WIP: enable -Wfloat-conversion everywhere

.ci/Jenkinsfile-compile

@@ -59,7 +59,6 @@ pipeline {
                      "holybro_durandal-v1_default",
                      "holybro_kakutef7_default",
                      "holybro_pix32v5_default",
-                     "matek_h743-slim",
                      "modalai_fc-v1_default",
                      "modalai_fc-v1_rtps",
                      "modalai_fc-v2_default",
@@ -80,7 +79,6 @@ pipeline {
                      "nxp_ucans32k146_canbootloader",
                      "nxp_ucans32k146_default",
                      "omnibus_f4sd_default",
-                     "raspberrypi_pico_default",
                      "px4_fmu-v2_default",
                      "px4_fmu-v2_fixedwing",
                      "px4_fmu-v2_multicopter",
@@ -88,6 +86,7 @@ pipeline {
                      "px4_fmu-v3_default",
                      "px4_fmu-v4_default",
                      "px4_fmu-v4pro_default",
+                     "px4_fmu-v5_ctrlalloc",
                      "px4_fmu-v5_debug",
                      "px4_fmu-v5_default",
                      "px4_fmu-v5_rtps",

.ci/Jenkinsfile-hardware

@@ -18,10 +18,10 @@ pipeline {
               }
               steps {
                 checkoutSCM()
-                sh 'make cubepilot_cubeorange_bootloader'
                 sh 'make cubepilot_cubeorange_test'
+                sh 'make cubepilot_cubeorange_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
               }
               post {
                 always {
@@ -39,7 +39,7 @@ pipeline {
                     sh 'export'
                     sh 'find /dev/serial'
                     unstash 'cubepilot_cubeorange_test'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_bootloader/cubepilot_cubeorange_bootloader.elf'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_bootloader.elf'
                     // flash board and watch bootup
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
@@ -70,7 +70,6 @@ pipeline {
               }
               post {
                 always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
                     resetBoard()
                 }
               }
@@ -89,10 +88,10 @@ pipeline {
               }
               steps {
                 checkoutSCM()
-                sh 'make cuav_x7pro_bootloader'
                 sh 'make cuav_x7pro_test'
+                sh 'make cuav_x7pro_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cuav_x7pro_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cuav_x7pro_test'
               }
               post {
                 always {
@@ -110,7 +109,7 @@ pipeline {
                     sh 'export'
                     sh 'find /dev/serial'
                     unstash 'cuav_x7pro_test'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_bootloader/cuav_x7pro_bootloader.elf'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_bootloader.elf'
                     // flash board and watch bootup
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
@@ -139,7 +138,6 @@ pipeline {
               }
               post {
                 always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
                     resetBoard()
                 }
               }
@@ -161,7 +159,7 @@ 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/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
               }
               post {
                 always {
@@ -208,7 +206,6 @@ pipeline {
               }
               post {
                 always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
                     resetBoard()
                 }
               }
@@ -230,7 +227,7 @@ 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/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
               }
               post {
                 always {
@@ -276,7 +273,6 @@ pipeline {
               }
               post {
                 always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
                     resetBoard()
                 }
               }
@@ -298,7 +294,7 @@ 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/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
               }
               post {
                 always {
@@ -345,7 +341,6 @@ pipeline {
               }
               post {
                 always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
                     resetBoard()
                 }
               }
@@ -367,7 +362,7 @@ 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/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_debug'
               }
               post {
                 always {
@@ -399,19 +394,7 @@ pipeline {
                   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 "work_queue status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress" || true'
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" || true'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench" || true'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u" || true'
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress" || true'
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on" || true'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status" || true'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench" || true'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status" || true'
-
+                    //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 "uorb_tests"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
                   }
@@ -437,7 +420,6 @@ pipeline {
               }
               post {
                 always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
                     resetBoard()
                 }
               }
@@ -459,7 +441,7 @@ 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/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_stackcheck'
               }
               post {
                 always {
@@ -516,7 +498,6 @@ pipeline {
               }
               post {
                 always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
                     resetBoard()
                 }
               }
@@ -538,7 +519,7 @@ 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/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
               }
               post {
                 always {
@@ -585,7 +566,6 @@ pipeline {
               }
               post {
                 always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
                     resetBoard()
                 }
               }
@@ -593,6 +573,73 @@ pipeline {
           }
         }
 
