github actions add timeout-minutes

Fix template_module header
- SubscriptionInterval.hpp includes Subscription.hpp, but not vice versa - The time literal 1_s is defined in the namespace time_literals
2026-05-27 05:40:05 +08:00 · 2021-07-21 12:51:00 -04:00 · 2021-07-21 09:44:09 -04:00 · 2021-07-21 10:39:14 +02:00 · 2021-07-21 02:19:11 -04:00 · 2021-07-20 22:02:03 -07:00
292 changed files with 8178 additions and 18640 deletions
@@ -13,7 +13,6 @@ pipeline {
            arm64: "px4io/px4-dev-aarch64:2021-05-04",
            base: "px4io/px4-dev-base-bionic:2021-05-04",
            nuttx: "px4io/px4-dev-nuttx-focal:2021-05-04",
-            snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
          ]

          def armhf_builds = [
@@ -106,14 +105,8 @@ pipeline {
            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
+            armhf_builds, base_builds, nuttx_builds_archive
          ]

          for (def build_type = 0; build_type < docker_builds.size(); build_type++) {
@@ -165,12 +158,6 @@ pipeline {
 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) {
@@ -11,6 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
+    timeout-minutes: 60
    strategy:
      fail-fast: false
      matrix:
@@ -12,6 +12,7 @@ jobs:
  build:
    runs-on: ubuntu-latest
    container: px4io/px4-dev-clang:2021-05-04
+    timeout-minutes: 60
    steps:
    - uses: actions/checkout@v1
      with:
@@ -12,6 +12,7 @@ jobs:
  build:
    runs-on: ubuntu-latest
    container: px4io/px4-dev-armhf:2021-05-04
+    timeout-minutes: 60
    strategy:
      matrix:
        config: [
@@ -12,6 +12,7 @@ jobs:
  build:
    runs-on: ubuntu-latest
    container: px4io/px4-dev-aarch64:2021-05-04
+    timeout-minutes: 60
    strategy:
      matrix:
        config: [
@@ -11,6 +11,7 @@ on:
 jobs:
  build:
    runs-on: macos-10.15
+    timeout-minutes: 60
    strategy:
      matrix:
        config: [
@@ -12,6 +12,7 @@ jobs:
  build:
    runs-on: ubuntu-latest
    container: px4io/px4-dev-nuttx-focal:2021-05-04
+    timeout-minutes: 60
    strategy:
      matrix:
        config: [
@@ -12,6 +12,7 @@ jobs:
  build:
    runs-on: ubuntu-latest
    container: px4io/px4-dev-nuttx-focal:2021-05-04
+    timeout-minutes: 60
    strategy:
      matrix:
        config: [
@@ -11,6 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
+    timeout-minutes: 60
    strategy:
      fail-fast: false
      matrix:
@@ -18,10 +18,6 @@
 	path = src/lib/matrix
 	url = https://github.com/PX4/PX4-Matrix.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.git
@@ -38,9 +34,6 @@
 	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
@@ -70,3 +63,6 @@
 [submodule "src/lib/events/libevents"]
 	path = src/lib/events/libevents
 	url = https://github.com/mavlink/libevents.git
+[submodule "Tools/simulation-ignition"]
+	path = Tools/simulation-ignition
+	url = https://github.com/Auterion/px4-simulation-ignition.git
@@ -214,7 +214,7 @@ define colorecho
 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)
+ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 -name '*.cmake' -print | sed -e 's|boards\/||' | sed -e 's|\.cmake||' | sed -e 's|\/|_|g' | sort)

 # ADD CONFIGS HERE
 # --------------------------------------------------------------------
@@ -240,16 +240,6 @@ endef
 # 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

-# Multi- config targets.
-eagle_default: atlflight_eagle_default atlflight_eagle_qurt
-eagle_rtps: atlflight_eagle_rtps atlflight_eagle_qurt-rtps
-
-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
-
 # Other targets
 # --------------------------------------------------------------------

@@ -512,7 +502,7 @@ 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)))$$' -e '_default$$' -e '^(Makefile)'
 	@echo
 	@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
 	@echo "Use '$(MAKE) list_config_targets' for a list of configuration targets."
@@ -8,7 +8,7 @@

 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.

-PX4 is highly portable, OS-independent and supports Linux, NuttX and QuRT out of the box.
+PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.

 * 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)):
@@ -6,6 +6,32 @@ from subprocess import call, Popen
 from argparse import ArgumentParser
 import re
 import sys
+import datetime
+
+COLOR_RED    = "\x1b[31m"
+COLOR_GREEN  = "\x1b[32m"
+COLOR_YELLOW = "\x1b[33m"
+COLOR_WHITE  = "\x1b[37m"
+COLOR_RESET  = "\x1b[0m"
+
+def print_line(line):
+    if "WARNING" in line:
+        line = line.replace("WARNING", f"{COLOR_YELLOW}WARNING{COLOR_RESET}", 1)
+    elif "WARN" in line:
+        line = line.replace("WARN", f"{COLOR_YELLOW}WARN{COLOR_RESET}", 1)
+    elif "ERROR" in line:
+        line = line.replace("ERROR", f"{COLOR_RED}ERROR{COLOR_RESET}", 1)
+    elif "INFO" in line:
+        line = line.replace("INFO", f"{COLOR_WHITE}INFO{COLOR_RESET}", 1)
+
+    if "PASSED" in line:
+        line = line.replace("PASSED", f"{COLOR_GREEN}PASSED{COLOR_RESET}", 1)
+
+    if "FAILED" in line:
+        line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
+
+    current_time = datetime.datetime.now()
+    print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')

 def monitor_firmware_upload(port, baudrate):
    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=True, rtscts=False, dsrdtr=False)
@@ -17,13 +43,13 @@ def monitor_firmware_upload(port, baudrate):
    while True:
        serial_line = ser.readline().decode("ascii", errors='ignore')

+        if len(serial_line) > 0:
+            print_line(serial_line)
+
        if "NuttShell (NSH)" in serial_line:
            sys.exit(0)
        elif "nsh>" in serial_line:
            sys.exit(0)
-        else:
-            if len(serial_line) > 0:
-                print(serial_line, end='')

        if time.time() > timeout_start + timeout:
            print("Error, timeout")
@@ -0,0 +1,137 @@
+#! /usr/bin/env python3
+
+import serial, time
+import subprocess
+from subprocess import call, Popen
+from argparse import ArgumentParser
+import re
+import sys
+
+COLOR_RED    = "\x1b[31m"
+COLOR_GREEN  = "\x1b[32m"
+COLOR_YELLOW = "\x1b[33m"
+COLOR_WHITE  = "\x1b[37m"
+COLOR_RESET  = "\x1b[0m"
+
+def print_line(line):
+    if "WARNING" in line:
+        line = line.replace("WARNING", f"{COLOR_YELLOW}WARNING{COLOR_RESET}", 1)
+    elif "WARN" in line:
+        line = line.replace("WARN", f"{COLOR_YELLOW}WARN{COLOR_RESET}", 1)
+    elif "ERROR" in line:
+        line = line.replace("ERROR", f"{COLOR_RED}ERROR{COLOR_RESET}", 1)
+    elif "INFO" in line:
+        line = line.replace("INFO", f"{COLOR_WHITE}INFO{COLOR_RESET}", 1)
+
+    if "PASSED" in line:
+        line = line.replace("PASSED", f"{COLOR_GREEN}PASSED{COLOR_RESET}", 1)
+
+    if "FAILED" in line:
+        line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
+
+    print(line, end='')
+
+def do_param_set_cmd(port, baudrate, param_name, param_value):
+    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.1, xonxoff=True, rtscts=False, dsrdtr=False)
+
+    timeout_start = time.time()
+    timeout = 10  # 10 seconds
+
+    # wait for nsh prompt
+    while True:
+        ser.write("\n".encode("ascii"))
+        ser.flush()
+
+        serial_line = ser.readline().decode("ascii", errors='ignore')
+
+        if "nsh>" in serial_line:
+            break
+        else:
+            if len(serial_line) > 0:
+                print_line(serial_line)
+
+        if time.time() > timeout_start + timeout:
+            print("Error, timeout waiting for prompt")
+            sys.exit(1)
+
+    # clear
+    ser.readlines()
+
+    # run command
+    timeout_start = time.time()
+    timeout = 10  # 10 seconds
+
+    cmd = "param set " + param_name + " " + param_value
+
+    # write command (param set) and wait for command echo
+    serial_cmd = '{0}\r\n'.format(cmd)
+    ser.write(serial_cmd.encode("ascii"))
+    ser.flush()
+    while True:
+        serial_line = ser.readline().decode("ascii", errors='ignore')
+
+        if cmd in serial_line:
+            print_line(serial_line)
+            break
+        else:
+            if len(serial_line) > 0:
+                print_line(serial_line)
+
+        if time.time() > timeout_start + timeout:
+            print("Error, timeout waiting for command echo")
+            break
+
+    # verify param value
+    cmd = "param show " + param_name
+    serial_cmd = '{0}\r\n'.format(cmd)
+    ser.write(serial_cmd.encode("ascii"))
+    ser.flush()
+
+    param_show_response = param_name + " ["
+
+    timeout_start = time.time()
+    timeout = 2  # 2 seconds
+
+    while True:
+        serial_line = ser.readline().decode("ascii", errors='ignore')
+
+        if param_show_response in serial_line:
+            print_line(serial_line)
+            current_param_value = serial_line.split(":")[-1].strip()
+
+            if (current_param_value == param_value):
+                sys.exit(0)
+            else:
+                sys.exit(1)
+        else:
+            if len(serial_line) > 0:
+                print_line(serial_line)
+
+            if time.time() > timeout_start + timeout:
+                if "nsh>" in serial_line:
+                    sys.exit(1) # error, command didn't complete successfully
+                elif "NuttShell (NSH)" in serial_line:
+                    sys.exit(1) # error, command didn't complete successfully
+
+        if len(serial_line) <= 0:
+            ser.write("\r\n".encode("ascii"))
+            ser.flush()
+
+        if time.time() > timeout_start + timeout:
+            print("Error, timeout")
+            sys.exit(-1)
+
+    ser.close()
+
+def main():
+    parser = ArgumentParser(description=__doc__)
+    parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
+    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
+    parser.add_argument("--name", "-p", dest="param_name", help="Parameter name")
+    parser.add_argument("--value", "-v", dest="param_value", help="Parameter value")
+    args = parser.parse_args()
+
+    do_param_set_cmd(args.device, args.baudrate, args.param_name, args.param_value)
+
+if __name__ == "__main__":
+   main()
@@ -6,6 +6,32 @@ from subprocess import call, Popen
 from argparse import ArgumentParser
 import re
 import sys
+import datetime
+
+COLOR_RED    = "\x1b[31m"
+COLOR_GREEN  = "\x1b[32m"
+COLOR_YELLOW = "\x1b[33m"
+COLOR_WHITE  = "\x1b[37m"
+COLOR_RESET  = "\x1b[0m"
+
+def print_line(line):
+    if "WARNING" in line:
+        line = line.replace("WARNING", f"{COLOR_YELLOW}WARNING{COLOR_RESET}", 1)
+    elif "WARN" in line:
+        line = line.replace("WARN", f"{COLOR_YELLOW}WARN{COLOR_RESET}", 1)
+    elif "ERROR" in line:
+        line = line.replace("ERROR", f"{COLOR_RED}ERROR{COLOR_RESET}", 1)
+    elif "INFO" in line:
+        line = line.replace("INFO", f"{COLOR_WHITE}INFO{COLOR_RESET}", 1)
+
+    if "PASSED" in line:
+        line = line.replace("PASSED", f"{COLOR_GREEN}PASSED{COLOR_RESET}", 1)
+
+    if "FAILED" in line:
+        line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
+
+    current_time = datetime.datetime.now()
+    print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')

