mc_rate_control: RateControl inline simple getters/setters

- these are typically called on every iteration
SITL configs VTOL/plane: improve SITL tuning a bit
2026-05-29 03:10:05 +08:00 · 2021-11-26 09:29:21 -05:00 · 2021-11-26 09:24:23 -05:00 · 2021-11-26 11:37:40 +01:00 · 2021-11-25 22:44:05 -05:00 · 2021-11-25 21:37:59 -05:00
212 changed files with 3414 additions and 2092 deletions
@@ -21,7 +21,7 @@ pipeline {
                sh 'make cubepilot_cubeorange_bootloader'
                sh 'make cubepilot_cubeorange_test'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*, build/cubepilot_cubeorange_test/etc/init.d/airframes/*', name: 'cubepilot_cubeorange_test'
              }
              post {
                always {
@@ -48,6 +48,9 @@ pipeline {
                  steps {
                    // run tests
                    runTests()
+
+                    // load all airframes
+                    // sh("./Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` `cd build/cubepilot_cubeorange_test/etc/init.d/airframes/; find . -regex '.*/[0-9].*' -exec basename {} \\; | cut -d '_' -f 1` || true") // test loading all airframes\
                  }
                }
                stage("status") {
@@ -92,7 +95,7 @@ pipeline {
                sh 'make cuav_x7pro_bootloader'
                sh 'make cuav_x7pro_test'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cuav_x7pro_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*', name: 'cuav_x7pro_test'
              }
              post {
                always {
@@ -161,7 +164,7 @@ pipeline {
                sh 'make px4_fmu-v3_test'
                sh 'make px4_fmu-v3_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*', name: 'px4_fmu-v3_test'
              }
              post {
                always {
@@ -230,7 +233,7 @@ pipeline {
                sh 'make px4_fmu-v4_test'
                sh 'make px4_fmu-v4_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*', name: 'px4_fmu-v4_test'
              }
              post {
                always {
@@ -298,7 +301,7 @@ pipeline {
                sh 'make px4_fmu-v4pro_test'
                sh 'make px4_fmu-v4pro_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*', name: 'px4_fmu-v4pro_test'
              }
              post {
                always {
@@ -367,7 +370,7 @@ pipeline {
                sh 'make px4_fmu-v5_debug'
                sh 'make px4_fmu-v5_debug bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_debug'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*', name: 'px4_fmu-v5_debug'
              }
              post {
                always {
@@ -398,8 +401,15 @@ pipeline {
                stage("tests") {
                  steps {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1"'
                    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 "sd_stress"'
+
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
                  }
@@ -447,7 +457,7 @@ pipeline {
                sh 'make px4_fmu-v5_stackcheck'
                sh 'make px4_fmu-v5_stackcheck bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_stackcheck'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*', name: 'px4_fmu-v5_stackcheck'
              }
              post {
                always {
@@ -526,7 +536,7 @@ pipeline {
                sh 'make px4_fmu-v5_test'
                sh 'make px4_fmu-v5_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*', name: 'px4_fmu-v5_test'
              }
              post {
                always {
@@ -595,7 +605,7 @@ pipeline {
                sh 'make nxp_fmuk66-v3_test'
                //sh 'make nxp_fmuk66-v3_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*', name: 'nxp_fmuk66-v3_test'
              }
              post {
                always {
@@ -702,7 +712,7 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'

  // run logger
@@ -756,13 +766,17 @@ void resetParameters() {
 }

 void runTests() {
+
+  // test loading a range of airframes
+  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 6001 8001 10016'
+
  resetParameters()

  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_CAL_EN" --value "0" || true' // disable during testing
  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_FFT_EN" --value "0" || true' // disable during testing

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
@@ -776,16 +790,17 @@ void runTests() {

  sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'

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

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v"'

-  //sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander stop"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
@@ -795,13 +810,13 @@ void runTests() {
  resetParameters()
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
 }

@@ -902,6 +917,10 @@ void printTopics() {
 }

 void resetBoard() {
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
+
  resetParameters()

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
@@ -909,7 +928,7 @@ void resetBoard() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true'        // limit cpu usage
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply

  // check SD card
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
@@ -35,11 +35,11 @@ jobs:

    - name: parameter & events metadata
      run: |
-        make ${{matrix.target}} ver_gen events_json
+        make ${{matrix.target}} ver_gen events_json actuators_json
        ./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
        cd build/${{ matrix.target }}
        mkdir _metadata || true
-        cp parameters.* events/*.xz _metadata
+        cp parameters.* events/*.xz actuators.json* _metadata

    - uses: jakejarvis/s3-sync-action@master
      with:
@@ -61,6 +61,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: px4_fmu-v5_default
+    px4_fmu-v5_debug:
+      short: px4_fmu-v5_debug
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v5_debug
    px4_fmu-v5x_default:
      short: px4_fmu-v5x
      buildType: MinSizeRel
@@ -423,6 +423,8 @@ endforeach()

 # add events lib after modules and libs as it needs to know all source files (PX4_SRC_FILES)
 add_subdirectory(src/lib/events EXCLUDE_FROM_ALL)
+# metadata needs PX4_MODULE_CONFIG_FILES
+add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)

 # must be the last module before firmware
 add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
@@ -11,39 +11,21 @@

 param set-default SYS_CTRL_ALLOC 1

-param set-default MPC_USE_HTE 0
-
-param set-default VM_MASS 1.5
-param set-default VM_INERTIA_XX 0.03
-param set-default VM_INERTIA_YY 0.03
-param set-default VM_INERTIA_ZZ 0.05

 param set-default CA_AIRFRAME 0
-param set-default CA_METHOD 1
-param set-default CA_ACT0_MIN 0.0
-param set-default CA_ACT1_MIN 0.0
-param set-default CA_ACT2_MIN 0.0
-param set-default CA_ACT3_MIN 0.0
-param set-default CA_ACT0_MAX 1.0
-param set-default CA_ACT1_MAX 1.0
-param set-default CA_ACT2_MAX 1.0
-param set-default CA_ACT3_MAX 1.0

+param set-default CA_MC_R_COUNT 4
 param set-default CA_MC_R0_PX 0.1515
 param set-default CA_MC_R0_PY 0.245
-param set-default CA_MC_R0_CT 6.5
 param set-default CA_MC_R0_KM 0.05
 param set-default CA_MC_R1_PX -0.1515
 param set-default CA_MC_R1_PY -0.1875
-param set-default CA_MC_R1_CT 6.5
 param set-default CA_MC_R1_KM 0.05
 param set-default CA_MC_R2_PX 0.1515
 param set-default CA_MC_R2_PY -0.245
-param set-default CA_MC_R2_CT 6.5
 param set-default CA_MC_R2_KM -0.05
 param set-default CA_MC_R3_PX -0.1515
 param set-default CA_MC_R3_PY 0.1875
-param set-default CA_MC_R3_CT 6.5
 param set-default CA_MC_R3_KM -0.05

 param set-default PWM_MAIN_FUNC1 101
@@ -5,8 +5,6 @@

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

-#Set data link loss failsafe mode (0: disabled)
-
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

@@ -5,8 +5,6 @@

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

-#Set data link loss failsafe mode (0: disabled)
-
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

@@ -5,8 +5,6 @@

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

-#Set data link loss failsafe mode (0: disabled)
-
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

@@ -29,12 +29,9 @@ 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

@@ -19,12 +19,9 @@ param set-default FW_RR_P 0.3
 param set-default FW_THR_CRUISE 0.25
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
-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 MC_ROLLRATE_P 0.3
 param set-default MC_YAW_P 1.6
@@ -19,12 +19,9 @@ param set-default FW_RR_P 0.3
 param set-default FW_THR_CRUISE 0.38
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
-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 MC_YAW_P 1.6

@@ -29,51 +29,26 @@ param set-default TRIG_MODE 4
 param set-default MNT_MODE_IN 0
 param set-default MAV_PROTO_VER 2

-param set-default MPC_USE_HTE 0
-
-param set-default VM_MASS 2.66
-param set-default VM_INERTIA_XX 0.06
-param set-default VM_INERTIA_YY 0.06
-param set-default VM_INERTIA_ZZ 0.10
-
 param set-default CA_AIRFRAME 0
-param set-default CA_METHOD 1
-param set-default CA_ACT0_MIN 0.0
-param set-default CA_ACT1_MIN 0.0
-param set-default CA_ACT2_MIN 0.0
-param set-default CA_ACT3_MIN 0.0
-param set-default CA_ACT4_MIN 0.0
-param set-default CA_ACT5_MIN 0.0
-param set-default CA_ACT0_MAX 1.0
-param set-default CA_ACT1_MAX 1.0
-param set-default CA_ACT2_MAX 1.0
-param set-default CA_ACT3_MAX 1.0
-param set-default CA_ACT4_MAX 1.0
-param set-default CA_ACT5_MAX 1.0
+param set-default CA_MC_R_COUNT 6

