gnss: move delay compensation to driver level

This allows to specify a delay per receiver and reduces the amount of unnecessary parameter duplication in multi-ekf mode
2026-06-10 11:40:04 +08:00 · 2024-09-09 16:53:19 +02:00
421 changed files with 1150 additions and 2850 deletions
@@ -88,7 +88,7 @@ jobs:
      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@v3
+      uses: actions/upload-artifact@v2-preview
      with:
        name: coredump
        path: px4.core
@@ -103,21 +103,21 @@ jobs:

    - name: Upload px4 binary
      if: failure()
-      uses: actions/upload-artifact@v3
+      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@v3
+      uses: actions/upload-artifact@v2
      with:
        name: px4_log
        path: ~/.ros/log/*/*.ulg

    - name: Store ROS log
      if: failure()
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v2
      with:
        name: ros_log
        path: ~/.ros/**/rostest-*.log
@@ -83,7 +83,7 @@ jobs:
      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@v3
+      uses: actions/upload-artifact@v2-preview
      with:
        name: coredump
        path: px4.core
@@ -98,21 +98,21 @@ jobs:

    - name: Upload px4 binary
      if: failure()
-      uses: actions/upload-artifact@v3
+      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@v3
+      uses: actions/upload-artifact@v2
      with:
        name: px4_log
        path: ~/.ros/log/*/*.ulg

    - name: Store ROS log
      if: failure()
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v2
      with:
        name: ros_log
        path: ~/.ros/**/rostest-*.log
@@ -19,6 +19,8 @@ param set-default SENS_EN_MAGSIM 1
 # disable some checks to allow to fly:
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027

 # Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
@@ -21,6 +21,8 @@ param set-default SENS_EN_ARSPDSIM 1
 param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027

 param set-default SIH_T_MAX 6
 param set-default SIH_MASS 0.3
@@ -30,6 +30,8 @@ param set-default MAV_TYPE 19
 # disable some checks to allow to fly:
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027

 param set-default SIH_T_MAX 2
 param set-default SIH_Q_MAX 0.0165
@@ -97,6 +97,11 @@ param set-default IMU_GYRO_CUTOFF 100

 # 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

@@ -16,36 +16,39 @@ 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_FF 0.08
-param set-default FW_PR_I 0.3
-param set-default FW_PR_P 0.08
-
-param set-default FW_RR_FF 0.05
-param set-default FW_RR_I 0.2
-param set-default FW_RR_P 0.03
-
-param set-default FW_YR_FF 0.3
-param set-default FW_YR_I 0.4
-param set-default FW_YR_P 0.2
+param set-default FW_MAN_P_MAX 30
+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 FW_PSP_OFF 2
 param set-default FW_P_LIM_MAX 32
 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_MIN 0.05
 param set-default FW_THR_TRIM 0.25
-param set-default FW_THR_MAX 0.6

-param set-default FW_T_CLMB_R_SP 5
-param set-default FW_T_CLMB_MAX 6
+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
@@ -53,6 +56,7 @@ 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
@@ -16,13 +16,11 @@ param set-default RD_WHEEL_TRACK 0.3
 param set-default RD_MAN_YAW_SCALE 0.1
 param set-default RD_MAX_ACCEL 6
 param set-default RD_MAX_JERK 30
-param set-default RD_MAX_THR_YAW_R 5
-param set-default RD_YAW_RATE_P 0.1
+param set-default RD_MAX_SPEED 7
+param set-default RD_YAW_RATE_P 5
 param set-default RD_YAW_RATE_I 0
 param set-default RD_YAW_P 5
 param set-default RD_YAW_I 0
-param set-default RD_MAX_SPEED 5
-param set-default RD_MAX_THR_SPD 7
 param set-default RD_SPEED_P 1
 param set-default RD_SPEED_I 0
 param set-default RD_MAX_YAW_RATE 180
@@ -172,7 +172,8 @@ else
 	# otherwise start simulator (mavlink) module

 	# EKF2 specifics
-	param set-default EKF2_GPS_DELAY 10
+	param set-default GPS_1_DELAY 10
+	param set-default GPS_2_DELAY 10
 	param set-default EKF2_MULTI_IMU 3
 	param set-default SENS_IMU_MODE 0

@@ -18,6 +18,8 @@ param set UAVCAN_ENABLE 0
 # disable some checks to allow to fly
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027

 # Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
@@ -96,5 +96,7 @@ param set UAVCAN_ENABLE 0
 # disable some checks to allow to fly
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027

 param set-default MAV_TYPE 22
@@ -20,6 +20,8 @@ param set SYS_HITL 2
 # disable some checks to allow to fly:
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027

 param set SIH_VEHICLE_TYPE 0

@@ -41,6 +41,8 @@ param set-default SYS_HITL 2
 # disable some checks to allow to fly:
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027

 param set SIH_T_MAX 6
 param set SIH_MASS 0.3
@@ -43,10 +43,6 @@ param set-default CA_SV_CS1_TRQ_P 0.3
 param set-default CA_SV_CS1_TRQ_Y -0.3
 param set-default CA_SV_CS1_TYPE 6

-param set-default FW_AIRSPD_MAX 12
-param set-default FW_AIRSPD_MIN 7
-param set-default FW_AIRSPD_TRIM 10
-
 param set-default HIL_ACT_FUNC1 101
 param set-default HIL_ACT_FUNC2 102
 param set-default HIL_ACT_FUNC5 202
@@ -63,8 +59,8 @@ param set-default SYS_HITL 2
 # disable some checks to allow to fly:
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
-
-param set-default SENS_DPRES_OFF 0.001
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027

 param set SIH_T_MAX 2.0
 param set SIH_Q_MAX 0.0165
@@ -79,5 +75,3 @@ param set SIH_L_ROLL 0.145

 # sih as tailsitter
 param set SIH_VEHICLE_TYPE 2
-
-param set-default VT_ARSP_TRANS 6
@@ -29,6 +29,7 @@ param set-default BAT1_N_CELLS 4
 param set-default BAT1_R_INTERNAL 0.0025

 param set-default SYS_HAS_NUM_ASPD 0
+param set-default CBRK_IO_SAFETY 22027

 param set-default EKF2_GPS_POS_X -0.12
 param set-default EKF2_IMU_POS_X -0.12
@@ -16,6 +16,7 @@
 . ${R}etc/init.d/rc.balloon_defaults

 param set-default COM_PREARM_MODE 2  # always in prearm state
+param set-default CBRK_IO_SAFETY 22027
 param set-default SDLOG_PROFILE 17
 param set-default SDLOG_MODE 2
 param set-default MAV_0_MODE 1
@@ -16,6 +16,7 @@
 . ${R}etc/init.d/rc.airship_defaults

 param set-default COM_PREARM_MODE 2
+param set-default CBRK_IO_SAFETY 22027

 param set-default CA_AIRFRAME 9

@@ -92,6 +92,9 @@ param set-default BAT1_N_CELLS 4
 param set-default BAT1_A_PER_V 36.364
 param set-default BAT1_V_DIV 18.182

+# Circuit breakers
+param set-default CBRK_IO_SAFETY 22027
+
 param set-default THR_MDL_FAC 0.3

 # Square quadrotor X PX4 numbering
@@ -93,6 +93,9 @@ param set-default BAT1_N_CELLS 4
 param set-default BAT1_A_PER_V 36.364
 param set-default BAT1_V_DIV 18.182

+# Circuit breakers
+param set-default CBRK_IO_SAFETY 22027
+
 param set-default THR_MDL_FAC 0.3

 # Square quadrotor X PX4 numbering
@@ -47,7 +47,6 @@ param set-default EKF2_BCOEF_Y 25.5

 param set-default EKF2_DRAG_CTRL 1

-param set-default EKF2_GPS_DELAY 100
 param set-default EKF2_GPS_POS_X 0.06
 param set-default EKF2_GPS_V_NOISE 0.5

@@ -79,6 +78,7 @@ param set-default EKF2_RNG_POS_Z 0.033

 param set-default EKF2_TERR_NOISE 1

+param set-default GPS_1_DELAY 100

 # Maximum allowed angle velocity in the landed state
 param set-default LNDMC_ROT_MAX 40
@@ -25,14 +25,12 @@ param set-default RBCLW_REV 1 # reverse right wheels
 param set-default RD_WHEEL_TRACK 0.3
 param set-default RD_MAN_YAW_SCALE 1
 param set-default RD_MAX_ACCEL 5
-param set-default RD_MAX_JERK 10
-param set-default RD_MAX_THR_YAW_R 4
+param set-default RD_MAX_JERK 50
+param set-default RD_MAX_SPEED 2
 param set-default RD_YAW_RATE_P 0.1
 param set-default RD_YAW_RATE_I 0
 param set-default RD_YAW_P 5
 param set-default RD_YAW_I 0
-param set-default RD_MAX_SPEED 1.8
-param set-default RD_MAX_THR_SPD 2
 param set-default RD_SPEED_P 0.5
 param set-default RD_SPEED_I 0.1
 param set-default RD_MAX_YAW_RATE 300
@@ -23,6 +23,9 @@
 . ${R}etc/init.d/rc.uuv_defaults


