mc_att_control: copy sensor_correction topic once initially

Signed-off-by: Roman <bapstroman@gmail.com>
tap_esc increase stack 1100 -> 1180 bytes
2026-05-26 10:50:04 +08:00 · 2018-11-12 21:00:28 -05:00 · 2018-10-19 20:11:14 -04:00 · 2018-10-19 20:11:14 -04:00 · 2018-10-19 20:11:14 -04:00 · 2018-10-19 20:11:14 -04:00
4704 changed files with 307413 additions and 442072 deletions
@@ -1,190 +0,0 @@
-#!/usr/bin/env groovy
-
-pipeline {
-  agent none
-  stages {
-
-    stage('Build') {
-      steps {
-        script {
-          def build_nodes = [:]
-          def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2020-11-18",
-            arm64: "px4io/px4-dev-aarch64:2020-11-18",
-            base: "px4io/px4-dev-base-bionic:2020-11-18",
-            nuttx: "px4io/px4-dev-nuttx-focal:2020-11-18",
-            snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
-          ]
-
-          def armhf_builds = [
-            target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
-            image: docker_images.armhf,
-            archive: false
-          ]
-
-          def arm64_builds = [
-            target: ["scumaker_pilotpi_arm64"],
-            image: docker_images.arm64,
-            archive: false
-          ]
-
-          def base_builds = [
-            target: ["px4_sitl_rtps"],
-            image: docker_images.base,
-            archive: false
-          ]
-
-          def nuttx_builds_archive = [
-            target: [
-                     "airmind_mindpx-v2_default",
-                     "av_x-v1_default",
-                     "bitcraze_crazyflie_default",
-                     "cuav_can-gps-v1_canbootloader",
-                     "cuav_can-gps-v1_default",
-                     "cuav_nora_default",
-                     "cuav_x7pro_default",
-                     "cubepilot_cubeorange_console",
-                     "cubepilot_cubeorange_default",
-                     "cubepilot_cubeyellow_console",
-                     "cubepilot_cubeyellow_default",
-                     "holybro_durandal-v1_default",
-                     "holybro_kakutef7_default",
-                     "holybro_pix32v5_default",
-                     "intel_aerofc-v1_default",
-                     "modalai_fc-v1_default",
-                     "mro_ctrl-zero-f7_default",
-                     "mro_x21-777_default",
-                     "mro_x21_default",
-                     "nxp_fmuk66-v3_default",
-                     "nxp_fmuk66-v3_socketcan",
-                     "nxp_fmuk66-v3_rtps",
-                     "nxp_fmurt1062-v1_default",
-                     "nxp_ucans32k146_default",
-                     "omnibus_f4sd_default",
-                     "px4_fmu-v2_default",
-                     "px4_fmu-v2_fixedwing",
-                     "px4_fmu-v2_lpe",
-                     "px4_fmu-v2_multicopter",
-                     "px4_fmu-v2_rover",
-                     "px4_fmu-v2_test",
-                     "px4_fmu-v3_default",
-                     "px4_fmu-v4_cannode",
-                     "px4_fmu-v4_default",
-                     "px4_fmu-v4_optimized",
-                     "px4_fmu-v4pro_default",
-                     "px4_fmu-v5_default",
-                     "px4_fmu-v5_debug",
-                     "px4_fmu-v5_fixedwing",
-                     "px4_fmu-v5_multicopter",
-                     "px4_fmu-v5_optimized",
-                     "px4_fmu-v5_rover",
-                     "px4_fmu-v5_rtps",
-                     "px4_fmu-v5_stackcheck",
-                     "px4_fmu-v5x_base_phy_DP83848C",
-                     "px4_fmu-v5x_default",
-                     "px4_fmu-v6x_default",
-                     "px4_io-v2_default",
-                     "spracing_h7extreme_default",
-                     "uvify_core_default"
-            ],
-            image: docker_images.nuttx,
-            archive: true
-          ]
-
-          def snapdragon_builds = [
-            target: ["atlflight_eagle_qurt", "atlflight_eagle_default"],
-            image: docker_images.snapdragon,
-            archive: false
-          ]
-
-          def docker_builds = [
-            armhf_builds, base_builds, nuttx_builds_archive//, snapdragon_builds
-          ]
-
-          for (def build_type = 0; build_type < docker_builds.size(); build_type++) {
-            for (def build_target = 0; build_target < docker_builds[build_type].target.size(); build_target++) {
-              build_nodes.put(docker_builds[build_type].target[build_target],
-                createBuildNode(docker_builds[build_type].archive, docker_builds[build_type].image, docker_builds[build_type].target[build_target])
-                )
-            }
-          }
-
-        parallel build_nodes
-
-        } // script
-      } // steps
-    } // stage Build
-
-    // TODO: actually upload artifacts to S3
-    // stage('S3 Upload') {
-    //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
-    //   }
-    //   options {
-    //         skipDefaultCheckout()
-    //   }
-    //   when {
-    //     anyOf {
-    //       branch 'master'
-    //       branch 'beta'
-    //       branch 'stable'
-    //       branch 'pr-jenkins' // for testing
-    //     }
-    //   }
-    //   steps {
-    //     sh 'echo "uploading to S3"'
-    //   }
-    // }
-
-  } // stages
-  environment {
-    CCACHE_DIR = '/tmp/ccache'
-    CI = true
-  }
-  options {
-    buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
-    timeout(time: 60, unit: 'MINUTES')
-  }
-}
-
-def createBuildNode(Boolean archive, String docker_image, String target) {
-  return {
-
-    // TODO: fix the snapdragon image
-    bypass_entrypoint = ''
-    if (docker_image == 'lorenzmeier/px4-dev-snapdragon:2020-04-01') {
-      bypass_entrypoint = ' --entrypoint=""'
-    }
-
-    node {
-      docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
-        docker.image(docker_image).inside('-e CCACHE_BASEDIR=${WORKSPACE} -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' + bypass_entrypoint) {
-          stage(target) {
-            try {
-              sh('export')
-              checkout(scm)
-              sh('make distclean')
-              sh('git fetch --tags')
-              sh('ccache -s')
-              sh('make ' + target)
-              sh('ccache -s')
-              sh('make sizes')
-              if (archive) {
-                archiveArtifacts(allowEmptyArchive: false, artifacts: 'build/*/*.px4, build/*/*.elf, build/*/*.bin', fingerprint: true, onlyIfSuccessful: true)
-              }
-              sh('make ' + target + ' package')
-              archiveArtifacts(allowEmptyArchive: true, artifacts: 'build/*/*.tar.bz2', fingerprint: true, onlyIfSuccessful: true)
-              archiveArtifacts(allowEmptyArchive: true, artifacts: 'build/*/*.deb', fingerprint: true, onlyIfSuccessful: true)
-            }
-            catch (exc) {
-              throw (exc)
-            }
-            finally {
-              sh('make distclean')
-            }
-          }
-        }
-      }
-    }
-  }
-}
@@ -1,107 +1,88 @@
---
-Checks:          '*,
-                  -android*,
-                  -bugprone-integer-division,
-                  -cert-dcl50-cpp,
-                  -cert-env33-c,
-                  -cert-err34-c,
-                  -cert-err58-cpp,
-                  -cert-msc30-c,
-                  -cert-msc50-cpp,
-                  -clang-analyzer-core.CallAndMessage,
-                  -clang-analyzer-core.NullDereference,
-                  -clang-analyzer-core.UndefinedBinaryOperatorResult,
-                  -clang-analyzer-core.uninitialized.Assign,
-                  -clang-analyzer-core.VLASize,
-                  -clang-analyzer-cplusplus.NewDelete,
-                  -clang-analyzer-cplusplus.NewDeleteLeaks,
-                  -clang-analyzer-deadcode.DeadStores,
-                  -clang-analyzer-optin.cplusplus.VirtualCall,
-                  -clang-analyzer-optin.performance.Padding,
-                  -clang-analyzer-security.insecureAPI.strcpy,
-                  -clang-analyzer-unix.API,
-                  -clang-analyzer-unix.cstring.BadSizeArg,
-                  -clang-analyzer-unix.Malloc,
-                  -clang-analyzer-unix.MallocSizeof,
-                  -cppcoreguidelines-c-copy-assignment-signature,
-                  -cppcoreguidelines-interfaces-global-init,
-                  -cppcoreguidelines-no-malloc,
-                  -cppcoreguidelines-owning-memory,
-                  -cppcoreguidelines-pro-bounds-array-to-pointer-decay,
-                  -cppcoreguidelines-pro-bounds-constant-array-index,
-                  -cppcoreguidelines-pro-bounds-pointer-arithmetic,
-                  -cppcoreguidelines-pro-type-const-cast,
-                  -cppcoreguidelines-pro-type-cstyle-cast,
-                  -cppcoreguidelines-pro-type-member-init,
-                  -cppcoreguidelines-pro-type-reinterpret-cast,
-                  -cppcoreguidelines-pro-type-union-access,
-                  -cppcoreguidelines-pro-type-vararg,
-                  -cppcoreguidelines-special-member-functions,
-                  -fuchsia-default-arguments,
-                  -fuchsia-overloaded-operator,
-                  -google-build-using-namespace,
-                  -google-explicit-constructor,
-                  -google-global-names-in-headers,
-                  -google-readability-casting,
-                  -google-readability-function-size,
-                  -google-readability-namespace-comments,
-                  -google-readability-todo,
-                  -google-runtime-int,
-                  -google-runtime-references,
-                  -hicpp-deprecated-headers,
-                  -hicpp-explicit-conversions,
-                  -hicpp-function-size,
-                  -hicpp-member-init,
-                  -hicpp-no-array-decay,
-                  -hicpp-no-assembler,
-                  -hicpp-no-malloc,
-                  -hicpp-signed-bitwise,
-                  -hicpp-special-member-functions,
-                  -hicpp-use-auto,
-                  -hicpp-use-equals-default,
-                  -hicpp-use-equals-delete,
-                  -hicpp-use-override,
-                  -hicpp-vararg,
-                  -llvm-header-guard,
-                  -llvm-include-order,
-                  -llvm-namespace-comment,
-                  -misc-incorrect-roundings,
-                  -misc-macro-parentheses,
-                  -misc-misplaced-widening-cast,
-                  -misc-redundant-expression,
-                  -misc-unconventional-assign-operator,
-                  -misc-unused-parameters,
-                  -modernize-deprecated-headers,
-                  -modernize-loop-convert,
-                  -modernize-pass-by-value,
-                  -modernize-return-braced-init-list,
-                  -modernize-use-auto,
-                  -modernize-use-bool-literals,
-                  -modernize-use-default-member-init,
-                  -modernize-use-equals-default,
-                  -modernize-use-equals-delete,
-                  -modernize-use-override,
-                  -modernize-use-using,
-                  -performance-inefficient-string-concatenation,
-                  -readability-avoid-const-params-in-decls,
-                  -readability-container-size-empty,
-                  -readability-else-after-return,
-                  -readability-function-size,
-                  -readability-implicit-bool-cast,
-                  -readability-implicit-bool-conversion,
-                  -readability-inconsistent-declaration-parameter-name,
-                  -readability-named-parameter,
-                  -readability-non-const-parameter,
-                  -readability-redundant-declaration,
-                  -readability-static-accessed-through-instance,
-                  -readability-static-definition-in-anonymous-namespace,
-                 '
+Checks:          '*
+		,-cert-dcl50-cpp
+		,-cert-err34-c
+		,-cert-err58-cpp
+		,-cert-msc30-c
+		,-cert-msc50-cpp
+		,-clang-analyzer-core.CallAndMessage
+		,-clang-analyzer-core.NullDereference
+		,-clang-analyzer-core.UndefinedBinaryOperatorResult
+		,-clang-analyzer-core.uninitialized.Assign
+		,-clang-analyzer-core.VLASize
+		,-clang-analyzer-cplusplus.NewDelete
+		,-clang-analyzer-cplusplus.NewDeleteLeaks
+		,-clang-analyzer-deadcode.DeadStores
+		,-clang-analyzer-optin.cplusplus.VirtualCall
+		,-clang-analyzer-optin.performance.Padding
+		,-clang-analyzer-security.insecureAPI.strcpy
+		,-clang-analyzer-unix.API
+		,-clang-analyzer-unix.cstring.BadSizeArg
+		,-clang-analyzer-unix.Malloc
+		,-clang-analyzer-unix.MallocSizeof
+		,-cppcoreguidelines-c-copy-assignment-signature
+		,-cppcoreguidelines-interfaces-global-init
+		,-cppcoreguidelines-no-malloc
+		,-cppcoreguidelines-pro-bounds-array-to-pointer-decay
+		,-cppcoreguidelines-pro-bounds-constant-array-index
+		,-cppcoreguidelines-pro-bounds-pointer-arithmetic
+		,-cppcoreguidelines-pro-type-const-cast
+		,-cppcoreguidelines-pro-type-cstyle-cast
+		,-cppcoreguidelines-pro-type-member-init
+		,-cppcoreguidelines-pro-type-reinterpret-cast
+		,-cppcoreguidelines-pro-type-union-access
+		,-cppcoreguidelines-pro-type-vararg
+		,-cppcoreguidelines-special-member-functions
+		,-google-build-using-namespace
+		,-google-explicit-constructor
+		,-google-global-names-in-headers
+		,-google-readability-casting
+		,-google-readability-namespace-comments
+		,-google-readability-todo
+		,-google-runtime-int
+		,-google-runtime-references
+		,-llvm-header-guard
+		,-llvm-include-order
+		,-llvm-namespace-comment
+		,-misc-incorrect-roundings
+		,-misc-macro-parentheses
+		,-misc-misplaced-widening-cast
+		,-misc-redundant-expression
+		,-misc-unconventional-assign-operator
+		,-misc-unused-parameters
+		,-modernize-deprecated-headers
+		,-modernize-loop-convert
+		,-modernize-use-auto
+		,-modernize-use-bool-literals
+		,-modernize-use-default-member-init
+		,-modernize-use-emplace
+		,-modernize-use-equals-default
+		,-modernize-use-equals-delete
+		,-modernize-use-override
+		,-modernize-use-using
+		,-modernize-pass-by-value
+		,-performance-inefficient-string-concatenation
+		,-readability-avoid-const-params-in-decls
+		,-readability-else-after-return
+		,-readability-implicit-bool-cast
+		,-readability-inconsistent-declaration-parameter-name
+		,-readability-non-const-parameter
+		,-readability-redundant-declaration
+		,-readability-redundant-member-init
+		,-readability-simplify-boolean-expr
+		'
 WarningsAsErrors: '*'
-CheckOptions:
+CheckOptions:    
+  - key:             google-readability-braces-around-statements.ShortStatementLines
+    value:           '1'
  - key:             google-readability-function-size.BranchThreshold
    value:           '600'
  - key:             google-readability-function-size.LineThreshold
    value:           '4000'
  - key:             google-readability-function-size.StatementThreshold
    value:           '4000'
-...
+  - key:             readability-braces-around-statements.ShortStatementLines
+    value:           '1'
+  - key:             readability-function-size.LineThreshold
+    value:           '4000'
+  - key:             readability-function-size.StatementThreshold
+    value:           '4000'
@@ -1,42 +0,0 @@
-// For format details, see https://aka.ms/vscode-remote/devcontainer.json or this file's README at:
-// https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
-{
-	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2020-11-18",
-
-	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
-
-	// Set *default* container specific settings.json values on container create.
-	"settings": {
-		"terminal.integrated.shell.linux": "/bin/bash"
-	},
-
-	// Add the IDs of extensions you want installed when the container is created.
-	"extensions": [
-		"chiehyu.vscode-astyle",
-		"dan-c-underwood.arm",
-		"fredericbonnet.cmake-test-adapter",
-		"github.vscode-pull-request-github",
-		"marus25.cortex-debug",
-		"ms-azuretools.vscode-docker",
-		"ms-iot.vscode-ros",
-		"ms-python.python",
-		"ms-vscode.cmake-tools",
-		"ms-vscode.cpptools",
-		"ms-vscode.cpptools-extension-pack",
-		"redhat.vscode-yaml",
-		"streetsidesoftware.code-spell-checker",
-		"twxs.cmake",
-		"uavcan.dsdl",
-		"wholroyd.jinja",
-		"zixuanwang.linkerscript"
-	],
-
-	"containerUser": "user",
-	"containerEnv": {
-		"LOCAL_USER_ID": "${localEnv:UID}"
-	},
-
-	// Use 'forwardPorts' to make a list of ports inside the container available locally.
-	"forwardPorts": [14556],
-}
@@ -1,80 +0,0 @@
-* text=auto eol=lf
-
-*.cmake  text eol=lf
-*.c      text eol=lf
-*.cc     text eol=lf
-*.cpp    text eol=lf
-*.h      text eol=lf
-*.hh     text eol=lf
-*.hpp    text eol=lf
-*.hxx    text eol=lf
-*.S      text eol=lf
-
-*.ipynb  text eol=lf
-*.m      text eol=lf
-*.mat    binary
-*.py     text eol=lf
-
-*.java   text eol=lf
-*.jar    binary
-*.xml    text eol=lf
-
-# PX4 mixers, msgs, etc
-*.bin    binary
-*.mix    text eol=lf
-*.msg    text eol=lf
-*.config text eol=lf
-*.sdf    text eol=lf
-*.uavcan text eol=lf
-
-# NuttX
-Makefile.* text eol=lf
-*.defs   text eol=lf
-*.ld     text eol=lf
-
-*.csv    text eol=lf
-*.md     text eol=lf
-*.txt    text eol=lf
-
-# Scripts
-*.bash   text eol=lf
-*.sh     text eol=lf
-*.zsh    text eol=lf
-# These are explicitly windows files and should use crlf
-*.ps1    text eol=crlf
-*.{cmd,[cC][mM][dD]} text eol=crlf
-*.{bat,[bB][aA][tT]} text eol=crlf
-
-# Serialisation
-*.json   text eol=lf
-*.toml   text eol=lf
-*.xml    text eol=lf
-*.yaml   text eol=lf
-*.yml    text eol=lf
-
-# Graphics
-*.png    binary
-*.jpg    binary
-*.jpeg   binary
-*.gif    binary
-*.tif    binary
-*.tiff   binary
-*.ico    binary
-*.pdf    binary
-# SVG treated as an asset (binary) by default.
-*.svg    text eol=lf
-
-# Text files where line endings should be preserved
-*.patch  -text
-
-# Archives
-*.7z     binary
-*.gz     binary
-*.tar    binary
-*.tgz    binary
-*.zip    binary
-
-# everything else
-.gitattributes text eol=lf
-.gitignore     text eol=lf
-Makefile       text eol=lf
@@ -1,32 +0,0 @@
---
-name: Bug report
-about: Create a report to help us improve
-
---
-
-**Describe the bug**
-A clear and concise description of the bug.
-
-**To Reproduce**
-Steps to reproduce the behavior:
-1. Drone switched on '...'
-2. Uploaded mission '....' (attach QGC mission file)
-3. Took off '....'
-4. See error
-
-**Expected behavior**
-A clear and concise description of what you expected to happen.
-
-**Log Files and Screenshots**
-*Always* provide a link to the flight log file:
- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/master/en/getting_started/flight_reporting.html)).
- Share the link to a log showing the problem on [PX4 Flight Review](http://logs.px4.io/).
-
-Add screenshots to help explain your problem.
-
-**Drone (please complete the following information):**
- Describe the type of drone.
- Photo of the IMU / autopilot setup if possible.
-
-**Additional context**
-Add any other context about the problem here.
@@ -1,19 +0,0 @@
---
-name: 🚀 Feature Request
-about: Suggest an idea for this project
-
---
-
-For general questions please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/).
-
-**Describe problem solved by the proposed feature**
-A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
-
-**Describe your preferred solution**
-A clear and concise description of what you want to happen.
-
-**Describe possible alternatives**
-A clear and concise description of alternative solutions or features you've considered.
-
-**Additional context**
-Add any other context or screenshots for the feature request here.
@@ -1,10 +0,0 @@
---
-name: ⛔ Support Question
-about: See [PX4 Discuss](http://discuss.px4.io/) for questions about using PX4.
-
---
-
-We use GitHub issues only to discuss PX4 bugs and new features. For
-questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).
-
-Thanks!
@@ -1,9 +0,0 @@
---
-name: ⛔ Documentation Issue
-about: See https://github.com/PX4/Devguide for documentation issues
-
---
-
-PX4 has dedicated repositories for developer documentation (https://github.com/PX4/Devguide) and user documentation (https://github.com/PX4/px4_user_guide).
-
-Thanks!
@@ -0,0 +1,32 @@
+---
+name: Bug report
+about: Create a report to help us improve
+
+---
+
+**Describe the bug**
+A clear and concise description of the bug.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+1. Drone switched on '...'
+2. Uploaded mission '....' (attach QGC mission file)
+3. Took off '....'
+4. See error
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Log Files and Screenshots**
+*Always* provide a link to the flight log file:
+- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/en/getting_started/flight_reporting.html)).
+- Share the link to a log showing the problem on [PX4 Flight Review](http://logs.px4.io/).
+
+Add screenshots to help explain your problem.
+
+**Drone (please complete the following information):**
+- Describe the type of drone.
+- Photo of the IMU / autopilot setup if possible.
+
+**Additional context**
+Add any other context about the problem here.
@@ -0,0 +1,19 @@
+---
+name: Feature request
+about: Suggest an idea for this project
+
+---
+
+For general questions please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/).
+
+**Describe problem solved by the proposed feature**
+A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
+
+**Describe your preferred solution**
+A clear and concise description of what you want to happen.
+
+**Describe possible alternatives**
+A clear and concise description of alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots for the feature request here.
@@ -1,15 +1,55 @@
-# Number of days of inactivity before an issue becomes stale
-daysUntilStale: 90
-# Number of days of inactivity before a stale issue is closed, or `false` to disable
-daysUntilClose: false
-# Issues with these labels will never be considered stale
+# Configuration for probot-stale - https://github.com/probot/stale
+
+# Number of days of inactivity before an Issue or Pull Request becomes stale
+daysUntilStale: 60
+
+# Number of days of inactivity before a stale Issue or Pull Request is closed.
+# Set to false to disable. If disabled, issues still need to be closed manually, but will remain marked as stale.
+daysUntilClose: 14
+
+# Issues or Pull Requests with these labels will never be considered stale. Set to `[]` to disable
 exemptLabels:
-  - pinned
-# Label to use when marking an issue as stale
-staleLabel: stale
-# Comment to post when marking an issue as stale. Set to `false` to disable
+  - priority-crtical
+  - security
+  - "[Status] Maybe Later"
+
+# Set to true to ignore issues in a project (defaults to false)
+exemptProjects: true
+
+# Set to true to ignore issues in a milestone (defaults to false)
+exemptMilestones: true
+
+# Label to use when marking as stale
+staleLabel: status/STALE
+
+# Comment to post when marking as stale. Set to `false` to disable
 markComment: >
  This issue has been automatically marked as stale because it has not had
-  recent activity. Thank you for your contributions.
-# Comment to post when closing a stale issue. Set to `false` to disable
-closeComment: false
+  recent activity. It will be closed in 2 weeks if no further activity occurs. Thank you
+  for your contributions.
+
+# Comment to post when removing the stale label.
+# unmarkComment: >
+#   Your comment here.
+
+# Comment to post when closing a stale Issue or Pull Request.
+ closeComment: >
+   Closing as stale.
+
+# Limit the number of actions per hour, from 1-30. Default is 30
+limitPerRun: 10
+
+# Limit to only `issues` or `pulls`
+# only: issues
+
+# Optionally, specify configuration settings that are specific to just 'issues' or 'pulls':
+# pulls:
+#   daysUntilStale: 30
+#   markComment: >
+#     This pull request has been automatically marked as stale because it has not had
+#     recent activity. It will be closed if no further activity occurs. Thank you
+#     for your contributions.
+
+# issues:
+#   exemptLabels:
+#     - confirmed
@@ -1,63 +0,0 @@
-name: Checks
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        check: [
-          "check_format",
-          "tests",
-          "px4_fmu-v2_default stack_check",
-          "validate_module_configs",
-          "shellcheck_all",
-          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
-          "NO_NINJA_BUILD=1 px4_sitl_default",
-          "airframe_metadata",
-          "module_documentation",
-          "parameters_metadata",
-        ]
-    container:
-      image: px4io/px4-dev-nuttx-focal:2020-11-18
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: tests_${{matrix.ubuntu_release}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: tests_${{matrix.ubuntu_release}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: ${{matrix.check}}
-      run: make ${{matrix.check}}
@@ -1,46 +0,0 @@
-name: Clang Tidy
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2020-11-18
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: clang-tidy-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: clang-tidy-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make clang-tidy-quiet
-      run: |
-        ccache -z
-        make clang-tidy-quiet
-        ccache -s
@@ -1,54 +0,0 @@
-name: Linux Targets
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2020-11-18
-    strategy:
-      matrix:
-        config: [
-          aerotenna_ocpoc_default,
-          beaglebone_blue_default,
-          emlid_navio2_default,
-          px4_raspberrypi_default,
-          scumaker_pilotpi_default,
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
-    - name: ccache post-run
-      run: ccache -s
@@ -1,50 +0,0 @@
-name: Linux ARM64 Targets
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2020-11-18
-    strategy:
-      matrix:
-        config: [
-          scumaker_pilotpi_arm64,
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
-    - name: ccache post-run
-      run: ccache -s
@@ -1,54 +0,0 @@
-name: MacOS build
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: macos-10.15
-    strategy:
-      matrix:
-        config: [
-          px4_fmu-v5_default,
-          tests, # includes px4_sitl
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: setup
-      run: ./Tools/setup/macos.sh
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: macos_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: macos_${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: |
-          ccache -z
-          make ${{matrix.config}}
-          ccache -s
@@ -1,117 +0,0 @@
-name: Nuttx Targets
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2020-11-18
-    strategy:
-      matrix:
-        config: [
-          airmind_mindpx-v2_default,
-          av_x-v1_default,
-          bitcraze_crazyflie_default,
-          cuav_can-gps-v1_canbootloader,
-          cuav_can-gps-v1_default,
-          cuav_nora_default,
-          cuav_x7pro_default,
-          cubepilot_cubeorange_console,
-          cubepilot_cubeorange_default,
-          cubepilot_cubeyellow_console,
-          cubepilot_cubeyellow_default,
-          holybro_durandal-v1_default,
-          holybro_kakutef7_default,
-          holybro_pix32v5_default,
-          intel_aerofc-v1_default,
-          modalai_fc-v1_default,
-          mro_ctrl-zero-f7_default,
-          mro_x21-777_default,
-          mro_x21_default,
-          nxp_fmuk66-v3_default,
-          nxp_fmuk66-e_default,
-          nxp_fmuk66-v3_socketcan,
-          nxp_fmuk66-v3_rtps,
-          nxp_fmurt1062-v1_default,
-          nxp_ucans32k146_default,
-          omnibus_f4sd_default,
-          px4_fmu-v2_default,
-          px4_fmu-v2_fixedwing,
-          px4_fmu-v2_lpe,
-          px4_fmu-v2_multicopter,
-          px4_fmu-v2_rover,
-          px4_fmu-v2_test,
-          px4_fmu-v3_default,
-          px4_fmu-v4_cannode,
-          px4_fmu-v4_default,
-          px4_fmu-v4_optimized,
-          px4_fmu-v4pro_default,
-          px4_fmu-v5_default,
-          px4_fmu-v5_fixedwing,
-          px4_fmu-v5_multicopter,
-          px4_fmu-v5_optimized,
-          px4_fmu-v5_rover,
-          px4_fmu-v5_rtps,
-          px4_fmu-v5_stackcheck,
-          px4_fmu-v5x_base_phy_DP83848C,
-          px4_fmu-v5x_default,
-          px4_fmu-v6x_default,
-          px4_io-v2_default,
-          spracing_h7extreme_default,
-          uvify_core_default
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
-    - name: make ${{matrix.config}} bloaty_compileunits
-      run: make ${{matrix.config}} bloaty_compileunits || true
-    - name: make ${{matrix.config}} bloaty_inlines
-      run: make ${{matrix.config}} bloaty_inlines || true
-    - name: make ${{matrix.config}} bloaty_segments
-      run: make ${{matrix.config}} bloaty_segments || true
-    - name: make ${{matrix.config}} bloaty_symbols
-      run: make ${{matrix.config}} bloaty_symbols || true
-    - name: make ${{matrix.config}} bloaty_templates
-      run: make ${{matrix.config}} bloaty_templates || true
-    - name: make ${{matrix.config}} bloaty_compare_master
-      run: make ${{matrix.config}} bloaty_compare_master || true
-    - name: ccache post-run
-      run: ccache -s
-
-    - name: Upload px4 package
-      uses: actions/upload-artifact@v1
-      with:
-        name: px4_package_${{matrix.config}}
-        path: build/${{matrix.config}}/${{matrix.config}}.px4
@@ -1,69 +0,0 @@
-name: Coverage
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container:
-      image: px4io/px4-dev-base-focal:2020-11-18
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    strategy:
-      matrix:
-        config: [
-          tests,
-          #python_coverage,
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: coverage_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: coverage_${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      env:
-        PX4_CMAKE_BUILD_TYPE: "Coverage"
-      run: make ${{matrix.config}}
-
-    # Report test coverage
-    - name: Upload coverage
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: ${{matrix.config}}
-        file: coverage/lcov.info
@@ -1,131 +0,0 @@
-name: MAVROS Avoidance Tests
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          - {test_file: "mavros_posix_test_avoidance.test",    vehicle: "iris_obs_avoid", mission: "avoidance",       build_type: "RelWithDebInfo"}
-          - {test_file: "mavros_posix_test_safe_landing.test", vehicle: "iris_obs_avoid", mission: "MC_safe_landing", build_type: "RelWithDebInfo"}
-
-    container:
-      image: px4io/px4-dev-ros-melodic:2020-11-18
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4 and sitl_gazebo
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        ccache -z
-        make px4_sitl_default
-        make px4_sitl_default sitl_gazebo
-        ccache -s
-
-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run SITL tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        export
-        ./test/rostest_avoidance_run.sh ${{matrix.config.test_file}} mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}} || true
-
-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: coredump
-        path: px4.core
-
-    # - name: ecl EKF analysis
-    #   if: always()
-    #   run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg
-
-    - name: Upload logs to flight review
-      if: always()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
-
-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
-
-    - name: Store PX4 log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_log
-        path: ~/.ros/log/*/*.ulg
-
-    - name: Store ROS log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: ros_log
-        path: ~/.ros/**/rostest-*.log
-
-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      if: contains(matrix.config.build_type, 'Coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavros_avoidance
-        file: coverage/lcov.info
@@ -1,137 +0,0 @@
-name: MAVROS Mission Tests
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          - {vehicle: "iris",          mission: "MC_mission_box",  build_type: "RelWithDebInfo"}
-          - {vehicle: "rover",         mission: "rover_mission_1", build_type: "RelWithDebInfo"}
-          - {vehicle: "plane",         mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
-          - {vehicle: "plane_catapult",mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
-          - {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "Coverage"}
-          - {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "AddressSanitizer"}
-          #- {vehicle: "tailsitter",    mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
-          - {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
-
-    container:
-      image: px4io/px4-dev-ros-melodic:2020-11-18
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4 and sitl_gazebo
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        ccache -z
-        make px4_sitl_default
-        make px4_sitl_default sitl_gazebo
-        ccache -s
-
-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run SITL tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        export
-        ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
-
-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: coredump
-        path: px4.core
-
-    - name: ecl EKF analysis
-      if: always()
-      run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
-
-    - name: Upload logs to flight review
-      if: always()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
-
-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
-
-    - name: Store PX4 log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_log
-        path: ~/.ros/log/*/*.ulg
-
-    - name: Store ROS log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: ros_log
-        path: ~/.ros/**/rostest-*.log
-
-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      if: contains(matrix.config.build_type, 'Coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavros_mission
-        file: coverage/lcov.info
@@ -1,132 +0,0 @@
-name: MAVROS Offboard Tests
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          - {test_file: "mavros_posix_tests_offboard_posctl.test",    vehicle: "iris", build_type: "RelWithDebInfo"}
-          #- {test_file: "mavros_posix_tests_offboard_attctl.test",    vehicle: "iris", build_type: "RelWithDebInfo"}
-          #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
-
-    container:
-      image: px4io/px4-dev-ros-melodic:2020-11-18
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4 and sitl_gazebo
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        ccache -z
-        make px4_sitl_default
-        make px4_sitl_default sitl_gazebo
-        ccache -s
-
-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run SITL tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        export
-        ./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
-
-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: coredump
-        path: px4.core
-
-    - name: ecl EKF analysis
-      if: always()
-      run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
-
-    - name: Upload logs to flight review
-      if: always()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
-
-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
-
-    - name: Store PX4 log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_log
-        path: ~/.ros/log/*/*.ulg
-
-    - name: Store ROS log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: ros_log
-        path: ~/.ros/**/rostest-*.log
-
-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      if: contains(matrix.config.build_type, 'Coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavros_offboard
-        file: coverage/lcov.info
@@ -1,111 +0,0 @@
-name: Metadata
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-
-  airframe:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: airframe metadata
-      run: |
-        make airframe_metadata
-        cd build/px4_sitl_default/docs
-        ls -ls *
-      # TODO: deploy to devguide gitbook and s3
-
-  module:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: module documentation
-      run: |
-        make module_documentation
-        cd build/px4_sitl_default/docs
-        ls -ls *
-      # TODO: deploy to devguide gitbook and s3
-
-  parameter:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: parameter metadata
-      run: |
-        make parameters_metadata
-        cd build/px4_sitl_default/docs
-        ls -ls *
-      # TODO: deploy 'parameters.md, parameters.xml to S3 px4-travis:Firmware/master/
-
-  uorb_graph:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2020-11-18
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: uORB graph
-      run: |
-        make uorb_graphs
-        cd Tools/uorb_graph
-        ls -ls *
-      # TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/
-
-  micrortps_agent:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: microRTPS agent
-      run: |
-        make px4_sitl_rtps
-        git clone https://github.com/PX4/micrortps_agent.git
-        cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent
-
-  ROS_msgs:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: PX4 ROS msgs
-      run: |
-        git clone https://github.com/PX4/px4_msgs.git
-        python3 msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/
-
-  ROS2_bridge:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: PX4 ROS2 bridge
-      run: |
-        git clone https://github.com/PX4/px4_ros_com.git
-        ./msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml
@@ -1,25 +0,0 @@
-name: Python CI Checks
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-    - name: Install Python3
-      run: sudo apt-get install python3 python3-setuptools python3-pip -y
-    - name: Install tools
-      run: pip3 install --user mypy flake8
-    - name: Check MAVSDK test scripts with mypy
-      run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
-    - name: Check MAVSDK test scripts with flake8
-      run: $HOME/.local/bin/flake8 test/mavsdk_tests/*.py
@@ -1,136 +0,0 @@
-name: SITL Tests
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo", model: "iris"          } # Alaska
-          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "RelWithDebInfo", model: "standard_vtol" } # Australia
-          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo", model: "tailsitter"    } # Florida
-          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",       model: "standard_vtol" } # Zurich
-    container:
-      image: px4io/px4-dev-simulation-focal:2020-11-18
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: Download MAVSDK
-      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.33.1/mavsdk_0.33.1_ubuntu20.04_amd64.deb
-    - name: Install MAVSDK
-      run: dpkg -i mavsdk_0.33.1_ubuntu20.04_amd64.deb
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: check environment
-      env:
-        PX4_HOME_LAT: ${{matrix.config.latitude}}
-        PX4_HOME_LON: ${{matrix.config.longitude}}
-        PX4_HOME_ALT: ${{matrix.config.altitude}}
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: make px4_sitl_default
-    - name: ccache post-run px4/firmware
-      run: ccache -s
-    - name: Build SITL Gazebo
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: make px4_sitl_default sitl_gazebo
-    - name: ccache post-run sitl_gazebo
-      run: ccache -s
-    - name: Build MAVSDK tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        DONT_RUN: 1
-      run: make px4_sitl_default gazebo mavsdk_tests
-    - name: ccache post-run mavsdk_tests
-      run: ccache -s
-
-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run SITL tests
-      env:
-        PX4_HOME_LAT: ${{matrix.config.latitude}}
-        PX4_HOME_LON: ${{matrix.config.longitude}}
-        PX4_HOME_ALT: ${{matrix.config.altitude}}
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json
-
-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: coredump
-        path: px4.core
-
-    - name: Upload logs to flight review
-      if: failure()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ${GITHUB_WORKSPACE}/build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/*/*.ulg
-
-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
-
-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      if: contains(matrix.config.build_type, 'Coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavsdk
-        file: coverage/lcov.info
@@ -8,15 +8,17 @@
 .cproject
 .DS_Store
 .gdbinit
-.gdb_history
 .project
 .settings
 .swp
 .~lock.*
 Testing/
 Packages/*
+s3deploy-branch/
+s3deploy-archive/
 build/*
 build_*/
+core
 cscope.out
 cscope.in.out
 cscope.po.out
@@ -31,11 +33,18 @@ tags
 .pydevproject
 .ropeproject
 *.orig
+src/modules/uORB/topics/*
+src/platforms/nuttx/px4_messages/*
+src/platforms/ros/px4_messages/*
 Firmware.zip
 *.generated.h
 .vagrant
 *.pretty
 xcode
+src/platforms/posix/px4_messages/
+src/platforms/posix-arm/px4_messages/
+src/platforms/qurt/px4_messages/
+ROMFS/*/*/rc.autostart
 rootfs/
 *.autosave
 CMakeLists.txt.user
@@ -51,6 +60,8 @@ GTAGS
 .idea
 cmake-build-*/