 def do_nsh_cmd(port, baudrate, cmd):
    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.1, xonxoff=True, rtscts=False, dsrdtr=False)
@@ -24,15 +50,18 @@ def do_nsh_cmd(port, baudrate, cmd):
            break
        else:
            if len(serial_line) > 0:
-                print(serial_line, end='')
+                print_line(serial_line)

        if time.time() > timeout_start + timeout:
            print("Error, timeout waiting for prompt")
            sys.exit(1)

+    # clear
+    ser.readlines()
+
    # run command
    timeout_start = time.time()
-    timeout = 10  # 10 seconds
+    timeout = 1  # 1 second

    success_cmd = "cmd succeeded!"

@@ -45,9 +74,13 @@ def do_nsh_cmd(port, baudrate, cmd):

        if cmd in serial_line:
            break
+        elif serial_line.startswith(success_cmd) and len(serial_line) <= len(success_cmd) + 2:
+            print_line(serial_line)
+            # we missed the echo, but command ran and succeeded
+            sys.exit(0)
        else:
            if len(serial_line) > 0:
-                print(serial_line, end='')
+                print_line(serial_line)

        if time.time() > timeout_start + timeout:
            print("Error, timeout waiting for command echo")
@@ -55,7 +88,7 @@ def do_nsh_cmd(port, baudrate, cmd):


    timeout_start = time.time()
-    timeout = 30  # 30 seconds
+    timeout = 180 # 3 minutes

    while True:
        serial_line = ser.readline().decode("ascii", errors='ignore')
@@ -64,7 +97,7 @@ def do_nsh_cmd(port, baudrate, cmd):
            break
        else:
            if len(serial_line) > 0:
-                print(serial_line, end='')
+                print_line(serial_line)

            if "nsh>" in serial_line:
                sys.exit(1) # error, command didn't complete successfully
@@ -8,9 +8,35 @@ import re
 import unittest
 import os
 import sys
+import datetime
+
+COLOR_RED    = "\x1b[31m"
+COLOR_GREEN  = "\x1b[32m"
+COLOR_YELLOW = "\x1b[33m"
+COLOR_WHITE  = "\x1b[37m"
+COLOR_RESET  = "\x1b[0m"
+
+def print_line(line):
+    if "WARNING" in line:
+        line = line.replace("WARNING", f"{COLOR_YELLOW}WARNING{COLOR_RESET}", 1)
+    elif "WARN" in line:
+        line = line.replace("WARN", f"{COLOR_YELLOW}WARN{COLOR_RESET}", 1)
+    elif "ERROR" in line:
+        line = line.replace("ERROR", f"{COLOR_RED}ERROR{COLOR_RESET}", 1)
+    elif "INFO" in line:
+        line = line.replace("INFO", f"{COLOR_WHITE}INFO{COLOR_RESET}", 1)
+
+    if "PASSED" in line:
+        line = line.replace("PASSED", f"{COLOR_GREEN}PASSED{COLOR_RESET}", 1)
+
+    if "FAILED" in line:
+        line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
+
+    current_time = datetime.datetime.now()
+    print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')

 def do_test(port, baudrate, test_name):
-    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=True, rtscts=False, dsrdtr=False)
+    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)

    timeout_start = time.time()
    timeout = 10  # 10 seconds
@@ -32,6 +58,9 @@ def do_test(port, baudrate, test_name):
            print("Error, timeout waiting for prompt")
            return False

+    # clear
+    ser.readlines()
+
    success = False

    # run test cmd
@@ -41,7 +70,7 @@ def do_test(port, baudrate, test_name):
    print('|======================================================================')

    timeout_start = time.time()
-    timeout = 10  # 10 seconds
+    timeout = 2  # 2 seconds

    # wait for command echo
    serial_cmd = '{0}\n'.format(cmd)
@@ -54,7 +83,7 @@ def do_test(port, baudrate, test_name):
            break
        else:
            if len(serial_line) > 0:
-                print(serial_line, end='')
+                print_line(serial_line)

        if time.time() > timeout_start + timeout:
            print("Error, timeout waiting for command echo")
@@ -62,14 +91,15 @@ def do_test(port, baudrate, test_name):


    # print results, wait for final result (PASSED or FAILED)
-    timeout = 180  # 3 minutes
+    timeout = 300  # 5 minutes
    timeout_start = time.time()
    timeout_newline = timeout_start

    while True:
        serial_line = ser.readline().decode("ascii", errors='ignore')
-        if (len(serial_line) > 0):
-            print(serial_line, end='')
+
+        if len(serial_line) > 0:
+            print_line(serial_line)

        if test_name + " PASSED" in serial_line:
            success = True
@@ -80,7 +110,7 @@ def do_test(port, baudrate, test_name):

        if time.time() > timeout_start + timeout:
            print("Error, timeout")
-            print(test_name + " FAILED")
+            print(test_name + f" {COLOR_RED}FAILED{COLOR_RESET}")
            success = False
            break

@@ -109,15 +139,30 @@ class TestHardwareMethods(unittest.TestCase):
    def test_bson(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))

-    # def test_dataman(self):
-    #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
+    def test_conv(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "conv"))

-    def floattest_float(self):
+    def test_dataman(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
+
+    # def test_file(self):
+    #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "file"))
+
+    def test_file2(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "file2"))
+
+    def test_float(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "float"))

    def test_hrt(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "hrt"))

+    def test_int(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "int"))
+
+    def test_i2c_spi_cli(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "i2c_spi_cli"))
+
    def test_IntrusiveQueue(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "IntrusiveQueue"))

@@ -133,21 +178,6 @@ class TestHardwareMethods(unittest.TestCase):
    def test_matrix(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "matrix"))

-    def test_microbench_atomic(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_atomic"))
-
-    def test_microbench_hrt(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_hrt"))
-
-    def test_microbench_math(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_math"))
-
-    def test_microbench_matrix(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_matrix"))
-
-    def test_microbench_uorb(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_uorb"))
-
    # def test_mixer(self):
    #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "mixer"))