+# companion computer is connected via USB permanently
+param set-default CBRK_IO_SAFETY 22027
+
 param set-default MAV_1_CONFIG 102

 param set-default BAT1_A_PER_V 37.8798
@@ -73,6 +73,8 @@ param set-default SENS_EN_PX4FLOW 1
 param set-default SENS_EN_LL40LS 2
 param set-default SENS_FLOW_ROT 2

+#
+param set-default CBRK_IO_SAFETY 22027
 param set-default COM_DISARM_LAND 3

 # Battery
@@ -184,13 +184,6 @@ then
 	asp5033 start -X
 fi

-# AUAV absolute/differential pressure sensor external I2C
-if param greater -s SENS_EN_AUAVX 0
-then
-	auav start -D -X
-	auav start -A -X
-fi
-
 # SHT3x temperature and hygrometer sensor, external I2C
 if param compare -s SENS_EN_SHT3X 1
 then
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file can.c
+ * @file mindpx_can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file init.c
+ * @file mindpx2_init.c
 *
 * MINDPX-specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file mindpx2_led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file mindpx_usb.c
 *
 * Board-specific USB functions.
 */
@@ -33,7 +33,7 @@
 ****************************************************************************/

 /**
- * @file pwr.cpp
+ * @file pwr.c
 *
 * Board-specific power button functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file init.cpp
+ * @file init.c
 *
 * BBBLUE specific initialization
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file init.c
+ * @file crazyflie_init.c
 *
 * Crazyflie specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file crazyflie_led.c
 *
 * Crazyflie LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file crazyflie_usb.c
 *
 * Board-specific USB functions.
 */
@@ -402,12 +402,11 @@ Syslink::handle_message(syslink_message_t *msg)

 		float vbat; //, iset;
 		memcpy(&vbat, &msg->data[1], sizeof(float));
+		//memcpy(&iset, &msg->data[5], sizeof(float));

-		Battery::InputSample sample{
-			.timestamp = t,
-			.voltage_v = vbat,
-		};
-		_battery.updateAndPublishBatteryStatus(sample);
+		_battery.setConnected(true);
+		_battery.updateVoltage(vbat);
+		_battery.updateAndPublishBatteryStatus(t);

 		// Update battery charge state
 		if (charging) {
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file init.c
+ * @file crazyflie_init.c
 *
 * Crazyflie specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file crazyflie_led.c
 *
 * Crazyflie LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file crazyflie_usb.c
 *
 * Board-specific USB functions.
 */
@@ -39,6 +39,7 @@ CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -69,6 +70,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -6,4 +6,7 @@
 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281

+# Disable safety switch by default
+param set-default CBRK_IO_SAFETY 22027
+
 param set-default SYS_HAS_MAG 0
@@ -9,6 +9,9 @@ param set-default SYS_AUTOSTART 4001
 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281

+# Disable safety switch by default
+param set-default CBRK_IO_SAFETY 22027
+
 param set-default EKF2_MAG_TYPE 5
 param set-default SENS_BOARD_ROT 6

@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file can.c
+ * @file px4fmu_can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file px4fmu2_led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file px4fmu_usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file px4fmu_usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file px4fmu_usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file px4fmu_usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file can.c
+ * @file px4fmu_can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file px4fmu2_led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file px4fmu_usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file can.c
+ * @file px4fmu_can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file px4fmu2_led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file px4fmu_usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file rc_controller.cpp
+ * @file px4_simple_app.c
 * Minimal application example for PX4 autopilot
 *
 * @author Example User <mail@example.com>
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /*
- * @file timer_config.cpp
+ * @file timer_config.c
 *
 * Configuration data for the kinetis pwm_servo, input capture and pwm input driver.
 *
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /*
- * @file timer_config.cpp
+ * @file timer_config.c
 *
 * Configuration data for the kinetis pwm_servo, input capture and pwm input driver.
 *
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /*
- * @file timer_config.cpp
+ * @file timer_config.c
 *
 * Configuration data for the kinetis pwm_servo, input capture and pwm input driver.
 *
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /*
- * @file timer_config.cpp
+ * @file timer_config.c
 *
 * Configuration data for the S32K1XX pwm_servo, input capture and pwm input driver.
 *
@@ -9,4 +9,7 @@ param set-default BAT1_A_PER_V 31
 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281

