
-  for flag in flags:
-    new_flag = flag
-
-    if make_next_absolute:
-      make_next_absolute = False
-      if not flag.startswith( '/' ):
-        new_flag = os.path.join( working_directory, flag )
-
-    for path_flag in path_flags:
-      if flag == path_flag:
-        make_next_absolute = True
-        break
-
-      if flag.startswith( path_flag ):
-        path = flag[ len( path_flag ): ]
-        new_flag = path_flag + os.path.join( working_directory, path )
-        break
-
-    if new_flag:
-      new_flags.append( new_flag )
-  return new_flags
-
-
-def IsHeaderFile( filename ):
-  extension = os.path.splitext( filename )[ 1 ]
-  return extension in [ '.h', '.hxx', '.hpp', '.hh' ]
-
-
-def GetCompilationInfoForFile( filename ):
-  # The compilation_commands.json file generated by CMake does not have entries
-  # for header files. So we do our best by asking the db for flags for a
-  # corresponding source file, if any. If one exists, the flags for that file
-  # should be good enough.
-  if IsHeaderFile( filename ):
-    basename = os.path.splitext( filename )[ 0 ]
-    for extension in SOURCE_EXTENSIONS:
-      replacement_file = basename + extension
-      if os.path.exists( replacement_file ):
-        compilation_info = database.GetCompilationInfoForFile(
-          replacement_file )
-        if compilation_info.compiler_flags_:
-          return compilation_info
-    return None
-  return database.GetCompilationInfoForFile( filename )
-
-
-def FlagsForFile( filename, **kwargs ):
-  if database:
-    # Bear in mind that compilation_info.compiler_flags_ does NOT return a
-    # python list, but a "list-like" StringVec object
-    compilation_info = GetCompilationInfoForFile( filename )
-    if not compilation_info:
-      return None
-
-    final_flags = MakeRelativePathsInFlagsAbsolute(
-      compilation_info.compiler_flags_,
-      compilation_info.compiler_working_dir_ )
-
-    # NOTE: This is just for YouCompleteMe; it's highly likely that your project
-    # does NOT need to remove the stdlib flag. DO NOT USE THIS IN YOUR
-    # ycm_extra_conf IF YOU'RE NOT 100% SURE YOU NEED IT.
-    #try:
-    #  final_flags.remove( '-stdlib=libc++' )
-    #except ValueError:
-    #  pass
-  else:
-    relative_to = DirectoryOfThisScript()
-    final_flags = MakeRelativePathsInFlagsAbsolute( flags, relative_to )
-
-  return {
-    'flags': final_flags,
-    'do_cache': True
-  }
@@ -1,83 +0,0 @@
-{
-	"folders":
-	[
-		{
-			"path": ".",
-			"file_exclude_patterns":
-			[
-				"*.o",
-				"*.a",
-				"*.d",
-				".built",
-				".context",
-				".depend",
-				".config",
-				".version",
-				"Make.dep",
-				".configured",
-				"*.sublime-project",
-				"*.sublime-workspace",
-				".project",
-				".cproject",
-				"cscope.out"
-			],
-			"folder_exclude_patterns":
-			[
-				".settings",
-				"nuttx/arch/arm/src/board",
-				"nuttx/arch/arm/src/chip",
-				"build_*"
-			]
-		}
-	],
-	"settings":
-	{
-		"tab_size": 8,
-		"translate_tabs_to_spaces": false,
-		"highlight_line": true,
-		"AStyleFormatter":
-		{
-			"options_c":
-			{
-				"use_only_additional_options": true,
-				"additional_options_file": "${project_path}/Tools/astyle/astylerc"
-			},
-			"options_c++":
-			{
-				"use_only_additional_options": true,
-				"additional_options_file": "${project_path}/Tools/astyle/astylerc"
-			}
-		}
-	},
-	"build_systems":
-	[
-		{
-			"name": "PX4: make all",
-			"working_dir": "${project_path}",
-			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
-			"cmd": ["make"],
-			"shell": true
-		},
-		{
-			"name": "PX4: make and upload",
-			"working_dir": "${project_path}",
-			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
-			"cmd": ["make upload px4_fmu-v2_default -j8"],
-			"shell": true
-		},
-		{
-			"name": "PX4: make posix",
-			"working_dir": "${project_path}",
-			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
-			"cmd": ["make posix"],
-			"shell": true
-		},
-		{
-			"name": "MindPX_V2: make and upload",
-			"working_dir": "${project_path}",
-			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
-			"cmd": ["make upload mindpx-v2_default -j8"],
-			"shell": true
-		}
-	]
-}
@@ -22,18 +22,17 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027

+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05

 param set-default PWM_MAIN_FUNC1 101
@@ -26,7 +26,7 @@ param set-default CBRK_IO_SAFETY 22027

 param set-default BAT_N_CELLS 3

-param set-default SIH_T_MAX 6.0
+param set-default SIH_T_MAX 6
 param set-default SIH_MASS 0.3
 param set-default SIH_IXX 0.00402
 param set-default SIH_IYY 0.0144
@@ -45,9 +45,9 @@ param set-default CA_ROTOR_COUNT 1
 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS1_TRQ_P 1.0
+param set-default CA_SV_CS1_TRQ_P 1
 param set-default CA_SV_CS1_TYPE 3
-param set-default CA_SV_CS2_TRQ_Y 1.0
+param set-default CA_SV_CS2_TRQ_Y 1
 param set-default CA_SV_CS2_TYPE 4
 param set-default PWM_MAIN_FUNC3 201
 param set-default PWM_MAIN_FUNC4 202
@@ -35,14 +35,14 @@ param set-default CBRK_IO_SAFETY 22027

 param set-default BAT_N_CELLS 3

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

@@ -47,5 +47,5 @@ param set-default MPC_ALT_MODE 2

 param set-default SENS_FLOW_ROT 6
 param set-default SENS_FLOW_MINHGT 0.7
-param set-default SENS_FLOW_MAXHGT 3.0
+param set-default SENS_FLOW_MAXHGT 3
 param set-default SENS_FLOW_MAXR 2.5
@@ -8,34 +8,34 @@
 param set-default CA_AIRFRAME 7
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_R_REV 255
-param set-default CA_ROTOR0_AX 1.0000
-param set-default CA_ROTOR0_AY 0.0000
-param set-default CA_ROTOR0_AZ 0.0000
-param set-default CA_ROTOR0_KM 0.0000
-param set-default CA_ROTOR0_PX 0.0000
-param set-default CA_ROTOR0_PY -0.3000
-param set-default CA_ROTOR0_PZ -0.3000
-param set-default CA_ROTOR1_AX 1.0000
-param set-default CA_ROTOR1_AY 0.0000
-param set-default CA_ROTOR1_AZ 0.0000
-param set-default CA_ROTOR1_KM 0.0000
-param set-default CA_ROTOR1_PX 0.0000
-param set-default CA_ROTOR1_PY 0.3000
-param set-default CA_ROTOR1_PZ -0.3000
-param set-default CA_ROTOR2_AX 1.0000
-param set-default CA_ROTOR2_AY 0.0000
-param set-default CA_ROTOR2_AZ 0.0000
-param set-default CA_ROTOR2_KM 0.0000
-param set-default CA_ROTOR2_PX 0.0000
-param set-default CA_ROTOR2_PY 0.3000
-param set-default CA_ROTOR2_PZ 0.3000
-param set-default CA_ROTOR3_AX 1.0000
-param set-default CA_ROTOR3_AY 0.0000
-param set-default CA_ROTOR3_AZ 0.0000
-param set-default CA_ROTOR3_KM 0.0000
-param set-default CA_ROTOR3_PX 0.0000
-param set-default CA_ROTOR3_PY -0.3000
-param set-default CA_ROTOR3_PZ 0.3000
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AY 0
+param set-default CA_ROTOR0_AZ 0
+param set-default CA_ROTOR0_KM 0
+param set-default CA_ROTOR0_PX 0
+param set-default CA_ROTOR0_PY -0.3
+param set-default CA_ROTOR0_PZ -0.3
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AY 0
+param set-default CA_ROTOR1_AZ 0
+param set-default CA_ROTOR1_KM 0
+param set-default CA_ROTOR1_PX 0
+param set-default CA_ROTOR1_PY 0.3
+param set-default CA_ROTOR1_PZ -0.3
+param set-default CA_ROTOR2_AX 1
+param set-default CA_ROTOR2_AY 0
+param set-default CA_ROTOR2_AZ 0
+param set-default CA_ROTOR2_KM 0
+param set-default CA_ROTOR2_PX 0
+param set-default CA_ROTOR2_PY 0.3
+param set-default CA_ROTOR2_PZ 0.3
+param set-default CA_ROTOR3_AX 1
+param set-default CA_ROTOR3_AY 0
+param set-default CA_ROTOR3_AZ 0
+param set-default CA_ROTOR3_KM 0
+param set-default CA_ROTOR3_PX 0
+param set-default CA_ROTOR3_PY -0.3
+param set-default CA_ROTOR3_PZ 0.3