@@ -11,9 +11,6 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
 		# scumaker_pilotpi_arm64
 		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest"
-	elif [[ $@ =~ .*eagle.* ]] || [[ $@ =~ .*excelsior.* ]]; then
-		# eagle, excelsior
-		PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2020-04-01"
 	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
 		# posix_rpi_cross, posix_bebop_default
 		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"
@@ -0,0 +1,23 @@
+#!/bin/bash
+#
+# Setup environment to make PX4 visible to Gazebo.
+#
+# Note, this is not necessary if using a ROS catkin workspace with the px4
+# package as the paths are exported.
+#
+# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
+
+if [ "$#" != 2 ]; then
+    echo -e "usage: source setup_gazebo.bash src_dir build_dir\n"
+    return 1
+fi
+
+SRC_DIR=$1
+BUILD_DIR=$2
+
+# setup Gazebo env and update package path
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${SRC_DIR}/build/px4_sitl_default/build_ign_gazebo
+export IGN_GAZEBO_SYSTEM_PLUGIN_PATH=$IGN_GAZEBO_SYSTEM_PLUGIN_PATH:${SRC_DIR}/build/px4_sitl_default/build_ign_gazebo
+export IGN_GAZEBO_RESOURCE_PATH=$IGN_GAZEBO_RESOURCE_PATH:${SRC_DIR}/Tools/simulation-ignition/models
+
+echo -e "LD_LIBRARY_PATH $LD_LIBRARY_PATH"
@@ -177,6 +177,10 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
 		echo "You need to have gazebo simulator installed!"
 		exit 1
 	fi
+elif [ "$program" == "ignition" ] && [ -z "$no_sim" ]; then
+	echo "Ignition Gazebo"
+	source "$src_path/Tools/setup_ignition.bash" "${src_path}" "${build_path}"
+	ign gazebo -r "${src_path}/Tools/simulation-ignition/worlds/ignition.world"&
 elif [ "$program" == "flightgear" ] && [ -z "$no_sim" ]; then
 	echo "FG setup"
 	cd "${src_path}/Tools/flightgear_bridge/"
@@ -1,32 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2018 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.
-#
-############################################################################
@@ -1,64 +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.
-#
-############################################################################
-
-if("${PX4_PLATFORM}" MATCHES "qurt")
-
-	add_custom_target(upload
-		COMMAND ${PX4_BOARD_DIR}/scripts/adb_upload.sh
-				${PX4_BINARY_DIR}/platforms/qurt/libpx4.so ${PX4_BINARY_DIR}/platforms/qurt/libpx4muorb_skel.so ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/px4.config # source
-				/usr/share/data/adsp # destination
-		DEPENDS px4 px4muorb_skel ${PX4_BOARD_DIR}/scripts/adb_upload.sh
-		COMMENT "uploading px4"
-		USES_TERMINAL
-	)
-
-else()
-
-	add_custom_target(upload
-		COMMAND ${PX4_BOARD_DIR}/scripts/adb_upload.sh
-				${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config ${PX4_BINARY_DIR}/etc # source
-				/home/linaro # destination
-		DEPENDS px4 ${PX4_BOARD_DIR}/scripts/adb_upload.sh
-		COMMENT "uploading px4"
-		USES_TERMINAL
-	)
-
-	add_custom_target(sanity
-		COMMAND ./px4_snapflight_sanitytest.sh -i -t
-		DEPENDS px4
-		WORKING_DIRECTORY ${PX4_BOARD_DIR}/scripts
-		COMMENT "uploading px4"
-		USES_TERMINAL
-	)
-
-endif()
@@ -1,128 +0,0 @@
-
-# The Eagle board is the first generation Snapdragon Flight board by Qualcomm.
-
-include(px4_git)
-px4_add_git_submodule(TARGET git_cmake_hexagon PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
-list(APPEND CMAKE_MODULE_PATH
-	"${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon"
-	"${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon/toolchain"
-	)
-
-# Get $QC_SOC_TARGET from environment if existing.
-if (DEFINED ENV{QC_SOC_TARGET})
-	set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
-else()
-	set(QC_SOC_TARGET "APQ8074")
-endif()
-
-# Disable the creation of the parameters.xml file by scanning individual
-# source files, and scan all source files.  This will create a parameters.xml
-# file that contains all possible parameters, even if the associated module
-# is not used.  This is necessary for parameter synchronization between the
-# ARM and DSP processors.
-set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
-
-set(CONFIG_SHMEM "1")
-add_definitions(-DORB_COMMUNICATOR)
-
-# atlflight toolchain doesn't properly set the compiler, so these aren't set automatically
-add_compile_options($<$<COMPILE_LANGUAGE:C>:-std=gnu99>)
-add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-std=gnu++11>)
-
-add_definitions(
-	-D__PX4_POSIX_EAGLE
-	-D__PX4_LINUX
-)
-
-px4_add_board(
-	PLATFORM posix
-	VENDOR atlflight
-	MODEL eagle
-	LABEL default
-	TOOLCHAIN arm-linux-gnueabihf
-	ROMFSROOT px4fmu_common
-	DRIVERS
-		#barometer # all available barometer drivers
-		batt_smbus
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		gps
-		#imu # all available imu drivers
-		#lights/rgbled
-		#magnetometer # all available magnetometer drivers
-		pwm_out_sim
-		qshell/posix
-		rc_input
-		smart_battery/batmon
-		#telemetry # all available telemetry drivers
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		gyro_calibration
-		gyro_fft
-		land_detector
-		landing_target_estimator
-		#load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		#micrortps_bridge
-		muorb/krait
-		muorb/test
-		navigator
-		rc_update
-		rover_pos_control
-		sensors
-		#sih
-		temperature_compensation
-		simulator
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		#bl_update
-		#dumpfile
-		esc_calib
-		#hardfault_log
-		led_control
-		mixer
-		motor_ramp
-		motor_test
-		#mtd
-		#nshterm
-		param
-		perf
-		pwm
-		sd_bench
-		shutdown
-		system_time
-		#top
-		topic_listener
-		tune_control
-		uorb
-		ver
-		work_queue
-	EXAMPLES
-		#fake_gps
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
-		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
-	)
@@ -1,88 +0,0 @@
-
-# The Eagle board is the first generation Snapdragon Flight board by Qualcomm.
-#
-# This cmake config builds for QURT which is the operating system running on
-# the DSP side.
-
-# Get $QC_SOC_TARGET from environment if existing.
-if (DEFINED ENV{QC_SOC_TARGET})
-	set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
-else()
-	set(QC_SOC_TARGET "APQ8074")
-endif()
-
-include(px4_git)
-px4_add_git_submodule(TARGET git_cmake_hexagon PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
-list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
-
-if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
-	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
-else()
-	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
-endif()
-
-include(toolchain/Toolchain-qurt)
-include(qurt_flags)
-include_directories(${HEXAGON_SDK_INCLUDES})
-
-set(CONFIG_SHMEM "1")
-add_definitions(-DORB_COMMUNICATOR)
-
-# Disable the creation of the parameters.xml file by scanning individual
-# source files, and scan all source files.  This will create a parameters.xml
-# file that contains all possible parameters, even if the associated module
-# is not used.  This is necessary for parameter synchronization between the
-# ARM and DSP processors.
-set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
-
-# This definition allows to differentiate the specific board.
-add_definitions(-D__PX4_QURT_EAGLE)
-
-px4_add_board(
-	PLATFORM qurt
-	VENDOR atlflight
-	MODEL eagle
-	LABEL qurt
-	DRIVERS
-		barometer/bmp280
-		gps
-		imu/invensense/mpu9250
-		#magnetometer/hmc5883
-		qshell/qurt
-		snapdragon_spektrum_rc
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		commander
-		ekf2
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		gyro_calibration
-		gyro_fft
-		land_detector
-		landing_target_estimator
-		local_position_estimator
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		muorb/adsp
-		rc_update
-		rover_pos_control
-		sensors
-		temperature_compensation
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		led_control
-		mixer
-		#motor_ramp
-		motor_test
-		param
-		perf
-		#pwm
-		#topic_listener
-		ver
-		work_queue
-	)
@@ -1,2 +0,0 @@
-minidm.log
-px4.log
@@ -1,32 +0,0 @@
-#!/bin/bash
-
-if [[ "$#" < 2 ]]; then
-	echo "usage: adb_upload.sh SRC1 [SRC2 ...] DEST"
-	exit
-fi
-
-# Get last argument
-for last; do true; done
-
-echo "Wait for device..."
-adb wait-for-device
-
-echo "Creating folder structure..."
-adb shell mkdir -p $last
-
-echo "Uploading..."
-# Go through source files and push them one by one.
-i=0
-for arg
-do
-	if [[ $((i+1)) == "$#" ]]; then
-		break
-	fi
-	# echo "Pushing $arg to $last"
-	adb push $arg $last
-	((i+=1))
-done
-
-# Make sure they are synced to the file system
-echo "Syncing FS..."
-adb shell sync
@@ -1,288 +0,0 @@
-#!/bin/bash
-
-#################################################################################################
-#
-# This script loads PX4 binaries to the Snapdragon Flight target and does a quick on-target sanity test.
-#
-# Pre-requisites:
-#  - Snapdragon Flight board connected to the host computer via USB cable
-#  - Snapdragon Flight board must have the latest platform BSP and flight controller addon installed"
-#  - mini-dm installed on host computer (see https://github.com/ATLFlight/ATLFlightDocs/blob/master/UserGuide.md#adsp)
-#  - PX4 software was built and binaries are in their usual locations in the Firmware tree.
-#
-# This script supports two modes:
-#  - Default mode (supported by PX4 community)
-#  - Legacy mode (uses proprietary drivers for ESC and RC Receiver, supported by Qualcomm)
-#
-# For help and cmd line options, run the script with the -h option
-#
-#################################################################################################
-
-# Halt on error
-set -e
-
-# Verbose mode
-## set -x
-
-# Mode of operation
-readonly MODE_DEFAULT=0
-readonly MODE_LEGACY=1
-readonly MODE_8x96=2
-readonly MODE_MAX=$MODE_8x96
-
-readonly RESULT_PASS=0
-readonly RESULT_FAIL=3
-readonly EXIT_ERROR=3
-
-
-# List of expected strings from the apps proc
-declare -a appsproc_strings_present=(
-   "on udp port 14556 remote port 14550"
-   )
-
-# List of unexpected strings from the apps proc
-declare -a appsproc_strings_absent=(
-   "ERROR"
-   "Getting Bulk data from fastRPC link"
-   "Segmentation fault"
-   )
-
-# List of expected strings from the DSP
-declare -a dsp_strings_present=(
-    "EKF aligned"
-   )
-
-# List of unexpected strings from the DSP
-declare -a dsp_strings_absent=(
-   "Segmentation fault"
-   )
-
-
-install=0
-test=0
-mode=0
-result=$RESULT_PASS
-
-# Default mini-dm path (needs to be installed in this location or overriden through cmd line
-minidmPath=~/Qualcomm/Hexagon_SDK/3.0/tools/debug/mini-dm/Linux_Debug
-
-# Default workspace path (parent directory of the script location)
-workspace=`pwd`/../../../..
-
-
-verifypx4test() {
-
-   #TODO: This needs to be fixed. For now, skip string checks for 8x96 platform.
-   if [ $mode == 2 ]; then
-      echo -e "[WARNING] Skipping string checks for 8x96 platform"
-      return
-   fi
-
-   echo -e "Verifying test results..."
-
-   # verify the presence of expected stings in the apps proc console log
-   for lineString in "${appsproc_strings_present[@]}"
-   do
-   	if ! grep -Fq "$lineString" px4.log
-   	then
-         # code if not found
-         echo -e "[ERROR] Missing expected string in apps proc log: $lineString"
-         result=$RESULT_FAIL
-      fi
-   done
-
-   # verify the absence of unexpected stings in the apps proc console log
-   for lineString in "${appsproc_strings_absent[@]}"
-   do
-   	if grep -Fq "$lineString" px4.log
-   	then
-         # code if not found
-         echo -e "[ERROR] Found unexpected string in apps proc log: $lineString"
-         result=$RESULT_FAIL
-      fi
-   done
-
-   echo -e "Displaying the content of the minidm.log"
-   cat minidm.log
-   echo -e "Analyzing the log for success and failure indications."
-
-   # verify the presence of expected stings in the DSP console log
-   for lineString in "${dsp_strings_present[@]}"
-   do
-   	if ! grep -Fq "$lineString" minidm.log
-   	then
-         # code if not found
-         echo -e "[ERROR] Missing expected string in DSP log: $lineString"
-         result=$RESULT_FAIL
-      fi
-   done
-
-   # verify the absence of unexpected stings in the DSP console log
-   for lineString in "${dsp_strings_absent[@]}"
-   do
-   	if grep -Fq "$lineString" minidm.log
-   	then
-         # code if not found
-         echo -e "[ERROR] Found unexpected string in DSP log: $lineString"