 param set-default CA_MC_R0_PX 0.0
 param set-default CA_MC_R0_PY 1.0
-param set-default CA_MC_R0_CT 9.5
 param set-default CA_MC_R0_KM -0.05
 param set-default CA_MC_R1_PX 0.0
 param set-default CA_MC_R1_PY -1.0
-param set-default CA_MC_R1_CT 9.5
 param set-default CA_MC_R1_KM 0.05
 param set-default CA_MC_R2_PX 0.866025
 param set-default CA_MC_R2_PY -0.5
-param set-default CA_MC_R2_CT 9.5
 param set-default CA_MC_R2_KM -0.05
 param set-default CA_MC_R3_PX -0.866025
 param set-default CA_MC_R3_PY 0.5
-param set-default CA_MC_R3_CT 9.5
 param set-default CA_MC_R3_KM 0.05
 param set-default CA_MC_R4_PX 0.866025
 param set-default CA_MC_R4_PY 0.5
-param set-default CA_MC_R4_CT 9.5
 param set-default CA_MC_R4_KM 0.05
 param set-default CA_MC_R5_PX -0.866025
 param set-default CA_MC_R5_PY -0.5
-param set-default CA_MC_R5_CT 9.5
 param set-default CA_MC_R5_KM -0.05

 param set-default PWM_MAIN_FUNC1 101
@@ -17,39 +17,20 @@ set MIXER_AUX none

 param set-default SYS_CTRL_ALLOC 1

-param set-default MPC_USE_HTE 0
-
-param set-default VM_MASS 1.5
-param set-default VM_INERTIA_XX 0.03
-param set-default VM_INERTIA_YY 0.03
-param set-default VM_INERTIA_ZZ 0.05
-
 param set-default CA_AIRFRAME 0
-param set-default CA_METHOD 1
-param set-default CA_ACT0_MIN 0.0
-param set-default CA_ACT1_MIN 0.0
-param set-default CA_ACT2_MIN 0.0
-param set-default CA_ACT3_MIN 0.0
-param set-default CA_ACT0_MAX 1.0
-param set-default CA_ACT1_MAX 1.0
-param set-default CA_ACT2_MAX 1.0
-param set-default CA_ACT3_MAX 1.0

+param set-default CA_MC_R_COUNT 4
 param set-default CA_MC_R0_PX 0.177
 param set-default CA_MC_R0_PY 0.177
-param set-default CA_MC_R0_CT 6.5
 param set-default CA_MC_R0_KM 0.05
 param set-default CA_MC_R1_PX -0.177
 param set-default CA_MC_R1_PY -0.177
-param set-default CA_MC_R1_CT 6.5
 param set-default CA_MC_R1_KM 0.05
 param set-default CA_MC_R2_PX 0.177
 param set-default CA_MC_R2_PY -0.177
-param set-default CA_MC_R2_CT 6.5
 param set-default CA_MC_R2_KM -0.05
 param set-default CA_MC_R3_PX -0.177
 param set-default CA_MC_R3_PY 0.177
-param set-default CA_MC_R3_CT 6.5
 param set-default CA_MC_R3_KM -0.05

 param set-default PWM_MAIN_FUNC1 101
@@ -13,9 +13,6 @@

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

-
-#Set data link loss failsafe mode (0: disabled)
-
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

@@ -13,9 +13,6 @@

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

-
-#Set data link loss failsafe mode (0: disabled)
-
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

@@ -22,7 +22,6 @@

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

-#Set data link loss failsafe mode (0: disabled)

 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
@@ -13,57 +13,32 @@
 . ${R}etc/init.d/rc.mc_defaults

 param set-default SYS_CTRL_ALLOC 1
-param set-default MPC_USE_HTE 0
-
-param set-default VM_MASS 1.5
-param set-default VM_INERTIA_XX 0.03
-param set-default VM_INERTIA_YY 0.03
-param set-default VM_INERTIA_ZZ 0.05

 param set-default CA_AIRFRAME 0
-param set-default CA_METHOD 1
-param set-default CA_ACT0_MIN 0.0
-param set-default CA_ACT1_MIN 0.0
-param set-default CA_ACT2_MIN 0.0
-param set-default CA_ACT3_MIN 0.0
-param set-default CA_ACT4_MIN 0.0
-param set-default CA_ACT5_MIN 0.0
-
-param set-default CA_ACT0_MAX 1.0
-param set-default CA_ACT1_MAX 1.0
-param set-default CA_ACT2_MAX 1.0
-param set-default CA_ACT3_MAX 1.0
-param set-default CA_ACT4_MAX 1.0
-param set-default CA_ACT5_MAX 1.0
+param set-default CA_MC_R_COUNT 6

 param set-default CA_MC_R0_PX 0.0
 param set-default CA_MC_R0_PY 0.275
-param set-default CA_MC_R0_CT 6.5
 param set-default CA_MC_R0_KM -0.05

 param set-default CA_MC_R1_PX 0.0
 param set-default CA_MC_R1_PY -0.275
-param set-default CA_MC_R1_CT 6.5
 param set-default CA_MC_R1_KM 0.05

 param set-default CA_MC_R2_PX 0.238
 param set-default CA_MC_R2_PY -0.1375
-param set-default CA_MC_R2_CT 6.5
 param set-default CA_MC_R2_KM -0.05

 param set-default CA_MC_R3_PX -0.238
 param set-default CA_MC_R3_PY 0.1375
-param set-default CA_MC_R3_CT 6.5
 param set-default CA_MC_R3_KM 0.05

 param set-default CA_MC_R4_PX 0.238
 param set-default CA_MC_R4_PY 0.1375
-param set-default CA_MC_R4_CT 6.5
 param set-default CA_MC_R4_KM 0.05

 param set-default CA_MC_R5_PX -0.238
 param set-default CA_MC_R5_PY -0.1375
-param set-default CA_MC_R5_CT 6.5
 param set-default CA_MC_R5_KM -0.05

 param set-default PWM_MAIN_FUNC1 101
@@ -54,14 +54,6 @@ then
 	# Start Control Allocator
 	#
 	control_allocator start
-
-	#
-	# Disable hover thrust estimator and prearming
-	# These features are currently incompatible with control allocation
-	#
-	# TODO: fix
-	#
-	param set MPC_USE_HTE 0
 fi

 #
@@ -46,6 +46,7 @@ set EXTRA_MIXER_MODE none
 set RC_INPUT_ARGS ""
 set SDCARD_AVAILABLE no
 set SDCARD_EXT_PATH /fs/microsd/ext_autostart
+set SDCARD_FORMAT no
 set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
 set STARTUP_TUNE 1
 set USE_IO no
@@ -59,49 +60,73 @@ ver all
 #
 # Try to mount the microSD card.
 #
-# REBOOTWORK this needs to start after the flight control loop.
-if mount -t vfat /dev/mmcsd0 /fs/microsd
+if [ -b "/dev/mmcsd0" ]
 then
-	set PX4_INIT_TEST_FILE "/fs/microsd/.px4_init_test_file"
-	date >> $PX4_INIT_TEST_FILE
-
-	if [ -f $PX4_INIT_TEST_FILE ]
+	if mount -t vfat /dev/mmcsd0 /fs/microsd
 	then
-		cat $PX4_INIT_TEST_FILE
-		rm $PX4_INIT_TEST_FILE
-
-		if [ ! -f $PX4_INIT_TEST_FILE ]
+		if [ -f "/fs/microsd/.format" ]
 		then
-			set SDCARD_AVAILABLE yes
-		fi
-	fi
-fi
-
-if [ $SDCARD_AVAILABLE = no ]
-then
-	set STARTUP_TUNE 14 # tune 14 = SD_INIT
-	if mkfatfs -F 32 /dev/mmcsd0
-	then
-		if mount -t vfat /dev/mmcsd0 /fs/microsd
-		then
-			set SDCARD_AVAILABLE yes
-			echo "INFO [init] card formatted"
+			echo "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
+			set SDCARD_FORMAT yes
+			rm /fs/microsd/.format
+			umount /fs/microsd

 		else
-			set STARTUP_TUNE 15 # tune 15 = SD_ERROR
+			# very basic I/O test
+			set PX4_INIT_TEST_FILE "/fs/microsd/.px4_init_test_file"
+			date >> $PX4_INIT_TEST_FILE
+
+			if [ $? -eq 0 -a -f $PX4_INIT_TEST_FILE ]
+			then
+				cat $PX4_INIT_TEST_FILE
+				rm $PX4_INIT_TEST_FILE
+
+				if [ $? -eq 0 -a ! -f $PX4_INIT_TEST_FILE ]
+				then
+					set SDCARD_AVAILABLE yes
+				fi
+			fi
+			unset PX4_INIT_TEST_FILE
+
+			if [ $SDCARD_AVAILABLE = no ]
+			then
+				echo "ERROR [init] card I/O failure, formatting"
+				set SDCARD_FORMAT yes
+				umount /fs/microsd
+			fi
+		fi
+	fi
+
+	if [ $SDCARD_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
+	then
+		echo "INFO [init] formatting /dev/mmcsd0"
+		set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds)
+
+		if mkfatfs -F 32 /dev/mmcsd0
+		then
+			echo "INFO [init] card formatted"
+
+			if mount -t vfat /dev/mmcsd0 /fs/microsd
+			then
+				set SDCARD_AVAILABLE yes
+				set STARTUP_TUNE 14 # tune 14 = SD_INIT
+			else
+				echo "ERROR [init] card mount failed"
+			fi
+		else
 			echo "ERROR [init] format failed"
 		fi
 	fi
-fi

