containers/List: fix default add (O(1)) and create new addFront() addBack() methods

2026-05-26 04:57:35 +08:00 · 2020-12-27 12:09:55 -05:00
1653 changed files with 42492 additions and 171672 deletions
@@ -9,15 +9,15 @@ pipeline {
        script {
          def build_nodes = [:]
          def docker_images = [
-            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",
+            armhf: "px4io/px4-dev-armhf:2020-11-18",
+            arm64: "px4io/px4-dev-aarch64:2020-11-18",
+            base: "px4io/px4-dev-base-bionic:2020-11-18",
+            nuttx: "px4io/px4-dev-nuttx-focal:2020-11-18",
            snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
          ]

          def armhf_builds = [
-            target: ["beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
+            target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
            image: docker_images.armhf,
            archive: false
          ]
@@ -37,11 +37,8 @@ pipeline {
          def nuttx_builds_archive = [
            target: [
                     "airmind_mindpx-v2_default",
-                     "ark_can-flow_canbootloader",
-                     "ark_can-flow_default",
                     "av_x-v1_default",
                     "bitcraze_crazyflie_default",
-                     "bitcraze_crazyflie21_default",
                     "cuav_can-gps-v1_canbootloader",
                     "cuav_can-gps-v1_default",
                     "cuav_nora_default",
@@ -50,51 +47,41 @@ pipeline {
                     "cubepilot_cubeorange_default",
                     "cubepilot_cubeyellow_console",
                     "cubepilot_cubeyellow_default",
-                     "holybro_can-gps-v1_canbootloader",
-                     "holybro_can-gps-v1_default",
                     "holybro_durandal-v1_default",
                     "holybro_kakutef7_default",
                     "holybro_pix32v5_default",
+                     "intel_aerofc-v1_default",
                     "modalai_fc-v1_default",
                     "mro_ctrl-zero-f7_default",
-                     "mro_ctrl-zero-f7-oem_default",
-                     "mro_ctrl-zero-h7_default",
-                     "mro_ctrl-zero-h7-oem_default",
-                     "mro_pixracerpro_default",
                     "mro_x21-777_default",
                     "mro_x21_default",
-                     "nxp_fmuk66-e_default",
-                     "nxp_fmuk66-e_rtps",
-                     "nxp_fmuk66-e_socketcan",
                     "nxp_fmuk66-v3_default",
-                     "nxp_fmuk66-v3_rtps",
                     "nxp_fmuk66-v3_socketcan",
+                     "nxp_fmuk66-v3_rtps",
                     "nxp_fmurt1062-v1_default",
                     "nxp_ucans32k146_default",
                     "omnibus_f4sd_default",
                     "px4_fmu-v2_default",
                     "px4_fmu-v2_fixedwing",
+                     "px4_fmu-v2_lpe",
                     "px4_fmu-v2_multicopter",
                     "px4_fmu-v2_rover",
                     "px4_fmu-v2_test",
                     "px4_fmu-v3_default",
                     "px4_fmu-v4_cannode",
                     "px4_fmu-v4_default",
+                     "px4_fmu-v4_optimized",
                     "px4_fmu-v4pro_default",
-                     "px4_fmu-v5_ctrlalloc",
-                     "px4_fmu-v5_debug",
                     "px4_fmu-v5_default",
+                     "px4_fmu-v5_debug",
                     "px4_fmu-v5_fixedwing",
                     "px4_fmu-v5_multicopter",
                     "px4_fmu-v5_optimized",
                     "px4_fmu-v5_rover",
                     "px4_fmu-v5_rtps",
                     "px4_fmu-v5_stackcheck",
-                     "px4_fmu-v5_uavcanv0periph",
-                     "px4_fmu-v5_uavcanv1",
                     "px4_fmu-v5x_base_phy_DP83848C",
                     "px4_fmu-v5x_default",
-                     "px4_fmu-v6u_default",
                     "px4_fmu-v6x_default",
                     "px4_io-v2_default",
                     "spracing_h7extreme_default",
@@ -131,7 +118,7 @@ pipeline {
    // TODO: actually upload artifacts to S3
    // stage('S3 Upload') {
    //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+    //     docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
    //   }
    //   options {
    //         skipDefaultCheckout()
@@ -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:2021-02-04",
+	"image": "px4io/px4-dev-nuttx-focal:2020-11-18",

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

@@ -17,7 +17,6 @@ jobs:
        check: [
          "check_format",
          "tests",
-          "tests_coverage",
          "px4_fmu-v2_default stack_check",
          "validate_module_configs",
          "shellcheck_all",
@@ -28,7 +27,7 @@ jobs:
          "parameters_metadata",
        ]
    container:
-      image: px4io/px4-dev-nuttx-focal:2021-02-04
+      image: px4io/px4-dev-nuttx-focal:2020-11-18
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -52,8 +51,8 @@ jobs:
          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
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z
    - name: check environment
@@ -62,10 +61,3 @@ jobs:
          ulimit -a
    - name: ${{matrix.check}}
      run: make ${{matrix.check}}
-    - name: upload coverage
-      if: contains(matrix.check, 'coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: unittests
-        file: coverage/lcov.info
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2021-02-04
+    container: px4io/px4-dev-clang:2020-11-18
    steps:
    - uses: actions/checkout@v1
      with:
@@ -34,8 +34,8 @@ jobs:
          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
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@@ -11,10 +11,11 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2021-02-04
+    container: px4io/px4-dev-armhf:2020-11-18
    strategy:
      matrix:
        config: [
+          aerotenna_ocpoc_default,
          beaglebone_blue_default,
          emlid_navio2_default,
          px4_raspberrypi_default,
@@ -42,8 +43,8 @@ jobs:
          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
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2021-02-04
+    container: px4io/px4-dev-aarch64:2020-11-18
    strategy:
      matrix:
        config: [
@@ -39,8 +39,8 @@ jobs:
          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
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@@ -15,8 +15,7 @@ jobs:
      matrix:
        config: [
          px4_fmu-v5_default,
-          px4_sitl
-          #tests, # includes px4_sitl
+          tests, # includes px4_sitl
          ]
    steps:
    - uses: actions/checkout@v1
@@ -24,7 +23,7 @@ jobs:
        token: ${{secrets.ACCESS_TOKEN}}

    - name: setup
-      run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
+      run: ./Tools/setup/macos.sh

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@@ -43,8 +42,8 @@ jobs:
          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
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@@ -11,15 +11,12 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-02-04
+    container: px4io/px4-dev-nuttx-focal:2020-11-18
    strategy:
      matrix:
        config: [
          airmind_mindpx-v2_default,
-          ark_can-flow_canbootloader,
-          ark_can-flow_default,
          av_x-v1_default,
-          bitcraze_crazyflie21_default,
          bitcraze_crazyflie_default,
          cuav_can-gps-v1_canbootloader,
          cuav_can-gps-v1_default,
@@ -29,49 +26,41 @@ jobs:
          cubepilot_cubeorange_default,
          cubepilot_cubeyellow_console,
          cubepilot_cubeyellow_default,
-          holybro_can-gps-v1_canbootloader,
-          holybro_can-gps-v1_default,
          holybro_durandal-v1_default,
          holybro_kakutef7_default,
          holybro_pix32v5_default,
+          intel_aerofc-v1_default,
          modalai_fc-v1_default,
          mro_ctrl-zero-f7_default,
-          mro_ctrl-zero-f7-oem_default,
-          mro_ctrl-zero-h7_default,
-          mro_ctrl-zero-h7-oem_default,
-          mro_pixracerpro_default,
          mro_x21-777_default,
          mro_x21_default,
-          nxp_fmuk66-e_default,
-          nxp_fmuk66-e_rtps,
-          nxp_fmuk66-e_socketcan,
          nxp_fmuk66-v3_default,
-          nxp_fmuk66-v3_rtps,
+          nxp_fmuk66-e_default,
          nxp_fmuk66-v3_socketcan,
+          nxp_fmuk66-v3_rtps,
          nxp_fmurt1062-v1_default,
          nxp_ucans32k146_default,
          omnibus_f4sd_default,
          px4_fmu-v2_default,
          px4_fmu-v2_fixedwing,
+          px4_fmu-v2_lpe,
          px4_fmu-v2_multicopter,
          px4_fmu-v2_rover,
          px4_fmu-v2_test,
          px4_fmu-v3_default,
          px4_fmu-v4_cannode,
          px4_fmu-v4_default,
+          px4_fmu-v4_optimized,
          px4_fmu-v4pro_default,
-          px4_fmu-v5_ctrlalloc,
          px4_fmu-v5_default,
          px4_fmu-v5_fixedwing,
          px4_fmu-v5_multicopter,
          px4_fmu-v5_optimized,
          px4_fmu-v5_rover,
          px4_fmu-v5_rtps,
-          px4_fmu-v5_uavcanv0periph,
-          px4_fmu-v5_uavcanv1,
+          px4_fmu-v5_stackcheck,
          px4_fmu-v5x_base_phy_DP83848C,
          px4_fmu-v5x_default,
-          px4_fmu-v6u_default,
          px4_fmu-v6x_default,
          px4_io-v2_default,
          spracing_h7extreme_default,
@@ -99,8 +88,8 @@ jobs:
          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
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@@ -1,61 +0,0 @@
-name: NuttX UAVCAN firmware
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-02-04
-    strategy:
-      matrix:
-        config: [
-          ark_can-flow_default,
-          cuav_can-gps-v1_default,
-          holybro_can-gps-v1_default,
-          #nxp_ucans32k146_default,
-          px4_fmu-v4_cannode
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
-
-    - name: ccache post-run
-      run: ccache -s
-
-    - name: Upload px4 package
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_cannode_${{matrix.config}}
-        path: build/${{matrix.config}}/*.uavcan.bin
@@ -0,0 +1,69 @@
+name: Coverage
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container:
+      image: px4io/px4-dev-base-focal:2020-11-18
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    strategy:
+      matrix:
+        config: [
+          tests,
+          #python_coverage,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: coverage_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: coverage_${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      env:
+        PX4_CMAKE_BUILD_TYPE: "Coverage"
+      run: make ${{matrix.config}}
+
+    # Report test coverage
+    - name: Upload coverage
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+          mkdir -p coverage
+          lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
+    - name: Upload coverage information to Codecov
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: ${{matrix.config}}
+        file: coverage/lcov.info
@@ -19,7 +19,7 @@ jobs:
          - {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
+      image: px4io/px4-dev-ros-melodic:2020-11-18
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -43,8 +43,8 @@ jobs:
          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
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@@ -17,15 +17,15 @@ jobs:
        config:
          - {vehicle: "iris",          mission: "MC_mission_box",  build_type: "RelWithDebInfo"}
          - {vehicle: "rover",         mission: "rover_mission_1", build_type: "RelWithDebInfo"}
-          #- {vehicle: "plane",         mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
-          #- {vehicle: "plane_catapult",mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
-          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "Coverage"}
-          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "AddressSanitizer"}
+          - {vehicle: "plane",         mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
+          - {vehicle: "plane_catapult",mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
+          - {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "Coverage"}
+          - {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "AddressSanitizer"}
          #- {vehicle: "tailsitter",    mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
-          #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
+          - {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2021-02-04
+      image: px4io/px4-dev-ros-melodic:2020-11-18
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -49,8 +49,8 @@ jobs:
          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
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@@ -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:2021-02-04
+      image: px4io/px4-dev-ros-melodic:2020-11-18
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -44,8 +44,8 @@ jobs:
          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
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@@ -12,7 +12,7 @@ jobs:

  airframe:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2020-11-18
    steps:
    - uses: actions/checkout@v1
      with:
@@ -23,11 +23,11 @@ jobs:
        make airframe_metadata
        cd build/px4_sitl_default/docs
        ls -ls *
-      # TODO: deploy to userguide gitbook and s3
+      # TODO: deploy to devguide gitbook and s3

  module:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2020-11-18
    steps:
    - uses: actions/checkout@v1
      with:
@@ -38,11 +38,11 @@ jobs:
        make module_documentation
        cd build/px4_sitl_default/docs
        ls -ls *
-      # TODO: deploy to userguide gitbook and s3
+      # TODO: deploy to devguide gitbook and s3

  parameter:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2020-11-18
    steps:
    - uses: actions/checkout@v1
      with:
@@ -57,7 +57,7 @@ jobs:

  uorb_graph:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-02-04
+    container: px4io/px4-dev-nuttx-focal:2020-11-18
    steps:
    - uses: actions/checkout@v1
      with:
@@ -72,7 +72,7 @@ jobs:

  micrortps_agent:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2020-11-18
    steps:
    - uses: actions/checkout@v1
      with:
@@ -86,7 +86,7 @@ jobs:

  ROS_msgs:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2020-11-18
    steps:
    - uses: actions/checkout@v1
      with:
@@ -99,7 +99,7 @@ jobs:

  ROS2_bridge:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2020-11-18
    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:2021-02-04
+      image: px4io/px4-dev-simulation-focal:2020-11-18
      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/v0.36.0/mavsdk_0.36.0_ubuntu20.04_amd64.deb
+      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.33.1/mavsdk_0.33.1_ubuntu20.04_amd64.deb
    - name: Install MAVSDK
-      run: dpkg -i mavsdk_0.36.0_ubuntu20.04_amd64.deb
+      run: dpkg -i mavsdk_0.33.1_ubuntu20.04_amd64.deb

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@@ -49,8 +49,8 @@ jobs:
          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
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@@ -94,7 +94,7 @@ jobs:
        PX4_HOME_LON: ${{matrix.config.longitude}}
        PX4_HOME_ALT: ${{matrix.config.altitude}}
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json
+      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json

    - name: Look at core files
      if: failure()
@@ -106,6 +106,10 @@ jobs:
        name: coredump
        path: px4.core

+    - name: Upload logs to flight review
+      if: failure()
+      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ${GITHUB_WORKSPACE}/build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/*/*.ulg
+
    - name: Upload px4 binary
      if: failure()
      uses: actions/upload-artifact@v2-preview
@@ -101,6 +101,11 @@ msg/tmp/
 msg/topics_sources/
 platforms/posix/apps.cpp
 platforms/posix/apps.h
+src/lib/flight_tasks/FlightTasks_generated.cpp
+src/lib/flight_tasks/FlightTasks_generated.hpp
+src/lib/parameters/px4_parameters.c
+src/lib/parameters/px4_parameters.h
+src/lib/parameters/px4_parameters_public.h
 src/lib/version/build_git_version.h
 src/modules/simulator/simulator_config.h
 src/systemcmds/topic_listener/listener_generated.cpp
@@ -4,7 +4,7 @@
 	branch = master
 [submodule "src/drivers/uavcan/libuavcan"]
 	path = src/drivers/uavcan/libuavcan
-	url = https://github.com/PX4/libuavcan.git
+	url = https://github.com/PX4/uavcan.git
 	branch = px4
 [submodule "Tools/jMAVSim"]
 	path = Tools/jMAVSim
@@ -16,11 +16,11 @@
 	branch = master
 [submodule "src/lib/matrix"]
 	path = src/lib/matrix
-	url = https://github.com/PX4/PX4-Matrix.git
+	url = https://github.com/PX4/PX4-Matrix
 	branch = master
 [submodule "src/lib/ecl"]
 	path = src/lib/ecl
-	url = https://github.com/PX4/PX4-ECL.git
+	url = https://github.com/PX4/PX4-ECL
 	branch = master
 [submodule "boards/atlflight/cmake_hexagon"]
 	path = boards/atlflight/cmake_hexagon
@@ -28,11 +28,11 @@
 	branch = px4
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
-	url = https://github.com/PX4/PX4-GPSDrivers.git
+	url = https://github.com/PX4/PX4-GPSDrivers
 	branch = master
 [submodule "src/modules/micrortps_bridge/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
-	url = https://github.com/PX4/Micro-CDR.git
+	url = https://github.com/PX4/micro-CDR.git
 	branch = px4
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
@@ -51,15 +51,6 @@
 [submodule "Tools/jsbsim_bridge"]
 	path = Tools/jsbsim_bridge
 	url = https://github.com/PX4/px4-jsbsim-bridge.git
-[submodule "src/drivers/uavcan_v1/libcanard"]
-	path = src/drivers/uavcan_v1/libcanard
-	url = https://github.com/UAVCAN/libcanard.git
-[submodule "src/drivers/uavcan_v1/public_regulated_data_types"]
-	path = src/drivers/uavcan_v1/public_regulated_data_types
-	url = https://github.com/UAVCAN/public_regulated_data_types.git
-[submodule "src/drivers/uavcannode_gps_demo/public_regulated_data_types"]
-	path = src/drivers/uavcannode_gps_demo/public_regulated_data_types
-	url = https://github.com/UAVCAN/public_regulated_data_types
-[submodule "src/drivers/uavcannode_gps_demo/libcanard"]
-	path = src/drivers/uavcannode_gps_demo/libcanard
-	url = https://github.com/UAVCAN/libcanard
+[submodule "src/examples/gyro_fft/CMSIS_5"]
+	path = src/examples/gyro_fft/CMSIS_5
+	url = https://github.com/ARM-software/CMSIS_5.git
@@ -56,36 +56,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: airmind_mindpx-v2_default
-    ark_can-flow_default:
-      short: ark_can-flow_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-flow_default
-    ark_can-flow_canbootloader:
-      short: ark_can-flow_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-flow_canbootloader
    av_x-v1_default:
      short: av_x-v1
      buildType: MinSizeRel
      settings:
        CONFIG: av_x-v1_default
-    bitcraze_crazyflie_default:
-      short: bitcraze_crazyflie
-      buildType: MinSizeRel
-      settings:
-        CONFIG: bitcraze_crazyflie_default
    cuav_can-gps-v1_default:
      short: cuav_can-gps-v1_default
      buildType: MinSizeRel
      settings:
        CONFIG: cuav_can-gps-v1_default
-    cuav_can-gps-v1_canbootloader:
-      short: cuav_can-gps-v1_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_can-gps-v1_canbootloader
    cuav_nora_default:
      short: cuav_nora
      buildType: MinSizeRel
@@ -116,6 +96,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: holybro_durandal-v1_default
+    intel_aerofc-v1_default:
+      short: intel_aerofc-v1
+      buildType: MinSizeRel
+      settings:
+        CONFIG: intel_aerofc-v1_default
    modalai_fc-v1_default:
      short: modalai_fc-v1
      buildType: MinSizeRel
@@ -126,16 +111,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: mro_ctrl-zero-f7_default
-    mro_pixracerpro_bootloader:
-      short: mro_pixracerpro_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: mro_pixracerpro_bootloader
-    mro_pixracerpro_default:
-      short: mro_pixracerpro_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: mro_pixracerpro_default
    mro_x21-777_default:
      short: mro_x2.1-777
      buildType: MinSizeRel
@@ -27,6 +27,7 @@
        "cSpell.showStatus": false,
        "cSpell.words": [
                "acro",
+                "rattitude",
                "nuttx",
                "esc"
        ],
@@ -127,6 +128,7 @@
                "${workspaceFolder}/build": true
        },
        "search.showLineNumbers": true,
+        "search.smartCase": true,
        "telemetry.enableTelemetry": false,
        "terminal.integrated.copyOnSelection": true,
        "terminal.integrated.rightClickBehavior": "paste",
@@ -406,6 +406,7 @@ add_subdirectory(src/lib EXCLUDE_FROM_ALL)