-         result=$RESULT_FAIL
-      fi
-   done
-
-   echo -e "Verification complete."
-
-   if [ $result -eq $RESULT_FAIL ]; then
-      echo -e "PX4 test result: FAIL"
-   else
-      echo -e "PX4 test result: PASS"
-   fi
-}
-
-installpx4() {
-
-   if [ $install -eq 0 ]; then
-      echo -e "SKIPPING install"
-      return 0;
-   fi
-
-   # Reboot the target before beginning the installation
-   echo -e "Rebooting the target..."
-   adb reboot
-   adb wait-for-usb-device
-   # Wait a bit longer after bootup, before copying binaries to the target.
-   sleep 30
-   adb devices
-
-   echo -e "Now installing PX4 binaries..."
-   # Copy binaries to the target
-   if [ $mode == 0 ]; then
-      # copy default binaries
-      echo -e "Copying the PX4 binaries from the eagle_default build tree..."
-      adb push $workspace/build/atlflight_eagle_qurt/platforms/qurt/libpx4.so /usr/share/data/adsp
-      adb push $workspace/build/atlflight_eagle_qurt/platforms/qurt/libpx4muorb_skel.so /usr/share/data/adsp
-      adb push $workspace/build/atlflight_eagle_default/bin/px4 /home/linaro
-      adb push $workspace/posix-configs/eagle/flight/px4.config /usr/share/data/adsp
-      adb push $workspace/posix-configs/eagle/flight/mainapp.config /home/linaro
-   fi
-
-   echo -e "Installation complete."
-}
-
-
-testpx4() {
-
-   if [ $test -eq 0 ]; then
-      echo -e "SKIPPING test"
-      return 0;
-   fi
-
-   echo -e "Starting PX4 test..."
-
-   # Remove previous instances of the file
-   rm px4.log | true
-   rm minidm.log | true
-
-   # Start mini-dm
-   echo -e "Starting mini-dm..."
-   ${minidmPath}/mini-dm > minidm.log &
-   sleep 5
-   # Verify that mini-dm is running
-   checkProc=$(ps -aef | grep mini-dm | grep -v grep)
-
-   if [ -z "${checkProc}" ]; then
-      echo "[ERROR] Unable to start mini-dm from path: ${minidmPath}"
-      exit $EXIT_ERROR
-   fi
-
-
-   # Start PX4
-   echo -e "Starting PX4..."
-   if [ $mode == 2 ]; then
-      # 8x96 platform
-      adb shell "/home/root/px4 /home/root/mainapp.config" > px4.log 2>&1 &
-   else
-      # 8x74 platform
-      adb shell "/home/linaro/px4 /home/linaro/mainapp.config" > px4.log 2>&1 &
-   fi
-   sleep 20
-   # Verify that PX4 is still running
-   checkProc=$(adb shell "ps -aef | grep px4 | grep -v grep")
-   if [ -z "${checkProc}" ]; then
-      echo "[ERROR] PX4 is not running on target!"
-      exit $EXIT_ERROR
-   fi
-
-   # Stop the PX4 process on target
-   adb shell "ps -eaf | grep px4 | grep -v grep | awk '{print $2}' | tr -s ' ' | cut -d' ' -f2 | xargs kill"
-   sleep 5
-
-   # Stop the mini-dm
-   killall mini-dm
-
-   echo -e "PX4 test complete."
-
-   # Verify the results
-   verifypx4test
-
-   echo -e "For more information, see px4.log and minidm.log."
-}
-
-
-usage() {
-  echo -e "\nThis script can copy PX4 binaries to the Snapdragon Flight target and do a quick on-target sanity test.\n"
-  echo -e "Pre-requisites:"
-  echo -e "- Snapdragon Flight board must be connected to host computer via USB"
-  echo -e "- Snapdragon Flight board must have the latest platform BSP and flight controller addon installed"
-  echo -e "- mini-dm must be installed on host computer (see https://github.com/ATLFlight/ATLFlightDocs/blob/master/UserGuide.md#adsp)"
-  echo -e "- PX4 software was built and binaries are in their usual locations in the tree\n"
-  echo -e "USAGE:\n ${0} [-m mode] [-i] [-t] [-l <minidm-path>]"
-  echo -e "    -m --> Build mode (0 = default mode, 1 = legacy mode)"
-  echo -e "    -i --> Install the PX4 binaries"
-  echo -e "    -t --> Test PX4 on target"
-  echo -e "    -l --> location of the mini-dm executable (Default: ${minidmPath})"
-  echo -e "    -h --> Display this help information"
-}
-
-# Parse the command line options
-while getopts "m:l:ith" opt;
-   do
-      case $opt in
-         m)
-            if [ $OPTARG -gt $MODE_MAX ]; then
-               echo "Invalid mode: $OPTARG (max allowed is $MODE_MAX)"
-               exit $EXIT_ERROR
-            fi
-            mode=$OPTARG
-            echo "Will run the script in mode $mode."
-            ;;
-         i)
-            install=1
-            ;;
-         t)
-            test=1
-            ;;
-         l)
-            minidmPath=$OPTARG
-            ;;
-         h)
-            usage
-            exit 0
-            ;;
-         :)
-            echo "Option -$OPTARG requires an argument" >&2
-            exit 1;;
-         ?)
-            echo "Unknown arg $opt"
-            usage
-            exit 1
-            ;;
-      esac
-done
-
-# Install the PX4 binaries
-installpx4
-
-# Run the sanity test
-testpx4
-
-exit $result
-
@@ -1,39 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2015 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_library(drivers_board
-	board_config.h
-	i2c.cpp
-	init.c
-	spi.cpp
-)
@@ -1,53 +0,0 @@
-/****************************************************************************
- *
- *   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
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file board_config.h
- *
- * EAGLE internal definitions
- */
-
-#pragma once
-
-#define BOARD_OVERRIDE_UUID "EAGLEID000000000" // must be of length 16
-#define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_EAGLE
-
-/*
- * I2C busses
- */
-#define PX4_NUMBER_I2C_BUSES    3
-
-// Battery ADC channels
-
-#include <system_config.h>
-#include <px4_platform_common/board_common.h>
@@ -1,40 +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.
- *
- ****************************************************************************/
-
-#include <px4_arch/i2c_hw_description.h>
-
-constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
-	initI2CBusExternal(2),
-	initI2CBusExternal(3),
-	initI2CBusExternal(9),
-};
@@ -1,41 +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.
- *
- ****************************************************************************/
-
-#include <px4_arch/spi_hw_description.h>
-#include <drivers/drv_sensor.h>
-
-constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(1, {
-		initSPIDevice(DRV_IMU_DEVTYPE_MPU9250),
-	}),
-};
@@ -1,126 +0,0 @@
-
-# Excelsior is the code name of a board currently in development.
-
-include(px4_git)
-px4_add_git_submodule(TARGET git_cmake_hexagon PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
-list(APPEND CMAKE_MODULE_PATH
-	"${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon"
-	"${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon/toolchain"
-	)
-
-# Get $QC_SOC_TARGET from environment if existing.
-if (DEFINED ENV{QC_SOC_TARGET})
-	set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
-else()
-	set(QC_SOC_TARGET "APQ8074")
-endif()
-
-# Disable the creation of the parameters.xml file by scanning individual
-# source files, and scan all source files.  This will create a parameters.xml
-# file that contains all possible parameters, even if the associated module
-# is not used.  This is necessary for parameter synchronization between the
-# ARM and DSP processors.
-set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
-
-set(CONFIG_SHMEM "1")
-add_definitions(-DORB_COMMUNICATOR)
-
-# atlflight toolchain doesn't properly set the compiler, so these aren't set automatically
-add_compile_options($<$<COMPILE_LANGUAGE:C>:-std=gnu99>)
-add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-std=gnu++11>)
-
-add_definitions(
-	-D__PX4_POSIX_EXCELSIOR
-	-D__PX4_LINUX
-)
-
-px4_add_board(
-	PLATFORM posix
-	VENDOR atlflight
-	MODEL excelsior
-	LABEL default
-	TOOLCHAIN arm-oemllib32-linux-gnueabi
-	DRIVERS
-		#barometer # all available barometer drivers
-		batt_smbus
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		gps
-		#imu # all available imu drivers
-		#lights/rgbled
-		#magnetometer # all available magnetometer drivers
-		pwm_out_sim
-		qshell/posix
-		rc_input
-		smart_battery/batmon
-		#telemetry # all available telemetry drivers
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		gyro_calibration
-		gyro_fft
-		land_detector
-		landing_target_estimator
-		#load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		#micrortps_bridge
-		muorb/krait
-		muorb/test
-		navigator
-		rc_update
-		rover_pos_control
-		sensors
-		#sih
-		simulator
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		#bl_update
-		#dumpfile
-		esc_calib
-		#hardfault_log
-		led_control
-		mixer
-		motor_ramp
-		motor_test
-		#mtd
-		#nshterm
-		param
-		perf
-		pwm
-		sd_bench
-		shutdown
-		system_time
-		#top
-		topic_listener
-		tune_control
-		uorb
-		ver
-		work_queue
-	EXAMPLES
-		#fake_gps
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
-		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
-	)
@@ -1,88 +0,0 @@
-
-# Excelsior is the code name of a board currently in development.
-#
-# This cmake config builds for QURT which is the operating system running on
-# the DSP side.
-
-# Get $QC_SOC_TARGET from environment if existing.
-if (DEFINED ENV{QC_SOC_TARGET})
-	set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
-else()
-	set(QC_SOC_TARGET "APQ8074")
-endif()
-
-include(px4_git)
-px4_add_git_submodule(TARGET git_cmake_hexagon PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
-list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
-
-if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
-	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
-else()
-	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
-endif()
-
-include(toolchain/Toolchain-qurt)
-include(qurt_flags)
-include_directories(${HEXAGON_SDK_INCLUDES})
-
-set(CONFIG_SHMEM "1")
-add_definitions(-DORB_COMMUNICATOR)
-
-# Disable the creation of the parameters.xml file by scanning individual
-# source files, and scan all source files.  This will create a parameters.xml
-# file that contains all possible parameters, even if the associated module
-# is not used.  This is necessary for parameter synchronization between the
-# ARM and DSP processors.
-set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
-
-# This definition allows to differentiate the specific board.
-add_definitions(-D__PX4_QURT_EXCELSIOR)
-
-px4_add_board(
-	PLATFORM qurt
-	VENDOR atlflight
-	MODEL excelsior
-	LABEL qurt
-	DRIVERS
-		barometer/bmp280
-		gps
-		imu/invensense/mpu9250
-		magnetometer/hmc5883
-		qshell/qurt
-		snapdragon_spektrum_rc
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		commander
-		ekf2
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		gyro_calibration
-		gyro_fft
-		land_detector
-		landing_target_estimator
-		local_position_estimator
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		muorb/adsp
-		rc_update
-		rover_pos_control
-		sensors
-		temperature_compensation
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		led_control
-		mixer
-		#motor_ramp
-		motor_test
-		param
-		perf
-		#pwm
-		#topic_listener
-		ver
-		work_queue
-	)
@@ -1,39 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2015 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_library(drivers_board
-	board_config.h
-	init.c
-	spi.cpp
-	i2c.cpp
-)
@@ -1,51 +0,0 @@
-/****************************************************************************
- *
- *   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
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file board_config.h
- *
- * EXCELSIOR internal definitions
- */
-
-#pragma once
-
-#define BOARD_OVERRIDE_UUID "EAGLEID000000000" // must be of length 16
-#define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_EAGLE
-
-/*
- * I2C busses
- */
-#define PX4_NUMBER_I2C_BUSES    3
-
-#include <system_config.h>
-#include <px4_platform_common/board_common.h>
@@ -1,40 +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.
- *
- ****************************************************************************/
-
-#include <px4_arch/i2c_hw_description.h>
-
-constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
-	initI2CBusExternal(2),
-	initI2CBusExternal(3),
-	initI2CBusExternal(9),
-};
@@ -1,41 +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.
- *
- ****************************************************************************/
-
-#include <px4_arch/spi_hw_description.h>
-#include <drivers/drv_sensor.h>
-
-constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(1, {
-		initSPIDevice(DRV_IMU_DEVTYPE_MPU9250),
-	}),
-};
@@ -244,22 +244,6 @@ RingBuffer::force(double val)
 	return force(&val, sizeof(val));
 }