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
@@ -9,49 +9,49 @@ param set-default CA_AIRFRAME 7

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

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
@@ -54,9 +54,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -57,9 +57,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -57,9 +57,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -42,9 +42,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -42,9 +42,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -40,9 +40,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -42,9 +42,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -48,9 +48,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -55,9 +55,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -47,9 +47,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -45,9 +45,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -27,8 +27,8 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.1515
 param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
 param set-default CA_ROTOR4_PX 0.2

 param set-default CA_SV_CS_COUNT 3
@@ -37,7 +37,7 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
@@ -50,11 +50,11 @@ param set-default SENS_IMU_MODE 1

 param set-default FW_P_TC 0.6

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

 param set-default VT_ARSP_TRANS 10
 param set-default VT_B_TRANS_DUR 5
@@ -31,7 +31,7 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_TL_COUNT 2
@@ -27,8 +27,8 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.1515
 param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
 param set-default CA_ROTOR4_PX 0.2

 param set-default CA_SV_CS_COUNT 3
@@ -37,7 +37,7 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
@@ -57,9 +57,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -22,7 +22,7 @@ param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

 param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 2.0
+param set-default GND_WHEEL_BASE 2

 param set-default CA_AIRFRAME 5

@@ -29,7 +29,7 @@ param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

 param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 3.0
+param set-default GND_WHEEL_BASE 3

 param set-default CA_AIRFRAME 5

@@ -22,7 +22,7 @@ param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

 param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 2.0
+param set-default GND_WHEEL_BASE 2

 param set-default CA_AIRFRAME 9

@@ -14,7 +14,7 @@

 param set-default FW_AIRSPD_STALL 8

-param set-default FW_P_RMAX_NEG 20.0
+param set-default FW_P_RMAX_NEG 20
 param set-default FW_W_RMAX 10
 param set-default FW_W_EN 1

@@ -37,7 +37,7 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_R_LIM 30

-param set-default FW_MAN_R_MAX 30.0
+param set-default FW_MAN_R_MAX 30

 param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
@@ -14,7 +14,7 @@

 param set-default FW_AIRSPD_STALL 5

-param set-default FW_P_RMAX_NEG 20.0
+param set-default FW_P_RMAX_NEG 20
 param set-default FW_W_RMAX 10
 param set-default FW_W_EN 1

@@ -29,9 +29,9 @@ param set-default NAV_LOITER_RAD 50
 # Parameters related to autogyro takeoff PR
 #param set-default AG_TKOFF 1
 #param set-default AG_PROT_TYPE 1
-#param set-default AG_PROT_MIN_RPM 50.0
-#param set-default AG_PROT_TRG_RPM 900.0
-#param set-defoult AG_ROTOR_RPM 900.0
+#param set-default AG_PROT_MIN_RPM 50
+#param set-default AG_PROT_TRG_RPM 900
+#param set-defoult AG_ROTOR_RPM 900

 param set-default FW_ARSP_SCALE_EN 0

@@ -42,7 +42,7 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_R_LIM 30

-param set-default FW_MAN_R_MAX 30.0
+param set-default FW_MAN_R_MAX 30

 param set-default FW_THR_CRUISE 0.8
 param set-default FW_THR_IDLE 0
@@ -14,21 +14,21 @@
 param set-default CA_AIRFRAME 9

 param set-default CA_ROTOR_COUNT 3
-param set-default CA_ROTOR0_AX 1.0000
-param set-default CA_ROTOR0_AZ 0.0000
-param set-default CA_ROTOR0_KM 0.0000
-param set-default CA_ROTOR0_PY 2.0000
-param set-default CA_ROTOR1_AX 1.0000
-param set-default CA_ROTOR1_AZ 0.0000
-param set-default CA_ROTOR1_KM 0.0000
-param set-default CA_ROTOR1_PY -2.0000
-param set-default CA_ROTOR2_AY -1.0000
-param set-default CA_ROTOR2_AZ 0.0000
-param set-default CA_ROTOR2_KM 0.0000
-param set-default CA_ROTOR2_PX -10.0000
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AZ 0
+param set-default CA_ROTOR0_KM 0
+param set-default CA_ROTOR0_PY 2
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AZ 0
+param set-default CA_ROTOR1_KM 0
+param set-default CA_ROTOR1_PY -2
+param set-default CA_ROTOR2_AY -1
+param set-default CA_ROTOR2_AZ 0
+param set-default CA_ROTOR2_KM 0
+param set-default CA_ROTOR2_PX -10

 param set-default CA_SV_CS_COUNT 1
-param set-default CA_SV_CS0_TRQ_P 1.0000
+param set-default CA_SV_CS0_TRQ_P 1

 param set-default CA_R_REV 7

@@ -13,9 +13,9 @@ param set-default MAV_TYPE 13

 param set-default MC_PITCHRATE_P 0.1
 param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCH_P 6.0
+param set-default MC_PITCH_P 6
 param set-default MC_ROLLRATE_I 0.1
-param set-default MC_ROLL_P 6.0
+param set-default MC_ROLL_P 6
 param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_P_ACC 3

@@ -27,11 +27,11 @@ param set-default MNT_MODE_IN 4
 param set-default MNT_DO_STAB 2