+        // stage("modalai_fc-v1_test") {
+        //   stages {
+        //     stage("build modalai_fc-v1_test") {
+        //       agent {
+        //         docker {
+        //           image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+        //           args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+        //         }
+        //       }
+        //       steps {
+        //         checkout scm
+        //         sh 'export'
+        //         sh 'make distclean'
+        //         sh 'ccache -s'
+        //         sh 'git fetch --tags'
+        //         sh 'make modalai_fc-v1_test'
+        //         sh 'make modalai_fc-v1_test bootloader_elf'
+        //         sh 'ccache -s'
+        //         stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_test'
+        //       }
+        //       post {
+        //         always {
+        //             sh 'make distclean'
+        //         }
+        //       }
+        //     } // stage build
+        //     stage("hardware") {
+        //       agent {
+        //         label 'modalai_fc-v1'
+        //       }
+        //       stages {
+        //         stage("flash") {
+        //           steps {
+        //             sh 'export'
+        //             sh 'find /dev/serial'
+        //             unstash 'modalai_fc-v1_test'
+        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_bootloader.elf'
+        //             // flash board and watch bootup
+        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+        //           }
+        //         }
+        //         stage("tests") {
+        //           steps {
+        //             runTests()
+        //           }
+        //         }
+        //         stage("status") {
+        //           steps {
+        //             // configure
+        //             resetParameters()
+        //             sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
+        //             sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+        //             checkStatus()
+        //             quickCalibrate()
+        //           }
+        //         }
+        //         stage("print topics") {
+        //           steps {
+        //             printTopics()
+        //           }
+        //         }
+
+        //       }
+        //     } // stage test
+        //   }
+        // }
+
         stage("nxp_fmuk66-v3_test") {
           stages {
             stage("build nxp_fmuk66-v3_test") {
@@ -607,7 +654,7 @@ 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/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
               }
               post {
                 always {
@@ -654,7 +701,6 @@ pipeline {
               }
               post {
                 always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
                     resetBoard()
                 }
               }
@@ -688,26 +734,12 @@ void checkoutSCM() {
 }
 
 void quickCalibrate() {
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick; sleep 1; param show CAL_ACC*"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro; sleep 1; param show CAL_GYRO*"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level; sleep 1; param show SENS_BOARD*"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick; sleep 1; param show CAL_MAG*"'
 
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters before
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status || true"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_ACC*"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_GYRO*"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SENS*"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_MAG*"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters after
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status; param show CAL_GYRO*"'
 }
 
 void checkStatus() {
@@ -779,17 +811,6 @@ void runTests() {
   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"'
 
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u" || true'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress" || true'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status" || true'
-
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'
@@ -810,7 +831,6 @@ void runTests() {
 
   //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
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'
 
@@ -925,10 +945,6 @@ 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'

.clang-tidy

@@ -74,7 +74,6 @@ Checks:          '*,
                   -modernize-deprecated-headers,
                   -modernize-loop-convert,
                   -modernize-pass-by-value,
-                  -modernize-raw-string-literal,
                   -modernize-return-braced-init-list,
                   -modernize-use-auto,
                   -modernize-use-bool-literals,
@@ -82,7 +81,6 @@ Checks:          '*,
                   -modernize-use-equals-default,
                   -modernize-use-equals-delete,
                   -modernize-use-override,
-                  -modernize-use-trailing-return-type,
                   -modernize-use-using,
                   -performance-inefficient-string-concatenation,
                   -readability-avoid-const-params-in-decls,

.github/workflows/compile_linux.yml

@@ -43,7 +43,7 @@ jobs:
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
           echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "max_size = 40M" >> ~/.ccache/ccache.conf
           echo "hash_dir = false" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z

.github/workflows/compile_linux_arm64.yml

@@ -40,7 +40,7 @@ jobs:
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
           echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "max_size = 40M" >> ~/.ccache/ccache.conf
           echo "hash_dir = false" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z

