Add windshear plugin

This commit adds SITL targets for the dynamic soaring aircraft and additional plugins in the sitl_gazebo submodule

.ci/Jenkinsfile-compile

@@ -71,6 +71,7 @@ pipeline {
                      "nxp_fmuk66-v3_socketcan",
                      "nxp_fmurt1062-v1_default",
                      "nxp_ucans32k146_default",
+                     "nxp_ucans32k146_canbootloader",
                      "omnibus_f4sd_default",
                      "px4_fmu-v2_default",
                      "px4_fmu-v2_fixedwing",
@@ -95,6 +96,7 @@ pipeline {
                      "px4_fmu-v5x_base_phy_DP83848C",
                      "px4_fmu-v5x_default",
                      "px4_fmu-v6u_default",
+                     "px4_fmu-v6u_test",
                      "px4_fmu-v6x_default",
                      "px4_io-v2_default",
                      "spracing_h7extreme_default",

.ci/Jenkinsfile-hardware

@@ -1009,6 +1009,7 @@ void statusFTDI() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dmesg"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status; param show CAL_GYRO*"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload"'
@@ -1071,6 +1072,7 @@ void statusFTDI() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status; param show CAL_GYRO*"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
   // stop logger

.github/workflows/checks.yml

@@ -18,7 +18,7 @@ jobs:
           "check_format",
           "tests",
           "tests_coverage",
-          "px4_fmu-v2_default stack_check",
+          # "px4_fmu-v2_default stack_check",
           "validate_module_configs",
           "shellcheck_all",
           "NO_NINJA_BUILD=1 px4_fmu-v5_default",

.github/workflows/compile_nuttx.yml

@@ -15,67 +15,75 @@ jobs:
     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,
-          cuav_nora_default,
-          cuav_x7pro_default,
-          cubepilot_cubeorange_console,
-          cubepilot_cubeorange_default,
-          cubepilot_cubeyellow_console,
-          cubepilot_cubeyellow_default,
+          # airmind_mindpx-v2_default,
+          # ark_can-flow_canbootloader,
+          # ark_can-flow_debug,
+          # ark_can-flow_default,
+          # av_x-v1_default,
+          # bitcraze_crazyflie21_default,
+          # bitcraze_crazyflie_default,
+          # cuav_can-gps-v1_canbootloader,
+          # cuav_can-gps-v1_debug,
+          # cuav_can-gps-v1_default,
+          # cuav_nora_default,
+          # cuav_x7pro_default,
+          # cubepilot_cubeorange_console,
+          # cubepilot_cubeorange_default,
+          # cubepilot_cubeyellow_console,
+          # cubepilot_cubeyellow_default,
+          # cubepilot_io-v2_default,
           holybro_can-gps-v1_canbootloader,
+          holybro_can-gps-v1_debug,
           holybro_can-gps-v1_default,
           holybro_durandal-v1_default,
           holybro_kakutef7_default,
           holybro_pix32v5_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_fmurt1062-v1_default,
-          nxp_ucans32k146_default,
+          # mro_ctrl-zero-f7-oem_default,
+          # mro_ctrl-zero-f7_default,
+          # mro_ctrl-zero-h7-oem_default,
+          # mro_ctrl-zero-h7_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_fmurt1062-v1_default,
+          # nxp_ucans32k146_canbootloader,
+          # nxp_ucans32k146_default,
           omnibus_f4sd_default,
-          px4_fmu-v2_default,
-          px4_fmu-v2_fixedwing,
-          px4_fmu-v2_multicopter,
-          px4_fmu-v2_rover,
-          px4_fmu-v2_test,
+          # px4_fmu-v2_default,
+          # px4_fmu-v2_fixedwing,
+          # 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-v4pro_default,
           px4_fmu-v5_ctrlalloc,
+          px4_fmu-v5_debug,
           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_stackcheck,
           px4_fmu-v5_uavcanv0periph,
           px4_fmu-v5_uavcanv1,
-          px4_fmu-v5x_base_phy_DP83848C,
-          px4_fmu-v5x_default,
+          # px4_fmu-v5x_base_phy_DP83848C,
+          # px4_fmu-v5x_default,
           px4_fmu-v6u_default,
+          px4_fmu-v6u_test,
           px4_fmu-v6x_default,
           px4_io-v2_default,
           spracing_h7extreme_default,
-          uvify_core_default
+          # uvify_core_default
           ]
     steps:
     - uses: actions/checkout@v1

.github/workflows/deploy_all.yml

@@ -0,0 +1,77 @@
+name: Deploy metadata for all targets
+
+on:
+  push:
+    branches:
+    - 'master'
+    - 'release/*'
+    - 'pr-metadata-test'
+
+jobs:
+  enumerate_targets:
+    runs-on: ubuntu-latest
+    outputs:
+      matrix: ${{ steps.set-matrix.outputs.matrix }}
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+    - id: set-matrix
+      run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py)"
+  build:
+    runs-on: ubuntu-latest
+    needs: enumerate_targets
+    strategy:
+      matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
+    container: px4io/px4-dev-${{ matrix.container }}:2021-02-04
+    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: ${{matrix.target}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.target}}-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.target}}
+      run: make ${{matrix.target}}
+    - name: ccache post-run
+      run: ccache -s
+
+    - name: parameter metadata
+      run: |
+        make ${{matrix.target}} ver_gen
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
+        cd build/${{ matrix.target }}
+        mkdir _metadata || true
+        cp parameters.* _metadata
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
+        DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
+

.github/workflows/metadata.yml

@@ -4,9 +4,8 @@ on:
   push:
     branches:
     - 'master'
-  pull_request:
-    branches:
-    - '*'
+    - 'release/*'
+    - 'pr-metadata-test'
 
 jobs:
 
@@ -51,9 +50,18 @@ jobs:
     - name: parameter metadata
       run: |
         make parameters_metadata
-        cd build/px4_sitl_default/docs
-        ls -ls *
-      # TODO: deploy 'parameters.md, parameters.xml to S3 px4-travis:Firmware/master/
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/px4_sitl_default/docs/'
+        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
 
   uorb_graph:
     runs-on: ubuntu-latest

.github/workflows/python_checks.yml

@@ -18,7 +18,7 @@ jobs:
     - name: Install Python3
       run: sudo apt-get install python3 python3-setuptools python3-pip -y
     - name: Install tools
-      run: pip3 install --user mypy flake8
+      run: pip3 install --user mypy types-requests flake8
     - name: Check MAVSDK test scripts with mypy
       run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
     - name: Check MAVSDK test scripts with flake8

.github/workflows/rotors_tests.yml

@@ -0,0 +1,55 @@
+name: RotorS PX4 Build Test
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        container:
+        - 'px4io/px4-dev-simulation-bionic:2020-11-18' # Gazebo 9
+    container:
+      image: ${{ matrix.container }}
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: rotors_tests-RelWithDebInfo-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: rotors_tests-RelWithDebInfo-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: Install glog
+      run: apt update && apt install -y libgoogle-glog-dev libyaml-cpp-dev
+    - name: Build PX4 RotorS
+      env:
+        PX4_CMAKE_BUILD_TYPE: RelWithDebInfo
+        DONT_RUN: 1
+      run: make px4_sitl rotors
+    - name: ccache post-run px4/firmware
+      run: ccache -s

.github/workflows/upstream_sync.yml

@@ -0,0 +1,22 @@
+# This pipeline keeps the master branch up to date with upstream master
+name: Upstream Synchronization
+
+on:
+  schedule:
+  - cron:  "*/15 * * * *"
+  workflow_dispatch:
+
+jobs:
+  repo-sync:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        persist-credentials: false
+    - name: repo-sync
+      uses: repo-sync/github-sync@v2
+      with:
+        source_repo: "https://github.com/PX4/PX4-Autopilot.git"
+        source_branch: "master"
+        destination_branch: "master"
+        github_token: ${{ secrets.PAT }}

.gitmodules

@@ -1,6 +1,6 @@
 [submodule "mavlink/include/mavlink/v2.0"]
 	path = mavlink/include/mavlink/v2.0
-	url = https://github.com/mavlink/c_library_v2.git
+	url = https://github.com/ethz-asl/fw_mavlink_c_library_v2.git
 	branch = master
 [submodule "src/drivers/uavcan/libuavcan"]
 	path = src/drivers/uavcan/libuavcan
@@ -63,3 +63,6 @@
 [submodule "src/drivers/uavcannode_gps_demo/libcanard"]
 	path = src/drivers/uavcannode_gps_demo/libcanard
 	url = https://github.com/UAVCAN/libcanard
+[submodule "Tools/rotors_simulator"]
+	path = Tools/rotors_simulator
+	url = https://github.com/ethz-asl/rotors_simulator.git

.vscode/cmake-variants.yaml

@@ -111,6 +111,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: emlid_navio2_default
+    holybro_can-gps-v1_canbootloader:
+      short: holybro_can-gps-v1_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: holybro_can-gps-v1_canbootloader
+    holybro_can-gps-v1_default:
+      short: holybro_can-gps-v1_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: holybro_can-gps-v1_default
     holybro_durandal-v1_default:
       short: holybro_durandal-v1
       buildType: MinSizeRel

CMakeLists.txt

@@ -113,7 +113,7 @@ include(px4_parse_function_args)
 include(px4_git)
 
 execute_process(
-	COMMAND git describe --always --tags
+	COMMAND git describe --exclude ext/* --always --tags
 	OUTPUT_VARIABLE PX4_GIT_TAG
 	OUTPUT_STRIP_TRAILING_WHITESPACE
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
@@ -454,3 +454,10 @@ add_custom_target(size
 	WORKING_DIRECTORY ${PX4_BINARY_DIR}
 	USES_TERMINAL
 	)
+
+# install python requirements using configured python
+add_custom_target(install_python_requirements
+	COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+	USES_TERMINAL
+)

Jenkinsfile

@@ -110,8 +110,8 @@ pipeline {
             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, parameters.json.xz')
+              stash includes: 'parameters.md, parameters.xml, parameters.json.xz', name: 'metadata_parameters'
             }
           }
           post {
@@ -342,7 +342,7 @@ 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/')
+              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.json.xz', path: 'Firmware/master/')
             }
           }
           when {

Makefile

@@ -303,7 +303,6 @@ check_%:
 	@echo
 
 uorb_graphs:
-	@./Tools/uorb_graph/create_from_startupscript.sh
 	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --file Tools/uorb_graph/graph_full
 	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
 	@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
@@ -319,7 +318,7 @@ coverity_scan: px4_sitl_default
 .PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata doxygen
 
 parameters_metadata:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters
+	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen
 
 airframe_metadata:
 	@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes

README.md

@@ -85,23 +85,24 @@ See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and
 This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.
 