-param set-default CA_ROTOR0_PX 0.0
-param set-default CA_ROTOR0_PY 1.0
+param set-default CA_ROTOR0_PX 0
+param set-default CA_ROTOR0_PY 1
 param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0.0
-param set-default CA_ROTOR1_PY -1.0
+param set-default CA_ROTOR1_PX 0
+param set-default CA_ROTOR1_PY -1
 param set-default CA_ROTOR1_KM 0.05
 param set-default CA_ROTOR2_PX 0.866025
 param set-default CA_ROTOR2_PY -0.5
@@ -70,9 +70,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -40,8 +40,8 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.1515
 param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
 param set-default CA_ROTOR4_PX 0.2

 param set-default SIM_GZ_EC_FUNC1 101
@@ -73,7 +73,7 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1

 param set-default NPFG_PERIOD 12
 param set-default FW_PR_FF 0.2
@@ -105,31 +105,19 @@ param set-default CBRK_IO_SAFETY 22027

 param set-default THR_MDL_FAC 0.3

+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05

-# Outputs
-# param set-default PWM_AUX_FUNC1 101
-# param set-default PWM_AUX_FUNC2 102
-# param set-default PWM_AUX_FUNC3 103
-# param set-default PWM_AUX_FUNC4 104
-
-# param set-default PWM_MAIN_FUNC1 101
-# param set-default PWM_MAIN_FUNC2 102
-# param set-default PWM_MAIN_FUNC3 103
-# param set-default PWM_MAIN_FUNC4 104
-
 param set-default SIM_GZ_EC_FUNC1 101
 param set-default SIM_GZ_EC_FUNC2 102
 param set-default SIM_GZ_EC_FUNC3 103
@@ -144,5 +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
-
-
@@ -63,9 +63,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -9,14 +9,14 @@

 param set-default MAV_TYPE 13

-param set-default MC_PITCHRATE_P 0.0800
-param set-default MC_PITCHRATE_I 0.0400
-param set-default MC_PITCHRATE_D 0.0010
-param set-default MC_PITCH_P 9.0
-param set-default MC_ROLLRATE_P 0.0800
-param set-default MC_ROLLRATE_I 0.0400
-param set-default MC_ROLLRATE_D 0.0010
-param set-default MC_ROLL_P 9.0
+param set-default MC_PITCHRATE_P 0.08
+param set-default MC_PITCHRATE_I 0.04
+param set-default MC_PITCHRATE_D 0.001
+param set-default MC_PITCH_P 9
+param set-default MC_ROLLRATE_P 0.08
+param set-default MC_ROLLRATE_I 0.04
+param set-default MC_ROLLRATE_D 0.001
+param set-default MC_ROLL_P 9
 param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_P_ACC 3

@@ -31,11 +31,11 @@ param set-default MAV_PROTO_VER 2
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 6

-param set-default CA_ROTOR0_PX 0.0
-param set-default CA_ROTOR0_PY 1.0
+param set-default CA_ROTOR0_PX 0
+param set-default CA_ROTOR0_PY 1
 param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0.0
-param set-default CA_ROTOR1_PY -1.0
+param set-default CA_ROTOR1_PX 0
+param set-default CA_ROTOR1_PY -1
 param set-default CA_ROTOR1_KM 0.05
 param set-default CA_ROTOR2_PX 0.866025
 param set-default CA_ROTOR2_PY -0.5
@@ -41,19 +41,6 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then

 	echo "INFO  [init] Gazebo simulator"

-	# set local coordinate frame reference
-	if [ -n "${PX4_HOME_LAT}" ]; then
-		param set SIM_GZ_HOME_LAT ${PX4_HOME_LAT}
-	fi
-
-	if [ -n "${PX4_HOME_LON}" ]; then
-		param set SIM_GZ_HOME_LON ${PX4_HOME_LON}
-	fi
-
-	if [ -n "${PX4_HOME_ALT}" ]; then
-		param set SIM_GZ_HOME_ALT ${PX4_HOME_ALT}
-	fi
-
 	# Only start up Gazebo if PX4_GZ_STANDALONE is not set.
 	if [ -z "${PX4_GZ_STANDALONE}" ]; then

@@ -64,6 +51,13 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
 			# "gz sim" from Garden on
 			gz_command="gz"
 			gz_sub_command="sim"
+
+			# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
+			# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
+			if [ -n "${PX4_GZ_SIM_RENDER_ENGINE}" ]; then
+				echo "INFO  [init] Setting Gazebo render engine to '${PX4_GZ_SIM_RENDER_ENGINE}'!"
+				gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
+			fi
 		else
 			echo "ERROR [init] Gazebo gz please install gz-garden"
 			exit 1
@@ -173,6 +167,12 @@ elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)"

 else
 	# otherwise start simulator (mavlink) module
+
+	# EKF2 specifics
+	param set-default EKF2_GPS_DELAY 10
+	param set-default EKF2_MULTI_IMU 3
+	param set-default SENS_IMU_MODE 0
+
 	simulator_tcp_port=$((4560+px4_instance))

 	# Check if PX4_SIM_HOSTNAME environment variable is empty
@@ -164,10 +164,6 @@ param set-default COM_RC_IN_MODE 1
 # Speedup SITL startup
 param set-default EKF2_REQ_GPS_H 0.5

-# Multi-EKF
-param set-default EKF2_MULTI_IMU 3
-param set-default SENS_IMU_MODE 0
-
 param set-default IMU_GYRO_FFT_EN 1
 param set-default MAV_PROTO_VER 2 # Ensures QGC does not drop the first few packets after a SITL restart due to MAVLINK 1 packets

@@ -248,11 +244,16 @@ then
 fi

 load_mon start
-battery_simulator start
+
+if param compare SIM_BAT_ENABLE 1
+then
+	battery_simulator start
+fi
+
 tone_alarm start
 rc_update start
 manual_control start
-sensors start
+#sensors start
 commander start

 if ! pwm_out_sim start -m sim
@@ -11,30 +11,30 @@

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

-
 param set SYS_HITL 1

 param set UAVCAN_ENABLE 0

-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
-
 # disable some checks to allow to fly
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027
+
+# Square quadrotor X PX4 numbering
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default HIL_ACT_FUNC1 101
+param set-default HIL_ACT_FUNC2 102
+param set-default HIL_ACT_FUNC3 103
+param set-default HIL_ACT_FUNC4 104
@@ -14,7 +14,6 @@

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

-
 param set-default BAT1_N_CELLS 3

 param set-default COM_RC_IN_MODE 1
@@ -55,26 +54,29 @@ param set-default VT_TYPE 2

 param set-default CA_AIRFRAME 2
 param set-default CA_ROTOR_COUNT 5
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
 param set-default CA_ROTOR4_PX 0.2

+# Square quadrotor X PX4 numbering
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05
+
 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3

 param set-default HIL_ACT_FUNC1 101
@@ -98,5 +100,3 @@ param set-default CBRK_SUPPLY_CHK 894281
 param set-default CBRK_IO_SAFETY 22027

 param set-default MAV_TYPE 22
-
-
@@ -12,26 +12,8 @@

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

-
 param set UAVCAN_ENABLE 0

-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
-
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2

@@ -42,3 +24,21 @@ param set-default CBRK_SUPPLY_CHK 894281
 param set-default CBRK_IO_SAFETY 22027

 param set SIH_VEHICLE_TYPE 0
+
+# Square quadrotor X PX4 numbering
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default HIL_ACT_FUNC1 101
+param set-default HIL_ACT_FUNC2 102
+param set-default HIL_ACT_FUNC3 103
+param set-default HIL_ACT_FUNC4 104
@@ -21,9 +21,9 @@ param set-default CA_ROTOR0_PX 0.3
 param set-default CA_SV_CS_COUNT 4
 param set-default CA_SV_CS0_TRQ_R 0.5
 param set-default CA_SV_CS0_TYPE 2
-param set-default CA_SV_CS1_TRQ_P 1.0
+param set-default CA_SV_CS1_TRQ_P 1
 param set-default CA_SV_CS1_TYPE 3
-param set-default CA_SV_CS2_TRQ_Y 1.0
+param set-default CA_SV_CS2_TRQ_Y 1
 param set-default CA_SV_CS2_TYPE 4
 param set-default CA_SV_CS3_TYPE 10

@@ -46,7 +46,7 @@ param set-default CBRK_IO_SAFETY 22027

 param set-default BAT_N_CELLS 3

-param set SIH_T_MAX 6.0
+param set SIH_T_MAX 6
 param set SIH_MASS 0.3
 param set SIH_IXX 0.00402
 param set SIH_IYY 0.0144
@@ -71,7 +71,7 @@ param set SIH_MASS 0.2
 param set SIH_IXX 0.00354
 param set SIH_IYY 0.000625
 param set SIH_IZZ 0.00300
-param set SIH_IXZ 0.0
+param set SIH_IXZ 0
 param set SIH_KDV 0.2
 param set SIH_L_ROLL 0.145