-if [ $SDCARD_AVAILABLE = yes ]
-then
-	if hardfault_log check
+	if [ $SDCARD_AVAILABLE = yes ]
 	then
-		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
-		if hardfault_log commit
+		if hardfault_log check
 		then
-			hardfault_log reset
+			set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
+			if hardfault_log commit
+			then
+				hardfault_log reset
+			fi
 		fi
 	fi
 fi
@@ -547,6 +572,7 @@ unset PWM_EXTRA_RATE
 unset RC_INPUT_ARGS
 unset SDCARD_AVAILABLE
 unset SDCARD_EXT_PATH
+unset SDCARD_FORMAT
 unset SDCARD_MIXERS_PATH
 unset STARTUP_TUNE
 unset USE_IO
@@ -0,0 +1,88 @@
+#! /usr/bin/env python3
+
+import serial, time
+import subprocess
+from subprocess import call, Popen
+from argparse import ArgumentParser
+import re
+import sys
+import datetime
+
+COLOR_RED    = "\x1b[31m"
+COLOR_GREEN  = "\x1b[32m"
+COLOR_YELLOW = "\x1b[33m"
+COLOR_WHITE  = "\x1b[37m"
+COLOR_RESET  = "\x1b[0m"
+
+def print_line(line):
+    if "WARNING" in line:
+        line = line.replace("WARNING", f"{COLOR_YELLOW}WARNING{COLOR_RESET}", 1)
+    elif "WARN" in line:
+        line = line.replace("WARN", f"{COLOR_YELLOW}WARN{COLOR_RESET}", 1)
+    elif "ERROR" in line:
+        line = line.replace("ERROR", f"{COLOR_RED}ERROR{COLOR_RESET}", 1)
+    elif "INFO" in line:
+        line = line.replace("INFO", f"{COLOR_WHITE}INFO{COLOR_RESET}", 1)
+
+    if "PASSED" in line:
+        line = line.replace("PASSED", f"{COLOR_GREEN}PASSED{COLOR_RESET}", 1)
+
+    if "FAILED" in line:
+        line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
+
+    if "\n" in line:
+        current_time = datetime.datetime.now()
+        print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
+    else:
+        print('{0}'.format(line), end='')
+
+def monitor_firmware_upload(port, baudrate):
+    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=True, rtscts=False, dsrdtr=False)
+
+    # clear
+    ser.readlines()
+
+    ser.write("\nreboot\n".encode("ascii"))
+    ser.flush()
+
+    timeout_reboot_cmd = 30
+    timeout = 300  # 5 minutes
+    timeout_start = time.time()
+    timeout_newline = time.time()
+    time_success = 0
+
+    return_code = 0
+
+    while True:
+        if time.time() > timeout_start + timeout_reboot_cmd:
+            ser.write("reboot\n".encode("ascii"))
+
+        serial_line = ser.readline().decode("ascii", errors='ignore')
+
+        if len(serial_line) > 0:
+            if "ERROR" in serial_line:
+                return_code = -1
+
+            print_line(serial_line)
+
+        if "NuttShell (NSH)" in serial_line:
+            time_success = time.time()
+
+        # wait at least 2 seconds after seeing prompt to catch potential errors
+        if time_success > 0 and time.time() > time_success + 2:
+            sys.exit(return_code)
+
+        if time.time() > timeout_start + timeout:
+            print("Error, timeout")
+            sys.exit(-1)
+
+def main():
+    parser = ArgumentParser(description=__doc__)
+    parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
+    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
+    args = parser.parse_args()
+
+    monitor_firmware_upload(args.device, args.baudrate)
+
+if __name__ == "__main__":
+   main()
@@ -142,9 +142,8 @@ class TestHardwareMethods(unittest.TestCase):
    def test_bson(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))

-    # TODO: review
-    # def test_dataman(self):
-    #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
+    def test_dataman(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))