+# Disable safety switch by default
+param set-default CBRK_IO_SAFETY 22027
+
 param set-default SYS_HAS_MAG 0
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file can.c
+ * @file px4fmu_can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file i2c.cpp
+ * @file px4fmu_i2c.c
 *
 * Board-specific I2C functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file init.c
+ * @file px4fmu2_init.c
 *
 * PX4FMUv2-specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file px4fmu2_led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file px4fmu_usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file can.c
+ * @file px4fmu_can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file i2c.cpp
+ * @file px4fmu_i2c.c
 *
 * Board-specific I2C functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file init.c
+ * @file px4fmu2_init.c
 *
 * PX4FMUv2-specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file px4fmu2_led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file px4fmu_usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file can.c
+ * @file px4fmu_can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file init.c
+ * @file px4fmu_init.c
 *
 * PX4FMU-specific early startup code.  This file implements the
 * board_app_initializ() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file px4fmu2_led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file px4fmu_usb.c
 *
 * Board-specific USB functions.
 */
@@ -22,27 +22,20 @@ CONFIG_DRIVERS_PWM_INPUT=n
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
 CONFIG_DRIVERS_TONE_ALARM=n
 CONFIG_DRIVERS_UAVCAN=n
-CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_CAMERA_FEEDBACK=n
 CONFIG_MODULES_ESC_BATTERY=n
-CONFIG_MODULES_EVENTS=n
-CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_POS_CONTROL=n
-CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_GIMBAL=n
 CONFIG_MODULES_GYRO_CALIBRATION=n
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_MODULES_UUV_ATT_CONTROL=n
 CONFIG_MODULES_UUV_POS_CONTROL=n
-CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_SYSTEMCMDS_REFLECT=n
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
-CONFIG_EKF2_AUX_GLOBAL_POSITION=y
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file can.c
+ * @file px4fmu_can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file init.cpp
+ * @file init.c
 *
 * PX4FMU-specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file px4fmu2_led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file px4fmu_usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file can.c
+ * @file px4fmu_can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file px4fmu2_led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file px4fmu_usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file can.c
+ * @file px4fmu_can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file px4fmu2_led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file px4fmu_usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file can.c
+ * @file px4fmu_can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file init.cpp
+ * @file init.c
 *
 * PX4FMU-specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file px4fmu2_led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file px4fmu_usb.c
 *
 * Board-specific USB functions.
 */
@@ -8,3 +8,6 @@ param set-default BAT1_A_PER_V 36.367515152

 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281
+
+# Disable safety switch by default
+param set-default CBRK_IO_SAFETY 22027
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file can.c
+ * @file px4fmu_can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file px4fmu2_led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file px4fmu_usb.c
 *
 * Board-specific USB functions.
 */
@@ -21,6 +21,9 @@ param set-default BAT1_A_PER_V 36.00

 param set-default BAT_V_OFFS_CURR 0.413

+# Disable safety switch
+param set-default CBRK_IO_SAFETY 22027
+
 safety_button start

 set LOGGER_BUF 32
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file can.c
+ * @file px4fmu_can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file init.cpp
+ * @file init.c
 *
 * PX4FMU-specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file px4fmu2_led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file px4fmu2_led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file px4fmu_usb.c
 *
 * Board-specific USB functions.
 */
@@ -46,7 +46,7 @@ uint8 BATTERY_FAULT_CELL_FAIL= 2 		# One or more cells have failed
 uint8 BATTERY_FAULT_OVER_CURRENT = 3 		# Over-current
 uint8 BATTERY_FAULT_OVER_TEMPERATURE = 4 	# Over-temperature
 uint8 BATTERY_FAULT_UNDER_TEMPERATURE = 5 	# Under-temperature fault
-uint8 BATTERY_FAULT_INCOMPATIBLE_VOLTAGE = 6 	# Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage).
+uint8 BATTERY_FAULT_INCOMPATIBLE_VOLTAGE = 6 	# Vehicle voltage is not compatible with battery one
 uint8 BATTERY_FAULT_INCOMPATIBLE_FIRMWARE = 7 	# Battery firmware is not compatible with current autopilot firmware
 uint8 BATTERY_FAULT_INCOMPATIBLE_MODEL = 8 	# Battery model is not supported by the system
 uint8 BATTERY_FAULT_HARDWARE_FAILURE = 9 	# hardware problem
@@ -73,7 +73,6 @@ set(msg_files
 	DebugVect.msg
 	DifferentialPressure.msg
 	DistanceSensor.msg
-	DistanceSensorModeChangeRequest.msg
 	Ekf2Timestamps.msg
 	EscReport.msg
 	EscStatus.msg
@@ -1,5 +0,0 @@
-uint64 timestamp		# time since system start (microseconds)
-
-uint8 request_on_off 			# request to disable/enable the distance sensor
-uint8 REQUEST_OFF = 0
-uint8 REQUEST_ON  = 1
--- a/Show More
+++ b/Show More