@@ -14,6 +14,21 @@

 param set-default CA_AIRFRAME 2
 param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
+param set-default CA_SV_CS_COUNT 4
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS3_TRQ_Y 1
+param set-default CA_SV_CS3_TYPE 4
+param set-default VT_TYPE 2
+param set-default MAV_TYPE 22
+
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR0_PX 1
 param set-default CA_ROTOR0_PY 1
 param set-default CA_ROTOR1_PX -1
@@ -24,16 +39,3 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -1
 param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
-param set-default CA_SV_CS_COUNT 4
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4
-param set-default VT_TYPE 2
-param set-default MAV_TYPE 22
@@ -120,8 +120,8 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.1515
 param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
 param set-default CA_ROTOR4_PX 0.2

 param set-default CA_SV_CS_COUNT 3
@@ -130,4 +130,4 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
@@ -80,6 +80,10 @@ param set-default VT_TYPE 2

 param set-default CA_AIRFRAME 2
 param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
+
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR0_PX 1
 param set-default CA_ROTOR0_PY 1
 param set-default CA_ROTOR1_PX -1
@@ -90,18 +94,16 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -1
 param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0

 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_CS0_TYPE 15
-param set-default CA_SV_CS0_TRQ_R 1.0
-param set-default CA_SV_CS1_TRQ_P 0.5000
-param set-default CA_SV_CS1_TRQ_R 0.0000
-param set-default CA_SV_CS1_TRQ_Y -0.5000
+param set-default CA_SV_CS0_TRQ_R 1
+param set-default CA_SV_CS1_TRQ_P 0.5
+param set-default CA_SV_CS1_TRQ_R 0
+param set-default CA_SV_CS1_TRQ_Y -0.5
 param set-default CA_SV_CS1_TYPE 13
-param set-default CA_SV_CS2_TRQ_P 0.5000
-param set-default CA_SV_CS2_TRQ_Y 0.5000
+param set-default CA_SV_CS2_TRQ_P 0.5
+param set-default CA_SV_CS2_TRQ_Y 0.5
 param set-default CA_SV_CS2_TYPE 14

 param set-default PWM_MAIN_FUNC1 201
@@ -19,30 +19,30 @@ param set-default MAV_TYPE 21
 param set-default VT_TYPE 1

 param set-default CA_AIRFRAME 3
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
 param set-default CA_ROTOR0_TILT 1
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
 param set-default CA_ROTOR1_TILT 2
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR2_TILT 3
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
 param set-default CA_ROTOR3_TILT 4
 param set-default CA_SV_CS_COUNT 4
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_TL_COUNT 4

-
+# Square quadrotor X PX4 numbering
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05
@@ -12,19 +12,22 @@
 . ${R}etc/init.d/rc.vtol_defaults

 param set-default CA_AIRFRAME 3
+param set-default CA_ROTOR0_TILT 2
+param set-default CA_ROTOR2_TILT 1
+
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 1
 param set-default CA_ROTOR0_PY 1
-param set-default CA_ROTOR0_TILT 2
 param set-default CA_ROTOR1_PX -1
 param set-default CA_ROTOR1_PY -1
 param set-default CA_ROTOR2_PX 1
 param set-default CA_ROTOR2_PY -1
-param set-default CA_ROTOR2_TILT 1
 param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -1
 param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
+
 param set-default CA_SV_CS_COUNT 4
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS0_TRQ_R -0.5
@@ -20,16 +20,16 @@ param set-default MAV_TYPE 15

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

@@ -18,7 +18,7 @@ param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
@@ -35,17 +35,17 @@ param set-default FW_W_RMAX 0
 param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_SV_CS_COUNT 7
-param set-default CA_SV_CS0_TRQ_R -0.5000
+param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1 #left aileron
-param set-default CA_SV_CS1_TRQ_R 0.5000
+param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2 #right aileron
-param set-default CA_SV_CS2_TRQ_P 0.5000
-param set-default CA_SV_CS2_TRQ_Y -0.5000
+param set-default CA_SV_CS2_TRQ_P 0.5
+param set-default CA_SV_CS2_TRQ_Y -0.5
 param set-default CA_SV_CS2_TYPE 13 #left A-tail
-param set-default CA_SV_CS3_TRQ_P 0.5000
-param set-default CA_SV_CS3_TRQ_Y 0.5000
+param set-default CA_SV_CS3_TRQ_P 0.5
+param set-default CA_SV_CS3_TRQ_Y 0.5
 param set-default CA_SV_CS3_TYPE 14 #right A-tail
-param set-default CA_SV_CS4_TRQ_Y 1.0000
+param set-default CA_SV_CS4_TRQ_Y 1
 param set-default CA_SV_CS4_TYPE 12
 param set-default CA_SV_CS5_TYPE 9 #left flap
 param set-default CA_SV_CS6_TYPE 10 #right flap
@@ -21,21 +21,21 @@ param set-default CBRK_IO_SAFETY 22027
 param set-default CA_AIRFRAME 9

 param set-default CA_ROTOR_COUNT 3
-param set-default CA_ROTOR0_AX 1.0000
-param set-default CA_ROTOR0_AZ 0.0000
-param set-default CA_ROTOR0_KM 0.0000
-param set-default CA_ROTOR0_PY 2.0000
-param set-default CA_ROTOR1_AX 1.0000
-param set-default CA_ROTOR1_AZ 0.0000
-param set-default CA_ROTOR1_KM 0.0000
-param set-default CA_ROTOR1_PY -2.0000
-param set-default CA_ROTOR2_AY -1.0000
-param set-default CA_ROTOR2_AZ 0.0000
-param set-default CA_ROTOR2_KM 0.0000
-param set-default CA_ROTOR2_PX -10.0000
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AZ 0
+param set-default CA_ROTOR0_KM 0
+param set-default CA_ROTOR0_PY 2
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AZ 0
+param set-default CA_ROTOR1_KM 0
+param set-default CA_ROTOR1_PY -2
+param set-default CA_ROTOR2_AY -1
+param set-default CA_ROTOR2_AZ 0
+param set-default CA_ROTOR2_KM 0
+param set-default CA_ROTOR2_PX -10

 param set-default CA_SV_CS_COUNT 1
-param set-default CA_SV_CS0_TRQ_P 1.0000
+param set-default CA_SV_CS0_TRQ_P 1

 param set-default CA_R_REV 7

@@ -10,15 +10,15 @@

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

+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
-
@@ -18,14 +18,15 @@ param set-default MC_PITCHRATE_P 0.18
 param set-default MC_ROLLRATE_I 0.15
 param set-default MC_PITCHRATE_I 0.15

+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
@@ -22,14 +22,15 @@ param set-default MC_PITCHRATE_I 0.3
 param set-default MC_ROLLRATE_D 0.004
 param set-default MC_PITCHRATE_D 0.004

+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
@@ -97,18 +97,17 @@ param set-default CBRK_IO_SAFETY 22027

 param set-default THR_MDL_FAC 0.3

+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05

 # Outputs
@@ -116,4 +115,3 @@ param set-default PWM_AUX_FUNC1 101
 param set-default PWM_AUX_FUNC2 102
 param set-default PWM_AUX_FUNC3 103
 param set-default PWM_AUX_FUNC4 104
-
@@ -21,14 +21,15 @@ param set-default MC_ROLLRATE_I 0.15
 param set-default MC_PITCHRATE_P 0.18
 param set-default MC_PITCHRATE_I 0.15