 ### Pixhawk Standard Boards
-  * FMUv2
-    * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
-    * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
-  * FMUv3
+  * FMUv6X and FMUv6U (STM32H7, 2021)
+    * Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
+  * FMUv5 and FMUv5X (STM32F7, 2019/20)
+    * [Pixhawk 4 (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
+    * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
+    * [CUAV V5+ (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
+    * [CUAV V5 nano (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
+    * [Auterion Skynode (FMUv5X)](https://docs.px4.io/master/en/flight_controller/auterion_skynode.html)
+  * FMUv4 (STM32F4, 2015)
+    * [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)
+  * FMUv3 (STM32F4, 2014)
     * [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)
-    * [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)
-    * [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
+  * FMUv2 (STM32F4, 2013)
+    * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
+    * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
 
 ### Manufacturer and Community supported
   * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)

ROMFS/cannode/init.d/rcS

@@ -76,15 +76,6 @@ unset BOARD_RC_DEFAULTS
 #
 rgbled start -X -q
 rgbled_ncp5623c start -X -q
-rgbled_pwm start
-
-if param greater -s LIGHT_EN_BLINKM 0
-then
-	if blinkm start -X
-	then
-		blinkm systemstate
-	fi
-fi
 
 #
 # board sensors: rc.sensors

ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer

@@ -0,0 +1,54 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default EKF2_ARSP_THR 8
+param set-default EKF2_FUSE_BETA 1
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
+
+param set-default FW_LND_AIRSPD_SC 1
+param set-default FW_LND_ANG 8
+param set-default FW_THR_LND_MAX 0
+
+param set-default FW_L1_PERIOD 12
+
+param set-default FW_MAN_P_MAX 30
+
+param set-default FW_PR_I 0.4
+param set-default FW_PR_P 0.9
+param set-default FW_PR_FF 0.2
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
+param set-default FW_P_LIM_MIN -15
+
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_P 0.3
+
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_THR_CRUISE 0.25
+
+param set-default FW_T_ALT_TC 2
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_TAS_TC 2
+
+param set-default FW_W_EN 1
+
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 30
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 50
+
+param set-default RWTO_TKOFF 1
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1038_plane_dynamicsoaring

@@ -0,0 +1,58 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	param set EKF2_MAG_ACCLIM 0
+	param set EKF2_MAG_YAWLIM 0
+
+	param set FW_LND_AIRSPD_SC 1
+	param set FW_LND_ANG 8
+	param set FW_THR_LND_MAX 0
+
+	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
+	param set MIS_TAKEOFF_ALT 30
+
+	param set NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50
+
+	param set RWTO_TKOFF 1
+
+fi
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -62,6 +62,8 @@ px4_add_romfs_files(
 	1034_rascal-electric
 	1035_techpod
 	1036_malolo
+	1037_believer
+	1038_plane_dynamicsoaring
 	1040_standard_vtol
 	1041_tailsitter
 	1042_tiltrotor

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -21,6 +21,7 @@ fi
 
 # initialize script variables
 set AUX_MODE                    none
+set AUX_BANK2			none
 set IO_PRESENT                  no
 set MAV_TYPE                    none
 set MIXER                       none
@@ -97,7 +98,7 @@ then
 	set AUTOCNF yes
 
 	# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
-	param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT_UUID
+	param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
 fi
 
 # multi-instance setup
@@ -153,6 +154,8 @@ param set-default SENS_IMU_MODE 0
 param set-default EKF2_MULTI_MAG 2
 param set-default SENS_MAG_MODE 0
 
+param set-default IMU_GYRO_FFT_EN 1
+
 # By default log from boot until first disarm.
 param set-default SDLOG_MODE 1
 # enable default, estimator replay and vision/avoidance logging profiles
@@ -174,6 +177,10 @@ if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
 	COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
 	echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
 	param set COM_OF_LOSS_T $COM_OF_LOSS_T_LONGER
+
+	COM_OBC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 5.0" | bc)
+	echo "COM_OBC_LOSS_T set to $COM_OBC_LOSS_T_LONGER"
+	param set COM_OBC_LOSS_T $COM_OBC_LOSS_T_LONGER
 fi
 
 # Autostart ID
@@ -213,7 +220,21 @@ dataman start
 # only start the simulator if not in replay mode, as both control the lockstep time
 if ! replay tryapplyparams
 then
-	simulator start -c $simulator_tcp_port
+  # Check if PX4_SIM_HOSTNAME environment variable is empty
+  # If empty check if PX4_SIM_HOST_ADDR environment variable is empty
+  # If both are empty use localhost for simulator
+  if [ -z "${PX4_SIM_HOSTNAME}" ]; then
+    if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
+      echo "PX4 SIM HOST: localhost"
+      simulator start -c $simulator_tcp_port
+    else
+      echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
+      simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port 
+    fi
+  else
+    echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
+    simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port 
+  fi
 fi
 load_mon start
 battery_simulator start
@@ -235,6 +256,16 @@ then
 	camera_feedback start
 fi
 
+if param compare -s IMU_GYRO_FFT_EN 1
+then
+	gyro_fft start
+fi
+
+if param compare -s IMU_GYRO_CAL_EN 1
+then
+	gyro_calibration start
+fi
+
 # Configure vehicle type specific parameters.
 # Note: rc.vehicle_setup is the entry point for rc.interface,
 #       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
@@ -244,10 +275,10 @@ fi
 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
+	. ${R}etc/init.d-posix/rc.mavlink_override
 else
 	# GCS link
-	mavlink start -x -u $udp_gcs_port_local -r 4000000 -f -p
+	mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
 	mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
 	mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
 	mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
@@ -259,13 +290,13 @@ else
 	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
+	mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
 
 	# Onboard link to camera
-	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote -p
+	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
 
 	# Onboard link to gimbal
-	mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote -p
+	mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
 fi
 
 # execute autostart post script if any

ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark

@@ -26,48 +26,48 @@
 
 param set-default BAT_N_CELLS 6
 
-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_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_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_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_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-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-default IMU_GYRO_CUTOFF 40
 
 param set-default IMU_DGYRO_CUTOFF 15
-param set-default MC_PITCHRATE_I	0.2
+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_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-default MIS_TAKEOFF_ALT	30
+param set-default MIS_TAKEOFF_ALT 30
 
-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 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_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
@@ -76,7 +76,7 @@ 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_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
@@ -84,7 +84,7 @@ 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-default NAV_ACC_RAD	3
+param set-default NAV_ACC_RAD 3
 
 param set-default PWM_MAIN_DIS3 1000
 param set-default PWM_MAIN_MIN3 1120
@@ -112,3 +112,4 @@ set MIXER babyshark
 set MIXER_AUX pass
 
 set PWM_OUT 5678
+set PWM_AUX_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/13015_generic_vtol_standard

@@ -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

ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor

@@ -0,0 +1,41 @@
+#!/bin/sh
+#
+# @name Generic Quadplane VTOL Tiltrotor
+#
+# @type VTOL Tiltrotor
+# @class VTOL
+#
+# @maintainer
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output AUX1 Motor tilt front left
+# @output AUX2 Motor tilt front right
+# @output AUX3 Motor tilt rear left
+# @output AUX4 Motor tilt rear right
+# @output AUX5 Aileron left
+# @output AUX6 Aileron right
+# @output AUX7 Elevator
+# @output AUX8 Rudder
+#
+# @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 VT_IDLE_PWM_MC 1100
+param set-default VT_TYPE 1
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 24
+set MAV_TYPE 21
+
+set MIXER quad_x
+set MIXER_AUX vtol_TTTTAAER
+
+set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/22000_asl_easyglider

@@ -0,0 +1,54 @@
+#!/bin/sh
+#
+# @name ASL_EasyGlider
+#
+# @type Standard Plane
+# @class Plane
+#
+# @output MAIN1 aileron
+# @output MAIN2 aileron
+# @output MAIN3 elevator
+# @output MAIN4 rudder
+# @output MAIN5 throttle
+# @output MAIN6 wheel
+# @output MAIN7 flaps
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Philipp Oettershagen <philipp.oettershagen@mavt.ethz.ch>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF == yes ]
+then
+    param set FW_AIRSPD_MIN 10
+    param set FW_AIRSPD_TRIM 15
+    param set FW_AIRSPD_MAX 20
+
+    param set FW_MAN_P_MAX 45
+    param set FW_MAN_R_MAX 45
+    param set FW_R_LIM 45
+
+    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
+
+    param set-default SENS_EN_ADIS164X 1
+    param set SENS_EN_ADIS164X 4
+fi
+
+set MIXER asl_easyglider
+
+# use PWM parameters for throttle channel
+set PWM_OUT 5

ROMFS/px4fmu_common/init.d/airframes/22001_asl_techpod

@@ -0,0 +1,52 @@
+#!/bin/sh
+#
+# @name ASL_Techpod
+#
+# @type Plane A-Tail
+# @class Plane
+#
+# @output MAIN1 aileron right
+# @output MAIN2 aileron left
+# @output MAIN3 v-tail right
+# @output MAIN4 v-tail left
+# @output MAIN5 throttle
+# @output MAIN6 wheel
+# @output MAIN7 flaps right
+# @output MAIN8 flaps left
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Philipp Oettershagen <philipp.oettershagen@mavt.ethz.ch>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF == yes ]
+then
+    param set FW_AIRSPD_MIN 10
+    param set FW_AIRSPD_TRIM 15
+    param set FW_AIRSPD_MAX 20
+
+    param set FW_MAN_P_MAX 55
+    param set FW_MAN_R_MAX 55
+    param set FW_R_LIM 55
+
+    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 asl_techpod
+
+# use PWM parameters for throttle channel
+set PWM_OUT 5

ROMFS/px4fmu_common/init.d/airframes/22002_asl_sensesoar2

@@ -0,0 +1,52 @@
+#!/bin/sh
+#
+# @name ASL_SenseSoar2
+#
+# @type Plane A-Tail
+# @class Plane
+#
+# @output MAIN1 aileron right
+# @output MAIN2 aileron left
+# @output MAIN3 v-tail right
+# @output MAIN4 v-tail left
+# @output MAIN5 throttle
+# @output MAIN6 wheel
+# @output MAIN7 flaps right
+# @output MAIN8 flaps left
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Philipp Oettershagen <philipp.oettershagen@mavt.ethz.ch>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF == yes ]
+then
+    param set FW_AIRSPD_MIN 12
+    param set FW_AIRSPD_TRIM 15
+    param set FW_AIRSPD_MAX 20
+
+    param set FW_MAN_P_MAX 45
+    param set FW_MAN_R_MAX 45
+    param set FW_R_LIM 55
+
+    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 asl_sensoar2
+
+# use PWM parameters for throttle channel
+set PWM_OUT 5

ROMFS/px4fmu_common/init.d/airframes/22003_asl_believer

@@ -0,0 +1,54 @@
+#!/bin/sh
+#
+# @name Autonomous Systems Lab, ETH Zurich Believer
+#
+# @type Plane V-Tail
+# @class Plane
+#
+# @output MAIN1 aileron right
+# @output MAIN2 aileron left
+# @output MAIN3 v-tail right
+# @output MAIN4 v-tail left
+# @output MAIN5 throttle
+# @output MAIN6 wheel
+# @output MAIN7 flaps right
+# @output MAIN8 flaps left
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Jaeyoung Lim <jalim@ethz.ch>
+#
+# @board px4_fmu-v2 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
+
+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-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 1500
+param set-default PWM_MAIN_DIS5 900
+param set-default PWM_MAIN_DIS6 900
+
+# The Mini Talon does not have a wheel and
+# no flaps. I leave them here because the mixer
+# computes also wheel and flap controls.
+set MIXER AAVVTTFF_vtail
+
+# use PWM parameters for throttle channel
+set PWM_OUT 56

ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2

@@ -16,8 +16,6 @@
 set MIXER quad_x
 set PWM_OUT 1234
 
-set PARAM_DEFAULTS_VER 2
-
 
 param set-default BAT_N_CELLS 4
 

ROMFS/px4fmu_common/init.d/airframes/4071_ifo

@@ -18,6 +18,7 @@
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
 # @board bitcraze_crazyflie exclude
+# @board cuav_x7pro exclude
 #
 
 set VEHICLE_TYPE mc
@@ -111,10 +112,12 @@ param set-default NAV_RCL_ACT 6
 # TELEM1 ttyS1 - Wifi module
 param set-default MAV_0_CONFIG 101
 param set-default MAV_0_RATE 0
-param set-default MAV_0_MODE 2	# onboard
+# onboard
+param set-default MAV_0_MODE 2
 param set-default SER_TEL1_BAUD 921600
 
 # TELEM2 ttyS2 - Sub 1-Ghz
 param set-default MAV_1_CONFIG 102
-param set-default MAV_1_MODE 0	# normal
+# normal
+param set-default MAV_1_MODE 0
 param set-default SER_TEL2_BAUD 57600

ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s

@@ -15,6 +15,8 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board bitcraze_crazyflie exclude
+# @board cuav_x7pro exclude
 #
 # @maintainer Hyon Lim <lim@uvify.com>
 #
@@ -119,12 +121,14 @@ param set-default NAV_RCL_ACT 6
 # TELEM1 ttyS1 - Wifi module
 param set-default MAV_0_CONFIG 101
 param set-default MAV_0_RATE 0
-param set-default MAV_0_MODE 2	# onboard
+# onboard
+param set-default MAV_0_MODE 2
 param set-default SER_TEL1_BAUD 921600
 
 # TELEM2 ttyS2 - Sub 1-Ghz
 param set-default MAV_1_CONFIG 102
-param set-default MAV_1_MODE 0	# normal
+# normal
+param set-default MAV_1_MODE 0
 param set-default SER_TEL2_BAUD 57600
 
 # DSHOT

ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover

@@ -7,8 +7,6 @@
 # @type Rover
 # @class Rover
 #
-# @board px4_fmu-v2 exclude
-#
 # @output MAIN0 Speed of left wheels
 # @output MAIN1 Speed of right wheels
 #

ROMFS/px4fmu_common/init.d/airframes/6002_draco_r

@@ -122,7 +122,7 @@ param set-default BAT_V_DIV 10.133
 
 # TELEM1 ttyS1
 param set-default MAV_0_CONFIG 101
-param set-default MAV_0_MODE 0	# onboard
+param set-default MAV_0_MODE 0
 param set-default MAV_0_FORWARD 1
 param set-default SER_TEL1_BAUD 57600
 

ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt

@@ -137,7 +137,7 @@ px4_add_romfs_files(
 	13012_convergence
 	13013_deltaquad
 	13014_vtol_babyshark
-	13015_generic_vtol_standard
+	13030_generic_vtol_quad_tiltrotor
 	13050_generic_vtol_octo
 	13200_generic_vtol_tailsitter
 
@@ -157,6 +157,11 @@ px4_add_romfs_files(
 	18001_TF-B1
 
 	# [22000, 22999] Reserve for custom models
+	# ETHZ ASL Vehicles
+	22000_asl_easyglider
+	22001_asl_techpod
+	22002_asl_sensesoar2
+	22003_asl_believer
 
 	24001_dodeca_cox
 

ROMFS/px4fmu_common/init.d/rc.interface

@@ -30,9 +30,9 @@ then
 fi
 
 # USE_IO is set to 'no' for all boards w/o px4io driver or SYS_USE_IO disabled
-if [ $USE_IO = no ]
+if [ $USE_IO = no -a $AUX_BANK2 = none ]
 then
-	set MIXER_AUX none
+	set AUX_MODE none
 fi
 
 #
@@ -147,6 +147,7 @@ then
 	if mixer load ${OUTPUT_DEV} ${MIXER_FILE}
 	then
 		echo "INFO  [init] Mixer: ${MIXER_FILE} on ${OUTPUT_DEV}"
+
 	else
 		echo "ERROR  [init] Failed loading mixer: ${MIXER_FILE}"
 		tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
@@ -178,6 +179,7 @@ then
 
 	if [ $MIXER_AUX_FILE != none ]
 	then
+		# Start the output module
 		if $OUTPUT_CMD mode_${AUX_MODE}
 		then
 			# Append aux mixer to main device.
@@ -199,6 +201,7 @@ then
 					echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
 				fi
 			else
+				echo "INFO  [init] setting PWM_AUX_OUT none"
 				set PWM_AUX_OUT none
 			fi
 		else
@@ -223,6 +226,36 @@ then
 	fi
 fi
 
+if [ $MIXER_AUX != none -a $AUX_MODE = none -a -e $OUTPUT_AUX_DEV ]
+then
+	#
+	# Load aux mixer.
+	#
+	if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix ]
+	then
+		set MIXER_AUX_FILE ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix
+	else
+
+		if [ -f /etc/mixers/${MIXER_AUX}.aux.mix ]
+		then
+			set MIXER_AUX_FILE /etc/mixers/${MIXER_AUX}.aux.mix
+		fi
+	fi
+
+	if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
+	then
+		echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
+
+		# Set PWM_AUX output frequency.
+		if [ $PWM_AUX_RATE != none ]
+		then
+			pwm rate -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
+		fi
+	else
+		echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
+	fi
+fi
+
 if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
 then
 	if [ $PWM_OUT != none ]

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -21,6 +21,23 @@ fi
 #                           Begin Optional drivers                            #
 ###############################################################################
 
+# ADIS16448 spi external IMU
+if param compare -s SENS_EN_ADIS164X 1
+then
+	if param compare -s SENS_OR_ADIS164X 0
+	then
+		adis16448 -S start
+	fi
+	if param compare -s SENS_OR_ADIS164X 4
+	then
+		adis16448 -S start -R 4
+	fi
+
+	# add a sleep to make sure the mag is the priority one
+	usleep 1000000
+fi
+
+
 if param compare -s SENS_EN_BATT 1
 then
 	batt_smbus start -X
@@ -108,6 +125,57 @@ then
 	vl53l1x start -X
 fi
 
+# Hall effect sensors si7210
+# Potentially remove the -k option if possible and improve the startup if possible
+if param greater CAL_AV_AOA_ID -1
+then
+	set AOA_I2C_ID 0
+	if param compare CAL_AV_AOA_ID 48
+	then
+		set AOA_I2C_ID 48
+	fi
+	if param compare CAL_AV_AOA_ID 49
+	then
+		set AOA_I2C_ID 49
+	fi
+	if param compare CAL_AV_AOA_ID 50
+	then
+		set AOA_I2C_ID 50
+	fi
+	if param compare CAL_AV_AOA_ID 51
+	then
+		set AOA_I2C_ID 51
+	fi
+
+	si7210 start -X -k -a ${AOA_I2C_ID}
+	unset AOA_I2C_ID
+fi
+
+if param greater CAL_AV_SLIP_ID -1
+then
+	set SLIP_I2C_ID 0
+	if param compare CAL_AV_SLIP_ID 48
+	then
+		set SLIP_I2C_ID 48
+	fi
+	if param compare CAL_AV_SLIP_ID 49
+	then
+		set SLIP_I2C_ID 49
+	fi
+	if param compare CAL_AV_SLIP_ID 50
+	then
+		set SLIP_I2C_ID 50
+	fi
+	if param compare CAL_AV_SLIP_ID 51
+	then
+		set SLIP_I2C_ID 51
+	fi
+
+	si7210 start -X -k -a ${SLIP_I2C_ID}
+	unset SLIP_I2C_ID
+fi
+
+
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
@@ -124,31 +192,28 @@ then
 	# differential pressure sensors
 	if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ]
 	then
-		if param compare CBRK_AIRSPD_CHK 0
+		# Always try to start the airspeed sensors
+		# even if their usage might be disabled
+		sdp3x_airspeed start -X -q
+		sdp3x_airspeed start -X -a 0x22 -q
+
+		# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
+		# detected as MS5525 because the chip manufacturer was so
+		# clever to assign the same I2C address and skip a WHO_AM_I
+		# register.
+		if [ $BOARD_FMUV3 = 21 ]
 		then
-			sdp3x_airspeed start -X -q
-			sdp3x_airspeed start -X -a 0x22 -q
-
-			# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
-			# detected as MS5525 because the chip manufacturer was so
-			# clever to assign the same I2C address and skip a WHO_AM_I
-			# register.
-			if [ $BOARD_FMUV3 = 21 ]
-			then
-				ms5525_airspeed start -X -b 2 -q
-			else
-				ms5525_airspeed start -X -q
-			fi
-
-			ms4525_airspeed start -X -q
-
-			ets_airspeed start -X -q
+			ms5525_airspeed start -X -b 2 -q
+		else
+			ms5525_airspeed start -X -q
 		fi
+
+		ms4525_airspeed start -X -q
+
+		ets_airspeed start -X -q
 	fi
 fi
 
 ###############################################################################
 #                            End Optional drivers                             #
 ###############################################################################
-
-sensors start

ROMFS/px4fmu_common/init.d/rcS

@@ -51,12 +51,6 @@ set STARTUP_TUNE 1
 set USE_IO no
 set VEHICLE_TYPE none
 
-# Airframe parameter versioning: airframe maintainers can set this in the
-# airframe startup script, and then increase it by one whenever an airframe
-# parameter is updated - it will ensure that these parameters will be updated
-# when the firmware is flashed.
-set PARAM_DEFAULTS_VER 1
-
 #
 # Mount the procfs.
 #
@@ -171,12 +165,8 @@ else
 	#
 	if param greater SYS_AUTOCONFIG 0
 	then
-		if param compare SYS_AUTOCONFIG 1
-		then
-			# Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID
-			param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT* SYS_PARAM_VER
-		fi
-
+		# Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID
+		param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
 		set AUTOCNF yes
 	fi
 
@@ -239,14 +229,6 @@ else
 	rgbled start -X -q
 	rgbled_ncp5623c start -X -q
 
-	if param greater -s LIGHT_EN_BLINKM 0
-	then
-		if blinkm start -X
-		then
-			blinkm systemstate
-		fi
-	fi
-
 	#
 	# Set parameters and env variables for selected AUTOSTART.
 	#
@@ -350,6 +332,8 @@ else
 		#
 		# board sensors: rc.sensors
 		#
+		. ${R}etc/init.d/rc.sensors
+
 		set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
 		if [ -f $BOARD_RC_SENSORS ]
 		then
@@ -358,7 +342,7 @@ else
 		fi
 		unset BOARD_RC_SENSORS
 
-		. ${R}etc/init.d/rc.sensors
+		sensors start
 
 		if param compare -s BAT1_SOURCE 2
 		then
@@ -516,6 +500,11 @@ else
 		gyro_fft start
 	fi
 
+	if param compare -s IMU_GYRO_CAL_EN 1
+	then
+		gyro_calibration start
+	fi
+
 	#
 	# Optional board supplied extras: rc.board_extras
 	#
@@ -565,15 +554,6 @@ else
 		fi
 	fi
 