+.vscode
+
 posix-configs/SITL/init/test/*_generated

 /airframes.md
@@ -58,58 +69,5 @@ posix-configs/SITL/init/test/*_generated
 /parameters.md
 /parameters.xml
 /modules
-/msg/ros/*.msg

 *.gcov
-.coverage
-.coverage.*
-
-# KDevelop ignores
-.kdev4/*
-*.kdev4
-
-# cmake in tree (ninja)
-.ninja_deps
-.ninja_log
-bin/
-build.ninja
-cmake_install.cmake
-CMakeCache.txt
-CMakeFiles
-compile_commands.json
-CPackConfig.cmake
-CPackSourceConfig.cmake
-CTestTestfile.cmake
-external/
-rules.ninja
-
-# in tree build
-**/*.a
-**/*.px4mod
-**/*.stamp
-/coverage*
-/functional-*
-/generated_params/
-/googletest-*/
-/logs
-/mavsdk_tests
-/test_mixer_multirotor
-/unit-*
-/uORB/
-DartConfiguration.tcl
-msg/tmp/
-msg/topics_sources/
-platforms/posix/apps.cpp
-platforms/posix/apps.h
-src/lib/flight_tasks/FlightTasks_generated.cpp
-src/lib/flight_tasks/FlightTasks_generated.hpp
-src/lib/parameters/px4_parameters.c
-src/lib/parameters/px4_parameters.h
-src/lib/parameters/px4_parameters_public.h
-src/lib/version/build_git_version.h
-src/modules/simulator/simulator_config.h
-src/systemcmds/topic_listener/listener_generated.cpp
-
-# SITL
-dataman
-eeprom/
@@ -2,55 +2,59 @@
 	path = mavlink/include/mavlink/v2.0
 	url = https://github.com/mavlink/c_library_v2.git
 	branch = master
-[submodule "src/drivers/uavcan/libuavcan"]
-	path = src/drivers/uavcan/libuavcan
-	url = https://github.com/PX4/uavcan.git
-	branch = px4
+[submodule "src/modules/uavcan/libuavcan"]
+	path = src/modules/uavcan/libuavcan
+	url = https://github.com/UAVCAN/libuavcan.git
+	branch = master
+[submodule "msg/tools/genmsg"]
+	path = msg/tools/genmsg
+	url = https://github.com/ros/genmsg.git
+	branch = indigo-devel
+[submodule "msg/tools/gencpp"]
+	path = msg/tools/gencpp
+	url = https://github.com/ros/gencpp.git
+	branch = indigo-devel
 [submodule "Tools/jMAVSim"]
 	path = Tools/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
 	branch = master
 [submodule "Tools/sitl_gazebo"]
 	path = Tools/sitl_gazebo
-	url = https://github.com/PX4/PX4-SITL_gazebo.git
+	url = https://github.com/PX4/sitl_gazebo.git
 	branch = master
 [submodule "src/lib/matrix"]
 	path = src/lib/matrix
-	url = https://github.com/PX4/PX4-Matrix
+	url = https://github.com/PX4/Matrix.git
+	branch = master
+[submodule "src/lib/DriverFramework"]
+	path = src/lib/DriverFramework
+	url = https://github.com/PX4/DriverFramework.git
 	branch = master
 [submodule "src/lib/ecl"]
 	path = src/lib/ecl
-	url = https://github.com/PX4/PX4-ECL
+	url = https://github.com/PX4/ecl.git
+	branch = master
+[submodule "cmake/cmake_hexagon"]
+	path = cmake/cmake_hexagon
+	url = https://github.com/ATLFlight/cmake_hexagon.git
 	branch = master
-[submodule "boards/atlflight/cmake_hexagon"]
-	path = boards/atlflight/cmake_hexagon
-	url = https://github.com/PX4/cmake_hexagon.git
-	branch = px4
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
-	url = https://github.com/PX4/PX4-GPSDrivers
+	url = https://github.com/PX4/GpsDrivers.git
 	branch = master
 [submodule "src/modules/micrortps_bridge/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
-	url = https://github.com/PX4/micro-CDR.git
-	branch = px4
+	url = https://github.com/eProsima/micro-CDR.git
+	branch = master
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
-	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.0.0+
+	url = https://github.com/PX4-NuttX/nuttx.git
+	branch = px4_firmware_nuttx-7.22+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
-	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-10.0.0+
-[submodule "platforms/qurt/dspal"]
-	path = platforms/qurt/dspal
-	url = https://github.com/ATLFlight/dspal.git
-[submodule "Tools/flightgear_bridge"]
-	path = Tools/flightgear_bridge
-	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
-[submodule "Tools/jsbsim_bridge"]
-	path = Tools/jsbsim_bridge
-	url = https://github.com/PX4/px4-jsbsim-bridge.git
-[submodule "src/examples/gyro_fft/CMSIS_5"]
-	path = src/examples/gyro_fft/CMSIS_5
-	url = https://github.com/ARM-software/CMSIS_5.git
+	url = https://github.com/PX4-NuttX/apps.git
+	branch = px4_firmware_nuttx-7.22+
+[submodule "cmake/configs/uavcan_board_ident"]
+	path = cmake/configs/uavcan_board_ident
+	url = https://github.com/PX4/uavcan_board_ident.git
+	branch = master
@@ -1,28 +1,55 @@
+# Build and autotest script for PX4 Firmware
+# http://travis-ci.org
+
+sudo: required
+
+services:
+  - docker
+
 language: cpp

 git:
-  depth: 100
+  depth: 2000
  submodules: false

+env:
+  global:
+    # COVERITY_SCAN_TOKEN
+    - secure: "Q4IAcmo1r5cr/UvhcixQa6QN5e5eTcP7FeidzEbX2+BA38yo2BH5O9YQCvZe2AI1Na8ZCjVx3H2luGgDwOKgzAIAjXjZ2KbmXYc6Ns/j/BXScY05dCCzYEhXKD98NZxIKH9lLN9pYDGRA8pChGRJnVlFOr1JHHHnB801+osHy7M="
+    # AWS KEY: $PX4_AWS_KEY
+    - secure: "XknnZHWBbpHbN4f3fuAVwUztdLIu8ej4keC3aQSDofo3uw8AFEzojfsQsN9u77ShWSIV4iYJWh9C9ALkCx7TocJ+xYjiboo10YhM9lH/8u+EXjYWG6GHS8ua0wkir+cViSxoLNaMtmcb/rPTicJecAGANxLsIHyBAgTL3fkbLSA="
+    # AWS SECRET: $PX4_AWS_SECRET
+    - secure: "h6oajlW68dWIr+wZhO58Dv6e68dZHrBLVA6lPXZmheFQBW6Xam1HuLGA0LOW6cL9TnrAsOZ8g4goB58eMQnMEijFZKi3mhRwZhd/Xjq/ZGJOWBUrLoQHZUw2dQk5ja5vmUlKEoQnFZjDuMjx8KfX5ZMNy8A3yssWZtJYHD8c+bk="
+
 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 = master
+    - env: BUILD_TARGET=coverity_scan
+      dist: trusty
+      if: branch = coverity_scan
+  allow_failures:
+    - env: BUILD_TARGET=tests_coverage
+
+cache:
+  ccache: true