.github/workflows/compile_nuttx.yml

@@ -13,7 +13,6 @@ jobs:
     runs-on: ubuntu-latest
     container: px4io/px4-dev-nuttx-focal:2021-09-08
     strategy:
-      fail-fast: false
       matrix:
         config: [
           airmind_mindpx-v2,
@@ -34,7 +33,6 @@ jobs:
           holybro_durandal-v1,
           holybro_kakutef7,
           holybro_pix32v5,
-          matek_h743-slim,
           modalai_fc-v1,
           modalai_fc-v2,
           mro_ctrl-zero-f7,
@@ -49,7 +47,6 @@ jobs:
           nxp_fmurt1062-v1,
           nxp_ucans32k146,
           omnibus_f4sd,
-          raspberrypi_pico,
           px4_fmu-v2,
           px4_fmu-v3,
           px4_fmu-v4,
@@ -84,7 +81,7 @@ jobs:
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
           echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 120M" >> ~/.ccache/ccache.conf
+          echo "max_size = 50M" >> ~/.ccache/ccache.conf
           echo "hash_dir = false" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
@@ -113,6 +110,4 @@ jobs:
       uses: actions/upload-artifact@v2
       with:
         name: px4_package_${{matrix.config}}
-        path: |
-          build/**/*.px4
-          build/**/*.bin
+        path: build/**/*.px4

.github/workflows/compile_nuttx_cannode.yml

@@ -0,0 +1,64 @@
+name: NuttX UAVCAN firmware
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
+    strategy:
+      matrix:
+        config: [
+          ark_can-flow_default,
+          ark_can-gps_default,
+          ark_can-rtk-gps_default,
+          cuav_can-gps-v1_default,
+          freefly_can-rtk-gps_default,
+          holybro_can-gps-v1_default,
+          nxp_ucans32k146_default
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 20M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+
+    - name: ccache post-run
+      run: ccache -s
+
+    - name: Upload px4 package
+      uses: actions/upload-artifact@v2
+      with:
+        name: px4_cannode_${{matrix.config}}
+        path: build/${{matrix.config}}/*.uavcan.bin

.github/workflows/deploy_all.yml

@@ -10,7 +10,6 @@ on:
 jobs:
   enumerate_targets:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
     outputs:
       matrix: ${{ steps.set-matrix.outputs.matrix }}
     steps:

.gitmodules

@@ -1,11 +1,11 @@
-[submodule "src/modules/mavlink/mavlink"]
-	path = src/modules/mavlink/mavlink
-	url = https://github.com/mavlink/mavlink.git
+[submodule "mavlink/include/mavlink/v2.0"]
+	path = mavlink/include/mavlink/v2.0
+	url = https://github.com/mavlink/c_library_v2.git
 	branch = master
 [submodule "src/drivers/uavcan/libuavcan"]
 	path = src/drivers/uavcan/libuavcan
-	url = https://github.com/dronecan/libuavcan.git
-	branch = main
+	url = https://github.com/PX4/libuavcan.git
+	branch = px4
 [submodule "Tools/jMAVSim"]
 	path = Tools/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
@@ -14,6 +14,10 @@
 	path = Tools/sitl_gazebo
 	url = https://github.com/PX4/PX4-SITL_gazebo.git
 	branch = master
+[submodule "src/lib/matrix"]
+	path = src/lib/matrix
+	url = https://github.com/PX4/PX4-Matrix.git
+	branch = master
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/PX4-GPSDrivers.git
@@ -61,7 +65,7 @@
 	url = https://github.com/mavlink/libevents.git
 [submodule "Tools/simulation-ignition"]
 	path = Tools/simulation-ignition
-	url = https://github.com/PX4/px4-simulation-ignition.git
+	url = https://github.com/Auterion/px4-simulation-ignition.git
 [submodule "src/lib/crypto/libtomcrypt"]
 	path = src/lib/crypto/libtomcrypt
 	url = https://github.com/PX4/libtomcrypt.git

.vscode/cmake-variants.yaml

@@ -106,11 +106,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_can-rtk-gps_default
-    ark_can-rtk-gps_debug:
-      short: ark_can-rtk-gps_debug
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-rtk-gps_debug
     ark_can-rtk-gps_canbootloader:
       short: ark_can-rtk-gps_canbootloader
       buildType: MinSizeRel
@@ -186,11 +181,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: holybro_durandal-v1_default
-    matek_h743-slim_default:
-      short: matek_h743-slim
-      buildType: MinSizeRel
-      settings:
-        CONFIG: matek_h743-slim_default
     modalai_fc-v1_default:
       short: modalai_fc-v1
       buildType: MinSizeRel
@@ -226,8 +216,3 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: nxp_fmuk66-v3_default
-    raspberrypi_pico_default:
-      short: raspberrypi_pico
-      buildType: MinSizeRel
-      settings:
-        CONFIG: raspberrypi_pico_default