-// FIXME - clang crashes on this get() call
-#ifdef __PX4_QURT
-#define __PX4_SBCAP my_sync_bool_compare_and_swap
-static inline bool my_sync_bool_compare_and_swap(volatile unsigned *a, unsigned b, unsigned c)
-{
-	if (*a == b) {
-		*a = c;
-		return true;
-	}
-
-	return false;
-}
-
-#else
-#define __PX4_SBCAP __sync_bool_compare_and_swap
-#endif
 bool
 RingBuffer::get(void *val, size_t val_size)
 {
@@ -284,7 +268,7 @@ RingBuffer::get(void *val, size_t val_size)
 			}

 			/* if the tail pointer didn't change, we got our item */
-		} while (!__PX4_SBCAP(&_tail, candidate, next));
+		} while (!__sync_bool_compare_and_swap(&_tail, candidate, next));

 		return true;

@@ -105,6 +105,7 @@

 /* HEATER */
 #define GPIO_HEATER_OUTPUT   /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
+#define HEATER_OUTPUT_EN(on_true)      px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* PWM */
 #define DIRECT_PWM_OUTPUT_CHANNELS   14
@@ -102,6 +102,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test
@@ -105,6 +105,7 @@

 /* HEATER */
 #define GPIO_HEATER_OUTPUT   /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
+#define HEATER_OUTPUT_EN(on_true)      px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* PWM */
 #define DIRECT_PWM_OUTPUT_CHANNELS   14
@@ -117,8 +118,8 @@
 #define GPIO_nPOWER_IN_CAN              /* PG2  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2)
 #define GPIO_nPOWER_IN_C                /* PG0  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN0)

-#define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_CAN /* Brick 1 is Chosen */
-#define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_ADC /* Brick 2 is Chosen  */
+#define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_ADC /* Brick 1 is Chosen */
+#define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_CAN /* Brick 2 is Chosen  */
 #define GPIO_nVDD_USB_VALID             GPIO_nPOWER_IN_C   /* USB     is Chosen */

 #define GPIO_VDD_5V_HIPOWER_EN          /* PD11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)
@@ -103,6 +103,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test
@@ -100,6 +100,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test
@@ -98,6 +98,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test
@@ -174,6 +174,7 @@
 * PWM in future
 */
 #define GPIO_HEATER_OUTPUT   /* PA7  T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
+#define HEATER_OUTPUT_EN(on_true)              px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* PWM Capture
 *
@@ -98,6 +98,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test
@@ -209,6 +209,7 @@
 * PWM in future
 */
 #define GPIO_HEATER_OUTPUT   /* PA7  T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
+#define HEATER_OUTPUT_EN(on_true)              px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* PWM Capture
 *
@@ -102,6 +102,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test
@@ -95,6 +95,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test
@@ -100,6 +100,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test
@@ -80,6 +80,7 @@ CONFIG_KINETIS_I2C0=y
 CONFIG_KINETIS_I2C1=y
 CONFIG_KINETIS_LPTMR0=y
 CONFIG_KINETIS_LPUART0=y
+CONFIG_KINETIS_LPUART0_RXDMA=y
 CONFIG_KINETIS_MERGE_TTY=y
 CONFIG_KINETIS_PDB=y
 CONFIG_KINETIS_PIT=y
@@ -81,6 +81,7 @@ CONFIG_KINETIS_I2C0=y
 CONFIG_KINETIS_I2C1=y
 CONFIG_KINETIS_LPTMR0=y
 CONFIG_KINETIS_LPUART0=y
+CONFIG_KINETIS_LPUART0_RXDMA=y
 CONFIG_KINETIS_MERGE_TTY=y
 CONFIG_KINETIS_PDB=y
 CONFIG_KINETIS_PIT=y
@@ -64,8 +64,7 @@

 #include <kinetis.h>
 #include <kinetis_uart.h>
-#include <hardware/kinetis_uart.h>
-#include <hardware/kinetis_sim.h>
+#include <kinetis_lpuart.h>
 #include "board_config.h"

 #include "arm_arch.h"
@@ -189,6 +188,26 @@ kinetis_boardinitialize(void)

 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 }
+/****************************************************************************
+ * Name: kinetis_serial_dma_poll_all
+ *
+ * Description:
+ *   Checks receive DMA buffers for received bytes that have not accumulated
+ *   to the point where the DMA half/full interrupt has triggered.
+ *
+ *   This function should be called from a timer or other periodic context.
+ *
+ ****************************************************************************/
+
+void kinetis_lpserial_dma_poll_all(void)
+{
+#if defined(LPSERIAL_HAVE_DMA)
+	kinetis_lpserial_dma_poll();
+#endif
+#if defined(SERIAL_HAVE_DMA)
+	kinetis_serial_dma_poll();
+#endif
+}

 /****************************************************************************
 * Name: board_app_initialize
@@ -235,6 +254,25 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "DMA alloc FAILED\n");
 	}

+	/* set up the serial DMA polling */
+#if defined(SERIAL_HAVE_DMA) || defined(LPSERIAL_HAVE_DMA)
+	static struct hrt_call serial_dma_call;
+	struct timespec ts;
+
+	/*
+	 * Poll at 1ms intervals for received bytes that have not triggered
+	 * a DMA event.
+	 */
+	ts.tv_sec = 0;
+	ts.tv_nsec = 1000000;
+
+	hrt_call_every(&serial_dma_call,
+		       ts_to_abstime(&ts),
+		       ts_to_abstime(&ts),
+		       (hrt_callout)kinetis_lpserial_dma_poll_all,
+		       NULL);
+#endif
+
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
@@ -81,6 +81,7 @@ CONFIG_KINETIS_I2C0=y
 CONFIG_KINETIS_I2C1=y
 CONFIG_KINETIS_LPTMR0=y
 CONFIG_KINETIS_LPUART0=y
+CONFIG_KINETIS_LPUART0_RXDMA=y
 CONFIG_KINETIS_MERGE_TTY=y
 CONFIG_KINETIS_PDB=y
 CONFIG_KINETIS_PIT=y
@@ -82,6 +82,7 @@ CONFIG_KINETIS_I2C0=y
 CONFIG_KINETIS_I2C1=y
 CONFIG_KINETIS_LPTMR0=y
 CONFIG_KINETIS_LPUART0=y
+CONFIG_KINETIS_LPUART0_RXDMA=y
 CONFIG_KINETIS_MERGE_TTY=y
 CONFIG_KINETIS_PDB=y
 CONFIG_KINETIS_PIT=y
@@ -64,8 +64,7 @@

 #include <kinetis.h>
 #include <kinetis_uart.h>
-#include <hardware/kinetis_uart.h>
-#include <hardware/kinetis_sim.h>
+#include <kinetis_lpuart.h>
 #include "board_config.h"

 #include "arm_arch.h"
@@ -189,6 +188,26 @@ kinetis_boardinitialize(void)

 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 }
+/****************************************************************************
+ * Name: kinetis_serial_dma_poll_all
+ *
+ * Description:
+ *   Checks receive DMA buffers for received bytes that have not accumulated
+ *   to the point where the DMA half/full interrupt has triggered.
+ *
+ *   This function should be called from a timer or other periodic context.
+ *
+ ****************************************************************************/
+
+void kinetis_lpserial_dma_poll_all(void)
+{
+#if defined(LPSERIAL_HAVE_DMA)
+	kinetis_lpserial_dma_poll();
+#endif
+#if defined(SERIAL_HAVE_DMA)
+	kinetis_serial_dma_poll();
+#endif
+}

 /****************************************************************************
 * Name: board_app_initialize
@@ -235,6 +254,25 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "DMA alloc FAILED\n");
 	}

+	/* set up the serial DMA polling */
+#if defined(SERIAL_HAVE_DMA) || defined(LPSERIAL_HAVE_DMA)
+	static struct hrt_call serial_dma_call;
+	struct timespec ts;
+
+	/*
+	 * Poll at 1ms intervals for received bytes that have not triggered
+	 * a DMA event.
+	 */
+	ts.tv_sec = 0;
+	ts.tv_nsec = 1000000;
+
+	hrt_call_every(&serial_dma_call,
+		       ts_to_abstime(&ts),
+		       ts_to_abstime(&ts),
+		       (hrt_callout)kinetis_lpserial_dma_poll_all,
+		       NULL);
+#endif
+
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
@@ -94,6 +94,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test
@@ -215,6 +215,7 @@
 */
 #define HEATER_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_50OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST)
 #define GPIO_HEATER_OUTPUT   /* GPIO_B1_09 QTIMER2_TIMER3 GPIO2_IO25 */ (GPIO_QTIMER2_TIMER3_1 | HEATER_IOMUX)
+#define HEATER_OUTPUT_EN(on_true)	px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* PWM Capture
 *
@@ -97,6 +97,7 @@ px4_add_board(
 		#i2cdetect
 		#led_control
 		mft
+		microbench
 		mixer
 		#motor_ramp
 		#motor_test
@@ -101,6 +101,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test
@@ -147,6 +147,7 @@
 /* Heater pins */
 #define GPIO_HEATER_INPUT            (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN6)
 #define GPIO_HEATER_OUTPUT           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6)
+#define HEATER_OUTPUT_EN(on_true)    px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* Power switch controls */