 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
+  # install dependencies for the coverity build (target and branch), otherwise exit early
+  - if [[ "${TRAVIS_BRANCH}" = "coverity_scan" ]]; then
+      sudo pip install empy jinja2 numpy toml;
+      echo -n | openssl s_client -connect scan.coverity.com:443 | sed -ne '/-BEGIN CERTIFICATE-/,/-END CERTIFICATE-/p' | sudo tee -a /etc/ssl/certs/ca-;
+    fi
+  # use git:// to fetch instead of https://
+  - git config --global url."git://".insteadOf https://

 script:
-    - make
+  - ./Tools/docker_run.sh make ${BUILD_TARGET}
+
+after_success:
+  # upload code coverage
+  - if [ "${TRAVIS_PULL_REQUEST}" = "false" ]; then
+      [ "${BUILD_TARGET}" = "tests_coverage" ] && bash <(curl -s https://codecov.io/bash) -F unittests;
+    fi

 addons:
  coverity_scan:
@@ -31,5 +58,5 @@ addons:
      description: "Build submitted via Travis CI"
    notification_email: ci@px4.io
    build_command_prepend: "make distclean"
-    build_command: "make px4_sitl_default"
+    build_command: "make posix_sitl_default"
    branch_pattern: coverity_scan
@@ -1,11 +0,0 @@
-.cortex-debug.peripherals.state.json
-.cortex-debug.registers.state.json
-compile_commands.json
-
-# generated by cmake
-launch.json
-
-# C/C++ extension does some local caching in this folder
-ipch/
-
-browse.vc.db*
@@ -1,16 +0,0 @@
-{
-    "configurations": [
-        {
-            "name": "PX4",
-            "includePath": [
-                "${workspaceFolder}/**"
-            ],
-            "defines": [],
-            "macFrameworkPath": [],
-            "configurationProvider": "ms-vscode.cmake-tools",
-            "cppStandard": "c++14",
-            "cStandard": "c11"
-        }
-    ],
-    "version": 4
-}
@@ -1,5 +0,0 @@
-[
-	{
-		"name": "PX4 detect"
-	}
-]
@@ -1,123 +0,0 @@
-CONFIG:
-  default: px4_sitl_default
-  choices:
-    px4_sitl_default:
-      short: px4_sitl
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_sitl_default
-    px4_sitl_replay:
-      short: px4_sitl_replay
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_sitl_replay
-    px4_sitl_test:
-      short: px4_sitl_test
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_sitl_test
-    px4_io-v2_default:
-      short: px4_io-v2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_io-v2_default
-    px4_fmu-v2_default:
-      short: px4_fmu-v2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v2_default
-    px4_fmu-v3_default:
-      short: px4_fmu-v3
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v3_default
-    px4_fmu-v4_default:
-      short: px4_fmu-v4
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v4_default
-    px4_fmu-v4pro_default:
-      short: px4_fmu-v4pro
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v4pro_default
-    px4_fmu-v5_default:
-      short: px4_fmu-v5
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v5_default
-    px4_fmu-v5x_default:
-      short: px4_fmu-v5x
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v5x_default
-    airmind_mindpx-v2_default:
-      short: airmind_mindpx-v2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: airmind_mindpx-v2_default
-    av_x-v1_default:
-      short: av_x-v1
-      buildType: MinSizeRel
-      settings:
-        CONFIG: av_x-v1_default
-    cuav_can-gps-v1_default:
-      short: cuav_can-gps-v1_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_can-gps-v1_default
-    cuav_nora_default:
-      short: cuav_nora
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_nora_default
-    cuav_x7pro_default:
-      short: cuav_x7pro
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_x7pro_default
-    cubepilot_cubeorange_default:
-      short: cubepilot_cubeorange
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cubepilot_orange_default
-    cubepilot_cubeyellow_default:
-      short: cubepilot_cubeyellow
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cubepilot_cubeyellow_default
-    emlid_navio2_default:
-      short: emlid_navio2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: emlid_navio2_default
-    holybro_durandal-v1_default:
-      short: holybro_durandal-v1
-      buildType: MinSizeRel
-      settings:
-        CONFIG: holybro_durandal-v1_default
-    intel_aerofc-v1_default:
-      short: intel_aerofc-v1
-      buildType: MinSizeRel
-      settings:
-        CONFIG: intel_aerofc-v1_default
-    modalai_fc-v1_default:
-      short: modalai_fc-v1
-      buildType: MinSizeRel
-      settings:
-        CONFIG: modalai_fc-v1_default
-    mro_ctrl-zero-f7_default:
-      short: mro_ctrl-zero-f7
-      buildType: MinSizeRel
-      settings:
-        CONFIG: mro_ctrl-zero-f7_default
-    mro_x21-777_default:
-      short: mro_x2.1-777
-      buildType: MinSizeRel
-      settings:
-        CONFIG: mro_x21-777_default
-    nxp_fmuk66-v3_default:
-      short: nxp_fmuk66-v3
-      buildType: MinSizeRel
-      settings:
-        CONFIG: nxp_fmuk66-v3_default
@@ -1,23 +0,0 @@
-{
-    // See http://go.microsoft.com/fwlink/?LinkId=827846
-    // for the documentation about the extensions.json format
-    "recommendations": [
-        "chiehyu.vscode-astyle",
-        "dan-c-underwood.arm",
-        "fredericbonnet.cmake-test-adapter",
-        "github.vscode-pull-request-github",
-        "marus25.cortex-debug",
-        "ms-azuretools.vscode-docker",
-        "ms-iot.vscode-ros",
-        "ms-python.python",
-        "ms-vscode.cmake-tools",
-        "ms-vscode.cpptools",
-        "ms-vscode.cpptools-extension-pack",
-        "redhat.vscode-yaml",
-        "streetsidesoftware.code-spell-checker",
-        "twxs.cmake",
-        "uavcan.dsdl",
-        "wholroyd.jinja",
-        "zixuanwang.linkerscript"
-    ]
-}
@@ -1,143 +0,0 @@
-{
-        "astyle.astylerc": "${workspaceFolder}/Tools/astyle/astylerc",
-        "astyle.c.enable": true,
-        "astyle.cpp.enable": true,
-        "breadcrumbs.enabled": true,
-        "C_Cpp.autoAddFileAssociations": false,
-        "C_Cpp.clang_format_fallbackStyle": "none",
-        "C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
-        "C_Cpp.default.cppStandard": "c++14",
-        "C_Cpp.default.cStandard": "c11",
-        "C_Cpp.formatting": "Disabled",
-        "C_Cpp.intelliSenseEngine": "Default",
-        "C_Cpp.vcpkg.enabled": false,
-        "C_Cpp.workspaceParsingPriority": "low",
-        "cmake.buildBeforeRun": true,
-        "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
-        "cmake.buildTask": true,
-        "cmake.configureOnOpen": true,
-        "cmake.ctest.parallelJobs": 1,
-        "cmake.skipConfigureIfCachePresent": true,
-        "cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
-        "cmakeExplorer.parallelJobs": 1,
-        "cmakeExplorer.suiteDelimiter": "-",
-        "cortex-debug.enableTelemetry": false,
-        "cSpell.allowCompoundWords": true,
-        "cSpell.diagnosticLevel": "Hint",
-        "cSpell.showStatus": false,
-        "cSpell.words": [
-                "acro",
-                "rattitude",
-                "nuttx",
-                "esc"
-        ],
-        "debug.toolBarLocation": "docked",
-        "editor.acceptSuggestionOnEnter": "off",
-        "editor.defaultFormatter": "chiehyu.vscode-astyle",
-        "editor.dragAndDrop": false,
-        "editor.insertSpaces": false,
-        "editor.minimap.maxColumn": 120,
-        "editor.minimap.renderCharacters": false,
-        "editor.minimap.showSlider": "always",
-        "editor.suggest.localityBonus": true,
-        "editor.tabSize": 8,
-        "editor.wordWrapColumn": 120,
-        "explorer.openEditors.visible": 0,
-        "files.insertFinalNewline": true,
-        "files.trimTrailingWhitespace": true,
-        "files.watcherExclude": {
-                "**/build/**": true
-        },
-        "git.detectSubmodulesLimit": 20,
-        "git.ignoreLimitWarning": true,
-        "githubPullRequests.defaultMergeMethod": "squash",
-        "githubPullRequests.telemetry.enabled": false,
-        "files.associations": {
-                "*.jinja": "jinja",
-                "algorithm": "cpp",
-                "array": "cpp",
-                "atomic": "cpp",
-                "bitset": "cpp",
-                "cctype": "cpp",
-                "cfenv": "cpp",
-                "chrono": "cpp",
-                "cinttypes": "cpp",
-                "clocale": "cpp",
-                "cmath": "cpp",
-                "codecvt": "cpp",
-                "complex": "cpp",
-                "condition_variable": "cpp",
-                "csignal": "cpp",
-                "cstdarg": "cpp",
-                "cstddef": "cpp",
-                "cstdint": "cpp",
-                "cstdio": "cpp",
-                "cstdlib": "cpp",
-                "cstring": "cpp",
-                "ctime": "cpp",
-                "cwchar": "cpp",
-                "cwctype": "cpp",
-                "deque": "cpp",
-                "exception": "cpp",
-                "forward_list": "cpp",
-                "fstream": "cpp",
-                "functional": "cpp",
-                "future": "cpp",
-                "hash_map": "cpp",
-                "hash_set": "cpp",
-                "initializer_list": "cpp",
-                "iomanip": "cpp",
-                "iosfwd": "cpp",
-                "iostream": "cpp",
-                "istream": "cpp",
-                "iterator": "cpp",
-                "limits": "cpp",
-                "list": "cpp",
-                "map": "cpp",
-                "memory": "cpp",
-                "memory_resource": "cpp",
-                "mutex": "cpp",
-                "new": "cpp",
-                "numeric": "cpp",
-                "optional": "cpp",
-                "ostream": "cpp",
-                "random": "cpp",
-                "ratio": "cpp",
-                "regex": "cpp",
-                "set": "cpp",
-                "sstream": "cpp",
-                "stdexcept": "cpp",
-                "streambuf": "cpp",
-                "string": "cpp",
-                "string_view": "cpp",
-                "strstream": "cpp",
-                "system_error": "cpp",
-                "thread": "cpp",
-                "tuple": "cpp",
-                "type_traits": "cpp",
-                "typeindex": "cpp",
-                "typeinfo": "cpp",
-                "unordered_map": "cpp",
-                "unordered_set": "cpp",
-                "utility": "cpp",
-                "valarray": "cpp",
-                "variant": "cpp",
-                "vector": "cpp"
-        },
-        "search.exclude": {
-                "${workspaceFolder}/build": true
-        },
-        "search.showLineNumbers": true,
-        "search.smartCase": true,
-        "telemetry.enableTelemetry": false,
-        "terminal.integrated.copyOnSelection": true,
-        "terminal.integrated.rightClickBehavior": "paste",
-        "terminal.integrated.scrollback": 5000,
-        "window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
-        "workbench.editor.highlightModifiedTabs": true,
-        "workbench.enableExperiments": false,
-        "workbench.settings.enableNaturalLanguageSearch": false,
-        "yaml.schemas": {
-                "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
-        }
-}
@@ -1,373 +0,0 @@
-{
-    // See https://go.microsoft.com/fwlink/?LinkId=733558
-    // for the documentation about the tasks.json format
-    "version": "2.0.0",
-    "tasks": [
-        {
-            "label": "build",
-            "type": "shell",
-            "command": "/bin/bash",
-            "args": [
-                "-c",
-                "${command:cmake.tasksBuildCommand}"
-            ],
-            "options": {
-                "cwd": "${command:cmake.buildDirectory}"
-            },
-            "group": {
-                "kind": "build",
-                "isDefault": true,
-            },
-            "problemMatcher": {
-                "base": "$gcc",
-                "fileLocation": ["relative", "${command:cmake.buildDirectory}"]
-            },
-            "presentation":{
-                "echo": false,
-                "showReuseMessage": false,
-                "clear": true,
-                "panel": "shared",
-                "group": "build"
-            }
-        },
-        {
-            "label": "test",
-            "type": "shell",
-            "command": "make tests",
-            "options": {
-                "cwd": "${workspaceFolder}"
-            },
-            "group": {
-                "kind": "test",
-                "isDefault": true,
-            },
-            "presentation":{
-                "echo": true,
-                "showReuseMessage": false,
-                "clear": false,
-                "panel": "shared",
-                "group": "test"
-            }
-        },
-        {
-            "label": "jmavsim build",
-            "type": "shell",
-            "command": "ant create_run_jar copy_res",
-            "options": {
-                "cwd": "${workspaceFolder}/Tools/jMAVSim"
-            },
-            "problemMatcher": [],
-            "presentation":{
-                "echo": true,
-                "reveal": "never",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false,
-            }
-        },
-        {
-            "label": "jmavsim",
-            "type": "shell",
-            "dependsOn": "jmavsim build",
-            "command": "java -Djava.ext.dirs= -jar jmavsim_run.jar -r 250 -lockstep -tcp localhost:4560 -qgc",
-            "options": {
-                "cwd": "${workspaceFolder}/Tools/jMAVSim/out/production",
-                "env": {
-                    "PX4_SIM_SPEED_FACTOR": "1"
-                }
-            },
-            "isBackground": true,
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false
-            },
-            "problemMatcher": [
-                {
-                    "pattern": [
-                        {
-                            "regexp": ".",
-                            "file": 1,
-                            "location": 2,
-                            "message": 3
-                        }
-                    ],
-                    "background": {
-                        "activeOnStart": true,
-                        "beginsPattern": ".",
-                        "endsPattern": ".",
-                    }
-                }
-            ]
-        },
-        {
-            "label": "jmavsim kill",
-            "type": "shell",
-            "command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}')",
-            "presentation": {
-                "echo": false,
-                "reveal": "never",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false
-            },
-            "problemMatcher": []
-        },
-        {
-            "label": "gazebo build",
-            "type": "shell",
-            "command": "make px4_sitl_default sitl_gazebo",
-            "options": {
-                "cwd": "${workspaceFolder}"
-            },
-            "problemMatcher": [],
-            "presentation":{
-                "echo": true,
-                "reveal": "always",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false,
-            }
-        },
-        {
-            "label": "gazebo start",
-            "type": "shell",
-            "dependsOn": "gazebo build",
-            "options": {
-                "cwd": "${workspaceFolder}",
-                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
-                    "PX4_SIM_SPEED_FACTOR": "1"
-                }
-            },
-            "command": "gzserver --verbose ${workspaceFolder}/Tools/sitl_gazebo/worlds/${input:gazeboWorld}.world",
-            "isBackground": true,
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false
-            },
-            "problemMatcher": [
-                {
-                    "pattern": [
-                        {
-                            "regexp": ".",
-                            "file": 1,
-                            "location": 2,
-                            "message": 3
-                        }
-                    ],
-                    "background": {
-                        "activeOnStart": true,
-                        "beginsPattern": ".",
-                        "endsPattern": ".",
-                    }
-                }
-            ]
-        },
-        {
-            "label": "gazebo",
-            "type": "shell",
-            "dependsOn": "gazebo start",
-            "options": {
-                "cwd": "${workspaceFolder}",
-                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
-                    "PX4_SIM_SPEED_FACTOR": "1"
-                }
-            },
-            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/sitl_gazebo/models/${input:vehicleModel}/${input:vehicleModel}.sdf --model-name=${input:vehicleModel} -x 1.01 -y 0.98 -z 0.83",
-            "isBackground": false,
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false
-            },
-            "problemMatcher": [
-                {
-                    "pattern": [
-                        {
-                            "regexp": ".",
-                            "file": 1,
-                            "location": 2,
-                            "message": 3
-                        }
-                    ],
-                    "background": {
-                        "activeOnStart": true,
-                        "beginsPattern": ".",
-                        "endsPattern": ".",
-                    }
-                }
-            ]
-        },
-        {
-            "label": "gazebo client",
-            "type": "shell",
-            "dependsOn": "gazebo build",
-            "options": {
-                "cwd": "${workspaceFolder}",
-                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
-                    "PX4_SIM_SPEED_FACTOR": "1"
-                }
-            },
-            "command": "gzclient --verbose",
-            "isBackground": true,
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false
-            },
-            "problemMatcher": [
-                {
-                    "pattern": [
-                        {
-                            "regexp": ".",
-                            "file": 1,
-                            "location": 2,
-                            "message": 3
-                        }
-                    ],
-                    "background": {
-                        "activeOnStart": true,
-                        "beginsPattern": ".",
-                        "endsPattern": ".",
-                    }
-                }
-            ]
-        },
-        {
-            "label": "gazebo kill",
-            "type": "shell",
-            "command": "killall gzserver",
-            "presentation": {
-                "echo": true,
-                "reveal": "silent",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false
-            },
-            "problemMatcher": [],
-            "dependsOn":["px4_sitl_cleanup"]
-        },
-        {
-            "label": "px4_sitl_cleanup",
-            "type": "shell",
-            "command": "rm -rfv /tmp/px4*",
-            "presentation": {
-                "echo": true,
-                "reveal": "silent",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false
-            },
-            "problemMatcher": [],
-            "dependsOn":["px4_kill"]
-        },
-        {
-            "label": "px4_kill",
-            "type": "shell",
-            "command": "killall px4 || true",
-            "presentation": {
-                "echo": true,
-                "reveal": "silent",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false
-            },
-            "problemMatcher": []
-        },
-        {
-            "label": "mavlink shell",
-            "type": "shell",
-            "command": "./Tools/mavlink_shell.py",
-            "options": {
-                "cwd": "${workspaceFolder}"
-            },
-            "presentation": {
-                "echo": true,
-                "reveal": "always",
-                "focus": true,
-                "panel": "new",
-                "showReuseMessage": false,
-                "clear": false
-            },
-            "problemMatcher": []
-        },
-        {
-            "label": "miniterm.py",
-            "type": "shell",
-            "command": "miniterm.py --raw - 57600",
-            "options": {
-                "cwd": "${workspaceFolder}"
-            },
-            "presentation": {
-                "echo": true,
-                "reveal": "always",
-                "focus": true,
-                "panel": "new",
-                "showReuseMessage": false,
-                "clear": false
-            },
-            "problemMatcher": []
-        }
-    ],
-    "inputs": [
-        {
-            "type": "pickString",
-            "id": "vehicleModel",
-            "description": "gazebo model",
-            "options": [
-              "iris",
-              "typhoon_h480",
-              "plane",
-              "plane_catapult",
-              "plane_lidar",
-              "standard_vtol",
-              "tailsitter",
-              "tiltrotor",
-              "r1_rover",
-              "boat"
-            ],
-            "default": "iris"
-        },
-        {
-            "type": "pickString",
-            "id": "gazeboWorld",
-            "description": "gazebo world",
-            "options": [
-                "baylands",
-                "empty",
-                "ksql_airport",
-                "mcmillan_airfield",
-                "sonoma_raceway",
-                "warehouse",
-                "windy",
-                "yosemite"
-            ],
-            "default": "empty"
-        }
-    ]
-}
@@ -51,8 +51,8 @@ flags = [
 # 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',
+# 'c++11'.
+'-std=c++11',
 # ...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.
@@ -61,7 +61,7 @@ flags = [
 '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', 'Build/px4io-v2_default.build/nuttx-export/include/',
 '-I', './NuttX/nuttx/arch/arm/include',
 '-include', './src/include/visibility.h',
 '-I', './src',
@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2017 - 2019 PX4 Development Team. All rights reserved.
+# Copyright (c) 2017 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
@@ -40,7 +40,7 @@
 # * Common functions should be included in px_base.cmake.
 #
 # * OS/ board specific fucntions should be include in
-#	px_impl_${PX4_PLATFORM}.cmake or px4_impl_${PX4_PLATFORM}_${PX4_BOARD}.cmake.
+#	px_impl_${OS}.cmake or px4_impl_${OS}_${BOARD}.cmake.
 #
 # Formatting
 # ---------------------------------------------------------------------------
@@ -92,9 +92,9 @@
 # ---------------------------------------------------------------------------
 #
 # * If referencing a string variable, don't put it in quotes.
-#	Don't do "${PX4_PLATFORM}" STREQUAL "posix",
-#	instead type ${PX4_PLATFORM} STREQUAL "posix". This will throw an
-#	error when ${PX4_PLATFORM} is not defined instead of silently
+#	Don't do "${OS}" STREQUAL "posix",
+#	instead type ${OS} STREQUAL "posix". This will throw an
+#	error when ${OS} is not defined instead of silently
 #	evaluating to false.
 #
 #=============================================================================
@@ -104,21 +104,19 @@ cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
 set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
 set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")

-list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake)
-include(px4_parse_function_args)
+list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")

 #=============================================================================
 # git
 #
-include(px4_git)
+include(common/px4_git)

 execute_process(
 	COMMAND git describe --always --tags
-	OUTPUT_VARIABLE PX4_GIT_TAG
+	OUTPUT_VARIABLE git_tag
 	OUTPUT_STRIP_TRAILING_WHITESPACE
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
-message(STATUS "PX4 version: ${PX4_GIT_TAG}")

 define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                 BRIEF_DOCS "PX4 module libs"
@@ -134,45 +132,28 @@ define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
 # configuration
 #

