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Add unified hitl_run script for running HITL simulations
This commit adds a hitl_run script which can be used for various simulations when running HITL simulation
2026-05-30 14:40:05 +08:00 · 2021-04-17 10:49:19 +02:00 · 2021-04-17 10:46:06 +02:00
213 changed files with 1352 additions and 2376 deletions
@@ -9,10 +9,10 @@ pipeline {
        script {
          def build_nodes = [:]
          def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2021-04-29",
-            arm64: "px4io/px4-dev-aarch64:2021-04-29",
-            base: "px4io/px4-dev-base-bionic:2021-04-29",
-            nuttx: "px4io/px4-dev-nuttx-focal:2021-04-29",
+            armhf: "px4io/px4-dev-armhf:2021-02-04",
+            arm64: "px4io/px4-dev-aarch64:2021-02-04",
+            base: "px4io/px4-dev-base-bionic:2021-02-04",
+            nuttx: "px4io/px4-dev-nuttx-focal:2021-02-04",
            snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
          ]

@@ -130,7 +130,7 @@ pipeline {
    // TODO: actually upload artifacts to S3
    // stage('S3 Upload') {
    //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+    //     docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
    //   }
    //   options {
    //         skipDefaultCheckout()
@@ -12,7 +12,7 @@ pipeline {
            stage("build cubepilot_cubeorange_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -89,7 +89,7 @@ pipeline {
            stage("build cuav_x7pro_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -165,7 +165,7 @@ pipeline {
            stage("build px4_fmu-v3_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -241,7 +241,7 @@ pipeline {
            stage("build px4_fmu-v4_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -317,7 +317,7 @@ pipeline {
            stage("build px4_fmu-v4pro_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -393,7 +393,7 @@ pipeline {
            stage("build px4_fmu-v5_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -469,7 +469,7 @@ pipeline {
            stage("build px4_fmu-v5_debug") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -549,7 +549,7 @@ pipeline {
            stage("build px4_fmu-v5_optimized") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -625,7 +625,7 @@ pipeline {
            stage("build px4_fmu-v5_stackcheck") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -705,7 +705,7 @@ pipeline {
            stage("build modalai_fc-v1_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -781,7 +781,7 @@ pipeline {
            stage("build holybro_durandal-v1_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -858,7 +858,7 @@ pipeline {
            stage("build nxp_fmuk66-v3_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -2,7 +2,7 @@
 // https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
 {
 	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2021-04-29",
+	"image": "px4io/px4-dev-nuttx-focal:2021-02-04",

 	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],

@@ -28,7 +28,7 @@ jobs:
          "parameters_metadata",
        ]
    container:
-      image: px4io/px4-dev-nuttx-focal:2021-04-29
+      image: px4io/px4-dev-nuttx-focal:2021-02-04
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2021-04-29
+    container: px4io/px4-dev-clang:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2021-04-29
+    container: px4io/px4-dev-armhf:2021-02-04
    strategy:
      matrix:
        config: [
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2021-04-29
+    container: px4io/px4-dev-aarch64:2021-02-04
    strategy:
      matrix:
        config: [
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-04-29
+    container: px4io/px4-dev-nuttx-focal:2021-02-04
    strategy:
      matrix:
        config: [
@@ -123,8 +123,6 @@ jobs:
      run: make ${{matrix.config}} bloaty_symbols || true
    - name: make ${{matrix.config}} bloaty_templates
      run: make ${{matrix.config}} bloaty_templates || true
-    - name: make ${{matrix.config}} bloaty_ram
-      run: make ${{matrix.config}} bloaty_ram || true
    - name: make ${{matrix.config}} bloaty_compare_master
      run: make ${{matrix.config}} bloaty_compare_master || true
    - name: ccache post-run
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-04-29
+    container: px4io/px4-dev-nuttx-focal:2021-02-04
    strategy:
      matrix:
        config: [
@@ -23,7 +23,7 @@ jobs:
    needs: enumerate_targets
    strategy:
      matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
-    container: px4io/px4-dev-${{ matrix.container }}:2021-04-29
+    container: px4io/px4-dev-${{ matrix.container }}:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
@@ -0,0 +1,131 @@
+name: MAVROS Avoidance Tests
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - {test_file: "mavros_posix_test_avoidance.test",    vehicle: "iris_obs_avoid", mission: "avoidance",       build_type: "RelWithDebInfo"}
+          - {test_file: "mavros_posix_test_safe_landing.test", vehicle: "iris_obs_avoid", mission: "MC_safe_landing", build_type: "RelWithDebInfo"}
+
+    container:
+      image: px4io/px4-dev-ros-melodic:2021-02-04
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: check environment
+      run: |
+          export
+          ulimit -a
+    - name: Build PX4 and sitl_gazebo
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        ccache -z
+        make px4_sitl_default
+        make px4_sitl_default sitl_gazebo
+        ccache -s
+
+    - name: Core dump settings
+      run: |
+          ulimit -c unlimited
+          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+
+    - name: Run SITL tests
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        export
+        ./test/rostest_avoidance_run.sh ${{matrix.config.test_file}} mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}} || true
+
+    - name: Look at core files
+      if: failure()
+      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+    - name: Upload px4 coredump
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: coredump
+        path: px4.core
+
+    # - name: ecl EKF analysis
+    #   if: always()
+    #   run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg
+
+    - name: Upload logs to flight review
+      if: always()
+      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
+
+    - name: Upload px4 binary
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: binary
+        path: build/px4_sitl_default/bin/px4
+
+    - name: Store PX4 log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: px4_log
+        path: ~/.ros/log/*/*.ulg
+
+    - name: Store ROS log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: ros_log
+        path: ~/.ros/**/rostest-*.log
+
+    # Report test coverage
+    - name: Upload coverage
+      if: contains(matrix.config.build_type, 'Coverage')
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+          mkdir -p coverage
+          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+    - name: Upload coverage information to Codecov
+      if: contains(matrix.config.build_type, 'Coverage')
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: mavros_avoidance
+        file: coverage/lcov.info
@@ -25,7 +25,7 @@ jobs:
          #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2021-04-29
+      image: px4io/px4-dev-ros-melodic:2021-02-04
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -20,7 +20,7 @@ jobs:
          #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2021-04-29
+      image: px4io/px4-dev-ros-melodic:2021-02-04
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -11,7 +11,7 @@ jobs:

  airframe:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-04-29
+    container: px4io/px4-dev-base-focal:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
@@ -26,7 +26,7 @@ jobs:

  module:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-04-29
+    container: px4io/px4-dev-base-focal:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
@@ -41,7 +41,7 @@ jobs:

  parameter:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-04-29
+    container: px4io/px4-dev-base-focal:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
@@ -65,7 +65,7 @@ jobs:

  uorb_graph:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-04-29
+    container: px4io/px4-dev-nuttx-focal:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
@@ -80,7 +80,7 @@ jobs:

  micrortps_agent:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-04-29
+    container: px4io/px4-dev-base-focal:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
@@ -94,7 +94,7 @@ jobs:

  ROS_msgs:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-04-29
+    container: px4io/px4-dev-base-focal:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
@@ -107,7 +107,7 @@ jobs:

  ROS2_bridge:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-04-29
+    container: px4io/px4-dev-base-focal:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
@@ -20,7 +20,7 @@ jobs:
          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo", model: "tailsitter"    } # Florida
          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",       model: "standard_vtol" } # Zurich
    container:
-      image: px4io/px4-dev-simulation-focal:2021-04-29
+      image: px4io/px4-dev-simulation-focal:2021-02-04
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -28,9 +28,9 @@ jobs:
        token: ${{ secrets.ACCESS_TOKEN }}

    - name: Download MAVSDK
-      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.38.0/mavsdk_0.38.0_ubuntu20.04_amd64.deb
    - name: Install MAVSDK
-      run: dpkg -i "mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+      run: dpkg -i mavsdk_0.38.0_ubuntu20.04_amd64.deb

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@@ -33,7 +33,7 @@
 [submodule "src/modules/micrortps_bridge/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
 	url = https://github.com/PX4/Micro-CDR.git
-	branch = master
+	branch = px4
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
@@ -63,7 +63,3 @@
 [submodule "src/drivers/uavcannode_gps_demo/libcanard"]
 	path = src/drivers/uavcannode_gps_demo/libcanard
 	url = https://github.com/UAVCAN/libcanard.git
-[submodule "src/drivers/uavcan_v1/legacy_data_types"]
-	path = src/drivers/uavcan_v1/legacy_data_types
-	url = https://github.com/px4/public_regulated_data_types/
-	branch = legacy
@@ -185,8 +185,6 @@ if((CMAKE_BUILD_TYPE STREQUAL "Debug") OR (CMAKE_BUILD_TYPE STREQUAL "Coverage")
 	set(MAX_CUSTOM_OPT_LEVEL -O0)
 elseif(CMAKE_BUILD_TYPE MATCHES "Sanitizer")
 	set(MAX_CUSTOM_OPT_LEVEL -O1)
-elseif(CMAKE_BUILD_TYPE MATCHES "Release")
-	set(MAX_CUSTOM_OPT_LEVEL -O3)
 else()
 	if(px4_constrained_flash_build)
 		set(MAX_CUSTOM_OPT_LEVEL -Os)
@@ -15,7 +15,7 @@ pipeline {
        // stage('Catkin build on ROS workspace') {
        //   agent {
        //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2021-04-29'
+        //       image 'px4io/px4-dev-ros-melodic:2021-02-04'
        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
        //     }
        //   }
@@ -56,7 +56,7 @@ pipeline {
        stage('Colcon build on ROS2 workspace') {
          agent {
            docker {
-              image 'px4io/px4-dev-ros2-foxy:2021-04-29'
+              image 'px4io/px4-dev-ros2-foxy:2021-02-04'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
            }
          }
@@ -85,7 +85,7 @@ pipeline {

        stage('Airframe') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
            sh 'make distclean'
@@ -105,7 +105,7 @@ pipeline {