-	if ! param compare SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
-	then
-		echo "Switched to different parameter version. Resetting parameters."
-		param set SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
-		param set SYS_AUTOCONFIG 2
-		param save
-		reboot
-	fi
-
 #
 # End of autostart.
 #
@@ -598,7 +578,6 @@ unset MIXER
 unset MIXER_AUX
 unset MIXER_FILE
 unset OUTPUT_MODE
-unset PARAM_DEFAULTS_VER
 unset PARAM_FILE
 unset PWM_AUX_OUT
 unset PWM_AUX_RATE

ROMFS/px4fmu_common/mixers/AAVVTTFF_vtail.main.mix

@@ -0,0 +1,61 @@
+Aileron/v-tail/throttle/wheel/flaps mixer for PX4FMU
+=======================================================
+
+This file defines mixers suitable for controlling a fixed wing aircraft with
+aileron, v-tail (rudder, elevator), throttle, steerable wheel and flaps
+using PX4FMU.
+The configuration assumes the aileron servos are connected to PX4FMU servo
+output 0 and 1, the tail servos to output 2 and 3, the throttle
+to output 4, the wheel to output 5 and the flaps to output 6 and 7.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
+
+Aileron mixer (roll + flaperon)
+---------------------------------
+
+This mixer assumes that the aileron servos are set up mechanically reversed.
+
+M: 2
+S: 0 0 -10000 -10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 2
+S: 0 0 -10000 -10000      0 -10000  10000
+S: 0 6 -10000 -10000      0 -10000  10000
+
+V-tail mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+M: 2
+S: 0 2   7000   7000      0 -10000  10000
+S: 0 1  -8000  -8000      0 -10000  10000
+
+M: 2
+S: 0 2   7000   7000      0 -10000  10000
+S: 0 1   8000   8000      0 -10000  10000
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000
+
+Flaps mixer
+------------
+Flap servos are physically reversed.
+
+M: 1
+S: 0 4      0   5000 -10000 -10000  10000
+
+M: 1
+S: 0 4      0  -5000  10000 -10000  10000
+

ROMFS/px4fmu_common/mixers/CMakeLists.txt

@@ -35,6 +35,7 @@ px4_add_romfs_files(
 	AAERTWF.main.mix
 	AAVVTWFF.main.mix
 	AAVVTWFF_vtail.main.mix
+	AAVVTTFF_vtail.main.mix
 	AERT.main.mix
 	AETRFG.main.mix
 	babyshark.main.mix
@@ -90,8 +91,13 @@ px4_add_romfs_files(
 	Viper.main.mix
 	vtol_AAERT.aux.mix
 	vtol_AAVVT.aux.mix
+	vtol_TTTTAAER.aux.mix
 	vtol_convergence.main.mix
 	vtol_delta.aux.mix
 	vtol_tailsitter_duo.main.mix
 	wingwing.main.mix
+	#ETHZ ASL Custom Mixers
+	asl_easyglider.main.mix
+	asl_sensesoar2.main.mix
+	asl_techpod.main.mix
 )

ROMFS/px4fmu_common/mixers/asl_easyglider.main.mix

@@ -0,0 +1,70 @@
+ASL EasyGlider mixer
+=============================
+
+Documentation: https://dev.px4.io/en/concept/mixing.html
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps).
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+Right Aileron mixer
+---------------------------------
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0   6000  10000      0 -10000  10000
+S: 0 4      0 -10000      0 -10000  10000
+
+Elevator mixer
+------------
+Two scalers total (output, roll).
+
+This mixer assumes that the elevator servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+O:       10000   10000      0 -10000  10000
+S: 0 1  -10000  -10000      0 -10000  10000
+
+Rudder mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the rudder servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+O:     -10000 -10000      0 -10000  10000
+S: 0 2  10000  10000      0 -10000  10000
+
+Left Aileron mixer
+---------------------------------
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0 -10000  -6000      0 -10000  10000
+S: 0 4      0 -10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/asl_sensesoar2.main.mix

@@ -0,0 +1,61 @@
+ASL SenseSoar2 mixer for PX4IO
+=============================
+
+Documentation: https://dev.px4.io/en/concept/mixing.html
+
+Note1: CH2 AilR is down for pos PWM signal change, CH5 Ail L the other way around.
+Note2: The mixer defines a certain aileron differential, but the phyiscal differential
+       is stronger because of the servo mechanics (70% mixer diff -> ca. 60% physical).
+Note3: In the extras.txt on the sd-card, set pwm min/max such that the ailerons have
+       2.5cm upwards and 2.0cm downwards travel at FULL (u=+/- 1.0) mixer output. The
+       downwards travel with the mixer differential is then obviously less.
+
+=============================
+
+### Motor
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+
+### Right aileron (with differential)
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 0  -7000 -10000      0 -10000  10000
+
+
+### Right ruddervator
+M: 2
+O:       6000   6000      0 -10000  10000
+S: 0 1  -6500  -6500      0 -10000  10000
+S: 0 2   7500   7500      0 -10000  10000
+
+
+### Left ruddervator
+M: 2
+O:       6000   6000      0 -10000  10000
+S: 0 1   6500   6500      0 -10000  10000
+S: 0 2   7500   7500      0 -10000  10000
+
+
+### Left aileron (with differential)
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 0 -10000  -7000      0 -10000  10000
+
+
+### Right flap
+#M: 1
+#O:      10000  10000      0 -10000   4000
+#S: 3 4  10000  10000      0 -10000  10000
+
+### Right flap
+M: 1
+O:      10000  10000      0 -10000   4000
+S: 0 4      0  20000 -10000 -10000  10000
+
+
+### Left flap
+M: 1
+O:      10000  10000      0  -4000  10000
+S: 0 4      0 -20000  10000 -10000  10000

ROMFS/px4fmu_common/mixers/asl_techpod.main.mix

@@ -0,0 +1,47 @@
+ASL Techpod mixer for PX4IO
+=============================
+
+Documentation: https://dev.px4.io/en/concept/mixing.html
+
+=============================
+
+### Motor
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+
+### Right aileron (with differential)
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 0 -7500  -10000      0 -10000  10000
+
+
+### Elevator
+M: 1
+O:       6000   6000      0 -10000  10000
+S: 0 1   6000   6000      0  -6000   6000
+
+
+### Rudder
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 2  -6000  -6000      0  -6000   6000
+
+
+### Left aileron (with differential)
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 0 -10000  -7500      0 -10000  10000
+
+
+### Right flap
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0  -4000   4000
+
+
+### Left flap
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0  -4000   4000

ROMFS/px4fmu_common/mixers/vtol_TTTTAAER.aux.mix

@@ -0,0 +1,39 @@
+# Generic quadplane tiltrotor servo mixer
+
+# Tilt mechanism servo mixer
+---------------------------
+# front left up:2000 down:1000
+M: 1
+S: 1 4      0 -20000  10000 -10000  10000
+
+# front right up:1000 down:2000
+M: 1
+S: 1 4      0  20000 -10000 -10000  10000
+
+# rear left up:2000 down:1000
+M: 1
+S: 1 4      0 -20000  10000 -10000  10000
+
+# rear right up:1000 down:2000
+M: 1
+S: 1 4      0  20000 -10000 -10000  10000
+
+
+# Aileron mixer
+# ---------------------------------
+M: 1
+S: 1 0  10000  10000      0 -10000  10000
+
+M: 1
+S: 1 0  10000  10000      0 -10000  10000
+
+
+# Elevator mixer
+# ------------
+M: 1
+S: 1 1  -10000  -10000    0 -10000  10000
+
+# Rudder mixer
+# ------------
+M: 1
+S: 1 2  10000  10000      0 -10000  10000

Tools/HIL/run_tests.py

@@ -103,12 +103,6 @@ class TestHardwareMethods(unittest.TestCase):
     def test_bson(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))
 
-    def test_commander(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "commander"))
-
-    def test_controllib(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "controllib"))
-
     # def test_dataman(self):
     #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
 
@@ -172,9 +166,6 @@ class TestHardwareMethods(unittest.TestCase):
     def test_time(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "time"))
 
-    def test_uorb(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "uorb"))
-
     def test_versioning(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "versioning"))
 

Tools/generate_board_targets_json.py

@@ -0,0 +1,96 @@
+#!/usr/bin/env python3
+""" Script to generate a JSON config with all build targets (for CI) """
+
+import argparse
+import os
+import sys
+import json
+import re
+
+source_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), '..')
+
+parser = argparse.ArgumentParser(description='Generate build targets')
+
+parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
+                    help='Verbose Output')
+parser.add_argument('-p', '--pretty', dest='pretty', action='store_true',
+                    help='Pretty output instead of a single line')
+
+args = parser.parse_args()
+verbose = args.verbose
+
+build_configs = []
+excluded_manufacturers = ['atlflight']
+excluded_platforms = ['qurt']
+excluded_labels = [
+    'stackcheck',
+    'nolockstep', 'replay', 'test',
+    'uavcanv1' # TODO: fix and enable
+    ]
+
+def process_target(cmake_file, target_name):
+    ret = None
+    is_board_def = False
+    platform = None
+    toolchain = None
+    for line in open(cmake_file, 'r'):
+        if 'px4_add_board' in line:
+            is_board_def = True
+        if not is_board_def:
+            continue
+
+        re_platform = re.search('PLATFORM\s+([^\s]+)', line)
+        if re_platform: platform = re_platform.group(1)
+
+        re_toolchain = re.search('TOOLCHAIN\s+([^\s]+)', line)
+        if re_toolchain: toolchain = re_toolchain.group(1)
+
+    if is_board_def:
+        assert platform, f"PLATFORM not found in {cmake_file}"
+
+        if platform not in excluded_platforms:
+            # get the container based on the platform and toolchain
+            container = platform
+            if platform == 'posix':
+                container = 'base-focal'
+                if toolchain:
+                    if toolchain.startswith('aarch64'):
+                        container = 'aarch64'
+                    elif toolchain == 'arm-linux-gnueabihf':
+                        container = 'armhf'
+                    else:
+                        if verbose: print(f'possibly unmatched toolchain: {toolchain}')
+            elif platform == 'nuttx':
+                container = 'nuttx-focal'
+
+            ret = {'target': target_name, 'container': container}
+    return ret
+
+for manufacturer in os.scandir(os.path.join(source_dir, 'boards')):
+    if not manufacturer.is_dir():
+        continue
+    if manufacturer.name in excluded_manufacturers:
+        if verbose: print(f'excluding manufacturer {manufacturer.name}')
+        continue
+
+    for board in os.scandir(manufacturer.path):
+        if not board.is_dir():
+            continue
+        for files in os.scandir(board.path):
+            if files.is_file() and files.name.endswith('.cmake'):
+                label = files.name[:-6]
+                target_name = manufacturer.name + '_' + board.name + '_' + label
+                if label in excluded_labels:
+                    if verbose: print(f'excluding label {label} ({target_name})')
+                    continue
+                target = process_target(files.path, target_name)
+                if target is not None:
+                    build_configs.append(target)
+
+
+github_action_config = { 'include': build_configs }
+extra_args = {}
+if args.pretty:
+    extra_args['indent'] = 2
+print(json.dumps(github_action_config, **extra_args))
+

Tools/process_sensor_caldata.py

@@ -1099,7 +1099,7 @@ if num_baros >= 2:
     baro_1_x_resample = fit_coef_baro_1_x(temp_rel_resample)
 