@@ -100,6 +100,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test
@@ -100,6 +100,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test
@@ -69,7 +69,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
-		gyro_calibration
+		#gyro_calibration
 		#gyro_fft
 		land_detector
 		#landing_target_estimator
@@ -42,13 +42,13 @@ px4_add_board(
 		#lights/rgbled_pwm
 		#magnetometer # all available magnetometer drivers
 		magnetometer/isentek/ist8310
-		optical_flow # all available optical flow drivers
+		#optical_flow # all available optical flow drivers
 		#osd
 		#pca9685
 		#pca9685_pwm_out
 		#power_monitor/ina226
 		#protocol_splitter
-		pwm_input
+		#pwm_input
 		pwm_out_sim
 		pwm_out
 		px4io
@@ -98,7 +98,7 @@ px4_add_board(
 		#vmount
 		#vtol_att_control
 	SYSTEMCMDS
-		#bl_update
+		bl_update
 		dmesg
 		#dumpfile
 		#esc_calib
@@ -107,6 +107,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		#motor_ramp
 		motor_test
@@ -209,6 +209,8 @@
 * PWM in future
 */
 #define GPIO_HEATER_OUTPUT   /* PA7  T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
+#define HEATER_OUTPUT_EN(on_true)              px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
+

 /* PWM Capture
 *
@@ -71,8 +71,8 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
-		gyro_calibration
-		gyro_fft
+		#gyro_calibration
+		#gyro_fft
 		land_detector
 		#landing_target_estimator
 		load_mon
@@ -101,6 +101,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test
@@ -202,6 +202,7 @@
 * PWM in future
 */
 #define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* PWM Capture
 *
@@ -103,6 +103,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test
@@ -189,6 +189,7 @@
 * PWM in future
 */
 #define GPIO_HEATER_OUTPUT   /* PA2  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)
+#define HEATER_OUTPUT_EN(on_true)	      px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* PWM Capture
 *
@@ -99,6 +99,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_ramp
 		motor_test
@@ -227,6 +227,7 @@
 * PWM in future
 */
 #define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* PWM Capture
 *
@@ -73,7 +73,7 @@ px4_add_board(
 		land_detector
 		landing_target_estimator
 		load_mon
-		local_position_estimator
+		#local_position_estimator
 		logger
 		mavlink
 		mc_att_control
@@ -100,6 +100,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
+		microbench
 		mixer
 		motor_test
 		mtd
@@ -145,6 +145,7 @@
 /* Heater pins (reserved) */
 #define GPIO_HEATER_INPUT            (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN6)
 #define GPIO_HEATER_OUTPUT           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6)
+#define HEATER_OUTPUT_EN(on_true)    px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* Power switch controls */

@@ -179,9 +179,7 @@ function(px4_add_module)
 	endif()
 	set_target_properties(${MODULE} PROPERTIES STACK_MAX ${STACK_MAX})

-	if(${PX4_PLATFORM} STREQUAL "qurt")
-		set_property(TARGET ${MODULE} PROPERTY POSITION_INDEPENDENT_CODE TRUE)
-	elseif(${PX4_PLATFORM} STREQUAL "nuttx")
+	if(${PX4_PLATFORM} STREQUAL "nuttx")
 		target_compile_options(${MODULE} PRIVATE -Wframe-larger-than=${STACK_MAX})
 	endif()

@@ -44,6 +44,7 @@ set(msg_files
 	airspeed.msg
 	airspeed_validated.msg
 	airspeed_wind.msg
+	baro_bias_estimate.msg
 	battery_status.msg
 	camera_capture.msg
 	camera_trigger.msg
@@ -0,0 +1,10 @@
+uint64 timestamp                # time since system start (microseconds)
+uint64 timestamp_sample         # the timestamp of the raw data (microseconds)
+
+uint32 baro_device_id		# unique device ID for the sensor that does not change between power cycles
+float32 bias			# estimated barometric altitude bias (m)
+float32 bias_var		# estimated barometric altitude bias variance (m^2)
+
+float32 innov			# innovation of the last measurement fusion (m)
+float32 innov_var		# innovation variance of the last measurement fusion (m^2)
+float32 innov_test_ratio	# normalized innovation squared test ratio
@@ -331,16 +331,16 @@ int UART_node::init()
 	}

 	// Set up the UART for non-canonical binary communication: 8 bits, 1 stop bit, no parity.
-	uart_config.c_iflag &= !(INPCK | ISTRIP | INLCR | IGNCR | ICRNL | IXON | IXANY | IXOFF);
+	uart_config.c_iflag &= ~(INPCK | ISTRIP | INLCR | IGNCR | ICRNL | IXON | IXANY | IXOFF);
 	uart_config.c_iflag |= IGNBRK | IGNPAR;

-	uart_config.c_oflag &= !(OPOST | ONLCR | OCRNL | ONOCR | ONLRET | OFILL | NLDLY | VTDLY);
+	uart_config.c_oflag &= ~(OPOST | ONLCR | OCRNL | ONOCR | ONLRET | OFILL | NLDLY | VTDLY);
 	uart_config.c_oflag |= NL0 | VT0;

-	uart_config.c_cflag &= !(CSIZE | CSTOPB | PARENB);
+	uart_config.c_cflag &= ~(CSIZE | CSTOPB | PARENB);
 	uart_config.c_cflag |= CS8 | CREAD | CLOCAL;

-	uart_config.c_lflag &= !(ISIG | ICANON | ECHO | TOSTOP | IEXTEN);
+	uart_config.c_lflag &= ~(ISIG | ICANON | ECHO | TOSTOP | IEXTEN);

 	// Flow control
 	if (hw_flow_control) {
@@ -343,6 +343,8 @@ rtps:
    id: 159
  - msg: event
    id: 160
+  - msg: baro_bias_estimate
+    id: 161
  ########## multi topics: begin ##########
  - msg: actuator_controls_0
    id: 180
@@ -33,7 +33,7 @@

 set(SRCS)

-if (NOT "${PX4_PLATFORM}" MATCHES "qurt" AND NOT "${PX4_BOARD}" MATCHES "io-v2" AND NOT "${PX4_BOARD_LABEL}" MATCHES "bootloader")
+if(NOT "${PX4_BOARD}" MATCHES "io-v2" AND NOT "${PX4_BOARD_LABEL}" MATCHES "bootloader")
 	list(APPEND SRCS
 		px4_log.cpp
 	)
@@ -84,10 +84,6 @@ public:
 	 */
 	inline T load() const
 	{
-#ifdef __PX4_QURT
-		return _value;
-#else
-
 #if defined(__PX4_NUTTX)

 		if (!__atomic_always_lock_free(sizeof(T), 0)) {
@@ -101,8 +97,6 @@ public:
 		{
 			return __atomic_load_n(&_value, __ATOMIC_SEQ_CST);
 		}
-
-#endif
 	}

 	/**
@@ -110,10 +104,6 @@ public:
 	 */
 	inline void store(T value)
 	{
-#ifdef __PX4_QURT
-		_value = value;
-#else
-
 #if defined(__PX4_NUTTX)

 		if (!__atomic_always_lock_free(sizeof(T), 0)) {
@@ -126,8 +116,6 @@ public:
 		{
 			__atomic_store(&_value, &value, __ATOMIC_SEQ_CST);
 		}
-
-#endif
 	}

 	/**
@@ -136,11 +124,6 @@ public:
 	 */
 	inline T fetch_add(T num)
 	{
-#ifdef __PX4_QURT
-		// TODO: fix
-		return _value++;
-#else
-
 #if defined(__PX4_NUTTX)

 		if (!__atomic_always_lock_free(sizeof(T), 0)) {
@@ -154,8 +137,6 @@ public:
 		{
 			return __atomic_fetch_add(&_value, num, __ATOMIC_SEQ_CST);
 		}
-
-#endif
 	}

 	/**
@@ -301,13 +282,7 @@ public:
 	}

 private:
-#ifdef __PX4_QURT
-	// It seems that __atomic_store  and __atomic_load are not supported on Qurt,
-	// so the best that we can do is to use volatile.
-	volatile T _value{};
-#else
 	T _value {};
-#endif
 };

 using atomic_int = atomic<int>;
@@ -89,33 +89,14 @@ constexpr bool PX4_ISFINITE(double x) { return __builtin_isfinite(x); }
 #define USEC_PER_TICK (1000000/PX4_TICKS_PER_SEC)
 #define USEC2TICK(x) (((x)+(USEC_PER_TICK/2))/USEC_PER_TICK)

-#ifdef __PX4_QURT
-
-// QURT specific
-#  include "dspal_math.h"
-#  define PX4_ROOTFSDIR "."
-#  define PX4_TICKS_PER_SEC 1000L
-
-#else // __PX4_QURT
-
-// All POSIX except QURT.
-
 __BEGIN_DECLS
 extern long PX4_TICKS_PER_SEC;
 __END_DECLS

-#  if defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_EXCELSIOR)
-#    define PX4_ROOTFSDIR "/home/linaro"
-#  else
-#    define PX4_ROOTFSDIR "."
-#  endif
-
-#endif // __PX4_QURT
+#define PX4_ROOTFSDIR "."