        stage('Parameter') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
            sh 'make distclean'
@@ -125,7 +125,7 @@ pipeline {

        stage('Module') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
            sh 'make distclean'
@@ -146,7 +146,7 @@ pipeline {
        stage('uORB graphs') {
          agent {
            docker {
-              image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+              image 'px4io/px4-dev-nuttx-focal:2021-02-04'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
            }
          }
@@ -176,7 +176,7 @@ pipeline {

        stage('Userguide') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
            sh('export')
@@ -206,7 +206,7 @@ pipeline {

        stage('QGroundControl') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
            sh('export')
@@ -234,7 +234,7 @@ pipeline {

        stage('microRTPS agent') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
            sh('export')
@@ -264,7 +264,7 @@ pipeline {

        stage('PX4 ROS msgs') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
            sh('export')
@@ -293,7 +293,7 @@ pipeline {

        stage('PX4 ROS2 bridge') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
            sh('export')
@@ -336,7 +336,7 @@ pipeline {

        stage('S3') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
            sh('export')
@@ -469,7 +469,6 @@ validate_module_configs:

 clean:
 	@rm -rf "$(SRC_DIR)"/build
-	@git submodule foreach git clean -df

 submodulesclean:
 	@git submodule foreach --quiet --recursive git clean -ff -x -d
@@ -487,7 +486,7 @@ gazeboclean:

 distclean: gazeboclean
 	@git submodule deinit -f .
-	@git clean -ff -x -d -e ".cproject" -e ".idea" -e ".project" -e ".settings" -e ".vscode"
+	@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode"

 # Help / Error
 # --------------------------------------------------------------------
@@ -34,9 +34,6 @@
 add_subdirectory(airframes)

 px4_add_romfs_files(
-	px4-rc.params
-	px4-rc.simulator
-	px4-rc.mavlink
 	rc.replay
 	rcS
 )
@@ -1,32 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-udp_offboard_port_local=$((14580+px4_instance))
-udp_offboard_port_remote=$((14540+px4_instance))
-[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
-udp_onboard_payload_port_local=$((14280+px4_instance))
-udp_onboard_payload_port_remote=$((14030+px4_instance))
-udp_onboard_gimbal_port_local=$((13030+px4_instance))
-udp_onboard_gimbal_port_remote=$((13280+px4_instance))
-udp_gcs_port_local=$((18570+px4_instance))
-
-# GCS link
-mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
-mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
-mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
-mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
-mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
-mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
-mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
-mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
-
-# API/Offboard link
-mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
-
-# Onboard link to camera
-mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
-
-# Onboard link to gimbal
-mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
@@ -1,5 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-#param set MAV_SYS_ID $((px4_instance+1))
-#param set IMU_INTEG_RATE 250
@@ -1,20 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-simulator_tcp_port=$((4560+px4_instance))
-
-# Check if PX4_SIM_HOSTNAME environment variable is empty
-# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
-# If both are empty use localhost for simulator
-if [ -z "${PX4_SIM_HOSTNAME}" ]; then
-  if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
-    echo "PX4 SIM HOST: localhost"
-    simulator start -c $simulator_tcp_port
-  else
-    echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
-    simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
-  fi
-else
-  echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
-  simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
-fi
@@ -5,8 +5,7 @@
 # shellcheck disable=SC1091
 . px4-alias.sh

-#search path for sourcing px4-rc.*
-PATH="$PATH:${R}etc/init.d-posix"
+SCRIPT_DIR="$(CDPATH='' cd -- "$(dirname -- "$0")" && pwd)"

 #
 # Main SITL startup script
@@ -46,9 +45,9 @@ else
 	# Find the matching Autostart ID (file name has the form: [0-9]+_${PX4_SIM_MODEL})
 	# TODO: unify with rc.autostart generation
 	# shellcheck disable=SC2012
-	REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
+	REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
 	if [ -z "$REQUESTED_AUTOSTART" ]; then
-		echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
+		echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on $SCRIPT_DIR/airframes)"
 		exit 1
 	else
 		echo "Info: found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
@@ -105,6 +104,15 @@ fi
 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
+simulator_tcp_port=$((4560+px4_instance))
+udp_offboard_port_local=$((14580+px4_instance))
+udp_offboard_port_remote=$((14540+px4_instance))
+[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
+udp_onboard_payload_port_local=$((14280+px4_instance))
+udp_onboard_payload_port_remote=$((14030+px4_instance))
+udp_onboard_gimbal_port_local=$((13030+px4_instance))
+udp_onboard_gimbal_port_remote=$((13280+px4_instance))
+udp_gcs_port_local=$((18570+px4_instance))

 if [ $AUTOCNF = yes ]
 then
@@ -208,14 +216,25 @@ fi
 # Simulator IMU data provided at 250 Hz
 param set IMU_INTEG_RATE 250

-#user defined params for instances can be in PATH
-. px4-rc.params
-
 dataman start
 # only start the simulator if not in replay mode, as both control the lockstep time
 if ! replay tryapplyparams
 then
-  . px4-rc.simulator
+  # Check if PX4_SIM_HOSTNAME environment variable is empty
+  # If empty check if PX4_SIM_HOST_ADDR environment variable is empty
+  # If both are empty use localhost for simulator
+  if [ -z "${PX4_SIM_HOSTNAME}" ]; then
+    if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
+      echo "PX4 SIM HOST: localhost"
+      simulator start -c $simulator_tcp_port
+    else
+      echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
+      simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port 
+    fi
+  else
+    echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
+    simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port 
+  fi
 fi
 load_mon start
 battery_simulator start
@@ -253,8 +272,32 @@ fi
 #
 . ${R}etc/init.d/rc.vehicle_setup

-#user defined mavlink streams for instances can be in PATH
-. px4-rc.mavlink
+if [ -e etc/init.d-posix/rc.mavlink_override ]
+then
+	echo "Running non-default mavlink config rc.mavlink_override"
+	. ${R}etc/init.d-posix/rc.mavlink_override
+else
+	# GCS link
+	mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
+	mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
+	mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
+	mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
+	mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
+	mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
+	mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
+	mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
+	mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
+	mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
+
+	# API/Offboard link
+	mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
+
+	# Onboard link to camera
+	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
+
+	# Onboard link to gimbal
+	mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
+fi

 # execute autostart post script if any
 [ -e "$autostart_file".post ] && . "$autostart_file".post
@@ -16,8 +16,6 @@ param set-default COM_POS_FS_EPV 30
 param set-default COM_POS_FS_GAIN 0
 param set-default COM_POS_FS_PROB 1
 param set-default COM_VEL_FS_EVH 5
-# Disable preflight disarm to not interfere with external launching
-param set-default COM_DISARM_PRFLT -1

 param set-default EKF2_ARSP_THR 8
 param set-default EKF2_FUSE_BETA 1
@@ -23,7 +23,6 @@ param set-default MPC_XY_ERR_MAX 5
 param set-default MPC_XY_VEL_MAX 4
 param set-default MPC_Z_VEL_MAX_DN 1.5
 param set-default MPC_JERK_MAX 4.5
-param set-default MPC_YAW_MODE 4

 param set-default NAV_ACC_RAD 3

@@ -59,7 +59,7 @@ if [ ! -f $HOOK_FILE ] && [ "$CI" != "true" ]; then
 	fi
 fi

-${DIR}/files_to_check_code_style.sh | xargs -P 8 -I % ${DIR}/check_code_style.sh %
+${DIR}/files_to_check_code_style.sh | xargs -n 1 -P 8 -I % ${DIR}/check_code_style.sh %

 if [ $? -eq 0 ]; then
    echo "Format checks passed"
@@ -1,13 +0,0 @@
-custom_data_source: {
-  name: "bloaty_static_ram"
-  base_data_source: "sections"
-
-  rewrite: {
-    pattern: "^\\.bss"
-    replacement: "ram"
-  }
-  rewrite: {
-    pattern: "^\\.data"
-    replacement: "ram"
-  }
-}
@@ -4,7 +4,7 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	echo "guessing PX4_DOCKER_REPO based on input";
 	if [[ $@ =~ .*px4_fmu.* ]]; then
 		# nuttx-px4fmu-v{1,2,3,4,5}
-		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-04-29"
+		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-02-04"
 	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
 		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
 		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"
@@ -30,7 +30,7 @@ fi

 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-04-29"
+	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2020-09-14"
 fi