     # baro 2 vs temperature
-    plt.figure(9,figsize=(20,13))
+    plt.figure(10,figsize=(20,13))
 
     # draw plots
     plt.plot(sensor_baro_1['temperature'],100*sensor_baro_1['pressure']-100*median_pressure,'b')
@@ -1157,7 +1157,7 @@ if num_baros >= 3:
     baro_2_x_resample = fit_coef_baro_2_x(temp_rel_resample)
 
     # baro 2 vs temperature
-    plt.figure(10,figsize=(20,13))
+    plt.figure(11,figsize=(20,13))
 
     # draw plots
     plt.plot(sensor_baro_2['temperature'],100*sensor_baro_2['pressure']-100*median_pressure,'b')
@@ -1210,7 +1210,7 @@ if num_baros >= 4:
     baro_3_x_resample = fit_coef_baro_3_x(temp_rel_resample)
 
     # baro 3 vs temperature
-    plt.figure(11,figsize=(20,13))
+    plt.figure(12,figsize=(20,13))
 
     # draw plots
     plt.plot(sensor_baro_3['temperature'],100*sensor_baro_3['pressure']-100*median_pressure,'b')

Tools/px4.py

@@ -65,7 +65,7 @@ def get_version():
 
     if os.path.isdir(os.path.join(px4_dir, '.git')):
         # If inside a clone PX4 Firmware repository, get version from "git describe"
-        cmd = 'git describe --abbrev=0 --tags'
+        cmd = 'git describe --exclude ext/* --abbrev=0 --tags'
         try:
             version = subprocess.check_output(
                 cmd, cwd=px4_dir, shell=True).decode().strip()

Tools/px_mkfw.py

@@ -99,13 +99,13 @@ if args.summary != None:
 if args.description != None:
 	desc['description']	= str(args.description)
 if args.git_identity != None:
-	cmd = "git --git-dir '{:}/.git' describe --always --tags".format(args.git_identity)
+	cmd = "git --git-dir '{:}/.git' describe --exclude ext/* --always --tags".format(args.git_identity)
 	p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout
-	desc['git_identity']	= str(p.read().strip())
+	desc['git_identity']	= p.read().strip().decode('utf-8')
 	p.close()
 	cmd = "git --git-dir '{:}/.git' rev-parse --verify HEAD".format(args.git_identity)
 	p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout
-	desc['git_hash']	= str(p.read().strip())
+	desc['git_hash']	= p.read().strip().decode('utf-8')
 	p.close()
 if args.parameter_xml != None:
 	f = open(args.parameter_xml, "rb")

Tools/px_romfs_pruner.py

@@ -61,6 +61,8 @@ def main():
                         help="Board architecture for this run")
     args = parser.parse_args()
 
+    err_count = 0
+
     # go through temp folder
     for (root, dirs, files) in os.walk(args.folder):
         for file in files:
@@ -90,8 +92,17 @@ def main():
             # read file line by line
             pruned_content = ""
             board_excluded = False
+
             with io.open(file_path, "r", newline=None) as f:
                 for line in f:
+                    # abort if spurious tabs are found
+                    if re.search(r"[a-zA-Z0-9]+\t.+", line):
+                        file_local = re.sub(args.folder, '', file_path)
+                        print("ERROR: Spurious TAB character in file " + file_local)
+                        print("Line: " + line)
+                        err_count += 1
+
+                    # find excluded boards
                     if re.search(r'\b{0} exclude\b'.format(args.board), line):
                         board_excluded = True
                     # handle mixer files differently than startup files
@@ -116,6 +127,9 @@ def main():
             else:
                 os.remove(file_path)
 
+    if (err_count > 0):
+        exit(1)
+
 
 if __name__ == '__main__':
     main()

Tools/setup/ubuntu.sh

@@ -13,6 +13,7 @@
 
 INSTALL_NUTTX="true"
 INSTALL_SIM="true"
+INSTALL_ARCH=`uname -m`
 
 # Parse arguments
 for arg in "$@"
@@ -149,7 +150,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 
 	else
 		echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
-		wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-x86_64-linux.tar.bz2 && \
+		wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-linux.tar.bz2 && \
 			sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/;
 
 		# add arm-none-eabi-gcc to user's PATH

Tools/uorb_graph/.gitignore

@@ -1,2 +1,4 @@
 *.json
 
+*.fv
+*.fv.pdf

Tools/uorb_graph/create_from_startupscript.sh

@@ -1,13 +0,0 @@
-#! /bin/bash
-# create the graph from a posix (e.g. SITL) startup script
-
-SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
-
-startup_file="$SCRIPT_DIR"/../../posix-configs/SITL/init/ekf2/typhoon_h480
-[ -n "$1" ] && startup_file=$1
-# get the modules as comma-separated list
-modules=$(cat "$startup_file"|cut -f1 -d' '|sort|uniq|tr '\n' ,)
-
-cd "$SCRIPT_DIR/../.."
-"$SCRIPT_DIR"/create.py --src-path src -m "$modules" -f "$SCRIPT_DIR/graph_runtime_sitl"
-

boards/airmind/mindpx-v2/default.cmake

@@ -63,6 +63,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -106,6 +107,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top

boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig

@@ -101,6 +101,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15

boards/ark/can-flow/debug.cmake

@@ -0,0 +1,33 @@
+include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR ark
+	MODEL can-flow
+	LABEL debug
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m4
+	CONSTRAINED_MEMORY
+	ROMFSROOT cannode
+	UAVCAN_INTERFACES 1
+	DRIVERS
+		bootloaders
+		imu/bosch/bmi088
+		optical_flow/paw3902
+		uavcannode
+	MODULES
+		#ekf2
+		load_mon
+		#sensors
+	SYSTEMCMDS
+		mft
+		mtd
+		param
+		perf
+		reboot
+		system_time
+		top
+		topic_listener
+		ver
+		work_queue
+)

boards/ark/can-flow/default.cmake

@@ -7,6 +7,7 @@ px4_add_board(
 	LABEL default
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
+	CONSTRAINED_FLASH
 	CONSTRAINED_MEMORY
 	ROMFSROOT cannode
 	UAVCAN_INTERFACES 1
@@ -17,14 +18,17 @@ px4_add_board(
 		uavcannode
 	MODULES
 		#ekf2
-		load_mon
+		#load_mon
 		#sensors
 	SYSTEMCMDS
+		mft
+		mtd
 		param
-		perf
-		reboot
-		top
-		topic_listener
-		ver
-		work_queue
+		#perf
+		#reboot
+		#system_time
+		#top
+		#topic_listener
+		#ver
+		#work_queue
 )

boards/ark/can-flow/init/rc.board_sensors

@@ -4,6 +4,6 @@
 #------------------------------------------------------------------------------
 
 # Internal SPI
-paw3902 -s start
-bmi088 -A -s -R 0 start
-bmi088 -G -s -R 0 start
+paw3902 -s start -Y 90
+bmi088 -A -s -R 4 start
+bmi088 -G -s -R 4 start

boards/ark/can-flow/nuttx-config/nsh/defconfig

@@ -81,6 +81,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15

boards/ark/can-flow/src/CMakeLists.txt

@@ -51,12 +51,14 @@ else()
 		can.c
 		i2c.cpp
 		init.c
+		led.c
 		spi.cpp
 	)
 
 	target_link_libraries(drivers_board
 		PRIVATE
 			arch_spi
+			drivers__led # drv_led_start
 			nuttx_arch
 			nuttx_drivers
 			px4_layer

boards/ark/can-flow/src/board_config.h

@@ -53,8 +53,12 @@
 #define GPIO_BOOT_CONFIG      /* PC15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15|GPIO_EXTI)
 
 /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
-#define GPIO_LED_RED          /* PB3  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
-#define GPIO_LED_BLUE         /* PA8  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)
+#define GPIO_nLED_RED          /* PB3  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
+#define GPIO_nLED_BLUE         /* PA8  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)
+
+#define BOARD_HAS_CONTROL_STATUS_LEDS      1
+#define BOARD_OVERLOAD_LED     LED_RED
+#define BOARD_ARMED_STATE_LED  LED_BLUE
 
 #define FLASH_BASED_PARAMS
 

boards/ark/can-flow/src/boot.c

@@ -49,6 +49,12 @@
 
 #include <nuttx/board.h>
 
+__BEGIN_DECLS
+extern void led_init(void);
+extern void bootloader_led_on(int led);
+extern void bootloader_led_off(int led);
+__END_DECLS
+
 /************************************************************************************
  * Name: stm32_boardinitialize
  *
@@ -69,6 +75,8 @@ __EXPORT void stm32_boardinitialize(void)
 	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
 	putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
 
+	led_init();
+
 #if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
 	stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
 #endif
@@ -152,48 +160,27 @@ size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
  *   None
  *
  ****************************************************************************/
-// #define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
-
-// typedef begin_packed_struct struct led_t {
-// 	uint8_t red;
-// 	uint8_t green;
-// 	uint8_t blue;
-// 	uint8_t hz;
-// } end_packed_struct led_t;
-
-// static const  led_t i2l[] = {
-
-// 	led(0, off,                             0,     0,     0,     0),
-// 	led(1, reset,                          128,   128,   128,   30),
-// 	led(2, autobaud_start,                  0,   128,     0,     1),
-// 	led(3, autobaud_end,                    0,   128,     0,     2),
-// 	led(4, allocation_start,                0,     0,    64,     2),
-// 	led(5, allocation_end,                  0,   128,    64,     3),
-// 	led(6, fw_update_start,                32,   128,    64,     3),
-// 	led(7, fw_update_erase_fail,           32,   128,    32,     3),
-// 	led(8, fw_update_invalid_response,     64,     0,     0,     1),
-// 	led(9, fw_update_timeout,              64,     0,     0,     2),
-// 	led(a, fw_update_invalid_crc,          64,     0,     0,     4),
-// 	led(b, jump_to_app,                     0,   128,     0,    10),
-
-// };
-
 void board_indicate(uiindication_t indication)
 {
-	// switch(indication) {
-	// 	case off:
-	// 		led_off(GPIO_nLED_RED);
-	// 		led_off(GPIO_nLED_BLUE);
-	// 		break;
-	// 	case reset:
-	// 		led_on(GPIO_nLED_RED);
-	// 		led_on(GPIO_nLED_BLUE);
-	// 		break;
-	// 	case jump_to_app:
-	// 		led_on(GPIO_nLED_RED);
-	// 		led_off(GPIO_nLED_BLUE);
-	// 		break;
-	// 	default:
-	// 		break;
-	// }
+	if (indication == off) {
+		bootloader_led_off(GPIO_nLED_RED);
+		bootloader_led_off(GPIO_nLED_BLUE);
+
+	} else if (indication == fw_update_start) {
+		bootloader_led_on(GPIO_nLED_RED);
+		bootloader_led_on(GPIO_nLED_BLUE);
+
+	} else if ((indication == fw_update_erase_fail) || (indication == fw_update_invalid_response)
+		   || (indication == fw_update_timeout) || (indication == fw_update_invalid_crc)) {
+		bootloader_led_on(GPIO_nLED_RED);
+		bootloader_led_off(GPIO_nLED_BLUE);
+
+	} else if (indication == allocation_start) {
+		bootloader_led_on(GPIO_nLED_RED);
+		bootloader_led_off(GPIO_nLED_BLUE);
+
+	} else {
+		bootloader_led_off(GPIO_nLED_RED);
+		bootloader_led_on(GPIO_nLED_BLUE);
+	}
 }

boards/ark/can-flow/src/init.c

@@ -69,6 +69,12 @@
 #  include <parameters/flashparams/flashfs.h>
 #endif
 
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
 /************************************************************************************
  * Name: stm32_boardinitialize
  *
@@ -121,6 +127,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	px4_platform_init();
 