    # def test_file(self):
    #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "file"))
@@ -0,0 +1,41 @@
+#! /bin/bash
+
+# exit when any command fails
+set -e
+
+DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+
+SERIAL_DEVICE=$1
+
+if [ ! -e "${SERIAL_DEVICE}" ]
+then
+	echo "Invalid serial device ${SERIAL_DEVICE}"
+	exit -1
+fi
+
+# all airframes (from ROMFS/px4fmu_common/init.d/airframes/)
+# $(find . -regex '.*/[0-9].*' -exec basename {} \; | cut -d "_" -f 1)
+ALL_AIRFRAMES=${@:2}
+echo "airframes: ${ALL_AIRFRAMES}"
+
+for airframe in $ALL_AIRFRAMES
+do
+	echo
+	echo "##########################################################################################"
+	echo " Airframe: $airframe"
+	echo "##########################################################################################"
+	echo
+
+	${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name SYS_AUTOSTART  --value $airframe
+	${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name CBRK_BUZZER    --value 782097
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param reset SYS_HITL'
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param save'
+
+	${DIR}/reboot.py --device ${SERIAL_DEVICE}
+
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'ps'
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'work_queue status'
+
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'pwm info'
+
+done
@@ -0,0 +1,470 @@
+#!/usr/bin/env python3
+""" Script to generate actuators.json metadata from module.yaml config file(s)
+"""
+
+import argparse
+import lzma #to create .xz file
+import json
+import os
+import sys
+
+from output_groups_from_timer_config import get_timer_groups, get_output_groups
+
+try:
+    import yaml
+except ImportError as e:
+    print("Failed to import yaml: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user pyyaml")
+    print("")
+    sys.exit(1)
+
+parser = argparse.ArgumentParser(description='Generate actuators.json from module.yaml file(s)')
+
+parser.add_argument('--config-files', type=str, nargs='*', default=[],
+                    help='YAML module config file(s)')
+parser.add_argument('--output-file', type=str, action='store',
+                    help='JSON output file', required=True)
+parser.add_argument('--compress', action='store_true', help='Add a compressed output file')
+parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
+                    help='Verbose Output')
+parser.add_argument('--timer-config', type=str, action='store',
+                    help='board-specific timer_config.cpp file')
+parser.add_argument('--board', type=str, action='store',
+                    help='board name, e.g. ')
+parser.add_argument('--board-with-io', dest='board_with_io', action='store_true',
+                    help='Indicate that the board as an IO for extra PWM',
+                    default=False)
+
+args = parser.parse_args()
+
+compress = args.compress
+verbose = args.verbose
+output_file = args.output_file
+timer_config_file = args.timer_config
+board_with_io = args.board_with_io
+board = args.board
+
+root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../..")
+output_functions_file = os.path.join(root_dir,"src/lib/mixer_module/output_functions.yaml")
+
+def save_compressed(filename):
+    #create lzma compressed version
+    xz_filename=filename+'.xz'
+    with lzma.open(xz_filename, 'wt', preset=9) as f:
+        with open(filename, 'r') as content_file:
+            f.write(content_file.read())
+
+def load_yaml_file(file_name):
+    with open(file_name, 'r') as stream:
+        try:
+            return yaml.safe_load(stream)
+        except yaml.YAMLError as exc:
+            print(exc)
+            raise
+
+# functions
+output_functions_yaml = load_yaml_file(output_functions_file)
+output_functions = output_functions_yaml['functions']
+functions = {}
+
+def add_function(functions, index, name, function_obj=None):
+    functions[index] = {
+        "label": name
+    }
+    if function_obj is not None:
+        if function_obj.get('exclude_from_actuator_testing', False):
+            functions[index]['exclude-from-actuator-testing'] = True
+        if 'note' in function_obj:
+            functions[index]['note'] = function_obj['note']
+
+for group_key in output_functions:
+    group = output_functions[group_key]
+    for function_name in group:
+        function_name_label = function_name.replace('_', ' ')
+        if isinstance(group[function_name], int):
+            add_function(functions, group[function_name], function_name_label)
+        elif not 'count' in group[function_name]:
+            add_function(functions, group[function_name]['start'], function_name_label, group[function_name])
+        else:
+            start = group[function_name]['start']
+            count = group[function_name]['count']
+            for i in range(count):
+                add_function(functions, start+i, function_name_label+' '+str(i+1), group[function_name])
+
+# outputs
+outputs = []
+
+def process_module_name(module_name):
+    if module_name == '${PWM_MAIN_OR_AUX}':
+        if board_with_io: return 'PWM AUX'
+        return 'PWM MAIN'
+    if '${' in module_name:
+        raise Exception('unhandled variable in {:}'.format(module_name))
+    return module_name
+
+def process_param_prefix(param_prefix):
+    if param_prefix == '${PWM_MAIN_OR_AUX}':
+        if board_with_io: return 'PWM_AUX'
+        return 'PWM_MAIN'
+    if '${' in param_prefix:
+        raise Exception('unhandled variable in {:}'.format(param_prefix))
+    return param_prefix
+
+def process_channel_label(module_name, channel_label, no_prefix):
+    if channel_label == '${PWM_MAIN_OR_AUX_CAP}':
+        return 'CAP'
+    if channel_label == '${PWM_MAIN_OR_AUX}':
+        if board_with_io: return 'AUX'
+        return 'MAIN'
+    if '${' in channel_label:
+        raise Exception('unhandled variable in {:}'.format(channel_label))
+    if no_prefix: return channel_label
+    return channel_label
+
+def get_actuator_output(yaml_config, output_functions, timer_config_file, verbose):
+    """ parse the actuator_output section from the yaml config file
+    """
+    if not 'actuator_output' in yaml_config:
+        return None
+
+
+    output_groups = yaml_config['actuator_output']['output_groups']
+    module_name = process_module_name(yaml_config['module_name'])
+    group_idx = 0
+
+    if verbose: print('processing module: {}'.format(module_name))
+
+    actuator_output = {
+            'label': module_name
+        }
+    if 'show_subgroups_if' in yaml_config['actuator_output']:
+        actuator_output['show-subgroups-if'] = yaml_config['actuator_output']['show_subgroups_if']
+
+    # config parameters
+    def get_config_params(param_list):
+        """ convert config parameter list (per group or per subgroup) """
+        parameters = []
+        for config_param in param_list:
+            if verbose:
+                print('config param: {}'.format(config_param))
+            param = {
+                    'name': config_param['param'],
+                }
+            if 'label' in config_param:
+                param['label'] = config_param['label']
+            if 'function' in config_param:
+                param['function'] = config_param['function']
+            parameters.append(param)
+        return parameters
+
+    parameters = get_config_params(yaml_config['actuator_output'].get('config_parameters', []))
+    if len(parameters) > 0:
+        actuator_output['parameters'] = parameters
+
+    subgroups = []
+
+    while group_idx < len(output_groups):
+        group = output_groups[group_idx]
+        group_idx += 1
+
+        if verbose: print("processing group: {:}".format(group))
+
+        # Check for generator and generate additional data.
+        if 'generator' in group:
+            if group['generator'] == 'pwm':
+                param_prefix = process_param_prefix(group['param_prefix'])
+                no_prefix = not group.get('channel_label_module_name_prefix', True)
+                channel_labels = [process_channel_label(module_name, label, no_prefix)
+                    for label in group['channel_labels']]
+                standard_params = group.get('standard_params', [])
+                extra_function_groups = group.get('extra_function_groups', [])
+                pwm_timer_param = group.get('pwm_timer_param', None)
+                if 'timer_config_file' in group:
+                    timer_config_file = os.path.join(root_dir, group['timer_config_file'])
+                if timer_config_file is None:
+                    raise Exception('trying to generate pwm outputs, but --timer-config not set')
+                timer_groups = get_timer_groups(timer_config_file, verbose)
+                timer_output_groups, timer_params = get_output_groups(timer_groups,
+                    param_prefix, channel_labels,
+                    standard_params, extra_function_groups, pwm_timer_param,
+                    verbose=verbose)
+                output_groups.extend(timer_output_groups)
+            else:
+                raise Exception('unknown generator {:}'.format(group['generator']))
+            continue
+        
+        subgroup = {}
+
+        # supported actions
+        if 'supported_actions' in group:
+            actions = {}
+            for action_name in group['supported_actions']:
+                action = group['supported_actions'][action_name]
+                action_name = action_name.replace('_', '-')
+                actions[action_name] = {}
+                if 'supported_if' in action:
+                    actions[action_name]['supported-if'] = action['supported_if']
+                if 'actuator_types' in action:
+                    actions[action_name]['actuator-types'] = action['actuator_types']
+            subgroup['supported-actions'] = actions
+
+        # channels
+        num_channels = group['num_channels']
+        no_prefix = not group.get('channel_label_module_name_prefix', True)
+        channel_label = process_channel_label(module_name, group['channel_label'], no_prefix)
+        instance_start = group.get('instance_start', 1)
+        instance_start_label = group.get('instance_start_label', instance_start)
+        channels = []
+        for channel in range(num_channels):
+            channels.append({
+                'label': channel_label + ' ' +str(channel+instance_start_label),
+                'param-index': channel+instance_start
+                })
+        subgroup['channels'] = channels
+
+        if 'group_label' in group:
+            subgroup['label'] = group['group_label']
+
+
+        # per-channel-params
+        per_channel_params = []
+        param_prefix = process_param_prefix(group['param_prefix'])
+        standard_params = group.get('standard_params', {})
+        standard_params_array = [
+            ( 'function', 'Function', 'FUNC', False ),
+            ( 'disarmed', 'Disarmed', 'DIS', False ),
+            ( 'min', 'Minimum', 'MIN', False ),
+            ( 'max', 'Maximum', 'MAX', False ),
+            ( 'failsafe', 'Failsafe', 'FAIL', True ),
+            ]
+        for key, label, param_suffix, advanced in standard_params_array:
+            show_if = None
+            if key in standard_params and 'show_if' in standard_params[key]:
+                show_if = standard_params[key]['show_if']
+
+            if key in standard_params or key == 'function':
+                param = {
+                        'label': label,
+                        'name': param_prefix+'_'+param_suffix+'${i}',
+                        'function': key,
+                    }
+                if advanced: param['advanced'] = True
+                if show_if: param['show-if'] = show_if
+                per_channel_params.append(param)
+
+        # TODO: support non-standard per-channel parameters
+
+        subgroup['per-channel-parameters'] = per_channel_params
+
+        # group config params
+        parameters = get_config_params(group.get('config_parameters', []))
+        if len(parameters) > 0:
+            subgroup['parameters'] = parameters
+
+        subgroups.append(subgroup)
+
+    actuator_output['subgroups'] = subgroups
+    return actuator_output
+
+# Mixers
+mixers = None
+def get_mixers(yaml_config, output_functions, verbose):
+    if not 'mixer' in yaml_config:
+        return None
+
+    actuator_types = {}
+    for actuator_type_key in yaml_config['mixer']['actuator_types']:
+        actuator_type_conf = yaml_config['mixer']['actuator_types'][actuator_type_key]
+        actuator_type = { }
+        if actuator_type_key != 'DEFAULT':
+            actuator_type['label-index-offset'] = 1 # always 1
+        if 'functions' in actuator_type_conf:
+            function_name = actuator_type_conf['functions']
+            # we expect the function to be in 'common' (this is not a requirement, just simplicity)
+            output_function = output_functions['common'][function_name]
+            actuator_type['function-min'] = output_function['start']
+            actuator_type['function-max'] = output_function['start'] + output_function['count'] - 1
+
+        values = actuator_type_conf['actuator_testing_values']
+        actuator_type['values'] = {
+                'min': values['min'],
+                'max': values['max'],
+            }
+        if values.get('default_is_nan', False):
+            actuator_type['values']['default-is-nan'] = True
+        else:
+            actuator_type['values']['default'] = values['default']
+        if values.get('reversible', False):
+            actuator_type['values']['reversible'] = True
+
+        # per item params
+        per_item_params = []
+        for per_item_param in actuator_type_conf.get('per_item_parameters', []):
+            per_item_params.append({k.replace('_','-'): v for k, v in per_item_param.items()})
+        if len(per_item_params) > 0:
+            actuator_type['per-item-parameters'] = per_item_params
+
+        actuator_types[actuator_type_key] = actuator_type
+
+    if verbose:
+        print('Actuator types: {}'.format(actuator_types))
+
+    config = []
+    yaml_mixer_config = yaml_config['mixer']['config']
+    select_param = yaml_mixer_config['param']
+    types = yaml_mixer_config['types']
+    for type_index in types:
+        current_type = types[type_index]
+        option = select_param + '==' + str(type_index)
+        mixer_config = {
+                'option': option,
+            }
+        if 'type' in current_type:
+            mixer_config['type'] = current_type['type']
+        actuators = []
+        for actuator_conf in current_type['actuators']:
+            actuator = {
+                    'actuator-type': actuator_conf['actuator_type'],
+                    'required': True, # for now always set as required
+                }
+            # sanity check that actuator type exists
+            if actuator_conf['actuator_type'] not in actuator_types:
+                raise Exception('actuator type "{}" does not exist (valid: {})'.format(actuator_conf['actuator_type'], actuator_types.keys()))
+
+            if 'group_label' in actuator_conf:
+                actuator['group-label'] = actuator_conf['group_label']
+            else:
+                # infer from actuator type
+                if actuator_conf['actuator_type'] == 'motor':
+                    actuator['group-label'] = 'Motors'
+                elif actuator_conf['actuator_type'] == 'servo':
+                    actuator['group-label'] = 'Servos'
+                else:
+                    raise Exception('Missing group label for actuator type "{}"'.format(actuator_conf['actuator_type']))
+
+            if 'count' in actuator_conf: # possibly dynamic size
+                actuator['count'] = actuator_conf['count']
+                per_item_params = actuator_conf['per_item_parameters']
+                params = []
+                if 'standard' in per_item_params:
+                    standard_params = per_item_params['standard']
+                    if 'position' in standard_params:
+                        params.extend([
+                        {
+                            'label': 'Position X',
+                            'function': 'posx',
+                            'name': standard_params['position'][0],
+                        },
+                        {
+                            'label': 'Position Y',
+                            'function': 'posy',
+                            'name': standard_params['position'][1],
+                        },
+                        {
+                            'label': 'Position Z',
+                            'function': 'posz',
+                            'name': standard_params['position'][2],
+                            'advanced': True,
+                        },
+                        ])
+                if 'extra' in per_item_params:
+                    for extra_param in per_item_params['extra']:
+                        params.append({k.replace('_','-'): v for k, v in extra_param.items()})
+                actuator['per-item-parameters'] = params
+            else: # fixed size
+                labels = []
+                pos_x = []
+                pos_y = []
+                pos_z = []
+                for instance in actuator_conf['instances']:
+                    labels.append(instance['name'])
+                    pos_x.append(instance['position'][0])
+                    pos_y.append(instance['position'][1])
+                    pos_z.append(instance['position'][2])
+                actuator['count'] = len(labels)
+                actuator['item-label-prefix'] = labels
+                actuator['per-item-parameters'] = [
+                        {
+                            'label': 'Position X',
+                            'function': 'posx',
+                            'value': pos_x,
+                        },
+                        {
+                            'label': 'Position Y',
+                            'function': 'posy',
+                            'value': pos_y,
+                        },
+                        {
+                            'label': 'Position Z',
+                            'function': 'posz',
+                            'value': pos_z,
+                            'advanced': True,
+                        },
+                    ]
+
+            # actuator parameters
+            parameters = []
+            for param in actuator_conf.get('parameters', []):
+                parameters.append({k.replace('_','-'): v for k, v in param.items()})
+            actuator['parameters'] = parameters
+
+            actuators.append(actuator)
+
+        mixer_config['actuators'] = actuators
+        config.append(mixer_config)
+
+    if verbose:
+        print('Mixer configs: {}'.format(config))
+    
+    mixers = {
+            'actuator-types': actuator_types,
+            'config': config,
+        }
+    return mixers
+
+
+for yaml_file in args.config_files:
+    yaml_config = load_yaml_file(yaml_file)
+
+    try:
+        actuator_output = get_actuator_output(yaml_config,
+                output_functions, timer_config_file, verbose)
+        if actuator_output:
+            outputs.append(actuator_output)
+
+        parsed_mixers = get_mixers(yaml_config, output_functions, verbose)
+        if parsed_mixers is not None:
+            if mixers is not None:
+                # only expected to be configured in one module
+                raise Exception('multiple "mixer" sections in module config files')
+            mixers = parsed_mixers
+    except Exception as e:
+        print('Exception while parsing {:}:'.format(yaml_file))
+        raise e
+
+if mixers is None:
+    if len(outputs) > 0:
+        raise Exception('Missing "mixer" section in yaml configs (CONFIG_MODULES_CONTROL_ALLOCATOR not added to the build?)')
+    else:
+        # set a minimal default
+        mixers = {
+                'actuator-types': { 'DEFAULT': { 'values': { 'min': 0, 'max': 1 } } },
+            'config': [],
+            }
+
+actuators = {
+    'version': 1,
+    'show-ui-if': 'SYS_CTRL_ALLOC==1',
+    'outputs_v1': outputs,
+    'functions_v1': functions,
+    'mixer_v1': mixers,
+    }
+
+with open(output_file, 'w') as outfile:
+    indent = 2 if verbose else None
+    json.dump(actuators, outfile, indent=indent)
+
+if compress:
+    save_compressed(output_file)
@@ -1,11 +1,12 @@
 #!/usr/bin/env python3
-""" Script to params from module.yaml config file(s)
+""" Script to generate params from module.yaml config file(s)
    Note: serial params are handled in Tools/serial/generate_config.py
 """