 # docker hygiene
@@ -0,0 +1,122 @@
+#!/bin/bash
+# Run HITL simulation with PX4
+
+function cleanup() {
+	pkill -x px4
+	pkill gzclient
+	pkill gzserver
+}
+
+if [ "$1" == "-h" ] || [ "$1" == "--help" ]
+then
+	echo "Usage: $0 [-s <simulation>] [-m <vehicle_model>] [-w <world>] [-d <device>] [-b <baudrate>]"
+	echo "  This script allows you to run HITL simulation with PX4"
+	exit 1
+fi
+
+while getopts m:w:s:d:b:t:l: option
+do
+	case "${option}"
+	in
+		m) VEHICLE_MODEL=${OPTARG};;
+		w) WORLD=${OPTARG};;
+		s) SIMULATION=${OPTARG};;
+		d) DEVICE=${OPTARG};;
+		b) BAUDRATE=${OPTARG};;
+		l) LABEL=_${OPTARG};;
+	esac
+done
+
+world=${WORLD:=empty}
+target=${TARGET:=px4_sitl_default}
+model=${VEHICLE_MODEL:="iris"}
+simulation=${SIMULATION:="gazebo"}
+device=${DEVICE:="/dev/ttyACM0"}
+baudrate=${BAUDRATE:="921600"}
+export PX4_SIM_MODEL=${model}${LABEL}
+
+echo SIMULATION: ${simulation}
+echo MODEL: ${PX4_SIM_MODEL}
+
+echo ${SCRIPT}
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+src_path="$SCRIPT_DIR/.."
+
+sleep 1
+
+SIM_PID=0
+
+if [ "$simulation" == "jmavsim" ] && [ ! -n "$no_sim" ]; then
+	# Start Java simulator
+	"$src_path"/Tools/jmavsim_run.sh -q -s -d ${device} -b ${baudrate} -r 250 &
+	SIM_PID=$!
+elif [ "$simulation" == "gazebo" ] && [ ! -n "$no_sim" ]; then
+	if [ -x "$(command -v gazebo)" ]; then
+		# Set the plugin path so Gazebo finds our model and sim
+		source "$src_path/Tools/setup_gazebo.bash" "${src_path}" "${build_path}"
+		output_sdf=/tmp/${model}_hitl.sdf
+		python3 ${src_path}/Tools/sitl_gazebo/scripts/jinja_gen.py ${src_path}/Tools/sitl_gazebo/models/${model}/${model}.sdf.jinja ${src_path}/Tools/sitl_gazebo --serial_enabled 1  --hil_mode 1 --serial_device ${device} --serial_baudrate ${baudrate} --mavlink_id 1 --output-file ${output_sdf}
+
+		if [ -z $PX4_SITL_WORLD ]; then
+			#Spawn predefined world
+			if [ "$world" == "none" ]; then
+				if [ -f ${src_path}/Tools/sitl_gazebo/worlds/${model}.world ]; then
+					echo "empty world, default world ${model}.world for model found"
+					world_path="${src_path}/Tools/sitl_gazebo/worlds/${model}.world"
+				else
+					echo "empty world, setting empty.world as default"
+					world_path="${src_path}/Tools/sitl_gazebo/worlds/empty.world"
+				fi
+			else
+				#Spawn empty world if world with model name doesn't exist
+				world_path="${src_path}/Tools/sitl_gazebo/worlds/${world}.world"
+			fi
+		else
+			if [ -f ${src_path}/Tools/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world ]; then
+				# Spawn world by name if exists in the worlds directory from environment variable
+				world_path="${src_path}/Tools/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world"
+			else
+				# Spawn world from environment variable with absolute path
+				world_path="$PX4_SITL_WORLD"
+			fi
+		fi
+		gzserver $verbose $world_path &
+		SIM_PID=$!
+
+		while gz model --verbose --spawn-file="${output_sdf}" --model-name=${model} -x 1.01 -y 0.98 -z 0.83 2>&1 | grep -q "An instance of Gazebo is not running."; do
+			echo "gzserver not ready yet, trying again!"
+			sleep 1
+		done
+
+		if [[ -n "$HEADLESS" ]]; then
+			echo "not running gazebo gui"
+		else
+			# gzserver needs to be running to avoid a race. Since the launch
+			# is putting it into the background we need to avoid it by backing off
+			sleep 3
+			nice -n 20 gzclient --verbose $follow_mode
+			GUI_PID=$!
+		fi
+	else
+		echo "You need to have gazebo simulator installed!"
+		exit 1
+	fi
+elif [ "$simulation" == "jsbsim" ] && [ -z "$no_sim" ]; then
+	source "$src_path/Tools/setup_jsbsim.bash" "${src_path}" "${build_path}" ${model}
+	if [[ -n "$HEADLESS" ]]; then
+		echo "not running flightgear gui"
+	else
+		fgfs --fdm=null \
+			--native-fdm=socket,in,60,,5550,udp \
+			--aircraft=$JSBSIM_AIRCRAFT_MODEL \
+			--airport=${world} \
+			--disable-hud \
+			--disable-ai-models &> /dev/null &
+		FGFS_PID=$!
+	fi
+	"${build_path}/build_jsbsim_bridge/jsbsim_bridge" ${model} -d ${device} -b ${baudrate} -s "${src_path}/Tools/jsbsim_bridge/scene/${world}.xml"
+	SIM_PID=$!
+fi
+
+
+trap "cleanup" SIGINT SIGTERM EXIT
@@ -1,4 +1,4 @@
-#! /usr/bin/env python3
+#! /usr/bin/env python

 from __future__ import print_function

@@ -7,7 +7,6 @@ import os
 import math
 import matplotlib.pyplot as plt
 import numpy as np
-import scipy as sp

 from pyulog import *

@@ -64,9 +63,6 @@ def resampleWithDeltaX(x,y):

    return resampledX,resampledY

-def median_filter(data):
-    return sp.signal.medfilt(data, 31)
-
 parser = argparse.ArgumentParser(description='Reads in IMU data from a static thermal calibration test and performs a curve fit of gyro, accel and baro bias vs temperature')
 parser.add_argument('filename', metavar='file.ulg', help='ULog input file')
 parser.add_argument('--no_resample', dest='noResample', action='store_const',
@@ -188,16 +184,12 @@ if num_gyros >= 1 and not math.isnan(sensor_gyro_0['temperature'][0]):
    temp_rel_resample = np.linspace(gyro_0_params['TC_G0_TMIN']-gyro_0_params['TC_G0_TREF'], gyro_0_params['TC_G0_TMAX']-gyro_0_params['TC_G0_TREF'], 100)
    temp_resample = temp_rel_resample + gyro_0_params['TC_G0_TREF']

-    sensor_gyro_0['x'] = median_filter(sensor_gyro_0['x'])
-    sensor_gyro_0['y'] = median_filter(sensor_gyro_0['y'])
-    sensor_gyro_0['z'] = median_filter(sensor_gyro_0['z'])
-
    # fit X axis
    if noResample:
-        coef_gyro_0_x = np.polyfit(temp_rel, sensor_gyro_0['x'], 3)
+        coef_gyro_0_x = np.polyfit(temp_rel,sensor_gyro_0['x'],3)
    else:
-        temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_0['x'])
-        coef_gyro_0_x = np.polyfit(temp, sens, 3)
+        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_0['x'])
+        coef_gyro_0_x = np.polyfit(temp, sens ,3)

    gyro_0_params['TC_G0_X3_0'] = coef_gyro_0_x[0]
    gyro_0_params['TC_G0_X2_0'] = coef_gyro_0_x[1]
@@ -208,10 +200,10 @@ if num_gyros >= 1 and not math.isnan(sensor_gyro_0['temperature'][0]):

    # fit Y axis
    if noResample:
-        coef_gyro_0_y = np.polyfit(temp_rel, sensor_gyro_0['y'], 3)
+        coef_gyro_0_y = np.polyfit(temp_rel,sensor_gyro_0['y'],3)
    else:
        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_0['y'])
-        coef_gyro_0_y = np.polyfit(temp, sens, 3)
+        coef_gyro_0_y = np.polyfit(temp, sens ,3)

    gyro_0_params['TC_G0_X3_1'] = coef_gyro_0_y[0]
    gyro_0_params['TC_G0_X2_1'] = coef_gyro_0_y[1]
@@ -222,9 +214,9 @@ if num_gyros >= 1 and not math.isnan(sensor_gyro_0['temperature'][0]):

    # fit Z axis
    if noResample:
-        coef_gyro_0_z = np.polyfit(temp_rel, sensor_gyro_0['z'],3)
+        coef_gyro_0_z = np.polyfit(temp_rel,sensor_gyro_0['z'],3)
    else:
-        temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_0['z'])
+        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_0['z'])
        coef_gyro_0_z = np.polyfit(temp, sens ,3)

    gyro_0_params['TC_G0_X3_2'] = coef_gyro_0_z[0]
@@ -300,10 +292,6 @@ if num_gyros >= 2 and not math.isnan(sensor_gyro_1['temperature'][0]):
    temp_rel_resample = np.linspace(gyro_1_params['TC_G1_TMIN']-gyro_1_params['TC_G1_TREF'], gyro_1_params['TC_G1_TMAX']-gyro_1_params['TC_G1_TREF'], 100)
    temp_resample = temp_rel_resample + gyro_1_params['TC_G1_TREF']

-    sensor_gyro_1['x'] = median_filter(sensor_gyro_1['x'])
-    sensor_gyro_1['y'] = median_filter(sensor_gyro_1['y'])
-    sensor_gyro_1['z'] = median_filter(sensor_gyro_1['z'])
-
    # fit X axis
    if noResample:
        coef_gyro_1_x = np.polyfit(temp_rel,sensor_gyro_1['x'],3)
@@ -412,10 +400,6 @@ if num_gyros >= 3 and not math.isnan(sensor_gyro_2['temperature'][0]):
    temp_rel_resample = np.linspace(gyro_2_params['TC_G2_TMIN']-gyro_2_params['TC_G2_TREF'], gyro_2_params['TC_G2_TMAX']-gyro_2_params['TC_G2_TREF'], 100)
    temp_resample = temp_rel_resample + gyro_2_params['TC_G2_TREF']

-    sensor_gyro_2['x'] = median_filter(sensor_gyro_2['x'])
-    sensor_gyro_2['y'] = median_filter(sensor_gyro_2['y'])
-    sensor_gyro_2['z'] = median_filter(sensor_gyro_2['z'])
-
    # fit X axis
    if noResample:
        coef_gyro_2_x = np.polyfit(temp_rel,sensor_gyro_2['x'],3)
@@ -432,10 +416,10 @@ if num_gyros >= 3 and not math.isnan(sensor_gyro_2['temperature'][0]):

    # fit Y axis
    if noResample:
-        coef_gyro_2_y = np.polyfit(temp_rel, sensor_gyro_2['y'], 3)
+        coef_gyro_2_y = np.polyfit(temp_rel,sensor_gyro_2['y'],3)
    else:
-        temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_2['y'])
-        coef_gyro_2_y = np.polyfit(temp, sens, 3)
+        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_2['y'])
+        coef_gyro_2_y = np.polyfit(temp, sens ,3)

    gyro_2_params['TC_G2_X3_1'] = coef_gyro_2_y[0]
    gyro_2_params['TC_G2_X2_1'] = coef_gyro_2_y[1]
@@ -446,10 +430,10 @@ if num_gyros >= 3 and not math.isnan(sensor_gyro_2['temperature'][0]):

