migrate remaining sprintf usage -> snprintf

2026-05-24 07:07:35 +08:00 · 2022-12-06 21:09:02 -05:00
1793 changed files with 45776 additions and 109939 deletions
@@ -9,10 +9,10 @@ pipeline {
        script {
          def build_nodes = [:]
          def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2022-08-12",
-            arm64: "px4io/px4-dev-aarch64:2022-08-12",
-            base: "px4io/px4-dev-ros2-foxy:2022-08-12",
-            nuttx: "px4io/px4-dev-nuttx-focal:2022-08-12",
+            armhf: "px4io/px4-dev-armhf:2021-09-08",
+            arm64: "px4io/px4-dev-aarch64:2021-09-08",
+            base: "px4io/px4-dev-base-bionic:2021-09-08",
+            nuttx: "px4io/px4-dev-nuttx-focal:2021-09-08",
          ]

          def armhf_builds = [
@@ -62,8 +62,6 @@ pipeline {
                     "holybro_durandal-v1_default",
                     "holybro_kakutef7_default",
                     "holybro_kakuteh7_default",
-                     "holybro_kakuteh7v2_default",
-                     "holybro_kakuteh7mini_default",
                     "holybro_pix32v5_default",
                     "matek_gnss-m9n-f4_canbootloader",
                     "matek_gnss-m9n-f4_default",
@@ -110,8 +108,6 @@ pipeline {
                     "raspberrypi_pico_default",
                     "sky-drones_smartap-airlink_default",
                     "spracing_h7extreme_default",
-                     "thepeach_k1_default",
-                     "thepeach_r1_default",
                     "uvify_core_default"
            ],
            image: docker_images.nuttx,
@@ -684,7 +684,7 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'

  // status commands
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
@@ -715,7 +715,7 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
@@ -755,11 +755,9 @@ void runTests() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during test
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ostest"'
  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot after ostest

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during test
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'
@@ -769,13 +767,13 @@ void runTests() {

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params" || true' // expected to fail after erase
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
@@ -0,0 +1,34 @@
+---
+name: 🐛 Bug report
+about: Create a report to help us improve
+labels: bug-report
+
+---
+
+## Describe the bug
+A clear and concise description of the bug.
+
+## To Reproduce
+Steps to reproduce the behavior:
+1. Drone switched on '...'
+2. Uploaded mission '....' (attach QGC mission file)
+3. Took off '....'
+4. See error
+
+## Expected behavior
+A clear and concise description of what you expected to happen.
+
+## Log Files and Screenshots
+*Always* provide a link to the flight log file:
+- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
+- Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
+- Share the link to the log (Copy and paste the URL of the log)
+
+Add screenshots to help explain your problem.
+
+## Drone (please complete the following information):
+- Describe the type of drone.
+- Photo of the IMU / autopilot setup if possible.
+
+## Additional context
+Add any other context about the problem here.
@@ -0,0 +1,20 @@
+---
+name: 🚀 Feature Request
+about: Suggest an idea for this project
+labels: feature-request
+
+---
+
+For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Discord (you can find an invite link on this project README).
+
+## Describe problem solved by the proposed feature
+A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
+
+## Describe your preferred solution
+A clear and concise description of what you want to happen.
+
+## Describe possible alternatives
+A clear and concise description of alternative solutions or features you've considered.
+
+## Additional context
+Add any other context or screenshots for the feature request here.
@@ -0,0 +1,13 @@
+---
+name: ⛔ Support Question
+about: See http://discuss.px4.io/ for questions about using PX4.
+
+---
+
+## Attention! Please read the note below
+
+We use GitHub issues only to discuss PX4 bugs and new features.
+
+**For questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).**
+
+Thanks!
@@ -0,0 +1,11 @@
+---
+name: ⛔ Documentation Issue
+about: See https://github.com/PX4/px4_user_guide for documentation issues
+
+---
+
+## Attention! Please read the note below
+
+**Please submit the documentation issue to the [User Guide](https://github.com/PX4/px4_user_guide) repository.**
+
+Thanks!
@@ -1,94 +0,0 @@
-name: 🐛 Bug report
-description: Create a report to help us improve
-title: "[Bug] "
-labels: ["bug-report"]
-body:
-  - type: textarea
-    attributes:
-      label: Describe the bug
-      description: A clear and concise description of the bug.
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: To Reproduce
-      description: |
-          Steps to reproduce the behavior.
-          1. Drone switched on '...'
-          2. Uploaded mission '....' (attach QGC mission file)
-          3. Took off '....'
-          4. See error
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Expected behavior
-      description: A clear and concise description of what you expected to happen.
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Screenshot / Media
-      description: Add screenshot / media if you have them
-
-  - type: textarea
-    attributes:
-      label: Flight Log
-      description: |
-          *Always* provide a link to the flight log file:
-          - Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
-          - Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
-          - Share the link to the log (Copy and paste the URL of the log)
-      placeholder: |
-          # PASTE HERE THE LINK TO THE LOG
-    validations:
-      required: true
-
-  - type: markdown
-    attributes:
-      value: |
-        ## Setup
-
-  - type: textarea
-    attributes:
-      label: Software Version
-      description: |
-          Which version of PX4 are you using?
-      placeholder: |
-          # If you don't know the version, paste the output of `ver all` in the MAVLink Shell of QGC
-    validations:
-      required: true
-
-  - type: input
-    attributes:
-      label: Flight controller
-      description: Specify your flight controller model (what type is it, where was it bought from, ...).
-    validations:
-      required: true
-
-  - type: dropdown
-    attributes:
-      label: Vehicle type
-      options:
-        - Multicopter
-        - Helicopter
-        - Fixed Wing
-        - Hybrid VTOL
-        - Airship/Balloon
-        - Rover
-        - Boat
-        - Submarine
-        - Other
-
-  - type: textarea
-    attributes:
-      label: How are the different components wired up (including port information)
-      description: Details about how all is wired.
-
-  - type: textarea
-    attributes:
-      label: Additional context
-      description: Add any other context about the problem here.
@@ -1,8 +0,0 @@
-blank_issues_enabled: false
-contact_links:
-  - name: Support Question
-    url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat
-    about: For questions about using PX4 or related components, please use the discuss forum and discord server
-  - name: Documentation Issue
-    url: https://github.com/PX4/PX4-user_guide/issues
-    about: If you found an issue in documentation, please submit it directly to the docs repository issues
@@ -1,35 +0,0 @@
-name: 🚀 Feature Request
-description: Suggest an idea for this project
-labels: ["feature-request"]
-body:
-  - type: markdown
-    attributes:
-      value: |
-        ## Please note that feature requests are not 'fire and forget'
-        It is a lot more likely that the feature you would like to have will be implemented if you keep watching your feature request, and provide more details to developers looking into implementing your feature, and help them with testing.
-
-  - type: textarea
-    attributes:
-      label: Describe problem solved by the proposed feature
-      description: A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Describe your preferred solution
-      description: A clear and concise description of what you want to happen.
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Describe possible alternatives
-      description: A clear and concise description of any alternative solutions or features you've considered.
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Additional context
-      description: Add any other context or screenshots for the feature request here.
@@ -18,14 +18,6 @@ Fixes #{Github issue ID}
 - Add ... for ...
 - Refactor ...

-### Changelog Entry
-For release notes:
-```
-Feature/Bugfix XYZ
-New parameter: XYZ_Z
-Documentation: Need to clarify page ... / done, read docs.px4.io/...
-```
-
 ### Alternatives
 We could also ...

@@ -0,0 +1,24 @@
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="90" height="20">
+  <linearGradient id="smooth" x2="0" y2="100%">
+    <stop offset="0" stop-color="#bbb" stop-opacity=".1"/>
+    <stop offset="1" stop-opacity=".1"/>
+  </linearGradient>
+
+  <mask id="round">
+    <rect width="90" height="20" rx="3" fill="#fff"/>
+  </mask>
+
+  <g mask="url(#round)">
+    <rect width="42" height="20" fill="#555"/>
+    <rect x="42" width="48" height="20" fill="#E01563"/>
+    <rect width="90" height="20" fill="url(#smooth)"/>
+  </g>
+
+  <g fill="#fff" text-anchor="middle" font-family="DejaVu Sans,Verdana,Geneva,sans-serif" font-size="11">
+    <text x="22" y="15" fill="#010101" fill-opacity=".3">slack</text>
+    <text x="22" y="14">slack</text>
+    <text x="65" y="15" fill="#010101" fill-opacity=".3">Join us!</text>
+    <text x="65" y="14">Join us!</text>
+  </g>
+</svg>
+
@@ -0,0 +1,15 @@
+# Number of days of inactivity before an issue becomes stale
+daysUntilStale: 90
+# Number of days of inactivity before a stale issue is closed, or `false` to disable
+daysUntilClose: false
+# Issues with these labels will never be considered stale
+exemptLabels:
+  - pinned
+# Label to use when marking an issue as stale
+staleLabel: stale
+# Comment to post when marking an issue as stale. Set to `false` to disable
+markComment: >
+  This issue has been automatically marked as stale because it has not had
+  recent activity. Thank you for your contributions.
+# Comment to post when closing a stale issue. Set to `false` to disable
+closeComment: false
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2023-06-26
+    container: px4io/px4-dev-armhf:2021-09-08
    strategy:
      matrix:
        config: [
@@ -24,8 +24,7 @@ jobs:
    - uses: actions/checkout@v1
      with:
        token: ${{secrets.ACCESS_TOKEN}}
-    - name: ownership workaround
-      run: git config --system --add safe.directory '*'
+
    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
      shell: cmake -P {0}
@@ -30,7 +30,6 @@ jobs:
          cuav_nora,
          cuav_x7pro,
          cubepilot_cubeorange,
-          cubepilot_cubeorangeplus,
          cubepilot_cubeyellow,
          diatone_mamba-f405-mk2,
          freefly_can-rtk-gps,
@@ -55,7 +54,6 @@ jobs:
          nxp_fmuk66-e,
          nxp_fmuk66-v3,
          nxp_fmurt1062-v1,
-          nxp_mr-canhubk3,
          nxp_ucans32k146,
          omnibus_f4sd,
          px4_fmu-v2,
@@ -59,13 +59,13 @@ jobs:
      run: |
          export
          ulimit -a
-    - name: Build PX4 and sitl_gazebo-classic
+    - name: Build PX4 and sitl_gazebo
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
      run: |
        ccache -z
        make px4_sitl_default
-        make px4_sitl_default sitl_gazebo-classic
+        make px4_sitl_default sitl_gazebo
        ccache -s