 import argparse
 import os
 import sys
+from copy import deepcopy

 from output_groups_from_timer_config import get_timer_groups, get_output_groups

@@ -49,10 +50,15 @@ board = args.board
 root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../..")
 output_functions_file = os.path.join(root_dir,"src/lib/mixer_module/output_functions.yaml")

+def process_module_name(module_name):
+    if module_name == '${PWM_MAIN_OR_AUX}':
+        if board_with_io: return 'PWM AUX'
+        return 'PWM MAIN'
+    if '${' in module_name:
+        raise Exception('unhandled variable in {:}'.format(module_name))
+    return module_name
+
 def process_param_prefix(param_prefix):
-    if param_prefix == '${PWM_MAIN_OR_HIL}':
-        if board == 'px4_sitl': return 'PWM_MAIN'
-        return 'HIL_ACT'
    if param_prefix == '${PWM_MAIN_OR_AUX}':
        if board_with_io: return 'PWM_AUX'
        return 'PWM_MAIN'
@@ -60,16 +66,16 @@ def process_param_prefix(param_prefix):
        raise Exception('unhandled variable in {:}'.format(param_prefix))
    return param_prefix

-def process_channel_label(channel_label):
-    if channel_label == '${PWM_MAIN_OR_HIL}':
-        if board == 'px4_sitl': return 'PWM Sim'
-        return 'HIL actuator'
+def process_channel_label(module_name, channel_label, no_prefix):
+    if channel_label == '${PWM_MAIN_OR_AUX_CAP}':
+        return 'PWM Capture'
    if channel_label == '${PWM_MAIN_OR_AUX}':
        if board_with_io: return 'PWM Aux'
        return 'PWM Main'
    if '${' in channel_label:
        raise Exception('unhandled variable in {:}'.format(channel_label))
-    return channel_label
+    if no_prefix: return channel_label
+    return module_name + ' ' + channel_label


 def parse_yaml_parameters_config(yaml_config, ethernet_supported):
@@ -144,7 +150,7 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
 */
 PARAM_DEFINE_{param_type}({name}, {default_value});
 '''.format(short_descr=param['description']['short'].replace("\n", "\n * "),
-           long_descr=param['description']['long'].replace("\n", "\n * "),
+           long_descr=param['description'].get('long', "").replace("\n", "\n * "),
           tags=tags,
           param_type=param_type,
           name=param_name.replace('${i}', str(i+instance_start)),
@@ -161,6 +167,7 @@ def get_actuator_output_params(yaml_config, output_functions,
    if not 'actuator_output' in yaml_config:
        return {}
    output_groups = yaml_config['actuator_output']['output_groups']
+    module_name = process_module_name(yaml_config['module_name'])
    all_params = {}
    group_idx = 0

@@ -182,7 +189,9 @@ def get_actuator_output_params(yaml_config, output_functions,
        if 'generator' in group:
            if group['generator'] == 'pwm':
                param_prefix = process_param_prefix(group['param_prefix'])
-                channel_labels = [process_channel_label(label) for label in group['channel_labels']]
+                no_prefix = not group.get('channel_label_module_name_prefix', True)
+                channel_labels = [process_channel_label(module_name, label, no_prefix)
+                    for label in group['channel_labels']]
                standard_params = group.get('standard_params', [])
                extra_function_groups = group.get('extra_function_groups', [])
                pwm_timer_param = group.get('pwm_timer_param', None)
@@ -197,13 +206,29 @@ def get_actuator_output_params(yaml_config, output_functions,
                    verbose=verbose)
                all_params.update(timer_params)
                output_groups.extend(timer_output_groups)
+
+                # In case of a board w/o IO and >8 PWM channels, pwm_out splits
+                # into 2 instances (if SYS_CTRL_ALLOC==0) and we need to add the
+                # PWM_AUX min/max/disarmed params as well.
+                num_channels = len(timer_groups['types'])
+                if not board_with_io and num_channels > 8:
+                    output_groups.append(
+                        {
+                            'param_prefix': 'PWM_AUX',
+                            'channel_label': 'PWM AUX',
+                            'instance_start': 1,
+                            'num_channels': num_channels - 8,
+                            'standard_params': deepcopy(timer_output_groups[0]['standard_params'])
+                        })
+
            else:
                raise Exception('unknown generator {:}'.format(group['generator']))
            continue

        num_channels = group['num_channels']
        param_prefix = process_param_prefix(group['param_prefix'])
-        channel_label = process_channel_label(group['channel_label'])
+        no_prefix = not group.get('channel_label_module_name_prefix', True)
+        channel_label = process_channel_label(module_name, group['channel_label'], no_prefix)
        standard_params = group.get('standard_params', {})
        instance_start = group.get('instance_start', 1)
        instance_start_label = group.get('instance_start_label', instance_start)
@@ -219,6 +244,8 @@ def get_actuator_output_params(yaml_config, output_functions,
                function_name_label = function_name.replace('_', ' ')
                if isinstance(group[function_name], int):
                    output_function_values[group[function_name]] = function_name_label
+                elif not 'count' in group[function_name]:
+                    output_function_values[group[function_name]['start']] = function_name_label
                else:
                    start = group[function_name]['start']
                    count = group[function_name]['count']
@@ -151,6 +151,9 @@ def get_output_groups(timer_groups, param_prefix="PWM_MAIN",

        channel_label = channel_labels[channel_type_idx]
        channel_type_instance = instance_start_label[channel_type_idx]
+        group_label = channel_label + ' ' + str(channel_type_instance)
+        if group_count > 1:
+            group_label += '-' + str(channel_type_instance+group_count-1)
        group = {
            'param_prefix': param_prefix,
            'channel_label': channel_label,
@@ -159,16 +162,39 @@ def get_output_groups(timer_groups, param_prefix="PWM_MAIN",
            'extra_function_groups': deepcopy(extra_function_groups),
            'num_channels': group_count,
            'standard_params': deepcopy(standard_params),
+            'group_label': group_label,
+            'channel_label_module_name_prefix': False,
        }
-        output_groups.append(group)

        if pwm_timer_param is not None:
-            timer_channels_label = channel_label + ' ' + str(channel_type_instance)
-            if group_count > 1:
-                timer_channels_label += '-' + str(channel_type_instance+group_count-1)
            pwm_timer_param_cp = deepcopy(pwm_timer_param)
+            timer_param_name = param_prefix+'_TIM'+str(timer_index)