+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
@@ -22,19 +22,20 @@ param set-default MC_PITCHRATE_I 0.3
 param set-default MC_ROLLRATE_D 0.004
 param set-default MC_PITCHRATE_D 0.004

-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.25
-param set-default CA_ROTOR0_PY 0.25
-param set-default CA_ROTOR1_PX -0.25
-param set-default CA_ROTOR1_PY -0.25
-param set-default CA_ROTOR2_PX 0.25
-param set-default CA_ROTOR2_PY -0.25
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.25
-param set-default CA_ROTOR3_PY 0.25
-param set-default CA_ROTOR3_KM -0.05
-
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
+
+# Square quadrotor X PX4 numbering
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05
@@ -98,18 +98,17 @@ param set-default CBRK_IO_SAFETY 22027

 param set-default THR_MDL_FAC 0.3

+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05

 # Outputs
@@ -117,4 +116,3 @@ param set-default PWM_AUX_FUNC1 101
 param set-default PWM_AUX_FUNC2 102
 param set-default PWM_AUX_FUNC3 103
 param set-default PWM_AUX_FUNC4 104
-
@@ -46,22 +46,20 @@ param set-default SYS_HAS_MAG 0

 param set-default BAT1_N_CELLS 2

+# Square quadrotor X with reverse turn direction
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.03
-param set-default CA_ROTOR0_PY 0.03
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
 param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX -0.03
-param set-default CA_ROTOR1_PY -0.03
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
 param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR2_PX 0.03
-param set-default CA_ROTOR2_PY -0.03
-param set-default CA_ROTOR2_KM 0.05
-param set-default CA_ROTOR3_PX -0.03
-param set-default CA_ROTOR3_PY 0.03
-param set-default CA_ROTOR3_KM 0.05
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1

 param set-default PWM_MAIN_FUNC1 104
 param set-default PWM_MAIN_FUNC2 101
 param set-default PWM_MAIN_FUNC3 102
 param set-default PWM_MAIN_FUNC4 103
-
@@ -36,16 +36,15 @@ param set-default SDLOG_PROFILE 19
 param set-default IMU_DGYRO_CUTOFF 50
 param set-default IMU_GYRO_CUTOFF 90

+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
-
-
@@ -46,20 +46,20 @@ param set-default MPC_Z_VEL_I_ACC 1.7

 param set-default THR_MDL_FAC 0.3

+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
-
@@ -53,16 +53,17 @@ param set-default MC_AIRMODE 1

 param set-default EV_TSK_RC_LOSS 1

+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05

 param set-default PWM_MAIN_FUNC1 104
@@ -72,5 +73,3 @@ param set-default PWM_MAIN_FUNC4 103

 param set-default PWM_MAIN_TIM0 -2
 param set-default PWM_MAIN_TIM1 -2
-
-
@@ -11,12 +11,11 @@

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

-
 # Battery settings
 param set-default BAT_CRIT_THR 0.20
 param set-default BAT_LOW_THR 0.25

-param set-default BAT1_CAPACITY 2800.0
+param set-default BAT1_CAPACITY 2800
 param set-default BAT1_N_CELLS 3
 param set-default BAT1_R_INTERNAL 0.02
 param set-default BAT1_V_CHARGED 4.26
@@ -38,7 +37,7 @@ param set-default COM_RC_LOSS_T 3

 # ekf2
 param set-default EKF2_TERR_MASK 1
-param set-default EKF2_BARO_NOISE 2.0
+param set-default EKF2_BARO_NOISE 2

 param set-default EKF2_BCOEF_X 31.5
 param set-default EKF2_BCOEF_Y 25.5
@@ -56,11 +55,11 @@ param set-default EKF2_MAG_NOISE 0.1
 param set-default EKF2_MIN_RNG 0.15

 param set-default EKF2_OF_DELAY 38
-param set-default EKF2_OF_GATE 2.0
+param set-default EKF2_OF_GATE 2
 param set-default EKF2_OF_POS_X -0.035
 param set-default EKF2_OF_POS_Z 0.033
 param set-default EKF2_OF_MIN_RNG 0.01
-param set-default EKF2_OF_A_HMAX 7.0
+param set-default EKF2_OF_A_HMAX 7
 param set-default EKF2_OF_QMIN 30

 param set-default EKF2_PCOEF_XN -0.3
@@ -68,18 +67,18 @@ param set-default EKF2_PCOEF_XP -0.4
 param set-default EKF2_PCOEF_YN -0.4
 param set-default EKF2_PCOEF_YP -0.4

-param set-default EKF2_RNG_A_VMAX 1.0
+param set-default EKF2_RNG_A_VMAX 1
 param set-default EKF2_RNG_CTRL 0
 param set-default EKF2_RNG_DELAY 55
 param set-default EKF2_RNG_POS_X -0.035
-param set-default EKF2_RNG_POS_Y 0.0
+param set-default EKF2_RNG_POS_Y 0
 param set-default EKF2_RNG_POS_Z 0.033

-param set-default EKF2_TERR_NOISE 1.0
+param set-default EKF2_TERR_NOISE 1


 # Maximum allowed angle velocity in the landed state
-param set-default LNDMC_ROT_MAX 40.0
+param set-default LNDMC_ROT_MAX 40

 # Maximum vertical velocity allowed in the landed state
 param set-default LNDMC_Z_VEL_MAX 0.7
@@ -94,36 +93,36 @@ param set-default IMU_GYRO_CUTOFF 65
 param set-default MC_PITCHRATE_P 0.075
 param set-default MC_PITCHRATE_I 0.1
 param set-default MC_PITCHRATE_D 0.0005
-param set-default MC_PITCHRATE_MAX 360.0
-param set-default MC_PITCH_P 8.0
+param set-default MC_PITCHRATE_MAX 360
+param set-default MC_PITCH_P 8

 # Roll angle & rate setting
 param set-default MC_ROLLRATE_P 0.055
 param set-default MC_ROLLRATE_I 0.1
 param set-default MC_ROLLRATE_D 0.0005
-param set-default MC_ROLLRATE_MAX 360.0
-param set-default MC_ROLL_P 8.0
+param set-default MC_ROLLRATE_MAX 360
+param set-default MC_ROLL_P 8

 # Yaw angle & rate setting
 param set-default MC_YAWRATE_P 0.1
-param set-default MC_YAWRATE_MAX 120.0
+param set-default MC_YAWRATE_MAX 120
 param set-default MC_YAW_P 2.5

-param set-default MPC_ACC_DOWN_MAX 2.0
-param set-default MPC_ACC_HOR 3.0
-param set-default MPC_ACC_HOR_MAX 10.0
-param set-default MPC_ACC_UP_MAX 3.0
+param set-default MPC_ACC_DOWN_MAX 2
+param set-default MPC_ACC_HOR 3
+param set-default MPC_ACC_HOR_MAX 10
+param set-default MPC_ACC_UP_MAX 3
 param set-default MPC_ALT_MODE 0
 param set-default MPC_LAND_SPEED 0.5
 param set-default MPC_MAN_TILT_MAX 20
-param set-default MPC_YAWRAUTO_MAX 80.0
+param set-default MPC_YAWRAUTO_MAX 80
 param set-default MPC_THR_HOVER 0.54
 param set-default MPC_THR_MAX 0.9
 param set-default MPC_THR_MIN 0.06
 param set-default MPC_TILTMAX_AIR 30
-param set-default MPC_XY_P 1.0
-param set-default MPC_Z_P 2.0
-param set-default MPC_Z_VEL_MAX_DN 2.0
+param set-default MPC_XY_P 1
+param set-default MPC_Z_P 2
+param set-default MPC_Z_VEL_MAX_DN 2