-set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
+set(CONFIG "posix_sitl_default" CACHE STRING "desired configuration")

-include(px4_add_module)
-set(config_module_list)
+string(REPLACE "_" ";" config_args ${CONFIG})
+list(GET config_args 0 OS)
+list(GET config_args 1 BOARD)
+list(GET config_args 2 LABEL)

-include(px4_config)
-include(px4_add_board)
-include(${PX4_CONFIG_FILE})
-message(STATUS "PX4 config: ${PX4_CONFIG}")
-message(STATUS "PX4 platform: ${PX4_PLATFORM}")
-
-if(${PX4_PLATFORM} STREQUAL "posix")
-	if(ENABLE_LOCKSTEP_SCHEDULER)
-		add_definitions(-DENABLE_LOCKSTEP_SCHEDULER)
-		message(STATUS "PX4 lockstep: enabled")
-	else()
-		message(STATUS "PX4 lockstep: disabled")
-	endif()
-endif()
-
-# external modules
+set(THREADS "4" CACHE STRING "number of threads to use for external build processes")
+set(DEBUG_PORT "/dev/ttyACM0" CACHE STRING "debugging port")
 set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location")

-if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
+if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE)
 endif()

-set_property(GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
-
-include(platforms/${PX4_PLATFORM}/cmake/px4_impl_os.cmake)
-list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake)
-
-if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
-	include(init)
-endif()
+include(platforms/${OS}/cmake/px4_impl_os.cmake)
+include(configs/${CONFIG})
+list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${OS}/cmake)

 # CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
-if(NOT CMAKE_BUILD_TYPE)
-	if(${PX4_PLATFORM} STREQUAL "nuttx")
+if (NOT CMAKE_BUILD_TYPE)
+	if (${OS} STREQUAL "nuttx")
 		set(PX4_BUILD_TYPE "MinSizeRel")
 	else()
 		set(PX4_BUILD_TYPE "RelWithDebInfo")
@@ -181,20 +162,13 @@ if(NOT CMAKE_BUILD_TYPE)
 	set(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" FORCE)
 endif()

-if((CMAKE_BUILD_TYPE STREQUAL "Debug") OR (CMAKE_BUILD_TYPE STREQUAL "Coverage"))
-	set(MAX_CUSTOM_OPT_LEVEL -O0)
-elseif(CMAKE_BUILD_TYPE MATCHES "Sanitizer")
-	set(MAX_CUSTOM_OPT_LEVEL -O1)
-else()
-	if(px4_constrained_flash_build)
-		set(MAX_CUSTOM_OPT_LEVEL -Os)
-	else()
-		set(MAX_CUSTOM_OPT_LEVEL -O2)
-	endif()
-endif()
+set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage")

-set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage;AddressSanitizer;UndefinedBehaviorSanitizer")
-message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
+#=============================================================================
+
+message(STATUS "PX4 VERSION: ${git_tag}")
+message(STATUS "CONFIG: ${CONFIG}")
+message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")

 #=============================================================================
 # project definition
@@ -203,54 +177,22 @@ project(px4 CXX C ASM)

 set(package-contact "px4users@googlegroups.com")

-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 11)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_C_STANDARD 11)
+set(CMAKE_C_STANDARD 99)
 set(CMAKE_C_STANDARD_REQUIRED ON)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
-
-# For the catkin build process, unset build of dynamically-linked binaries
-# and do not change CMAKE_RUNTIME_OUTPUT_DIRECTORY
-if (NOT CATKIN_DEVEL_PREFIX)
-	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
-	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
-	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
-else()
-	SET(BUILD_SHARED_LIBS OFF)
-endif()
-
-#=============================================================================
-
-# gold linker - use if available (posix only for now)
-if(${PX4_PLATFORM} STREQUAL "posix")
-	include(CMakeDependentOption)
-	CMAKE_DEPENDENT_OPTION(USE_LD_GOLD
-			"Use GNU gold linker" ON
-			"NOT WIN32;NOT APPLE" OFF
-	)
-
-	if(USE_LD_GOLD)
-		execute_process(COMMAND ${CMAKE_C_COMPILER} -fuse-ld=gold -Wl,--version ERROR_QUIET OUTPUT_VARIABLE LD_VERSION)
-		if("${LD_VERSION}" MATCHES "GNU gold")
-			set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fuse-ld=gold")
-			set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -fuse-ld=gold")
-		else()
-			set(USE_LD_GOLD OFF)
-		endif()
-	endif()
-endif()
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})

 #=============================================================================

 # Setup install paths
-if(${PX4_PLATFORM} STREQUAL "posix")
-	# This makes it possible to dynamically load code which depends on symbols
-	# inside the px4 executable.
-	set(CMAKE_POSITION_INDEPENDENT_CODE ON)
-	set(CMAKE_ENABLE_EXPORTS ON)
+if (${OS} STREQUAL "posix")

-	include(coverage)
-	include(sanitizers)
+	include(common/coverage)
+	include(common/sanitizers)

 	# Define GNU standard installation directories
 	include(GNUInstallDirs)
@@ -258,9 +200,39 @@ if(${PX4_PLATFORM} STREQUAL "posix")
 	if (NOT CMAKE_INSTALL_PREFIX)
 		set(CMAKE_INSTALL_PREFIX "/usr" CACHE PATH "Install path prefix" FORCE)
 	endif()
+
+	# cmake testing only on posix
+	enable_testing()
+	include(CTest)
 endif()

-include(ccache)
+#=============================================================================
+# require px4 module interface
+set(px4_required_interface
+	px4_os_prebuild_targets
+	px4_os_add_flags
+	)
+foreach(cmd ${px4_required_interface})
+	if (NOT COMMAND ${cmd})
+		message(FATAL_ERROR "${CONFIG} must implement ${cmd}")
+	endif()
+endforeach()
+
+set(px4_required_config config_module_list)
+foreach(conf ${px4_required_config})
+	if (NOT DEFINED ${conf})
+		message(FATAL_ERROR "cmake/${CONFIG} must define ${conf}")
+	endif()
+endforeach()
+
+#=============================================================================
+# ccache
+#
+option(CCACHE "Use ccache if available" ON)
+find_program(CCACHE_PROGRAM ccache)
+if (CCACHE AND CCACHE_PROGRAM AND NOT DEFINED ENV{CCACHE_DISABLE})
+	set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
+endif()

 #=============================================================================
 # find programs and packages
@@ -277,60 +249,86 @@ if (CATKIN_DEVEL_PREFIX)
 	endif()
 endif()

-# Python
-# If using catkin, Python 2 is found since it points
-# to the Python libs installed with the ROS distro
-if (NOT CATKIN_DEVEL_PREFIX)
-	find_package(PythonInterp 3)
-	# We have a custom error message to tell users how to install python3.
-	if (NOT PYTHONINTERP_FOUND)
-		message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
-			"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
-			"    macOS: brew install python")
-	endif()
-else()
-	find_package(PythonInterp REQUIRED)
-endif()
-
-option(PYTHON_COVERAGE "Python code coverage" OFF)
-if(PYTHON_COVERAGE)
-	message(STATUS "python coverage enabled")
-	set(PYTHON_EXECUTABLE coverage run -p)
-endif()
+find_package(PythonInterp REQUIRED)
+px4_find_python_module(jinja2 REQUIRED)

 #=============================================================================
-# get chip and chip manufacturer
+# check required toolchain variables
 #
-px4_os_determine_build_chip()
-if(NOT PX4_CHIP_MANUFACTURER)
-	message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP_MANUFACTURER")
-endif()
-if(NOT PX4_CHIP)
-	message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP")
-endif()
+
+set(required_variables CMAKE_C_COMPILER_ID CMAKE_CXX_COMPILER_ID)
+foreach(var ${required_variables})
+	if (NOT ${var})
+		message(FATAL_ERROR "Toolchain/config must define ${var}")
+	endif()
+endforeach()
+
+# print full c compiler version
+execute_process(COMMAND ${CMAKE_C_COMPILER} --version
+		OUTPUT_VARIABLE c_compiler_version
+		OUTPUT_STRIP_TRAILING_WHITESPACE
+		)
+STRING(REGEX MATCH "[^\n]*" c_compiler_version_short ${c_compiler_version})
+message(STATUS "C compiler: ${c_compiler_version_short}")
+
+# print full c++ compiler version
+execute_process(COMMAND ${CMAKE_CXX_COMPILER} --version
+		OUTPUT_VARIABLE cxx_compiler_version
+		OUTPUT_STRIP_TRAILING_WHITESPACE
+		)
+STRING(REGEX MATCH "[^\n]*" cxx_compiler_version_short ${cxx_compiler_version})
+message(STATUS "C++ compiler: ${cxx_compiler_version_short}")
+
+#=============================================================================
+# external libraries
+#
+px4_os_prebuild_targets(OUT prebuild_targets
+	BOARD ${BOARD}
+	THREADS ${THREADS})

 #=============================================================================
 # build flags
 #
-include(px4_add_common_flags)
-px4_add_common_flags()
-px4_os_add_flags()
+px4_os_add_flags(
+	BOARD ${BOARD}
+	C_FLAGS c_flags
+	CXX_FLAGS cxx_flags
+	OPTIMIZATION_FLAGS optimization_flags
+	EXE_LINKER_FLAGS exe_linker_flags
+	INCLUDE_DIRS include_dirs
+	LINK_DIRS link_dirs
+	DEFINITIONS definitions)

-#=============================================================================
-# board cmake init (optional)
-#
-if(EXISTS ${PX4_BOARD_DIR}/cmake/init.cmake)
-	include(${PX4_BOARD_DIR}/cmake/init.cmake)
-endif()
+px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${CMAKE_EXE_LINKER_FLAGS};${exe_linker_flags}" GLUE " ")
+px4_join(OUT CMAKE_C_FLAGS LIST "${CMAKE_C_FLAGS};${c_flags};${optimization_flags}" GLUE " ")
+px4_join(OUT CMAKE_CXX_FLAGS LIST "${CMAKE_CXX_FLAGS};${cxx_flags};${optimization_flags}" GLUE " ")

 #=============================================================================
 # message, and airframe generation
 #
-include(px4_metadata)
+include(common/px4_metadata)

 add_subdirectory(msg EXCLUDE_FROM_ALL)

-px4_generate_airframes_xml(BOARD ${PX4_BOARD})
+px4_generate_airframes_xml(BOARD ${BOARD})
+
+#=============================================================================
+# DriverFramework
+#
+px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
+add_subdirectory(src/lib/DriverFramework/framework)
+
+# List the DriverFramework drivers
+if (DEFINED config_df_driver_list)
+	message("DF Drivers: ${config_df_driver_list}")
+endif()
+
+set(df_driver_libs)
+foreach(driver ${config_df_driver_list})
+	add_subdirectory(src/lib/DriverFramework/drivers/${driver})
+	list(APPEND df_driver_libs df_${driver})
+	message("Adding DF driver: ${driver}")
+endforeach()

 #=============================================================================
 # external projects
@@ -339,13 +337,11 @@ set(ep_base ${PX4_BINARY_DIR}/external)
 set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})

 # add external project install folders to build
-# add the directories so cmake won't warn
-execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base})
-execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install)
-execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install/lib)
 link_directories(${ep_base}/Install/lib)
-execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install/include)
 include_directories(${ep_base}/Install/include)
+# add the directories so cmake won't warn
+execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/lib)
+execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/include)

 #=============================================================================
 # external modules
@@ -361,56 +357,15 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	endforeach()
 endif()

-#=============================================================================
-# Testing - Automatic unit and integration testing with CTest
-#
-
-# optionally enable cmake testing (supported only on posix)
-option(CMAKE_TESTING "Configure test targets" OFF)
-if(${PX4_CONFIG} STREQUAL "px4_sitl_test")
-	set(CMAKE_TESTING ON)
-endif()
-if(CMAKE_TESTING)
-	include(CTest) # sets BUILD_TESTING variable
-endif()
-
-# enable test filtering to run only specific tests with the ctest -R regex functionality
-set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)")
-
-# if testing is enabled download and configure gtest
-list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/gtest/)
-include(px4_add_gtest)
-if(BUILD_TESTING)
-	include(gtest)
-
-	add_custom_target(test_results
-			COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R ${TESTFILTER} USES_TERMINAL
-			DEPENDS
-				px4
-				examples__dyn_hello
-				test_mixer_multirotor
-			USES_TERMINAL
-			COMMENT "Running tests"
-			WORKING_DIRECTORY ${PX4_BINARY_DIR})
-	set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)
-endif()
-
-
 #=============================================================================
 # subdirectories
 #
 add_library(parameters_interface INTERFACE)
-
-include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)
-
-add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
-add_subdirectory(platforms EXCLUDE_FROM_ALL)
+add_subdirectory(src/platforms/common EXCLUDE_FROM_ALL)
+add_subdirectory(src/modules/systemlib EXCLUDE_FROM_ALL) # TODO: split into libraries in platform layer
 add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer
-
-if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
-	add_subdirectory(${PX4_BOARD_DIR})
-endif()
+add_subdirectory(src/drivers/boards EXCLUDE_FROM_ALL)

 foreach(module ${config_module_list})
 	add_subdirectory(src/${module})
@@ -421,12 +376,26 @@ add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
 target_link_libraries(parameters_interface INTERFACE parameters)

 # firmware added last to generate the builtin for included modules
-add_subdirectory(platforms/${PX4_PLATFORM})
+add_subdirectory(platforms/${OS})
+
+#=============================================================================
+# generate custom target to print for all executable and module cmake targets
+#
+if (all_posix_cmake_targets)
+	list(SORT all_posix_cmake_targets)
+	px4_join(OUT posix_cmake_target_list LIST ${all_posix_cmake_targets} GLUE "\\n")
+	add_custom_target(list_cmake_targets
+		COMMAND sh -c "printf \"${posix_cmake_target_list}\\n\""
+		COMMENT "List of cmake targets that can be matched by PX4_NO_OPTIMIZATION:"
+		VERBATIM
+		)
+endif()
+

 #=============================================================================
 # uORB graph generation: add a custom target 'uorb_graph'
 #
-set(uorb_graph_config ${PX4_BOARD})
+set(uorb_graph_config ${BOARD})

 set(graph_module_list "")
 foreach(module ${config_module_list})
@@ -435,7 +404,7 @@ endforeach()

 add_custom_command(OUTPUT ${uorb_graph_config}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
-		${graph_module_list}
+		${module_list}
 		--exclude-path src/examples
 		--file ${PX4_SOURCE_DIR}/Tools/uorb_graph/graph_${uorb_graph_config}
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
@@ -443,15 +412,62 @@ add_custom_command(OUTPUT ${uorb_graph_config}
 )
 add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})

+#=============================================================================
+# Doxygen
+#
+option(BUILD_DOXYGEN "Build doxygen documentation" OFF)

-include(doxygen)
-include(metadata)
-include(package)
+if (BUILD_DOXYGEN)
+	find_package(Doxygen)
+	if (DOXYGEN_FOUND)
+	    # set input and output files
+	    set(DOXYGEN_IN ${CMAKE_SOURCE_DIR}/Documentation/Doxyfile.in)
+	    set(DOXYGEN_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)

-# print size
-add_custom_target(size
-	COMMAND size $<TARGET_FILE:px4>
-	DEPENDS px4
-	WORKING_DIRECTORY ${PX4_BINARY_DIR}
-	USES_TERMINAL
-	)
+	    # request to configure the file
+	    configure_file(${DOXYGEN_IN} ${DOXYGEN_OUT} @ONLY)
+
+	    # note the option ALL which allows to build the docs together with the application
+	    add_custom_target(doxygen ALL
+	        COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_OUT}
+	        WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+			COMMENT "Generating documentation with Doxygen"
+			DEPENDS uorb_msgs parameters
+			VERBATIM
+			USES_TERMINAL
+			)
+
+	else()
+		message("Doxygen needs to be installed to generate documentation")
+	endif()
+endif()
+
+#=============================================================================
+# packaging
+#
+# Important to having packaging at end of cmake file.
+#
+set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${CONFIG})
+set(CPACK_PACKAGE_VERSION ${git_version})
+set(CPACK_PACKAGE_CONTACT ${package-contact})
+set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
+set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
+set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
+set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "The PX4 Pro autopilot.")
+set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${git_tag}")
+set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${git_version}")
+set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
+set(CPACK_PACKAGING_INSTALL_PREFIX "")
+set(CPACK_SET_DESTDIR "OFF")
+
+if ("${CMAKE_SYSTEM}" MATCHES "Linux")
+	set(CPACK_GENERATOR "TBZ2")
+	find_program(DPKG_PROGRAM dpkg)
+	if (EXISTS ${DPKG_PROGRAM})
+		list (APPEND CPACK_GENERATOR "DEB")
+	endif()
+else()
+	set(CPACK_GENERATOR "ZIP")
+endif()
+
+include(CPack)
@@ -16,7 +16,7 @@ git checkout -b mydescriptivebranchname

 ### Edit and build the code

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

 ### Commit your changes

@@ -41,4 +41,4 @@ Since we care about safety, we will regularly ask you for test results. Best is

 Push changes to your repo and send a [pull request](https://github.com/PX4/Firmware/compare/).

-Make sure to provide some testing feedback and if possible the link to a flight log file. Upload flight log files to [Flight Review](http://logs.px4.io) and link the resulting report.
+MuncherMake sure to provide some testing feedback and if possible the link to a flight log file. Upload flight log files to [Flight Review](http://logs.px4.io) and link the resulting report.
@@ -62,7 +62,7 @@
 			"name": "PX4: make and upload",
 			"working_dir": "${project_path}",
 			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
-			"cmd": ["make upload px4_fmu-v2_default -j8"],
+			"cmd": ["make upload px4fmu-v2_default -j8"],
 			"shell": true
 		},
 		{
@@ -1,6 +1,6 @@
 BSD 3-Clause License

-Copyright (c) 2012 - 2020, PX4 Development Team
+Copyright (c) 2012 - 2018, PX4 Development Team
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 - 2020 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 - 2017 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
@@ -48,23 +48,16 @@ endif
 #
 # Example usage:
 #
-# make px4_fmu-v2_default 			(builds)
-# make px4_fmu-v2_default upload 	(builds and uploads)
-# make px4_fmu-v2_default test 		(builds and tests)
+# make px4fmu-v2_default 			(builds)
+# make px4fmu-v2_default upload 	(builds and uploads)
+# make px4fmu-v2_default test 		(builds and tests)
 #
-# This tells cmake to build the nuttx px4_fmu-v2 default config in the
-# directory build/px4_fmu-v2_default and then call make
+# This tells cmake to build the nuttx px4fmu-v2 default config in the
+# directory build/nuttx_px4fmu-v2_default and then call make
 # in that directory with the target upload.