-            if not dshot_support:
+            group['config_parameters'] = [
+                    {
+                        'param': timer_param_name,
+                        'function': 'primary',
+                    }
+                ]
+
+            if dshot_support:
+                # don't show pwm limit params when dshot enabled
+
+                for standard_param in group['standard_params']:
+                    group['standard_params'][standard_param]['show_if'] = timer_param_name + '>=-1'
+
+                # indicate support for changing motor spin direction
+                group['supported_actions'] = {
+                        'set_spin_direction1': {
+                            'supported_if': timer_param_name + '<-1',
+                            'actuator_types': ['motor']
+                        },
+                        'set_spin_direction2': {
+                            'supported_if': timer_param_name + '<-1',
+                            'actuator_types': ['motor']
+                        },
+                    }
+            else:
                # remove dshot entries if no dshot support
                values = pwm_timer_param_cp['values']
                for key in list(values.keys()):
@@ -178,8 +204,9 @@ def get_output_groups(timer_groups, param_prefix="PWM_MAIN",
            for descr_type in ['short', 'long']:
                descr = pwm_timer_param_cp['description'][descr_type]
                pwm_timer_param_cp['description'][descr_type] = \
-                    descr.replace('${label}', timer_channels_label)
-            timer_params[param_prefix+'_TIM'+str(timer_index)] = pwm_timer_param_cp
+                    descr.replace('${label}', group_label)
+            timer_params[timer_param_name] = pwm_timer_param_cp
+        output_groups.append(group)
        instance_start += group_count
        instance_start_label[channel_type_idx] += group_count
    return (output_groups, timer_params)
@@ -74,6 +74,7 @@ class RCOutput():
        result += "\n"
        result += "if [ ${AIRFRAME} != none ]\n"
        result += "then\n"
+        result += "\techo \"Loading airframe: /etc/init.d/airframes/${AIRFRAME}\"\n"
        result += "\t. /etc/init.d/airframes/${AIRFRAME}\n"
        if not post_start:
            result += "else\n"
@@ -136,7 +136,6 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		genromfs \
 		gettext \
 		gperf \
-		kconfig-frontends \
 		libelf-dev \
 		libexpat-dev \
 		libgmp-dev \
@@ -154,6 +153,12 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		util-linux \
 		vim-common \
 		;
+	if [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
+		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+		kconfig-frontends \
+		;
+	fi
+

 	if [ -n "$USER" ]; then
 		# add user to dialout group (serial port access)
@@ -5,6 +5,7 @@ https://json-schema.org/"""
 import argparse
 import sys
 import json
+import os

 try:
    from jsonschema import validate
@@ -21,6 +22,8 @@ parser = argparse.ArgumentParser(description='Validate JSON file(s) against a sc
 parser.add_argument('json_file', nargs='+', help='JSON config file(s)')
 parser.add_argument('--schema-file', type=str, action='store',
                    help='JSON schema file', required=True)
+parser.add_argument('--skip-if-no-schema', dest='skip_if_no_schema', action='store_true',
+                    help='Skip test if schema file does not exist')
 parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
                    help='Verbose Output')

@@ -29,6 +32,9 @@ schema_file = args.schema_file
 json_files = args.json_file
 verbose = args.verbose

+if args.skip_if_no_schema and not os.path.isfile(schema_file):
+    sys.exit(0)
+
 # load the schema
 with open(schema_file, 'r') as stream:
    schema = json.load(stream)
@@ -65,6 +65,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -76,6 +77,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -24,12 +24,14 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIH=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -87,6 +87,7 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -62,6 +62,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -73,6 +74,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -94,6 +94,7 @@ CONFIG_LIBC_STRERROR=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -46,6 +46,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -27,6 +27,7 @@ CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
@@ -27,6 +27,7 @@ CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
@@ -69,6 +69,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -78,6 +79,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -87,6 +87,7 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -70,6 +70,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -79,6 +80,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -87,6 +87,7 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -65,6 +65,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -74,6 +75,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -88,6 +88,7 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -87,6 +87,7 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -65,6 +65,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -76,6 +77,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -88,6 +88,7 @@ CONFIG_LIBC_STRERROR=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -47,6 +47,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -61,6 +61,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -70,6 +71,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -88,6 +88,7 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -9,7 +9,7 @@ CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_GPS=n
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
@@ -33,13 +33,12 @@ CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=n
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MIXER=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PWM=y
-CONFIG_SYSTEMCMDS_REBOOT=y
@@ -90,6 +90,7 @@ CONFIG_LIBC_STRERROR=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MM_REGIONS=3
 CONFIG_MTD=y
@@ -70,6 +70,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -81,6 +82,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -87,6 +87,7 @@ CONFIG_LIBC_STRERROR=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -47,12 +47,14 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -86,6 +86,7 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -65,6 +65,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -76,6 +77,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -86,6 +86,7 @@ CONFIG_LIBC_STRERROR=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -63,6 +63,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -72,6 +73,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -89,6 +89,7 @@ CONFIG_LIBC_STRERROR=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -63,6 +63,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -74,6 +75,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -86,6 +86,7 @@ CONFIG_LIBC_STRERROR=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -63,6 +63,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -74,6 +75,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -86,6 +86,7 @@ CONFIG_LIBC_STRERROR=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -62,6 +62,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -73,6 +74,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -89,6 +89,7 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -63,6 +63,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -74,6 +75,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -89,6 +89,7 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -61,6 +61,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -72,6 +73,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -87,6 +87,7 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -64,6 +64,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -75,6 +76,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -86,6 +86,7 @@ CONFIG_LIBC_STRERROR=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -65,6 +65,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -76,6 +77,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -65,6 +65,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -69,6 +69,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -43,6 +43,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
@@ -8,6 +8,7 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_UAVCANNODE_GPS_DEMO=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
@@ -1,6 +1,7 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
+CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_URT6="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
@@ -10,7 +11,6 @@ CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
-CONFIG_DRIVERS_LIGHTS_RGBLED=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -19,15 +19,14 @@ CONFIG_DRIVERS_TELEMETRY_FRSKY_TELEMETRY=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOGGER=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
@@ -37,26 +36,18 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_DUMPFILE=y
-CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_PWM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_REFLECT=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
-CONFIG_SYSTEMCMDS_SD_STRESS=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
 CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -19,23 +19,20 @@ CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LOGGER=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
@@ -47,5 +44,4 @@ CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PWM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
@@ -3,14 +3,14 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_POS_CONTROL_L1=n
 CONFIG_SYSTEMCMDS_BL_UPDATE=n
-CONFIG_DRIVERS_CAMERA_CAPTURE=y
-CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CAMERA_CAPTURE=n
+CONFIG_DRIVERS_CAMERA_TRIGGER=n
 CONFIG_DRIVERS_DISTANCE_SENSOR_CM8JL65=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LEDDAR_ONE=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_TFMINI=y
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
@@ -161,7 +161,7 @@ __EXPORT void board_on_reset(int status)
 		up_mdelay(400);

 		/* on reboot (status >= 0) reset sensors and peripherals */
-		board_spi_reset(10, 0xffff);
+		board_control_spi_sensors_power(false, 0xffff);
 	}
 }

@@ -1,4 +1,5 @@
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525=n
+CONFIG_DRIVERS_GPS=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_EKF2=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
@@ -68,6 +68,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -79,6 +80,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -161,7 +161,7 @@ __EXPORT void board_on_reset(int status)
 		up_mdelay(400);

 		/* on reboot (status >= 0) reset sensors and peripherals */
-		board_spi_reset(10, 0xffff);
+		board_control_spi_sensors_power(false, 0xffff);
 	}
 }