 add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
 add_subdirectory(platforms EXCLUDE_FROM_ALL)
+add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer

 if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
 	add_subdirectory(${PX4_BOARD_DIR})
@@ -15,7 +15,7 @@ pipeline {
        // stage('Catkin build on ROS workspace') {
        //   agent {
        //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2021-02-04'
+        //       image 'px4io/px4-dev-ros-melodic:2020-11-18'
        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
        //     }
        //   }
@@ -56,7 +56,7 @@ pipeline {
        stage('Colcon build on ROS2 workspace') {
          agent {
            docker {
-              image 'px4io/px4-dev-ros2-foxy:2021-02-04'
+              image 'px4io/px4-dev-ros2-foxy:2020-11-18'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
            }
          }
@@ -67,9 +67,11 @@ pipeline {
              unset ROS_DISTRO;
              mkdir -p colcon_ws/src;
              cd colcon_ws;
-              git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo;
+              git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
+              git clone --recursive ${WORKSPACE}/colcon_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
              git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
-              source /opt/ros/foxy/setup.sh;
+              source /opt/ros/bouncy/setup.sh;
+              source /opt/ros/melodic/setup.sh;
              colcon build --event-handlers console_direct+ --symlink-install;
            '''
          }
@@ -85,7 +87,7 @@ pipeline {

        stage('Airframe') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
          }
          steps {
            sh 'make distclean'
@@ -104,14 +106,14 @@ pipeline {

        stage('Parameter') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
          }
          steps {
            sh 'make distclean'
            sh 'make parameters_metadata'
            dir('build/px4_sitl_default/docs') {
-              archiveArtifacts(artifacts: 'parameters.md, parameters.xml, params.json.xz')
-              stash includes: 'parameters.md, parameters.xml, params.json.xz', name: 'metadata_parameters'
+              archiveArtifacts(artifacts: 'parameters.md, parameters.xml')
+              stash includes: 'parameters.md, parameters.xml', name: 'metadata_parameters'
            }
          }
          post {
@@ -123,7 +125,7 @@ pipeline {

        stage('Module') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
          }
          steps {
            sh 'make distclean'
@@ -143,7 +145,7 @@ pipeline {
        stage('uORB graphs') {
          agent {
            docker {
-              image 'px4io/px4-dev-nuttx-focal:2021-02-04'
+              image 'px4io/px4-dev-nuttx-focal:2020-11-18'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
            }
          }
@@ -170,9 +172,39 @@ pipeline {

      parallel {

+        stage('Devguide') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+          }
+          steps {
+            sh('export')
+            unstash 'metadata_airframes'
+            unstash 'metadata_parameters'
+            unstash 'metadata_module_documentation'
+            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
+              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/Devguide.git')
+              sh('cp airframes.md Devguide/en/airframes/airframe_reference.md')
+              sh('cp parameters.md Devguide/en/advanced/parameter_reference.md')
+              sh('cp -R modules/*.md Devguide/en/middleware/')
+              sh('cd Devguide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
+              sh('cd Devguide; git push origin master || true')
+              sh('rm -rf Devguide')
+            }
+          }
+          when {
+            anyOf {
+              branch 'master'
+              branch 'pr-jenkins' // for testing
+            }
+          }
+          options {
+            skipDefaultCheckout()
+          }
+        }
+
        stage('Userguide') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
          }
          steps {
            sh('export')
@@ -202,7 +234,7 @@ pipeline {

        stage('QGroundControl') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
          }
          steps {
            sh('export')
@@ -230,7 +262,7 @@ pipeline {

        stage('microRTPS agent') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
          }
          steps {
            sh('export')
@@ -260,7 +292,7 @@ pipeline {

        stage('PX4 ROS msgs') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
          }
          steps {
            sh('export')
@@ -289,7 +321,7 @@ pipeline {

        stage('PX4 ROS2 bridge') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
          }
          steps {
            sh('export')
@@ -332,7 +364,7 @@ pipeline {

        stage('S3') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
          }
          steps {
            sh('export')
@@ -342,7 +374,6 @@ pipeline {
            withAWS(credentials: 'px4_aws_s3_key', region: 'us-east-1') {
              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'airframes.xml', path: 'Firmware/master/')
              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.xml', path: 'Firmware/master/')
-              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'params.json.xz', path: 'Firmware/master/')
            }
          }
          when {
@@ -1,6 +1,6 @@
 BSD 3-Clause License

-Copyright (c) 2012 - 2021, PX4 Development Team
+Copyright (c) 2012 - 2020, PX4 Development Team
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
@@ -174,8 +174,6 @@ define cmake-build
 	@$(call cmake-cache-check)
 	@# make sure to start from scratch when switching from GNU Make to Ninja
 	@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
-	@# make sure to start from scratch if ninja build file is missing
-	@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ ! -f $(BUILD_DIR)/build.ninja ]; then rm -rf $(BUILD_DIR); fi
 	@# only excplicitly configure the first build, if cache file already exists the makefile will rerun cmake automatically if necessary
 	@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ] || [ $(CMAKE_CACHE_CHECK) ]; then \
 		mkdir -p $(BUILD_DIR) \
@@ -270,9 +268,9 @@ px4fmu_firmware: \
 misc_qgc_extra_firmware: \
 	check_nxp_fmuk66-v3_default \
 	check_nxp_fmurt1062-v1_default \
+	check_intel_aerofc-v1_default \
 	check_mro_x21_default \
 	check_bitcraze_crazyflie_default \
-	check_bitcraze_crazyflie21_default \
 	check_airmind_mindpx-v2_default \
 	check_px4_fmu-v2_lpe \
 	sizes
@@ -363,10 +361,8 @@ tests:

 tests_coverage:
 	@$(MAKE) clean
-	@$(MAKE) --no-print-directory tests PX4_CMAKE_BUILD_TYPE=Coverage
-	@mkdir -p coverage
-	@lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
-
+	@$(MAKE) --no-print-directory px4_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
+	@echo "Open "$(SRC_DIR)"/build/px4_sitl_default/coverage-html/index.html to see coverage"

 rostest: px4_sitl_default
 	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
@@ -8,30 +8,26 @@

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

-PX4 is highly portable, OS-independent and supports Linux, NuttX and QuRT out of the box.
-
 * Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
 * [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
-  * [Multicopters](https://docs.px4.io/master/en/frames_multicopter/)
-  * [Fixed wing](https://docs.px4.io/master/en/frames_plane/)
-  * [VTOL](https://docs.px4.io/master/en/frames_vtol/)
-  * [Autogyro](https://docs.px4.io/master/en/frames_autogyro/)
-  * [Rover](https://docs.px4.io/master/en/frames_rover/)
-  * many more experimental types (Blimps, Boats, Submarines, Autogyros, etc)
+  * [Multicopters](https://docs.px4.io/master/en/airframes/airframe_reference.html#copter)
+  * [Fixed wing](https://docs.px4.io/master/en/airframes/airframe_reference.html#plane)
+  * [VTOL](https://docs.px4.io/master/en/airframes/airframe_reference.html#vtol)
+  * many more experimental types (Rovers, Blimps, Boats, Submarines, Autogyros, etc)
 * Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)


-## Building a PX4 based drone, rover, boat or robot
+## PX4 Users

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


-## Changing code and contributing
+## PX4 Developers

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

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


@@ -73,8 +69,10 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co
    * [Daniel Agar](https://github.com/dagar)
  * [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
    * [Paul Riseborough](https://github.com/priseborough)
-  * Vision based navigation and Obstacle Avoidance
-    * [Markus Achtelik](https://github.com/markusachtelik)
+  * Vision based navigation
+    * [Julian Kent](https://github.com/jkflying)
+  * Obstacle Avoidance
+    * [Martina Rivizzigno](https://github.com/mrivi)
  * RTPS/ROS2 Interface
    * [Nuno Marques](https://github.com/TSC21)

@@ -82,9 +80,7 @@ See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and

 ## Supported Hardware

-This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.
-
-### Pixhawk Standard Boards
+This repository contains code supporting these boards:
  * FMUv2
    * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
    * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
@@ -92,25 +88,19 @@ This repository contains code supporting Pixhawk standard boards (best supported
    * [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
    * [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
    * [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
-  * FMUv4 (STM32F4)
+  * FMUv4
    * [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
    * [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
-  * FMUv5 (STM32F7)
+  * FMUv5 (ARM Cortex M7)
    * [Pixhawk 4](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
    * [Pixhawk 4 mini](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
    * [CUAV V5+](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
    * [CUAV V5 nano](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
-  * FMUv6X and FMUv6U (STM32H7)
-    * Various vendors will provide FMUv6X and FMUv6U based designs Q2/2021
-
-### Manufacturer and Community supported
-  * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
-  * [Hex Cube Orange](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_orange.html)
-  * [Hex Cube Yellow](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_yellow.html)
  * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
  * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/flight_controller/crazyflie2.html)
  * [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
+  * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
  * [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
  * [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)

@@ -118,4 +108,4 @@ Additional information about supported hardware can be found in [PX4 user Guide

 ## Project Roadmap

-A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).
+A high level project roadmap is available [here](https://www.dronecode.org/roadmap/).
@@ -31,12 +31,11 @@
 #
 ############################################################################

+message(STATUS "ROMFS: ${config_romfs_root}")
+
 set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
 set(romfs_gen_root_dir ${PX4_BINARY_DIR}/etc)

-file(RELATIVE_PATH romfs_path_relative ${PX4_SOURCE_DIR} ${romfs_src_dir})
-message(STATUS "ROMFS: ${romfs_path_relative}")
-
 set_property(GLOBAL PROPERTY PX4_ROMFS_FILES)
 set_property(GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)

@@ -82,9 +81,6 @@ file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
 if (px4_constrained_flash_build)
 	set(added_arguments --constrained-flash)
 endif()
-if(PX4_ETHERNET)
-	set(added_arguments ${added_arguments} --ethernet)
-endif()
 # create list of relative romfs file names
 set(romfs_copy_files_relative)
 foreach(romfs_file IN LISTS romfs_copy_files)
@@ -150,53 +146,15 @@ if(config_io_board)
 		copy_px4io_bin
 		${fw_io_bin}
 	)
-	file(RELATIVE_PATH iofw_file_relative ${PX4_SOURCE_DIR} ${fw_io_bin})
-	message(STATUS "ROMFS:  Adding ${iofw_file_relative} -> /etc/extras/${config_io_board}.bin")
 endif()

-
-# board bootloader (built or included)
-if(TARGET copy_bootloader_bin)
-
-	if(board_bootloader_firmware)
-		file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${board_bootloader_firmware})
-		message(STATUS "ROMFS:  Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
-	else()
-		file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${bootloader_bin})
-		message(STATUS "ROMFS:  Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
-	endif()
-
+if(config_build_bootloader)
 	list(APPEND extras_dependencies
 		copy_bootloader_bin
 		${bootloader_bin}
 	)
 endif()

-
-# optional board architecture defaults
-set(board_arch_rc_file "rc.board_arch_defaults")
-if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}")
-	file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file})
-	message(STATUS "ROMFS:  Adding ${rc_file_relative} -> /etc/init.d/${board_arch_rc_file}")
-
-	add_custom_command(
-		OUTPUT
-			${romfs_gen_root_dir}/init.d/${board_arch_rc_file}
-			${board_arch_rc_file}.stamp
-		COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file} ${romfs_gen_root_dir}/init.d/${board_arch_rc_file}
-		COMMAND ${CMAKE_COMMAND} -E touch ${board_arch_rc_file}.stamp
-		DEPENDS
-			${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}
-			romfs_copy.stamp
-		COMMENT "ROMFS: copying ${board_arch_rc_file}"
-	)
-
-	list(APPEND extras_dependencies
-		${board_arch_rc_file}.stamp
-	)
-endif()
-
-
 set(OPTIONAL_BOARD_RC)
 list(APPEND OPTIONAL_BOARD_RC
 	rc.board_defaults
@@ -208,8 +166,7 @@ list(APPEND OPTIONAL_BOARD_RC
 foreach(board_rc_file ${OPTIONAL_BOARD_RC})

 	if(EXISTS "${PX4_BOARD_DIR}/init/${board_rc_file}")
-		file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_BOARD_DIR}/init/${board_rc_file})
-		message(STATUS "ROMFS:  Adding ${rc_file_relative} -> /etc/init.d/${board_rc_file}")
+		message(STATUS "ROMFS: Adding ${board_rc_file}")

 		add_custom_command(
 			OUTPUT
@@ -230,46 +187,6 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})

 endforeach()

-
-if(config_uavcan_peripheral_firmware)
-
-	include(ExternalProject)
-
-	foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
-		# include the px4io binary in ROMFS
-		message(STATUS "ROMFS:  Adding UAVCAN peripheral ${uavcan_peripheral_config} -> /etc/uavcan/fw/")
-		ExternalProject_Add(build_${uavcan_peripheral_config}
-			SOURCE_DIR ${CMAKE_SOURCE_DIR}
-			DOWNLOAD_COMMAND ""
-			UPDATE_COMMAND ""
-			CMAKE_ARGS -DCONFIG=${uavcan_peripheral_config}
-			INSTALL_COMMAND ""
-			USES_TERMINAL_BUILD true
-			DEPENDS git_nuttx git_nuttx_apps
-			BUILD_ALWAYS 1
-		)
-
-		ExternalProject_Get_Property(build_${uavcan_peripheral_config} BINARY_DIR)
-
-		add_custom_command(
-			OUTPUT
-				${romfs_gen_root_dir}/uavcan/fw/_${uavcan_board_id}.bin
-				${uavcan_peripheral_config}.stamp
-			COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/uavcan/fw/
-			COMMAND ${CMAKE_COMMAND} -E copy ${BINARY_DIR}/deploy/*.bin ${romfs_gen_root_dir}/uavcan/fw/
-			COMMAND ls -lsa ${romfs_gen_root_dir}/uavcan/fw/
-			COMMAND ${CMAKE_COMMAND} -E touch ${uavcan_peripheral_config}.stamp
-			DEPENDS
-				build_${uavcan_peripheral_config}
-			COMMENT "ROMFS: copying ${uavcan_peripheral_config}"
-		)
-
-		list(APPEND extras_dependencies
-			${uavcan_peripheral_config}.stamp
-		)
-	endforeach()
-endif()
-
 list(APPEND extras_dependencies
 	${config_romfs_extra_dependencies}
 	)
@@ -30,16 +30,21 @@ sercon
 #
 ver all