-# explicity set default build target
-all: px4_sitl_default
-
-# define a space character to be able to explicitly find it in strings
-space := $(subst ,, )
-
-define make_list
-     $(shell cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
-endef
+#  explicity set default build target
+all: posix_sitl_default

 # Parsing
 # --------------------------------------------------------------------
@@ -73,14 +66,7 @@ endef
 # by cmake in the subdirectory
 FIRST_ARG := $(firstword $(MAKECMDGOALS))
 ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
-
-# Get -j or --jobs argument as suggested in:
-# https://stackoverflow.com/a/33616144/8548472
-MAKE_PID := $(shell echo $$PPID)
-j := $(shell ps T | sed -n 's|.*$(MAKE_PID).*$(MAKE).* \(-j\|--jobs\) *\([0-9][0-9]*\).*|\2|p')
-
-# Default j for clang-tidy
-j_clang_tidy := $(or $(j),4)
+j ?= 4

 NINJA_BIN := ninja
 ifndef NO_NINJA_BUILD
@@ -101,11 +87,6 @@ ifdef NINJA_BUILD
 	else
 		PX4_MAKE_ARGS :=
 	endif
-
-	# Only override ninja default if -j is set.
-	ifneq ($(j),)
-		PX4_MAKE_ARGS := $(PX4_MAKE_ARGS) -j$(j)
-	endif
 else
 	ifdef SYSTEMROOT
 		# Windows
@@ -113,14 +94,11 @@ else
 	else
 		PX4_CMAKE_GENERATOR := "Unix\ Makefiles"
 	endif
-
-	# For non-ninja builds we default to -j4
-	j := $(or $(j),4)
 	PX4_MAKE = $(MAKE)
 	PX4_MAKE_ARGS = -j$(j) --no-print-directory
 endif

-SRC_DIR := $(shell dirname "$(realpath $(lastword $(MAKEFILE_LIST)))")
+SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST))))

 # check if replay env variable is set & set build dir accordingly
 ifdef replay
@@ -136,66 +114,17 @@ endif

 ifdef PX4_CMAKE_BUILD_TYPE
 	CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
-else
-
-	# Address Sanitizer
-	ifdef PX4_ASAN
-		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=AddressSanitizer
-	endif
-
-	# Memory Sanitizer
-	ifdef PX4_MSAN
-		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=MemorySanitizer
-	endif
-
-	# Thread Sanitizer
-	ifdef PX4_TSAN
-		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=ThreadSanitizer
-	endif
-
-	# Undefined Behavior Sanitizer
-	ifdef PX4_UBSAN
-		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
-	endif
-
-endif
-
-# Pick up specific Python path if set
-ifdef PYTHON_EXECUTABLE
-	CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
 endif

 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-	@$(eval BUILD_DIR = "$(SRC_DIR)/build/$(1)")
-	@# check if the desired cmake configuration matches the cache then CMAKE_CACHE_CHECK stays empty
-	@$(call cmake-cache-check)
-	@# make sure to start from scratch when switching from GNU Make to Ninja
-	@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
-	@# only excplicitly configure the first build, if cache file already exists the makefile will rerun cmake automatically if necessary
-	@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ] || [ $(CMAKE_CACHE_CHECK) ]; then \
-		mkdir -p $(BUILD_DIR) \
-		&& cd $(BUILD_DIR) \
-		&& cmake "$(SRC_DIR)" -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) \
-		|| (rm -rf $(BUILD_DIR)); \
-	fi
-	@# run the build for the specified target
-	@cmake --build $(BUILD_DIR) -- $(PX4_MAKE_ARGS) $(ARGS)
-endef
-
-# check if the options we want to build with in CMAKE_ARGS match the ones which are already configured in the cache inside BUILD_DIR
-define cmake-cache-check
-	@# change to build folder which fails if it doesn't exist and CACHED_CMAKE_OPTIONS stays empty
-	@# fetch all previously configured and cached options from the build folder and transform them into the OPTION=VALUE format without type (e.g. :BOOL)
-	@$(eval CACHED_CMAKE_OPTIONS = $(shell cd $(BUILD_DIR) 2>/dev/null && cmake -L 2>/dev/null | sed -n 's|\([^[:blank:]]*\):[^[:blank:]]*\(=[^[:blank:]]*\)|\1\2|gp' ))
-	@# transform the options in CMAKE_ARGS into the OPTION=VALUE format without -D
-	@$(eval DESIRED_CMAKE_OPTIONS = $(shell echo $(CMAKE_ARGS) | sed -n 's|-D\([^[:blank:]]*=[^[:blank:]]*\)|\1|gp' ))
-	@# find each currently desired option in the already cached ones making sure the complete configured string value is the same
-	@$(eval VERIFIED_CMAKE_OPTIONS = $(foreach option,$(DESIRED_CMAKE_OPTIONS),$(strip $(findstring $(option)$(space),$(CACHED_CMAKE_OPTIONS)))))
-	@# if the complete list of desired options is found in the list of verified options we don't need to reconfigure and CMAKE_CACHE_CHECK stays empty
-	@$(eval CMAKE_CACHE_CHECK = $(if $(findstring $(DESIRED_CMAKE_OPTIONS),$(VERIFIED_CMAKE_OPTIONS)),,y))
+@$(eval PX4_CONFIG = $(1))
+@$(eval BUILD_DIR = $(SRC_DIR)/build/$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))
+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
+@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(SRC_DIR) -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) -DCONFIG=$(PX4_CONFIG) || (rm -rf $(BUILD_DIR)); fi
+@$(PX4_MAKE) -C $(BUILD_DIR) $(PX4_MAKE_ARGS) $(ARGS)
 endef

 COLOR_BLUE = \033[0;94m
@@ -205,8 +134,10 @@ define colorecho
 +@echo -e '${COLOR_BLUE}${1} ${NO_COLOR}'
 endef

-# Get a list of all config targets boards/*/*.cmake
-ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 ! -name '*common*' ! -name '*sdflight*' -name '*.cmake' -print | sed -e 's|boards\/||' | sed -e 's|\.cmake||' | sed -e 's|\/|_|g' | sort)
+# Get a list of all config targets cmake/configs/*.cmake
+ALL_CONFIG_TARGETS := $(basename $(shell find "$(SRC_DIR)/cmake/configs" -maxdepth 1 ! -name '*_common*' ! -name '*_sdflight_*' -name '*.cmake' -print | sed  -e 's:^.*/::' | sort))
+# Strip off leading nuttx_
+NUTTX_CONFIG_TARGETS := $(patsubst nuttx_%,%,$(filter nuttx_%,$(ALL_CONFIG_TARGETS)))

 # ADD CONFIGS HERE
 # --------------------------------------------------------------------
@@ -214,73 +145,78 @@ ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 ! -name '*comm

 # All targets.
 $(ALL_CONFIG_TARGETS):
-	@$(eval PX4_CONFIG = $@)
-	@$(eval CMAKE_ARGS += -DCONFIG=$(PX4_CONFIG))
-	@$(call cmake-build,$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))
+	$(call cmake-build,$@)

-# Filter for only default targets to allow omiting the "_default" postfix
-CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG_TARGETS)))
-$(CONFIG_TARGETS_DEFAULT):
-	@$(eval PX4_CONFIG = $@_default)
-	@$(eval CMAKE_ARGS += -DCONFIG=$(PX4_CONFIG))
-	@$(call cmake-build,$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))
+# Abbreviated config targets.

-all_config_targets: $(ALL_CONFIG_TARGETS)
-all_default_targets: $(CONFIG_TARGETS_DEFAULT)
+# nuttx_ is left off by default; provide a rule to allow that.
+$(NUTTX_CONFIG_TARGETS):
+	$(call cmake-build,nuttx_$@)

-# board reorganization deprecation warnings (2018-11-22)
-define deprecation_warning
-	$(warning $(1) has been deprecated and will be removed, please use $(2)!)
-endef
+all_nuttx_targets: $(NUTTX_CONFIG_TARGETS)
+
+posix: posix_sitl_default
+broadcast: posix_sitl_broadcast

 # All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
-.PHONY: all px4_sitl_default all_config_targets all_default_targets
+.PHONY: all posix broadcast all_nuttx_targets

 # Multi- config targets.
-eagle_default: atlflight_eagle_default atlflight_eagle_qurt
-eagle_rtps: atlflight_eagle_rtps atlflight_eagle_qurt-rtps
+eagle_default: posix_eagle_default qurt_eagle_default
+eagle_rtps: posix_eagle_rtps qurt_eagle_default
+eagle_legacy_default: posix_eagle_legacy qurt_eagle_legacy
+excelsior_default: posix_excelsior_default qurt_excelsior_default
+excelsior_rtps: posix_excelsior_rtps qurt_excelsior_default
+excelsior_legacy_default: posix_excelsior_legacy qurt_excelsior_legacy

-excelsior_default: atlflight_excelsior_default atlflight_excelsior_qurt
-excelsior_rtps: atlflight_excelsior_rtps atlflight_excelsior_qurt-rtps
-
-.PHONY: eagle_default eagle_rtps
-.PHONY: excelsior_default excelsior_rtps
+.PHONY: eagle_default eagle_rtps eagle_legacy_default
+.PHONY: excelsior_default excelsior_rtps excelsior_legacy_default

 # Other targets
 # --------------------------------------------------------------------

-.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware check_rtps
+.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware alt_firmware check_rtps

 # QGroundControl flashable NuttX firmware
 qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware

 # px4fmu NuttX firmware
 px4fmu_firmware: \
-	check_px4_io-v2_default \
-	check_px4_fmu-v2_default \
-	check_px4_fmu-v3_default \
-	check_px4_fmu-v4_default \
-	check_px4_fmu-v4pro_default \
-	check_px4_fmu-v5_default \
-	check_px4_fmu-v5x_default \
+	check_px4io-v2_default \
+	check_px4fmu-v2_default \
+	check_px4fmu-v3_default \
+	check_px4fmu-v4_default \
+	check_px4fmu-v4pro_default \
+	check_px4fmu-v5_default \
 	sizes

 misc_qgc_extra_firmware: \
-	check_nxp_fmuk66-v3_default \
-	check_nxp_fmurt1062-v1_default \
-	check_intel_aerofc-v1_default \
-	check_mro_x21_default \
-	check_bitcraze_crazyflie_default \
-	check_airmind_mindpx-v2_default \
-	check_px4_fmu-v2_lpe \
+	check_aerocore2_default \
+	check_aerofc-v1_default \
+	check_auav-x21_default \
+	check_crazyflie_default \
+	check_mindpx-v2_default \
+	check_px4fmu-v2_lpe \
+	check_tap-v1_default \
+	sizes
+
+# Other NuttX firmware
+alt_firmware: \
+	check_nxphlite-v3_default \
+	check_px4-same70xplained-v1_default \
+	check_px4-stm32f4discovery_default \
+	check_px4cannode-v1_default \
+	check_px4esc-v1_default \
+	check_px4nucleoF767ZI-v1_default \
+	check_s2740vc-v1_default \
 	sizes

 # builds with RTPS
 check_rtps: \
-	check_px4_fmu-v3_rtps \
-	check_px4_fmu-v4_rtps \
-	check_px4_fmu-v4pro_rtps \
-	check_px4_sitl_rtps \
+	check_px4fmu-v3_rtps \
+	check_px4fmu-v4_rtps \
+	check_px4fmu-v4pro_rtps \
+	check_posix_sitl_rtps \
 	sizes

 .PHONY: sizes check quick_check check_rtps uorb_graphs
@@ -289,10 +225,10 @@ sizes:
 	@-find build -name *.elf -type f | xargs size 2> /dev/null || :

 # All default targets that don't require a special build environment
-check: check_px4_sitl_default px4fmu_firmware misc_qgc_extra_firmware tests check_format
+check: check_posix_sitl_default px4fmu_firmware misc_qgc_extra_firmware alt_firmware tests check_format

-# quick_check builds a single nuttx and SITL target, runs testing, and checks the style
-quick_check: check_px4_sitl_test check_px4_fmu-v5_default tests check_format
+# quick_check builds a single nuttx and posix target, runs testing, and checks the style
+quick_check: check_posix_sitl_default check_px4fmu-v4pro_default tests check_format

 check_%:
 	@echo
@@ -303,169 +239,119 @@ check_%:
 uorb_graphs:
 	@./Tools/uorb_graph/create_from_startupscript.sh
 	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --file Tools/uorb_graph/graph_full
-	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
-	@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
-	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
+	@$(MAKE) --no-print-directory px4fmu-v2_default uorb_graph
+	@$(MAKE) --no-print-directory px4fmu-v4_default uorb_graph
+	@$(MAKE) --no-print-directory posix_sitl_default uorb_graph


 .PHONY: coverity_scan

-coverity_scan: px4_sitl_default
+coverity_scan: posix_sitl_default

 # Documentation
 # --------------------------------------------------------------------
-.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata doxygen
+.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata

 parameters_metadata:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters
+	@python $(SRC_DIR)/src/lib/parameters/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 4 -type d` --inject-xml $(SRC_DIR)/src/lib/parameters/parameters_injected.xml --markdown
+	@python $(SRC_DIR)/src/lib/parameters/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 4 -type d` --inject-xml $(SRC_DIR)/src/lib/parameters/parameters_injected.xml --xml

 airframe_metadata:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes
+	@python $(SRC_DIR)/Tools/px_process_airframes.py -v -a $(SRC_DIR)/ROMFS/px4fmu_common/init.d --markdown
+	@python $(SRC_DIR)/Tools/px_process_airframes.py -v -a $(SRC_DIR)/ROMFS/px4fmu_common/init.d --xml

 module_documentation:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_module_documentation
+	@python $(SRC_DIR)/Tools/px_process_module_doc.py -v --markdown $(SRC_DIR)/modules --src-path $(SRC_DIR)/src

 px4_metadata: parameters_metadata airframe_metadata module_documentation

-doxygen:
-	@mkdir -p "$(SRC_DIR)"/build/doxygen
-	@cd "$(SRC_DIR)"/build/doxygen && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DBUILD_DOXYGEN=ON
-	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
-	@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll
-
 # Astyle
 # --------------------------------------------------------------------
 .PHONY: check_format format

 check_format:
 	$(call colorecho,'Checking formatting with astyle')
-	@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh
-	@cd "$(SRC_DIR)" && git diff --check
+	@$(SRC_DIR)/Tools/astyle/check_code_style_all.sh
+	@cd $(SRC_DIR) && git diff --check

 format:
 	$(call colorecho,'Formatting with astyle')
-	@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh --fix
+	@$(SRC_DIR)/Tools/astyle/check_code_style_all.sh --fix

 # Testing
 # --------------------------------------------------------------------
-.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance
-.PHONY: rostest python_coverage
+.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard rostest

 tests:
-	$(eval CMAKE_ARGS += -DCONFIG=px4_sitl_test)
-	$(eval CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
-	$(eval ARGS += test_results)
-	$(eval ASAN_OPTIONS += color=always:check_initialization_order=1:detect_stack_use_after_return=1)
-	$(eval UBSAN_OPTIONS += color=always)
-	$(call cmake-build,px4_sitl_test)
+	@$(MAKE) --no-print-directory posix_sitl_default test_results \
+	ASAN_OPTIONS="color=always:check_initialization_order=1:detect_stack_use_after_return=1" \
+	UBSAN_OPTIONS="color=always"

 tests_coverage:
 	@$(MAKE) clean
-	@$(MAKE) --no-print-directory px4_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
-	@echo "Open "$(SRC_DIR)"/build/px4_sitl_default/coverage-html/index.html to see coverage"
+	@$(MAKE) --no-print-directory posix_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
+	@echo "Open $(SRC_DIR)/build/posix_sitl_default/coverage-html/index.html to see coverage"

-rostest: px4_sitl_default
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
-
-tests_integration: px4_sitl_default
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
-	@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
-	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
-
-tests_integration_coverage:
-	@$(MAKE) clean
-	@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
-	@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
-	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
-	@mkdir -p coverage
-	@lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+rostest: posix_sitl_default
+	@$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo

 tests_mission: rostest
-	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_missions.test
-
-rostest_run: px4_sitl_default
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
-	@"$(SRC_DIR)"/test/rostest_px4_run.sh $(TEST_FILE) mission:=$(TEST_MISSION) vehicle:=$(TEST_VEHICLE)
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_missions.test

 tests_mission_coverage:
 	@$(MAKE) clean
-	@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
-	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=VTOL_mission_1 vehicle:=standard_vtol
-	@$(MAKE) --no-print-directory px4_sitl_default generate_coverage
+	@$(MAKE) --no-print-directory posix_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=standard_vtol
+	@$(MAKE) --no-print-directory posix_sitl_default generate_coverage

 tests_offboard: rostest
-	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
-	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
-	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_rpyrt_ctl.test
-
-tests_avoidance: rostest
-	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test
-	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_safe_landing.test
-
-python_coverage:
-	@mkdir -p "$(SRC_DIR)"/build/python_coverage
-	@cd "$(SRC_DIR)"/build/python_coverage && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DPYTHON_COVERAGE=ON
-	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage
-	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage metadata_airframes
-	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage metadata_parameters
-	#@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage module_documentation # TODO: fix within coverage.py
-	@coverage combine `find . -name .coverage\*`
-	@coverage report -m
-
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test

 # static analyzers (scan-build, clang-tidy, cppcheck)
 # --------------------------------------------------------------------
-.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet
-.PHONY: cppcheck shellcheck_all validate_module_configs
+.PHONY: scan-build posix_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck

 scan-build:
 	@export CCC_CC=clang
 	@export CCC_CXX=clang++
-	@rm -rf "$(SRC_DIR)"/build/px4_sitl_default-scan-build
-	@rm -rf "$(SRC_DIR)"/build/scan-build/report_latest
-	@mkdir -p "$(SRC_DIR)"/build/px4_sitl_default-scan-build
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-scan-build && scan-build cmake "$(SRC_DIR)" -GNinja -DCONFIG=px4_sitl_default
-	@scan-build -o "$(SRC_DIR)"/build/scan-build cmake --build "$(SRC_DIR)"/build/px4_sitl_default-scan-build
-	@find "$(SRC_DIR)"/build/scan-build -maxdepth 1 -mindepth 1 -type d -exec cp -r "{}" "$(SRC_DIR)"/build/scan-build/report_latest \;
+	@rm -rf $(SRC_DIR)/build/posix_sitl_default-scan-build
+	@rm -rf $(SRC_DIR)/build/scan-build/report_latest
+	@mkdir -p $(SRC_DIR)/build/posix_sitl_default-scan-build
+	@cd $(SRC_DIR)/build/posix_sitl_default-scan-build && scan-build cmake $(SRC_DIR) -GNinja -DCONFIG=posix_sitl_default
+	@scan-build -o $(SRC_DIR)/build/scan-build cmake --build $(SRC_DIR)/build/posix_sitl_default-scan-build
+	@find $(SRC_DIR)/build/scan-build -maxdepth 1 -mindepth 1 -type d -exec cp -r "{}" $(SRC_DIR)/build/scan-build/report_latest \;

-px4_sitl_default-clang:
-	@mkdir -p "$(SRC_DIR)"/build/px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
-	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/px4_sitl_default-clang
+posix_sitl_default-clang:
+	@mkdir -p $(SRC_DIR)/build/posix_sitl_default-clang
+	@cd $(SRC_DIR)/build/posix_sitl_default-clang && cmake $(SRC_DIR) $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=posix_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
+	@$(PX4_MAKE) -C $(SRC_DIR)/build/posix_sitl_default-clang

-clang-tidy: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -p .
+clang-tidy: posix_sitl_default-clang
+	@cd $(SRC_DIR)/build/posix_sitl_default-clang && $(SRC_DIR)/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .

 # to automatically fix a single check at a time, eg modernize-redundant-void-arg
 #  % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
-clang-tidy-fix: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -fix -p .
+clang-tidy-fix: posix_sitl_default-clang
+	@cd $(SRC_DIR)/build/posix_sitl_default-clang && $(SRC_DIR)/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -fix -p .

 # modified version of run-clang-tidy.py to return error codes and only output relevant results
-clang-tidy-quiet: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -p .
+clang-tidy-quiet: posix_sitl_default-clang
+	@cd $(SRC_DIR)/build/posix_sitl_default-clang && $(SRC_DIR)/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .

 # TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
-cppcheck: px4_sitl_default
-	@mkdir -p "$(SRC_DIR)"/build/cppcheck
-	@cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++14 --std=c99 --std=posix --project="$(SRC_DIR)"/build/px4_sitl_default/compile_commands.json --xml-version=2 2> "$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml > /dev/null
-	@cppcheck-htmlreport --source-encoding=ascii --file="$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml --report-dir="$(SRC_DIR)"/build/cppcheck --source-dir="$(SRC_DIR)"/src/
-
-shellcheck_all:
-	@"$(SRC_DIR)"/Tools/run-shellcheck.sh "$(SRC_DIR)"/ROMFS/px4fmu_common/
-	@make px4_fmu-v5_default shellcheck
-
-validate_module_configs:
-	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
+cppcheck: posix_sitl_default
+	@mkdir -p $(SRC_DIR)/build/cppcheck
+	@cppcheck -i$(SRC_DIR)/src/examples --enable=performance --std=c++11 --std=c99 --std=posix --project=$(SRC_DIR)/build/posix_sitl_default/compile_commands.json --xml-version=2 2> $(SRC_DIR)/build/cppcheck/cppcheck-result.xml > /dev/null
+	@cppcheck-htmlreport --source-encoding=ascii --file=$(SRC_DIR)/build/cppcheck/cppcheck-result.xml --report-dir=$(SRC_DIR)/build/cppcheck --source-dir=$(SRC_DIR)/src/

 # Cleanup
 # --------------------------------------------------------------------
 .PHONY: clean submodulesclean submodulesupdate gazeboclean distclean

 clean:
-	@rm -rf "$(SRC_DIR)"/build
+	@rm -rf $(SRC_DIR)/build

 submodulesclean:
 	@git submodule foreach --quiet --recursive git clean -ff -x -d
@@ -485,13 +371,21 @@ distclean: gazeboclean
 	@git submodule deinit -f .
 	@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode"

-# Help / Error
 # --------------------------------------------------------------------

 # All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
 %:
 	$(if $(filter $(FIRST_ARG),$@), \
-		$(error "Make target $@ not found. It either does not exist or $@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)
+		$(error "$@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)
+
+#help:
+#	@echo
+#	@echo "Type 'make ' and hit the tab key twice to see a list of the available"
+#	@echo "build configurations."
+#	@echo
+
+empty :=
+space := $(empty) $(empty)

 # Print a list of non-config targets (based on http://stackoverflow.com/a/26339924/1487069)
 help:
@@ -499,23 +393,11 @@ help:
 	@echo "Where <target> is one of:"
 	@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
 		awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
-		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(posix|eagle|Makefile)'
+		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS) $(NUTTX_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(posix|eagle|Makefile)'
 	@echo
 	@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
 	@echo "Use '$(MAKE) list_config_targets' for a list of configuration targets."

 # Print a list of all config targets.
 list_config_targets:
-	@for targ in $(patsubst %_default,%[_default],$(ALL_CONFIG_TARGETS)); do echo $$targ; done
-
-check_nuttx : $(call make_list,nuttx) \
-	sizes
-
-check_linux : $(call make_list,linux) \
-	sizes
-
-check_px4: $(call make_list,nuttx,"px4") \
-	sizes
-
-check_nxp: $(call make_list,nuttx,"nxp") \
-	sizes
+	@for targ in $(patsubst nuttx_%,[nuttx_]%,$(ALL_CONFIG_TARGETS)); do echo $$targ; done
@@ -1,17 +0,0 @@
-Please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.
-
-**Describe problem solved by this pull request**
-A clear and concise description of the problem this proposed change will solve.
-E.g. For this use case I ran into...
-
-**Describe your solution**
-A clear and concise description of what you have implemented.
-
-**Describe possible alternatives**
-A clear and concise description of alternative solutions or features you've considered.
-
-**Test data / coverage**
-How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.
-
-**Additional context**
-Add any other related context or media.
@@ -1,110 +1,107 @@
-# PX4 Drone Autopilot
+# PX4 Pro Drone Autopilot

-[![Releases](https://img.shields.io/github/release/PX4/PX4-Autopilot.svg)](https://github.com/PX4/PX4-Autopilot/releases) [![DOI](https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot)
+[![Releases](https://img.shields.io/github/release/PX4/Firmware.svg)](https://github.com/PX4/Firmware/releases) [![DOI](https://zenodo.org/badge/22634/PX4/Firmware.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/Firmware)

-[![Nuttx Targets](https://github.com/PX4/PX4-Autopilot/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)
+[![Build Status](http://ci.px4.io:8080/buildStatus/icon?job=Firmware/master)](http://ci.px4.io:8080/blue/organizations/jenkins/Firmware/activity) [![Coverity Scan](https://scan.coverity.com/projects/3966/badge.svg?flat=1)](https://scan.coverity.com/projects/3966?tab=overview)

 [![Slack](https://px4-slack.herokuapp.com/badge.svg)](http://slack.px4.io)

-This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
+This repository holds the [PX4 Pro](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/Firmware/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.

-* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
-* [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
-  * [Multicopters](https://docs.px4.io/master/en/airframes/airframe_reference.html#copter)
-  * [Fixed wing](https://docs.px4.io/master/en/airframes/airframe_reference.html#plane)
-  * [VTOL](https://docs.px4.io/master/en/airframes/airframe_reference.html#vtol)
-  * many more experimental types (Rovers, Blimps, Boats, Submarines, Autogyros, etc)
-* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
+* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/Firmware/blob/master/LICENSE))
+* [Supported airframes](https://docs.px4.io/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
+  * [Multicopters](https://docs.px4.io/en/airframes/airframe_reference.html#copter)
+  * [Fixed wing](https://docs.px4.io/en/airframes/airframe_reference.html#plane)
+  * [VTOL](https://docs.px4.io/en/airframes/airframe_reference.html#vtol)
+  * many more experimental types (Rovers, Blimps, Boats, Submarines, etc)
+* Releases: [Downloads](https://github.com/PX4/Firmware/releases)


 ## PX4 Users

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


 ## PX4 Developers

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

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


 ### Weekly Dev Call

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

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


 ## Maintenance Team

-  * Project: Founder
-    * [Lorenz Meier](https://github.com/LorenzMeier)
-  * Architecture
-    * [Daniel Agar](https://github.com/dagar)
-  * [Dev Call](https://github.com/PX4/PX4-Autopilot/labels/devcall)
-    * [Ramon Roche](https://github.com/mrpollo)
+  * Project: Founder - [Lorenz Meier](https://github.com/LorenzMeier), Architecture: [Daniel Agar](https://github.com/dagar)
+    * [Dev Call](https://github.com/PX4/Firmware/labels/devcall) - [Ramon Roche](https://github.com/mrpollo)
  * Communication Architecture
    * [Beat Kueng](https://github.com/bkueng)
    * [Julian Oes](https://github.com/JulianOes)
-  * UI in QGroundControl
+  * UI / UX
+    * [Donald Gagne](https://github.com/DonLakeFlyer)
    * [Gus Grubba](https://github.com/dogmaphobic)
-  * [Multicopter Flight Control](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
-    * [Mathieu Bresciani](https://github.com/bresch)
-  * [Multicopter Software Architecture](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
+  * [Multicopter Flight Control](https://github.com/PX4/Firmware/labels/multicopter)
+    * [Dennis Mannhart](https://github.com/Stifael)
    * [Matthias Grob](https://github.com/MaEtUgR)
-  * [VTOL Flight Control](https://github.com/PX4/PX4-Autopilot/labels/vtol)
-    * [Roman Bapst](https://github.com/RomanBapst)
-  * [Fixed Wing Flight Control](https://github.com/PX4/PX4-Autopilot/labels/fixedwing)
-    * [Roman Bapst](https://github.com/RomanBapst)
-  * OS / NuttX
-    * [David Sidrane](https://github.com/davids5)
-  * Driver Architecture
+  * [VTOL Flight Control](https://github.com/PX4/Firmware/labels/vtol)
    * [Daniel Agar](https://github.com/dagar)
-  * Commander Architecture
-    * [Julian Oes](https://github.com/julianoes)
-  * [UAVCAN](https://github.com/PX4/PX4-Autopilot/labels/uavcan)
+    * [Mathieu Bresciani](https://github.com/bresch)
+    * [Sander Smeets](https://github.com/sanderux)
+    * [Roman Bapst](https://github.com/tumbili)
+    * [Andreas Antener](https://github.com/AndreasAntener)
+  * [Fixed Wing Flight Control](https://github.com/PX4/Firmware/labels/fixedwing)
    * [Daniel Agar](https://github.com/dagar)
-  * [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
    * [Paul Riseborough](https://github.com/priseborough)
+  * Racers - [Matthias Grob](https://github.com/MaEtUgR)
+  * OS / drivers - [David Sidrane](https://github.com/davids5)
+  * [UAVCAN](https://github.com/PX4/Firmware/labels/uavcan) / Industrial - [Pavel Kirienko](https://github.com/pavel-kirienko)
+  * [State Estimation](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22) - [James Goppert](https://github.com/jgoppert), [Paul Riseborough](https://github.com/priseborough)
  * Vision based navigation
-    * [Julian Kent](https://github.com/jkflying)
-  * Obstacle Avoidance
-    * [Martina Rivizzigno](https://github.com/mrivi)
-  * RTPS/ROS2 Interface
-    * [Nuno Marques](https://github.com/TSC21)
+    * [Christoph Tobler](https://github.com/ChristophTobler)
+    * [Mohammed Kabir](https://github.com/mhkabir)
+  * Obstacle Avoidance - [Martina Rivizzigno](https://github.com/mrivi)
+  * [Snapdragon](https://github.com/PX4/Firmware/labels/snapdragon)
+    * [Christoph Tobler](https://github.com/ChristophTobler)
+  * [Intel Aero](https://github.com/PX4/Firmware/labels/intel%20aero)
+    * [Sugnan Prabhu](https://github.com/sugnanprabhu)
+    * [José Roberto de Souza](https://github.com/zehortigoza)
+  * [Raspberry Pi / Navio](https://github.com/PX4/Firmware/labels/raspberry_pi) - [Beat Kueng](https://github.com/bkueng)
+  * [Airmind MindPX / MindRacer](https://github.com/PX4/Firmware/labels/mindpx) - [Henry Zhang](https://github.com/iZhangHui)
+  * RTPS/ROS2 Interface - [Vicente Monge](https://github.com/vicenteeprosima)

-See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github).
+See also [About Us](http://px4.io/about-us/#development_team) (px4.io) and the [contributors list](https://github.com/PX4/Firmware/graphs/contributors) (Github).

 ## Supported Hardware

 This repository contains code supporting these boards:
-  * FMUv2
-    * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
-    * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
-  * FMUv3
-    * [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
-    * [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
-    * [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
-  * FMUv4
-    * [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
-    * [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
-  * FMUv5 (ARM Cortex M7)
-    * [Pixhawk 4](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
-    * [Pixhawk 4 mini](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
-    * [CUAV V5+](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
-    * [CUAV V5 nano](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
+  * [Snapdragon Flight](https://docs.px4.io/en/flight_controller/snapdragon_flight.html)
+  * [Intel Aero](https://docs.px4.io/en/flight_controller/intel_aero.html)
+  * [Raspberry PI with Navio 2](https://docs.px4.io/en/flight_controller/raspberry_pi_navio2.html)
+  * [Parrot Bebop 2](https://dev.px4.io/en/advanced/parrot_bebop.html)
+  * FMUv2.x
+    * [Pixhawk](https://docs.px4.io/en/flight_controller/pixhawk.html)
+    * [Pixhawk Mini](https://docs.px4.io/en/flight_controller/pixhawk_mini.html)
+    * [Pixfalcon](https://docs.px4.io/en/flight_controller/pixfalcon.html)
+  * FMUv3.x [Pixhawk 2](https://pixhawk.org/modules/pixhawk2)
+  * FMUv4.x
+    * [Pixracer](https://docs.px4.io/en/flight_controller/pixracer.html)
+    * [Pixhawk 3 Pro](https://docs.px4.io/en/flight_controller/pixhawk3_pro.html)
+  * FMUv5.x (ARM Cortex M7, future Pixhawk)
+  * [STM32F4Discovery](http://www.st.com/en/evaluation-tools/stm32f4discovery.html) (basic support) [Tutorial](https://pixhawk.org/modules/stm32f4discovery)
+  * [Gumstix AeroCore](https://www.gumstix.com/aerocore-2/) (only v2)
  * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
  * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
-  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/flight_controller/crazyflie2.html)
-  * [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
-  * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
-  * [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
-  * [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)
+  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/en/flight_controller/crazyflie2.html)

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

 ## Project Roadmap

@@ -33,11 +33,9 @@

 message(STATUS "ROMFS: ${config_romfs_root}")

+set(config_romfs_files_list)
 set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
-set(romfs_gen_root_dir ${PX4_BINARY_DIR}/etc)
-
-set_property(GLOBAL PROPERTY PX4_ROMFS_FILES)
-set_property(GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
+set(romfs_temp_dir ${PX4_BINARY_DIR}/genromfs/${config_romfs_root})

 #=============================================================================
 #
@@ -59,261 +57,64 @@ set_property(GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
 #			)
 #
 function(px4_add_romfs_files)
-	set_property(GLOBAL APPEND PROPERTY PX4_ROMFS_CMAKE_FILES ${CMAKE_CURRENT_LIST_FILE})
-
 	foreach(arg IN LISTS ARGN)
-		if(NOT EXISTS ${CMAKE_CURRENT_LIST_DIR}/${arg})
-			message(FATAL_ERROR "${CMAKE_CURRENT_LIST_DIR}/${arg} doesn't exist")
-		endif()
-		set_property(GLOBAL APPEND PROPERTY PX4_ROMFS_FILES ${CMAKE_CURRENT_LIST_DIR}/${arg})
+		list(APPEND config_romfs_files_list
+			${CMAKE_CURRENT_SOURCE_DIR}/${arg}
+			)
 	endforeach()
+
+	set(config_romfs_files_list ${config_romfs_files_list} CACHE INTERNAL "ROMFS file list")
 endfunction()

 # get list of all ROMFS files
 add_subdirectory(${romfs_src_dir})

 # directory setup
-# copy all romfs files, process airframes
-get_property(romfs_cmake_files GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
-get_property(romfs_copy_files GLOBAL PROPERTY PX4_ROMFS_FILES)
-get_property(module_config_files GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
-file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
-if (px4_constrained_flash_build)
-	set(added_arguments --constrained-flash)
-endif()
-# create list of relative romfs file names
-set(romfs_copy_files_relative)
-foreach(romfs_file IN LISTS romfs_copy_files)
-	string(REPLACE "${romfs_src_dir}/" "" romfs_file_rel ${romfs_file})
-	list(APPEND romfs_copy_files_relative ${romfs_file_rel})
-endforeach()
-# copy the ROMFS files by creating a tar and extracting it to the build
-# directory (which preserves the directory structure)
-file(MAKE_DIRECTORY ${romfs_gen_root_dir})
-set(romfs_tar_file ${PX4_BINARY_DIR}/romfs_files.tar)
-add_custom_command(
-	OUTPUT ${romfs_tar_file}
-	COMMAND ${CMAKE_COMMAND} -E tar cf ${romfs_tar_file} ${romfs_copy_files_relative}
-	WORKING_DIRECTORY ${romfs_src_dir}
-	DEPENDS
-		${romfs_copy_files}
-		${jinja_templates}
-		${module_config_files}
-		${romfs_cmake_files}
-		${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/markdownout.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/rcout.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/srcparser.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/srcscanner.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/xmlout.py
-		${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
-	)
-set(romfs_extract_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_extract.stamp)
-add_custom_command(
-	OUTPUT ${romfs_extract_stamp}
-	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
-	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
-	WORKING_DIRECTORY ${romfs_gen_root_dir}
-	DEPENDS ${romfs_tar_file}
-	)
-
-add_custom_command(
-	OUTPUT
-		${romfs_gen_root_dir}/init.d/rc.serial
-		${romfs_gen_root_dir}/init.d/rc.autostart
-		${romfs_gen_root_dir}/init.d/rc.autostart.post
-		romfs_copy.stamp
+# copy all romfs files, process airframes, prune comments
+add_custom_command(OUTPUT ${romfs_temp_dir}/init.d/rcS ${romfs_temp_dir}/init.d/rc.autostart
+	COMMAND cmake -E copy_directory ${romfs_src_dir} ${romfs_temp_dir}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
-		--airframes-path ${romfs_gen_root_dir}/init.d
-		--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
-		--board ${PX4_BOARD}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
-		--rc-dir ${romfs_gen_root_dir}/init.d
-		--serial-ports ${board_serial_ports} ${added_arguments}
-		--config-files ${module_config_files} #--verbose
-	COMMAND ${CMAKE_COMMAND} -E touch romfs_copy.stamp
+		-a ${romfs_temp_dir}/init.d
+		-s ${romfs_temp_dir}/init.d/rc.autostart
+		--board ${BOARD}
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py
+		--folder ${romfs_temp_dir} --board ${BOARD}
 	DEPENDS
-		${romfs_extract_stamp}
-	COMMENT "ROMFS: copying, generating airframes"
+		${config_romfs_files_list}
+		${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py
+		${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/init.d/rcS
+		${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 	)

-# copy extras into ROMFS
-set(extras_dependencies)
-
+set(romfs_dependencies)
+list(APPEND romfs_dependencies
+	${romfs_temp_dir}/init.d/rcS
+	${romfs_temp_dir}/init.d/rc.autostart
+	)
+	
 # copy px4io binary if configured
-if(config_io_board)
-	list(APPEND extras_dependencies
+if (config_io_board)
+	list(APPEND romfs_dependencies
 		copy_px4io_bin
 		${fw_io_bin}
-	)
-endif()
-
-if(config_build_bootloader)
-	list(APPEND extras_dependencies
-		copy_bootloader_bin
-		${bootloader_bin}
-	)
-endif()
-
-set(OPTIONAL_BOARD_RC)
-list(APPEND OPTIONAL_BOARD_RC
-	rc.board_defaults
-	rc.board_sensors
-	rc.board_extras
-	rc.board_mavlink
-)
-
-foreach(board_rc_file ${OPTIONAL_BOARD_RC})
-
-	if(EXISTS "${PX4_BOARD_DIR}/init/${board_rc_file}")
-		message(STATUS "ROMFS: Adding ${board_rc_file}")
-
-		add_custom_command(
-			OUTPUT
-				${romfs_gen_root_dir}/init.d/${board_rc_file}
-				${board_rc_file}.stamp
-			COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/init/${board_rc_file} ${romfs_gen_root_dir}/init.d/${board_rc_file}
-			COMMAND ${CMAKE_COMMAND} -E touch ${board_rc_file}.stamp
-			DEPENDS
-				${PX4_BOARD_DIR}/init/${board_rc_file}
-				romfs_copy.stamp
-			COMMENT "ROMFS: copying ${board_rc_file}"
 		)
-
-		list(APPEND extras_dependencies
-			${board_rc_file}.stamp
-			)
-	endif()
-
-endforeach()
-
-list(APPEND extras_dependencies
-	${config_romfs_extra_dependencies}
-	)
-
-if (config_romfs_extra_files)
-	set(extras_copy_cmd COMMAND ${CMAKE_COMMAND} -E copy_if_different ${config_romfs_extra_files} ${romfs_gen_root_dir}/extras/)
-else()
-	set(extras_copy_cmd "")
-endif()
-add_custom_command(OUTPUT romfs_extras.stamp
-	COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/extras/
-	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/romfs_extras/
-	COMMAND ${CMAKE_COMMAND} -E copy_directory ${PX4_BINARY_DIR}/romfs_extras/ ${romfs_gen_root_dir}/extras/
-	${extras_copy_cmd}
-	COMMAND ${CMAKE_COMMAND} -E touch romfs_extras.stamp
-	DEPENDS
-		romfs_copy.stamp
-		${config_romfs_extra_files}
-		${extras_dependencies}
-	COMMENT "ROMFS: copying extras"
-	)
-
-add_custom_target(romfs_gen_files_target
-	DEPENDS
-		${romfs_extract_stamp}
-		${romfs_gen_root_dir}/init.d/rc.serial
-		romfs_extras.stamp
-	)
-
-add_custom_command(
-	OUTPUT romfs_pruned.stamp
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py --folder ${romfs_gen_root_dir} --board ${PX4_BOARD}
-	COMMAND ${CMAKE_COMMAND} -E touch romfs_pruned.stamp
-	DEPENDS
-		romfs_copy.stamp
-		romfs_extras.stamp
-		${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py
-	COMMENT "ROMFS: pruning"
-	)
-
-if("${CONFIG_FS_CROMFS}" STREQUAL "y")
-	add_custom_command(
-		OUTPUT ${CMAKE_BINARY_DIR}/gencromfs
-		COMMAND make --no-print-directory --silent -f Makefile.host gencromfs
-		COMMAND ${CMAKE_COMMAND} -E copy_if_different gencromfs ${CMAKE_BINARY_DIR}/gencromfs
-		DEPENDS ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/tools/gencromfs.c
-		WORKING_DIRECTORY ${NUTTX_DIR}/tools
-	)
-
-	# create nsh_romfsimg.c
-	add_custom_command(OUTPUT nsh_romfsimg.c
-		COMMAND ${CMAKE_COMMAND} -E remove -f nsh_romfsimg.c
-		COMMAND ${CMAKE_BINARY_DIR}/gencromfs ${romfs_gen_root_dir} nsh_romfsimg.c
-		DEPENDS
-			${CMAKE_BINARY_DIR}/gencromfs
-			romfs_pruned.stamp
-		COMMENT "ROMFS: generating image"
-	)
-
-	add_library(romfs STATIC nsh_romfsimg.c)
-	add_dependencies(romfs prebuild_targets)
-	set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
-
-elseif("${CONFIG_FS_ROMFS}" STREQUAL "y")
-	# create romfs.img
-	find_program(GENROMFS genromfs)
-	if(NOT GENROMFS)
-		message(FATAL_ERROR "genromfs not found")
-	endif()
-
-	add_custom_command(
-		OUTPUT
-			romfs.img
-			romfs.txt
-		COMMAND ${CMAKE_COMMAND} -E remove -f romfs.img romfs.txt
-		COMMAND ${GENROMFS} -f romfs.img -d ${romfs_gen_root_dir} -V "NSHInitVol" -v > romfs.txt 2>&1
-		DEPENDS romfs_pruned.stamp
-		COMMENT "ROMFS: generating image"
-	)
-
-
-	# create nsh_romfsimg.c
-	find_program(XXD xxd)
-	if(NOT XXD)
-		message(FATAL_ERROR "xxd not found")
-	endif()
-
-	find_program(SED sed)
-	if(NOT SED)
-		message(FATAL_ERROR "sed not found")
-	endif()
-
-	add_custom_command(OUTPUT nsh_romfsimg.c
-		COMMAND ${CMAKE_COMMAND} -E remove -f nsh_romfsimg.c
-		COMMAND ${XXD} -i romfs.img nsh_romfsimg.c
-		COMMAND ${SED} 's/unsigned/const unsigned/g' nsh_romfsimg.c > nsh_romfsimg.c.tmp && ${CMAKE_COMMAND} -E rename nsh_romfsimg.c.tmp nsh_romfsimg.c
-		DEPENDS romfs.img
-	)
-
-	add_library(romfs STATIC nsh_romfsimg.c)
-	add_dependencies(romfs prebuild_targets)
-	set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
 endif()