 #define PX4_STORAGEDIR PX4_ROOTFSDIR
-#endif // __PX4_POSIX

-#if defined(__PX4_POSIX)
 /****************************************************************************
 * Defines for POSIX and ROS
 ****************************************************************************/
@@ -1,82 +0,0 @@
-/****************************************************************************
- *
- * Copyright (c) 2015 Ramakrishna Kintada. 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.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <parameters/param.h>
-
-#define MAX_SHMEM_PARAMS 2000 //MAP_SIZE - (LOCK_SIZE - sizeof(struct shmem_info))
-
-#define PARAM_BUFFER_SIZE (MAX_SHMEM_PARAMS / 8 + 1)
-
-struct shmem_info {
-	union param_value_u params_val[MAX_SHMEM_PARAMS];
-	unsigned char krait_changed_index[MAX_SHMEM_PARAMS / 8 + 1]; /*bit map of all params changed by krait*/
-	unsigned char adsp_changed_index[MAX_SHMEM_PARAMS / 8 + 1]; /*bit map of all params changed by adsp*/
-
-#ifdef __PX4_NUTTX
-};
-#else
-} __attribute__((packed));
-#endif
-
-#if (defined(__PX4_POSIX_EXCELSIOR) || defined(__PX4_QURT_EXCELSIOR))
-#define MAP_ADDRESS    0x861FC000
-#else
-#define MAP_ADDRESS	0xfbfc000
-#endif
-#define MAP_SIZE 	16384
-#define MAP_MASK 	(MAP_SIZE - 1)
-
-#define LOCK_OFFSET	0
-#define LOCK_SIZE	4
-#define LOCK_MEM        1
-#define UNLOCK_MEM      2
-
-#define TYPE_MASK 	0x1
-
-extern bool handle_in_range(param_t);
-
-#ifdef __PX4_QURT
-extern struct shmem_info *shmem_info_p;
-
-int get_shmem_lock(const char *caller_file_name, int caller_line_number);
-void release_shmem_lock(const char *caller_file_name, int caller_line_number);
-void init_shared_memory(void);
-
-void copy_params_to_shmem(const param_info_s *param_info_base);
-#endif
-
-void update_to_shmem(param_t param, union param_value_u value);
-int update_from_shmem(param_t param, union param_value_u *value);
-void update_index_from_shmem(void);
@@ -45,10 +45,6 @@
 #include <queue.h>
 #include <px4_platform_types.h>

-#ifdef __PX4_QURT
-#include <dspal_types.h>
-#endif
-
 __BEGIN_DECLS

 #define HPWORK 0
@@ -49,7 +49,7 @@ WorkQueue::WorkQueue(const wq_config_t &config) :
 	// set the threads name
 #ifdef __PX4_DARWIN
 	pthread_setname_np(_config.name);
-#elif !defined(__PX4_QURT)
+#else
 	pthread_setname_np(pthread_self(), _config.name);
 #endif

@@ -156,9 +156,9 @@ if((DEFINED ENV{SIGNING_TOOL}) AND (NOT NUTTX_DIR MATCHES "external"))
 		COMMAND $ENV{SIGNING_TOOL} $ENV{SIGNING_ARGS} ${PX4_BINARY_OUTPUT} ${PX4_BINARY_DIR}/${PX4_BOARD}.bin
 		DEPENDS ${PX4_BINARY_OUTPUT}
 		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-)
+	)
 else()
-set(PX4_BINARY_OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_BOARD}.bin)
+	set(PX4_BINARY_OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_BOARD}.bin)
 endif()

 add_custom_command(OUTPUT ${PX4_BINARY_OUTPUT}
@@ -83,18 +83,34 @@ if(Ozone_PATH)
 endif()

 if(bootloader_bin OR (EXISTS "${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin"))
-	# jlink_flash_bootloader
+
+	if(bootloader_bin)
+		set(BOARD_BL_FIRMWARE_BIN ${bootloader_bin})
+	else()
+		set(BOARD_BL_FIRMWARE_BIN ${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)
+	endif()
+
+	# jlink_upload_bootloader
+	if(JLinkGDBServerCLExe_PATH)
+		add_custom_target(jlink_upload_bootloader
+			COMMAND ${PX4_BINARY_DIR}/jlink_gdb_start.sh
+			COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/upload_jlink_gdb.sh ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf
+			DEPENDS
+				${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf
+				${PX4_BINARY_DIR}/jlink_gdb_start.sh
+				${CMAKE_CURRENT_SOURCE_DIR}/Debug/upload_jlink_gdb.sh
+			WORKING_DIRECTORY ${PX4_BINARY_DIR}
+			USES_TERMINAL
+		)
+	endif()
+
+	# jlink_flash_bootloader_bin
 	find_program(JLinkExe_PATH JLinkExe)
 	if(JLinkExe_PATH)
-
-		if(bootloader_bin)
-			set(BOARD_BL_FIRMWARE_BIN ${bootloader_bin})
-		else()
-			set(BOARD_BL_FIRMWARE_BIN ${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)
-		endif()
+		file(RELATIVE_PATH BOARD_BL_FIRMWARE_BIN ${PX4_BINARY_DIR} ${BOARD_BL_FIRMWARE_BIN})

 		configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/flash_bootloader.jlink.in ${PX4_BINARY_DIR}/flash_bootloader.jlink @ONLY)
-		add_custom_target(jlink_flash_bootloader
+		add_custom_target(jlink_flash_bootloader_bin
 			COMMAND ${JLinkExe_PATH} -CommandFile ${PX4_BINARY_DIR}/flash_bootloader.jlink
 			DEPENDS
 				px4
@@ -25,73 +25,46 @@ px4_posix_generate_alias(
 	PREFIX ${PX4_SHELL_COMMAND_PREFIX}
 )

-if (("${PX4_BOARD}" MATCHES "atlflight_eagle") OR ("${PX4_BOARD}" MATCHES "atlflight_excelsior"))
-	include(fastrpc)
-	include(linux_app)
-
-	FASTRPC_STUB_GEN(../qurt/px4muorb.idl)
-
-	LINUX_APP(
-		APP_NAME px4
-		IDL_NAME px4muorb
-		APPS_DEST "/home/linaro"
-		SOURCES
-			px4muorb_stub.c
-			src/px4/common/main.cpp
-			apps.cpp
-		LINK_LIBS
-			-Wl,--start-group
-				px4_layer
-				parameters
-				${module_libraries}
-				${FASTRPC_ARM_LIBS}
-				pthread m rt
-			-Wl,--end-group
-		)
-
-else()
-	add_executable(px4
-		src/px4/common/main.cpp
-		apps.cpp
-		)
-
-	target_link_libraries(px4
-		PRIVATE
-			${module_libraries}
-			pthread m
-
-			# horrible circular dependencies that need to be teased apart
-			px4_layer px4_platform
-			work_queue
-			parameters
+add_executable(px4
+	src/px4/common/main.cpp
+	apps.cpp
 	)

-	if(NOT APPLE)
-		target_link_libraries(px4 PRIVATE rt)
-	endif()
+target_link_libraries(px4
+	PRIVATE
+		${module_libraries}
+		pthread m

-	target_link_libraries(px4 PRIVATE uORB)
-
-	#=============================================================================
-	# install
-	#
-
-	# TODO: extend to snapdragon
-
-	# px4 dirs
-	install(
-		DIRECTORY
-			${PROJECT_SOURCE_DIR}/posix-configs
-			${PROJECT_SOURCE_DIR}/test
-			${CMAKE_BINARY_DIR}/etc
-			${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
-		DESTINATION
-			${PROJECT_NAME}
-		USE_SOURCE_PERMISSIONS
-		)
+		# horrible circular dependencies that need to be teased apart
+		px4_layer px4_platform
+		work_queue
+		parameters
+)

+if(NOT APPLE)
+	target_link_libraries(px4 PRIVATE rt)
 endif()

+target_link_libraries(px4 PRIVATE uORB)
+
+#=============================================================================
+# install
+#
+
+# TODO: extend to snapdragon
+
+# px4 dirs
+install(
+	DIRECTORY
+		${PROJECT_SOURCE_DIR}/posix-configs
+		${PROJECT_SOURCE_DIR}/test
+		${CMAKE_BINARY_DIR}/etc
+		${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
+	DESTINATION
+		${PROJECT_NAME}
+	USE_SOURCE_PERMISSIONS
+)
+
 # Module Symlinks
 px4_posix_generate_symlinks(
 	MODULE_LIST ${module_libraries}
@@ -48,6 +48,20 @@ ExternalProject_Add(sitl_gazebo
 	BUILD_COMMAND ${CMAKE_COMMAND} --build <BINARY_DIR> -- -j ${build_cores}
 )

+px4_add_git_submodule(TARGET git_ign_gazebo PATH "${PX4_SOURCE_DIR}/Tools/simulation-ignition")
+ExternalProject_Add(simulation-ignition
+	SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation-ignition
+	CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+	BINARY_DIR ${PX4_BINARY_DIR}/build_ign_gazebo
+	INSTALL_COMMAND ""
+	DEPENDS git_ign_gazebo
+	USES_TERMINAL_CONFIGURE true
+	USES_TERMINAL_BUILD true
+	EXCLUDE_FROM_ALL true
+	BUILD_ALWAYS 1
+	BUILD_COMMAND ${CMAKE_COMMAND} --build <BINARY_DIR> -- -j ${build_cores}
+)
+
 ExternalProject_Add(mavsdk_tests
 	SOURCE_DIR ${PX4_SOURCE_DIR}/test/mavsdk_tests
 	CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
@@ -90,6 +104,7 @@ set(viewers
 	none
 	jmavsim
 	gazebo
+	ignition
 )

 set(debuggers
@@ -179,6 +194,8 @@ foreach(viewer ${viewers})
 						add_dependencies(${_targ_name} px4 sitl_gazebo)
 					elseif(viewer STREQUAL "jmavsim")
 						add_dependencies(${_targ_name} px4 git_jmavsim)
+					elseif(viewer STREQUAL "ignition")
+						add_dependencies(${_targ_name} px4 simulation-ignition)
 					endif()
 				else()
 					if(viewer STREQUAL "gazebo")
@@ -19,17 +19,11 @@ set(tests
 	List
 	mathlib
 	matrix
-	microbench_atomic
-	microbench_hrt
-	microbench_math
-	microbench_matrix
-	microbench_uorb
 	mixer
 	param
 	parameters
 	perf
 	search_min
-	servo
 	sleep
 	versioning
 )
@@ -36,17 +36,6 @@ add_subdirectory(px4_daemon)
 add_subdirectory(lockstep_scheduler)

 set(EXTRA_DEPENDS)
-if("${CONFIG_SHMEM}" STREQUAL "1")
-	list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
-	include(hexagon_sdk)
-	include_directories(${HEXAGON_SDK_INCLUDES})
-	include_directories(${PX4_BINARY_DIR}/platforms/posix)
-	list(APPEND SHMEM_SRCS
-		shmem_posix.cpp
-	)
-	add_definitions(-DCONFIG_SHMEM=1)
-	set(EXTRA_DEPENDS generate_px4muorb_stubs)
-endif()

 add_library(px4_layer
 	px4_posix_impl.cpp
@@ -57,7 +46,6 @@ add_library(px4_layer
 	drv_hrt.cpp
 	cpuload.cpp
 	print_load.cpp
-	${SHMEM_SRCS}
 )
 target_compile_definitions(px4_layer PRIVATE MODULE_NAME="px4")
 target_compile_options(px4_layer PRIVATE -Wno-cast-align) # TODO: fix and enable
@@ -317,15 +317,6 @@ int main(int argc, char **argv)
 			pxh.run_pxh();
 		}