-if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
+#
+# Start the ORB (first app to start)
+# tone_alarm and tune_control
+# is dependent.
+#
+uorb start
+
+#
+# Set the parameter file if mtd starts successfully.
+#
+if mtd start
 then
 	set PARAM_FILE /fs/mtd_params
 fi

-if mft query -q -k MTD -s MTD_PARAMETERS -v /dev/eeeprom0
-then
-	set PARAM_FILE /dev/eeeprom0
-fi
-
 #
 # Load parameters.
 #
@@ -49,17 +54,6 @@ then
 	param reset_all
 fi

-#
-# Optional board architecture defaults: rc.board_arch_defaults
-#
-set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults
-if [ -f $BOARD_ARCH_RC_DEFAULTS ]
-then
-	echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
-	. $BOARD_ARCH_RC_DEFAULTS
-fi
-unset BOARD_ARCH_RC_DEFAULTS
-
 #
 # Optional board defaults: rc.board_defaults
 #
@@ -0,0 +1,5 @@
+px4fmuv3_bl.bin: Bootloader binary of the PX4 Bootloader
+  (https://github.com/PX4/Bootloader)
+  based on commit 184b813699a9cfd6f43a5a21556a06b4372baf5f
+  for the target px4fmuv3_bl
+
@@ -1,52 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL
-#
-# @type Quadrotor Wide
-#
-# @maintainer Julian Oes <julian@oes.ch>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-. ${R}etc/init.d/rc.ctrlalloc
-
-if [ $AUTOCNF = yes ]
-then
-	param set MPC_USE_HTE 0
-
-	param set VM_MASS 1.5
-	param set VM_INERTIA_XX 0.03
-	param set VM_INERTIA_YY 0.03
-	param set VM_INERTIA_ZZ 0.05
-
-	param set CA_AIRFRAME 0
-	param set CA_METHOD 1
-	param set CA_ACT0_MIN 0.0
-	param set CA_ACT1_MIN 0.0
-	param set CA_ACT2_MIN 0.0
-	param set CA_ACT3_MIN 0.0
-	param set CA_ACT0_MAX 1.0
-	param set CA_ACT1_MAX 1.0
-	param set CA_ACT2_MAX 1.0
-	param set CA_ACT3_MAX 1.0
-
-	param set CA_MC_R0_PX 0.1515
-	param set CA_MC_R0_PY 0.245
-	param set CA_MC_R0_CT 6.5
-	param set CA_MC_R0_KM 0.05
-	param set CA_MC_R1_PX -0.1515
-	param set CA_MC_R1_PY -0.1875
-	param set CA_MC_R1_CT 6.5
-	param set CA_MC_R1_KM 0.05
-	param set CA_MC_R2_PX 0.1515
-	param set CA_MC_R2_PY -0.245
-	param set CA_MC_R2_CT 6.5
-	param set CA_MC_R2_KM -0.05
-	param set CA_MC_R3_PX -0.1515
-	param set CA_MC_R3_PY 0.1875
-	param set CA_MC_R3_CT 6.5
-	param set CA_MC_R3_KM -0.05
-
-fi
-
-set MIXER direct
@@ -1,14 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (foggy_lidar)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_RNG_AID 1
-	param set EKF2_RNG_A_HMAX 10
-fi
@@ -12,11 +12,6 @@ if [ $AUTOCNF = yes ]
 then
 	# EKF2: Multi GPS blending (as the model has 2 GPS's)
 	param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
-	param set TRIG_INTERFACE 3
-	param set TRIG_MODE 4
-	param set MNT_MODE_IN 4
-	param set MNT_MODE_OUT 2
-	param set MNT_DO_STAB 2
 fi

 set MIXER quad_x
@@ -1,2 +1,2 @@
 # shellcheck disable=SC2154
-mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 -p # add mavlink stream for SDK
+mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 # add mavlink stream for SDK
@@ -16,31 +16,20 @@ then
 	param set FW_LND_ANG 8
 	param set FW_THR_LND_MAX 0

+	param set FW_L1_PERIOD 15
+
+	param set FW_P_TC 0.5
+	param set FW_PR_FF 0.40
+	param set FW_PR_I 0.05
+	param set FW_PR_P 0.05
+
+	param set FW_R_TC 0.7
+	param set FW_RR_FF 0.20
+	param set FW_RR_I 0.02
+	param set FW_RR_P 0.22
+
 	param set FW_L1_PERIOD 12

-	param set FW_MAN_P_MAX 30
-
-	param set FW_PR_I 0.4
-	param set FW_PR_P 0.9
-	param set FW_PR_FF 0.2
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
-
-	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.3
-
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_THR_CRUISE 0.25
-
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2
-
 	param set FW_W_EN 1

 	param set MIS_LTRMIN_ALT 30
@@ -9,46 +9,40 @@

 if [ $AUTOCNF = yes ]
 then
+	param set FW_AIRSPD_MAX 25
+	param set FW_AIRSPD_MIN 14
+	param set FW_AIRSPD_TRIM 16
 	param set FW_L1_PERIOD 12
-	param set FW_MAN_P_MAX 30
-	param set FW_PR_FF 0.2
-	param set FW_PR_I 0.4
-	param set FW_PR_P 0.9
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
+
 	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.3
-	param set FW_THR_CRUISE 0.25
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2
+	param set FW_RR_P 0.01

 	param set MC_ROLLRATE_P 0.3
-	param set MC_YAW_P 1.6

+	param set MIS_LTRMIN_ALT 10
 	param set MIS_TAKEOFF_ALT 10
+	param set MIS_YAW_TMT 10

 	param set MPC_ACC_HOR_MAX 2
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_THR_HOVER 0.58
+	param set MPC_TKO_SPEED 1
 	param set MPC_XY_P 0.8
 	param set MPC_XY_VEL_P_ACC 3
 	param set MPC_XY_VEL_I_ACC 4
 	param set MPC_XY_VEL_D_ACC 0.1
+	param set MPC_Z_VEL_MAX_DN 1.5

 	param set NAV_ACC_RAD 5
 	param set NAV_LOITER_RAD 80

-	param set VT_FWD_THRUST_EN 4
+	param set VT_F_TRANS_DUR 5
 	param set VT_F_TRANS_THR 0.75
+	param set VT_ARSP_TRANS 16
 	param set VT_MOT_ID 1234
 	param set VT_FW_MOT_OFFID 1234
-	param set VT_B_TRANS_DUR 8
 	param set VT_TYPE 2
+	param set VT_B_TRANS_DUR 8

 fi

@@ -9,31 +9,23 @@

 if [ $AUTOCNF = yes ]
 then
+	param set FW_AIRSPD_MAX 25
+	param set FW_AIRSPD_MIN 14
+	param set FW_AIRSPD_TRIM 16
 	param set FW_L1_PERIOD 12
-	param set FW_MAN_P_MAX 30
-	param set FW_PR_I 0.2
-	param set FW_PR_P 0.3
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
-	param set FW_RR_P 0.3
-	param set FW_THR_CRUISE 0.33
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2

 	param set MC_ROLLRATE_P 0.3

+	param set MIS_YAW_TMT 10
+
 	param set MPC_ACC_HOR_MAX 2
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P_ACC 3
-	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_THR_MIN 0.3
+	param set MPC_XY_P 0.15
 	param set MPC_XY_VEL_D_ACC 0.1
+	param set MPC_XY_VEL_P_ACC 1
+	param set MPC_Z_VEL_MAX_DN 1.5
+	param set MPC_Z_VEL_P_ACC 16

 	param set NAV_ACC_RAD 5
 	param set NAV_LOITER_RAD 80
@@ -14,20 +14,9 @@ then
 	param set FW_PR_FF 0.2
 	param set FW_PR_I 0.4
 	param set FW_PR_P 0.9
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
+	param set FW_PSP_OFF 3
 	param set FW_RR_FF 0.1
 	param set FW_RR_P 0.3
-	param set FW_THR_CRUISE 0.38
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2

 	param set MC_YAW_P 1.6

@@ -39,10 +28,10 @@ then
 	param set MPC_XY_VEL_I_ACC 4
 	param set MPC_XY_VEL_D_ACC 0.1

-	param set NAV_ACC_RAD 5
-	param set NAV_LOITER_RAD 80
+	param set NAV_LOITER_RAD 100

 	param set VT_B_TRANS_DUR 8
+	param set VT_ELEV_MC_LOCK 0
 	param set VT_FWD_THRUST_EN 4
 	param set VT_MOT_ID 1234
 	param set VT_TILT_TRANS 0.6
@@ -1,61 +0,0 @@
-#!/bin/sh
-#
-# @name Standard VTOL
-#
-# @type Standard VTOL
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set FW_L1_PERIOD 12
-	param set FW_MAN_P_MAX 30
-	param set FW_PR_FF 0.2
-	param set FW_PR_I 0.4
-	param set FW_PR_P 0.9
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
-	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.3
-	param set FW_THR_CRUISE 0.25
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2
-
-	param set MC_ROLLRATE_P 0.3
-	param set MC_YAW_P 1.6
-
-	param set MIS_TAKEOFF_ALT 10
-
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P_ACC 3
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_D_ACC 0.1
-
-	param set NAV_ACC_RAD 5
-	param set NAV_LOITER_RAD 80
-
-	param set VT_FWD_THRUST_EN 4
-	param set VT_F_TRANS_THR 0.75
-	param set VT_MOT_ID 1234
-	param set VT_FW_MOT_OFFID 1234
-	param set VT_B_TRANS_DUR 8
-	param set VT_TYPE 2
-
-	param set RC_MAP_AUX1 8
-	param set RC_MAP_AUX2 9
-	param set RC_MAP_AUX3 10
-fi
-
-set MAV_TYPE 22
-
-set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
-set MIXER custom
@@ -1 +0,0 @@
-mixer append /dev/pwm_output0 etc/mixers-sitl/package_drop.aux.mix
@@ -8,7 +8,6 @@
 if [ $AUTOCNF = yes ]
 then
 	param set GND_L1_DIST 5
-	param set GND_L1_PERIOD 10
 	param set GND_SP_CTRL_MODE 1
 	param set GND_SPEED_D 0.001
 	param set GND_SPEED_I 3
@@ -17,6 +16,7 @@ then
 	param set GND_SPEED_THR_SC 1
 	param set GND_SPEED_TRIM 4
 	param set GND_THR_CRUISE 0.3
+	param set GND_THR_IDLE 0
 	param set GND_THR_MAX 0.5
 	param set GND_THR_MIN 0

@@ -17,6 +17,7 @@ then
 	param set GND_SPEED_THR_SC 1
 	param set GND_SPEED_TRIM 4
 	param set GND_THR_CRUISE 0.3
+	param set GND_THR_IDLE 0
 	param set GND_THR_MAX 0.5
 	param set GND_THR_MIN 0

@@ -22,6 +22,7 @@ then
 	param set GND_SPEED_TRIM 15
 	param set GND_SPEED_MAX 25
 	param set GND_THR_CRUISE 0.3
+	param set GND_THR_IDLE 0
 	param set GND_THR_MAX 0.5
 	param set GND_THR_MIN 0

@@ -8,16 +8,16 @@
 if [ $AUTOCNF = yes ]
 then
 	param set GND_L1_DIST 5
-	param set GND_L1_PERIOD 100
 	param set GND_SP_CTRL_MODE 1
 	param set GND_SPEED_D 0.001
-	param set GND_SPEED_I 8
+	param set GND_SPEED_I 3
 	param set GND_SPEED_IMAX 0.125
-	param set GND_SPEED_P 2
+	param set GND_SPEED_P 0.25
 	param set GND_SPEED_THR_SC 1
-	param set GND_SPEED_TRIM 1
-	param set GND_THR_CRUISE 0.85
-	param set GND_THR_MAX 1
+	param set GND_SPEED_TRIM 4
+	param set GND_THR_CRUISE 0.3
+	param set GND_THR_IDLE 0
+	param set GND_THR_MAX 0.5
 	param set GND_THR_MIN 0

 	param set MIS_LTRMIN_ALT 0.01
@@ -38,6 +38,7 @@ then
 	param set NAV_LOITER_RAD 100

 	param set RWTO_TKOFF 1
+	param set MAV_BROADCAST 1

 	param set FW_ARSP_SCALE_EN 0

@@ -21,11 +21,13 @@ then
 	param set MPC_XY_VEL_P_ACC 3

 	param set RTL_DESCEND_ALT 10
+	param set RTL_LAND_DELAY 0

 	param set TRIG_INTERFACE 3
 	param set TRIG_MODE 4
 	param set MNT_MODE_IN 4
 	param set MNT_DO_STAB 2
+	param set MAV_PROTO_VER 2
 fi

 set MAV_TYPE 13
@@ -9,23 +9,21 @@

 if [ $AUTOCNF = yes ]
 then
-	param set MC_PITCHRATE_P 0.0800
-	param set MC_PITCHRATE_I 0.0400
-	param set MC_PITCHRATE_D 0.0010
-	param set MC_PITCH_P 9.0
-	param set MC_ROLLRATE_P 0.0800
-	param set MC_ROLLRATE_I 0.0400
-	param set MC_ROLLRATE_D 0.0010
-	param set MC_ROLL_P 9.0
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCH_P 6.0
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.1
+	param set MC_ROLL_P 6.0
 	param set MPC_XY_VEL_I_ACC 4
 	param set MPC_XY_VEL_P_ACC 3

 	param set RTL_DESCEND_ALT 10
+	param set RTL_LAND_DELAY 0

 	param set TRIG_INTERFACE 3
 	param set TRIG_MODE 4
-	param set MNT_MODE_IN 4
-	param set MNT_MODE_OUT 2
+	param set MNT_MODE_IN 0
 	param set MAV_PROTO_VER 2
 fi

@@ -1,7 +1,7 @@

 mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix

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

 # shellcheck disable=SC2154
 mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
@@ -1,75 +0,0 @@
-#!/bin/sh
-#
-# @name Typhoon H480 SITL
-#
-# @type Hexarotor x
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-. ${R}etc/init.d/rc.ctrlalloc
-
-if [ $AUTOCNF = yes ]
-then
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_P_ACC 3
-
-	param set RTL_DESCEND_ALT 10
-	param set RTL_LAND_DELAY 0
-
-	param set TRIG_INTERFACE 3
-	param set TRIG_MODE 4
-	param set MNT_MODE_IN 0
-	param set MAV_PROTO_VER 2
-
-	param set MPC_USE_HTE 0
-
-	param set VM_MASS 2.66
-	param set VM_INERTIA_XX 0.06
-	param set VM_INERTIA_YY 0.06
-	param set VM_INERTIA_ZZ 0.10
-
-	param set CA_AIRFRAME 0
-	param set CA_METHOD 1
-	param set CA_ACT0_MIN 0.0
-	param set CA_ACT1_MIN 0.0
-	param set CA_ACT2_MIN 0.0
-	param set CA_ACT3_MIN 0.0
-	param set CA_ACT4_MIN 0.0
-	param set CA_ACT5_MIN 0.0
-	param set CA_ACT0_MAX 1.0
-	param set CA_ACT1_MAX 1.0
-	param set CA_ACT2_MAX 1.0
-	param set CA_ACT3_MAX 1.0
-	param set CA_ACT4_MAX 1.0
-	param set CA_ACT5_MAX 1.0
-
-	param set CA_MC_R0_PX 0.0
-	param set CA_MC_R0_PY 1.0
-	param set CA_MC_R0_CT 9.5
-	param set CA_MC_R0_KM -0.05
-	param set CA_MC_R1_PX 0.0
-	param set CA_MC_R1_PY -1.0
-	param set CA_MC_R1_CT 9.5
-	param set CA_MC_R1_KM 0.05
-	param set CA_MC_R2_PX 0.866025
-	param set CA_MC_R2_PY -0.5
-	param set CA_MC_R2_CT 9.5
-	param set CA_MC_R2_KM -0.05
-	param set CA_MC_R3_PX -0.866025
-	param set CA_MC_R3_PY 0.5
-	param set CA_MC_R3_CT 9.5
-	param set CA_MC_R3_KM 0.05
-	param set CA_MC_R4_PX 0.866025
-	param set CA_MC_R4_PY 0.5
-	param set CA_MC_R4_CT 9.5
-	param set CA_MC_R4_KM 0.05
-	param set CA_MC_R5_PX -0.866025
-	param set CA_MC_R5_PY -0.5
-	param set CA_MC_R5_CT 9.5
-	param set CA_MC_R5_KM -0.05
-fi
-
-set MAV_TYPE 13
-
-# set MIXER hexa_x
-set MIXER direct
@@ -1,10 +0,0 @@
-
-mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
-
-mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
-
-# shellcheck disable=SC2154
-mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
-# shellcheck disable=SC2154
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
-mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local
@@ -33,8 +33,6 @@

 px4_add_romfs_files(
 	10016_iris
-	10017_iris_ctrlalloc
-	10018_iris_foggy_lidar
 	10020_if750a
 	10030_px4vision
 	1010_iris_opt_flow
@@ -65,8 +63,6 @@ px4_add_romfs_files(
 	1040_standard_vtol
 	1041_tailsitter
 	1042_tiltrotor
-	1043_standard_vtol_drop
-	1043_standard_vtol_drop.post
 	1060_rover
 	1061_r1_rover
 	1062_tf-r1
@@ -77,6 +73,4 @@ px4_add_romfs_files(
 	2507_cloudship
 	6011_typhoon_h480
 	6011_typhoon_h480.post
-	6012_typhoon_ctrlalloc
-	6012_typhoon_ctrlalloc.post
 )
@@ -20,6 +20,7 @@ module: replay
 ignore_others: false
 EOF