@@ -69,6 +69,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -80,6 +81,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -66,6 +66,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -77,6 +78,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -82,6 +82,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -89,6 +89,7 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -64,16 +64,12 @@ CONFIG_DEBUG_DMA_WARN=y
 CONFIG_DEBUG_ERROR=y
 CONFIG_DEBUG_FEATURES=y
 CONFIG_DEBUG_FS=y
-CONFIG_DEBUG_FS_ERROR=y
 CONFIG_DEBUG_FS_WARN=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_GPIO=y
 CONFIG_DEBUG_GPIO_ERROR=y
 CONFIG_DEBUG_GPIO_WARN=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_I2C=y
-CONFIG_DEBUG_I2C_ERROR=y
-CONFIG_DEBUG_I2C_WARN=y
 CONFIG_DEBUG_IRQ=y
 CONFIG_DEBUG_IRQ_ERROR=y
 CONFIG_DEBUG_IRQ_WARN=y
@@ -140,6 +136,7 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -87,6 +87,7 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -88,6 +88,7 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -89,6 +89,7 @@ CONFIG_LIBC_STRERROR=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -73,6 +73,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -82,6 +83,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -73,6 +73,7 @@ CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -90,9 +91,9 @@ CONFIG_IPCFG_PATH="/fs/mtd_net"
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -93,6 +93,7 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -65,6 +65,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -74,6 +75,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -89,6 +89,7 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -61,6 +61,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -70,6 +71,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -94,6 +94,7 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -46,6 +46,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -45,6 +45,7 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_FAILURE=y
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Daniel Agar	263d2d6e2b	mc_rate_control: RateControl inline simple getters/setters - these are typically called on every iteration	2021-11-26 09:29:21 -05:00
Silvan Fuhrer	42845d6c6e	SITL configs VTOL/plane: improve SITL tuning a bit remvoe some tecs params from configs that acutally lead to worse performance than defaults Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-11-26 09:24:23 -05:00
Silvan Fuhrer	3a9eef658c	Commander: remove preflight check for transition switch This check enforced setting a VTOL transition switch if an RC as used on a VTOL. It comes from a time when the only way to transtion was through the RC switch, whereas now we have also a mavlink message in place for it, so enforcing it is no longer needed. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-11-26 11:37:40 +01:00
Daniel Agar	fc1aaa58b2	sensors/vehicle_angular_velocity: fallback sensor selection improvements - avoid unnecessary filter reset on parameter update - additional minor optimizations (precomputing dt inverse, etc) - moving filter reset check and dynamic notch filter update checks out of the update loops - this were necessary previously when the scale factor wasn't applied prior to filtering the otherwise raw data	2021-11-25 22:44:05 -05:00
PX4 BuildBot	2dffb04d61	Update submodule libevents to latest Fri Nov 26 00:39:17 UTC 2021 - libevents in PX4/Firmware (239f1c4eadc57f12b43b57d704bb80bc07a07841): https://github.com/mavlink/libevents/commit/5fd19be22dcbeaccb8afeba146f3a7c931a9b5fb - libevents current upstream: https://github.com/mavlink/libevents/commit/6329c909a7b16bb6f97c94cbb598815635b94982 - Changes: https://github.com/mavlink/libevents/compare/5fd19be22dcbeaccb8afeba146f3a7c931a9b5fb...6329c909a7b16bb6f97c94cbb598815635b94982 6329c90 2021-11-16 Beat Küng - python: pylint fixes 6251f65 2021-11-16 Beat Küng - events_generated.h.jinja: add '_max' field to generated enums	2021-11-25 21:37:59 -05:00
PX4 BuildBot	ffc52cc2fc	Update submodule mavlink to latest Fri Nov 26 00:39:19 UTC 2021 - mavlink in PX4/Firmware (2328402f99b8f8931e4148d033e0b9361407d485): https://github.com/mavlink/mavlink/commit/5309ba449a3dc6d7ad84fa7ebeb6deee040e4a04 - mavlink current upstream: https://github.com/mavlink/mavlink/commit/28163a3b39ae6787e7f1fae9e23feef32506a1c4 - Changes: https://github.com/mavlink/mavlink/compare/5309ba449a3dc6d7ad84fa7ebeb6deee040e4a04...28163a3b39ae6787e7f1fae9e23feef32506a1c4 28163a3b 2021-11-25 Julian Oes - dev: add new message for component capability (#1724) 5534f76b 2021-11-24 olliw42 - adding some missing MAV_TYPEs (#1679)	2021-11-25 21:37:14 -05:00
Daniel Agar	51da169ccb	cmake: nuttx apps build depend .c and .h files	2021-11-25 17:24:23 -05:00
Daniel Agar	bf3f7da0a2	Jenkins: hardware restore tests file	2021-11-25 13:11:45 -05:00
Daniel Agar	7d985ec7c5	NuttX with Backports for SD fixes	2021-11-25 13:11:45 -05:00
Daniel Agar	c049c26ac5	ROMFS: rcS attempt to format SD if .format file exists	2021-11-25 13:11:45 -05:00
Daniel Agar	585fa12209	Jenkins HIL improve SD testing	2021-11-25 13:11:45 -05:00
David Sidrane	58a9bf0b2e	sd_bench:Add verify and keep options	2021-11-25 13:11:45 -05:00
Thomas Stastny	8defbc8829	update correct airsp scale param string in ekf2	2021-11-25 11:01:04 -05:00
Matthias Grob	c5fb68b7a1	Commander: force disabling the arm stick gesture when arm switch is in use	2021-11-25 07:56:35 +01:00
David Sidrane	e76dda545c	hardfault_log:Fix formatting	2021-11-24 15:00:38 -05:00
Sander Swart	462b572172	Fixed mavlink_ftp read Instead of always reading the max data length, it now properly respects the requested amount of bytes (as per documentation)	2021-11-24 17:51:29 +01:00
David Sidrane	8e3ee9f6cd	omnibus_f4sd:Fit in Flash added No Help	2021-11-24 09:46:23 -05:00
David Sidrane	b1b948f4bc	modalai_fc-v2:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32	2021-11-24 09:46:23 -05:00
David Sidrane	6327953fe9	modalai_fc-v1:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32	2021-11-24 09:46:23 -05:00
David Sidrane	83885b0304	cuav_x7pro:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32	2021-11-24 09:46:23 -05:00
David Sidrane	48b617ee5e	cuav_nora:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32	2021-11-24 09:46:23 -05:00
David Sidrane	2fb615d7e2	holybro_kakutef7:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32	2021-11-24 09:46:23 -05:00
David Sidrane	04df95436d	holybro_pix32v5:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32	2021-11-24 09:46:23 -05:00
David Sidrane	c4ccde51df	holybro_durandal-v1:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32	2021-11-24 09:46:23 -05:00
David Sidrane	daa1d76909	spracing_h7extreme:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32	2021-11-24 09:46:23 -05:00
David Sidrane	1922310404	matek_h743-slim:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32	2021-11-24 09:46:23 -05:00
David Sidrane	5b30d1cd41	av_x-v1:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32	2021-11-24 09:46:23 -05:00
David Sidrane	d30ef0cac8	atl_mantis-edu:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32	2021-11-24 09:46:23 -05:00
David Sidrane	511e87f966	mro_ctrl-zero-f7-oem:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32	2021-11-24 09:46:23 -05:00
David Sidrane	2799a7f436	mro_x21-777:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32	2021-11-24 09:46:23 -05:00
David Sidrane	5ff96fc77e	mro_ctrl-zero-h7-oem:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32	2021-11-24 09:46:23 -05:00
David Sidrane	a097cb11cd	mro_pixracerpro:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32	2021-11-24 09:46:23 -05:00
David Sidrane	0d203deb34	mro_ctrl-zero-f7:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32	2021-11-24 09:46:23 -05:00
David Sidrane	376e78b801	mro_ctrl-zero-h7:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32	2021-11-24 09:46:23 -05:00
David Sidrane	bbe0ed8646	cubepilot_cubeyellow:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32	2021-11-24 09:46:23 -05:00
David Sidrane	e34aacd520	cubepilot_cubeorange:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32	2021-11-24 09:46:23 -05:00
David Sidrane	228a0ac5ed	px4_fmu-v6u:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32	2021-11-24 09:46:23 -05:00
David Sidrane	3f67ece322	px4_fmu-v5:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32	2021-11-24 09:46:23 -05:00
David Sidrane	53b579a79d	px4_fmu-v5x:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32	2021-11-24 09:46:23 -05:00
David Sidrane	c391d6793c	px4_fmu-v6x:Set CONFIG_MKFATFS_BUFFER_ALIGMENT=32	2021-11-24 09:46:23 -05:00
David Sidrane	3cf901b29c	NuttX Apps with backport CONFIG_MKFATFS_BUFFER_ALIGMENT	2021-11-24 09:46:23 -05:00
Matthias Grob	ea3b99e964	navigator: Remove deprecated RangeRTL unit tests	2021-11-24 14:10:24 +01:00
Matthias Grob	c522a8b15a	Compute RTL time and react if lower than flight time - Compute RTL time also during RTL - Calculate correct altitude when finding destination	2021-11-24 14:10:24 +01:00
Matthias Grob	5489005e0b	Commander: call battery_status_check on update instead of early return	2021-11-24 14:10:24 +01:00
Beat Küng	5bec3004c3	omnibus/f4sd: disable RGBLED to reduce flash	2021-11-24 11:41:33 +01:00
Jukka Laitinen	5dbbddb13f	EKF2: Use _distance_sensor_subs vector directly Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2021-11-24 09:11:45 +01:00
Jukka Laitinen	b66270f8a8	Inline uORBDeviceNode::copy for performance improvement Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2021-11-24 09:11:45 +01:00