-
-
-# shellcheck
-find_program(SHELLCHECK_PATH shellcheck)
-
-if(SHELLCHECK_PATH)
-
-	# TODO: fix SC2086, SC2166
-	add_custom_target(shellcheck
-		COMMAND ${SHELLCHECK_PATH} --shell=sh
-			--exclude=SC1090 # SC1090: use of source (.) - Can't follow non-constant source. Use a directive to specify location.
-			--exclude=SC1091 # SC1091: use of source (.) - Not following: xxxx openBinaryFile: does not exist (No such file or directory)
-			--exclude=SC2121 # SC2121: To assign a variable, use just 'var=value'
-			--exclude=SC2086 # SC2086: Double quote to prevent globbing and word splitting.
-			--exclude=SC2166 # SC2166: Prefer [ p ] || [ q ] as [ p -o q ] is not well defined.
-			--exclude=SC2154 # SC2154: <var> is referenced but not assigned (NuttX uses different asssignment)
-			--exclude=SC2164 # SC2164: Use 'cd ... || exit' or 'cd ... || return' in case cd fails.
-			--exclude=SC2169 # SC2169: In dash, 'source' in place of '.' is not supported. (we alias it)
-			--exclude=SC2039 # SC2039: In POSIX sh, 'source' in place of '.' is undefined. (we alias it)
-			--exclude=SC2181 # SC2181: Check exit code directly with e.g. 'if mycmd;', not indirectly with $?.
-			`find ${romfs_gen_root_dir}/init.d -type f`
-		DEPENDS ${romfs_gen_root_dir}/init.d/rc.autostart
-		WORKING_DIRECTORY ${romfs_gen_root_dir}
-		USES_TERMINAL
+# create romfs.img
+add_custom_command(OUTPUT romfs.img
+	COMMAND ${CMAKE_COMMAND} -E remove -f romfs.img romfs.txt
+	COMMAND ${GENROMFS} -f romfs.img -d ${romfs_temp_dir} -V "NSHInitVol" -v > romfs.txt 2>&1
+	DEPENDS ${romfs_dependencies}
 	)
-endif()
+
+# create nsh_romfsimg.c
+add_custom_command(OUTPUT nsh_romfsimg.c
+	COMMAND ${CMAKE_COMMAND} -E remove -f nsh_romfsimg.c
+	COMMAND xxd -i romfs.img nsh_romfsimg.c
+	COMMAND sed 's/unsigned/const unsigned/g' nsh_romfsimg.c > nsh_romfsimg.c.tmp && mv nsh_romfsimg.c.tmp nsh_romfsimg.c
+	DEPENDS romfs.img
+	)
+
+add_library(romfs STATIC nsh_romfsimg.c)
+add_dependencies(romfs prebuild_targets)
+set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
@@ -1,34 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# 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.
-#
-############################################################################
-
-add_subdirectory(init.d)
@@ -1,36 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# 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.
-#
-############################################################################
-
-px4_add_romfs_files(
-	rcS
-)
@@ -1,107 +0,0 @@
-#!/bin/sh
-# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
-set +e
-# Un comment the line below to help debug scripts by printing a trace of the script commands
-#set -x
-# PX4FMU startup script.
-#
-# NOTE: environment variable references:
-#    If the dollar sign ('$') is followed by a left bracket ('{') then the
-#    variable name is terminated with the right bracket character ('}').
-#    Otherwise, the variable name goes to the end of the argument.
-#
-#
-# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
-#
-#------------------------------------------------------------------------------
-set R /
-#
-# Mount the procfs.
-#
-mount -t procfs /proc
-
-#
-# Start CDC/ACM serial driver.
-#
-sercon
-
-#
-# Print full system version.
-#
-ver all
-
-#
-# Start the ORB (first app to start)
-# tone_alarm and tune_control
-# is dependent.
-#
-uorb start
-
-#
-# Set the parameter file if mtd starts successfully.
-#
-if mtd start
-then
-	set PARAM_FILE /fs/mtd_params
-fi
-
-#
-# Load parameters.
-#
-param select $PARAM_FILE
-if ! param load
-then
-	param reset_all
-fi
-
-#
-# Optional board defaults: rc.board_defaults
-#
-set BOARD_RC_DEFAULTS ${R}etc/init.d/rc.board_defaults
-if [ -f $BOARD_RC_DEFAULTS ]
-then
-	echo "Board defaults: ${BOARD_RC_DEFAULTS}"
-	. $BOARD_RC_DEFAULTS
-fi
-unset BOARD_RC_DEFAULTS
-
-#
-# Start system state indicator.
-#
-rgbled start -X -q
-rgbled_ncp5623c start -X -q
-rgbled_pwm start
-
-if param greater -s LIGHT_EN_BLINKM 0
-then
-	if blinkm start -X
-	then
-		blinkm systemstate
-	fi
-fi
-
-#
-# board sensors: rc.sensors
-#
-set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
-if [ -f $BOARD_RC_SENSORS ]
-then
-	echo "Board sensors: ${BOARD_RC_SENSORS}"
-	. $BOARD_RC_SENSORS
-fi
-unset BOARD_RC_SENSORS
-
-#
-# Start UART/Serial device drivers.
-# Note: rc.serial is auto-generated from Tools/serial/generate_config.py
-#
-. ${R}etc/init.d/rc.serial
-
-# Check for flow sensor
-if param compare SENS_EN_PX4FLOW 1
-then
-	px4flow start -X
-fi
-
-uavcannode start
-unset R
@@ -33,8 +33,3 @@

 add_subdirectory(init.d)
 add_subdirectory(mixers)
-# TODO: make this configurable from the board config, or better combine
-if("${PX4_BOARD}" MATCHES "sitl")
-	add_subdirectory(mixers-sitl)
-	add_subdirectory(init.d-posix)
-endif()
@@ -1,5 +0,0 @@
-px4fmuv3_bl.bin: Bootloader binary of the PX4 Bootloader
-  (https://github.com/PX4/Bootloader)
-  based on commit 184b813699a9cfd6f43a5a21556a06b4372baf5f
-  for the target px4fmuv3_bl
-
@@ -1,39 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# 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.
-#
-############################################################################
-
-add_subdirectory(airframes)
-
-px4_add_romfs_files(
-	rc.replay
-	rcS
-)
@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL
-#
-# @type Quadrotor Wide
-#
-# @maintainer Julian Oes <julian@oes.ch>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_w
@@ -1,17 +0,0 @@
-#!/bin/sh
-#
-# @name IF750A SITL
-# InspiredFlight 750 Auterion edition. Gazebo Only.
-#
-# @type Quadrotor
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	# EKF2: Multi GPS blending (as the model has 2 GPS's)
-	param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
-fi
-
-set MIXER quad_x
@@ -1,11 +0,0 @@
-#!/bin/sh
-#
-# @name PX4Vision SITL
-# Holybro px4vision. Gazebo Only.
-#
-# @type Quadrotor
-#
-
-. ${R}etc/init.d/airframes/4016_holybro_px4vision
-
-set MIXER quad_x
@@ -1,22 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Optical Flow)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-if [ $AUTOCNF = yes ]
-then
-	# EKF2
-	param set EKF2_AID_MASK 2
-	param set EKF2_EVP_NOISE 0.05
-	param set EKF2_EVA_NOISE 0.05
-
-	# LPE: Flow-only mode
-	param set LPE_FUSION 242
-	param set LPE_FAKE_ORIGIN 1
-
-	param set MPC_ALT_MODE 2
-fi
@@ -1,3 +0,0 @@
-
-# shellcheck disable=SC2154
-mavlink stream -r 50 -s DISTANCE_SENSOR -u $udp_gcs_port_local
@@ -1,18 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (irlock)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-if [ $AUTOCNF = yes ]
-then
-	# enable fusion of landing target velocity
-	param set LTEST_MODE 1
-	param set PLD_HACC_RAD 0.1
-fi
-
-# Start up Landing Target Estimator module
-landing_target_estimator start
@@ -1,13 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (rplidar)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-if [ $AUTOCNF = yes ]
-then
-	param set LPE_FUSION 242
-fi
@@ -1,21 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Vision)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-if [ $AUTOCNF = yes ]
-then
-	# EKF2: Vision position and heading
-	param set EKF2_AID_MASK 24
-	param set EKF2_EV_DELAY 5
-
-	# LPE: Vision + baro
-	param set LPE_FUSION 132
-
-	# AEQ: External heading set to use vision input
-	param set ATT_EXT_HDG_M 1
-fi
@@ -1,3 +0,0 @@
-
-# shellcheck disable=SC2154
-mavlink stream -r 30 -s ODOMETRY -u $udp_gcs_port_local
@@ -1,16 +0,0 @@
-#!/bin/sh
-#
-# @name Solo
-#
-# @type Quadrotor
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set MC_PITCHRATE_P 0.1
-	param set MC_ROLLRATE_P 0.1
-fi
-
-set MIXER quad_x
@@ -1,14 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-if [ $AUTOCNF = yes ]
-then
-	param set COM_OBS_AVOID 1
-	param set MPC_XY_CRUISE 5.0
-fi
@@ -1,2 +0,0 @@
-# shellcheck disable=SC2154
-mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 # add mavlink stream for SDK
@@ -1,8 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (RTPS)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
@@ -1,4 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
@@ -1,21 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Optical Flow)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-if [ $AUTOCNF = yes ]
-then
-	# EKF2
-	param set EKF2_AID_MASK 2
-	param set SENS_FLOW_ROT 0
-
-	# LPE: Flow-only mode
-	param set LPE_FUSION 242
-	param set LPE_FAKE_ORIGIN 1
-
-	param set MPC_ALT_MODE 2
-fi
@@ -1,15 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Vision Velocity)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-if [ $AUTOCNF = yes ]
-then
-	# EKF2: Vision velocity and heading
-	param set EKF2_AID_MASK 272
-	param set EKF2_EV_DELAY 5
-fi
@@ -1,14 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Dual GPS)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-if [ $AUTOCNF = yes ]
-then
-	# EKF2: Multi GPS blending
-	param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
-fi
@@ -1,23 +0,0 @@
-#!/bin/sh
-#
-# @name UUV
-#
-
-. ${R}etc/init.d/rc.uuv_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	#Set data link loss failsafe mode (0: disabled)
-	param set NAV_DLL_ACT 0
-
-	# disable circuit breaker for airspeed sensor
-	param set CBRK_AIRSPD_CHK 162128
-
-	#param set CBRK_GPSFAIL 240024
-fi
-
-set MAV_TYPE 12
-param set MAV_TYPE ${MAV_TYPE}
-
-set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
-set MIXER custom
@@ -1,23 +0,0 @@
-#!/bin/sh
-#
-# @name Hippocampus UUV
-#
-
-. ${R}etc/init.d/rc.uuv_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	#Set data link loss failsafe mode (0: disabled)
-	param set NAV_DLL_ACT 0
-
-	# disable circuit breaker for airspeed sensor
-	param set CBRK_AIRSPD_CHK 162128
-
-	#param set CBRK_GPSFAIL 240024
-fi
-
-set MAV_TYPE 12
-param set MAV_TYPE ${MAV_TYPE}
-
-set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
-set MIXER custom
@@ -1,20 +0,0 @@
-#!/bin/sh
-#
-# @name BlueROV2 Heavy Configuration
-#
-
-. ${R}etc/init.d/rc.uuv_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	#Set data link loss failsafe mode (0: disabled)
-	param set NAV_DLL_ACT 0
-
-	# disable circuit breaker for airspeed sensor
-	param set CBRK_AIRSPD_CHK 162128
-
-fi
-
-set PWM_OUT 12345678
-set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
-set MIXER custom
@@ -1,47 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	param set EKF2_MAG_ACCLIM 0
-	param set EKF2_MAG_YAWLIM 0
-
-	param set FW_LND_AIRSPD_SC 1
-	param set FW_LND_ANG 8
-	param set FW_THR_LND_MAX 0
-
-	param set FW_L1_PERIOD 15
-
-	param set FW_P_TC 0.5
-	param set FW_PR_FF 0.40
-	param set FW_PR_I 0.05
-	param set FW_PR_P 0.05
-
-	param set FW_R_TC 0.7
-	param set FW_RR_FF 0.20
-	param set FW_RR_I 0.02
-	param set FW_RR_P 0.22
-
-	param set FW_L1_PERIOD 12
-
-	param set FW_W_EN 1
-
-	param set MIS_LTRMIN_ALT 30
-	param set MIS_TAKEOFF_ALT 30
-
-	param set NAV_ACC_RAD 15
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 50
-
-	param set RWTO_TKOFF 1
-
-fi
-
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
@@ -1,14 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL with camera
-#
-
-. ${R}etc/init.d-posix/airframes/1030_plane
-
-if [ $AUTOCNF = yes ]
-then
-	# Camera trigger interface is MAVLink
-	param set TRIG_INTERFACE 3
-	# Distance trigger mode enabled
-	param set TRIG_MODE 4
-fi
@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL with catapult
-#
-
-. ${R}etc/init.d-posix/airframes/1030_plane
-
-if [ $AUTOCNF = yes ]
-then
-	param set RWTO_TKOFF 0
-
-fi
@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL with downward facing LIDAR.
-#
-
-. ${R}etc/init.d-posix/airframes/1030_plane
-
-if [ $AUTOCNF = yes ]
-then
-	param set FW_LND_USETER 1
-
-fi
@@ -1,58 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	#param set EKF2_MAG_ACCLIM 0
-	#param set EKF2_MAG_YAWLIM 0
-
-	param set FW_LND_AIRSPD_SC 1.1
-	param set FW_LND_ANG 5
-	param set FW_THR_LND_MAX 0
-	param set FW_LND_HHDIST 30
-	param set FW_LND_FL_PMIN 9.5
-	param set FW_LND_FL_PMAX 20
-	param set FW_LND_FLALT 5
-	param set FW_LND_TLALT 15
-
-	param set FW_L1_PERIOD 25
-
-	param set FW_P_TC 0.4
-	param set FW_PR_FF 0.40
-	param set FW_PR_I 0.05
-	param set FW_PR_P 0.05
-
-	param set FW_R_TC 0.45
-	param set FW_RR_FF 0.40
-	param set FW_RR_I 0.132
-	param set FW_RR_P 0.085
-
-	param set FW_W_EN 1
-
-	param set MIS_LTRMIN_ALT 30
-	param set MIS_TAKEOFF_ALT 20
-	param set MIS_DIST_1WP 2500
-	param set MIS_DIST_WPS 10000
-
-	param set NAV_ACC_RAD 15
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 50
-
-	param set RWTO_TKOFF 1
-	#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
-	param set RWTO_MAX_PITCH 20
-	param set RWTO_MAX_ROLL 10
-	#param set RWTO_MAX_THR 0.6		# fix takeoff failure for JSBsim in autonomous mission mode.
-	param set RWTO_PSP 8
-	param set RWTO_AIRSPD_SCL 1.8
-
-fi
-
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
@@ -1,58 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	#param set EKF2_MAG_ACCLIM 0
-	#param set EKF2_MAG_YAWLIM 0
-
-	param set FW_LND_AIRSPD_SC 1.1
-	param set FW_LND_ANG 5
-	param set FW_THR_LND_MAX 0
-	param set FW_LND_HHDIST 30
-	param set FW_LND_FL_PMIN 9.5
-	param set FW_LND_FL_PMAX 20
-	param set FW_LND_FLALT 5
-	param set FW_LND_TLALT 15
-
-	param set FW_L1_PERIOD 25
-
-	param set FW_P_TC 0.4
-	param set FW_PR_FF 0.40
-	param set FW_PR_I 0.05
-	param set FW_PR_P 0.05
-
-	param set FW_R_TC 0.45
-	param set FW_RR_FF 0.40
-	param set FW_RR_I 0.132
-	param set FW_RR_P 0.085
-
-	param set FW_W_EN 1
-
-	param set MIS_LTRMIN_ALT 30
-	param set MIS_TAKEOFF_ALT 20
-	param set MIS_DIST_1WP 2500
-	param set MIS_DIST_WPS 10000
-
-	param set NAV_ACC_RAD 15
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 50
-
-	param set RWTO_TKOFF 1
-	#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
-	param set RWTO_MAX_PITCH 20
-	param set RWTO_MAX_ROLL 10
-	#param set RWTO_MAX_THR 0.6		# fix takeoff failure for JSBsim in autonomous mission mode.
-	param set RWTO_PSP 8
-	param set RWTO_AIRSPD_SCL 1.8
-
-fi
-
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
@@ -1,47 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	param set EKF2_MAG_ACCLIM 0
-	param set EKF2_MAG_YAWLIM 0
-
-	param set FW_LND_AIRSPD_SC 1
-	param set FW_LND_ANG 8
-	param set FW_THR_LND_MAX 0
-
-	param set FW_L1_PERIOD 15
-
-	param set FW_P_TC 0.5
-	param set FW_PR_FF 0.40
-	param set FW_PR_I 0.05
-	param set FW_PR_P 0.05
-
-	param set FW_R_TC 0.7
-	param set FW_RR_FF 0.20
-	param set FW_RR_I 0.02
-	param set FW_RR_P 0.22
-
-	param set FW_L1_PERIOD 12
-
-	param set FW_W_EN 1
-
-	param set MIS_LTRMIN_ALT 30
-	param set MIS_TAKEOFF_ALT 30
-
-	param set NAV_ACC_RAD 15
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 50
-
-	param set RWTO_TKOFF 1
-
-fi
-
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
@@ -1,56 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	#param set EKF2_MAG_ACCLIM 0
-	#param set EKF2_MAG_YAWLIM 0
-
-	param set FW_LND_AIRSPD_SC 1.1
-	param set FW_LND_ANG 5
-	param set FW_THR_LND_MAX 0
-	param set FW_LND_HHDIST 30
-	param set FW_LND_FL_PMIN 9.5
-	param set FW_LND_FL_PMAX 20
-	param set FW_LND_FLALT 5
-	param set FW_LND_TLALT 15
-
-	param set FW_L1_PERIOD 25
-
-	param set FW_P_TC 0.4
-	param set FW_PR_FF 0.40
-	param set FW_PR_I 0.05
-	param set FW_PR_P 0.05
-
-	param set FW_R_TC 0.45
-	param set FW_RR_FF 0.40
-	param set FW_RR_I 0.132
-	param set FW_RR_P 0.085
-
-	param set FW_W_EN 1
-
-	param set MIS_LTRMIN_ALT 30
-	param set MIS_TAKEOFF_ALT 20
-	param set MIS_DIST_1WP 2500
-	param set MIS_DIST_WPS 10000
-
-	param set NAV_ACC_RAD 15
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 50
-
-	param set RWTO_TKOFF 1
-	param set RWTO_MAX_PITCH 20
-	param set RWTO_MAX_ROLL 10
-	param set RWTO_PSP 8
-	param set RWTO_AIRSPD_SCL 1.8
-
-fi
-
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
@@ -1,52 +0,0 @@
-#!/bin/sh
-#
-# @name Standard VTOL
-#
-# @type Standard VTOL
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set FW_AIRSPD_MAX 25
-	param set FW_AIRSPD_MIN 14
-	param set FW_AIRSPD_TRIM 16
-	param set FW_L1_PERIOD 12
-
-	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.01
-
-	param set MC_ROLLRATE_P 0.3
-
-	param set MIS_LTRMIN_ALT 10
-	param set MIS_TAKEOFF_ALT 10
-	param set MIS_YAW_TMT 10
-
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_THR_HOVER 0.58
-	param set MPC_TKO_SPEED 1
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P_ACC 3
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_D_ACC 0.1
-	param set MPC_Z_VEL_MAX_DN 1.5
-
-	param set NAV_ACC_RAD 5
-	param set NAV_LOITER_RAD 80
-
-	param set VT_F_TRANS_DUR 5
-	param set VT_F_TRANS_THR 0.75
-	param set VT_ARSP_TRANS 16
-	param set VT_MOT_ID 1234
-	param set VT_FW_MOT_OFFID 1234
-	param set VT_TYPE 2
-	param set VT_B_TRANS_DUR 8
-
-fi
-
-set MAV_TYPE 22
-
-set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
-set MIXER custom
@@ -1,44 +0,0 @@
-#!/bin/sh
-#
-# @name Quadrotor + Tailsitter
-#
-# @type VTOL Quad Tailsitter
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set FW_AIRSPD_MAX 25
-	param set FW_AIRSPD_MIN 14
-	param set FW_AIRSPD_TRIM 16
-	param set FW_L1_PERIOD 12
-
-	param set MC_ROLLRATE_P 0.3
-
-	param set MIS_YAW_TMT 10
-
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_THR_MIN 0.3
-	param set MPC_XY_P 0.15
-	param set MPC_XY_VEL_D_ACC 0.1
-	param set MPC_XY_VEL_P_ACC 1
-	param set MPC_Z_VEL_MAX_DN 1.5
-	param set MPC_Z_VEL_P_ACC 16
-
-	param set NAV_ACC_RAD 5
-	param set NAV_LOITER_RAD 80
-
-	param set VT_F_TRANS_DUR 1.5
-	param set VT_F_TRANS_THR 0.7
-	param set VT_TYPE 0
-
-	param set WV_EN 0
-
-fi
-
-set MAV_TYPE 20
-
-set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
-set MIXER custom
@@ -1,45 +0,0 @@
-#!/bin/sh
-#
-# @name VTOL Tiltrotor
-#
-# @type VTOL Tiltrotor
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set FW_L1_PERIOD 12
-	param set FW_MAN_P_MAX 30
-	param set FW_PR_FF 0.2
-	param set FW_PR_I 0.4
-	param set FW_PR_P 0.9
-	param set FW_PSP_OFF 3
-	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.3
-
-	param set MC_YAW_P 1.6
-
-	param set MIS_TAKEOFF_ALT 10
-
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P_ACC 3
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_D_ACC 0.1
-
-	param set NAV_LOITER_RAD 100
-
-	param set VT_B_TRANS_DUR 8
-	param set VT_ELEV_MC_LOCK 0
-	param set VT_FWD_THRUST_EN 4
-	param set VT_MOT_ID 1234
-	param set VT_TILT_TRANS 0.6
-	param set VT_TYPE 1
-
-fi
-
-set MAV_TYPE 21
-
-set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
-set MIXER custom
@@ -1,37 +0,0 @@
-#!/bin/sh
-#
-# @name Rover
-#
-
-. ${R}etc/init.d/rc.rover_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set GND_L1_DIST 5
-	param set GND_SP_CTRL_MODE 1
-	param set GND_SPEED_D 0.001
-	param set GND_SPEED_I 3
-	param set GND_SPEED_IMAX 0.125
-	param set GND_SPEED_P 0.25
-	param set GND_SPEED_THR_SC 1
-	param set GND_SPEED_TRIM 4
-	param set GND_THR_CRUISE 0.3
-	param set GND_THR_IDLE 0
-	param set GND_THR_MAX 0.5
-	param set GND_THR_MIN 0
-
-	param set MIS_LTRMIN_ALT 0.01
-	param set MIS_TAKEOFF_ALT 0.01
-	param set NAV_ACC_RAD 0.5
-	param set NAV_LOITER_RAD 2
-
-	param set CBRK_AIRSPD_CHK 162128
-
-	param set GND_MAX_ANG 0.6
-	param set GND_WHEEL_BASE 2.0
-
-fi
-
-set MAV_TYPE 10
-
-set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
@@ -1,38 +0,0 @@
-#!/bin/sh
-#
-# @name Aion Robotics R1 Rover
-# @type Rover
-# @class Rover
-
-. ${R}etc/init.d/rc.rover_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set GND_L1_DIST 5
-	param set GND_SP_CTRL_MODE 1
-	param set GND_SPEED_D 3
-	param set GND_SPEED_I 0.001
-	param set GND_SPEED_IMAX 0.125
-	param set GND_SPEED_P 0.25
-	param set GND_SPEED_THR_SC 1
-	param set GND_SPEED_TRIM 4
-	param set GND_THR_CRUISE 0.3
-	param set GND_THR_IDLE 0
-	param set GND_THR_MAX 0.5
-	param set GND_THR_MIN 0
-
-	param set MIS_LTRMIN_ALT 0.01
-	param set MIS_TAKEOFF_ALT 0.01
-	param set NAV_ACC_RAD 0.5
-	param set NAV_LOITER_RAD 2
-
-	param set CBRK_AIRSPD_CHK 162128
-
-	param set GND_MAX_ANG 0.6
-	param set GND_WHEEL_BASE 2.0
-
-fi
-
-set MAV_TYPE 10
-
-set MIXER_FILE etc/mixers-sitl/rover_diff_sitl.main.mix
@@ -1,43 +0,0 @@
-#!/bin/sh
-#
-# @name ThunderFly TF-R1 UAV Rover
-# @type Rover
-# @class Rover
-#
-# @url https://github.com/ThunderFly-aerospace/TF-R1/
-# @maintainer ThunderFly s.r.o.
-#
-
-. ${R}etc/init.d/rc.rover_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set GND_L1_DIST 5
-	param set GND_SP_CTRL_MODE 1
-	param set GND_SPEED_D 3
-	param set GND_SPEED_I 0.001
-	param set GND_SPEED_IMAX 0.125
-	param set GND_SPEED_P 0.25
-	param set GND_SPEED_THR_SC 1
-	param set GND_SPEED_TRIM 15
-	param set GND_SPEED_MAX 25
-	param set GND_THR_CRUISE 0.3
-	param set GND_THR_IDLE 0
-	param set GND_THR_MAX 0.5
-	param set GND_THR_MIN 0
-
-	param set MIS_LTRMIN_ALT 0.01
-	param set MIS_TAKEOFF_ALT 0.01
-	param set NAV_ACC_RAD 0.5
-	param set NAV_LOITER_RAD 2
-
-	param set CBRK_AIRSPD_CHK 162128
-
-	param set GND_MAX_ANG 0.6
-	param set GND_WHEEL_BASE 3.0
-
-fi
-
-set MAV_TYPE 10
-
-set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
@@ -1,37 +0,0 @@
-#!/bin/sh
-#
-# @name Boat
-#
-
-. ${R}etc/init.d/rc.boat_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set GND_L1_DIST 5
-	param set GND_SP_CTRL_MODE 1
-	param set GND_SPEED_D 0.001
-	param set GND_SPEED_I 3
-	param set GND_SPEED_IMAX 0.125
-	param set GND_SPEED_P 0.25
-	param set GND_SPEED_THR_SC 1
-	param set GND_SPEED_TRIM 4
-	param set GND_THR_CRUISE 0.3
-	param set GND_THR_IDLE 0
-	param set GND_THR_MAX 0.5
-	param set GND_THR_MIN 0
-
-	param set MIS_LTRMIN_ALT 0.01
-	param set MIS_TAKEOFF_ALT 0.01
-	param set NAV_ACC_RAD 0.5
-	param set NAV_LOITER_RAD 2
-
-	param set CBRK_AIRSPD_CHK 162128
-
-	param set GND_MAX_ANG 0.6
-	param set GND_WHEEL_BASE 2.0
-
-fi
-
-set MAV_TYPE 11
-
-set MIXER_FILE etc/mixers-sitl/boat_sitl.main.mix
@@ -1,64 +0,0 @@
-#!/bin/sh
-#
-# @name ThunderFly TF-G1
-# ThunderFly TF-G1 autogyro airframe. Only for FlightGear simulator
-#
-# @type Autogyro
-# @class Autogyro
-#
-# @url https://github.com/ThunderFly-aerospace/TF-G1/
-#
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	param set ASPD_STALL 10.0
-
-	param set FW_P_RMAX_NEG 20.0
-	param set FW_P_RMAX_POS 60.0
-	param set FW_W_RMAX 10
-	param set FW_W_EN 1
-
-	param set FW_PR_IMAX 0.4
-	param set FW_R_TC 0.4
-	param set FW_RR_FF 0.5
-	param set FW_RR_I 0.1
-	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.08
-
-	param set MIS_LTRMIN_ALT 50
-	param set MIS_TAKEOFF_ALT 3
-
-	param set NAV_ACC_RAD 20
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 100
-
-	param set RWTO_TKOFF 1
-	param set MAV_BROADCAST 1
-
-	param set FW_ARSP_SCALE_EN 0
-
-	param set FW_AIRSPD_MAX 35
-	param set FW_AIRSPD_MIN 7
-	param set FW_AIRSPD_TRIM 15
-
-	param set FW_P_LIM_MAX 25
-	param set FW_P_LIM_MIN -5
-	param set FW_R_LIM 30
-
-	param set FW_MAN_P_MAX 30.0
-	param set FW_MAN_R_MAX 30.0
-
-	param set FW_THR_CRUISE 0.8
-	param set FW_THR_IDLE 0
-	param set COM_DISARM_PRFLT 0
-
-fi
-
-
-set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
-set MIXER custom
@@ -1,15 +0,0 @@
-#!/bin/sh
-#
-# @name Cloudship
-# @type Airship
-# @class Airship
-#
-# @output MAIN1 thrust tilt
-# @output MAIN2 starboard thruster
-# @output MAIN3 port thruster
-# @output MAIN4 tail thruster
-
-. ${R}etc/init.d/rc.airship_defaults
-
-set MIXER cloudship
-set PWM_OUT 1234
@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# @name Quadrotor SITL model for JSBSim
-#
-# @type Quadrotor Wide
-#
-# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_w
@@ -1,35 +0,0 @@
-#!/bin/sh
-#
-# @name Hexacopter SITL model for JSBSim
-#
-# @type Hexarotor x
-#
-# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set MC_PITCHRATE_P 0.1
-	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCH_P 6.0
-	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.1
-	param set MC_ROLL_P 6.0
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_P_ACC 3
-
-	param set RTL_DESCEND_ALT 10
-	param set RTL_LAND_DELAY 0
-
-	param set TRIG_INTERFACE 3
-	param set TRIG_MODE 4
-	param set MNT_MODE_IN 4
-	param set MNT_DO_STAB 2
-	param set MAV_PROTO_VER 2
-fi
-
-set MAV_TYPE 13
-
-set MIXER hexa_x
@@ -1,32 +0,0 @@
-#!/bin/sh
-#
-# @name Typhoon H480 SITL
-#
-# @type Hexarotor x
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set MC_PITCHRATE_P 0.1
-	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCH_P 6.0
-	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.1
-	param set MC_ROLL_P 6.0
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_P_ACC 3
-
-	param set RTL_DESCEND_ALT 10
-	param set RTL_LAND_DELAY 0
-
-	param set TRIG_INTERFACE 3
-	param set TRIG_MODE 4
-	param set MNT_MODE_IN 0
-	param set MAV_PROTO_VER 2
-fi
-
-set MAV_TYPE 13
-
-set MIXER hexa_x
@@ -1,10 +0,0 @@
-
-mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
-
-mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
-
-# shellcheck disable=SC2154
-mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
-# shellcheck disable=SC2154
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
-mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local
@@ -1,76 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# 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.
-#
-############################################################################
-
-px4_add_romfs_files(
-	10016_iris
-	10020_if750a
-	10030_px4vision
-	1010_iris_opt_flow
-	1010_iris_opt_flow.post
-	1011_iris_irlock
-	1012_iris_rplidar
-	1013_iris_vision
-	1013_iris_vision.post
-	1014_solo
-	1015_iris_obs_avoid
-	1015_iris_obs_avoid.post
-	1016_iris_rtps
-	1016_iris_rtps.post
-	1017_iris_opt_flow_mockup
-	1018_iris_vision_velocity
-	1019_iris_dual_gps
-	1020_uuv_generic
-	1021_uuv_hippocampus
-	1022_uuv_bluerov2_heavy
-	1030_plane
-	1031_plane_cam
-	1032_plane_catapult
-	1033_plane_lidar
-	1033_rascal
-	1034_rascal-electric
-	1035_techpod
-	1036_malolo
-	1040_standard_vtol
-	1041_tailsitter
-	1042_tiltrotor
-	1060_rover
-	1061_r1_rover
-	1062_tf-r1
-	1070_boat
-	3010_quadrotor_x
-	3011_hexarotor_x
-	17001_tf-g1
-	2507_cloudship
-	6011_typhoon_h480
-	6011_typhoon_h480.post
-)
@@ -1,30 +0,0 @@
-#!/bin/sh
-
-# EKF2 replay script
-
-# shellcheck disable=SC2154
-if [ ! -f ${replay} ]; then
-	echo "Invalid replay log file ${replay}"
-	exit 1
-fi
-
-if [ ! -f replay_params.txt ]; then
-	echo "Creating $(pwd)/replay_params.txt"
-	ulog_params -i "${replay}" -d ' ' | grep -e '^EKF2' > replay_params.txt
-fi
-
-publisher_rules_file="orb_publisher.rules"
-cat <<EOF > "$publisher_rules_file"
-restrict_topics: sensor_combined, vehicle_gps_position, vehicle_land_detected
-module: replay
-ignore_others: false
-EOF
-
-uorb start
-param set SDLOG_DIRS_MAX 7
-
-# apply all params before ekf starts, as some params cannot be changed after startup
-replay tryapplyparams
-ekf2 start -r
-logger start -f -t -b 1000 -p vehicle_attitude
-replay start
@@ -1,271 +0,0 @@
-#!/bin/sh
-
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-# shellcheck disable=SC1091
-. px4-alias.sh
-
-SCRIPT_DIR="$(CDPATH='' cd -- "$(dirname -- "$0")" && pwd)"
-
-#
-# Main SITL startup script
-#
-
-# check for ekf2 replay
-# shellcheck disable=SC2154
-if [ "$replay_mode" = "ekf2" ]
-then
-	. ${R}etc/init.d-posix/rc.replay
-	exit 0
-fi
-
-# initialize script variables
-set AUX_MODE                    none
-set IO_PRESENT                  no
-set MAV_TYPE                    none
-set MIXER                       none
-set MIXER_AUX                   none
-set MIXER_FILE                  none
-set OUTPUT_MODE                 sim
-set PWM_OUT                     none
-set SDCARD_MIXERS_PATH          etc/mixers
-set USE_IO                      no
-set VEHICLE_TYPE                none
-set LOGGER_ARGS                 ""
-set LOGGER_BUF                  1000
-
-set RUN_MINIMAL_SHELL           no
-
-# Use the variable set by sitl_run.sh to choose the model settings.
-if [ "$PX4_SIM_MODEL" = "shell" ]; then
-	set RUN_MINIMAL_SHELL yes
-else
-	# Find the matching Autostart ID (file name has the form: [0-9]+_${PX4_SIM_MODEL})
-	# TODO: unify with rc.autostart generation
-	# shellcheck disable=SC2012
-	REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
-	if [ -z "$REQUESTED_AUTOSTART" ]; then
-		echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on $SCRIPT_DIR/airframes)"
-		exit 1
-	else
-		echo "Info: found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
-	fi
-fi
-
-uorb start
-
-# Load parameters
-set PARAM_FILE eeprom/parameters_"$REQUESTED_AUTOSTART"
-param select $PARAM_FILE
-
-if [ -f $PARAM_FILE ]
-then
-	if param load
-	then
-		echo "[param] Loaded: $PARAM_FILE"
-	else
-		echo "[param] FAILED loading $PARAM_FILE"
-	fi
-else
-	echo "[param] parameter file not found, creating $PARAM_FILE"
-fi
-
-# exit early when the minimal shell is requested
-[ $RUN_MINIMAL_SHELL = yes ] && exit 0
-
-
-# Use environment variable PX4_ESTIMATOR to choose estimator.
-if [ "$PX4_ESTIMATOR" = "q" ]; then
-	param set SYS_MC_EST_GROUP 3
-elif [ "$PX4_ESTIMATOR" = "ekf2" ]; then
-	param set SYS_MC_EST_GROUP 2
-elif [ "$PX4_ESTIMATOR" = "lpe" ]; then
-	param set SYS_MC_EST_GROUP 1
-elif [ "$PX4_ESTIMATOR" = "inav" ]; then
-	param set SYS_MC_EST_GROUP 0
-fi
-
-if param compare SYS_AUTOSTART $REQUESTED_AUTOSTART
-then
-	set AUTOCNF no
-else
-	set AUTOCNF yes
-	param set SYS_AUTOCONFIG 1
-fi
-
-if param compare SYS_AUTOCONFIG 1
-then
-	set AUTOCNF yes
-
-	# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
-	param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT_UUID
-fi
-
-# multi-instance setup
-# shellcheck disable=SC2154
-param set MAV_SYS_ID $((px4_instance+1))
-simulator_tcp_port=$((4560+px4_instance))
-udp_offboard_port_local=$((14580+px4_instance))
-udp_offboard_port_remote=$((14540+px4_instance))
-[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
-udp_onboard_payload_port_local=$((14280+px4_instance))
-udp_onboard_payload_port_remote=$((14030+px4_instance))
-udp_gcs_port_local=$((18570+px4_instance))
-
-if [ $AUTOCNF = yes ]
-then
-	param set SYS_AUTOSTART $REQUESTED_AUTOSTART
-
-	param set BAT_N_CELLS 4
-
-	param set CAL_ACC0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
-	param set CAL_ACC1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
-	param set CAL_ACC2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
-	param set CAL_GYRO0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
-	param set CAL_GYRO1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
-	param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
-	param set CAL_MAG0_ID 197388
-	param set CAL_MAG1_ID 197644
-
-	param set CBRK_AIRSPD_CHK 0
-	param set CBRK_SUPPLY_CHK 894281
-
-	# Don't require RC calibration and configuration
-	param set COM_RC_IN_MODE 1
-
-	# Speedup SITL startup
-	param set EKF2_REQ_GPS_H 0.5
-
-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
-	param set EKF2_MULTI_MAG 2
-	param set SENS_MAG_MODE 0
-
-	# By default log from boot until first disarm.
-	param set SDLOG_MODE 1
-	# enable default, estimator replay and vision/avoidance logging profiles
-	param set SDLOG_PROFILE 131
-	param set SDLOG_DIRS_MAX 7
-	param set SENS_BOARD_ROT 0
-	param set SENS_BOARD_X_OFF 0.000001
-	param set SENS_DPRES_OFF 0.001
-	param set SYS_RESTART_TYPE 2
-
-	param set TRIG_INTERFACE 3
-fi
-
-param set COM_CPU_MAX -1 # disable check, no CPU load reported on posix yet
-
-# Simulator IMU data provided at 250 Hz
-param set IMU_INTEG_RATE 250
-
-# Adapt timeout parameters if simulation runs faster or slower than realtime.
-if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
-	COM_DL_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc)
-	echo "COM_DL_LOSS_T set to $COM_DL_LOSS_T_LONGER"
-	param set COM_DL_LOSS_T $COM_DL_LOSS_T_LONGER
-
-	COM_RC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
-	echo "COM_RC_LOSS_T set to $COM_RC_LOSS_T_LONGER"
-	param set COM_RC_LOSS_T $COM_RC_LOSS_T_LONGER
-
-	COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
-	echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
-	param set COM_OF_LOSS_T $COM_OF_LOSS_T_LONGER
-fi
-
-# Autostart ID
-autostart_file=''
-# shellcheck disable=SC2231
-for f in ${R}etc/init.d-posix/airframes/"$(param show -q SYS_AUTOSTART)"_*
-do
-	filename=$(basename "$f")
-	case "$filename" in
-		*\.*)
-			# ignore files that contain a dot (e.g. <vehicle>.post)
-			;;
-		*)
-			autostart_file="$f"
-			;;
-	esac
-done
-if [ ! -e "$autostart_file" ]; then
-	echo "Error: no autostart file found ($autostart_file)"
-	exit 1
-fi
-
-. "$autostart_file"
-
-#
-# If autoconfig parameter was set, reset it and save parameters.
-#
-if [ $AUTOCNF = yes ]
-then
-	param set SYS_AUTOCONFIG 0
-fi
-
-dataman start
-# only start the simulator if not in replay mode, as both control the lockstep time
-if ! replay tryapplyparams
-then
-	simulator start -c $simulator_tcp_port
-fi
-load_mon start
-battery_simulator start
-tone_alarm start
-rc_update start
-sensors start
-commander start
-navigator start
-
-
-if param greater -s MNT_MODE_IN -1
-then
-	vmount start
-fi
-
-if param greater -s TRIG_MODE 0
-then
-	camera_trigger start
-	camera_feedback start
-fi
-
-# Configure vehicle type specific parameters.
-# Note: rc.vehicle_setup is the entry point for rc.interface,
-#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
-#
-. ${R}etc/init.d/rc.vehicle_setup
-
-# GCS link
-mavlink start -x -u $udp_gcs_port_local -r 4000000
-mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
-mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
-mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
-mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
-mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
-mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
-mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
-
-# API/Offboard link
-mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offboard_port_remote
-
-# Onboard link to camera
-mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
-
-# execute autostart post script if any
-[ -e "$autostart_file".post ] && . "$autostart_file".post
-
-# Run script to start logging
-if param compare SYS_MC_EST_GROUP 2
-then
-	set LOGGER_ARGS "-p ekf2_timestamps"
-else
-	set LOGGER_ARGS "-p vehicle_attitude"
-fi
-. ${R}etc/init.d/rc.logging
-
-mavlink boot_complete
-replay trystart
@@ -1,4 +1,4 @@
-#!/bin/sh
+#!nsh
 #
 # @name HILStar (XPlane)
 #
@@ -15,12 +15,11 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #

-. ${R}etc/init.d/rc.fw_defaults
+sh /etc/init.d/rc.fw_defaults

-if [ $AUTOCNF = yes ]
+if [ $AUTOCNF == yes ]
 then
 	param set BAT_N_CELLS 3
-
 	param set FW_AIRSPD_MAX 20
 	param set FW_AIRSPD_MIN 12
 	param set FW_AIRSPD_TRIM 14
@@ -42,10 +41,8 @@ then
 	param set FW_RR_I 0.1
 	param set FW_RR_IMAX 0.2
 	param set FW_RR_P 0.3
-
 	param set RWTO_TKOFF 1
 fi

 param set SYS_HITL 1
-
 set MIXER AERT
@@ -1,4 +1,4 @@
-#!/bin/sh
+#!nsh
 #
 # @name Team Blacksheep Discovery
 #
@@ -19,13 +19,10 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
-# @board intel_aerofc-v1 exclude
-# @board bitcraze_crazyflie exclude
-#

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

-if [ $AUTOCNF = yes ]
+if [ $AUTOCNF == yes ]
 then
 	param set MC_ROLL_P 6.5
 	param set MC_ROLLRATE_P 0.1
@@ -38,7 +35,7 @@ then
 	param set MC_YAW_P 2.8
 	param set MC_YAWRATE_P 0.28
 	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_D 0.0
 fi

 set MIXER quad_w
@@ -1,4 +1,4 @@
-#!/bin/sh
+#!nsh
 #
 # @name 3DR Iris Quadrotor
 #
@@ -17,27 +17,24 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
-# @board intel_aerofc-v1 exclude
-# @board bitcraze_crazyflie exclude
-#

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

-if [ $AUTOCNF = yes ]
+if [ $AUTOCNF == yes ]
 then
 	# TODO tune roll/pitch separately
-	param set MC_ROLL_P 7
+	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.15
 	param set MC_ROLLRATE_I 0.05
 	param set MC_ROLLRATE_D 0.004
-	param set MC_PITCH_P 7
+	param set MC_PITCH_P 7.0
 	param set MC_PITCHRATE_P 0.15
 	param set MC_PITCHRATE_I 0.05
 	param set MC_PITCHRATE_D 0.004
 	param set MC_YAW_P 2.5
 	param set MC_YAWRATE_P 0.25
 	param set MC_YAWRATE_I 0.25
-	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_D 0.0

 	param set BAT_V_DIV 12.27559
 	param set BAT_A_PER_V 15.39103
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Roman	f13bbacd52	mc_att_control: copy sensor_correction topic once initially Signed-off-by: Roman <bapstroman@gmail.com>	2018-11-12 21:00:28 -05:00
Daniel Agar	82aa24adfc	tap_esc increase stack 1100 -> 1180 bytes	2018-10-19 20:11:14 -04:00
Daniel Agar	a7969de738	cmake fix BUILD_URI	2018-10-19 20:11:14 -04:00
Daniel Agar	33e86d25b9	FMU relocate MOT_SLEW_MAX and THR_MDL_FAC parameters centrally	2018-10-19 20:11:14 -04:00
Daniel Agar	805dfc4312	PWM parameters centralize under sensors and add aux 7&8	2018-10-19 20:11:14 -04:00
Daniel Agar	ab2d595224	FMU PWM parameters respect instance for MAIN/AUX usage	2018-10-19 20:11:14 -04:00
Philipp Oettershagen	ab044e274d	Navigator: Fix fixed-wing first order altitude hold (#9850 ) i.e. the altitude reference oscillations caused by it in LOITER mode	2018-10-19 20:11:14 -04:00
Daniel Agar	b0f766d90e	mavlink MOUNT_ORIENTATION use math::degrees	2018-10-19 20:11:14 -04:00
Daniel Agar	2bb9d7e91f	mavlink properly wrap heading fields - fixes #9867	2018-10-19 20:11:14 -04:00
Beat Küng	5f8c08db79	mavlink_ulog: clear potential existing ulog_stream messages on start - the uorb behavior got recently changed so that we now need to clear any potential existing messages when we start log streaming. - ulog_stream_ack should also not use a queue, since the ack is done synchonous between mavlink and the logger.	2018-09-13 12:56:00 +02:00
DanielePettenuzzo	a936dc291e	airspeed drivers: add PX4_I2C_BUS_ONBOARD as possible bus	2018-08-03 13:41:56 +02:00
DanielePettenuzzo	42dc2bd890	rc.sensors: look for airspeed sensors on all busses	2018-08-03 13:41:56 +02:00
DanielePettenuzzo	9d878c719d	ets_airspeed: add -a flag to scan all i2c busses during start	2018-08-03 13:41:56 +02:00
DanielePettenuzzo	649d4be185	sdp3x_airspeed: add -a flag to scan all i2c busses during start	2018-08-03 13:41:56 +02:00
DanielePettenuzzo	bec74085f1	ms5525_airspeed: add -a flag to scan all i2c busses during start	2018-08-03 13:41:56 +02:00
DanielePettenuzzo	350df41e42	ms4525_airspeed: remove i2c_bus parameter from start function (it tries all busses)	2018-08-03 13:41:56 +02:00
DanielePettenuzzo	95295b30e8	ms4525_airspeed: change start_bus from bool to int	2018-08-03 13:41:56 +02:00
DanielePettenuzzo	dd044ed4be	ms4525_airspeed: remove PX4_I2C_ALL	2018-08-03 13:41:56 +02:00
DanielePettenuzzo	9b2e32c976	ms4525_airspeed: add -a flag to scan all i2c busses during start	2018-08-03 13:41:56 +02:00
Roman	e1bca8d01a	mavlink: fixed nullptr dereferencing in case unknown mavlink message is forwarded Signed-off-by: Roman <bapstroman@gmail.com>	2018-08-02 15:09:03 +02:00