    - name: Core dump settings
@@ -54,13 +54,13 @@ jobs:
      run: |
          export
          ulimit -a
-    - name: Build PX4 and sitl_gazebo-classic
+    - name: Build PX4 and sitl_gazebo
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
      run: |
        ccache -z
        make px4_sitl_default
-        make px4_sitl_default sitl_gazebo-classic
+        make px4_sitl_default sitl_gazebo
        ccache -s

    - name: Core dump settings
@@ -16,7 +16,7 @@ jobs:
      matrix:
        config:
          - {model: "iris",          latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
-          # - {model: "standard_vtol", latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer" } # Australia
+          - {model: "standard_vtol", latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer" } # Australia
          - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
          - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich

@@ -74,14 +74,14 @@ jobs:
    - name: Build SITL Gazebo
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: make px4_sitl_default sitl_gazebo-classic
-    - name: ccache post-run sitl_gazebo-classic
+      run: make px4_sitl_default sitl_gazebo
+    - name: ccache post-run sitl_gazebo
      run: ccache -s
    - name: Build MAVSDK tests
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
        DONT_RUN: 1
-      run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
+      run: make px4_sitl_default gazebo mavsdk_tests
    - name: ccache post-run mavsdk_tests
      run: ccache -s

@@ -1,16 +0,0 @@
-name: 'Handle stale issues and PRs'
-on:
-  schedule:
-    - cron: '30 1 * * *'
-
-jobs:
-  stale:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/stale@v8
-        with:
-          days-before-stale: 30
-          days-before-close: -1
-          stale-issue-label: 'stale'
-          stale-pr-label: 'stale'
-          remove-stale-when-updated: true
@@ -47,6 +47,8 @@ GTAGS
 *.files
 *.includes

+Tools/jlink-nuttx.so
+
 # CLion ignores
 .idea
 cmake-build-*/
@@ -105,6 +107,3 @@ src/modules/simulator/simulator_config.h
 src/systemcmds/topic_listener/listener_generated.cpp

 !src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
-
-# colcon
-log/
@@ -10,9 +10,9 @@
 	path = Tools/simulation/jmavsim/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
 	branch = main
-[submodule "Tools/simulation/gazebo-classic/sitl_gazebo-classic"]
-	path = Tools/simulation/gazebo-classic/sitl_gazebo-classic
-	url = https://github.com/PX4/PX4-SITL_gazebo-classic.git
+[submodule "Tools/simulation/gazebo/sitl_gazebo"]
+	path = Tools/simulation/gazebo/sitl_gazebo
+	url = https://github.com/PX4/PX4-SITL_gazebo.git
 	branch = main
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
@@ -58,7 +58,7 @@
 	path = src/lib/crypto/libtommath
 	url = https://github.com/PX4/libtommath.git
 	branch = px4
-[submodule "src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client"]
-	path = src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client
+[submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
+	path = src/modules/microdds_client/Micro-XRCE-DDS-Client
 	url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
 	branch = px4
@@ -4,7 +4,6 @@ compile_commands.json

 # generated by cmake
 launch.json
-c_cpp_properties.json

 # C/C++ extension does some local caching in this folder
 ipch/
@@ -3,18 +3,14 @@
        {
            "name": "PX4",
            "includePath": [
-                "${workspaceFolder}/**",
+                "${workspaceFolder}/**"
            ],
            "defines": [],
            "macFrameworkPath": [],
            "configurationProvider": "ms-vscode.cmake-tools",
            "cppStandard": "c++14",
-            "cStandard": "c11",
-            "forcedInclude": [
-                 "@PX4_BINARY_DIR@/px4_boardconfig.h",
-                 "@PX4_SOURCE_DIR@/platforms/common/include/px4_platform_common/defines.h"
-                 ]
+            "cStandard": "c11"
        }
    ],
    "version": 4
-}
+}
@@ -180,7 +180,7 @@ CONFIG:
      short: cubepilot_cubeorange
      buildType: MinSizeRel
      settings:
-        CONFIG: cubepilot_cubeorange_test
+        CONFIG: cubepilot_orange_test
    emlid_navio2_default:
      short: emlid_navio2
      buildType: MinSizeRel
@@ -266,16 +266,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: nxp_fmuk66-v3_default
-    nxp_mr-canhubk3_default:
-      short: nxp_mr-canhubk3_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: nxp_mr-canhubk3_default
-    nxp_mr-canhubk3_fmu:
-      short: nxp_mr-canhubk3_fmu
-      buildType: MinSizeRel
-      settings:
-        CONFIG: nxp_mr-canhubk3_fmu
    raspberrypi_pico_default:
      short: raspberrypi_pico
      buildType: MinSizeRel
@@ -2,6 +2,7 @@
        "astyle.astylerc": "${workspaceFolder}/Tools/astyle/astylerc",
        "astyle.c.enable": true,
        "astyle.cpp.enable": true,
+        "breadcrumbs.enabled": true,
        "C_Cpp.autoAddFileAssociations": false,
        "C_Cpp.clang_format_fallbackStyle": "none",
        "C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
@@ -19,6 +20,7 @@
        "cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
        "cmakeExplorer.parallelJobs": 1,
        "cmakeExplorer.suiteDelimiter": "-",
+        "cortex-debug.enableTelemetry": false,
        "cSpell.allowCompoundWords": true,
        "cSpell.diagnosticLevel": "Hint",
        "cSpell.showStatus": false,
@@ -29,6 +31,7 @@
        ],
        "debug.toolBarLocation": "docked",
        "editor.defaultFormatter": "chiehyu.vscode-astyle",
+        "editor.dragAndDrop": false,
        "editor.insertSpaces": false,
        "editor.minimap.maxColumn": 120,
        "editor.minimap.renderCharacters": false,
@@ -116,16 +119,20 @@
                "utility": "cpp",
                "valarray": "cpp",
                "variant": "cpp",
-                "vector": "cpp",
-                "Jenkinsfile*": "groovy",
-                "*.sdf": "xml"
+                "vector": "cpp"
        },
        "search.exclude": {
                "${workspaceFolder}/build": true
        },
        "search.showLineNumbers": true,
-        "terminal.integrated.scrollback": 15000,
+        "telemetry.enableTelemetry": false,
+        "terminal.integrated.scrollback": 5000,
+        "window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
+        "workbench.editor.highlightModifiedTabs": true,
+        "workbench.enableExperiments": false,
+        "workbench.settings.enableNaturalLanguageSearch": false,
        "yaml.schemas": {
                "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
-        }
+        },
+        "cortex-debug.openocdPath": "${env:PICO_SDK_PATH}/../openocd/src/openocd"       // Added for rp2040
 }
@@ -49,6 +49,49 @@
                "group": "test"
            }
        },
+        {
+            "label": "jmavsim build",
+            "type": "shell",
+            "command": "ant create_run_jar copy_res",
+            "options": {
+                "cwd": "${workspaceFolder}/Tools/simulation/jmavsim/jMAVSim"
+            },
+            "presentation": {
+                "echo": true,
+                "reveal": "never",
+                "revealProblems": "onProblem",
+                "focus": false,
+                "panel": "dedicated",
+                "showReuseMessage": false,
+                "clear": false,
+                "close": true
+            },
+            "problemMatcher": []
+        },
+        {
+            "label": "jmavsim",
+            "type": "shell",
+            "dependsOn": "jmavsim build",
+            "command": "java -Djava.ext.dirs= -jar jmavsim_run.jar -r 250 -lockstep -tcp localhost:4560 -qgc",
+            "options": {
+                "cwd": "${workspaceFolder}/Tools/simulation/jmavsim/jMAVSim/out/production",
+                "env": {
+                    "PX4_SIM_SPEED_FACTOR": "1"
+                }
+            },
+            "isBackground": true,
+            "presentation": {
+                "echo": true,
+                "reveal": "never",
+                "revealProblems": "onProblem",
+                "focus": false,
+                "panel": "dedicated",
+                "showReuseMessage": false,
+                "clear": false,
+                "close": true
+            },
+            "problemMatcher": []
+        },
        {
            "label": "jmavsim kill",
            "type": "shell",
@@ -67,9 +110,9 @@
            "dependsOn":["px4_sitl_cleanup"]
        },
        {
-            "label": "gazebo-classic build",
+            "label": "gazebo build",
            "type": "shell",
-            "command": "make px4_sitl_default sitl_gazebo-classic",
+            "command": "make px4_sitl_default sitl_gazebo",
            "options": {
                "cwd": "${workspaceFolder}"
            },
@@ -86,18 +129,18 @@
            "problemMatcher": [],
        },
        {
-            "label": "gazebo-classic start",
+            "label": "gazebo start",
            "type": "shell",
-            "dependsOn": "gazebo-classic build",
+            "dependsOn": "gazebo build",
            "options": {
                "cwd": "${workspaceFolder}",
                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo-classic",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models",
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models",
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
-            "command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/empty.world",
+            "command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/worlds/empty.world",
            "isBackground": true,
            "presentation": {
                "echo": true,
@@ -127,58 +170,58 @@
                }
            ]
        },
-        {
-            "label": "gazebo-classic",
-            "type": "shell",
-            "dependsOn": "gazebo-classic start",
-            "options": {
-                "cwd": "${workspaceFolder}",
-                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo-classic",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models",
-                    "PX4_SIM_SPEED_FACTOR": "1"
-                }
-            },
-            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris/iris.sdf --model-name=iris -x 1.01 -y 0.98 -z 0.83",
-            "isBackground": false,
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
-                "focus": false,
-                "panel": "dedicated",
-                "showReuseMessage": false,
-                "clear": false,
-                "close": true
-            },
-            "problemMatcher": [
-                {
-                    "pattern": [
-                        {
-                            "regexp": ".",
-                            "file": 1,
-                            "location": 2,
-                            "message": 3
-                        }
-                    ],
-                    "background": {
-                        "activeOnStart": true,
-                        "beginsPattern": ".",
-                        "endsPattern": ".",
-                    }
-                }
-            ]
-        },
        {
            "label": "gazebo",
            "type": "shell",
+            "dependsOn": "gazebo start",
+            "options": {
+                "cwd": "${workspaceFolder}",
+                "env": {
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models",
+                    "PX4_SIM_SPEED_FACTOR": "1"
+                }
+            },
+            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models/iris/iris.sdf --model-name=iris -x 1.01 -y 0.98 -z 0.83",
+            "isBackground": false,
+            "presentation": {
+                "echo": true,
+                "reveal": "never",
+                "revealProblems": "onProblem",
+                "focus": false,
+                "panel": "dedicated",
+                "showReuseMessage": false,
+                "clear": false,
+                "close": true
+            },
+            "problemMatcher": [
+                {
+                    "pattern": [
+                        {
+                            "regexp": ".",
+                            "file": 1,
+                            "location": 2,
+                            "message": 3
+                        }
+                    ],
+                    "background": {
+                        "activeOnStart": true,
+                        "beginsPattern": ".",
+                        "endsPattern": ".",
+                    }
+                }
+            ]
+        },
+        {
+            "label": "ign gazebo",
+            "type": "shell",
            "options": {
                "cwd": "${workspaceFolder}",
                "env": {
                    "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/gz/models",
                }
            },
-            "command": "gz sim -v 4 -r ${workspaceFolder}/Tools/simulation/gz/worlds/${input:gzWorld}.sdf",
+            "command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/gz/worlds/${input:gzWorld}.sdf",
            "isBackground": true,
            "presentation": {
                "echo": true,
@@ -191,10 +234,10 @@
                "close": false
            },
            "problemMatcher": [],
-            "dependsOn":["gazebo kill"]
+            "dependsOn":["ign gazebo kill"]
        },
        {
-            "label": "gazebo-classic kill",
+            "label": "gazebo kill",
            "type": "shell",
            "command": "pkill -9 -f gzserver || true",
            "presentation": {
@@ -211,9 +254,9 @@
            "dependsOn":["px4_sitl_cleanup"]
        },
        {
-            "label": "gazebo kill",
+            "label": "ign gazebo kill",
            "type": "shell",
-            "command": "pkill -9 -f 'gz sim' || true",
+            "command": "pkill -9 -f 'ign gazebo' || true",
            "presentation": {
                "echo": true,
                "reveal": "never",
@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2017 - 2022 PX4 Development Team. All rights reserved.
+# Copyright (c) 2017 - 2019 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
@@ -118,21 +118,7 @@ execute_process(
 	OUTPUT_STRIP_TRAILING_WHITESPACE
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
-
-# git describe to X.Y.Z version
-string(REPLACE "." ";" VERSION_LIST ${PX4_GIT_TAG})
-
-# major version
-list(GET VERSION_LIST 0 PX4_VERSION_MAJOR)
-string(REPLACE "v" "" PX4_VERSION_MAJOR ${PX4_VERSION_MAJOR})
-# minor version
-list(GET VERSION_LIST 1 PX4_VERSION_MINOR)
-# patch version
-list(GET VERSION_LIST 2 PX4_VERSION_PATCH)
-string(REPLACE "-" ";" PX4_VERSION_PATCH ${PX4_VERSION_PATCH})
-list(GET PX4_VERSION_PATCH 0 PX4_VERSION_PATCH)
-
-message(STATUS "PX4 version: ${PX4_GIT_TAG} (${PX4_VERSION_MAJOR}.${PX4_VERSION_MINOR}.${PX4_VERSION_PATCH})")
+message(STATUS "PX4 version: ${PX4_GIT_TAG}")