Jukka Laitinen	3f884c5d24	Inline deviceNodeExists and getDeviceNode in uORB DeviceMaster This gives a small performance improvement Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2021-11-24 09:11:45 +01:00
Jukka Laitinen	d9498ade32	EKF2: Allocate distance sensor subscriptions as member variables Just create the subscriptions and keep them, instead of re-creating them continuously Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2021-11-24 09:11:45 +01:00
Jukka Laitinen	bb307cd462	Fix comparing orb_metadata in uORB::DeviceNode::publish Don't compare pointers to metadata, but the metadata contents. In protected/kernel build there are two sets of metadata, on on kernel side and another in user side. Thus the comparison of pointers would just always fail. Compare orb_id instead Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2021-11-24 09:11:45 +01:00
Jukka Laitinen	0b9505453d	Clean up interfaces towards uORB Proxy all calls to the DeviceNode through Manager; - This hides the DeviceNode from publishers and subscribers - Manager can be made an interface class between user and kernel spaces in protected build - This doesn't increase code size or harm the performance on flat build Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2021-11-24 09:11:45 +01:00
Beat Küng	99d3b2a4e4	omnibus/f4sd: disable modules to reduce flash	2021-11-23 12:40:22 -05:00
Beat Küng	db2a1e5fee	px4/fmu-v2: disable modules to reduce flash	2021-11-23 12:40:22 -05:00
Beat Küng	950767f1af	holybro/kakutefy: disable modules to reduce flash	2021-11-23 12:40:22 -05:00
Beat Küng	4c03def6e9	boards: add CONTROL_ALLOCATOR + ACTUATOR_TEST	2021-11-23 12:40:22 -05:00
Beat Küng	312d84ca23	metadata: run json schema validation for actuators + parameter metadata	2021-11-23 12:40:22 -05:00
Beat Küng	2809dd8944	control_allocator: remove min/max/scale params	2021-11-23 12:40:22 -05:00
Beat Küng	b29d9db7f1	control_allocator: limit status publication rate to 200Hz Reduces CPU load by ~3.5% on F4 @2khz. And compute getAllocatedControl as needed (~1.5% CPU reduction)	2021-11-23 12:40:22 -05:00
Beat Küng	93a54ee63d	metadata: fix generic param metadata generation Adds the module.yaml params that was previously split into a separate file.	2021-11-23 12:40:22 -05:00
Beat Küng	bcba3dfe52	control_allocator,angular_velocity_controller: run on rate_ctrl wq	2021-11-23 12:40:22 -05:00
Beat Küng	a0e43bca96	msg: remove unused vehicle_actuator_setpoint topic	2021-11-23 12:40:22 -05:00
Beat Küng	52a2ef34fd	mixer_module: add THR_MDL_FAC for SYS_CTRL_ALLOC=1	2021-11-23 12:40:22 -05:00
Beat Küng	357a16aca6	pwm_out_sim: split module.yaml into HIL+SIM files	2021-11-23 12:40:22 -05:00
Beat Küng	b94c5db55d	component_information: add actuators json generation & CI deployment	2021-11-23 12:40:22 -05:00
Beat Küng	70b1b19902	uavcan: add configuration parameter to actuator metadata	2021-11-23 12:40:22 -05:00
Beat Küng	19b89e1d35	output_functions: add notes to camera trigger + capture & exclude from testing	2021-11-23 12:40:22 -05:00
Beat Küng	4346ac4a37	control_allocator: add mixer metadata	2021-11-23 12:40:22 -05:00
Beat Küng	282d35bbf0	esc_calibration: handle SYS_CTRL_ALLOC==1	2021-11-23 12:40:22 -05:00
Beat Küng	490a2cd7ae	dshot: handle VEHICLE_CMD_CONFIGURE_ACTUATOR	2021-11-23 12:40:22 -05:00
Beat Küng	21699935e8	vehicle_command: add VEHICLE_CMD_ACTUATOR_TEST and VEHICLE_CMD_CONFIGURE_ACTUATOR	2021-11-23 12:40:22 -05:00
Beat Küng	6fdcc43ea8	mixer_module: add testing for SYS_CTRL_ALLOC=1 with actuator_test cmd+uorb msg	2021-11-23 12:40:22 -05:00
Beat Küng	36296794c8	module config: add generate_actuators_metadata.py script	2021-11-23 12:40:22 -05:00
Beat Küng	36d9635518	output_functions.yaml: allow single-instance entry with 'start' but no 'count' for other additional data	2021-11-23 12:40:22 -05:00
Beat Küng	5d6e785a4b	mixer_module: remove unneeded test_motor_s force init	2021-11-23 12:40:22 -05:00
Beat Küng	f99c2617ad	control_allocator: add module.yaml, add CA_MC_R_COUNT param & update defaults	2021-11-23 12:40:22 -05:00
Beat Küng	dbc889a2ae	rc.mc_apps: remove 'param set MPC_USE_HTE 0' for control allocation this is working now	2021-11-23 12:40:22 -05:00
Beat Küng	2ff6baa250	actuator params: use module_name as prefix to channel label	2021-11-23 12:40:22 -05:00
Beat Küng	6537f480b1	module.yaml: make long param description optional Some params are very simple and don't need more.	2021-11-23 12:40:22 -05:00
Daniel Agar	1b7f4b6003	Jenkins HIL test loading all airframes	2021-11-23 12:38:41 -05:00
Matthias Grob	0153c870d2	Commander: make sure yaw airmode is not possible while arm gesture is enabled It's unsafe to arm with the gesture when yaw airmode is enabled because e.g. in Stabilized mode that results in a high yawrate setpoint that the drone tries to follow even with zero thrust because of the airmode. It was handled before by checking the arm switch parameter because that used to disable the stick arm gesture. See `24dc316973`	2021-11-23 16:03:46 +01:00
Matthias Grob	572890f8c0	ManualControl: add parameter to disable arm/disarm stick gesture	2021-11-23 16:03:46 +01:00
Matthias Grob	468022abba	ManualControl: correct arm hysteresis parameter name	2021-11-23 16:03:46 +01:00
Matthias Grob	c84b1c6566	ManualControl: ignore unassigned mode slots They were resulting in a message "Switching to Unkown is currently not available".	2021-11-23 16:03:46 +01:00
Jaeyoung-Lim	af7fa63480	Remove kconfig-frontends installation from setup.sh	2021-11-23 15:17:00 +01:00
Silvan Fuhrer	e596607e2e	minor comments update Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-11-23 14:48:51 +01:00
Daniel Agar	7ff72304b4	sensors/vehicle_imu: improve disabled sensor handling - remove regular callback scheduling when sensor is disabled, register if re-enabled	2021-11-22 21:10:35 -05:00
Daniel Agar	3140bf167c	NuttX submodule update with work_usrthread.c fixes	2021-11-22 17:41:49 -05:00
Daniel Agar	1c6b1f7554	pwm_out: parameter failure error messages	2021-11-22 11:27:45 -05:00
Daniel Agar	c95dbfd7ac	boards: px4_fmu-v5_debug disable debug fs errors	2021-11-22 11:27:45 -05:00
Daniel Agar	c2cbf74351	vscode: cmake variants add px4_fmu-v5_debug for convenient debugging	2021-11-22 11:27:45 -05:00
Daniel Agar	577d926639	commander: improve angular velocity validity and message	2021-11-22 11:27:45 -05:00
Daniel Agar	f058cbd0e0	boards: px4_fmu-v5_debug disable CONFIG_DEBUG_I2C	2021-11-22 11:27:45 -05:00
Daniel Agar	25846f48c4	boards: px4_fmu-v2/v3 use SPI bus power off rather than full reset	2021-11-22 11:27:45 -05:00
Daniel Agar	c4de9f67a1	Jenkins: HIL add simple reboot script that fails on any ERROR	2021-11-22 11:27:45 -05:00
PX4 BuildBot	643002bd86	Update submodule sitl_gazebo to latest Mon Nov 22 12:39:01 UTC 2021 - sitl_gazebo in PX4/Firmware (`c73028bb1b`): https://github.com/PX4/PX4-SITL_gazebo/commit/607aa4d990ff20b4f8a3a714043d116cf191f8b6 - sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/60d6844e17919e8d57aafb3a0c25064df920cfc3 - Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/607aa4d990ff20b4f8a3a714043d116cf191f8b6...60d6844e17919e8d57aafb3a0c25064df920cfc3 60d6844 2021-11-16 wangwwno1 - Format: Remove extra spaces e233c6d 2021-11-16 wangwwno1 - Enhance: fuse accel rotation e8a7f89 2021-11-16 wangwwno1 - Fix: convert accel frame to local NED	2021-11-22 09:12:23 -05:00
PX4 BuildBot	88d9ade4d7	Update submodule mavlink to latest Mon Nov 22 12:39:21 UTC 2021 - mavlink in PX4/Firmware (0e4e8162407a12dc09c8d17635c60d4036b81bc7): https://github.com/mavlink/mavlink/commit/c3a4b52eb1ac6e8053d64a6a8b6ade887d4fa2d2 - mavlink current upstream: https://github.com/mavlink/mavlink/commit/5309ba449a3dc6d7ad84fa7ebeb6deee040e4a04 - Changes: https://github.com/mavlink/mavlink/compare/c3a4b52eb1ac6e8053d64a6a8b6ade887d4fa2d2...5309ba449a3dc6d7ad84fa7ebeb6deee040e4a04 5309ba44 2021-11-18 Hamish Willee - Remove backticks - these do not render as a style so not helpful (#1745) 9cac0e5a 2021-11-17 David Jablonski - docs: catch more hyperlinks (#1744) ea9349b5 2021-11-16 David Jablonski - common: add SET_FOCUS_TYPE_AUTO (#1741)	2021-11-22 09:08:50 -05:00
Daniel Agar	8fc3b05491	mavlink: param_get proper type to silence errors	2021-11-22 09:08:38 -05:00
Daniel Agar	cbb743c64d	parameters: param type checking use PX4_ERR and enable in PX4_SITL	2021-11-22 09:08:25 -05:00
Beat Küng	7faaad79d0	generate_params.py: add PWM_AUX_* for boards w/o IO and >8 channels	2021-11-22 09:07:23 -05:00
Igor Mišić	c73028bb1b	iridiumsbd: discard all pending data for flow control enabled	2021-11-22 11:46:15 +01:00
Daniel Agar	7653bd1757	cmake fix NuttX config import for 0 values	2021-11-21 12:33:29 -05:00
wangwwno1	7a1a4ea7a6	Format fix & Remove redundant lines	2021-11-20 16:13:46 +01:00
wangwwno1	51ce8306ee	Remove redundant code out of hil_lpos	2021-11-20 16:13:46 +01:00
wangwwno1	b2c5919d29	Update src/modules/simulator/simulator_mavlink.cpp Co-authored-by: JaeyoungLim <jalim@ethz.ch>	2021-11-20 16:13:46 +01:00
wangwwno1	160fec5f25	Update simulator_mavlink.cpp	2021-11-20 16:13:46 +01:00
wangwwno1	6e2060ddb6	Add accel to vehicle_local_position_groundtruth Related Issue: #18527 According to [this doc](https://github.com/mavlink/c_library_v2/blob/92b1a43468e8737da2d4cc1e72304e6443dcfdd3/common/mavlink_msg_hil_state_quaternion.h#L102), the *acc value are mili-Gee, so multiply the value with `CONSTANT_ONE_G/1000.0f` would get the acceleration in `m/s`.	2021-11-20 16:13:46 +01:00
Daniel Agar	505f963dd0	mavlink: receiver fix SENS_FLOW_ROT type	2021-11-19 21:08:04 -05:00