+	// Configure LEDs.
+	board_autoled_initialize();
+
 #if defined(FLASH_BASED_PARAMS)
 	static sector_descriptor_t params_sector_map[] = {
 		{2, 16 * 1024, 0x08008000},
@@ -138,7 +147,14 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 #endif // FLASH_BASED_PARAMS
 
-	//px4_platform_configure();
+	/* initial LED state */
+	drv_led_start();
+	led_off(LED_RED);
+	led_on(LED_BLUE);
+
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
 
 	return OK;
 }

boards/ark/can-flow/src/led.c

@@ -55,14 +55,17 @@
  */
 __BEGIN_DECLS
 extern void led_init(void);
+extern void bootloader_led_on(int led);
+extern void bootloader_led_off(int led);
 extern void led_on(int led);
 extern void led_off(int led);
 extern void led_toggle(int led);
 __END_DECLS
 
+#  define xlat(p) (p)
 static uint32_t g_ledmap[] = {
-	GPIO_LED_RED,
-	GPIO_LED_BLUE,
+	GPIO_nLED_BLUE,
+	GPIO_nLED_RED,
 };
 
 __EXPORT void led_init(void)
@@ -70,10 +73,21 @@ __EXPORT void led_init(void)
 	/* Configure LED GPIOs for output */
 	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
 		stm32_configgpio(g_ledmap[l]);
-		stm32_gpiowrite(g_ledmap[l], true);
 	}
 }
 
+__EXPORT void bootloader_led_on(int led)
+{
+	/* Pull Down to switch on */
+	stm32_gpiowrite(led, false);
+}
+
+__EXPORT void bootloader_led_off(int led)
+{
+	/* Pull Up to switch on */
+	stm32_gpiowrite(led, true);
+}
+
 static void phy_set_led(int led, bool state)
 {
 	/* Pull Down to switch on */
@@ -82,21 +96,20 @@ static void phy_set_led(int led, bool state)
 
 static bool phy_get_led(int led)
 {
-
 	return !stm32_gpioread(g_ledmap[led]);
 }
 
 __EXPORT void led_on(int led)
 {
-	phy_set_led(led, true);
+	phy_set_led(xlat(led), true);
 }
 
 __EXPORT void led_off(int led)
 {
-	phy_set_led(led, false);
+	phy_set_led(xlat(led), false);
 }
 
 __EXPORT void led_toggle(int led)
 {
-	phy_set_led(led, !phy_get_led(led));
+	phy_set_led(xlat(led), !phy_get_led(xlat(led)));
 }

boards/atlflight/eagle/default.cmake

@@ -67,6 +67,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator

boards/atlflight/eagle/qurt.cmake

@@ -58,6 +58,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator

boards/atlflight/excelsior/default.cmake

@@ -66,6 +66,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator

boards/atlflight/excelsior/qurt.cmake

@@ -58,6 +58,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator

boards/av/x-v1/default.cmake

@@ -17,6 +17,7 @@ px4_add_board(
 		TEL3:/dev/ttyS2
 		TEL4:/dev/ttyS3
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -26,7 +27,6 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		#dshot
 		gps
-		#heater
 		#imu # all available imu drivers
 		imu/adis16477
 		imu/adis16497
@@ -34,9 +34,9 @@ px4_add_board(
 		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
-		#pca9685_pwm_out
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		#pwm_input
@@ -62,6 +62,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -97,12 +98,14 @@ px4_add_board(
 		motor_ramp
 		motor_test
 		nshterm
+		netman
 		param
 		perf
 		pwm
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top

boards/av/x-v1/nuttx-config/nsh/defconfig

@@ -14,12 +14,10 @@
 # CONFIG_MMCSD_SPI is not set
 # CONFIG_NSH_DISABLEBG is not set
 # CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_ADDROUTE is not set
 # CONFIG_NSH_DISABLE_ARP is not set
 # CONFIG_NSH_DISABLE_BASENAME is not set
 # CONFIG_NSH_DISABLE_CMP is not set
 # CONFIG_NSH_DISABLE_DD is not set
-# CONFIG_NSH_DISABLE_DELROUTE is not set
 # CONFIG_NSH_DISABLE_DF is not set
 # CONFIG_NSH_DISABLE_DIRNAME is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
@@ -32,7 +30,6 @@
 # CONFIG_NSH_DISABLE_MKRD is not set
 # CONFIG_NSH_DISABLE_PRINTF is not set
 # CONFIG_NSH_DISABLE_PUT is not set
-# CONFIG_NSH_DISABLE_ROUTE is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_TIME is not set
 # CONFIG_NSH_DISABLE_UNAME is not set
@@ -74,15 +71,13 @@ CONFIG_FAT_LCNAMES=y
 CONFIG_FAT_LFN=y
 CONFIG_FAT_LFN_ALIAS_HASH=y
 CONFIG_FDCLONE_STDIO=y
+CONFIG_FSUTILS_IPCFG=y
 CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_EXCLUDE_BLOCKS=y
-CONFIG_FS_PROCFS_EXCLUDE_MOUNT=y
-CONFIG_FS_PROCFS_EXCLUDE_MOUNTS=y
-CONFIG_FS_PROCFS_EXCLUDE_USAGE=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -108,12 +103,18 @@ CONFIG_NETDB_DNSCLIENT=y
 CONFIG_NETDB_DNSCLIENT_ENTRIES=8
 CONFIG_NETDB_DNSSERVER_NOADDR=y
 CONFIG_NETDEV_PHY_IOCTL=y
+CONFIG_NETINIT_DHCPC=y
+CONFIG_NETINIT_DNS=y
+CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
+CONFIG_NETINIT_DRIPADDR=0XC0A800FE
+CONFIG_NETINIT_THREAD=y
+CONFIG_NETINIT_THREAD_PRIORITY=49
 CONFIG_NETUTILS_TELNETD=y
 CONFIG_NET_ARP_IPIN=y
 CONFIG_NET_ARP_SEND=y
 CONFIG_NET_BROADCAST=y
 CONFIG_NET_ICMP=y
-CONFIG_NET_ROUTE=y
+CONFIG_NET_ICMP_SOCKET=y
 CONFIG_NET_SOCKOPTS=y
 CONFIG_NET_SOLINGER=y
 CONFIG_NET_TCP=y
@@ -121,6 +122,7 @@ CONFIG_NET_TCPBACKLOG=y
 CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_UDP=y
 CONFIG_NET_UDP_CHECKSUMS=y
+CONFIG_NET_UDP_WRITE_BUFFERS=y
 CONFIG_NFILE_DESCRIPTORS=12
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
@@ -128,9 +130,10 @@ CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_MB=y
+CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_LINELEN=128
-CONFIG_NSH_LOGIN_PASSWORD="px4"
-CONFIG_NSH_LOGIN_USERNAME="px4"
 CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
@@ -195,6 +198,7 @@ CONFIG_STM32F7_PHYSR_10FD=0x14
 CONFIG_STM32F7_PHYSR_10HD=0x4
 CONFIG_STM32F7_PHYSR_ALTCONFIG=y
 CONFIG_STM32F7_PHYSR_ALTMODE=0x1C
+CONFIG_STM32F7_PROGMEM=y
 CONFIG_STM32F7_PWR=y
 CONFIG_STM32F7_RTC=y
 CONFIG_STM32F7_RTC_HSECLOCK=y
@@ -229,6 +233,7 @@ CONFIG_STM32F7_USART_INVERT=y
 CONFIG_STM32F7_USART_SINGLEWIRE=y
 CONFIG_STM32F7_USART_SWAP=y
 CONFIG_STM32F7_WWDG=y
+CONFIG_SYSTEM_DHCPC_RENEW=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_SYSTEM_PING=y
 CONFIG_TASK_NAME_SIZE=24

boards/beaglebone/blue/default.cmake

@@ -14,6 +14,7 @@ px4_add_board(
 	TOOLCHAIN arm-linux-gnueabihf
 	TESTING
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		#barometer # all available barometer drivers
 		barometer/bmp280
@@ -24,6 +25,7 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		gps
 		#imu # all available imu drivers
+		imu/analog_devices/adis16448
 		imu/invensense/mpu9250
 		linux_pwm_out
 		#magnetometer # all available magnetometer drivers
@@ -39,10 +41,12 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -62,6 +66,8 @@ px4_add_board(
 		sih
 		#simulator
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -75,8 +81,9 @@ px4_add_board(
 		perf
 		pwm
 		sd_bench
-		shutdown
+		#serial_test
 		system_time
+		shutdown
 		tests # tests and test runner
 		#top
 		topic_listener
@@ -85,8 +92,10 @@ px4_add_board(
 		ver
 		work_queue
 	EXAMPLES
-		fake_gps
 		dyn_hello # dynamically loading modules example
+		fake_gps
+		fake_gyro
+		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		#hwtest # Hardware test

boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig

@@ -97,6 +97,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_FATDEVNO=0
 CONFIG_NSH_LINELEN=128

boards/bitcraze/crazyflie21/nuttx-config/nsh/defconfig

@@ -96,6 +96,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_FATDEVNO=0
 CONFIG_NSH_LINELEN=128

boards/cuav/can-gps-v1/debug.cmake

@@ -1,22 +1,5 @@
+include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
 
-
-# UAVCAN boot loadable Module ID
-set(uavcanblid_sw_version_major 0)
-set(uavcanblid_sw_version_minor 1)
-add_definitions(
-	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
-	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
-)
-
-set(uavcanblid_hw_version_major 1)
-set(uavcanblid_hw_version_minor 0)
-set(uavcanblid_name "\"org.cuav.can-gps-v1\"")
-
-add_definitions(
-	-DHW_UAVCAN_NAME=${uavcanblid_name}
-	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
-)
 add_definitions(-DUSE_S_RGB_LED_DMA)
 
 px4_add_board(
@@ -26,6 +9,7 @@ px4_add_board(
 	LABEL debug
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
+	CONSTRAINED_MEMORY
 	ROMFSROOT cannode
 	UAVCAN_INTERFACES 1
 	DRIVERS
@@ -48,6 +32,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 )

boards/cuav/can-gps-v1/default.cmake

@@ -22,17 +22,17 @@ px4_add_board(
 		tone_alarm
 		uavcannode
 	MODULES
-		load_mon
+		#load_mon
 	SYSTEMCMDS
-		i2cdetect
-		led_control
+		#i2cdetect
+		#led_control
 		param
-		perf
-		reboot
-		top
-		topic_listener
-		tune_control
-		uorb
-		ver
-		work_queue
+		#perf
+		#reboot
+		#top
+		#topic_listener
+		#tune_control
+		#uorb
+		#ver
+		#work_queue
 )

boards/cuav/can-gps-v1/init/rc.board_defaults

@@ -3,6 +3,8 @@
 # board specific defaults
 #------------------------------------------------------------------------------
 