.vscode/settings.json

@@ -14,6 +14,7 @@
         "C_Cpp.workspaceParsingPriority": "low",
         "cmake.buildBeforeRun": true,
         "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
+        "cmake.buildTask": true,
         "cmake.configureOnOpen": true,
         "cmake.ctest.parallelJobs": 1,
         "cmake.skipConfigureIfCachePresent": true,
@@ -135,6 +136,5 @@
         "workbench.settings.enableNaturalLanguageSearch": false,
         "yaml.schemas": {
                 "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
-        },
-        "cortex-debug.openocdPath": "${env:PICO_SDK_PATH}/../openocd/src/openocd"       // Added for rp2040
+        }
 }

CMakeLists.txt

@@ -40,7 +40,7 @@
 # * Common functions should be included in px_base.cmake.
 #
 # * OS/ board specific fucntions should be include in
-#	px_impl_${PX4_PLATFORM}.cmake
+#	px_impl_${PX4_PLATFORM}.cmake or px4_impl_${PX4_PLATFORM}_${PX4_BOARD}.cmake.
 #
 # Formatting
 # ---------------------------------------------------------------------------
@@ -101,8 +101,8 @@
 
 cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
 
-set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
-set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)
+set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
+set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
 
 list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake)
 include(px4_parse_function_args)

Kconfig

@@ -63,10 +63,13 @@ menu "Toolchain"
         help
             relative path to the ROMFS root directory
 
+    config BOARD_BUILD_BOOTLOADER
+        bool "Enable bootloader"
+        help
+            flag to enable building and including the bootloader config
+
     config BOARD_IO
         string "IO board name"
-        default "px4_io-v2_default"
-        depends on DRIVERS_PX4IO
         help
             name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT)
 
@@ -125,9 +128,6 @@ config BOARD_KEYSTORE
 
 menu "Serial ports"
 
-    config BOARD_SERIAL_URT6
-        string "URT6 tty port"
-
     config BOARD_SERIAL_GPS1
         string "GPS1 tty port"
 
@@ -158,14 +158,8 @@ menu "Serial ports"
     config BOARD_SERIAL_TEL5
         string "TEL5 tty port"
 
-    config BOARD_SERIAL_RC
-        string "RC tty port"
-
     config BOARD_SERIAL_WIFI
         string "WIFI tty port"
-
-    config BOARD_SERIAL_PPB
-        string "PPB (Pixhawk Payload Bus) tty port"
 endmenu
 
 menu "drivers"

Makefile

@@ -309,24 +309,6 @@ uorb_graphs:
 	@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
 	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
 
-px4io_update: px4_io-v2_default cubepilot_io-v2_default
-	# px4_io-v2_default
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/pix32v5/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21-777/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v2/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v3/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5x/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6x/extras/px4_io-v2_default.bin
-	# cubepilot_io-v2_default
-	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin
-	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
-	git status
-
-bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
-	git status
 
 .PHONY: coverity_scan
 
@@ -482,7 +464,7 @@ shellcheck_all:
 	@make px4_fmu-v5_default shellcheck
 
 validate_module_configs:
-	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -not -path "$(SRC_DIR)/src/lib/mixer_module/*" -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
+	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
 
 # Cleanup
 # --------------------------------------------------------------------

ROMFS/CMakeLists.txt

@@ -143,14 +143,38 @@ add_custom_command(
 	COMMENT "ROMFS: copying, generating airframes"
 	)
 
-if(EXISTS ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)
-	set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
-	configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
-endif()
-
 # copy extras into ROMFS
 set(extras_dependencies)
 
+# copy px4io binary if configured
+if(config_io_board)
+	list(APPEND extras_dependencies
+		copy_px4io_bin
+		${fw_io_bin}
+	)
+	file(RELATIVE_PATH iofw_file_relative ${PX4_SOURCE_DIR} ${fw_io_bin})
+	message(STATUS "ROMFS:  Adding ${iofw_file_relative} -> /etc/extras/${config_io_board}.bin")
+endif()
+
+
+# board bootloader (built or included)
+if(TARGET copy_bootloader_bin)
+
+	if(board_bootloader_firmware)
+		file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${board_bootloader_firmware})
+		message(STATUS "ROMFS:  Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
+	else()
+		file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${bootloader_bin})
+		message(STATUS "ROMFS:  Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
+	endif()
+
+	list(APPEND extras_dependencies
+		copy_bootloader_bin
+		${bootloader_bin}
+	)
+endif()
+
+
 # optional board architecture defaults
 set(board_arch_rc_file "rc.board_arch_defaults")
 if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}")
@@ -175,7 +199,6 @@ if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/
 endif()
 