+uorb start
 param set SDLOG_DIRS_MAX 7

 # apply all params before ekf starts, as some params cannot be changed after startup
@@ -27,7 +27,6 @@ set MIXER                       none
 set MIXER_AUX                   none
 set MIXER_FILE                  none
 set OUTPUT_MODE                 sim
-set EXTRA_MIXER_MODE            none
 set PWM_OUT                     none
 set SDCARD_MIXERS_PATH          etc/mixers
 set USE_IO                      no
@@ -53,6 +52,8 @@ else
 	fi
 fi

+uorb start
+
 # Load parameters
 set PARAM_FILE eeprom/parameters_"$REQUESTED_AUTOSTART"
 param select $PARAM_FILE
@@ -109,57 +110,55 @@ udp_offboard_port_remote=$((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
 	param set SYS_AUTOSTART $REQUESTED_AUTOSTART

-	param set CAL_ACC0_ID  1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
-	param set CAL_GYRO0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
-	param set CAL_ACC1_ID  1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
-	param set CAL_GYRO1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
-	param set CAL_ACC2_ID  1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
-	param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
+	param set BAT_N_CELLS 4

+	param set CAL_ACC0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
+	param set CAL_ACC1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
+	param set CAL_ACC2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
+	param set CAL_GYRO0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
+	param set CAL_GYRO1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
+	param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
 	param set CAL_MAG0_ID 197388
 	param set CAL_MAG1_ID 197644

+	param set CBRK_AIRSPD_CHK 0
+	param set CBRK_SUPPLY_CHK 894281
+
+	# Don't require RC calibration and configuration
+	param set COM_RC_IN_MODE 1
+
+	# Speedup SITL startup
+	param set EKF2_REQ_GPS_H 0.5
+
+	# Multi-EKF
+	param set EKF2_MULTI_IMU 3
+	param set SENS_IMU_MODE 0
+	param set EKF2_MULTI_MAG 2
+	param set SENS_MAG_MODE 0
+
+	# By default log from boot until first disarm.
+	param set SDLOG_MODE 1
+	# enable default, estimator replay and vision/avoidance logging profiles
+	param set SDLOG_PROFILE 131
+	param set SDLOG_DIRS_MAX 7
+	param set SENS_BOARD_ROT 0
 	param set SENS_BOARD_X_OFF 0.000001
 	param set SENS_DPRES_OFF 0.001
-
 	param set SYS_RESTART_TYPE 2
+
+	param set TRIG_INTERFACE 3
 fi

-param set-default BAT_N_CELLS 4
+param set COM_CPU_MAX -1 # disable check, no CPU load reported on posix yet

-param set-default CBRK_AIRSPD_CHK 0
-param set-default CBRK_SUPPLY_CHK 894281
-
-# disable check, no CPU load reported on posix yet
-param set-default COM_CPU_MAX -1
-
-# Don't require RC calibration and configuration
-param set-default COM_RC_IN_MODE 1
-
-# Speedup SITL startup
-param set-default EKF2_REQ_GPS_H 0.5
-
-# Multi-EKF
-param set-default EKF2_MULTI_IMU 3
-param set-default SENS_IMU_MODE 0
-param set-default EKF2_MULTI_MAG 2
-param set-default SENS_MAG_MODE 0
-
-# By default log from boot until first disarm.
-param set-default SDLOG_MODE 1
-# enable default, estimator replay and vision/avoidance logging profiles
-param set-default SDLOG_PROFILE 131
-param set-default SDLOG_DIRS_MAX 7
-
-param set-default TRIG_INTERFACE 3
+# Simulator IMU data provided at 250 Hz
+param set IMU_INTEG_RATE 250

 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
@@ -206,9 +205,6 @@ then
 	param set SYS_AUTOCONFIG 0
 fi

-# Simulator IMU data provided at 250 Hz
-param set IMU_INTEG_RATE 250
-
 dataman start
 # only start the simulator if not in replay mode, as both control the lockstep time
 if ! replay tryapplyparams
@@ -241,32 +237,23 @@ fi
 #
 . ${R}etc/init.d/rc.vehicle_setup

-if [ -e etc/init.d-posix/rc.mavlink_override ]
-then
-	echo "Running non-default mavlink config rc.mavlink_override"
-	sh etc/init.d-posix/rc.mavlink_override
-else
-	# GCS link
-	mavlink start -x -u $udp_gcs_port_local -r 4000000 -f -p
-	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
+# GCS link
+mavlink start -x -u $udp_gcs_port_local -r 4000000
+mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
+mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
+mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
+mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
+mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
+mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
+mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
+mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
+mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local

-	# API/Offboard link
-	mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote -p
+# API/Offboard link
+mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offboard_port_remote

-	# Onboard link to camera
-	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote -p
-
-	# Onboard link to gimbal
-	mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote -p
-fi
+# Onboard link to camera
+mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote

 # execute autostart post script if any
 [ -e "$autostart_file".post ] && . "$autostart_file".post
@@ -36,8 +36,6 @@ add_subdirectory(airframes)
 px4_add_romfs_files(
 	rc.airship_apps
 	rc.airship_defaults
-	rc.balloon_apps
-	rc.balloon_defaults
 	rc.boat_defaults
 	rc.fw_apps
 	rc.fw_defaults
@@ -56,5 +54,4 @@ px4_add_romfs_files(
 	rc.vehicle_setup
 	rc.vtol_apps
 	rc.vtol_defaults
-	rc.ctrlalloc
 )
@@ -17,43 +17,35 @@

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

+if [ $AUTOCNF = yes ]
+then
+	param set BAT_N_CELLS 3

-param set-default BAT_N_CELLS 3
-
-param set-default FW_AIRSPD_MAX 20
-param set-default FW_AIRSPD_MIN 12
-param set-default FW_AIRSPD_TRIM 14
-param set-default FW_R_TC 0.3
-param set-default FW_P_TC 0.3
-param set-default FW_L1_DAMPING 0.74
-param set-default FW_L1_PERIOD 16
-param set-default FW_LND_ANG 15
-param set-default FW_LND_FLALT 5
-param set-default FW_LND_HHDIST 15
-param set-default FW_LND_HVIRT 13
-param set-default FW_LND_TLALT 5
-param set-default FW_THR_LND_MAX 0
-param set-default FW_PR_FF 0.35
-param set-default FW_PR_I 0.1
-param set-default FW_PR_IMAX 0.4
-param set-default FW_PR_P 0.2
-param set-default FW_RR_FF 0.6
-param set-default FW_RR_I 0.1
-param set-default FW_RR_IMAX 0.2
-param set-default FW_RR_P 0.3
-
-param set-default RWTO_TKOFF 1
+	param set FW_AIRSPD_MAX 20
+	param set FW_AIRSPD_MIN 12
+	param set FW_AIRSPD_TRIM 14
+	param set FW_R_TC 0.3
+	param set FW_P_TC 0.3
+	param set FW_L1_DAMPING 0.74
+	param set FW_L1_PERIOD 16
+	param set FW_LND_ANG 15
+	param set FW_LND_FLALT 5
+	param set FW_LND_HHDIST 15
+	param set FW_LND_HVIRT 13
+	param set FW_LND_TLALT 5
+	param set FW_THR_LND_MAX 0
+	param set FW_PR_FF 0.35
+	param set FW_PR_I 0.1
+	param set FW_PR_IMAX 0.4
+	param set FW_PR_P 0.2
+	param set FW_RR_FF 0.6
+	param set FW_RR_I 0.1
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.3

+	param set RWTO_TKOFF 1
+fi

 param set SYS_HITL 1

-# disable some checks to allow to fly
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
-
 set MIXER AERT
@@ -19,25 +19,28 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
-# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set MC_ROLL_P 6.5
+	param set MC_ROLLRATE_P 0.1
+	param set MC_ROLLRATE_I 0.05
+	param set MC_ROLLRATE_D 0.0017
+	param set MC_PITCH_P 6.5
+	param set MC_PITCHRATE_P 0.14
+	param set MC_PITCHRATE_I 0.1
+	param set MC_PITCHRATE_D 0.0025
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.28
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0
+fi

-param set-default MC_ROLL_P 6.5
-param set-default MC_ROLLRATE_P 0.1
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.0017
-param set-default MC_PITCH_P 6.5
-param set-default MC_PITCHRATE_P 0.14
-param set-default MC_PITCHRATE_I 0.1
-param set-default MC_PITCHRATE_D 0.0025
-param set-default MC_YAW_P 2.8
-param set-default MC_YAWRATE_P 0.28
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
 set MIXER quad_w

 set PWM_OUT 1234
@@ -17,29 +17,32 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
-# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

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

-# TODO tune roll/pitch separately
-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.15
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.15
-param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_YAW_P 2.5
-param set-default MC_YAWRATE_P 0.25
-param set-default MC_YAWRATE_I 0.25
-param set-default MC_YAWRATE_D 0
+	param set BAT_V_DIV 12.27559
+	param set BAT_A_PER_V 15.39103
+fi

-param set-default BAT_V_DIV 12.27559
-param set-default BAT_A_PER_V 15.39103
 set MIXER quad_w

 set PWM_OUT 1234
@@ -19,27 +19,30 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
-# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set BAT_N_CELLS 4

-param set-default BAT_N_CELLS 4
+	param set MC_ROLL_P 7
+	param set MC_ROLLRATE_P 0.13
+	param set MC_ROLLRATE_I 0.05
+	param set MC_ROLLRATE_D 0.004
+	param set MC_PITCH_P 7
+	param set MC_PITCHRATE_P 0.19
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCHRATE_D 0.004
+	param set MC_YAW_P 4
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0
+fi

-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.13
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.19
-param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_YAW_P 4
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
 set MIXER quad_w

 set PWM_OUT 1234
@@ -19,32 +19,35 @@
 #
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
-# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set BAT_N_CELLS 6
+	param set BAT_V_EMPTY 3.5

-param set-default BAT_N_CELLS 6
-param set-default BAT_V_EMPTY 3.5
+	param set MC_ROLL_P 7
+	param set MC_ROLLRATE_P 0.08
+	param set MC_ROLLRATE_I 0.02
+	param set MC_ROLLRATE_D 0.003
+	param set MC_PITCH_P 7
+	param set MC_PITCHRATE_P 0.13
+	param set MC_PITCHRATE_I 0.02
+	param set MC_PITCHRATE_D 0.005
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0

-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.08
-param set-default MC_ROLLRATE_I 0.02
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.13
-param set-default MC_PITCHRATE_I 0.02
-param set-default MC_PITCHRATE_D 0.005
-param set-default MC_YAW_P 2.8
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
+	param set MPC_XY_VEL_MAX 2

-param set-default MPC_XY_VEL_MAX 2
+	param set PWM_MIN 1080
+fi

-param set-default PWM_MAIN_MIN 1080
 set MIXER quad_w

 set PWM_OUT 1234
@@ -14,12 +14,3 @@ set MIXER quad_x
 set PWM_OUT 1234

 param set SYS_HITL 1
-
-# disable some checks to allow to fly
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
@@ -7,74 +7,64 @@
 #
 # @maintainer Roman Bapst <roman@auterion.com>
 #
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#

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

+if [ $AUTOCNF = yes ]
+then
+	param set BAT_N_CELLS 3

-param set-default BAT_N_CELLS 3
+	param set COM_RC_IN_MODE 1

-param set-default COM_RC_IN_MODE 1
+	param set EKF2_AID_MASK 1
+	param set EKF2_ANGERR_INIT 0.01
+	param set EKF2_GBIAS_INIT 0.01
+	param set EKF2_HGT_MODE 0
+	param set EKF2_MAG_TYPE 1

-param set-default EKF2_AID_MASK 1
-param set-default EKF2_ANGERR_INIT 0.01
-param set-default EKF2_GBIAS_INIT 0.01
-param set-default EKF2_HGT_MODE 0
-param set-default EKF2_MAG_TYPE 1
+	param set FW_AIRSPD_MAX 25
+	param set FW_AIRSPD_MIN 14
+	param set FW_AIRSPD_TRIM 16

-param set-default FW_AIRSPD_MAX 25
-param set-default FW_AIRSPD_MIN 14
-param set-default FW_AIRSPD_TRIM 16
+	param set MC_PITCH_P 6
+	param set MC_PITCHRATE_P 0.2
+	param set MC_ROLL_P 6
+	param set MC_ROLLRATE_P 0.3
+	param set MIS_LTRMIN_ALT 10
+	param set MIS_TAKEOFF_ALT 10
+	param set MIS_YAW_TMT 10

-param set-default MC_PITCH_P 6
-param set-default MC_PITCHRATE_P 0.2
-param set-default MC_ROLL_P 6
-param set-default MC_ROLLRATE_P 0.3
-param set-default MIS_LTRMIN_ALT 10
-param set-default MIS_TAKEOFF_ALT 10
-param set-default MIS_YAW_TMT 10
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_THR_MIN 0.1
+	param set MPC_TKO_SPEED 1
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_D_ACC 0.1
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_P_ACC 3
+	param set MPC_Z_VEL_P_ACC 12
+	param set MPC_Z_VEL_I_ACC 3
+	param set MPC_Z_VEL_MAX_DN 1.5

-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_THR_MIN 0.1
-param set-default MPC_TKO_SPEED 1
-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_D_ACC 0.1
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_P_ACC 3
-param set-default MPC_Z_VEL_P_ACC 12
-param set-default MPC_Z_VEL_I_ACC 3
-param set-default MPC_Z_VEL_MAX_DN 1.5
+	param set NAV_ACC_RAD 5
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 80

-param set-default NAV_ACC_RAD 5
-param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 80
+	param set RTL_DESCEND_ALT 10
+	param set RTL_LAND_DELAY 0
+	param set RTL_RETURN_ALT 30

-param set-default RTL_DESCEND_ALT 10
-param set-default RTL_RETURN_ALT 30
-
-param set-default SDLOG_DIRS_MAX 7
-param set-default SYS_RESTART_TYPE 2
-
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_TYPE 2
+	param set SDLOG_DIRS_MAX 7
+	param set SYS_RESTART_TYPE 2

+	param set VT_F_TRANS_THR 0.75
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
+	param set VT_TYPE 2
+fi

 param set SYS_HITL 1

-# disable some checks to allow to fly
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
-
 set MAV_TYPE 22

 set MIXER standard_vtol_hitl
@@ -18,6 +18,7 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

@@ -7,8 +7,6 @@
 #
 # @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
 #
-# @board px4_fmu-v2 exclude
-#

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

@@ -17,12 +15,3 @@ set PWM_OUT 1234

 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2
-
-# disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
@@ -16,6 +16,7 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

@@ -16,35 +16,38 @@
 #
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
-# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set MC_PITCH_P 4
+	param set MC_PITCHRATE_P 0.24
+	param set MC_PITCHRATE_I 0.09
+	param set MC_PITCHRATE_D 0.013
+	param set MC_PITCHRATE_MAX 180

-param set-default MC_PITCH_P 4
-param set-default MC_PITCHRATE_P 0.24
-param set-default MC_PITCHRATE_I 0.09
-param set-default MC_PITCHRATE_D 0.013
-param set-default MC_PITCHRATE_MAX 180
+	param set MC_ROLL_P 4
+	param set MC_ROLLRATE_P 0.16
+	param set MC_ROLLRATE_I 0.07
+	param set MC_ROLLRATE_D 0.009
+	param set MC_ROLLRATE_MAX 180

-param set-default MC_ROLL_P 4
-param set-default MC_ROLLRATE_P 0.16
-param set-default MC_ROLLRATE_I 0.07
-param set-default MC_ROLLRATE_D 0.009
-param set-default MC_ROLLRATE_MAX 180
+	param set MC_YAW_P 3
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0

-param set-default MC_YAW_P 3
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
+	param set MPC_HOLD_MAX_XY 0.25
+	param set MPC_THR_MIN 0.15
+	param set MPC_Z_VEL_MAX_DN 2