    # fit Z axis
    if noResample:
-        coef_gyro_2_z = np.polyfit(temp_rel,sensor_gyro_2['z'], 3)
+        coef_gyro_2_z = np.polyfit(temp_rel,sensor_gyro_2['z'],3)
    else:
        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_2['z'])
-        coef_gyro_2_z = np.polyfit(temp, sens, 3)
+        coef_gyro_2_z = np.polyfit(temp, sens ,3)

    gyro_2_params['TC_G2_X3_2'] = coef_gyro_2_z[0]
    gyro_2_params['TC_G2_X2_2'] = coef_gyro_2_z[1]
@@ -524,12 +508,8 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
    temp_rel_resample = np.linspace(gyro_3_params['TC_G3_TMIN']-gyro_3_params['TC_G3_TREF'], gyro_3_params['TC_G3_TMAX']-gyro_3_params['TC_G3_TREF'], 100)
    temp_resample = temp_rel_resample + gyro_3_params['TC_G3_TREF']

-    sensor_gyro_3['x'] = median_filter(sensor_gyro_3['x'])
-    sensor_gyro_3['y'] = median_filter(sensor_gyro_3['y'])
-    sensor_gyro_3['z'] = median_filter(sensor_gyro_3['z'])
-
    # fit X axis
-    coef_gyro_3_x = np.polyfit(temp_rel,sensor_gyro_3['x'], 3)
+    coef_gyro_3_x = np.polyfit(temp_rel,sensor_gyro_3['x'],3)
    gyro_3_params['TC_G3_X3_0'] = coef_gyro_3_x[0]
    gyro_3_params['TC_G3_X2_0'] = coef_gyro_3_x[1]
    gyro_3_params['TC_G3_X1_0'] = coef_gyro_3_x[2]
@@ -538,7 +518,7 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
    gyro_3_x_resample = fit_coef_gyro_3_x(temp_rel_resample)

    # fit Y axis
-    coef_gyro_3_y = np.polyfit(temp_rel,sensor_gyro_3['y'], 3)
+    coef_gyro_3_y = np.polyfit(temp_rel,sensor_gyro_3['y'],3)
    gyro_3_params['TC_G3_X3_1'] = coef_gyro_3_y[0]
    gyro_3_params['TC_G3_X2_1'] = coef_gyro_3_y[1]
    gyro_3_params['TC_G3_X1_1'] = coef_gyro_3_y[2]
@@ -547,7 +527,7 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
    gyro_3_y_resample = fit_coef_gyro_3_y(temp_rel_resample)

    # fit Z axis
-    coef_gyro_3_z = np.polyfit(temp_rel,sensor_gyro_3['z'], 3)
+    coef_gyro_3_z = np.polyfit(temp_rel,sensor_gyro_3['z'],3)
    gyro_3_params['TC_G3_X3_2'] = coef_gyro_3_z[0]
    gyro_3_params['TC_G3_X2_2'] = coef_gyro_3_z[1]
    gyro_3_params['TC_G3_X1_2'] = coef_gyro_3_z[2]
@@ -560,8 +540,8 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):

    # draw plots
    plt.subplot(3,1,1)
-    plt.plot(sensor_gyro_3['temperature'],sensor_gyro_3['x'], 'b')
-    plt.plot(temp_resample,gyro_3_x_resample, 'r')
+    plt.plot(sensor_gyro_3['temperature'],sensor_gyro_3['x'],'b')
+    plt.plot(temp_resample,gyro_3_x_resample,'r')
    plt.title('Gyro 2 ({}) Bias vs Temperature'.format(gyro_3_params['TC_G3_ID']))
    plt.ylabel('X bias (rad/s)')
    plt.xlabel('temperature (degC)')
@@ -621,17 +601,13 @@ if num_accels >= 1 and not math.isnan(sensor_accel_0['temperature'][0]):
    temp_rel_resample = np.linspace(accel_0_params['TC_A0_TMIN']-accel_0_params['TC_A0_TREF'], accel_0_params['TC_A0_TMAX']-accel_0_params['TC_A0_TREF'], 100)
    temp_resample = temp_rel_resample + accel_0_params['TC_A0_TREF']

-    sensor_accel_0['x'] = median_filter(sensor_accel_0['x'])
-    sensor_accel_0['y'] = median_filter(sensor_accel_0['y'])
-    sensor_accel_0['z'] = median_filter(sensor_accel_0['z'])
-
    # fit X axis
    correction_x = sensor_accel_0['x'] - np.median(sensor_accel_0['x'])
    if noResample:
-        coef_accel_0_x = np.polyfit(temp_rel,correction_x, 3)
+        coef_accel_0_x = np.polyfit(temp_rel,correction_x,3)
    else:
        temp, sens = resampleWithDeltaX(temp_rel,correction_x)
-        coef_accel_0_x = np.polyfit(temp, sens, 3)
+        coef_accel_0_x = np.polyfit(temp, sens ,3)

    accel_0_params['TC_A0_X3_0'] = coef_accel_0_x[0]
    accel_0_params['TC_A0_X2_0'] = coef_accel_0_x[1]
@@ -641,12 +617,12 @@ if num_accels >= 1 and not math.isnan(sensor_accel_0['temperature'][0]):
    correction_x_resample = fit_coef_accel_0_x(temp_rel_resample)

    # fit Y axis
-    correction_y = sensor_accel_0['y'] - np.median(sensor_accel_0['y'])
+    correction_y = sensor_accel_0['y']-np.median(sensor_accel_0['y'])
    if noResample:
-        coef_accel_0_y = np.polyfit(temp_rel, correction_y, 3)
+        coef_accel_0_y = np.polyfit(temp_rel,correction_y,3)
    else:
        temp, sens = resampleWithDeltaX(temp_rel,correction_y)
-        coef_accel_0_y = np.polyfit(temp, sens, 3)
+        coef_accel_0_y = np.polyfit(temp, sens ,3)

    accel_0_params['TC_A0_X3_1'] = coef_accel_0_y[0]
    accel_0_params['TC_A0_X2_1'] = coef_accel_0_y[1]
@@ -656,12 +632,12 @@ if num_accels >= 1 and not math.isnan(sensor_accel_0['temperature'][0]):
    correction_y_resample = fit_coef_accel_0_y(temp_rel_resample)

    # fit Z axis
-    correction_z = sensor_accel_0['z'] - np.median(sensor_accel_0['z'])
+    correction_z = sensor_accel_0['z']-np.median(sensor_accel_0['z'])
    if noResample:
-        coef_accel_0_z = np.polyfit(temp_rel,correction_z, 3)
+        coef_accel_0_z = np.polyfit(temp_rel,correction_z,3)
    else:
        temp, sens = resampleWithDeltaX(temp_rel,correction_z)
-        coef_accel_0_z = np.polyfit(temp, sens, 3)
+        coef_accel_0_z = np.polyfit(temp, sens ,3)

    accel_0_params['TC_A0_X3_2'] = coef_accel_0_z[0]
    accel_0_params['TC_A0_X2_2'] = coef_accel_0_z[1]
@@ -736,17 +712,13 @@ if num_accels >= 2 and not math.isnan(sensor_accel_1['temperature'][0]):
    temp_rel_resample = np.linspace(accel_1_params['TC_A1_TMIN']-accel_1_params['TC_A1_TREF'], accel_1_params['TC_A1_TMAX']-accel_1_params['TC_A1_TREF'], 100)
    temp_resample = temp_rel_resample + accel_1_params['TC_A1_TREF']

-    sensor_accel_1['x'] = median_filter(sensor_accel_1['x'])
-    sensor_accel_1['y'] = median_filter(sensor_accel_1['y'])
-    sensor_accel_1['z'] = median_filter(sensor_accel_1['z'])
-
    # fit X axis
-    correction_x = sensor_accel_1['x'] - np.median(sensor_accel_1['x'])
+    correction_x = sensor_accel_1['x']-np.median(sensor_accel_1['x'])
    if noResample:
-        coef_accel_1_x = np.polyfit(temp_rel, correction_x, 3)
+        coef_accel_1_x = np.polyfit(temp_rel,correction_x,3)
    else:
-        temp, sens = resampleWithDeltaX(temp_rel, correction_x)
-        coef_accel_1_x = np.polyfit(temp, sens, 3)
+        temp, sens = resampleWithDeltaX(temp_rel,correction_x)
+        coef_accel_1_x = np.polyfit(temp, sens ,3)

    accel_1_params['TC_A1_X3_0'] = coef_accel_1_x[0]
    accel_1_params['TC_A1_X2_0'] = coef_accel_1_x[1]
@@ -756,7 +728,7 @@ if num_accels >= 2 and not math.isnan(sensor_accel_1['temperature'][0]):
    correction_x_resample = fit_coef_accel_1_x(temp_rel_resample)

    # fit Y axis
-    correction_y = sensor_accel_1['y'] - np.median(sensor_accel_1['y'])
+    correction_y = sensor_accel_1['y']-np.median(sensor_accel_1['y'])
    if noResample:
        coef_accel_1_y = np.polyfit(temp_rel,correction_y,3)
    else:
@@ -771,12 +743,12 @@ if num_accels >= 2 and not math.isnan(sensor_accel_1['temperature'][0]):
    correction_y_resample = fit_coef_accel_1_y(temp_rel_resample)

    # fit Z axis
-    correction_z = sensor_accel_1['z'] - np.median(sensor_accel_1['z'])
+    correction_z = (sensor_accel_1['z'])-np.median(sensor_accel_1['z'])
    if noResample:
-        coef_accel_1_z = np.polyfit(temp_rel,correction_z, 3)
+        coef_accel_1_z = np.polyfit(temp_rel,correction_z,3)
    else:
        temp, sens = resampleWithDeltaX(temp_rel,correction_z)
-        coef_accel_1_z = np.polyfit(temp, sens, 3)
+        coef_accel_1_z = np.polyfit(temp, sens ,3)

    accel_1_params['TC_A1_X3_2'] = coef_accel_1_z[0]
    accel_1_params['TC_A1_X2_2'] = coef_accel_1_z[1]
@@ -852,17 +824,13 @@ if num_accels >= 3 and not math.isnan(sensor_accel_2['temperature'][0]):
    temp_rel_resample = np.linspace(accel_2_params['TC_A2_TMIN']-accel_2_params['TC_A2_TREF'], accel_2_params['TC_A2_TMAX']-accel_2_params['TC_A2_TREF'], 100)
    temp_resample = temp_rel_resample + accel_2_params['TC_A2_TREF']