 # gimbal configuration
 param set-default MNT_MODE_IN 0
@@ -150,21 +149,22 @@ param set-default RC1_TRIM          1000
 # optical flow
 param set-default SENS_FLOW_MAXR   7.4
 param set-default SENS_FLOW_MINHGT 0.15
-param set-default SENS_FLOW_MAXHGT 5.0
+param set-default SENS_FLOW_MAXHGT 5

 # ignore the SD card errors and use normal startup sound
 set STARTUP_TUNE "1"

+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05

 param set-default TAP_ESC_FUNC1 101
@@ -73,23 +73,22 @@ param set-default MAV_1_CONFIG 102
 param set-default MAV_1_MODE 0
 param set-default SER_TEL2_BAUD 57600

-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-
 param set-default PWM_MAIN_TIM0 0

+# Square quadrotor X PX4 numbering
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05
+
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
-
@@ -91,22 +91,22 @@ param set-default EKF2_OF_POS_Z -0.07
 # Failsafe
 param set-default COM_LOW_BAT_ACT 3

-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-
 param set-default PWM_MAIN_TIM0 -3

+# Square quadrotor X PX4 numbering
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05
+
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
-
@@ -27,16 +27,17 @@ param set-default MPC_XY_P 1.1
 param set-default MPC_Z_VEL_P_ACC 4.8
 param set-default MPC_Z_P 1.2

+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05

 param set-default PWM_MAIN_FUNC1 101
@@ -17,7 +17,6 @@
 #
 . ${R}etc/init.d/rc.mc_defaults

-
 param set-default SYS_MC_EST_GROUP 2
 param set-default SYS_HAS_MAG 0
 param set-default EKF2_OF_CTRL 1
@@ -50,22 +49,22 @@ param set-default MPC_MAX_FLOW_HGT 3

 param set-default NAV_RCL_ACT 3

-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.03
-param set-default CA_ROTOR0_PY 0.03
-param set-default CA_ROTOR1_PX -0.03
-param set-default CA_ROTOR1_PY 0.03
-param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR2_PX -0.03
-param set-default CA_ROTOR2_PY -0.03
-param set-default CA_ROTOR3_PX 0.03
-param set-default CA_ROTOR3_PY -0.03
-param set-default CA_ROTOR3_KM -0.05
-
 # Run the motors at 328.125 kHz (recommended)
 param set-default PWM_MAIN_TIM0 3921
 param set-default PWM_MAIN_TIM1 3921

+# Square quadrotor X clockwise numbering
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY 1
+param set-default CA_ROTOR1_KM -0.05
+param set-default CA_ROTOR2_PX -1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR3_PX 1
+param set-default CA_ROTOR3_PY -1
+param set-default CA_ROTOR3_KM -0.05
+
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
@@ -36,9 +36,9 @@ param set-default GND_THR_MAX 0.5
 param set-default GND_MAX_ANG 1.042
 param set-default GND_WHEEL_BASE 0.17

-# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
+# TODO: Set to -1, to allow reversing. This will require many changes in the codebase
 # to support negative throttle.
-param set-default GND_THR_MIN 0.0
+param set-default GND_THR_MIN 0
 param set-default GND_SPEED_P 0.25
 param set-default GND_SPEED_I 3
 param set-default GND_SPEED_D 0.001
@@ -1,12 +1,10 @@
 #!/bin/sh
 #
-# @name Generic 10" Quad + geometry
+# @name Generic Quad + geometry
 #
 # @type Quadrotor +
 # @class Copter
 #
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
 # @board bitcraze_crazyflie exclude
 # @board px4_fmu-v2 exclude
 #
@@ -14,13 +12,17 @@
 . ${R}etc/init.d/rc.mc_defaults

 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+
+param set-default CA_ROTOR0_PX 0
+param set-default CA_ROTOR0_PY 1
+
+param set-default CA_ROTOR1_PX 0
+param set-default CA_ROTOR1_PY -1
+
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY 0
+param set-default CA_ROTOR2_KM -0.05
+
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 0
+param set-default CA_ROTOR3_KM -0.05
@@ -5,8 +5,6 @@
 # @type Underwater Robot
 # @class Underwater Robot
 #
-# @maintainer
-#
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -12,38 +12,7 @@
 #

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

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
@@ -30,7 +30,7 @@ param set-default MAV_1_CONFIG 102

 param set-default BAT1_A_PER_V 37.8798
 param set-default BAT1_CAPACITY 18000
-param set-default BAT1_V_DIV 11.0
+param set-default BAT1_V_DIV 11
 param set-default BAT1_N_CELLS 4
 param set-default BAT_V_OFFS_CURR 0.33

@@ -38,49 +38,49 @@ param set-default CA_AIRFRAME 7

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

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
@@ -16,10 +16,10 @@
 param set-default MAV_TYPE 13

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


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

 param set-default CA_ROTOR_COUNT 6
 param set-default CA_ROTOR0_PX 0.5
-param set-default CA_ROTOR0_PY 0.0
+param set-default CA_ROTOR0_PY 0
 param set-default CA_ROTOR0_KM -0.05
 param set-default CA_ROTOR1_PX -0.5
-param set-default CA_ROTOR1_PY 0.0
+param set-default CA_ROTOR1_PY 0
 param set-default CA_ROTOR2_PX -0.25
 param set-default CA_ROTOR2_PY -0.43
 param set-default CA_ROTOR2_KM -0.05
@@ -33,8 +33,8 @@ param set-default EKF2_REQ_EPH 10
 param set-default EKF2_REQ_EPV 10
 param set-default EKF2_REQ_HDRIFT 0.5
 param set-default EKF2_REQ_SACC 1
-param set-default EKF2_REQ_VDRIFT 1.0
-param set-default EKF2_RNG_QLTY_T 3.0
+param set-default EKF2_REQ_VDRIFT 1
+param set-default EKF2_RNG_QLTY_T 3

 param set-default RTL_TYPE 1
 param set-default RTL_RETURN_ALT 100
@@ -5,7 +5,7 @@
 ekf2 start &

 # Start rover differential drive controller.
-differential_drive_control start
+differential_drive start

 # Start Land Detector.
 land_detector start rover
@@ -22,6 +22,11 @@ then
 	set TEMP_COMP_START "true"
 fi

+if param compare -s TC_M_ENABLE 1
+then
+	set TEMP_COMP_START "true"
+fi
+
 if [ "x$TEMP_COMP_START" != "x" ]
 then
 	temperature_compensation start
@@ -21,7 +21,7 @@ param set-default MIS_YAW_TMT 10
 param set-default EKF2_ARSP_THR 10
 param set-default EKF2_FUSE_BETA 1