 
-# board custom init files
 set(OPTIONAL_BOARD_RC)
 list(APPEND OPTIONAL_BOARD_RC
 	rc.board_defaults
@@ -210,59 +233,21 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})
 endforeach()
 
 
-# board extras
-set(OPTIONAL_BOARD_EXTRAS)
-file(GLOB OPTIONAL_BOARD_EXTRAS ${PX4_BOARD_DIR}/extras/*)
-
-foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
-
-	if(EXISTS "${board_extra_file}")
-		file(RELATIVE_PATH extra_file_base_name ${PX4_BOARD_DIR}/extras/ ${board_extra_file})
-		file(RELATIVE_PATH extra_file_relative_source ${PX4_SOURCE_DIR} ${board_extra_file})
-		message(STATUS "ROMFS:  Adding ${extra_file_relative_source} -> /etc/extras/${extra_file_base_name}")
-
-		add_custom_command(
-			OUTPUT
-				${romfs_gen_root_dir}/extras/${extra_file_base_name}
-				${extra_file_base_name}.stamp
-			COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/extras/${extra_file_base_name} ${romfs_gen_root_dir}/extras/${extra_file_base_name}
-			COMMAND ${CMAKE_COMMAND} -E touch ${extra_file_base_name}.stamp
-			DEPENDS
-				${board_extra_file}
-				romfs_copy.stamp
-			COMMENT "ROMFS: copying ${board_extra_file}"
-		)
-
-		list(APPEND extras_dependencies
-			${extra_file_base_name}.stamp
-		)
-	endif()
-
-endforeach()
-
-
-
 if(config_uavcan_peripheral_firmware)
 
 	include(ExternalProject)
 
 	foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
-		# include the UAVCAN peripheral binaries in ROMFS
+		# include the px4io binary in ROMFS
 		message(STATUS "ROMFS:  Adding UAVCAN peripheral ${uavcan_peripheral_config} -> /etc/uavcan/fw/")
-
-		# ExternalProject_Add() with GIT_SUBMODULES "" initializes no submodules.
-		cmake_policy(SET CMP0097 NEW)
-
-		include(ExternalProject)
-
 		ExternalProject_Add(build_${uavcan_peripheral_config}
-			GIT_REPOSITORY ${CMAKE_SOURCE_DIR}
-			GIT_TAG ${PX4_GIT_TAG}
-			GIT_SUBMODULES ""
-			DOWNLOAD_NO_PROGRESS true
+			SOURCE_DIR ${CMAKE_SOURCE_DIR}
+			DOWNLOAD_COMMAND ""
+			UPDATE_COMMAND ""
 			CMAKE_ARGS -DCONFIG=${uavcan_peripheral_config}
 			INSTALL_COMMAND ""
 			USES_TERMINAL_BUILD true
+			DEPENDS git_nuttx git_nuttx_apps
 			BUILD_ALWAYS 1
 		)
 

ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc

@@ -8,8 +8,7 @@
 #
 
 . ${R}etc/init.d/rc.mc_defaults
-
-param set-default SYS_CTRL_ALLOC 1
+. ${R}etc/init.d/rc.ctrlalloc
 
 param set-default MPC_USE_HTE 0
 
@@ -46,10 +45,4 @@ 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
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-
-set MIXER skip
-set MIXER_AUX none
+set MIXER direct

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

@@ -1,9 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL with catapult
-#
-
-. ${R}etc/init.d-posix/airframes/1030_plane
-
-param set-default FW_THR_CRUISE 0.0
-param set-default RWTO_TKOFF 0

ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_ctrlalloc

@@ -6,17 +6,7 @@
 #
 
 . ${R}etc/init.d/rc.mc_defaults
-
-param set-default SYS_CTRL_ALLOC 1
-
-param set-default MC_PITCHRATE_P 0.0800
-param set-default MC_PITCHRATE_I 0.0400
-param set-default MC_PITCHRATE_D 0.0010
-param set-default MC_PITCH_P 9.0
-param set-default MC_ROLLRATE_P 0.0800
-param set-default MC_ROLLRATE_I 0.0400
-param set-default MC_ROLLRATE_D 0.0010
-param set-default MC_ROLL_P 9.0
+. ${R}etc/init.d/rc.ctrlalloc
 
 param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_P_ACC 3
@@ -76,14 +66,7 @@ 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
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 105
-param set-default PWM_MAIN_FUNC6 106
-
 set MAV_TYPE 13
 