-    sensor_accel_2['x'] = median_filter(sensor_accel_2['x'])
-    sensor_accel_2['y'] = median_filter(sensor_accel_2['y'])
-    sensor_accel_2['z'] = median_filter(sensor_accel_2['z'])
-
    # fit X axis
-    correction_x = sensor_accel_2['x'] - np.median(sensor_accel_2['x'])
+    correction_x = sensor_accel_2['x']-np.median(sensor_accel_2['x'])
    if noResample:
-        coef_accel_2_x = np.polyfit(temp_rel,correction_x, 3)
+        coef_accel_2_x = np.polyfit(temp_rel,correction_x,3)
    else:
-        temp, sens = resampleWithDeltaX(temp_rel, correction_x)
-        coef_accel_2_x = np.polyfit(temp, sens, 3)
+        temp, sens = resampleWithDeltaX(temp_rel,correction_x)
+        coef_accel_2_x = np.polyfit(temp, sens ,3)

    accel_2_params['TC_A2_X3_0'] = coef_accel_2_x[0]
    accel_2_params['TC_A2_X2_0'] = coef_accel_2_x[1]
@@ -872,7 +840,7 @@ if num_accels >= 3 and not math.isnan(sensor_accel_2['temperature'][0]):
    correction_x_resample = fit_coef_accel_2_x(temp_rel_resample)

    # fit Y axis
-    correction_y = sensor_accel_2['y'] - np.median(sensor_accel_2['y'])
+    correction_y = sensor_accel_2['y']-np.median(sensor_accel_2['y'])
    if noResample:
        coef_accel_2_y = np.polyfit(temp_rel,correction_y,3)
    else:
@@ -887,7 +855,7 @@ if num_accels >= 3 and not math.isnan(sensor_accel_2['temperature'][0]):
    correction_y_resample = fit_coef_accel_2_y(temp_rel_resample)

    # fit Z axis
-    correction_z = sensor_accel_2['z'] - np.median(sensor_accel_2['z'])
+    correction_z = sensor_accel_2['z']-np.median(sensor_accel_2['z'])
    if noResample:
        coef_accel_2_z = np.polyfit(temp_rel,correction_z,3)
    else:
@@ -967,13 +935,9 @@ if num_accels >= 4 and not math.isnan(sensor_accel_3['temperature'][0]):
    temp_rel_resample = np.linspace(accel_3_params['TC_A3_TMIN']-accel_3_params['TC_A3_TREF'], accel_3_params['TC_A3_TMAX']-accel_3_params['TC_A3_TREF'], 100)
    temp_resample = temp_rel_resample + accel_3_params['TC_A3_TREF']

-    sensor_accel_3['x'] = median_filter(sensor_accel_3['x'])
-    sensor_accel_3['y'] = median_filter(sensor_accel_3['y'])
-    sensor_accel_3['z'] = median_filter(sensor_accel_3['z'])
-
    # fit X axis
-    correction_x = sensor_accel_3['x'] - np.median(sensor_accel_3['x'])
-    coef_accel_3_x = np.polyfit(temp_rel, correction_x, 3)
+    correction_x = sensor_accel_3['x']-np.median(sensor_accel_3['x'])
+    coef_accel_3_x = np.polyfit(temp_rel,correction_x,3)
    accel_3_params['TC_A3_X3_0'] = coef_accel_3_x[0]
    accel_3_params['TC_A3_X2_0'] = coef_accel_3_x[1]
    accel_3_params['TC_A3_X1_0'] = coef_accel_3_x[2]
@@ -982,8 +946,8 @@ if num_accels >= 4 and not math.isnan(sensor_accel_3['temperature'][0]):
    correction_x_resample = fit_coef_accel_3_x(temp_rel_resample)

    # fit Y axis
-    correction_y = sensor_accel_3['y'] - np.median(sensor_accel_3['y'])
-    coef_accel_3_y = np.polyfit(temp_rel, correction_y, 3)
+    correction_y = sensor_accel_3['y']-np.median(sensor_accel_3['y'])
+    coef_accel_3_y = np.polyfit(temp_rel,correction_y,3)
    accel_3_params['TC_A3_X3_1'] = coef_accel_3_y[0]
    accel_3_params['TC_A3_X2_1'] = coef_accel_3_y[1]
    accel_3_params['TC_A3_X1_1'] = coef_accel_3_y[2]
@@ -992,8 +956,8 @@ if num_accels >= 4 and not math.isnan(sensor_accel_3['temperature'][0]):
    correction_y_resample = fit_coef_accel_3_y(temp_rel_resample)

    # fit Z axis
-    correction_z = sensor_accel_3['z'] - np.median(sensor_accel_3['z'])
-    coef_accel_3_z = np.polyfit(temp_rel, correction_z, 3)
+    correction_z = sensor_accel_3['z']-np.median(sensor_accel_3['z'])
+    coef_accel_3_z = np.polyfit(temp_rel,correction_z,3)
    accel_3_params['TC_A3_X3_2'] = coef_accel_3_z[0]
    accel_3_params['TC_A3_X2_2'] = coef_accel_3_z[1]
    accel_3_params['TC_A3_X1_2'] = coef_accel_3_z[2]
@@ -1060,10 +1024,8 @@ temp_rel = sensor_baro_0['temperature'] - baro_0_params['TC_B0_TREF']
 temp_rel_resample = np.linspace(baro_0_params['TC_B0_TMIN']-baro_0_params['TC_B0_TREF'], baro_0_params['TC_B0_TMAX']-baro_0_params['TC_B0_TREF'], 100)
 temp_resample = temp_rel_resample + baro_0_params['TC_B0_TREF']

-sensor_baro_0['pressure'] = median_filter(sensor_baro_0['pressure'])
-
 # fit data
-median_pressure = np.median(sensor_baro_0['pressure'])
+median_pressure = np.median(sensor_baro_0['pressure']);
 if noResample:
    coef_baro_0_x = np.polyfit(temp_rel,100*(sensor_baro_0['pressure']-median_pressure),5) # convert from hPa to Pa
 else:
@@ -1119,10 +1081,8 @@ if num_baros >= 2:
    temp_rel_resample = np.linspace(baro_1_params['TC_B1_TMIN']-baro_1_params['TC_B1_TREF'], baro_1_params['TC_B1_TMAX']-baro_1_params['TC_B1_TREF'], 100)
    temp_resample = temp_rel_resample + baro_1_params['TC_B1_TREF']

-    sensor_baro_1['pressure'] = median_filter(sensor_baro_1['pressure'])
-
    # fit data
-    median_pressure = np.median(sensor_baro_1['pressure'])
+    median_pressure = np.median(sensor_baro_1['pressure']);
    if noResample:
        coef_baro_1_x = np.polyfit(temp_rel,100*(sensor_baro_1['pressure']-median_pressure),5) # convert from hPa to Pa
    else:
@@ -1179,10 +1139,8 @@ if num_baros >= 3:
    temp_rel_resample = np.linspace(baro_2_params['TC_B2_TMIN']-baro_2_params['TC_B2_TREF'], baro_2_params['TC_B2_TMAX']-baro_2_params['TC_B2_TREF'], 100)
    temp_resample = temp_rel_resample + baro_2_params['TC_B2_TREF']

-    sensor_baro_2['pressure'] = median_filter(sensor_baro_2['pressure'])
-
    # fit data
-    median_pressure = np.median(sensor_baro_2['pressure'])
+    median_pressure = np.median(sensor_baro_2['pressure']);
    if noResample:
        coef_baro_2_x = np.polyfit(temp_rel,100*(sensor_baro_2['pressure']-median_pressure),5) # convert from hPa to Pa
    else:
@@ -1239,8 +1197,6 @@ if num_baros >= 4:
    temp_rel_resample = np.linspace(baro_3_params['TC_B3_TMIN']-baro_3_params['TC_B3_TREF'], baro_3_params['TC_B3_TMAX']-baro_3_params['TC_B3_TREF'], 100)
    temp_resample = temp_rel_resample + baro_3_params['TC_B3_TREF']

-    sensor_baro_3['pressure'] = median_filter(sensor_baro_3['pressure'])
-
    # fit data
    median_pressure = np.median(sensor_baro_3['pressure'])
    coef_baro_3_x = np.polyfit(temp_rel,100*(sensor_baro_3['pressure']-median_pressure),5) # convert from hPa to Pa
@@ -98,8 +98,6 @@ class ParameterGroup(object):
            return "Boat"
        elif (self.name == "Balloon"):
            return "Balloon"
-        elif (self.name == "Vectored 6 DOF UUV"):
-            return "Vectored6DofUUV"
        return "AirframeUnknown"

    def GetParams(self):
@@ -155,7 +155,8 @@ if [[ $INSTALL_SIM == "true" ]]; then
 			# fix VMWare 3D graphics acceleration for gazebo
 			exportline="export SVGA_VGPU10=0"

-			if !grep -Fxq "$exportline" $HOME/.profile; then
+			if grep -Fxq "$exportline" $HOME/.profile; then
+			else
 				echo $exportline >> $HOME/.profile;
 			fi
 		fi
@@ -45,7 +45,7 @@ fi

 # Python dependencies
 echo "Installing PX4 Python3 dependencies"
-python3 -m pip install --user -r ${DIR}/requirements.txt
+pip3 install --user -r ${DIR}/requirements.txt