 define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                 BRIEF_DOCS "PX4 module libs"
@@ -157,17 +143,25 @@ define_property(GLOBAL PROPERTY PX4_SRC_FILES
 # configuration
 #

+set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
+
 include(px4_add_module)
 set(config_module_list)
 set(config_kernel_list)

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

 option(PYTHON_COVERAGE "Python code coverage" OFF)
@@ -213,11 +207,6 @@ if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
 	include(init)
 endif()

-#=============================================================================
-# project definition
-#
-project(px4 CXX C ASM)
-
 # CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
 if(NOT CMAKE_BUILD_TYPE)
 	if(${PX4_PLATFORM} STREQUAL "nuttx")
@@ -246,6 +235,11 @@ endif()
 set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage;AddressSanitizer;UndefinedBehaviorSanitizer")
 message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")

+#=============================================================================
+# project definition
+#
+project(px4 CXX C ASM)
+
 # Check if LTO option and check if toolchain supports it
 if(LTO)
    include(CheckIPOSupported)
@@ -262,9 +256,15 @@ set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
+# For the catkin build process, unset build of dynamically-linked binaries
+# and do not change CMAKE_RUNTIME_OUTPUT_DIRECTORY
+if (NOT CATKIN_DEVEL_PREFIX)
+	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
+	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
+	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
+else()
+	SET(BUILD_SHARED_LIBS OFF)
+endif()

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

@@ -296,10 +296,7 @@ if(${PX4_PLATFORM} STREQUAL "posix")
 	set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 	set(CMAKE_ENABLE_EXPORTS ON)

-	if(CMAKE_BUILD_TYPE MATCHES "Coverage")
-		include(coverage)
-	endif()
-
+	include(coverage)
 	include(sanitizers)

 	# Define GNU standard installation directories
@@ -312,6 +309,21 @@ endif()

 include(ccache)

+#=============================================================================
+# find programs and packages
+#
+
+# see if catkin was invoked to build this
+if (CATKIN_DEVEL_PREFIX)
+	message(STATUS "catkin ENABLED")
+	find_package(catkin REQUIRED)
+	if (catkin_FOUND)
+		catkin_package()
+	else()
+		message(FATAL_ERROR "catkin not found")
+	endif()
+endif()
+
 #=============================================================================
 # get chip and chip manufacturer
 #
@@ -438,10 +450,10 @@ add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)
 add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)

 if(${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT)
-	target_link_libraries(parameters_interface INTERFACE usr_parameters)
-	target_link_libraries(kernel_parameters_interface INTERFACE parameters)
+target_link_libraries(parameters_interface INTERFACE usr_parameters)
+target_link_libraries(kernel_parameters_interface INTERFACE parameters)
 else()
-	target_link_libraries(parameters_interface INTERFACE parameters)
+target_link_libraries(parameters_interface INTERFACE parameters)
 endif()

 # firmware added last to generate the builtin for included modules
@@ -470,20 +482,21 @@ add_custom_command(OUTPUT ${uorb_graph_config}
 add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})


-include(bloaty)
-
-
 include(doxygen)
 include(metadata)
 include(package)

+# print size
+add_custom_target(size
+	COMMAND size $<TARGET_FILE:px4>
+	DEPENDS px4
+	WORKING_DIRECTORY ${PX4_BINARY_DIR}
+	USES_TERMINAL
+	)
+
 # install python requirements using configured python
 add_custom_target(install_python_requirements
 	COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	USES_TERMINAL
 )
-
-if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/finalize.cmake")
-	include(finalize)
-endif()
@@ -17,8 +17,6 @@ menu "Toolchain"
            bool "posix"
        config PLATFORM_QURT
            bool "qurt"
-        config PLATFORM_ROS2
-            bool "ros2"
    endchoice

    config BOARD_PLATFORM
@@ -26,7 +24,6 @@ menu "Toolchain"
        default "nuttx" if PLATFORM_NUTTX
        default "posix" if PLATFORM_POSIX
        default "qurt" if PLATFORM_QURT
-        default "ros2" if PLATFORM_ROS2

    config BOARD_LOCKSTEP
        bool "Force enable lockstep"
@@ -40,8 +37,8 @@ menu "Toolchain"
        help
            forces nolockstep behaviour, despite REPLAY env variable

-    config BOARD_LINUX_TARGET
-        bool "Linux OS Target"
+    config BOARD_LINUX
+        bool "Linux OS"
        depends on PLATFORM_POSIX
        help
            Board Platform is running the Linux operating system
@@ -73,13 +70,6 @@ menu "Toolchain"
        help
            relative path to the ROMFS root directory

-    config BOARD_ROOTFSDIR
-        string "Root directory"
-        depends on PLATFORM_POSIX
-        default "."
-        help
-            Configure the root directory in the file system for PX4 files
-
    config BOARD_IO
        string "IO board name"
        default "px4_io-v2_default"
@@ -181,8 +171,8 @@ menu "Serial ports"
    config BOARD_SERIAL_WIFI
        string "WIFI tty port"

-    config BOARD_SERIAL_EXT2
-        string "EXT2 tty port"
+    config BOARD_SERIAL_PPB
+        string "PPB (Pixhawk Payload Bus) tty port"
 endmenu

 menu "drivers"
@@ -202,6 +192,5 @@ source "src/examples/Kconfig"
 endmenu

 menu "platforms"
-depends on PLATFORM_QURT || PLATFORM_POSIX
 source "platforms/common/Kconfig"
 endmenu
@@ -1,6 +1,6 @@
 BSD 3-Clause License

-Copyright (c) 2012 - 2023, PX4 Development Team
+Copyright (c) 2012 - 2022, PX4 Development Team
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
@@ -324,6 +324,10 @@ px4io_update:
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status

+jlink-nuttx:
+	$(CC) -shared -fPIC platforms/nuttx/NuttX/nuttx/tools/jlink-nuttx.c -o Tools/jlink-nuttx.so
+
+
 bootloaders_update: ark_fmu-v6x_bootloader cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
 	git status

@@ -388,17 +392,17 @@ tests_coverage:


 rostest: px4_sitl_default
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo

 tests_integration: px4_sitl_default
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
 	@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
 	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json

 tests_integration_coverage:
 	@$(MAKE) clean
 	@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
 	@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
 	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
 	@mkdir -p coverage
@@ -408,13 +412,13 @@ tests_mission: rostest
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_missions.test

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

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

@@ -483,14 +487,13 @@ shellcheck_all:
 validate_module_configs:
 	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
 	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" \
-	-not -path "$(SRC_DIR)/src/modules/uxrce_dds_client/dds_topics.yaml" \
-	-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
+	-not -path "$(SRC_DIR)/src/modules/microdds_client/dds_topics.yaml" \
 	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
 	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml

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

 clean:
 	@[ ! -d "$(SRC_DIR)/build" ] || find "$(SRC_DIR)/build" -mindepth 1 -maxdepth 1 -type d -exec sh -c "echo {}; cmake --build {} -- clean || rm -rf {}" \; # use generated build system to clean, wipe build directory if it fails
@@ -508,7 +511,10 @@ submodulesupdate:
 	@git submodule update --init --recursive --jobs 4
 	@git fetch --all --tags --recurse-submodules=yes --jobs=4