+param set-default CBRK_IO_SAFETY 0
+
 neopixel start
 safety_button start
 tone_alarm start

boards/cuav/can-gps-v1/nuttx-config/nsh/defconfig

@@ -81,6 +81,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15

boards/cuav/nora/default.cmake

@@ -37,6 +37,7 @@ px4_add_board(
 		imu/invensense/icm20689
 		irlock
 		lights # all available light drivers
+		lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
 		osd
@@ -67,6 +68,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -85,8 +87,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
+		#uuv_att_control
+		#uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -122,8 +124,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_gyro
-		fake_magnetometer
+		#fake_gyro
+		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test

boards/cuav/nora/init/rc.board_sensors

@@ -16,7 +16,7 @@ bmi088 -s -b 4 -G -R 2 start
 ms5611 -s -b 4 start
 
 # SPI6
-#icm20649 -s -b 6 -R 2 start # TODO: not started by default until NuttX SPI6 BDMA is fixed
+icm20649 -s -b 6 -R 2 start
 ms5611 -s -b 6 start
 
 # External compass on GPS1/I2C1: standard CUAV GPS/compass puck (with lights, safety button, and buzzer)

boards/cuav/nora/nuttx-config/bootloader/defconfig

@@ -54,7 +54,6 @@ CONFIG_LIB_BOARDCTL=y
 CONFIG_MAX_TASKS=8
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512

boards/cuav/nora/nuttx-config/include/board.h

@@ -220,61 +220,55 @@
 
 #define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE
 
-
 /* UART/USART */
-#define GPIO_USART1_TX   GPIO_USART1_TX_3      /* PB6  */
-#define GPIO_USART1_RX   GPIO_USART1_RX_3      /* PB7  */
+#define GPIO_USART1_RX   GPIO_USART1_RX_3      /* PB7 */
+#define GPIO_USART1_TX   GPIO_USART1_TX_3      /* PB6 */
 
-#define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2 /* PD3  */
-#define GPIO_USART2_RTS  GPIO_USART2_RTS_2     /* PD4  */
-#define GPIO_USART2_TX   GPIO_USART2_TX_2      /* PD5  */
-#define GPIO_USART2_RX   GPIO_USART2_RX_2      /* PD6  */
+#define GPIO_USART2_RX   GPIO_USART2_RX_2      /* PD6 */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2      /* PD5 */
+#define GPIO_USART2_RTS  GPIO_USART2_RTS_2     /* PD4 */
+#define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2 /* PD3 */
 
-#define GPIO_UART4_TX    GPIO_UART4_TX_5       /* PD1  */
-#define GPIO_UART4_RX    GPIO_UART4_RX_5       /* PD0  */
+#define GPIO_UART4_RX    GPIO_UART4_RX_5       /* PD0 */
+#define GPIO_UART4_TX    GPIO_UART4_TX_5       /* PD1 */
 
-#define GPIO_USART6_TX   GPIO_USART6_TX_2      /* PG14 */
 #define GPIO_USART6_RX   GPIO_USART6_RX_2      /* PG9  */
+#define GPIO_USART6_TX   GPIO_USART6_TX_2      /* PG14 */
 #define GPIO_USART6_RTS  GPIO_USART6_RTS_2     /* PG8  */
 #define GPIO_USART6_CTS  GPIO_USART6_CTS_NSS_2 /* PG15 */
 
-#define GPIO_UART7_TX    GPIO_UART7_TX_3       /* PE8  */
-#define GPIO_UART7_RX    GPIO_UART7_RX_4       /* PF6  */
-
-#define GPIO_UART8_TX    GPIO_UART8_TX_1       /* PE1  */
-#define GPIO_UART8_RX    GPIO_UART8_RX_1       /* PE0  */
+#define GPIO_UART7_RX    GPIO_UART7_RX_4       /* PF6 */
+#define GPIO_UART7_TX    GPIO_UART7_TX_3       /* PE8 */
 
+#define GPIO_UART8_RX    GPIO_UART8_RX_1       /* PE0 */
+#define GPIO_UART8_TX    GPIO_UART8_TX_1       /* PE1 */
 
 /* CAN */
-#define GPIO_CAN1_TX     GPIO_CAN1_TX_4        /* PH13 */
 #define GPIO_CAN1_RX     GPIO_CAN1_RX_5        /* PI9  */
+#define GPIO_CAN1_TX     GPIO_CAN1_TX_4        /* PH13 */
 #define GPIO_CAN2_RX     GPIO_CAN2_RX_1        /* PB12 */
 #define GPIO_CAN2_TX     GPIO_CAN2_TX_1        /* PB13 */
 
-
 /* SPI */
-#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
+#define GPIO_SPI1_SCK    GPIO_SPI1_SCK_3    /* PG11 */
+#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1   /* PA6 */
+#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_3   /* PD7 */
 
-#define GPIO_SPI1_SCK    ADJ_SLEW_RATE(GPIO_SPI1_SCK_3) /* PG11 */
-#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1               /* PA6  */
-#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_3               /* PD7  */
+#define GPIO_SPI2_SCK    GPIO_SPI2_SCK_6    /* PI1 */
+#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_3   /* PI2 */
+#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_4   /* PI3 */
 
-#define GPIO_SPI2_SCK    ADJ_SLEW_RATE(GPIO_SPI2_SCK_6) /* PI1  */
-#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_3               /* PI2  */
-#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_4               /* PI3  */
+#define GPIO_SPI4_SCK    GPIO_SPI4_SCK_2    /* PE2 */
+#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_1   /* PE13 */
+#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_2   /* PE6 */
 
-#define GPIO_SPI4_SCK    ADJ_SLEW_RATE(GPIO_SPI4_SCK_2) /* PE2  */
-#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_1               /* PE13 */
-#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_2               /* PE6  */
-
-#define GPIO_SPI5_SCK    ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7  */
-#define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1               /* PF8  */
-#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2               /* PF9  */
-
-#define GPIO_SPI6_SCK    ADJ_SLEW_RATE(GPIO_SPI6_SCK_1) /* PG13 */
-#define GPIO_SPI6_MISO   GPIO_SPI6_MISO_1               /* PG12 */
-#define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_2               /* PA7  */
+#define GPIO_SPI5_SCK    GPIO_SPI5_SCK_1    /* PF7 */
+#define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1   /* PF8 */
+#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2   /* PF9 */
 
+#define GPIO_SPI6_SCK    GPIO_SPI6_SCK_1    /* PG13 */
+#define GPIO_SPI6_MISO   GPIO_SPI6_MISO_1   /* PG12 */
+#define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_2   /* PA7 */
 
 /* I2C */
 #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */

boards/cuav/nora/nuttx-config/nsh/defconfig

@@ -88,7 +88,7 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=3
+CONFIG_MM_REGIONS=4
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
@@ -106,6 +106,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -154,14 +155,14 @@ CONFIG_START_DAY=30
 CONFIG_START_MONTH=11
 CONFIG_STDIO_BUFFER_SIZE=256
 CONFIG_STM32H7_ADC1=y
+CONFIG_STM32H7_ADC3=y
 CONFIG_STM32H7_BBSRAM=y
 CONFIG_STM32H7_BBSRAM_FILES=5
+CONFIG_STM32H7_BDMA=y
 CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_DTCMEXCLUDE=y
-CONFIG_STM32H7_DTCM_PROCFS=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C2=y
@@ -187,6 +188,8 @@ CONFIG_STM32H7_SPI4_DMA=y
 CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI5=y
 CONFIG_STM32H7_SPI6=y
+CONFIG_STM32H7_SPI6_DMA=y
+CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI_DMA=y
 CONFIG_STM32H7_SPI_DMATHRESHOLD=8
 CONFIG_STM32H7_TIM12=y

boards/cuav/nora/nuttx-config/scripts/script.ld

@@ -199,11 +199,13 @@ SECTIONS
 
 	/* Emit the the D3 power domain section for locating BDMA data */
 
-	.sram4 (NOLOAD) :
+	.sram4_reserve (NOLOAD) :
 	{
+		*(.sram4)
+		. = ALIGN(4);
+		_sram4_heap_start = ABSOLUTE(.);
 	} > SRAM4
 
-
 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
 	.stabstr 0 : { *(.stabstr) }

boards/cuav/x7pro/default.cmake

@@ -31,12 +31,13 @@ px4_add_board(
 		gps
 		heater
 		#imu # all available imu drivers
-		imu/analog_devices/adis16448
+		imu/analog_devices/adis16470
 		imu/bosch/bmi088
 		imu/invensense/icm20649
 		imu/invensense/icm20689
 		irlock
 		lights # all available light drivers
+		lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
 		osd
@@ -67,6 +68,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -85,8 +87,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
+		#uuv_att_control
+		#uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -122,8 +124,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_gyro
-		fake_magnetometer
+		#fake_gyro
+		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test

boards/cuav/x7pro/init/rc.board_defaults

@@ -3,6 +3,9 @@
 # board specific defaults
 #------------------------------------------------------------------------------
 
+# Enables the 2nd bank of mixers
+set AUX_BANK2 yes
+
 param set-default BAT_V_DIV 18
 param set-default BAT1_V_DIV 18
 param set-default BAT2_V_DIV 18
@@ -14,5 +17,7 @@ param set-default BAT2_A_PER_V 24
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1
 
+param set-default IMU_GYRO_FFT_EN 1
+
 rgbled_pwm start
 safety_button start

boards/cuav/x7pro/init/rc.board_sensors

@@ -5,8 +5,10 @@
 board_adc start
 
 # SPI1
-#adis16470 -s start
-icm20689 -s -b 1 -R 2 start
+if ! icm20689 -s -b 1 -R 2 start
+then
+	adis16470 -s -b 1 -R 2 start
+fi
 
 # SPI2
 rm3100 -s -b 2 start

boards/cuav/x7pro/nuttx-config/bootloader/defconfig

@@ -54,7 +54,6 @@ CONFIG_LIB_BOARDCTL=y
 CONFIG_MAX_TASKS=8
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512

boards/cuav/x7pro/nuttx-config/include/board.h

@@ -220,38 +220,35 @@
 
 #define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE
 
-
 /* UART/USART */
-#define GPIO_USART1_TX   GPIO_USART1_TX_3      /* PB6  */
-#define GPIO_USART1_RX   GPIO_USART1_RX_3      /* PB7  */
+#define GPIO_USART1_RX   GPIO_USART1_RX_3      /* PB7 */
+#define GPIO_USART1_TX   GPIO_USART1_TX_3      /* PB6 */
 
-#define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2 /* PD3  */
-#define GPIO_USART2_RTS  GPIO_USART2_RTS_2     /* PD4  */
-#define GPIO_USART2_TX   GPIO_USART2_TX_2      /* PD5  */
-#define GPIO_USART2_RX   GPIO_USART2_RX_2      /* PD6  */
+#define GPIO_USART2_RX   GPIO_USART2_RX_2      /* PD6 */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2      /* PD5 */
+#define GPIO_USART2_RTS  GPIO_USART2_RTS_2     /* PD4 */
+#define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2 /* PD3 */
 
-#define GPIO_UART4_TX    GPIO_UART4_TX_5       /* PD1  */
-#define GPIO_UART4_RX    GPIO_UART4_RX_5       /* PD0  */
+#define GPIO_UART4_RX    GPIO_UART4_RX_5       /* PD0 */
+#define GPIO_UART4_TX    GPIO_UART4_TX_5       /* PD1 */
 