 # Optional, but recommended additional simulation tools:
 if [[ $INSTALL_SIM == "--sim-tools" ]]; then
@@ -6,7 +6,7 @@ empy>=3.3
 jinja2>=2.8
 matplotlib>=3.0.*
 numpy>=1.13
-nunavut>=1.1.0
+nunavut
 packaging
 pandas>=0.21
 pkgconfig
@@ -115,32 +115,18 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 	echo "Installing NuttX dependencies"

 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+		autoconf \
 		automake \
-		binutils-dev \
 		bison \
-		build-essential \
+		bzip2 \
+		file \
 		flex \
-		g++-multilib \
-		gcc-multilib \
 		gdb-multiarch \
-		genromfs \
-		gettext \
 		gperf \
-		kconfig-frontends \
-		libelf-dev \
-		libexpat-dev \
-		libgmp-dev \
-		libisl-dev \
-		libmpc-dev \
-		libmpfr-dev \
-		libncurses5-dev \
-		libncursesw5-dev \
+		libncurses-dev \
 		libtool \
 		pkg-config \
 		screen \
-		texinfo \
-		u-boot-tools \
-		util-linux \
 		vim-common \
 		;

@@ -49,7 +49,7 @@ px4_add_board(
 		imu/invensense/mpu9250
 		#magnetometer/hmc5883
 		qshell/qurt
-		snapdragon_spektrum_rc
+		spektrum_rc
 	MODULES
 		airspeed_selector
 		attitude_estimator_q
@@ -49,7 +49,7 @@ px4_add_board(
 		imu/invensense/mpu9250
 		magnetometer/hmc5883
 		qshell/qurt
-		snapdragon_spektrum_rc
+		spektrum_rc
 	MODULES
 		airspeed_selector
 		attitude_estimator_q
@@ -90,7 +90,7 @@ static int configure_switch(void);
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -116,7 +116,6 @@ CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
-CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
@@ -106,7 +106,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -116,7 +116,6 @@ CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
-CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
@@ -106,7 +106,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -97,7 +97,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -97,7 +97,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -117,7 +117,6 @@ CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
-CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
@@ -138,7 +138,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -120,7 +120,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -116,7 +116,6 @@ CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
-CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
@@ -139,7 +139,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -115,7 +115,6 @@ CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
-CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
@@ -137,7 +137,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -128,7 +128,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -128,7 +128,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -100,7 +100,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -100,7 +100,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -119,7 +119,7 @@

 /* RC Serial port */
 #define RC_SERIAL_PORT          "/dev/ttyS4"
-#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
+#define RC_SERIAL_SINGLEWIRE

 #define GPIO_RSSI_IN            /* PC1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)

@@ -100,7 +100,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -26,7 +26,6 @@ CONFIG_BOARD_LOOPSPERMSEC=15175
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
-CONFIG_CAN_CONNS=1
 CONFIG_CDCACM=y
 CONFIG_CDCACM_BULKIN_REQLEN=96
 CONFIG_CDCACM_PRODUCTID=0x001c
@@ -124,7 +123,6 @@ CONFIG_NETUTILS_TELNETD=y
 CONFIG_NET_BROADCAST=y
 CONFIG_NET_CAN=y
 CONFIG_NET_CAN_NOTIFIER=y
-CONFIG_NET_CAN_RAW_FILTER_MAX=0
 CONFIG_NET_CAN_RAW_TX_DEADLINE=y
 CONFIG_NET_CAN_SOCK_OPTS=y
 CONFIG_NET_ICMP=y
@@ -339,7 +339,7 @@ __END_DECLS
 #define LED_TIM3_CH4OUT   /* PTC8  RGB_B */ PIN_FTM3_CH4_1

 /* This board provides a DMA pool and APIs */
-#define BOARD_DMA_ALLOC_POOL_SIZE 2048
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120

 /* This board provides the board_on_reset interface */

@@ -117,7 +117,7 @@ __END_DECLS
 void board_on_reset(int status)
 {
 	for (int i = 0; i < 6; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -25,7 +25,6 @@ CONFIG_BOARD_LOOPSPERMSEC=15175
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
-CONFIG_CAN_CONNS=1
 CONFIG_CDCACM=y
 CONFIG_CDCACM_BULKIN_REQLEN=96
 CONFIG_CDCACM_PRODUCTID=0x001c
@@ -123,7 +122,6 @@ CONFIG_NETUTILS_TELNETD=y
 CONFIG_NET_BROADCAST=y
 CONFIG_NET_CAN=y
 CONFIG_NET_CAN_NOTIFIER=y
-CONFIG_NET_CAN_RAW_FILTER_MAX=0
 CONFIG_NET_CAN_RAW_TX_DEADLINE=y
 CONFIG_NET_CAN_SOCK_OPTS=y
 CONFIG_NET_ICMP=y
@@ -343,7 +343,7 @@ __END_DECLS
 #define LED_TIM3_CH4OUT   /* PTC8  RGB_B */ PIN_FTM3_CH4_1

 /* This board provides a DMA pool and APIs */
-#define BOARD_DMA_ALLOC_POOL_SIZE 2048
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120

 /* This board provides the board_on_reset interface */

@@ -117,7 +117,7 @@ __END_DECLS
 void board_on_reset(int status)
 {
 	for (int i = 0; i < 6; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -90,12 +90,6 @@
 #define BOARD_LED_G_BIT   (1 << BOARD_LED_G)
 #define BOARD_LED_B_BIT   (1 << BOARD_LED_B)

-/* Board revision detection pin
- * 0 equals UCANS32K146-01
- * 1 equals UCANS32K146B
- */
-#define BOARD_REVISION_DETECT_PIN  (GPIO_INPUT | PIN_PORTA | PIN10 )
-
 /* If CONFIG_ARCH_LEDs is defined, then NuttX will control the LEDs on board
 * the UCANS32K146.  The following definitions describe how NuttX
 * controls the LEDs:
@@ -158,9 +152,11 @@
 /* CAN selections ***********************************************************/
 #define PIN_CAN0_TX      PIN_CAN0_TX_4      /* PTE5 */
 #define PIN_CAN0_RX      PIN_CAN0_RX_4      /* PTE4 */
-#define PIN_CAN0_STB     (GPIO_OUTPUT | PIN_PORTE | PIN11 )
+#define PIN_CAN0_ENABLE  (GPIO_OUTPUT | PIN_PORTE | PIN11 )
+#define CAN0_ENABLE_OUT  0
 #define PIN_CAN1_TX      PIN_CAN1_TX_1      /* PTA13 */
 #define PIN_CAN1_RX      PIN_CAN1_RX_1      /* PTA12 */
-#define PIN_CAN1_STB     (GPIO_OUTPUT | PIN_PORTE | PIN10 )
+#define PIN_CAN1_ENABLE  (GPIO_OUTPUT | PIN_PORTE | PIN10 )
+#define CAN1_ENABLE_OUT  0

 #endif  /* __BOARDS_ARM_RDDRONE_UAVCAN146_INCLUDE_BOARD_H */
@@ -151,20 +151,5 @@ int s32k1xx_bringup(void)

 #endif
 #endif
-
-#ifdef CONFIG_S32K1XX_FLEXCAN
-	s32k1xx_pinconfig(BOARD_REVISION_DETECT_PIN);
-
-	if (s32k1xx_gpioread(BOARD_REVISION_DETECT_PIN)) {
-		/* STB high -> active CAN phy */
-		s32k1xx_pinconfig(PIN_CAN0_STB  | GPIO_OUTPUT_ONE);
-
-	} else {
-		/* STB low -> active CAN phy */
-		s32k1xx_pinconfig(PIN_CAN0_STB  | GPIO_OUTPUT_ZERO);
-	}
-
-#endif
-
 	return ret;
 }
@@ -71,18 +71,7 @@ __EXPORT void s32k1xx_board_initialize(void)
 	// Can GPIO
 	s32k1xx_pinconfig(PIN_CAN0_TX);
 	s32k1xx_pinconfig(PIN_CAN0_RX);
-
-	s32k1xx_pinconfig(BOARD_REVISION_DETECT_PIN);
-
-	if (s32k1xx_gpioread(BOARD_REVISION_DETECT_PIN)) {
-		/* STB high -> active CAN phy */
-		s32k1xx_pinconfig(PIN_CAN0_STB  | GPIO_OUTPUT_ONE);
-
-	} else {
-		/* STB low -> active CAN phy */
-		s32k1xx_pinconfig(PIN_CAN0_STB  | GPIO_OUTPUT_ZERO);
-	}
-
+	s32k1xx_pinconfig(PIN_CAN0_ENABLE  | GPIO_OUTPUT_ZERO);
 	//s32k1xx_gpiowrite
 #if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
 	s32k1xx_pinconfig(GPIO_GETNODEINFO_JUMPER);
@@ -112,14 +101,7 @@ void board_deinitialize(void)
 	} while ((regval & CAN_MCR_LPMACK) == 0);


-	if (s32k1xx_gpioread(BOARD_REVISION_DETECT_PIN)) {
-		/* STB high -> standby CAN phy */
-		s32k1xx_pinconfig(PIN_CAN0_STB  | GPIO_OUTPUT_ZERO);
-
-	} else {
-		/* STB low -> standby CAN phy */
-		s32k1xx_pinconfig(PIN_CAN0_STB  | GPIO_OUTPUT_ONE);
-	}
+	s32k1xx_pinconfig(PIN_CAN0_ENABLE  | GPIO_OUTPUT_ONE);
 }