-distclean:
+gazeboclean:
+	@rm -rf ~/.gazebo/*
+
+distclean: gazeboclean
 	@git submodule deinit --force $(SRC_DIR)
 	@rm -rf "$(SRC_DIR)/build"
 	@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"
@@ -548,14 +554,6 @@ check_px4: $(call make_list,nuttx,"px4") \
 check_nxp: $(call make_list,nuttx,"nxp") \
 	sizes

-# helpers for running olddefconfig (nuttx) and px4_savedefconfig on all boards
-.PHONY: all_oldconfig all_px4_savedefconfig
-all_oldconfig:
-	@for targ in $(ALL_CONFIG_TARGETS); do $(MAKE) $$targ oldconfig; done
-
-all_px4_savedefconfig:
-	@for targ in $(ALL_CONFIG_TARGETS); do $(MAKE) $$targ px4_savedefconfig; done
-
 .PHONY: failsafe_web run_failsafe_web_server
 failsafe_web:
 	@if ! command -v emcc; then echo -e "Install emscripten first: https://emscripten.org/docs/getting_started/downloads.html\nAnd source the env: source <path>/emsdk_env.sh"; exit 1; fi
@@ -44,89 +44,81 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/con

 ## Maintenance Team

-Note: This is the source of truth for the active maintainers of PX4 ecosystem.
+  * Project: Founder
+    * [Lorenz Meier](https://github.com/LorenzMeier)
+  * Architecture
+    * [Daniel Agar](https://github.com/dagar)
+  * [Dev Call](https://github.com/PX4/PX4-Autopilot/labels/devcall)
+    * [Ramon Roche](https://github.com/mrpollo)
+  * Communication Architecture
+    * [Beat Kueng](https://github.com/bkueng)
+    * [Julian Oes](https://github.com/JulianOes)
+  * UI in QGroundControl
+    * [Gus Grubba](https://github.com/dogmaphobic)
+  * [Multicopter Flight Control](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
+    * [Mathieu Bresciani](https://github.com/bresch)
+  * [Multicopter Software Architecture](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
+    * [Matthias Grob](https://github.com/MaEtUgR)
+  * [VTOL Flight Control](https://github.com/PX4/PX4-Autopilot/labels/vtol)
+    * [Roman Bapst](https://github.com/RomanBapst)
+  * [Fixed Wing Flight Control](https://github.com/PX4/PX4-Autopilot/labels/fixedwing)
+    * [Roman Bapst](https://github.com/RomanBapst)
+  * OS / NuttX
+    * [David Sidrane](https://github.com/davids5)
+  * Driver Architecture
+    * [Daniel Agar](https://github.com/dagar)
+  * Commander Architecture
+    * [Julian Oes](https://github.com/julianoes)
+  * [UAVCAN](https://github.com/PX4/PX4-Autopilot/labels/uavcan)
+    * [Daniel Agar](https://github.com/dagar)
+  * [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
+    * [Paul Riseborough](https://github.com/priseborough)
+  * Vision based navigation and Obstacle Avoidance
+    * [Markus Achtelik](https://github.com/markusachtelik)
+  * DDS/ROS2 Interface
+    * [Nuno Marques](https://github.com/TSC21)

-| Sector | Maintainer |
-|---|---|
-| Founder | [Lorenz Meier](https://github.com/LorenzMeier) |
-| Architecture | [Daniel Agar](https://github.com/dagar) / [Beat Küng](https://github.com/bkueng)|
-| State Estimation | [Mathieu Bresciani](https://github.com/bresch) / [Paul Riseborough](https://github.com/priseborough) |
-| OS/NuttX | [David Sidrane](https://github.com/davids5) |
-| Drivers | [Daniel Agar](https://github.com/dagar) |
-| Simulation | [Jaeyoung Lim](https://github.com/Jaeyoung-Lim) |
-| ROS2 | [Beniamino Pozzan](https://github.com/beniaminopozzan) |
-| Community QnA Call | [Ramon Roche](https://github.com/mrpollo) |
-| [Documentation](https://docs.px4.io/main/en/) | [Hamish Willee](https://github.com/hamishwillee) |
-
-| Vehicle Type | Maintainer |
-|---|---|
-| Multirotor | [Matthias Grob](https://github.com/MaEtUgR) |
-| Fixed Wing | [Thomas Stastny](https://github.com/tstastny) |
-| Hybrid VTOL | [Silvan Fuhrer](https://github.com/sfuhrer) |
-| Boat | x |
-| Rover | x |
-
-See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github). However it may be not up to date.
+See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github).

 ## Supported Hardware

-Pixhawk standard boards and proprietary boards are shown below (discontinued boards aren't listed).
-
-For the most up to date information, please visit [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
+This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.

 ### Pixhawk Standard Boards
+  * FMUv6X and FMUv6U (STM32H7, 2021)
+    * Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
+  * FMUv5 and FMUv5X (STM32F7, 2019/20)
+    * [Pixhawk 4 (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4.html)
+    * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4_mini.html)
+    * [CUAV V5+ (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_plus.html)
+    * [CUAV V5 nano (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_nano.html)
+    * [Auterion Skynode (FMUv5X)](https://docs.auterion.com/skynode)
+  * FMUv4 (STM32F4, 2015)
+    * [Pixracer](https://docs.px4.io/main/en/flight_controller/pixracer.html)
+    * [Pixhawk 3 Pro](https://docs.px4.io/main/en/flight_controller/pixhawk3_pro.html)
+  * FMUv3 (STM32F4, 2014)
+    * [Pixhawk 2](https://docs.px4.io/main/en/flight_controller/pixhawk-2.html)
+    * [Pixhawk Mini](https://docs.px4.io/main/en/flight_controller/pixhawk_mini.html)
+    * [CUAV Pixhack v3](https://docs.px4.io/main/en/flight_controller/pixhack_v3.html)
+  * FMUv2 (STM32F4, 2013)
+    * [Pixhawk](https://docs.px4.io/main/en/flight_controller/pixhawk.html)
+    * [Pixfalcon](https://docs.px4.io/main/en/flight_controller/pixfalcon.html)

-These boards fully comply with Pixhawk Standard, and are maintained by the PX4-Autopilot maintainers and Dronecode team
+### Manufacturer and Community supported
+  * [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html)
+  * [Hex Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
+  * [Hex Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
+  * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
+  * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
+  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/main/en/complete_vehicles/crazyflie2.html)
+  * [Omnibus F4 SD](https://docs.px4.io/main/en/flight_controller/omnibus_f4_sd.html)
+  * [Holybro Kakute F7](https://docs.px4.io/main/en/flight_controller/kakutef7.html)
+  * [Raspberry PI with Navio 2](https://docs.px4.io/main/en/flight_controller/raspberry_pi_navio2.html)

-* FMUv6X and FMUv6C
-  * [CUAV Pixahwk V6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/cuav_pixhawk_v6x.html)
-  * [Holybro Pixhawk 6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/pixhawk6x.html)
-  * [Holybro Pixhawk 6C (FMUv6C)](https://docs.px4.io/main/en/flight_controller/pixhawk6c.html)
-  * [Holybro Pix32 v6 (FMUv6C)](https://docs.px4.io/main/en/flight_controller/holybro_pix32_v6.html)
-* FMUv5 and FMUv5X (STM32F7, 2019/20)
-  * [Pixhawk 4 (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4.html)
-  * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4_mini.html)
-  * [CUAV V5+ (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_plus.html)
-  * [CUAV V5 nano (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_nano.html)
-  * [Auterion Skynode (FMUv5X)](https://docs.auterion.com/avionics/skynode)
-* FMUv4 (STM32F4, 2015)
-  * [Pixracer](https://docs.px4.io/main/en/flight_controller/pixracer.html)
-  * [Pixhawk 3 Pro](https://docs.px4.io/main/en/flight_controller/pixhawk3_pro.html)
-* FMUv3 (STM32F4, 2014)
-  * [Pixhawk 2](https://docs.px4.io/main/en/flight_controller/pixhawk-2.html)
-  * [Pixhawk Mini](https://docs.px4.io/main/en/flight_controller/pixhawk_mini.html)
-  * [CUAV Pixhack v3](https://docs.px4.io/main/en/flight_controller/pixhack_v3.html)
-* FMUv2 (STM32F4, 2013)
-  * [Pixhawk](https://docs.px4.io/main/en/flight_controller/pixhawk.html)
-
-### Manufacturer supported
-
-These boards are maintained to be compatible with PX4-Autopilot by the Manufacturers.
-
-* [ARK Electronics ARKV6X](https://docs.px4.io/main/en/flight_controller/arkv6x.html)
-* [CubePilot Cube Orange+](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orangeplus.html)
-* [CubePilot Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
-* [CubePilot Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
-* [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html)
-* [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
-* [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
-* [Holybro Kakute F7](https://docs.px4.io/main/en/flight_controller/kakutef7.html)
-
-### Community supported
-
-These boards don't fully comply industry standards, and thus is solely maintained by the PX4 publc community members.
-
-### Experimental
-
-These boards are nor maintained by PX4 team nor Manufacturer, and is not guaranteed to be compatible with up to date PX4 releases.
-
-* [Raspberry PI with Navio 2](https://docs.px4.io/main/en/flight_controller/raspberry_pi_navio2.html)
-* [Bitcraze Crazyflie 2.0](https://docs.px4.io/main/en/complete_vehicles/crazyflie2.html)
+Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).

 ## Project Roadmap

-**Note: Outdated**
-
 A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).