-param set-default MPC_HOLD_MAX_XY 0.25
-param set-default MPC_THR_MIN 0.15
-param set-default MPC_Z_VEL_MAX_DN 2
+	param set BAT_N_CELLS 4
+fi

-param set-default BAT_N_CELLS 4
 set MIXER octo_cox_w

 set PWM_OUT 12345678
@@ -17,19 +17,19 @@
 # @output AUX4 Rudder
 # @output AUX5 Throttle
 #
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#

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

+if [ $AUTOCNF = yes ]
+then
+	param set PWM_AUX_DIS5 950
+	param set PWM_RATE 400

-param set-default PWM_AUX_DIS5 950
-param set-default PWM_MAIN_RATE 400
+	param set VT_TYPE 2
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
+fi

-param set-default VT_TYPE 2
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
 set MAV_TYPE 22

 set MIXER quad_x
@@ -12,39 +12,39 @@
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#

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

+if [ $AUTOCNF = yes ]
+then
+	param set MAV_TYPE 19

-param set-default MAV_TYPE 19
+	param set MC_ROLL_P 6
+	param set MC_ROLLRATE_P 0.12
+	param set MC_ROLLRATE_I 0.002
+	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_FF 0

-param set-default MC_ROLL_P 6
-param set-default MC_ROLLRATE_P 0.12
-param set-default MC_ROLLRATE_I 0.002
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_ROLLRATE_FF 0
+	param set MC_PITCH_P 4.5
+	param set MC_PITCHRATE_P 0.3
+	param set MC_PITCHRATE_I 0.002
+	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_FF 0

-param set-default MC_PITCH_P 4.5
-param set-default MC_PITCHRATE_P 0.3
-param set-default MC_PITCHRATE_I 0.002
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_PITCHRATE_FF 0
+	param set MC_YAW_P 3.8
+	param set MC_YAWRATE_P 0.22
+	param set MC_YAWRATE_I 0.02
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_FF 0

-param set-default MC_YAW_P 3.8
-param set-default MC_YAWRATE_P 0.22
-param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
+	param set VT_IDLE_PWM_MC  1080
+	param set VT_ELEV_MC_LOCK 0
+	param set VT_MOT_ID 12
+	param set VT_TYPE 0
+fi

-param set-default VT_IDLE_PWM_MC  1080
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_MOT_ID 12
-param set-default VT_TYPE 0
 set MAV_TYPE 19

 set MIXER vtol_tailsitter_duo

-set PWM_OUT 123456
+set PWM_OUT 1234
@@ -18,39 +18,43 @@
 # @output AUX4 Gear
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set MC_ROLL_P 7
+	param set MC_ROLLRATE_P 0.19
+	param set MC_ROLLRATE_I 0.002
+	param set MC_ROLLRATE_D 0.005
+	param set MC_ROLLRATE_FF 0
+	param set MC_PITCH_P 7
+	param set MC_PITCHRATE_P 0.14
+	param set MC_PITCHRATE_I 0.002
+	param set MC_PITCHRATE_D 0.004
+	param set MC_PITCHRATE_FF 0
+	param set MC_YAW_P 4
+	param set MC_YAWRATE_P 0.22
+	param set MC_YAWRATE_I 0.02
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_FF 0

-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.19
-param set-default MC_ROLLRATE_I 0.002
-param set-default MC_ROLLRATE_D 0.005
-param set-default MC_ROLLRATE_FF 0
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.14
-param set-default MC_PITCHRATE_I 0.002
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_PITCHRATE_FF 0
-param set-default MC_YAW_P 4
-param set-default MC_YAWRATE_P 0.22
-param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
+	param set PWM_RATE 400

-param set-default PWM_MAIN_RATE 400
+	param set VT_FW_MOT_OFFID 34
+	param set VT_IDLE_PWM_MC 1080
+	param set VT_MOT_ID 123456
+	param set VT_FW_MOT_OFFID 56
+	param set VT_TILT_MC 0.08
+	param set VT_TILT_TRANS 0.5
+	param set VT_TILT_FW 0.9
+	param set VT_ELEV_MC_LOCK 0
+	param set VT_TYPE 1
+fi

-param set-default VT_FW_MOT_OFFID 34
-param set-default VT_IDLE_PWM_MC 1080
-param set-default VT_MOT_ID 123456
-param set-default VT_FW_MOT_OFFID 56
-param set-default VT_TILT_MC 0.08
-param set-default VT_TILT_TRANS 0.5
-param set-default VT_TILT_FW 0.9
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_TYPE 1
 set MAV_TYPE 21

 set MIXER firefly6
@@ -7,22 +7,22 @@
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#

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

+if [ $AUTOCNF = yes ]
+then
+	param set PWM_MAX 2000
+	param set PWM_RATE 400

-param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_RATE 400
+	param set VT_MOT_ID 1234
+	param set VT_IDLE_PWM_MC  1080
+	param set VT_TYPE 0
+	param set VT_ELEV_MC_LOCK 1
+fi

-param set-default VT_MOT_ID 1234
-param set-default VT_IDLE_PWM_MC  1080
-param set-default VT_TYPE 0
-param set-default VT_ELEV_MC_LOCK 1
 set MAV_TYPE 20

 set MIXER quad_x_vtol

-set PWM_OUT 1234
+set PWM_OUT 1234
@@ -17,18 +17,22 @@
 # @maintainer Roman Bapst <roman@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set PWM_MAX 2000
+	param set PWM_RATE 400

-param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_RATE 400
+	param set VT_IDLE_PWM_MC  1080
+	param set VT_TYPE 0
+	param set VT_ELEV_MC_LOCK 1
+fi

-param set-default VT_IDLE_PWM_MC  1080
-param set-default VT_TYPE 0
-param set-default VT_ELEV_MC_LOCK 1
 set MAV_TYPE 20

 set MIXER quad_+_vtol
@@ -17,53 +17,56 @@
 # @output AUX4 Rudder
 # @output AUX5 Throttle
 #
-# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set PWM_AUX_DIS5 950

-param set-default PWM_AUX_DIS5 950
+	param set PWM_RATE 400

-param set-default PWM_MAIN_RATE 400
+	param set MC_ROLL_P 6
+	param set MC_ROLLRATE_P 0.17
+	param set MC_ROLLRATE_I 0.002
+	param set MC_ROLLRATE_D 0.004
+	param set MC_ROLLRATE_FF 0
+	param set MC_PITCH_P 6
+	param set MC_PITCHRATE_P 0.19
+	param set MC_PITCHRATE_I 0.002
+	param set MC_PITCHRATE_D 0.004
+	param set MC_PITCHRATE_FF 0
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.22
+	param set MC_YAWRATE_I 0.02
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_FF 0
+	param set MC_YAWRATE_MAX 40

-param set-default MC_ROLL_P 6
-param set-default MC_ROLLRATE_P 0.17
-param set-default MC_ROLLRATE_I 0.002
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_ROLLRATE_FF 0
-param set-default MC_PITCH_P 6
-param set-default MC_PITCHRATE_P 0.19
-param set-default MC_PITCHRATE_I 0.002
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_PITCHRATE_FF 0
-param set-default MC_YAW_P 2.8
-param set-default MC_YAWRATE_P 0.22
-param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
-param set-default MC_YAWRATE_MAX 40
+	param set MPC_YAWRAUTO_MAX 40

-param set-default MPC_YAWRAUTO_MAX 40
+	param set FW_PR_FF 0.5
+	param set FW_PR_I 0.02
+	param set FW_PR_IMAX 0.4
+	param set FW_PR_P 0.08
+	param set FW_RR_FF 0.6
+	param set FW_RR_I 0.01
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.05
+	param set FW_THR_CRUISE 0.75

-param set-default FW_PR_FF 0.5
-param set-default FW_PR_I 0.02
-param set-default FW_PR_IMAX 0.4
-param set-default FW_PR_P 0.08
-param set-default FW_RR_FF 0.6
-param set-default FW_RR_I 0.01
-param set-default FW_RR_IMAX 0.2
-param set-default FW_RR_P 0.05
-param set-default FW_THR_CRUISE 0.75
+	param set VT_ARSP_BLEND 6
+	param set VT_ARSP_TRANS 12
+	param set VT_F_TRANS_THR 0.75
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
+	param set VT_IDLE_PWM_MC 1080
+	param set VT_TYPE 2
+fi

-param set-default VT_ARSP_BLEND 6
-param set-default VT_ARSP_TRANS 12
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_IDLE_PWM_MC 1080
-param set-default VT_TYPE 2
 set MAV_TYPE 22

 set MIXER quad_x
@@ -15,43 +15,46 @@
 # @output AUX2 Left elevon
 # @output AUX3 Motor
 #
-# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set MC_ROLL_P 6.5
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.01
+	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_FF 0
+	param set MC_PITCH_P 6.5
+	param set MC_PITCHRATE_P 0.15
+	param set MC_PITCHRATE_I 0.01
+	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_FF 0
+	param set MC_YAW_P 3.5
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_FF 0
+	param set MC_YAWRATE_MAX 50

-param set-default MC_ROLL_P 6.5
-param set-default MC_ROLLRATE_P 0.15
-param set-default MC_ROLLRATE_I 0.01
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_ROLLRATE_FF 0
-param set-default MC_PITCH_P 6.5
-param set-default MC_PITCHRATE_P 0.15
-param set-default MC_PITCHRATE_I 0.01
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_PITCHRATE_FF 0
-param set-default MC_YAW_P 3.5
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
-param set-default MC_YAWRATE_MAX 50
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_P_ACC 2
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_YAWRAUTO_MAX 20

-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 2
-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_YAWRAUTO_MAX 20
+	param set PWM_AUX_DIS3 950
+	param set PWM_RATE 400

-param set-default PWM_AUX_DIS3 950
-param set-default PWM_MAIN_RATE 400
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
+	param set VT_F_TRANS_THR 0.75
+	param set VT_IDLE_PWM_MC 1080
+	param set VT_TYPE 2
+fi

-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_IDLE_PWM_MC 1080
-param set-default VT_TYPE 2
 set MAV_TYPE 22

 set MIXER quad_x
@@ -7,40 +7,43 @@
 #
 # @maintainer Sander Smeets <sander@droneslab.com>
 #
-# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set MC_ROLL_P 7
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.002
+	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_FF 0
+	param set MC_PITCH_P 7
+	param set MC_PITCHRATE_P 0.12
+	param set MC_PITCHRATE_I 0.002
+	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_FF 0
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.22
+	param set MC_YAWRATE_I 0.02
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_FF 0
+	param set MC_YAWRATE_MAX 40

-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.15
-param set-default MC_ROLLRATE_I 0.002
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_ROLLRATE_FF 0
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.12
-param set-default MC_PITCHRATE_I 0.002
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_PITCHRATE_FF 0
-param set-default MC_YAW_P 2.8
-param set-default MC_YAWRATE_P 0.22
-param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
-param set-default MC_YAWRATE_MAX 40
+	param set MPC_YAWRAUTO_MAX 40

-param set-default MPC_YAWRAUTO_MAX 40
+	param set PWM_AUX_DIS5 950
+	param set PWM_RATE 400

-param set-default PWM_AUX_DIS5 950
-param set-default PWM_MAIN_RATE 400
+	param set VT_F_TRANS_THR 0.75
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
+	param set VT_IDLE_PWM_MC 1080
+	param set VT_TYPE 2
+fi

-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_IDLE_PWM_MC 1080
-param set-default VT_TYPE 2
 set MAV_TYPE 22

 set MIXER quad_x
@@ -7,57 +7,60 @@
 #
 # @maintainer Sander Smeets <sander@droneslab.com>
 #
-# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set FW_THR_CRUISE 65
+	param set FW_PR_P 0.08
+	param set FW_PR_FF 0.5
+	param set FW_RR_P 0.05
+	param set FW_RR_FF 0.6

-param set-default FW_THR_CRUISE 65
-param set-default FW_PR_P 0.08
-param set-default FW_PR_FF 0.5
-param set-default FW_RR_P 0.05
-param set-default FW_RR_FF 0.6
+	param set MIS_YAW_TMT 10

-param set-default MIS_YAW_TMT 10
+	param set MC_ROLL_P 7
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.1
+	param set MC_ROLLRATE_D 0.004
+	param set MC_ROLLRATE_FF 0
+	param set MC_PITCH_P 7
+	param set MC_PITCHRATE_P 0.15
+	param set MC_PITCHRATE_I 0.1
+	param set MC_PITCHRATE_D 0.004
+	param set MC_PITCHRATE_FF 0
+	param set MC_YAW_P 3.5
+	param set MC_YAWRATE_P 0.6
+	param set MC_YAWRATE_I 0.04
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_FF 0
+	param set MC_YAWRATE_MAX 40

-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.15
-param set-default MC_ROLLRATE_I 0.1
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_ROLLRATE_FF 0
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.15
-param set-default MC_PITCHRATE_I 0.1
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_PITCHRATE_FF 0
-param set-default MC_YAW_P 3.5
-param set-default MC_YAWRATE_P 0.6
-param set-default MC_YAWRATE_I 0.04
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
-param set-default MC_YAWRATE_MAX 40
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_Z_VEL_MAX_DN 1.5
+	param set MPC_TKO_SPEED 1.5
+	param set MPC_LAND_SPEED 0.8
+	param set MPC_YAWRAUTO_MAX 40

-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_Z_VEL_MAX_DN 1.5
-param set-default MPC_TKO_SPEED 1.5
-param set-default MPC_LAND_SPEED 0.8
-param set-default MPC_YAWRAUTO_MAX 40
+	param set PWM_AUX_DIS5 950
+	param set PWM_AUX_REV1 1
+	param set PWM_AUX_REV2 1
+	param set PWM_RATE 400

-param set-default PWM_AUX_DIS5 950
-param set-default PWM_AUX_REV1 1
-param set-default PWM_AUX_REV2 1
-param set-default PWM_MAIN_RATE 400
+	param set VT_ARSP_TRANS 15
+	param set VT_ARSP_BLEND 8
+	param set VT_B_TRANS_DUR 4
+	param set VT_F_TRANS_THR 0.75
+	param set VT_IDLE_PWM_MC 1080
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
+	param set VT_TYPE 2
+fi

-param set-default VT_ARSP_TRANS 15
-param set-default VT_ARSP_BLEND 8
-param set-default VT_B_TRANS_DUR 4
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_IDLE_PWM_MC 1080
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_TYPE 2
 set MAV_TYPE 22

 set MIXER quad_x
@@ -7,78 +7,81 @@
 #
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
-# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MAX   22
+	param set FW_AIRSPD_MIN   14
+	param set FW_AIRSPD_TRIM  16
+	param set FW_L1_PERIOD    25
+	param set FW_PR_P 0.060
+	param set FW_P_RMAX_NEG   40
+	param set FW_P_RMAX_POS   40
+	param set FW_RR_FF    0.4
+	param set FW_RR_P 0.04
+	param set FW_R_RMAX   40

-param set-default FW_AIRSPD_MAX   22
-param set-default FW_AIRSPD_MIN   14
-param set-default FW_AIRSPD_TRIM  16
-param set-default FW_L1_PERIOD    25
-param set-default FW_PR_P 0.060
-param set-default FW_P_RMAX_NEG   40
-param set-default FW_P_RMAX_POS   40
-param set-default FW_RR_FF    0.4
-param set-default FW_RR_P 0.04
-param set-default FW_R_RMAX   40
+	param set MC_PITCHRATE_D 0.004
+	param set MC_PITCHRATE_I 0
+	param set MC_PITCHRATE_MAX 60
+	param set MC_PITCHRATE_P 0.21
+	param set MC_PITCH_P 4
+	param set MC_ROLLRATE_D 0.004
+	param set MC_ROLLRATE_I 0.002
+	param set MC_ROLLRATE_MAX 60
+	param set MC_ROLLRATE_P 0.24
+	param set MC_ROLL_P 4
+	param set MC_YAWRATE_I 0.02
+	param set MC_YAWRATE_MAX 40
+	param set MC_YAWRATE_P 0.18

-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_PITCHRATE_I 0
-param set-default MC_PITCHRATE_MAX 60
-param set-default MC_PITCHRATE_P 0.21
-param set-default MC_PITCH_P 4
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_ROLLRATE_I 0.002
-param set-default MC_ROLLRATE_MAX 60
-param set-default MC_ROLLRATE_P 0.24
-param set-default MC_ROLL_P 4
-param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_MAX 40
-param set-default MC_YAWRATE_P 0.18
+	param set MIS_TAKEOFF_ALT 2.5
+	param set MIS_YAW_TMT 20