-#define GPIO_USART6_TX   GPIO_USART6_TX_2      /* PG14 */
 #define GPIO_USART6_RX   GPIO_USART6_RX_2      /* PG9  */
+#define GPIO_USART6_TX   GPIO_USART6_TX_2      /* PG14 */
 #define GPIO_USART6_RTS  GPIO_USART6_RTS_2     /* PG8  */
 #define GPIO_USART6_CTS  GPIO_USART6_CTS_NSS_2 /* PG15 */
 
-#define GPIO_UART7_TX    GPIO_UART7_TX_3       /* PE8  */
-#define GPIO_UART7_RX    GPIO_UART7_RX_4       /* PF6  */
-
-#define GPIO_UART8_TX    GPIO_UART8_TX_1       /* PE1  */
-#define GPIO_UART8_RX    GPIO_UART8_RX_1       /* PE0  */
+#define GPIO_UART7_RX    GPIO_UART7_RX_4       /* PF6 */
+#define GPIO_UART7_TX    GPIO_UART7_TX_3       /* PE8 */
 
+#define GPIO_UART8_RX    GPIO_UART8_RX_1       /* PE0 */
+#define GPIO_UART8_TX    GPIO_UART8_TX_1       /* PE1 */
 
 /* CAN */
-#define GPIO_CAN1_TX     GPIO_CAN1_TX_4        /* PH13 */
 #define GPIO_CAN1_RX     GPIO_CAN1_RX_5        /* PI9  */
+#define GPIO_CAN1_TX     GPIO_CAN1_TX_4        /* PH13 */
 #define GPIO_CAN2_RX     GPIO_CAN2_RX_1        /* PB12 */
 #define GPIO_CAN2_TX     GPIO_CAN2_TX_1        /* PB13 */
 
-
 /* SPI */
 #define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
 
@@ -275,7 +272,6 @@
 #define GPIO_SPI6_MISO   GPIO_SPI6_MISO_1               /* PG12 */
 #define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_2               /* PA7  */
 
-
 /* I2C */
 #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
 #define GPIO_I2C1_SDA GPIO_I2C1_SDA_2       /* PB9  */

boards/cuav/x7pro/nuttx-config/nsh/defconfig

@@ -88,7 +88,7 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=3
+CONFIG_MM_REGIONS=4
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
@@ -106,6 +106,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -154,14 +155,14 @@ CONFIG_START_DAY=30
 CONFIG_START_MONTH=11
 CONFIG_STDIO_BUFFER_SIZE=256
 CONFIG_STM32H7_ADC1=y
+CONFIG_STM32H7_ADC3=y
 CONFIG_STM32H7_BBSRAM=y
 CONFIG_STM32H7_BBSRAM_FILES=5
+CONFIG_STM32H7_BDMA=y
 CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_DTCMEXCLUDE=y
-CONFIG_STM32H7_DTCM_PROCFS=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C2=y
@@ -187,6 +188,8 @@ CONFIG_STM32H7_SPI4_DMA=y
 CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI5=y
 CONFIG_STM32H7_SPI6=y
+CONFIG_STM32H7_SPI6_DMA=y
+CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI_DMA=y
 CONFIG_STM32H7_SPI_DMATHRESHOLD=8
 CONFIG_STM32H7_TIM12=y

boards/cuav/x7pro/nuttx-config/scripts/script.ld

@@ -199,11 +199,13 @@ SECTIONS
 
 	/* Emit the the D3 power domain section for locating BDMA data */
 
-	.sram4 (NOLOAD) :
+	.sram4_reserve (NOLOAD) :
 	{
+		*(.sram4)
+		. = ALIGN(4);
+		_sram4_heap_start = ABSOLUTE(.);
 	} > SRAM4
 
-
 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
 	.stabstr 0 : { *(.stabstr) }

boards/cuav/x7pro/src/spi.cpp

@@ -37,7 +37,7 @@
 
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
-		initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortE, GPIO::Pin7}), // ADIS16470
+		initSPIDevice(DRV_IMU_DEVTYPE_ADIS16470, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortE, GPIO::Pin7}),
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortG, GPIO::Pin6}, SPI::DRDY{GPIO::PortJ, GPIO::Pin0}),
 	}, {GPIO::PortE, GPIO::Pin3}),
 	initSPIBus(SPI::Bus::SPI2, {

boards/cubepilot/cubeorange/console.cmake

@@ -19,6 +19,7 @@ px4_add_board(
 		# CONSOLE:/dev/ttyS4
 		GPS2:/dev/ttyS5
 	DRIVERS
+		#adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -30,20 +31,16 @@ px4_add_board(
 		gps
 		#heater
 		#imu # all available imu drivers
-		#imu/analog_devices/adis16448
-		#imu/adis16477
-		#imu/adis16497
 		imu/invensense/icm20602
 		imu/invensense/icm20649
 		imu/invensense/icm20948
 		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		#pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
@@ -57,7 +54,7 @@ px4_add_board(
 		uavcan
 	MODULES
 		airspeed_selector
-		attitude_estimator_q
+		#attitude_estimator_q
 		battery_status
 		camera_feedback
 		commander
@@ -68,11 +65,12 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
-		#gyro_fft
+		gyro_calibration
+		gyro_fft
 		land_detector
 		landing_target_estimator
 		load_mon
-		local_position_estimator
+		#local_position_estimator
 		logger
 		mavlink
 		mc_att_control
@@ -82,10 +80,12 @@ px4_add_board(
 		#micrortps_bridge
 		navigator
 		rc_update
-		rover_pos_control
+		#rover_pos_control
 		sensors
-		sih
-		temperature_compensation
+		#sih
+		#temperature_compensation
+		#uuv_att_control
+		#uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -109,6 +109,8 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		#serial_test
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener
@@ -119,7 +121,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_magnetometer
+		#fake_gyro
+		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test

boards/cubepilot/cubeorange/default.cmake

@@ -19,6 +19,7 @@ px4_add_board(
 		TEL3:/dev/ttyS4
 		GPS2:/dev/ttyS5
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -35,13 +36,12 @@ px4_add_board(
 		imu/invensense/icm20649
 		imu/invensense/icm20948
 		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
@@ -66,6 +66,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -84,6 +85,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		#uuv_att_control
+		#uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -107,7 +110,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		serial_test
+		#serial_test
 		system_time
 		#tests # tests and test runner
 		top
@@ -119,7 +122,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_magnetometer
+		#fake_gyro
+		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test

boards/cubepilot/cubeorange/nuttx-config/bootloader/defconfig

@@ -54,7 +54,6 @@ CONFIG_LIB_BOARDCTL=y
 CONFIG_MAX_TASKS=8
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512

boards/cubepilot/cubeorange/nuttx-config/console/defconfig

@@ -58,7 +58,6 @@ CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
@@ -89,7 +88,7 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=3
+CONFIG_MM_REGIONS=4
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
@@ -107,6 +106,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -140,7 +140,7 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SDMMC1_SDIO_MODE=y
+CONFIG_SDMMC1_SDIO_PULLUP=y
 CONFIG_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
@@ -155,14 +155,13 @@ CONFIG_START_DAY=30
 CONFIG_START_MONTH=11
 CONFIG_STDIO_BUFFER_SIZE=256
 CONFIG_STM32H7_ADC1=y
+CONFIG_STM32H7_ADC3=y
 CONFIG_STM32H7_BBSRAM=y
 CONFIG_STM32H7_BBSRAM_FILES=5
 CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_DTCMEXCLUDE=y
-CONFIG_STM32H7_DTCM_PROCFS=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C2=y
@@ -203,7 +202,6 @@ CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_TTY_SIGINT=y
-CONFIG_TTY_SIGINT_CHAR=0x03
 CONFIG_TTY_SIGSTP=y
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600
@@ -234,3 +232,4 @@ CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
 CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_WATCHDOG=y

boards/cubepilot/cubeorange/nuttx-config/nsh/defconfig

@@ -59,7 +59,6 @@ CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
@@ -90,7 +89,7 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=3
+CONFIG_MM_REGIONS=4
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
@@ -108,6 +107,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -156,14 +156,13 @@ CONFIG_START_DAY=30
 CONFIG_START_MONTH=11
 CONFIG_STDIO_BUFFER_SIZE=256
 CONFIG_STM32H7_ADC1=y
+CONFIG_STM32H7_ADC3=y
 CONFIG_STM32H7_BBSRAM=y
 CONFIG_STM32H7_BBSRAM_FILES=5
 CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_DTCMEXCLUDE=y
-CONFIG_STM32H7_DTCM_PROCFS=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C2=y
@@ -234,3 +233,4 @@ CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
 CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_WATCHDOG=y

boards/cubepilot/cubeorange/nuttx-config/scripts/script.ld

@@ -198,6 +198,15 @@ SECTIONS
 		_ebss = ABSOLUTE(.);
 	} > AXI_SRAM
 
+	/* Emit the the D3 power domain section for locating BDMA data */
+
+	.sram4_reserve (NOLOAD) :
+	{
+		*(.sram4)
+		. = ALIGN(4);
+		_sram4_heap_start = ABSOLUTE(.);
+	} > SRAM4
+
 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
 	.stabstr 0 : { *(.stabstr) }

boards/cubepilot/cubeyellow/console.cmake

@@ -18,6 +18,7 @@ px4_add_board(
 		# CONSOLE:/dev/ttyS4
 		GPS2:/dev/ttyS5
 	DRIVERS
+		#adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -29,20 +30,16 @@ px4_add_board(
 		gps
 		#heater
 		#imu # all available imu drivers
-		imu/analog_devices/adis16448
-		imu/adis16477
-		imu/adis16497
 		imu/invensense/icm20602
 		imu/invensense/icm20649
 		imu/invensense/icm20948
 		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		#pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
@@ -56,7 +53,7 @@ px4_add_board(
 		uavcan
 	MODULES
 		airspeed_selector
-		attitude_estimator_q
+		#attitude_estimator_q
 		battery_status
 		camera_feedback
 		commander
@@ -67,11 +64,12 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
 		load_mon
-		local_position_estimator
+		#local_position_estimator
 		logger
 		mavlink
 		mc_att_control
@@ -81,10 +79,12 @@ px4_add_board(
 		#micrortps_bridge
 		navigator
 		rc_update
-		rover_pos_control
+		#rover_pos_control
 		sensors
-		sih
-		temperature_compensation
+		#sih
+		#temperature_compensation
+		#uuv_att_control
+		#uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -108,6 +108,8 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		#serial_test
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener
@@ -118,7 +120,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_magnetometer
+		#fake_gyro
+		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test

boards/cubepilot/cubeyellow/default.cmake

@@ -18,6 +18,7 @@ px4_add_board(
 		TEL3:/dev/ttyS4
 		GPS2:/dev/ttyS5
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -34,13 +35,12 @@ px4_add_board(
 		imu/invensense/icm20649
 		imu/invensense/icm20948
 		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
@@ -65,6 +65,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -83,6 +84,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -106,7 +109,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		serial_test
+		#serial_test
 		system_time
 		#tests # tests and test runner
 		top
@@ -118,7 +121,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_magnetometer
+		#fake_gyro
+		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test