-param set-default HTE_VXY_THR 2.0
+param set-default HTE_VXY_THR 2

 param set-default MIS_TKO_LAND_REQ 2

@@ -170,7 +170,7 @@ else
 		param select-backup $PARAM_BACKUP_FILE
 	fi

-	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X ARK_FMU_V6X PX4_FMU_V6XRT
+	if mft query -q -k MFT -s MFT_ETHERNET -v 1
 	then
 		netman update -i eth0
 	fi
@@ -1,47 +0,0 @@
-# Build version
-version: "{build}"
-# do not shallow clone because we want to infer the version from the last tag
-
-branches:
-  only:
-  - master
-  - beta
-  - stable
-
-# Build worker image (build VM template)
-image: Visual Studio 2017
-
-environment:
-  matrix:
-    - PX4_CONFIG: tests # this builds posix in px4_sitl_test folder and runs tests
-    - PX4_CONFIG: px4_fmu-v5_default
-
-install:
-# if the toolchain wasn't restored from build cache download and install it
- ps: >-
-    if (-not (Test-Path C:\PX4)) {
-        Invoke-WebRequest https://s3-us-west-2.amazonaws.com/px4-tools/PX4+Windows+Cygwin+Toolchain/PX4+Windows+Cygwin+Toolchain+0.9.msi -OutFile C:\Toolchain.msi
-        Start-Process -Wait msiexec -ArgumentList '/I C:\Toolchain.msi /quiet /qn /norestart /log C:\install.log'
-    }
-
-# Note: using Start-Process -Wait is important
-# because otherwise the install begins but non-blocking and the result cannot be used just after
-
-build_script:
-# FIXME Temporary we need to create the home folder because it's not contained in installer 0.5 and CI fails if it doesn't exist
- if not exist "C:\PX4\home" mkdir C:\PX4\home
-# setup the environmental variables to work within the installed cygwin toolchain
- call C:\PX4\toolchain\scripts\setup-environment.bat x
-# safe the repopath for switching to it in cygwin bash
- for /f %%i in ('cygpath -u %%CD%%') do set repopath=%%i
-# build the make target
- call bash --login -c "cd $repopath && make $PX4_CONFIG"
-
-# Note: using bash --login is important
-# because otherwise certain things (like python; import numpy) do not work
-
-cache:
-# cache the entire toolchain installation folder to avoid
-# downloading it from AWS S3 and installing the MSI each time
-# it's ~1.8GB > 1GB free limit for build caches
- C:\PX4 -> appveyor.yml
@@ -22,12 +22,12 @@ param set-default SENS_IMU_TEMP 10.0
 #param set-default SENS_IMU_TEMP_I 0.025
 #param set-default SENS_IMU_TEMP_P 1.0

-if ver hwtypecmp ARKV6X000000 ARKV6X001000 ARKV6X002000 ARKV6X003000 ARKV6X004000 ARKV6X005000 ARKV6X006000 ARKV6X007000
+if ver hwtypecmp ARKV6X000
 then
 	param set-default SENS_TEMP_ID 2818058
 fi

-if ver hwtypecmp ARKV6X000001 ARKV6X001001 ARKV6X002001 ARKV6X003001 ARKV6X004001 ARKV6X005001 ARKV6X006001 ARKV6X007001
+if ver hwtypecmp ARKV6X001
 then
 	param set-default SENS_TEMP_ID 3014666
 fi
@@ -5,7 +5,7 @@
 set HAVE_PM2 yes
 set HAVE_PM3 yes

-if ver hwtypecmp ARKV6X005000 ARKV6X005001 ARKV6X005002 ARKV6X005003 ARKV6X005004
+if mft query -q -k MFT -s MFT_PM2 -v 0
 then
 	set HAVE_PM2 no
 	set HAVE_PM3 no
@@ -66,7 +66,7 @@ then
 	fi
 fi

-if ver hwtypecmp ARKV6X000000 ARKV6X001000 ARKV6X002000 ARKV6X003000 ARKV6X004000 ARKV6X005000 ARKV6X006000 ARKV6X007000
+if ver hwtypecmp ARKV6X000
 then
 	# Internal SPI bus IIM42652 with SPIX measured frequency of 32.051kHz
 	iim42652 -R 3 -s -b 1 -C 32051 start
@@ -78,7 +78,7 @@ then
 	icm42688p -R 6 -s -b 3 -C 32051 start
 fi

-if ver hwtypecmp ARKV6X000001 ARKV6X001001 ARKV6X002001 ARKV6X003001 ARKV6X004001 ARKV6X005001 ARKV6X006001 ARKV6X007001
+if ver hwtypecmp ARKV6X001
 then
 	# Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz
 	#iim42653 -R 3 -s -b 1 -C 32051 start
@@ -248,7 +248,7 @@

 /* ADC 1 2 3 clock source */

-#define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2
+#define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2

 /* FDCAN 1 2 clock source */

@@ -380,7 +380,7 @@
 #define GPIO_UART5_RX    GPIO_UART5_RX_3    /* PD2  */
 #define GPIO_UART5_TX    GPIO_UART5_TX_3    /* PC12 */
 // GPIO_UART5_RTS  No remap                 /* PC8  */
-// GPIO_UART5_CTS  No remap                 /* PC9  */
+#define GPIO_UART5_CTS   (GPIO_ALT|GPIO_AF8|GPIO_PORTC|GPIO_PIN9|GPIO_PULLDOWN)    /* PC9  */

 #define GPIO_USART6_RX   GPIO_USART6_RX_1   /* PC7 */
 #define GPIO_USART6_TX   GPIO_USART6_TX_1   /* PC6  */
@@ -55,7 +55,6 @@ else()
 		init.c
 		led.c
 		mtd.cpp
-		manifest.c
 		sdio.c
 		spi.cpp
 		spix_sync.c
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2016-2022 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2016-2024 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
@@ -204,25 +204,17 @@
 #define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)

 /* HW Version and Revision drive signals Default to 1 to detect */
-#define BOARD_HAS_HW_VERSIONING
+#define BOARD_HAS_HW_SPLIT_VERSIONING

 #define GPIO_HW_VER_REV_DRIVE  /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_REV_SENSE      /* PH4 */  GPIO_ADC3_INP15
 #define GPIO_HW_VER_SENSE      /* PH3 */  GPIO_ADC3_INP14
 #define HW_INFO_INIT_PREFIX    "ARKV6X"

-#define BOARD_NUM_SPI_CFG_HW_VERSIONS 8 // Rev 0 and Rev 1
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2
 //                 Base/FMUM
-#define ARKV6X00   HW_VER_REV(0x0,0x0) // ARKV6X,     Sensor Set  Rev 0
-#define ARKV6X01   HW_VER_REV(0x0,0x1) // ARKV6X,     Sensor Set  Rev 1
-//#define ARKV6X03   HW_VER_REV(0x0,0x3) // ARKV6X,     Sensor Set  Rev 3
-//#define ARKV6X04   HW_VER_REV(0x0,0x4) // ARKV6X,     Sensor Set  Rev 4
-#define ARKV6X10   HW_VER_REV(0x1,0x0) // NO PX4IO,   Sensor Set  Rev 0
-#define ARKV6X11   HW_VER_REV(0x1,0x1) // NO PX4IO,   Sensor Set  Rev 1
-#define ARKV6X40   HW_VER_REV(0x4,0x0) // ARKV6X,     Sensor Set  Rev 0   HB CM4 base Rev 3
-#define ARKV6X41   HW_VER_REV(0x4,0x1) // ARKV6X,     Sensor Set  Rev 1   HB CM4 base Rev 4
-#define ARKV6X50   HW_VER_REV(0x5,0x0) // ARKV6X,     Sensor Set  Rev 0   HB Mini Rev 5
-#define ARKV6X51   HW_VER_REV(0x5,0x1) // ARKV6X,     Sensor Set  Rev 1   HB Mini Rev 1 // never shipped
+#define ARKV6X_0   HW_FMUM_ID(0x0) // ARKV6X,     Sensor Set  Rev 0
+#define ARKV6X_1   HW_FMUM_ID(0x1) // ARKV6X,     Sensor Set  Rev 1