-param set-default MIS_TAKEOFF_ALT 2.5
-param set-default MIS_YAW_TMT 20
+	param set MPC_ACC_HOR_MAX 1
+	param set MPC_HOLD_MAX_XY 0.5
+	param set MPC_HOLD_MAX_Z  0.5
+	param set MPC_LAND_SPEED  1
+	param set MPC_MANTHR_MIN  0.05
+	param set MPC_MAN_Y_MAX   120
+	param set MPC_THR_MIN 0.07
+	param set MPC_TILTMAX_AIR 35
+	param set MPC_TILTMAX_LND 20
+	param set MPC_TKO_SPEED   1
+	param set MPC_XY_P    0.3
+	param set MPC_XY_VEL_MAX  3
+	param set MPC_XY_VEL_P_ACC 1
+	param set MPC_Z_P 0.5
+	param set MPC_Z_VEL_P_ACC 2
+	param set MPC_YAWRAUTO_MAX 40

-param set-default MPC_ACC_HOR_MAX 1
-param set-default MPC_HOLD_MAX_XY 0.5
-param set-default MPC_HOLD_MAX_Z  0.5
-param set-default MPC_LAND_SPEED  1
-param set-default MPC_MANTHR_MIN  0.05
-param set-default MPC_MAN_Y_MAX   120
-param set-default MPC_THR_MIN 0.07
-param set-default MPC_TILTMAX_AIR 35
-param set-default MPC_TILTMAX_LND 20
-param set-default MPC_TKO_SPEED   1
-param set-default MPC_XY_P    0.3
-param set-default MPC_XY_VEL_MAX  3
-param set-default MPC_XY_VEL_P_ACC 1
-param set-default MPC_Z_P 0.5
-param set-default MPC_Z_VEL_P_ACC 2
-param set-default MPC_YAWRAUTO_MAX 40
+	param set NAV_ACC_RAD 3

-param set-default NAV_ACC_RAD 3
+	param set PWM_AUX_REV1    1
+	param set PWM_AUX_REV2    1
+	param set PWM_AUX_REV3    1
+	param set PWM_AUX_REV4    1

-param set-default PWM_AUX_REV1    1
-param set-default PWM_AUX_REV2    1
-param set-default PWM_AUX_REV3    1
-param set-default PWM_AUX_REV4    1
+	param set PWM_AUX_DIS5 950

-param set-default PWM_AUX_DIS5 950
+	param set PWM_RATE 400

-param set-default PWM_MAIN_RATE 400
+	param set VT_ARSP_TRANS   15
+	param set VT_B_TRANS_DUR  4
+	param set VT_F_TRANS_THR    0.6
+	param set VT_IDLE_PWM_MC 1180
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
+	param set VT_TRANS_MIN_TM 5
+	param set VT_TRANS_TIMEOUT    30
+	param set VT_TYPE 2

-param set-default VT_ARSP_TRANS   15
-param set-default VT_B_TRANS_DUR  4
-param set-default VT_F_TRANS_THR    0.6
-param set-default VT_IDLE_PWM_MC 1180
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_TRANS_MIN_TM 5
-param set-default VT_TRANS_TIMEOUT    30
-param set-default VT_TYPE 2
+fi

 set MAV_TYPE 22

@@ -8,28 +8,32 @@
 # @maintainer Samay Siga <samay_s@icloud.com>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set PWM_AUX_DISARMED 1000
+	param set PWM_AUX_MAX 2000
+	param set PWM_AUX_MIN 1000
+	param set PWM_AUX_RATE 50

-param set-default PWM_AUX_DISARMED 1000
-param set-default PWM_AUX_MAX 2000
-param set-default PWM_AUX_MIN 1000
-param set-default PWM_AUX_RATE 50
+	param set PWM_MAX 2000
+	param set PWM_RATE 400

-param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_RATE 400
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 13
+	param set VT_IDLE_PWM_MC 1080
+	param set VT_TILT_FW 0.9
+	param set VT_TILT_MC 0.08
+	param set VT_TILT_TRANS 0.5
+	param set VT_ELEV_MC_LOCK 0
+	param set VT_TYPE 1
+fi

-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 13
-param set-default VT_IDLE_PWM_MC 1080
-param set-default VT_TILT_FW 0.9
-param set-default VT_TILT_MC 0.08
-param set-default VT_TILT_TRANS 0.5
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_TYPE 1
 set MAV_TYPE 21

 set MIXER claire
@@ -16,69 +16,72 @@
 # @output MAIN7 Elevon right
 # @output MAIN8 Elevon left
 #
-# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set CBRK_AIRSPD_CHK 162128

-param set-default CBRK_AIRSPD_CHK 162128
+	param set FW_ARSP_MODE 1

-param set-default FW_ARSP_MODE 1
+	param set FW_L1_PERIOD 17
+	param set FW_MAN_R_MAX 50
+	param set FW_ACRO_X_MAX   270
+	param set FW_ACRO_Y_MAX   270
+	param set FW_ACRO_Z_MAX   180
+	param set FW_PR_FF    0.5
+	param set FW_PR_P 0.08
+	param set FW_PSP_OFF  5
+	param set FW_P_LIM_MAX    30
+	param set FW_P_LIM_MIN    -30
+	param set FW_P_RMAX_NEG   60
+	param set FW_P_RMAX_POS   60
+	param set FW_RR_FF    0.33
+	param set FW_RR_P 0.11
+	param set FW_YR_FF    0.3
+	param set FW_YR_P 0.05

-param set-default FW_L1_PERIOD 17
-param set-default FW_MAN_R_MAX 50
-param set-default FW_ACRO_X_MAX   270
-param set-default FW_ACRO_Y_MAX   270
-param set-default FW_ACRO_Z_MAX   180
-param set-default FW_PR_FF    0.5
-param set-default FW_PR_P 0.08
-param set-default FW_PSP_OFF  5
-param set-default FW_P_LIM_MAX    30
-param set-default FW_P_LIM_MIN    -30
-param set-default FW_P_RMAX_NEG   60
-param set-default FW_P_RMAX_POS   60
-param set-default FW_RR_FF    0.33
-param set-default FW_RR_P 0.11
-param set-default FW_YR_FF    0.3
-param set-default FW_YR_P 0.05
+	param set MC_PITCHRATE_D  0.003
+	param set MC_PITCHRATE_P  0.15
+	param set MC_PITCH_P  6
+	param set MC_ROLLRATE_D   0.003
+	param set MC_ROLLRATE_P   0.15
+	param set MC_ROLL_P   6
+	param set MC_YAWRATE_MAX  120
+	param set MC_YAWRATE_P    0.27
+	param set MC_YAW_P    2.5

-param set-default MC_PITCHRATE_D  0.003
-param set-default MC_PITCHRATE_P  0.15
-param set-default MC_PITCH_P  6
-param set-default MC_ROLLRATE_D   0.003
-param set-default MC_ROLLRATE_P   0.15
-param set-default MC_ROLL_P   6
-param set-default MC_YAWRATE_MAX  120
-param set-default MC_YAWRATE_P    0.27
-param set-default MC_YAW_P    2.5
+	param set MC_YAWRATE_P 0.3
+	param set MPC_LAND_SPEED 1.2
+	param set MPC_TKO_SPEED 2.5
+	param set MPC_Z_VEL_MAX_UP 3

-param set-default MC_YAWRATE_P 0.3
-param set-default MPC_LAND_SPEED 1.2
-param set-default MPC_TKO_SPEED 2.5
-param set-default MPC_Z_VEL_MAX_UP 3
+	param set PWM_RATE 400

-param set-default PWM_MAIN_RATE 400
+	param set SENS_BOARD_ROT 8

-param set-default SENS_BOARD_ROT 8
+	param set VT_B_TRANS_DUR  1
+	param set VT_F_TRANS_DUR  1.2
+	param set VT_F_TR_OL_TM   4
+	param set VT_FW_DIFTHR_EN 1
+	param set VT_FW_DIFTHR_SC 0.17
+	param set VT_FW_MOT_OFFID 3
+	param set VT_FW_PERM_STAB 0
+	param set VT_IDLE_PWM_MC 1200
+	param set VT_MOT_ID 123
+	param set VT_TILT_FW  1
+	param set VT_TILT_MC  0
+	param set VT_TILT_TRANS   0.45
+	param set VT_TRANS_MIN_TM 1.2
+	param set VT_TRANS_P2_DUR 1.3
+	param set VT_ELEV_MC_LOCK 0
+	param set VT_TYPE 1
+fi

-param set-default VT_B_TRANS_DUR  1
-param set-default VT_F_TRANS_DUR  1.2
-param set-default VT_F_TR_OL_TM   4
-param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_SC 0.17
-param set-default VT_FW_MOT_OFFID 3
-param set-default VT_FW_PERM_STAB 0
-param set-default VT_IDLE_PWM_MC 1200
-param set-default VT_MOT_ID 123
-param set-default VT_TILT_FW  1
-param set-default VT_TILT_MC  0
-param set-default VT_TILT_TRANS   0.45
-param set-default VT_TRANS_MIN_TM 1.2
-param set-default VT_TRANS_P2_DUR 1.3
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_TYPE 1
 set MAV_TYPE 21

 set MIXER vtol_convergence
@@ -16,140 +16,142 @@
 # @output MAIN7 Pusher motor
 # @output MAIN8 Pusher reverse channel
 #
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#

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

+if [ $AUTOCNF = yes ]
+then
+	param set BAT_CAPACITY 23000
+	param set BAT_N_CELLS 4
+	param set BAT_R_INTERNAL 0.0025

-param set-default BAT_CAPACITY 23000
-param set-default BAT_N_CELLS 4
-param set-default BAT_R_INTERNAL 0.0025
+	param set CBRK_AIRSPD_CHK 162128
+	param set CBRK_IO_SAFETY 22027

-param set-default CBRK_AIRSPD_CHK 162128
-param set-default CBRK_IO_SAFETY 22027
+	param set EKF2_GPS_POS_X -0.12
+	param set EKF2_IMU_POS_X -0.12
+	param set EKF2_TAU_VEL 0.5
+	param set EKF2_GPS_P_GATE 10
+	param set EKF2_GPS_V_GATE 10

-param set-default EKF2_GPS_POS_X -0.12
-param set-default EKF2_IMU_POS_X -0.12
-param set-default EKF2_TAU_VEL 0.5
-param set-default EKF2_GPS_P_GATE 10
-param set-default EKF2_GPS_V_GATE 10
+	param set FW_ARSP_MODE 1
+	param set FW_L1_PERIOD 25
+	param set FW_PR_FF 0.7
+	param set FW_PR_I 0.18
+	param set FW_PR_P 0.15
+	param set FW_P_TC 0.5
+	param set FW_PSP_OFF 5
+	param set FW_R_LIM 35
+	param set FW_RR_FF 0.9
+	param set FW_RR_I 0.08
+	param set FW_RR_P 0.18
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_CLMB_MAX 3
+	param set FW_T_SINK_MAX 3
+	param set FW_T_SINK_MIN 1
+	param set FW_T_VERT_ACC 6
+	param set FW_T_HRATE_P 0.1
+	param set FW_THR_CRUISE 0.70
+	param set FW_THR_SLEW_MAX 1
+	param set FW_MAN_P_MAX 30
+	param set FW_P_LIM_MAX 15
+	param set FW_P_LIM_MIN -25
+	param set FW_P_RMAX_NEG 45
+	param set FW_P_RMAX_POS 45
+	param set FW_R_RMAX 50
+	param set FW_THR_MIN 0.55
+	param set FW_BAT_SCALE_EN 1
+	param set FW_THR_ALT_SCL 2.7
+	param set FW_T_RLL2THR 20

-param set-default FW_ARSP_MODE 1
-param set-default FW_L1_PERIOD 25
-param set-default FW_PR_FF 0.7
-param set-default FW_PR_I 0.18
-param set-default FW_PR_P 0.15
-param set-default FW_P_TC 0.5
-param set-default FW_PSP_OFF 5
-param set-default FW_R_LIM 35
-param set-default FW_RR_FF 0.9
-param set-default FW_RR_I 0.08
-param set-default FW_RR_P 0.18
-param set-default FW_T_HRATE_FF 0.5
-param set-default FW_T_CLMB_MAX 3
-param set-default FW_T_SINK_MAX 3
-param set-default FW_T_SINK_MIN 1
-param set-default FW_T_VERT_ACC 6
-param set-default FW_THR_CRUISE 0.70
-param set-default FW_THR_SLEW_MAX 1
-param set-default FW_MAN_P_MAX 30
-param set-default FW_P_LIM_MAX 15
-param set-default FW_P_LIM_MIN -25
-param set-default FW_P_RMAX_NEG 45
-param set-default FW_P_RMAX_POS 45
-param set-default FW_R_RMAX 50
-param set-default FW_THR_MIN 0.55
-param set-default FW_BAT_SCALE_EN 1
-param set-default FW_THR_ALT_SCL 2.7
-param set-default FW_T_RLL2THR 20
+	param set LNDMC_ALT_MAX 9999
+	param set LNDMC_XY_VEL_MAX 1
+	param set LNDMC_Z_VEL_MAX 0.7

-param set-default LNDMC_ALT_MAX 9999
-param set-default LNDMC_XY_VEL_MAX 1
-param set-default LNDMC_Z_VEL_MAX 0.7
+	param set MC_ROLL_P 6.5
+	param set MC_ROLLRATE_P 0.16
+	param set MC_ROLLRATE_I 0.01
+	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_FF 0
+	param set MC_ROLLRATE_MAX 80
+	param set MC_PITCH_P 6.5
+	param set MC_PITCHRATE_P 0.15
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_FF 0
+	param set MC_PITCHRATE_MAX 80
+	param set MC_YAW_P 3.5
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_FF 0
+	param set MC_YAWRATE_MAX 20
+	param set MC_AIRMODE 1

-param set-default MC_ROLL_P 6.5
-param set-default MC_ROLLRATE_P 0.16
-param set-default MC_ROLLRATE_I 0.01
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_ROLLRATE_FF 0
-param set-default MC_ROLLRATE_MAX 80
-param set-default MC_PITCH_P 6.5
-param set-default MC_PITCHRATE_P 0.15
-param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_PITCHRATE_FF 0
-param set-default MC_PITCHRATE_MAX 80
-param set-default MC_YAW_P 3.5
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
-param set-default MC_YAWRATE_MAX 20
-param set-default MC_AIRMODE 1
+	param set MIS_DIST_1WP 100
+	param set MIS_DIST_WPS 100000
+	param set MIS_TAKEOFF_ALT 15

-param set-default MIS_DIST_1WP 100
-param set-default MIS_DIST_WPS 100000
-param set-default MIS_TAKEOFF_ALT 15
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_P_ACC 2
+	param set MPC_XY_VEL_MAX 5
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_LAND_SPEED 1.2
+	param set MPC_TILTMAX_LND 35
+	param set MPC_Z_VEL_MAX 1.5
+	param set MPC_Z_VEL_MAX_UP 1.5
+	param set MPC_Z_VEL_MAX_DN 1.5
+	param set MPC_HOLD_MAX_XY 0.5
+	param set MPC_HOLD_MAX_Z 0.5
+	param set MPC_TKO_RAMP_T 0.8
+	param set MPC_XY_CRUISE 5
+	param set MPC_TILTMAX_AIR 25
+	param set MPC_TILTMAX_LND 25
+	param set MPC_YAWRAUTO_MAX 20

-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 2
-param set-default MPC_XY_VEL_MAX 5
-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_LAND_SPEED 1.2
-param set-default MPC_TILTMAX_LND 35
-param set-default MPC_Z_VEL_MAX_UP 1.5
-param set-default MPC_Z_VEL_MAX_DN 1.5
-param set-default MPC_HOLD_MAX_XY 0.5
-param set-default MPC_HOLD_MAX_Z 0.5
-param set-default MPC_TKO_RAMP_T 0.8
-param set-default MPC_XY_CRUISE 5
-param set-default MPC_TILTMAX_AIR 25
-param set-default MPC_TILTMAX_LND 25
-param set-default MPC_YAWRAUTO_MAX 20
+	param set NAV_DLL_ACT 0
+	param set NAV_LOITER_RAD 100

-param set-default NAV_DLL_ACT 0
-param set-default NAV_LOITER_RAD 100
+	param set PWM_AUX_DISARMED 950

-param set-default PWM_AUX_DISARMED 950
+	param set PWM_MAIN_DIS5 1500
+	param set PWM_MAIN_DIS6 1500
+	param set PWM_MAIN_DIS7 900
+	param set PWM_MAIN_DIS8 900

-param set-default PWM_MAIN_DIS5 1500
-param set-default PWM_MAIN_DIS6 1500
-param set-default PWM_MAIN_DIS7 900
-param set-default PWM_MAIN_DIS8 900
+	param set PWM_RATE 400