 ## Project Governance
@@ -137,6 +137,11 @@ add_custom_command(
 	COMMENT "ROMFS: copying, generating airframes"
 	)

+if(EXISTS ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)
+	set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
+	configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
+endif()
+
 # copy extras into ROMFS
 set(extras_dependencies)

@@ -203,24 +208,6 @@ endforeach()
 set(OPTIONAL_BOARD_EXTRAS)
 file(GLOB OPTIONAL_BOARD_EXTRAS ${PX4_BOARD_DIR}/extras/*)

-# bootloader (optional)
-#  - if systemcmds/bl_update included and board bootloader available then generate rc.board_bootloader_upgrade and copy bootloader binary
-#  - otherwise remove bootloader binary from extras in final ROMFS
-foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
-	file(RELATIVE_PATH extra_file_base_name ${PX4_BOARD_DIR}/extras/ ${board_extra_file})
-	if(${extra_file_base_name} MATCHES "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
-		if(CONFIG_SYSTEMCMDS_BL_UPDATE)
-			# generate rc.board_bootloader_upgrade
-			set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
-			configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
-		else()
-			# remove bootloader from extras
-			list(REMOVE_ITEM OPTIONAL_BOARD_EXTRAS ${board_extra_file})
-		endif()
-
-	endif()
-endforeach()
-
 foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})

 	if(EXISTS "${board_extra_file}")
@@ -1,30 +0,0 @@
-#!/bin/sh
-#
-# @name Generic Iris Quadrotor SITL
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
@@ -1,32 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL jMAVSim
-#
-# @type Quadrotor Wide
-#
-# @maintainer Julian Oes <julian@oes.ch>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-
@@ -1,33 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (foggy_lidar)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-
-param set-default EKF2_RNG_A_HMAX 10
-
@@ -0,0 +1,11 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (foggy_lidar)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+param set-default EKF2_RNG_A_HMAX 10
+
@@ -12,14 +12,13 @@
 PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadx}

-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 1
-param set-default SENS_EN_MAGSIM 1
-
 # disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
+param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

 param set-default CA_ROTOR_COUNT 4
@@ -42,3 +41,4 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

 param set SIH_VEHICLE_TYPE 0
+
@@ -11,17 +11,13 @@
 PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=airplane}

-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 1
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 1
-
 # disable some checks to allow to fly:
 # - with usb
 param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
+param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

 param set-default BAT_N_CELLS 3
@@ -11,13 +11,6 @@
 PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}

-param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
-
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 1
-param set-default SENS_EN_MAGSIM 1
-
-param set-default VT_B_TRANS_DUR 5
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 0
 param set-default VT_FW_DIFTHR_EN 1
@@ -28,9 +21,12 @@ param set-default MC_PITCH_P 5
 param set-default MAV_TYPE 19

 # disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
+param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

 param set-default BAT_N_CELLS 3
@@ -53,7 +49,7 @@ param set-default CA_AIRFRAME 4

 param set-default CA_ROTOR_COUNT 2
 param set-default CA_ROTOR0_PX 0
-param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR0_PY 2
 param set-default CA_ROTOR0_KM 0.05
 param set-default CA_ROTOR1_PX 0
 param set-default CA_ROTOR1_PY -1
@@ -1,47 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Optical Flow)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-
-# EKF2
-param set-default EKF2_GPS_CTRL 0
-param set-default EKF2_EVP_NOISE 0.05
-param set-default EKF2_EVA_NOISE 0.05
-param set-default EKF2_OF_CTRL 1
-
-# LPE: Flow-only mode
-param set-default LPE_FUSION 242
-param set-default LPE_FAKE_ORIGIN 1
-
-param set-default MPC_ALT_MODE 2
-
-param set-default SENS_FLOW_ROT 6
-param set-default SENS_FLOW_MINHGT 0.7
-param set-default SENS_FLOW_MAXHGT 3.0
-param set-default SENS_FLOW_MAXR 2.5
@@ -0,0 +1,25 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Optical Flow)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+# EKF2
+param set-default EKF2_AID_MASK 2
+param set-default EKF2_GPS_CTRL 0
+param set-default EKF2_EVP_NOISE 0.05
+param set-default EKF2_EVA_NOISE 0.05
+
+# LPE: Flow-only mode
+param set-default LPE_FUSION 242
+param set-default LPE_FAKE_ORIGIN 1
+
+param set-default MPC_ALT_MODE 2
+
+param set-default SENS_FLOW_ROT 6
+param set-default SENS_FLOW_MINHGT 0.7
+param set-default SENS_FLOW_MAXHGT 3.0
+param set-default SENS_FLOW_MAXR 2.5
@@ -1,38 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (irlock)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-
-# enable fusion of landing target velocity
-param set-default LTEST_MODE 1
-param set-default PLD_HACC_RAD 0.1
-param set-default RTL_PLD_MD 2
-
-# Start up Landing Target Estimator module
-landing_target_estimator start
@@ -0,0 +1,16 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (irlock)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+# enable fusion of landing target velocity
+param set-default LTEST_MODE 1
+param set-default PLD_HACC_RAD 0.1
+param set-default RTL_PLD_MD 2
+
+# Start up Landing Target Estimator module
+landing_target_estimator start
@@ -1,33 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (rplidar)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-
-param set-default LPE_FUSION 242
-
@@ -0,0 +1,11 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (rplidar)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+param set-default LPE_FUSION 242
+
@@ -5,12 +5,12 @@
 # @type Quadrotor Wide
 #

-. ${R}etc/init.d-posix/airframes/10016_gazebo-classic_iris
+. ${R}etc/init.d-posix/airframes/10016_iris

-# EKF2: Vision position and heading, no GPS
+# EKF2: Vision position and heading
+param set-default EKF2_AID_MASK 24
 param set-default EKF2_EV_DELAY 5
 param set-default EKF2_EV_CTRL 15
-param set-default EKF2_HGT_REF 3
 param set-default EKF2_GPS_CTRL 0

 # LPE: Vision + baro
@@ -1,32 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-
-param set-default COM_OBS_AVOID 1
@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+param set-default COM_OBS_AVOID 1
+param set-default MPC_XY_CRUISE 5.0
+
@@ -1,40 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Optical Flow)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-
-# EKF2
-param set-default EKF2_GPS_CTRL 0
-param set-default EKF2_OF_CTRL 1
-
-# LPE: Flow-only mode
-param set-default LPE_FUSION 242
-param set-default LPE_FAKE_ORIGIN 1
-
-param set-default MPC_ALT_MODE 2
@@ -0,0 +1,18 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Optical Flow)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+# EKF2
+param set-default EKF2_AID_MASK 2
+param set-default EKF2_GPS_CTRL 0
+
+# LPE: Flow-only mode
+param set-default LPE_FUSION 242
+param set-default LPE_FAKE_ORIGIN 1
+
+param set-default MPC_ALT_MODE 2
@@ -0,0 +1,13 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Vision Velocity)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+# EKF2: Vision velocity and heading
+param set-default EKF2_AID_MASK 272
+param set-default EKF2_EV_DELAY 5
+param set-default EKF2_GPS_CTRL 0
@@ -1,33 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Dual GPS)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-
-# EKF2: Multi GPS blending
-param set-default SENS_GPS_MASK 7
@@ -0,0 +1,11 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Dual GPS)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+# EKF2: Multi GPS blending
+param set-default SENS_GPS_MASK 7
@@ -5,6 +5,9 @@

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

+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default CA_AIRFRAME 7
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_R_REV 255
@@ -5,6 +5,9 @@

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

+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default CA_AIRFRAME 7

 param set-default CA_ROTOR_COUNT 8
@@ -5,9 +5,12 @@

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

+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
+
 param set-default FW_LND_ANG 8

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
@@ -1,79 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL with camera
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-
-
-param set-default FW_LND_ANG 8
-
-param set-default NPFG_PERIOD 12
-
-param set-default FW_PR_P 0.9
-param set-default FW_PR_FF 0.5
-param set-default FW_PR_I 0.5
-param set-default TRIM_PITCH -0.15
-
-param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MIN -15
-
-param set-default FW_RR_FF 0.5
-param set-default FW_RR_P 0.3
-param set-default FW_RR_I 0.5
-
-param set-default FW_YR_FF 0.5
-param set-default FW_YR_P 0.6
-param set-default FW_YR_I 0.5
-
-param set-default FW_SPOILERS_LND 0.4
-
-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-param set-default FW_THR_TRIM 0.25
-
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
-
-param set-default FW_W_EN 1
-
-param set-default MIS_LTRMIN_ALT 30
-param set-default MIS_TAKEOFF_ALT 30
-
-param set-default NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
-
-param set-default RWTO_TKOFF 1
-
-param set-default CA_AIRFRAME 1
-
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-
-param set-default CA_SV_CS_COUNT 6
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4
-param set-default CA_SV_CS4_TYPE 9
-param set-default CA_SV_CS5_TYPE 10
-param set-default PWM_MAIN_FUNC3 204
-param set-default PWM_MAIN_FUNC4 205
-param set-default PWM_MAIN_FUNC5 101
-param set-default PWM_MAIN_FUNC6 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_FUNC8 203
-param set-default PWM_MAIN_FUNC9 206
-param set-default PWM_MAIN_REV 256
-
-# Camera trigger interface is MAVLink
-param set-default TRIG_INTERFACE 3
-
-# Distance trigger mode enabled
-param set-default TRIG_MODE 4
@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Plane SITL with camera
+#
+
+. ${R}etc/init.d-posix/airframes/1030_plane
+
+# Camera trigger interface is MAVLink
+param set-default TRIG_INTERFACE 3
+
+# Distance trigger mode enabled
+param set-default TRIG_MODE 4
@@ -1,73 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL with catapult
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default FW_LAUN_DETCN_ON 1
-param set-default FW_THR_IDLE 0.1 # needs to be running before throw as that's how gazebo detects arming
-
-param set-default FW_LND_ANG 8
-
-param set-default NPFG_PERIOD 12
-
-param set-default FW_PR_P 0.9
-param set-default FW_PR_FF 0.5
-param set-default FW_PR_I 0.5
-param set-default TRIM_PITCH -0.15
-
-param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MIN -15
-
-param set-default FW_RR_FF 0.5
-param set-default FW_RR_P 0.3
-param set-default FW_RR_I 0.5
-
-param set-default FW_YR_FF 0.5
-param set-default FW_YR_P 0.6
-param set-default FW_YR_I 0.5
-
-param set-default FW_SPOILERS_LND 0.4
-
-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-param set-default FW_THR_TRIM 0.25
-
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
-
-param set-default FW_W_EN 1
-
-param set-default MIS_LTRMIN_ALT 30
-param set-default MIS_TAKEOFF_ALT 30
-
-param set-default NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
-
-param set-default CA_AIRFRAME 1
-
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-
-param set-default CA_SV_CS_COUNT 6
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4
-param set-default CA_SV_CS4_TYPE 9
-param set-default CA_SV_CS5_TYPE 10
-param set-default PWM_MAIN_FUNC3 204
-param set-default PWM_MAIN_FUNC4 205
-param set-default PWM_MAIN_FUNC5 101
-param set-default PWM_MAIN_FUNC6 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_FUNC8 203
-param set-default PWM_MAIN_FUNC9 206
-param set-default PWM_MAIN_REV 256
-
@@ -0,0 +1,9 @@
+#!/bin/sh
+#
+# @name Plane SITL with catapult
+#
+
+. ${R}etc/init.d-posix/airframes/1030_plane
+
+param set-default RWTO_TKOFF 0
+
@@ -10,7 +10,7 @@ param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5