-		// When we exit, we need to stop muorb on Snapdragon.
-
-#ifdef __PX4_POSIX_EAGLE
-		// Sending muorb stop is needed if it is running to exit cleanly.
-		// TODO: we should check with px4_task_is_running("muorb") before stopping it.
-		std::string muorb_stop_cmd("muorb stop");
-		px4_daemon::Pxh::process_line(muorb_stop_cmd, true);
-#endif
-
 		std::string cmd("shutdown");
 		px4_daemon::Pxh::process_line(cmd, true);

@@ -451,10 +442,7 @@ void sig_int_handler(int sig_num)

 void set_cpu_scaling()
 {
-#ifdef __PX4_POSIX_EAGLE
-	// On Snapdragon we miss updates in sdlog2 unless all 4 CPUs are run
-	// at the maximum frequency all the time.
-	// Interestingely, cpu0 and cpu3 set the scaling for all 4 CPUs on Snapdragon.
+#if 0
 	system("echo performance > /sys/devices/system/cpu/cpu0/cpufreq/scaling_governor");
 	system("echo performance > /sys/devices/system/cpu/cpu3/cpufreq/scaling_governor");

@@ -73,19 +73,6 @@ FILE *get_stdout(bool *isatty_)
 		return stdout;
 	}

-#ifdef __PX4_POSIX_EAGLE
-
-	// XXX FIXME: thread_data_ptr is set to 0x1 in the main thread on Snapdragon
-	// even though the pthread_key has been created.
-	// We can catch this using the check below but we have no clue why this happens.
-	if (thread_data_ptr == (void *)0x1) {
-		if (isatty_) { *isatty_ = isatty(1); }
-
-		return stdout;
-	}
-
-#endif
-
 	if (thread_data_ptr->thread_stdout == nullptr) {
 		if (isatty_) { *isatty_ = isatty(1); }

--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Daniel Agar	7ccfc91dfc	github actions add timeout-minutes	2021-07-21 12:51:00 -04:00
alessandro	bd17653383	Fix template_module header - SubscriptionInterval.hpp includes Subscription.hpp, but not vice versa - The time literal 1_s is defined in the namespace time_literals	2021-07-21 09:44:09 -04:00
Oleg Evseev	440449b85f	mavlink: use explicit routing for message forwarding Forward message to other mavlink channels only if it is broadcast or the target component was seen on this link before (at least one message was received)	2021-07-21 10:39:14 +02:00
Daniel Agar	b1eb762753	drivers/imu: set sample timestamp from interrupt (if available) - minor scheduling improvements - if expected number of samples larger than expected adjust timestamp sample and save sample for next iteration - when scheduling via data ready interrupt (with no FIFO watermark) count continuously without clearing	2021-07-21 02:19:11 -04:00
honglang	6ac6917430	boards: CUAV-x7pro: reoder brick to fixed cuav hvpm cannot detect voltage	2021-07-20 22:02:03 -07:00
Daniel Agar	949fef1f3b	boards: px4_fmu-v5_optimized disable optical_flow drivers to save flash	2021-07-20 21:43:48 -04:00
David Sidrane	d6ee418cdf	nxp_fmuk66:Add Serial RX DMA on Console	2021-07-20 18:22:35 -04:00
David Sidrane	0709a9bb1c	NuttX With Kinetis LPUART DMA backport	2021-07-20 18:22:35 -04:00
DonLakeFlyer	0af1716864	Fix incorrect max for INT32	2021-07-20 16:29:39 -04:00
David Sidrane	78ecad6170	Revert "nxp_fmuk66-v3:DMA Poll not needed" This reverts commit `962f02220a`.	2021-07-20 07:52:10 -07:00
David Sidrane	89dff2d31c	Revert "nxp_fmuk66-e:DMA Poll not needed" This reverts commit `39d684958d`.	2021-07-20 07:52:10 -07:00
David Sidrane	b85a01f4c2	NuttX with Kinetis SerialPoll back in	2021-07-20 07:52:10 -07:00
Kirill Shilov	e13884410b	heater: added support of inverted IMU heat controller output	2021-07-20 10:37:53 -04:00
TSC21	205d4400eb	add baro_bias_estimate to RTPS list	2021-07-20 04:56:33 -07:00
Oleg	8fbbf56c4d	microRTPS: fix setting UART communication flags bitwise not should be used instead of logical not	2021-07-20 12:34:58 +02:00
PX4 BuildBot	34160bb6c9	Update submodule sitl_gazebo to latest Fri Jul 16 12:39:10 UTC 2021 - sitl_gazebo in PX4/Firmware (`4a0fa08953`): https://github.com/PX4/PX4-SITL_gazebo/commit/1f3f1b1dec5a31c2c400f141fc344f11f68659c9 - sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/b6be00542be4d77f436c66ee48c22ca911601a2a - Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/1f3f1b1dec5a31c2c400f141fc344f11f68659c9...b6be00542be4d77f436c66ee48c22ca911601a2a b6be005 2021-07-13 Jaeyoung-Lim - Add iris model for control allocation development	2021-07-19 20:19:28 -04:00
JaeyoungLim	58060b23d9	Add ignition gazebo support for PX4 Software-In-The-Loop simulations This commit adds SITL support for ignition gazebo. Ignition gazebo is a replacement for the "classic" gazebo for future applications. The simulation can be run as the following ``` make px4_sitl ignition ```	2021-07-19 19:59:41 -04:00
dagar	a8e3c46cdb	[AUTO COMMIT] update change indication	2021-07-19 16:53:45 -04:00
Daniel Agar	14274ab071	boards: px4_fmu-v5_optimized disable pwm_input to save flash	2021-07-19 16:53:45 -04:00
bresch	54c7e74de3	EKF: add baro bias estimator using GNSS altitude	2021-07-19 16:53:45 -04:00
Daniel Agar	10f4fc7783	ekf2: don't print distance_sensor selection unless there are multiple options	2021-07-19 12:17:12 -04:00
Daniel Agar	1a222bf06e	Tools/HIL/run_nsh_cmd.py handle missing echo, but cmd succeeded	2021-07-19 11:53:54 -04:00
Daniel Agar	87610957a4	flight_mode_manager: pass deltas on estimator reset	2021-07-19 09:34:07 -04:00
Daniel Agar	d79eea0c41	Jenkins: HIL flash bootloaders - add new jlink_upload_bootloader helper target	2021-07-18 23:33:00 -04:00
Daniel Agar	4c59997ff4	Jenkins: HIL attempt to set certain parameters initially - attempt to minimize issues on heavily loaded debug and stackcheck builds - disable systemcmds/bl_update on debug and stackcheck fmu-v5	2021-07-18 21:25:00 -04:00
Daniel Agar	774ad80ba0	systemcmds/tests: split out microbenchmarks and remove obsolete tests - reorganize Jenkins HIL tests	2021-07-18 18:02:33 -04:00
Daniel Agar	0101934f47	ekf2: multi-EKF instance message INFO -> DEBUG	2021-07-18 18:02:33 -04:00
Daniel Agar	0ad65738db	gyro_calibration: reset on any parameter change - perform fresh calibration once system has settled	2021-07-18 18:02:33 -04:00
Daniel Agar	9ac860ac33	ekf2: test fix double promotion warnings	2021-07-18 15:49:53 -04:00
Daniel Agar	9087ba2259	world_magnietc_model: update to latest and fix code style - minimize test_geo_lookup.cpp optimization to improve compile times	2021-07-18 15:49:53 -04:00
mcsauder	f34862f143	Delete redundant Ekf class member variable constructor initilizations and add missing C++ style initializers to the header file.	2021-07-17 12:24:56 -04:00
Daniel Agar	eeb73fdbe6	ekf2: resetting IMU bias message INFO -> DEBUG	2021-07-17 10:57:09 -04:00
Daniel Agar	36dea8487c	Jenkins: HIL remove redundant board_adc test	2021-07-17 10:57:09 -04:00
Daniel Agar	bc79ea54dc	Jenkins: HIL lower quick cal sleep time before checking parameters	2021-07-17 10:57:09 -04:00
Daniel Agar	858a30df21	systemcmds/tests: replace warnx -> PX4_INFO	2021-07-17 10:57:09 -04:00
Daniel Agar	209fde9ff3	Tools/HIL: console print timestamps	2021-07-17 10:57:09 -04:00
Daniel Agar	847b3b5b64	Tools/HIL/nsh_param_set.py bump timeout slightly	2021-07-16 22:18:07 -04:00
Igor Mišić	54c91002cd	mavlink_ulog: update ulog_stream message lost errors to perf counter	2021-07-16 21:38:56 -04:00
Beat Küng	cfef0c5d5a	mavlink_ulog: check for lost ulog_stream ulog messages	2021-07-16 21:38:56 -04:00
Daniel Agar	5a046cae7e	Tools/HIL: fix terminal colors (ANSI escape codes)	2021-07-16 21:37:48 -04:00
Daniel Agar	f80f0e6c7e	Jenkins: HIL set CCACHE_NOHASHDIR and remove obsolete "make sizes"	2021-07-16 21:06:07 -04:00
Daniel Agar	cbf6c97682	Jenkins: HIL print dmesg output only on boards with enough memory	2021-07-16 19:33:27 -04:00
Daniel Agar	8c6ade0fc8	Tools/HIL: color output (ERROR, WARN, etc)	2021-07-16 19:33:27 -04:00
Daniel Agar	7f4ffcef93	Jenkins: HIL add separate status for flash constrained boards	2021-07-16 19:33:27 -04:00
Daniel Agar	e61d8d6e7e	Tools/HIL: add nsh_param_set.py and use on test rack	2021-07-16 19:33:27 -04:00
Daniel Agar	ae0438e8f5	Jenkins: HIL no longer tolerate SD failures	2021-07-16 19:33:27 -04:00
Daniel Agar	65745a3676	purge broken qurt support and atlflight boards	2021-07-16 08:53:36 -04:00