 /****************************************************************************
@@ -116,7 +116,6 @@ CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
-CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
@@ -37,7 +37,7 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20689
 		imu/invensense/icm20948 # required for ak09916 mag
-		#irlock
+		irlock
 		lights # all available light drivers
 		#lights/rgbled_pwm
 		#magnetometer # all available magnetometer drivers
@@ -91,7 +91,7 @@ px4_add_board(
 		#rover_pos_control
 		sensors
 		#sih
-		#temperature_compensation
+		temperature_compensation
 		#uuv_att_control
 		#uuv_pos_control
 		#vmount
@@ -139,7 +139,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -146,7 +146,6 @@ CONFIG_NSH_STRERROR=y
 CONFIG_NSH_TELNET=y
 CONFIG_NSH_TELNET_LOGIN=y
 CONFIG_NSH_VARS=y
-CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
@@ -143,7 +143,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -140,7 +140,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -128,6 +128,7 @@ CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_UDP=y
 CONFIG_NET_UDP_CHECKSUMS=y
 CONFIG_NET_UDP_WRITE_BUFFERS=y
+CONFIG_NFILE_DESCRIPTORS=12
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -140,7 +140,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -121,7 +121,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -71,13 +71,6 @@ if (BLOATY_PROGRAM)
 		USES_TERMINAL
 		)

-	# bloaty statically allocated RAM
-	add_custom_target(bloaty_ram
-		COMMAND ${BLOATY_PROGRAM} -c ${PX4_SOURCE_DIR}/Tools/bloaty_static_ram.bloaty -d bloaty_static_ram,compileunits --source-filter ^ram$ ${BLOATY_OPTS} $<TARGET_FILE:px4>
-		DEPENDS px4
-		USES_TERMINAL
-		)
-
 	# bloaty compare with last master build
 	add_custom_target(bloaty_compare_master
 		COMMAND wget -c -N --no-verbose https://s3.amazonaws.com/px4-travis/Firmware/master/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.elf -O master.elf
@@ -10,5 +10,3 @@ uint8 TAKEOFF_STATE_RAMPUP            = 4
 uint8 TAKEOFF_STATE_FLIGHT            = 5

 uint8 takeoff_state
-
-float32 tilt_limit # limited tilt feasability during takeoff, contains maximum tilt otherwise
@@ -28,6 +28,7 @@ uint32 tx_buffer_overruns               # number of TX buffer overruns

 float32 rx_rate_avg                     # transmit rate average (Bytes/s)
 uint32 rx_message_count                 # count of total messages received
+uint32 rx_message_count_supported       # count of total messages received from supported systems and components (for loss statistics)
 uint32 rx_message_lost_count
 uint32 rx_buffer_overruns               # number of RX buffer overruns
 uint32 rx_parse_errors                  # number of parse errors
@@ -5,8 +5,3 @@ bool ground_contact	# true if vehicle has ground contact but is not landed (1. s
 bool maybe_landed	# true if the vehicle might have landed (2. stage)
 bool landed		# true if vehicle is currently landed on the ground (3. stage)
 bool in_ground_effect # indicates if from the perspective of the landing detector the vehicle might be in ground effect (baro). This flag will become true if the vehicle is not moving horizontally and is descending (crude assumption that user is landing).
-bool in_descend
-bool has_low_throttle
-bool vertical_movement
-bool horizontal_movement
-bool close_to_ground_or_skipped_check
@@ -17,7 +17,6 @@ bool condition_home_position_valid		# indicates a valid home position (a valid h
 bool condition_power_input_valid                # set if input power is valid
 bool condition_battery_healthy                # set if battery is available and not low
 bool condition_escs_error		      # set to true if one or more ESCs reporting esc_status are offline
-bool condition_escs_failure		      # set to true if one or more ESCs reporting esc_status has a failure

 bool circuit_breaker_engaged_power_check
 bool circuit_breaker_engaged_airspd_check
@@ -48,7 +48,7 @@ struct wq_config_t {

 namespace wq_configurations
 {
-static constexpr wq_config_t rate_ctrl{"wq:rate_ctrl", 1952, 0}; // PX4 inner loop highest priority
+static constexpr wq_config_t rate_ctrl{"wq:rate_ctrl", 1920, 0}; // PX4 inner loop highest priority
 static constexpr wq_config_t ctrl_alloc{"wq:ctrl_alloc", 9500, 0}; // PX4 control allocation, same priority as rate_ctrl

 static constexpr wq_config_t SPI0{"wq:SPI0", 2336, -1};
@@ -66,7 +66,7 @@ static constexpr wq_config_t I2C3{"wq:I2C3", 2336, -11};
 static constexpr wq_config_t I2C4{"wq:I2C4", 2336, -12};

 // PX4 att/pos controllers, highest priority after sensors.
-static constexpr wq_config_t nav_and_controllers{"wq:nav_and_controllers", 2240, -13};
+static constexpr wq_config_t nav_and_controllers{"wq:nav_and_controllers", 2164, -13};

 static constexpr wq_config_t INS0{"wq:INS0", 6000, -14};
 static constexpr wq_config_t INS1{"wq:INS1", 6000, -15};
@@ -91,7 +91,7 @@ bool Subscription::ChangeInstance(uint8_t instance)
 		DeviceMaster *device_master = uORB::Manager::get_instance()->get_device_master();

 		if (device_master != nullptr) {
-			if (!device_master->deviceNodeExists(_orb_id, instance)) {
+			if (!device_master->deviceNodeExists(_orb_id, _instance)) {
 				return false;
 			}

@@ -16,13 +16,6 @@
 #               https://launchpad.net/gcc-arm-embedded and building them with correct flags.
 #               Note that Python support is not required if no per-task sampling is needed.
 #
-# Usage with PX4:
-#   0) See above regarding flamegraph.pl
-#   1) Connect your device, e.g. Pixhawk 4
-#   2) Build PX4: make px4_fmu-v5_default
-#   3) Flash PX4: make px4_fmu-v5_default upload
-#   4) Connect a JTAG/SWD debugger, e.g. a DroneCode Probe
-#   5) Profile: make px4_fmu-v5_default profile

 set -e
 root=$(dirname $0)
@@ -40,11 +33,7 @@ function usage()
    exit 1
 }

-if [ -z `which flamegraph.pl` ]; then
-    echo "Install flamegraph.pl first.  Available from:"
-    echo -e "\thttps://github.com/brendangregg/FlameGraph"
-    exit 1
-fi
+which flamegraph.pl > /dev/null || die "Install flamegraph.pl first"

 #
 # Parsing the arguments. Read this section for usage info.
@@ -56,7 +45,6 @@ elf=
 append=0
 fgfontsize=10
 fgwidth=1900
-gdbdev=`ls /dev/serial/by-id/*Black_Magic_Probe*-if00`

 for i in "$@"
 do
@@ -82,9 +70,6 @@ do
        --fgwidth=*)
            fgwidth="${i#*=}"
            ;;
-        --gdbdev=*)
-            gdbdev="${i#*=}"
-            ;;
        *)
            usage
            ;;
@@ -119,7 +104,7 @@ then
        then
            arm-none-eabi-gdb $elf --nx --quiet --batch \
                                           -ex "set print asm-demangle on" \
-                                           -ex "target extended $gdbdev" \
+                                           -ex "target extended /dev/ttyACM0" \
                                           -ex "monitor swdp_scan" \
                                           -ex "attach 1" \
                                           -ex bt \
@@ -129,7 +114,7 @@ then
        else
            arm-none-eabi-gdb $elf --nx --quiet --batch \
                                           -ex "set print asm-demangle on" \
-                                           -ex "target extended $gdbdev" \
+                                           -ex "target extended /dev/ttyACM0" \
                                           -ex "monitor swdp_scan" \
                                           -ex "attach 1" \
                                           -ex "source $root/Nuttx.py" \
@@ -152,7 +137,7 @@ fi
 #
 # Folding the stacks.
 #
-[ -f $stacksfile ] || die "Where are the stack samples? Expected file not found: $stacksfile"
+[ -f $stacksfile ] || die "Where are the stack samples?"

 cat << 'EOF' > /tmp/pmpn-folder.py
 #
@@ -104,10 +104,10 @@ int up_pwm_servo_init(uint32_t channel_mask)
 	return OK;
 }

-void up_pwm_servo_deinit(uint32_t channel_mask)
+void up_pwm_servo_deinit(void)
 {
 	/* disable the timers */
-	up_pwm_servo_arm(false, channel_mask);
+	up_pwm_servo_arm(false);
 }

 int up_pwm_servo_set_rate_group_update(unsigned channel, unsigned rate)
@@ -154,8 +154,8 @@ uint32_t up_pwm_servo_get_rate_group(unsigned group)
 }

 void
-up_pwm_servo_arm(bool armed, uint32_t channel_mask)
+up_pwm_servo_arm(bool armed)
 {
-	io_timer_set_enable(armed, IOTimerChanMode_OneShot, channel_mask);
-	io_timer_set_enable(armed, IOTimerChanMode_PWMOut, channel_mask);
+	io_timer_set_enable(armed, IOTimerChanMode_OneShot, IO_TIMER_ALL_MODES_CHANNELS);
+	io_timer_set_enable(armed, IOTimerChanMode_PWMOut, IO_TIMER_ALL_MODES_CHANNELS);
 }
@@ -112,8 +112,7 @@ int kinetis_gpiosetevent(uint32_t pinset, bool risingedge, bool fallingedge, boo
 #define px4_arch_gpiosetevent(pinset,r,f,e,fp,a)  kinetis_gpiosetevent(pinset,r,f,e,fp,a)

 #define _PX4_MAKE_GPIO(pin_ftmx, io)    ((((uint32_t)(pin_ftmx)) & ~(_PIN_MODE_MASK | _PIN_OPTIONS_MASK)) |(io))
-#define PX4_MAKE_GPIO_INPUT(gpio) _PX4_MAKE_GPIO((gpio), GPIO_PULLUP)
-#define PX4_MAKE_GPIO_INPUT_PULL_DOWN(gpio) _PX4_MAKE_GPIO((gpio), GPIO_PULLDOWN)
-#define PX4_MAKE_GPIO_OUTPUT(gpio) _PX4_MAKE_GPIO((gpio), GPIO_HIGHDRIVE)
+#define PX4_MAKE_GPIO_INPUT(gpio) _PX4_MAKE_GPIO(gpio, GPIO_PULLUP)
+#define PX4_MAKE_GPIO_OUTPUT(gpio) _PX4_MAKE_GPIO(gpio, GPIO_HIGHDRIVE)