-param set-default NPFG_PERIOD 25
+param set-default FW_L1_PERIOD 25

 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
@@ -25,6 +25,7 @@ param set-default FW_W_EN 1

 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -10,7 +10,7 @@ param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5

-param set-default NPFG_PERIOD 25
+param set-default FW_L1_PERIOD 25

 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
@@ -25,6 +25,7 @@ param set-default FW_W_EN 1

 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -5,10 +5,13 @@

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

-
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_ANG 8

+param set-default FW_L1_PERIOD 15
+
 param set-default FW_P_TC 0.5
 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
@@ -19,7 +22,7 @@ param set-default FW_RR_FF 0.20
 param set-default FW_RR_I 0.02
 param set-default FW_RR_P 0.22

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_W_EN 1

@@ -10,7 +10,7 @@ param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5

-param set-default NPFG_PERIOD 25
+param set-default FW_L1_PERIOD 25

 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
@@ -25,6 +25,7 @@ param set-default FW_W_EN 1

 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -56,3 +57,4 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
+
@@ -5,11 +5,12 @@

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

-
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_ANG 8

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.2
@@ -25,6 +26,7 @@ param set-default FW_THR_TRIM 0.25

 param set-default FW_T_ALT_TC 2
 param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
 param set-default FW_T_TAS_TC 2
@@ -1,73 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL with catapult
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-
-
-param set-default FW_LND_ANG 8
-
-param set-default NPFG_PERIOD 12
-
-param set-default FW_PR_P 0.9
-param set-default FW_PR_FF 0.5
-param set-default FW_PR_I 0.5
-param set-default TRIM_PITCH -0.15
-
-param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MIN -15
-
-param set-default FW_RR_FF 0.5
-param set-default FW_RR_P 0.3
-param set-default FW_RR_I 0.5
-
-param set-default FW_YR_FF 0.5
-param set-default FW_YR_P 0.6
-param set-default FW_YR_I 0.5
-
-param set-default FW_SPOILERS_LND 0.4
-
-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-param set-default FW_THR_TRIM 0.25
-
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
-
-param set-default FW_W_EN 1
-
-param set-default MIS_LTRMIN_ALT 30
-param set-default MIS_TAKEOFF_ALT 30
-
-param set-default NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
-
-param set-default CA_AIRFRAME 1
-
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-
-param set-default CA_SV_CS_COUNT 6
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4
-param set-default CA_SV_CS4_TYPE 9
-param set-default CA_SV_CS5_TYPE 10
-param set-default PWM_MAIN_FUNC3 204
-param set-default PWM_MAIN_FUNC4 205
-param set-default PWM_MAIN_FUNC5 101
-param set-default PWM_MAIN_FUNC6 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_FUNC8 203
-param set-default PWM_MAIN_FUNC9 206
-param set-default PWM_MAIN_REV 256
-
-param set-default FW_THR_TRIM 0.0
@@ -0,0 +1,9 @@
+#!/bin/sh
+#
+# @name Plane SITL with catapult
+#
+
+. ${R}etc/init.d-posix/airframes/1030_plane
+
+param set-default FW_THR_TRIM 0.0
+param set-default RWTO_TKOFF 0
@@ -5,12 +5,13 @@

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

-
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

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

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_MAN_P_MAX 30

@@ -1,63 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default FW_LND_ANG 5
-param set-default FW_LND_FL_PMIN 9.5
-param set-default FW_LND_FL_PMAX 20
-param set-default FW_LND_FLALT 5
-
-param set-default NPFG_PERIOD 25
-
-param set-default FW_PR_FF 0.40
-param set-default FW_PR_I 0.05
-param set-default FW_PR_P 0.05
-
-param set-default FW_R_TC 0.45
-param set-default FW_RR_FF 0.40
-param set-default FW_RR_I 0.132
-param set-default FW_RR_P 0.085
-
-param set-default FW_W_EN 1
-
-param set-default MIS_LTRMIN_ALT 30
-param set-default MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500
-
-param set-default NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
-
-param set-default RWTO_TKOFF 1
-
-param set-default RWTO_MAX_PITCH 20
-
-param set-default RWTO_PSP 8
-param set-default RWTO_AIRSPD_SCL 1.8
-
-param set-default CA_AIRFRAME 1
-
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-
-param set-default CA_SV_CS_COUNT 6
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4
-param set-default CA_SV_CS4_TYPE 9
-param set-default CA_SV_CS5_TYPE 10
-param set-default PWM_MAIN_FUNC3 204
-param set-default PWM_MAIN_FUNC4 205
-param set-default PWM_MAIN_FUNC5 101
-param set-default PWM_MAIN_FUNC6 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_FUNC8 203
-param set-default PWM_MAIN_FUNC9 206
-param set-default PWM_MAIN_REV 256
@@ -47,7 +47,7 @@ param set-default PWM_MAIN_FUNC6 201
 param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
@@ -67,6 +67,7 @@ param set-default MC_YAW_P 1.6

 param set-default MIS_TAKEOFF_ALT 10

+param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_XY_P 0.8
 param set-default MPC_XY_VEL_P_ACC 3
 param set-default MPC_XY_VEL_I_ACC 4
@@ -76,5 +77,6 @@ param set-default NAV_ACC_RAD 5

 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75
+param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2

@@ -9,13 +9,11 @@

 param set-default MAV_TYPE 20

-param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
-
 param set-default CA_AIRFRAME 4

 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 1
-param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR0_PY 2
 param set-default CA_ROTOR0_KM 0.05
 param set-default CA_ROTOR1_PX -1
 param set-default CA_ROTOR1_PY -1
@@ -44,36 +42,37 @@ param set-default PWM_MAIN_FUNC6 201
 param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_REV 96 # invert both elevons

-# Single-EKF (for replay)
-param set-default EKF2_MULTI_IMU 0
-param set-default SENS_IMU_MODE 1
-
-param set-default FW_P_TC 0.6
-
-param set-default FW_PR_FF 0.1
+param set-default FW_L1_PERIOD 12
+param set-default FW_PR_I 0.2
+param set-default FW_PR_P 0.2
 param set-default FW_PSP_OFF 2
-param set-default FW_RR_FF 0.1
-param set-default FW_RR_I 0.2
-param set-default FW_RR_P 0.3
-param set-default FW_THR_TRIM 0.35
-param set-default FW_THR_MAX 0.8
+param set-default FW_P_LIM_MIN -15
+param set-default FW_RR_P 0.2
+param set-default FW_THR_TRIM 0.33
+param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
-param set-default FW_T_CLMB_MAX 6
+param set-default FW_T_ALT_TC 2
+param set-default FW_T_CLMB_MAX 8
 param set-default FW_T_HRATE_FF 0.5
-param set-default FW_T_SINK_MAX 3
-param set-default FW_T_SINK_MIN 1.6
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_TAS_TC 2

 param set-default MC_AIRMODE 1
-param set-default MC_ROLL_P 3
-param set-default MC_PITCH_P 3
 param set-default MC_ROLLRATE_P 0.3
-param set-default MC_PITCHRATE_P 0.3

-param set-default VT_ARSP_TRANS 10
-param set-default VT_B_TRANS_DUR 5
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_XY_P 0.8
+param set-default MPC_XY_VEL_P_ACC 3
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_D_ACC 0.1
+
+param set-default NAV_ACC_RAD 5
+
 param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_S_Y 1
+param set-default VT_FW_DIFTHR_S_Y 0.5
 param set-default VT_F_TRANS_DUR 1.5
+param set-default VT_F_TRANS_THR 0.7
 param set-default VT_TYPE 0

 param set-default WV_EN 0
@@ -46,7 +46,7 @@ param set-default PWM_MAIN_FUNC7 201
 param set-default PWM_MAIN_FUNC8 202
 param set-default PWM_MAIN_FUNC9 203

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
@@ -70,6 +70,7 @@ param set-default MPC_XY_VEL_D_ACC 0.1