-param set-default PWM_MAIN_RATE 400
+	param set SENS_BOARD_ROT 18

-param set-default SENS_BOARD_ROT 18
+	# TELEM2 config
+	param set MAV_1_CONFIG 102
+	param set MAV_1_RATE 5000
+	param set MAV_1_FORWARD 1
+	param set SER_TEL2_BAUD 57600

-# TELEM2 config
-param set-default MAV_1_CONFIG 102
-param set-default MAV_1_RATE 5000
-param set-default MAV_1_FORWARD 1
-param set-default SER_TEL2_BAUD 57600
+	param set VT_TYPE 2
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
+	param set VT_F_TRANS_THR 1
+	param set VT_DWN_PITCH_MAX 8
+	param set VT_FW_QC_P 55
+	param set VT_FW_QC_R 55
+	param set VT_TRANS_MIN_TM 15
+	param set VT_B_TRANS_DUR 8
+	param set VT_WV_LND_EN 1
+	param set VT_WV_LTR_EN 1
+	param set VT_FWD_THRUST_SC 4
+	param set VT_F_TRANS_DUR 1
+	param set VT_IDLE_PWM_MC 1025
+	param set VT_B_REV_OUT 0.5
+	param set VT_B_TRANS_THR 0.7
+	param set VT_FW_PERM_STAB 1
+	param set VT_TRANS_TIMEOUT 22
+	param set VT_F_TRANS_RAMP 4

-param set-default VT_TYPE 2
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_F_TRANS_THR 1
-param set-default VT_DWN_PITCH_MAX 8
-param set-default VT_FW_QC_P 55
-param set-default VT_FW_QC_R 55
-param set-default VT_TRANS_MIN_TM 15
-param set-default VT_B_TRANS_DUR 8
-param set-default VT_WV_LND_EN 1
-param set-default VT_WV_LTR_EN 1
-param set-default VT_FWD_THRUST_SC 4
-param set-default VT_F_TRANS_DUR 1
-param set-default VT_IDLE_PWM_MC 1025
-param set-default VT_B_REV_OUT 0.5
-param set-default VT_B_TRANS_THR 0.7
-param set-default VT_FW_PERM_STAB 1
-param set-default VT_TRANS_TIMEOUT 22
-param set-default VT_F_TRANS_RAMP 4
+	param set COM_RC_OVERRIDE 0
+fi

-param set-default COM_RC_OVERRIDE 0
 set MAV_TYPE 22

 set MIXER deltaquad
@@ -17,94 +17,100 @@
 # @output MAIN8 motor 4
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then

+	param set BAT_N_CELLS 6

-param set-default BAT_N_CELLS 6
+	param set FW_AIRSPD_MAX   30
+	param set FW_AIRSPD_MIN   19
+	param set FW_AIRSPD_TRIM  23
+	param set FW_L1_R_SLEW_MAX 40
+	param set FW_LND_EARLYCFG 1
+	param set FW_MAN_P_MAX	30
+	param set FW_PR_I	0.1
+	param set FW_PSP_OFF	3
+	param set FW_P_LIM_MAX 18
+	param set FW_P_LIM_MIN -25
+	param set FW_RLL_TO_YAW_FF	0.1
+	param set FW_RR_I	0.1
+	param set FW_RR_P	0.08
+	param set FW_R_LIM 45
+	param set FW_R_RMAX	50
+	param set FW_THR_CRUISE 0.65
+	param set FW_THR_MIN 0.3
+	param set FW_THR_SLEW_MAX 0.6
+	param set FW_T_HRATE_FF 0
+	param set FW_T_SINK_MAX	15
+	param set FW_T_SINK_MIN	3
+	param set FW_T_THRO_CONST	6
+	param set FW_T_TIME_CONST	6
+	param set FW_YR_I	0.1
+	param set FW_YR_P	0.15

-param set-default FW_AIRSPD_MAX   30
-param set-default FW_AIRSPD_MIN   19
-param set-default FW_AIRSPD_TRIM  23
-param set-default FW_L1_R_SLEW_MAX 40
-param set-default FW_LND_EARLYCFG 1
-param set-default FW_MAN_P_MAX	30
-param set-default FW_PR_I	0.1
-param set-default FW_PSP_OFF	3
-param set-default FW_P_LIM_MAX 18
-param set-default FW_P_LIM_MIN -25
-param set-default FW_RLL_TO_YAW_FF	0.1
-param set-default FW_RR_I	0.1
-param set-default FW_RR_P	0.08
-param set-default FW_R_LIM 45
-param set-default FW_R_RMAX	50
-param set-default FW_THR_CRUISE 0.65
-param set-default FW_THR_MIN 0.3
-param set-default FW_THR_SLEW_MAX 0.6
-param set-default FW_T_HRATE_FF 0
-param set-default FW_T_SINK_MAX	15
-param set-default FW_T_SINK_MIN	3
-param set-default FW_YR_I	0.1
-param set-default FW_YR_P	0.15
+	param set IMU_GYRO_CUTOFF 40

-param set-default IMU_GYRO_CUTOFF 40
+	param set IMU_DGYRO_CUTOFF 15
+	param set MC_PITCHRATE_I	0.2
+	param set MC_PITCHRATE_MAX 60
+	param set MC_ROLLRATE_I	0.2
+	param set MC_ROLLRATE_MAX 60
+	param set MC_YAWRATE_I 0.15
+	param set MC_YAWRATE_MAX 40
+	param set MC_YAWRATE_P 0.3

-param set-default IMU_DGYRO_CUTOFF 15
-param set-default MC_PITCHRATE_I	0.2
-param set-default MC_PITCHRATE_MAX 60
-param set-default MC_ROLLRATE_I	0.2
-param set-default MC_ROLLRATE_MAX 60
-param set-default MC_YAWRATE_I 0.15
-param set-default MC_YAWRATE_MAX 40
-param set-default MC_YAWRATE_P 0.3
+	param set MIS_TAKEOFF_ALT	30

-param set-default MIS_TAKEOFF_ALT	30
+	param set MPC_ACC_DOWN_MAX	2
+	param set MPC_ACC_HOR_MAX	2
+	param set MPC_ACC_UP_MAX	3
+	param set MC_AIRMODE 1
+	param set MPC_JERK_AUTO	4
+	param set MPC_LAND_SPEED 1
+	param set MPC_MAN_TILT_MAX 25
+	param set MPC_MAN_Y_MAX 40
+	param set MPC_POS_MODE 3
+	param set MPC_SPOOLUP_TIME 1.5
+	param set MPC_THR_HOVER 0.45
+	param set MPC_TILTMAX_AIR 25
+	param set MPC_TKO_RAMP_T 1.8
+	param set MPC_TKO_SPEED	1
+	param set MPC_VEL_MANUAL 3
+	param set MPC_XY_CRUISE 3
+	param set MPC_XY_VEL_MAX 3.5
+	param set MPC_YAWRAUTO_MAX 40
+	param set MPC_Z_VEL_MAX_DN 1.5
+	param set MPC_Z_VEL_MAX_UP 2

-param set-default MPC_ACC_DOWN_MAX	2
-param set-default MPC_ACC_HOR_MAX	2
-param set-default MPC_ACC_UP_MAX	3
-param set-default MC_AIRMODE 1
-param set-default MPC_JERK_AUTO	4
-param set-default MPC_LAND_SPEED 1
-param set-default MPC_MAN_TILT_MAX 25
-param set-default MPC_MAN_Y_MAX 40
-param set-default MPC_POS_MODE 3
-param set-default MPC_SPOOLUP_TIME 1.5
-param set-default MPC_THR_HOVER 0.45
-param set-default MPC_TILTMAX_AIR 25
-param set-default MPC_TKO_RAMP_T 1.8
-param set-default MPC_TKO_SPEED	1
-param set-default MPC_VEL_MANUAL 3
-param set-default MPC_XY_CRUISE 3
-param set-default MPC_XY_VEL_MAX 3.5
-param set-default MPC_YAWRAUTO_MAX 40
-param set-default MPC_Z_VEL_MAX_DN 1.5
-param set-default MPC_Z_VEL_MAX_UP 2
+	param set NAV_ACC_RAD	3

-param set-default NAV_ACC_RAD	3
+	param set PWM_MAIN_DIS3 1000
+	param set PWM_MAIN_MIN3 1120
+	param set PWM_MIN 950

-param set-default PWM_MAIN_DIS3 1000
-param set-default PWM_MAIN_MIN3 1120
-param set-default PWM_MAIN_MIN 950
+	param set SENS_BOARD_ROT 4

-param set-default SENS_BOARD_ROT 4
+	param set VT_ARSP_BLEND 10
+	param set VT_ARSP_TRANS 21
+	param set VT_B_DEC_MSS 1.5
+	param set VT_B_TRANS_DUR 12
+	param set VT_ELEV_MC_LOCK 0
+	param set VT_FWD_THRUST_SC 1.2
+	param set VT_FW_MOT_OFFID 5678
+	param set VT_F_TR_OL_TM 8
+	param set VT_IDLE_PWM_MC 1000
+	param set VT_MOT_ID 5678
+	param set VT_PSHER_RMP_DT 2
+	param set VT_TRANS_MIN_TM 4
+	param set VT_TYPE 2

-param set-default VT_ARSP_BLEND 10
-param set-default VT_ARSP_TRANS 21
-param set-default VT_B_DEC_MSS 1.5
-param set-default VT_B_TRANS_DUR 12
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_FWD_THRUST_SC 1.2
-param set-default VT_FW_MOT_OFFID 5678
-param set-default VT_F_TR_OL_TM 8
-param set-default VT_IDLE_PWM_MC 1000
-param set-default VT_MOT_ID 5678
-param set-default VT_PSHER_RMP_DT 2
-param set-default VT_TRANS_MIN_TM 4
-param set-default VT_TYPE 2
+fi

 set MAV_TYPE 22

@@ -1,57 +0,0 @@
-#!/bin/sh
-#
-# @name Generic Quadplane VTOL (PWM14)
-#
-# @type Standard VTOL
-# @class VTOL
-#
-# @maintainer
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 Aileron 1
-# @output MAIN6 Aileron 2
-# @output MAIN7 Elevator
-# @output MAIN8 Rudder
-# @output MAIN9 Pusher motor
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-
-param set-default PWM_MAIN_RATE 400
-
-param set-default PWM_MAIN_MIN1 1100
-param set-default PWM_MAIN_MIN2 1100
-param set-default PWM_MAIN_MIN3 1100
-param set-default PWM_MAIN_MIN4 1100
-
-param set-default PWM_MAIN_MAX1 1900
-param set-default PWM_MAIN_MAX2 1900
-param set-default PWM_MAIN_MAX3 1900
-param set-default PWM_MAIN_MAX4 1900
-
-param set-default PWM_MAIN_DIS1 900
-param set-default PWM_MAIN_DIS2 900
-param set-default PWM_MAIN_DIS3 900
-param set-default PWM_MAIN_DIS4 900
-param set-default PWM_MAIN_DIS5 1500
-param set-default PWM_MAIN_DIS6 1500
-param set-default PWM_MAIN_DIS7 1500
-param set-default PWM_MAIN_DIS8 1500
-param set-default PWM_MAIN_DIS9 900
-
-param set-default VT_TYPE 2
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-set MAV_TYPE 22
-
-set MIXER quad_x_vtol_AAERT
-set MIXER_AUX none
-
-set PWM_OUT 1234
@@ -20,18 +20,22 @@
 # @output AUX5 Throttle
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set PWM_AUX_DIS5 950
+	param set PWM_RATE 400

-param set-default PWM_AUX_DIS5 950
-param set-default PWM_MAIN_RATE 400
+	param set VT_TYPE 2
+	param set VT_MOT_ID 12345678
+	param set VT_FW_MOT_OFFID 12345678
+fi

-param set-default VT_TYPE 2
-param set-default VT_MOT_ID 12345678
-param set-default VT_FW_MOT_OFFID 12345678
 set MAV_TYPE 22

 set MIXER octo_cox
@@ -12,18 +12,21 @@
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
-# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set VT_ELEV_MC_LOCK 0
+	param set VT_MOT_COUNT 2
+	param set VT_TYPE 0

-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_MOT_COUNT 2
-param set-default VT_TYPE 0
+	param set MAV_TYPE 19
+fi

-param set-default MAV_TYPE 19
 set MAV_TYPE 19
 set MIXER vtol_tailsitter_duo

@@ -12,6 +12,7 @@
 #
 # @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
 #
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

@@ -12,6 +12,7 @@
 #
 # @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
 #
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

@@ -13,39 +13,43 @@
 # @maintainer Emmanuel Roussel
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
 set MIXER coax

+if [ $AUTOCNF = yes ]
+then
+	param set MC_ROLL_P 6.5
+	param set MC_ROLLRATE_P 0.17
+	param set MC_ROLLRATE_I 0.05
+	param set MC_ROLLRATE_D 0.005
+	param set MC_ROLLRATE_FF 0
+	param set MC_PITCH_P 6.5
+	param set MC_PITCHRATE_P 0.17
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCHRATE_D 0.005
+	param set MC_PITCHRATE_FF 0
+	param set MC_YAW_P 2
+	param set MC_YAWRATE_P 0.1
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_FF 0

-param set-default MC_ROLL_P 6.5
-param set-default MC_ROLLRATE_P 0.17
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.005
-param set-default MC_ROLLRATE_FF 0
-param set-default MC_PITCH_P 6.5
-param set-default MC_PITCHRATE_P 0.17
-param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCHRATE_D 0.005
-param set-default MC_PITCHRATE_FF 0
-param set-default MC_YAW_P 2
-param set-default MC_YAWRATE_P 0.1
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
+	param set NAV_ACC_RAD 2

-param set-default NAV_ACC_RAD 2
+	param set PWM_AUX_RATE 50
+	param set PWM_DISARMED 900
+	param set PWM_MIN 1075
+	param set PWM_MAX 1950
+	param set PWM_RATE 400

-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_DISARM 900
-param set-default PWM_MAIN_MIN 1075
-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_RATE 400
+	param set RTL_RETURN_ALT 30
+	param set RTL_DESCEND_ALT 10
+fi

-param set-default RTL_RETURN_ALT 30
-param set-default RTL_DESCEND_ALT 10
 # This is the gimbal pass mixer
 set MIXER_AUX pass

@@ -14,6 +14,7 @@
 # @output MAIN5 tail-rotor servo
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

@@ -26,32 +27,34 @@ set MIXER blade130

 #set PWM_OUT 1234

+if [ $AUTOCNF = yes ]
+then
+	param set ATT_BIAS_MAX 0

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

-param set-default CBRK_IO_SAFETY 22027
+	param set MC_ROLL_P 5
+	param set MC_ROLLRATE_P 0
+	param set MC_ROLLRATE_I 0
+	param set MC_ROLLRATE_D 0
+	param set MC_ROLLRATE_FF 0.15
+	param set MC_PITCH_P 6.5
+	param set MC_PITCHRATE_P 0
+	param set MC_PITCHRATE_I 0
+	param set MC_PITCHRATE_D 0
+	param set MC_PITCHRATE_FF 0.15
+	param set MC_YAW_P 3
+	param set MC_YAWRATE_P 0.1
+	param set MC_YAWRATE_I 0
+	param set MC_YAWRATE_D 0
+	param set MC_ROLLRATE_MAX 720
+	param set MC_PITCHRATE_MAX 720
+	param set MC_YAWRATE_MAX 400
+	param set MC_ACRO_R_MAX 360
+	param set MC_ACRO_P_MAX 360

-param set-default MC_ROLL_P 5
-param set-default MC_ROLLRATE_P 0
-param set-default MC_ROLLRATE_I 0
-param set-default MC_ROLLRATE_D 0
-param set-default MC_ROLLRATE_FF 0.15
-param set-default MC_PITCH_P 6.5
-param set-default MC_PITCHRATE_P 0
-param set-default MC_PITCHRATE_I 0
-param set-default MC_PITCHRATE_D 0
-param set-default MC_PITCHRATE_FF 0.15
-param set-default MC_YAW_P 3
-param set-default MC_YAWRATE_P 0.1
-param set-default MC_YAWRATE_I 0
-param set-default MC_YAWRATE_D 0
-param set-default MC_ROLLRATE_MAX 720
-param set-default MC_PITCHRATE_MAX 720
-param set-default MC_YAWRATE_MAX 400
-param set-default MC_ACRO_R_MAX 360
-param set-default MC_ACRO_P_MAX 360
+	param set MPC_THR_MIN 0.06
+	param set MPC_MANTHR_MIN 0.06

-param set-default MPC_THR_MIN 0.06
-param set-default MPC_MANTHR_MIN 0.06
-
-param set-default PWM_MAIN_MIN 1075
+	param set PWM_MIN 1075
+fi
@@ -20,31 +20,35 @@
 # @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set BAT_CAPACITY 2500
+	param set BAT_N_CELLS 3

-param set-default BAT_CAPACITY 2500
-param set-default BAT_N_CELLS 3
+	param set PWM_AUX_RATE 50
+	param set PWM_RATE 50