 __END_DECLS
@@ -105,10 +105,10 @@ int up_pwm_servo_init(uint32_t channel_mask)
 	return OK;
 }

-void up_pwm_servo_deinit(uint32_t channel_mask)
+void up_pwm_servo_deinit(void)
 {
 	/* disable the timers */
-	up_pwm_servo_arm(false, channel_mask);
+	up_pwm_servo_arm(false);
 }

 int up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate)
@@ -155,8 +155,8 @@ uint32_t up_pwm_servo_get_rate_group(unsigned group)
 }

 void
-up_pwm_servo_arm(bool armed, uint32_t channel_mask)
+up_pwm_servo_arm(bool armed)
 {
-	io_timer_set_enable(armed, IOTimerChanMode_OneShot, channel_mask);
-	io_timer_set_enable(armed, IOTimerChanMode_PWMOut, channel_mask);
+	io_timer_set_enable(armed, IOTimerChanMode_OneShot, IO_TIMER_ALL_MODES_CHANNELS);
+	io_timer_set_enable(armed, IOTimerChanMode_PWMOut, IO_TIMER_ALL_MODES_CHANNELS);
 }
@@ -105,7 +105,6 @@ int imxrt_gpiosetevent(uint32_t pinset, bool risingedge, bool fallingedge, bool
 #define px4_arch_gpiosetevent(pinset,r,f,e,fp,a)  imxrt_gpiosetevent(pinset,r,f,e,fp,a)

 #define PX4_MAKE_GPIO_INPUT(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT | IOMUX_SCHMITT_TRIGGER | IOMUX_PULL_UP_47K | IOMUX_DRIVE_HIZ))
-#define PX4_MAKE_GPIO_INPUT_PULL_DOWN(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT | IOMUX_SCHMITT_TRIGGER | IOMUX_PULL_DOWN_100K | IOMUX_DRIVE_HIZ))
 #define PX4_MAKE_GPIO_OUTPUT(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT | GPIO_OUTPUT_ZERO | IOMUX_CMOS_OUTPUT | IOMUX_PULL_KEEP | IOMUX_DRIVE_33OHM  | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST))

 __END_DECLS
@@ -102,10 +102,10 @@ int up_pwm_servo_init(uint32_t channel_mask)
 	return OK;
 }

-void up_pwm_servo_deinit(uint32_t channel_mask)
+void up_pwm_servo_deinit(void)
 {
 	/* disable the timers */
-	up_pwm_servo_arm(false, channel_mask);
+	up_pwm_servo_arm(false);
 }

 int up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate)
@@ -152,8 +152,8 @@ uint32_t up_pwm_servo_get_rate_group(unsigned group)
 }

 void
-up_pwm_servo_arm(bool armed, uint32_t channel_mask)
+up_pwm_servo_arm(bool armed)
 {
-	io_timer_set_enable(armed, IOTimerChanMode_OneShot, channel_mask);
-	io_timer_set_enable(armed, IOTimerChanMode_PWMOut, channel_mask);
+	io_timer_set_enable(armed, IOTimerChanMode_OneShot, IO_TIMER_ALL_MODES_CHANNELS);
+	io_timer_set_enable(armed, IOTimerChanMode_PWMOut, IO_TIMER_ALL_MODES_CHANNELS);
 }
@@ -65,7 +65,7 @@
 static const uint32_t modes[] = {
 	/*                                      to  tb   */
 	/* BOARD_RESET_MODE_CLEAR                5   y   */  0,
-	/* BOARD_RESET_MODE_BOOT_TO_BL           0   n   */  0xb007b007,
+	/* BOARD_RESET_MODE_BOOT_TO_BL           0   n   */  0xb0070001,
 	/* BOARD_RESET_MODE_BOOT_TO_VALID_APP    0   y   */  0xb0070002,
 	/* BOARD_RESET_MODE_CAN_BL               10  n   */  0xb0080000,
 	/* BOARD_RESET_MODE_RTC_BOOT_FWOK        0   n   */  0xb0093a26
@@ -103,7 +103,6 @@ __BEGIN_DECLS
 #define px4_arch_gpiosetevent(pinset,r,f,e,fp,a)  stm32_gpiosetevent(pinset,r,f,e,fp,a)

 #define PX4_MAKE_GPIO_INPUT(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLUP))
-#define PX4_MAKE_GPIO_INPUT_PULL_DOWN(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN))
 #define PX4_MAKE_GPIO_OUTPUT(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR))

 #define PX4_GPIO_PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_2MHz))
@@ -769,7 +769,7 @@ int io_timer_set_rate(unsigned timer, unsigned rate)
 			int changeOneShot = reallocate_channel_resources(channels, IOTimerChanMode_OneShot, IOTimerChanMode_PWMOut);
 			int changeDshot = reallocate_channel_resources(channels, IOTimerChanMode_Dshot, IOTimerChanMode_PWMOut);

-			if (changeOneShot || changeDshot) {
+			if (changeOneShot && changeDshot) {
 				io_timer_set_PWM_mode(timer);
 			}

@@ -109,10 +109,10 @@ int up_pwm_servo_init(uint32_t channel_mask)
 	return OK;
 }

-void up_pwm_servo_deinit(uint32_t channel_mask)
+void up_pwm_servo_deinit(void)
 {
 	/* disable the timers */
-	up_pwm_servo_arm(false, channel_mask);
+	up_pwm_servo_arm(false);
 }

 int up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate)
@@ -158,8 +158,8 @@ uint32_t up_pwm_servo_get_rate_group(unsigned group)
 }

 void
-up_pwm_servo_arm(bool armed, uint32_t channel_mask)
+up_pwm_servo_arm(bool armed)
 {
-	io_timer_set_enable(armed, IOTimerChanMode_OneShot, channel_mask);
-	io_timer_set_enable(armed, IOTimerChanMode_PWMOut, channel_mask);
+	io_timer_set_enable(armed, IOTimerChanMode_OneShot, IO_TIMER_ALL_MODES_CHANNELS);
+	io_timer_set_enable(armed, IOTimerChanMode_PWMOut, IO_TIMER_ALL_MODES_CHANNELS);
 }
@@ -46,4 +46,3 @@ add_subdirectory(tfmini)
 add_subdirectory(ulanding_radar)
 add_subdirectory(vl53l0x)
 add_subdirectory(vl53l1x)
-add_subdirectory(gy_us42)
@@ -1,43 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2021 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-px4_add_module(
-	MODULE drivers__distance_sensor__gy_us42
-	MAIN gy_us42
-	SRCS
-		GY_US42.cpp
-		GY_US42.hpp
-		GY_US42_main.cpp
-	DEPENDS
-		drivers_rangefinder
-		px4_work_queue
-	)
@@ -1,133 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include "GY_US42.hpp"
-
-GY_US42::GY_US42(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency, int address) :
-	I2C(DRV_DIST_DEVTYPE_GY_US42, MODULE_NAME, bus, address, bus_frequency),
-	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_rangefinder(get_device_id(), rotation)
-{
-	_px4_rangefinder.set_max_distance(GY_US42_MAX_DISTANCE);
-	_px4_rangefinder.set_min_distance(GY_US42_MIN_DISTANCE);
-}
-
-GY_US42::~GY_US42()
-{
-	perf_free(_sample_perf);
-	perf_free(_comms_errors);
-}
-
-int GY_US42::init()
-{
-	// I2C init (and probe) first.
-	if (I2C::init() != OK) {
-		return PX4_ERROR;
-	}
-
-	_state = STATE::POWERON_WAIT;
-	ScheduleDelayed(2000);
-	return OK;
-}
-
-int GY_US42::collect()
-{
-	// Read from the sensor.
-	uint8_t val[2] = {};
-	perf_begin(_sample_perf);
-
-	const hrt_abstime timestamp_sample = hrt_absolute_time();
-	int ret = transfer(nullptr, 0, val, 2);
-
-	if (ret < 0) {
-		PX4_DEBUG("error reading from sensor: %d", ret);
-		perf_count(_comms_errors);
-		perf_end(_sample_perf);
-		return ret;
-	}
-
-	uint16_t distance_cm = val[0] << 8 | val[1];
-	float distance_m = float(distance_cm) * 1e-2f;
-
-	_px4_rangefinder.update(timestamp_sample, distance_m);
-
-	perf_end(_sample_perf);
-	return PX4_OK;
-}
-
-int GY_US42::measure()
-{
-	uint8_t cmd[1] = {GY_US42_TAKE_RANGE_REG};
-
-	// Send the command to begin a measurement.
-	int ret = transfer(cmd, 1, nullptr, 0);
-
-	if (ret != PX4_OK) {
-		perf_count(_comms_errors);
-		PX4_DEBUG("i2c::transfer returned %d", ret);
-		return ret;
-	}
-
-	return PX4_OK;
-}
-
-void GY_US42::RunImpl()
-{
-	switch (_state) {
-	case STATE::INIT:
-		// do nothing
-		break;
-
-	case STATE::POWERON_WAIT:
-		measure();
-		_state = STATE::MEASURE_WAIT;
-		ScheduleOnInterval(GY_US42_CONVERSION_INTERVAL, GY_US42_CONVERSION_INTERVAL);
-		break;
-
-	case STATE::MEASURE_WAIT:
-		collect();
-		measure();
-		// forever loop
-		break;
-
-	case STATE::MODIFYADDR_WAIT:
-		break;
-	}
-}
-
-void GY_US42::print_status()
-{
-	I2CSPIDriverBase::print_status();
-	perf_print_counter(_sample_perf);
-	perf_print_counter(_comms_errors);
-}
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Jaeyoung-Lim	d1fbc2540c	Run jsbsim	2021-04-17 10:49:19 +02:00
Jaeyoung-Lim	4a80c872ea	Add unified hitl_run script for running HITL simulations This commit adds a hitl_run script which can be used for various simulations when running HITL simulation	2021-04-17 10:46:06 +02:00