 param set-default MIS_TAKEOFF_ALT 10

+param set-default VT_B_TRANS_DUR 8
 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_FWD_THRUST_SC 0.6
 param set-default VT_TILT_TRANS 0.6
@@ -1,91 +0,0 @@
-#!/bin/sh
-#
-# @name Standard VTOL
-#
-# @type Standard VTOL
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-# TODO: Enable motor failure detection when the
-# VTOL no longer reports 0A for all ESCs in SITL
-param set-default FD_ACT_EN 0
-param set-default FD_ACT_MOT_TOUT 500
-
-param set-default CA_AIRFRAME 2
-
-param set-default CA_ROTOR_COUNT 5
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
-param set-default CA_ROTOR4_PX 0.2
-
-param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 105
-param set-default PWM_MAIN_FUNC6 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_FUNC8 203
-
-param set-default NPFG_PERIOD 12
-param set-default FW_PR_FF 0.2
-param set-default FW_PR_P 0.9
-param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MIN -15
-param set-default FW_RR_FF 0.1
-param set-default FW_RR_P 0.3
-param set-default FW_THR_TRIM 0.25
-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
-
-param set-default MC_ROLLRATE_P 0.3
-param set-default MC_YAW_P 1.6
-
-param set-default MIS_TAKEOFF_ALT 10
-
-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 3
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_D_ACC 0.1
-
-param set-default NAV_ACC_RAD 5
-
-param set-default VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_TYPE 2
-
-
-# Gimbal
-param set-default PWM_MAIN_FUNC9 420
-param set-default PWM_MAIN_FUNC10 421
-param set-default PWM_MAIN_FUNC11 422
-
-param set-default RC_MAP_AUX1 8
-param set-default RC_MAP_AUX2 9
-param set-default RC_MAP_AUX3 10
-
@@ -0,0 +1,18 @@
+#!/bin/sh
+#
+# @name Standard VTOL
+#
+# @type Standard VTOL
+#
+
+. ${R}etc/init.d-posix/airframes/1040_standard_vtol
+
+# Gimbal
+param set-default PWM_MAIN_FUNC9 420
+param set-default PWM_MAIN_FUNC10 421
+param set-default PWM_MAIN_FUNC11 422
+
+param set-default RC_MAP_AUX1 8
+param set-default RC_MAP_AUX2 9
+param set-default RC_MAP_AUX3 10
+
@@ -1,76 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL with downward facing LIDAR.
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-
-
-param set-default FW_LND_ANG 8
-
-param set-default NPFG_PERIOD 12
-
-param set-default FW_PR_P 0.9
-param set-default FW_PR_FF 0.5
-param set-default FW_PR_I 0.5
-param set-default TRIM_PITCH -0.15
-
-param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MIN -15
-
-param set-default FW_RR_FF 0.5
-param set-default FW_RR_P 0.3
-param set-default FW_RR_I 0.5
-
-param set-default FW_YR_FF 0.5
-param set-default FW_YR_P 0.6
-param set-default FW_YR_I 0.5
-
-param set-default FW_SPOILERS_LND 0.4
-
-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-param set-default FW_THR_TRIM 0.25
-
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
-
-param set-default FW_W_EN 1
-
-param set-default MIS_LTRMIN_ALT 30
-param set-default MIS_TAKEOFF_ALT 30
-
-param set-default NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
-
-param set-default RWTO_TKOFF 1
-
-param set-default CA_AIRFRAME 1
-
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-
-param set-default CA_SV_CS_COUNT 6
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4
-param set-default CA_SV_CS4_TYPE 9
-param set-default CA_SV_CS5_TYPE 10
-param set-default PWM_MAIN_FUNC3 204
-param set-default PWM_MAIN_FUNC4 205
-param set-default PWM_MAIN_FUNC5 101
-param set-default PWM_MAIN_FUNC6 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_FUNC8 203
-param set-default PWM_MAIN_FUNC9 206
-param set-default PWM_MAIN_REV 256
-
-
-param set-default FW_LND_USETER 1
@@ -0,0 +1,9 @@
+#!/bin/sh
+#
+# @name Plane SITL with downward facing LIDAR.
+#
+
+. ${R}etc/init.d-posix/airframes/1030_plane
+
+param set-default FW_LND_USETER 1
+
@@ -1,74 +0,0 @@
-#!/bin/sh
-#
-# @name Quadrotor + Tailsitter
-#
-# @type VTOL Quad Tailsitter
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default MAV_TYPE 20
-
-param set-default CA_AIRFRAME 4
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.23
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.23
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.23
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.23
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default CA_SV_CS_COUNT 0
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 0
-
-parm set-default FD_FAIL_R 70
-
-param set-default FW_P_TC 0.6
-
-param set-default FW_PR_I 0.3
-param set-default FW_PR_P 0.5
-param set-default FW_PSP_OFF 2
-param set-default FW_RR_FF 0.1
-param set-default FW_RR_I 0.1
-param set-default FW_RR_P 0.2
-param set-default FW_YR_FF 0 # make yaw rate controller very weak, only keep default P
-param set-default FW_YR_I 0
-param set-default FW_THR_TRIM 0.35
-param set-default FW_THR_MAX 0.8
-param set-default FW_THR_MIN 0.05
-param set-default FW_T_CLMB_MAX 6
-param set-default FW_T_HRATE_FF 0.5
-param set-default FW_T_SINK_MAX 3
-param set-default FW_T_SINK_MIN 1.6
-param set-default FW_AIRSPD_STALL 10
-param set-default FW_AIRSPD_MIN 14
-param set-default FW_AIRSPD_TRIM 18
-param set-default FW_AIRSPD_MAX 22
-
-param set-default MC_AIRMODE 2
-param set-default MAN_ARM_GESTURE 0 # required for yaw airmode
-param set-default MC_ROLL_P 3
-param set-default MC_PITCH_P 3
-param set-default MC_ROLLRATE_P 0.3
-param set-default MC_PITCHRATE_P 0.3
-
-param set-default VT_ARSP_TRANS 15
-param set-default VT_B_TRANS_DUR 5
-param set-default VT_FW_DIFTHR_EN 7
-param set-default VT_FW_DIFTHR_S_Y 1
-param set-default VT_F_TRANS_DUR 1.5
-param set-default VT_TYPE 0
-
-param set-default WV_EN 0
@@ -18,9 +18,12 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

+param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

@@ -18,9 +18,12 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

+param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

@@ -25,9 +25,12 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

+param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 3.0

@@ -18,9 +18,12 @@ param set-default GND_THR_CRUISE 0.85
 param set-default GND_THR_MAX 1
 param set-default GND_THR_MIN 0

+param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

@@ -26,6 +26,7 @@ param set-default NAV_ACC_RAD 20
 param set-default NAV_DLL_ACT 2
 param set-default NAV_LOITER_RAD 50

+param set-default RWTO_TKOFF 0
 # Parameters related to autogyro takeoff PR
 #param set-default AG_TKOFF 1
 #param set-default AG_PROT_TYPE 1
@@ -11,12 +11,6 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}

-param set-default SIM_GZ_EN 1
-
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 4

@@ -36,19 +30,19 @@ param set-default CA_ROTOR3_PX -0.13
 param set-default CA_ROTOR3_PY 0.20
 param set-default CA_ROTOR3_KM -0.05

-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_FUNC4 104
+param set-default SIM_GZ_FUNC1 101
+param set-default SIM_GZ_FUNC2 102
+param set-default SIM_GZ_FUNC3 103
+param set-default SIM_GZ_FUNC4 104

-param set-default SIM_GZ_EC_MIN1 150
-param set-default SIM_GZ_EC_MIN2 150
-param set-default SIM_GZ_EC_MIN3 150
-param set-default SIM_GZ_EC_MIN4 150
+param set-default SIM_GZ_MIN1 150
+param set-default SIM_GZ_MIN2 150
+param set-default SIM_GZ_MIN3 150
+param set-default SIM_GZ_MIN4 150

-param set-default SIM_GZ_EC_MAX1 1000
-param set-default SIM_GZ_EC_MAX2 1000
-param set-default SIM_GZ_EC_MAX3 1000
-param set-default SIM_GZ_EC_MAX4 1000
+param set-default SIM_GZ_MAX1 1000
+param set-default SIM_GZ_MAX2 1000
+param set-default SIM_GZ_MAX3 1000
+param set-default SIM_GZ_MAX4 1000