-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_RATE 50
+	param set SENS_BOARD_ROT 8

-param set-default SENS_BOARD_ROT 8
+	param set FW_AIRSPD_MAX 20
+	param set FW_AIRSPD_MIN 7
+	param set FW_AIRSPD_TRIM 13
+	param set FW_THR_CRUISE 0.8

-param set-default FW_AIRSPD_MAX 20
-param set-default FW_AIRSPD_MIN 7
-param set-default FW_AIRSPD_TRIM 13
-param set-default FW_THR_CRUISE 0.8
+	param set FW_MAN_P_MAX 25
+	param set FW_MAN_R_MAX 25
+	param set FW_PR_I 0.02
+	param set FW_R_LIM 40
+	param set FW_P_LIM_MAX 25
+	param set FW_P_LIM_MIN -5
+	param set FW_P_RMAX_NEG 20
+fi

-param set-default FW_MAN_P_MAX 25
-param set-default FW_MAN_R_MAX 25
-param set-default FW_PR_I 0.02
-param set-default FW_R_LIM 40
-param set-default FW_P_LIM_MAX 25
-param set-default FW_P_LIM_MIN -5
-param set-default FW_P_RMAX_NEG 20
 set MIXER TF-AutoG2
 set MIXER_AUX pass
@@ -1,45 +0,0 @@
-#!/bin/sh
-#
-# @name ThunderFly TF-G2
-#
-# @type Autogyro
-# @class Autogyro
-#
-# @output MAIN2 rotor_head_L
-# @output MAIN3 rotor_head_R
-# @output MAIN4 rudder
-# @output MAIN5 throttle
-#
-#
-# @url https://github.com/ThunderFly-aerospace/TF-G2/
-# @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-
-param set-default BAT_CAPACITY 3300
-param set-default BAT_N_CELLS 3
-
-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_RATE 50
-
-param set-default SENS_BOARD_ROT 4
-
-param set-default FW_AIRSPD_MAX 20
-param set-default FW_AIRSPD_MIN 7
-param set-default FW_AIRSPD_TRIM 13
-param set-default FW_THR_CRUISE 0.8
-
-param set-default FW_MAN_P_MAX 25
-param set-default FW_MAN_R_MAX 25
-param set-default FW_PR_I 0.02
-param set-default FW_R_LIM 40
-param set-default FW_P_LIM_MAX 25
-param set-default FW_P_LIM_MIN -5
-param set-default FW_P_RMAX_NEG 20
-set MIXER TF-G2
-set MIXER_AUX pass
@@ -1,33 +0,0 @@
-#!/bin/sh
-#
-# @name ThunderFly balloon TF-B1
-#
-# @type Balloon
-# @class Balloon
-#
-#
-# @url https://github.com/ThunderFly-aerospace/TF-B1/
-# @maintainer ThunderFly s.r.o.
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${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
-param set-default MAV_0_CONFIG 102
-param set-default GPS_UBX_DYNMODEL 8
-param set-default SER_TEL2_BAUD 9600
-
-param set-default SENS_BOARD_ROT 0
-        param set MAV_TYPE 8  # MAV_TYPE_FREE_BALLOON
-
-
-set MIXER IO_pass
-set MIXER_AUX pass
@@ -18,13 +18,17 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_RATE 50
+if [ $AUTOCNF = yes ]
+then
+	param set PWM_AUX_RATE 50
+	param set PWM_RATE 50
+fi

 set MIXER AETRFG

@@ -20,28 +20,31 @@
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

-param set-default FW_AIRSPD_MIN 10
-param set-default FW_AIRSPD_TRIM 15
-param set-default FW_AIRSPD_MAX 20
+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MIN 10
+	param set FW_AIRSPD_TRIM 15
+	param set FW_AIRSPD_MAX 20

-param set-default FW_MAN_P_MAX 55
-param set-default FW_MAN_R_MAX 55
-param set-default FW_R_LIM 55
+	param set FW_MAN_P_MAX 55
+	param set FW_MAN_R_MAX 55
+	param set FW_R_LIM 55

-param set-default FW_WR_FF 0.2
-param set-default FW_WR_I 0.2
-param set-default FW_WR_IMAX 0.8
-param set-default FW_WR_P 1
-param set-default FW_W_RMAX 0
-
-# set disarmed value for the ESC
-param set-default PWM_MAIN_DISARM 1000
+	param set FW_WR_FF 0.2
+	param set FW_WR_I 0.2
+	param set FW_WR_IMAX 0.8
+	param set FW_WR_P 1
+	param set FW_W_RMAX 0

+	# set disarmed value for the ESC
+	param set PWM_DISARMED 1000
+fi

 set MIXER AAERTWF

@@ -20,28 +20,31 @@
 #
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

-param set-default FW_AIRSPD_MIN 10
-param set-default FW_AIRSPD_TRIM 15
-param set-default FW_AIRSPD_MAX 20
+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MIN 10
+	param set FW_AIRSPD_TRIM 15
+	param set FW_AIRSPD_MAX 20

-param set-default FW_MAN_P_MAX 55
-param set-default FW_MAN_R_MAX 55
-param set-default FW_R_LIM 55
+	param set FW_MAN_P_MAX 55
+	param set FW_MAN_R_MAX 55
+	param set FW_R_LIM 55

-param set-default FW_WR_FF 0.2
-param set-default FW_WR_I 0.2
-param set-default FW_WR_IMAX 0.8
-param set-default FW_WR_P 1
-param set-default FW_W_RMAX 0
-
-# set disarmed value for the ESC
-param set-default PWM_MAIN_DISARM 1000
+	param set FW_WR_FF 0.2
+	param set FW_WR_I 0.2
+	param set FW_WR_IMAX 0.8
+	param set FW_WR_P 1
+	param set FW_W_RMAX 0

+	# set disarmed value for the ESC
+	param set PWM_DISARMED 1000
+fi

 set MIXER AAVVTWFF

@@ -21,27 +21,31 @@
 # @maintainer Friedrich Beckmann <friedrich.beckmann@hs-augsburg.de>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

-param set-default FW_AIRSPD_MIN 10
-param set-default FW_AIRSPD_TRIM 15
-param set-default FW_AIRSPD_MAX 20
+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MIN 10
+	param set FW_AIRSPD_TRIM 15
+	param set FW_AIRSPD_MAX 20

-param set-default FW_MAN_P_MAX 55
-param set-default FW_MAN_R_MAX 55
-param set-default FW_R_LIM 55
+	param set FW_MAN_P_MAX 55
+	param set FW_MAN_R_MAX 55
+	param set FW_R_LIM 55

-param set-default FW_WR_FF 0.2
-param set-default FW_WR_I 0.2
-param set-default FW_WR_IMAX 0.8
-param set-default FW_WR_P 1
-param set-default FW_W_RMAX 0
+	param set FW_WR_FF 0.2
+	param set FW_WR_I 0.2
+	param set FW_WR_IMAX 0.8
+	param set FW_WR_P 1
+	param set FW_W_RMAX 0

-# set disarmed value for the ESC
-param set-default PWM_MAIN_DISARM 1000
+	# set disarmed value for the ESC
+	param set PWM_DISARMED 1000
+fi

 # The Mini Talon does not have a wheel and
 # no flaps. I leave them here because the mixer
@@ -22,25 +22,30 @@
 # @maintainer Ian McNanie <ianmcnanie@gmail.com>
 # @maintainer William Peale <develop707@gmail.com>
 #
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

 set VEHICLE_TYPE mc

+if [ $AUTOCNF = yes ]
+then
+	param set NAV_ACC_RAD 2

-param set-default NAV_ACC_RAD 2
+	param set PWM_AUX_RATE 400
+	param set PWM_AUX_DISARMED 900
+	param set PWM_AUX_MIN 1075
+	param set PWM_AUX_MAX 1950

-param set-default PWM_AUX_RATE 400
-param set-default PWM_AUX_DISARMED 900
-param set-default PWM_AUX_MIN 1075
-param set-default PWM_AUX_MAX 1950
+	param set PWM_MIN 1075
+	param set PWM_MAX 1950
+	param set PWM_RATE 400

-param set-default PWM_MAIN_MIN 1075
-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_RATE 400
+	param set RTL_DESCEND_ALT 10
+	param set RTL_LAND_DELAY 0
+	param set RTL_RETURN_ALT 30
+fi

-param set-default RTL_DESCEND_ALT 10
-param set-default RTL_RETURN_ALT 30
 set MIXER dodeca_top_cox
 set MIXER_AUX dodeca_bottom_cox

@@ -10,14 +10,17 @@
 # @output MAIN4 tail thruster
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

-param set-default COM_PREARM_MODE 2
-param set-default CBRK_IO_SAFETY 22027
-
+if [ $AUTOCNF = yes ]
+then
+	param set COM_PREARM_MODE 2
+	param set CBRK_IO_SAFETY 22027
+fi

 set MIXER cloudship
 set PWM_OUT 1234
@@ -15,6 +15,7 @@
 #
 # @maintainer
 #
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

@@ -16,33 +16,36 @@
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

-param set-default FW_AIRSPD_MAX 15
-param set-default FW_AIRSPD_MIN 10
-param set-default FW_AIRSPD_TRIM 13
-param set-default FW_R_TC 0.3
-param set-default FW_P_TC 0.3
-param set-default FW_L1_DAMPING 0.74
-param set-default FW_L1_PERIOD 16
-param set-default FW_LND_ANG 15
-param set-default FW_LND_FLALT 5
-param set-default FW_LND_HHDIST 15
-param set-default FW_LND_HVIRT 13
-param set-default FW_LND_TLALT 5
-param set-default FW_THR_LND_MAX 0
-param set-default FW_PR_FF 0.35
-param set-default FW_PR_IMAX 0.4
-param set-default FW_PR_P 0.08
-param set-default FW_RR_FF 0.6
-param set-default FW_RR_IMAX 0.2
-param set-default FW_RR_P 0.04
-
-param set-default PWM_MAIN_DISARM 1000
+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MAX 15
+	param set FW_AIRSPD_MIN 10
+	param set FW_AIRSPD_TRIM 13
+	param set FW_R_TC 0.3
+	param set FW_P_TC 0.3
+	param set FW_L1_DAMPING 0.74
+	param set FW_L1_PERIOD 16
+	param set FW_LND_ANG 15
+	param set FW_LND_FLALT 5
+	param set FW_LND_HHDIST 15
+	param set FW_LND_HVIRT 13
+	param set FW_LND_TLALT 5
+	param set FW_THR_LND_MAX 0
+	param set FW_PR_FF 0.35
+	param set FW_PR_IMAX 0.4
+	param set FW_PR_P 0.08
+	param set FW_RR_FF 0.6
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.04

+	param set PWM_DISARMED 1000
+fi

 set MIXER fw_generic_wing

@@ -17,37 +17,39 @@
 #
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
-# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

-param set-default FW_AIRSPD_MIN 13
-param set-default FW_AIRSPD_TRIM 15
-param set-default FW_AIRSPD_MAX 25
-param set-default FW_R_TC 0.3
-param set-default FW_P_TC 0.3
-param set-default FW_L1_DAMPING 0.75
-param set-default FW_L1_PERIOD 15
-param set-default FW_PR_FF 0.2
-param set-default FW_PR_IMAX 0.2
-param set-default FW_PR_P 0.03
-param set-default FW_P_LIM_MAX 50
-param set-default FW_P_LIM_MIN -50
-param set-default FW_P_ROLLFF 1
-param set-default FW_RR_FF 0.5
-param set-default FW_RR_IMAX 0.2
-param set-default FW_RR_P 0.08
-param set-default FW_R_LIM 50
-param set-default FW_R_RMAX 50
+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MIN 13
+	param set FW_AIRSPD_TRIM 15
+	param set FW_AIRSPD_MAX 25
+	param set FW_R_TC 0.3
+	param set FW_P_TC 0.3
+	param set FW_L1_DAMPING 0.75
+	param set FW_L1_PERIOD 15
+	param set FW_PR_FF 0.2
+	param set FW_PR_IMAX 0.2
+	param set FW_PR_P 0.03
+	param set FW_P_LIM_MAX 50
+	param set FW_P_LIM_MIN -50
+	param set FW_P_ROLLFF 1
+	param set FW_RR_FF 0.5
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.08
+	param set FW_R_LIM 50
+	param set FW_R_RMAX 50

-param set-default PWM_MAIN_DISARM 1000
-
-# Bottom of bay and nominal zero-pitch attitude differ
-# the payload bay is pitched up about 7 degrees
-param set-default SENS_BOARD_Y_OFF 7
+	param set PWM_DISARMED 1000

+	# Bottom of bay and nominal zero-pitch attitude differ
+	# the payload bay is pitched up about 7 degrees
+	param set SENS_BOARD_Y_OFF 7
+fi

 set MIXER phantom

@@ -15,28 +15,30 @@
 #
 # @maintainer Julian Oes <julian@px4.io>
 #
-# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

-param set-default FW_AIRSPD_MIN 15
-param set-default FW_AIRSPD_TRIM 20
-param set-default FW_AIRSPD_MAX 40
-param set-default FW_R_TC 0.3
-param set-default FW_P_TC 0.3
-param set-default FW_L1_DAMPING 0.74
-param set-default FW_L1_PERIOD 16
-param set-default FW_LND_ANG 15
-param set-default FW_LND_FLALT 5
-param set-default FW_LND_HHDIST 15
-param set-default FW_LND_HVIRT 13
-param set-default FW_LND_TLALT 5
-param set-default FW_THR_LND_MAX 0
-param set-default FW_PR_FF 0.35
-param set-default FW_RR_FF 0.6
-param set-default FW_RR_P 0.04
-
+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MIN 15
+	param set FW_AIRSPD_TRIM 20
+	param set FW_AIRSPD_MAX 40
+	param set FW_R_TC 0.3
+	param set FW_P_TC 0.3
+	param set FW_L1_DAMPING 0.74
+	param set FW_L1_PERIOD 16
+	param set FW_LND_ANG 15
+	param set FW_LND_FLALT 5
+	param set FW_LND_HHDIST 15
+	param set FW_LND_HVIRT 13
+	param set FW_LND_TLALT 5
+	param set FW_THR_LND_MAX 0
+	param set FW_PR_FF 0.35
+	param set FW_RR_FF 0.6
+	param set FW_RR_P 0.04
+fi

 set MIXER fw_generic_wing
@@ -17,32 +17,34 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
-# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

-param set-default BAT_N_CELLS 2
-param set-default FW_AIRSPD_MAX 15
-param set-default FW_AIRSPD_MIN 10
-param set-default FW_AIRSPD_TRIM 13
-param set-default FW_R_TC 0.3
-param set-default FW_P_TC 0.3
-param set-default FW_L1_DAMPING 0.74
-param set-default FW_L1_PERIOD 16
-param set-default FW_LND_ANG 15
-param set-default FW_LND_FLALT 5
-param set-default FW_LND_HHDIST 15
-param set-default FW_LND_HVIRT 13
-param set-default FW_LND_TLALT 5
-param set-default FW_THR_LND_MAX 0
-param set-default FW_PR_FF 0.35
-param set-default FW_RR_FF 0.6
-param set-default FW_RR_P 0.04
-
-param set-default PWM_MAIN_DISARM 1000
+if [ $AUTOCNF = yes ]
+then
+	param set BAT_N_CELLS 2
+	param set FW_AIRSPD_MAX 15
+	param set FW_AIRSPD_MIN 10
+	param set FW_AIRSPD_TRIM 13
+	param set FW_R_TC 0.3
+	param set FW_P_TC 0.3
+	param set FW_L1_DAMPING 0.74
+	param set FW_L1_PERIOD 16
+	param set FW_LND_ANG 15
+	param set FW_LND_FLALT 5
+	param set FW_LND_HHDIST 15
+	param set FW_LND_HVIRT 13
+	param set FW_LND_TLALT 5
+	param set FW_THR_LND_MAX 0
+	param set FW_PR_FF 0.35
+	param set FW_RR_FF 0.6
+	param set FW_RR_P 0.04

+	param set PWM_DISARMED 1000
+fi

 # Configure this as plane.
 set MAV_TYPE 1
@@ -21,11 +21,13 @@

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

-param set-default FW_AIRSPD_MAX 30
-param set-default FW_AIRSPD_MIN 13
-param set-default FW_AIRSPD_TRIM 15
-
-param set-default NAV_LOITER_RAD 150
+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MAX 30
+	param set FW_AIRSPD_MIN 13
+	param set FW_AIRSPD_TRIM 15

+	param set NAV_LOITER_RAD 150
+fi

 set MIXER FX79
--- a/Show More
+++ b/Show More
				`@@ -1 +0,0 @@`
				`mixer append /dev/pwm_output0 etc/mixers-sitl/package_drop.aux.mix`