 #define UAVCAN_NUM_IFACES_RUNTIME  1

@@ -1,216 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 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
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file manifest.c
- *
- * This module supplies the interface to the manifest of hardware that is
- * optional and dependent on the HW REV and HW VER IDs
- *
- * The manifest allows the system to know whether a hardware option
- * say for example the PX4IO is an no-pop option vs it is broken.
- *
- */
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-#include <board_config.h>
-
-#include <inttypes.h>
-#include <stdbool.h>
-#include <syslog.h>
-
-#include "systemlib/px4_macros.h"
-
-/****************************************************************************
- * Pre-Processor Definitions
- ****************************************************************************/
-
-typedef struct {
-	uint32_t                hw_ver_rev; /* the version and revision */
-	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the lenght of the list */
-} px4_hw_mft_list_entry_t;
-
-typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
-#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1
-
-static const px4_hw_mft_item_t device_unsupported = {0, 0, 0};
-
-// List of components on a specific board configuration
-// The index of those components is given by the enum (px4_hw_mft_item_id_t)
-// declared in board_common.h
-static const px4_hw_mft_item_t hw_mft_list_v0600[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-};
-
-static const px4_hw_mft_item_t hw_mft_list_v0610[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 0,
-		.mandatory   = 0,
-		.connection  = px4_hw_con_unknown,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-};
-
-static const px4_hw_mft_item_t hw_mft_list_v0640[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-};
-
-static const px4_hw_mft_item_t hw_mft_list_v0650[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_unknown,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 0,
-		.mandatory   = 0,
-		.connection  = px4_hw_con_unknown,
-	},
-};
-
-
-static px4_hw_mft_list_entry_t mft_lists[] = {
-//  ver_rev
-	{ARKV6X00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // ARKV6X,     Sensor Set  Rev 0
-	{ARKV6X01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // ARKV6X,     Sensor Set  Rev 1
-	{ARKV6X10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // NO PX4IO,   Sensor Set  Rev 0
-	{ARKV6X11, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // NO PX4IO,   Sensor Set  Rev 1
-	{ARKV6X40, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // ARKV6X,     Sensor Set  Rev 0   HB CM4 base Rev 3
-	{ARKV6X41, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // ARKV6X,     Sensor Set  Rev 1   HB CM4 base Rev 4
-	{ARKV6X50, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // ARKV6X,     Sensor Set  Rev 0   HB Mini Rev 5
-	{ARKV6X51, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // ARKV6X,     Sensor Set  Rev 1   HB Mini Rev 1 // never shipped
-};
-
-/************************************************************************************
- * Name: board_query_manifest
- *
- * Description:
- *   Optional returns manifest item.
- *
- * Input Parameters:
- *   manifest_id - the ID for the manifest item to retrieve
- *
- * Returned Value:
- *   0 - item is not in manifest => assume legacy operations
- *   pointer to a manifest item
- *
- ************************************************************************************/
-
-__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
-{
-	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
-
-	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 16;
-		ver_rev |= board_get_hw_revision();
-
-		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
-			if (mft_lists[i].hw_ver_rev == ver_rev) {
-				boards_manifest = &mft_lists[i];
-				break;
-			}
-		}
-
-		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev);
-		}
-	}
-
-	px4_hw_mft_item rv = &device_unsupported;
-
-	if (boards_manifest != px4_hw_mft_list_uninitialized &&
-	    id < boards_manifest->entries) {
-		rv = &boards_manifest->mft[id];
-	}
-
-	return rv;
-}
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (C) 2022 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2024 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
@@ -31,6 +31,9 @@
 *
 ****************************************************************************/

+#include <nuttx/config.h>
+#include <board_config.h>
+
 #include <nuttx/spi/spi.h>
 #include <px4_platform_common/px4_manifest.h>
 //                                                              KiB BS    nB
@@ -86,10 +89,16 @@ static const px4_mft_entry_s mtd_mft = {
 	.pmft = (void *) &board_mtd_config,
 };

+static const px4_mft_entry_s mft_mft = {
+	.type = MFT,
+	.pmft = (void *) system_query_manifest,
+};
+
 static const px4_mft_s mft = {
-	.nmft = 1,
+	.nmft = 2,
 	.mfts = {
-		&mtd_mft
+		&mtd_mft,
+		&mft_mft,
 	}
 };

@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (C) 2022 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2024 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
@@ -36,7 +36,7 @@
 #include <nuttx/spi/spi.h>

 constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
-	initSPIHWVersion(ARKV6X00, {
+	initSPIFmumID(ARKV6X_0, {
 		initSPIBus(SPI::Bus::SPI1, {
 			initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
@@ -59,145 +59,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 	}),

-	initSPIHWVersion(ARKV6X01, {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
-		}, {GPIO::PortF, GPIO::Pin4}),
-		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
-		}, {GPIO::PortE, GPIO::Pin7}),
-		//  initSPIBus(SPI::Bus::SPI4, {
-		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
-		//  }, {GPIO::PortG, GPIO::Pin8}),
-		initSPIBus(SPI::Bus::SPI5, {
-			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
-		}),
-		initSPIBusExternal(SPI::Bus::SPI6, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
-		}),
-	}),
-
-	initSPIHWVersion(ARKV6X10, {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
-		}, {GPIO::PortF, GPIO::Pin4}),
-		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
-		}, {GPIO::PortE, GPIO::Pin7}),
-		//  initSPIBus(SPI::Bus::SPI4, {
-		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
-		//  }, {GPIO::PortG, GPIO::Pin8}),
-		initSPIBus(SPI::Bus::SPI5, {
-			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
-		}),
-		initSPIBusExternal(SPI::Bus::SPI6, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
-		}),
-	}),
-
-	initSPIHWVersion(ARKV6X11, {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
-		}, {GPIO::PortF, GPIO::Pin4}),
-		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
-		}, {GPIO::PortE, GPIO::Pin7}),
-		//  initSPIBus(SPI::Bus::SPI4, {
-		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
-		//  }, {GPIO::PortG, GPIO::Pin8}),
-		initSPIBus(SPI::Bus::SPI5, {
-			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
-		}),
-		initSPIBusExternal(SPI::Bus::SPI6, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
-		}),
-	}),
-
-	initSPIHWVersion(ARKV6X40, {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
-		}, {GPIO::PortF, GPIO::Pin4}),
-		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
-		}, {GPIO::PortE, GPIO::Pin7}),
-		//  initSPIBus(SPI::Bus::SPI4, {
-		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
-		//  }, {GPIO::PortG, GPIO::Pin8}),
-		initSPIBus(SPI::Bus::SPI5, {
-			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
-		}),
-		initSPIBusExternal(SPI::Bus::SPI6, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
-		}),
-	}),
-
-	initSPIHWVersion(ARKV6X41, {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
-		}, {GPIO::PortF, GPIO::Pin4}),
-		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
-		}, {GPIO::PortE, GPIO::Pin7}),
-		//  initSPIBus(SPI::Bus::SPI4, {
-		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
-		//  }, {GPIO::PortG, GPIO::Pin8}),
-		initSPIBus(SPI::Bus::SPI5, {
-			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
-		}),
-		initSPIBusExternal(SPI::Bus::SPI6, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
-		}),
-	}),
-
-	initSPIHWVersion(ARKV6X50, {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
-		}, {GPIO::PortF, GPIO::Pin4}),
-		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
-		}, {GPIO::PortE, GPIO::Pin7}),
-		//  initSPIBus(SPI::Bus::SPI4, {
-		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
-		//  }, {GPIO::PortG, GPIO::Pin8}),
-		initSPIBus(SPI::Bus::SPI5, {
-			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
-		}),
-		initSPIBusExternal(SPI::Bus::SPI6, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
-		}),
-	}),
-
-	initSPIHWVersion(ARKV6X51, {
+	initSPIFmumID(ARKV6X_1, {
 		initSPIBus(SPI::Bus::SPI1, {
 			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
@@ -0,0 +1,5 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
+CONFIG_BOARD_ROMFSROOT=""
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_DRIVERS_BOOTLOADERS=y
--- a/Show More
+++ b/Show More