 param set-default MPC_THR_HOVER 0.60
@@ -1,10 +0,0 @@
-#!/bin/sh
-#
-# @name Gazebo x500 depth
-#
-# @type Quadrotor
-#
-
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_depth}
-
-. ${R}etc/init.d-posix/airframes/4001_gz_x500
@@ -1,89 +0,0 @@
-#!/bin/sh
-#
-# @name Gazebo rc_cessna
-# @type Fixedwing
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}
-
-param set-default SIM_GZ_EN 1
-
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 1
-
-
-
-param set-default FW_LND_ANG 8
-
-param set-default NPFG_PERIOD 12
-
-param set-default FW_PR_P 0.9
-param set-default FW_PR_FF 0.5
-param set-default FW_PR_I 0.5
-param set-default TRIM_PITCH -0.15
-
-param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MIN -15
-
-param set-default FW_RR_FF 0.5
-param set-default FW_RR_P 0.3
-param set-default FW_RR_I 0.5
-
-param set-default FW_YR_FF 0.5
-param set-default FW_YR_P 0.6
-param set-default FW_YR_I 0.5
-
-param set-default FW_SPOILERS_LND 0.4
-
-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-param set-default FW_THR_TRIM 0.25
-
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
-
-param set-default FW_W_EN 1
-
-param set-default MIS_TAKEOFF_ALT 30
-
-param set-default NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
-
-param set-default RWTO_TKOFF 1
-
-param set-default CA_AIRFRAME 1
-
-param set-default COM_PREARM_MODE 2
-
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-
-param set-default CA_SV_CS_COUNT 6
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4
-param set-default CA_SV_CS4_TYPE 9
-param set-default CA_SV_CS5_TYPE 10
-
-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_MIN1 0
-param set-default SIM_GZ_EC_MAX1 1000
-
-param set-default SIM_GZ_SV_FUNC1 201
-param set-default SIM_GZ_SV_FUNC2 202
-param set-default SIM_GZ_SV_FUNC3 203
-param set-default SIM_GZ_SV_FUNC4 204
-param set-default SIM_GZ_SV_FUNC5 205
-param set-default SIM_GZ_SV_FUNC6 206
@@ -1,109 +0,0 @@
-#!/bin/sh
-#
-# @name Standard VTOL
-#
-# @type Standard VTOL
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
-
-param set-default SIM_GZ_EN 1
-
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 1
-
-# TODO: Enable motor failure detection when the
-# VTOL no longer reports 0A for all ESCs in SITL
-param set-default FD_ACT_EN 0
-param set-default FD_ACT_MOT_TOUT 500
-
-param set-default CA_AIRFRAME 2
-
-param set-default COM_PREARM_MODE 2
-
-param set-default CA_ROTOR_COUNT 5
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
-param set-default CA_ROTOR4_PX 0.2
-
-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_MIN1 10
-param set-default SIM_GZ_EC_MAX1 1500
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_MIN2 10
-param set-default SIM_GZ_EC_MAX2 1500
-param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_MIN3 10
-param set-default SIM_GZ_EC_MAX3 1500
-param set-default SIM_GZ_EC_FUNC4 104
-param set-default SIM_GZ_EC_MIN4 10
-param set-default SIM_GZ_EC_MAX4 1500
-
-param set-default SIM_GZ_EC_FUNC5 105
-param set-default SIM_GZ_EC_MIN5 0
-param set-default SIM_GZ_EC_MAX5 3500
-
-param set-default SIM_GZ_SV_FUNC1 201
-param set-default SIM_GZ_SV_FUNC2 202
-param set-default SIM_GZ_SV_FUNC3 203
-
-param set-default COM_RC_IN_MODE 1
-param set-default ASPD_PRIMARY 1
-
-param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1.0
-
-param set-default FW_L1_PERIOD 12
-param set-default FW_PR_FF 0.2
-param set-default FW_PR_P 0.9
-param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MIN -15
-param set-default FW_RR_FF 0.1
-param set-default FW_RR_P 0.3
-param set-default FW_THR_TRIM 0.25
-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
-
-param set-default MC_AIRMODE 1
-param set-default MC_ROLLRATE_P 0.3
-param set-default MC_YAW_P 1.6
-
-param set-default MIS_TAKEOFF_ALT 10
-
-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 3
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_D_ACC 0.1
-
-param set-default NAV_ACC_RAD 5
-
-param set-default VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_TYPE 2
-param set-default FD_ESCS_EN 0
@@ -1,10 +0,0 @@
-#!/bin/sh
-#
-# @name Gazebo x500 vision
-#
-# @type Quadrotor
-#
-
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_vision}
-
-. ${R}etc/init.d-posix/airframes/4001_gz_x500
@@ -1,152 +0,0 @@
-#!/bin/sh
-#
-# @name PX4Vision SITL
-# Holybro px4vision. Gazebo Only.
-#
-# @type Quadrotor
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=px4vision}
-
-param set-default SIM_GZ_EN 1
-
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-
-# Commander Parameters
-param set-default COM_OBS_AVOID 0
-param set-default COM_DISARM_LAND 0.5
-
-# EKF2 parameters
-param set-default EKF2_DRAG_CTRL 1
-param set-default EKF2_IMU_POS_X 0.02
-param set-default EKF2_GPS_POS_X 0.055
-param set-default EKF2_GPS_POS_Z -0.15
-param set-default EKF2_MIN_RNG 0.03
-param set-default EKF2_OF_CTRL 1
-param set-default EKF2_OF_POS_X 0.055
-param set-default EKF2_OF_POS_Y 0.02
-param set-default EKF2_OF_POS_Z 0.065
-param set-default EKF2_REQ_HDRIFT 0.3
-param set-default EKF2_REQ_SACC 1
-param set-default EKF2_REQ_VDRIFT 0.3
-param set-default EKF2_RNG_A_HMAX 8
-param set-default EKF2_RNG_A_VMAX 2
-param set-default EKF2_RNG_POS_X 0.055
-param set-default EKF2_RNG_POS_Y -0.01
-param set-default EKF2_RNG_POS_Z 0.065
-param set-default EKF2_PCOEF_XP -0.25
-param set-default EKF2_PCOEF_YN -0.55
-param set-default EKF2_PCOEF_YP -0.55
-
-# MAVLink parameters
-# param set-default MAV_0_CONFIG 101		Not found
-# param set-default MAV_1_CONFIG 102		Not found
-param set-default MAV_1_RATE 80000
-param set-default MAV_1_MODE 9
-# param set-default SER_TEL1_BAUD 921600	Not found
-
-# Vehicle attitude PID tuning
-param set-default MC_ACRO_EXPO 0
-param set-default MC_ACRO_EXPO_Y 0
-param set-default MC_ACRO_P_MAX 200
-param set-default MC_ACRO_R_MAX 200
-param set-default MC_ACRO_SUPEXPO 0
-param set-default MC_ACRO_SUPEXPOY 0
-param set-default MC_ACRO_Y_MAX 150
-param set-default MC_PITCHRATE_D 0.0015
-param set-default MC_ROLLRATE_D 0.0015
-param set-default MC_YAWRATE_P 0.3
-
-# Position Control Tuning
-param set-default CP_DIST 6
-param set-default MPC_ACC_DOWN_MAX 5
-param set-default MPC_ACC_HOR_MAX 10
-param set-default MPC_MANTHR_MIN 0
-param set-default MPC_MAN_Y_MAX 120
-param set-default MPC_THR_HOVER 0.3
-param set-default MPC_VEL_MANUAL 5
-param set-default MPC_XY_VEL_MAX 5
-param set-default MPC_XY_VEL_P_ACC 1.58
-param set-default MPC_XY_TRAJ_P 0.3
-# param set-default MPC_Z_TRAJ_P 0.3		Not found
-param set-default MPC_Z_VEL_P_ACC 5
-param set-default MPC_Z_VEL_I_ACC 3
-param set-default MPC_LAND_ALT1 3
-param set-default MPC_LAND_ALT2 1
-param set-default MPC_POS_MODE 3
-param set-default CP_GO_NO_DATA 1
-
-# Navigator Parameters
-param set-default NAV_ACC_RAD 2
-
-# RTL Parameters
-param set-default RTL_DESCEND_ALT 5
-param set-default RTL_RETURN_ALT 5
-
-# Logging Parameters
-param set-default SDLOG_PROFILE 131
-
-# Sensors Parameters
-# param set-default SENS_CM8JL65_CFG 202 	Not found
-param set-default SENS_FLOW_MAXHGT 25
-param set-default SENS_FLOW_MINHGT 0.5
-param set-default IMU_GYRO_CUTOFF 100
-# param set-default SENS_TFLOW_CFG 103		Not found
-
-# Power Parameters
-param set-default BAT1_N_CELLS 4
-# param set-default BAT1_A_PER_V 36.364		Not found
-# param set-default BAT1_V_DIV 18.182		Not found
-
-# Circuit breakers
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default THR_MDL_FAC 0.3
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-
-# Outputs
-# param set-default PWM_AUX_FUNC1 101
-# param set-default PWM_AUX_FUNC2 102
-# param set-default PWM_AUX_FUNC3 103
-# param set-default PWM_AUX_FUNC4 104
-
-# param set-default PWM_MAIN_FUNC1 101
-# param set-default PWM_MAIN_FUNC2 102
-# param set-default PWM_MAIN_FUNC3 103
-# param set-default PWM_MAIN_FUNC4 104
-
-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_FUNC4 104
-
-param set-default SIM_GZ_EC_MIN1 150
-param set-default SIM_GZ_EC_MIN2 150
-param set-default SIM_GZ_EC_MIN3 150
-param set-default SIM_GZ_EC_MIN4 150
-
-param set-default SIM_GZ_EC_MAX1 1100
-param set-default SIM_GZ_EC_MAX2 1100
-param set-default SIM_GZ_EC_MAX3 1100
-param set-default SIM_GZ_EC_MAX4 1100
-
-
@@ -1,6 +1,8 @@

 mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p

+# shellcheck disable=SC2154
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
 # shellcheck disable=SC2154
 mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
 mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2020-2023 PX4 Development Team. All rights reserved.
+#   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
@@ -32,68 +32,54 @@
 ############################################################################

 px4_add_romfs_files(
+	10016_iris
+	10018_iris_foggy_lidar
+	10019_omnicopter
+	10030_px4vision
+	10040_quadx
+	10041_airplane
+	10042_xvert
+	1010_iris_opt_flow
+	1010_iris_opt_flow.post
+	1011_iris_irlock
+	1012_iris_rplidar
+	1013_iris_vision
+	1013_iris_vision.post
+	1015_iris_obs_avoid
+	1015_iris_obs_avoid.post
+	1017_iris_opt_flow_mockup
+	1018_iris_vision_velocity
+	1019_iris_dual_gps
+	1021_uuv_hippocampus
+	1022_uuv_bluerov2_heavy
+	1030_plane
+	1031_plane_cam
+	1032_plane_catapult
+	1033_rascal
+	1034_rascal-electric
+	1035_techpod
+	1036_malolo
+	1037_believer
+	1038_glider
+	1039_advanced_plane
+	1040_standard_vtol
+	1041_tailsitter
+	1042_tiltrotor
+	1043_standard_vtol_drop
+	1044_plane_lidar
+	1060_rover
+	1061_r1_rover
+	1062_tf-r1
+	1070_boat
+	3010_quadrotor_x
+	3011_hexarotor_x

-	1010_gazebo-classic_iris_opt_flow
-	1010_gazebo-classic_iris_opt_flow.post
-	1011_gazebo-classic_iris_irlock
-	1012_gazebo-classic_iris_rplidar
-	1013_gazebo-classic_iris_vision
-	1013_gazebo-classic_iris_vision.post
-	1015_gazebo-classic_iris_obs_avoid
-	1015_gazebo-classic_iris_obs_avoid.post
-	1017_gazebo-classic_iris_opt_flow_mockup
-	1019_gazebo-classic_iris_dual_gps
-	1021_gazebo-classic_uuv_hippocampus
-	1022_gazebo-classic_uuv_bluerov2_heavy
-	1030_gazebo-classic_plane
-	1031_gazebo-classic_plane_cam
-	1032_gazebo-classic_plane_catapult
-	1033_jsbsim_rascal
-	1034_flightgear_rascal-electric
-	1035_gazebo-classic_techpod
-	1036_jsbsim_malolo
-	1037_gazebo-classic_believer
-	1038_gazebo-classic_glider
-	1039_gazebo-classic_advanced_plane
-	1040_gazebo-classic_standard_vtol
-	1041_gazebo-classic_tailsitter
-	1042_gazebo-classic_tiltrotor
-	1043_gazebo-classic_standard_vtol_drop
-	1044_gazebo-classic_plane_lidar
-	1045_gazebo-classic_quadtailsitter
-	1060_gazebo-classic_rover
-	1061_gazebo-classic_r1_rover
-	1062_flightgear_tf-r1
-	1070_gazebo-classic_boat
+	4001_x500

-	2507_gazebo-classic_cloudship
+	17001_tf-g1
+	17002_tf-g2
+	2507_cloudship

-	3010_jsbsim_quadrotor_x
-	3011_jsbsim_hexarotor_x
-
-	4001_gz_x500
-	4002_gz_x500_depth
-	4003_gz_rc_cessna
-	4004_gz_standard_vtol
-	4005_gz_x500_vision
-	4006_gz_px4vision
-
-	6011_gazebo-classic_typhoon_h480
-	6011_gazebo-classic_typhoon_h480.post
-
-	10015_gazebo-classic_iris
-	10016_none_iris
-	10017_jmavsim_iris
-	10018_gazebo-classic_iris_foggy_lidar
-	10019_gazebo-classic_omnicopter
-	10030_gazebo-classic_px4vision
-
-	10040_sihsim_quadx
-	10041_sihsim_airplane
-	10042_sihsim_xvert
-
-	17001_flightgear_tf-g1
-	17002_flightgear_tf-g2
-
-	# [22000, 22999] Reserve for custom models
+	6011_typhoon_h480
+	6011_typhoon_h480.post
 )
--- a/Show More
+++ b/Show More