-set MIXER skip
-set MIXER_AUX none
+# set MIXER hexa_x
+set MIXER direct

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

@@ -61,7 +61,6 @@ px4_add_romfs_files(
 	1035_techpod
 	1036_malolo
 	1037_believer
-	1038_glider
 	1040_standard_vtol
 	1041_tailsitter
 	1042_tiltrotor
@@ -77,6 +76,6 @@ px4_add_romfs_files(
 	2507_cloudship
 	6011_typhoon_h480
 	6011_typhoon_h480.post
-	6012_typhoon_h480_ctrlalloc
-	6012_typhoon_h480_ctrlalloc.post
+	6012_typhoon_ctrlalloc
+	6012_typhoon_ctrlalloc.post
 )

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -144,8 +144,6 @@ param set-default SENS_MAG_MODE 0
 
 param set-default IMU_GYRO_FFT_EN 1
 
-param set-default -s MC_AT_EN 1
-
 # By default log from boot until first disarm.
 param set-default SDLOG_MODE 1
 # enable default, estimator replay and vision/avoidance logging profiles
@@ -219,7 +217,6 @@ load_mon start
 battery_simulator start
 tone_alarm start
 rc_update start
-manual_control start
 sensors start
 commander start
 navigator start

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -55,4 +55,5 @@ px4_add_romfs_files(
 	rc.vehicle_setup
 	rc.vtol_apps
 	rc.vtol_defaults
+	rc.ctrlalloc
 )

ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil

@@ -18,6 +18,7 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
+
 param set-default BAT1_N_CELLS 3
 
 param set-default FW_AIRSPD_MAX 20
@@ -39,6 +40,7 @@ param set-default FW_RR_P 0.3
 
 param set-default RWTO_TKOFF 1
 
+
 param set SYS_HITL 1
 
 # disable some checks to allow to fly

ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery

@@ -34,3 +34,5 @@ param set-default MC_PITCHRATE_D 0.0025
 param set-default MC_YAWRATE_P 0.28
 
 set MIXER quad_w
+
+set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris

@@ -23,6 +23,7 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+
 # TODO tune roll/pitch separately
 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_I 0.05
@@ -38,3 +39,5 @@ param set-default BAT1_V_DIV 12.27559
 param set-default BAT1_A_PER_V 15.39103
 
 set MIXER quad_w
+
+set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d

@@ -25,6 +25,7 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+
 param set-default BAT1_N_CELLS 4
 
 param set-default MC_ROLL_P 7
@@ -37,3 +38,5 @@ param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCHRATE_D 0.004
 param set-default MC_YAW_P 4
 set MIXER quad_w
+
+set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance

@@ -25,6 +25,7 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+
 param set-default BAT1_N_CELLS 6
 param set-default BAT1_V_EMPTY 3.5
 
@@ -41,3 +42,5 @@ param set-default MPC_XY_VEL_MAX 2
 param set-default PWM_MAIN_MIN 1080
 
 set MIXER quad_w
+
+set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil

@@ -12,6 +12,7 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
+set PWM_OUT 1234
 
 param set SYS_HITL 1
 

ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil

@@ -9,7 +9,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults

ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard

@@ -19,7 +19,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults

ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol

@@ -14,7 +14,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults

ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter

@@ -22,11 +22,11 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+
 param set-default PWM_MAIN_MAX 2000
 
 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0
-
 set MAV_TYPE 20
 
 set MIXER quad_+_vtol

ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad

@@ -19,13 +19,14 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+
 param set-default PWM_AUX_DIS5 950
 
+
 param set-default MC_ROLL_P 6
 param set-default MC_ROLLRATE_P 0.17
 param set-default MC_ROLLRATE_I 0.002

ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta

@@ -17,7 +17,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
@@ -27,6 +26,7 @@ param set-default MC_ROLLRATE_I 0.01
 param set-default MC_PITCHRATE_I 0.01
 param set-default MC_YAW_P 3.5
 
+
 param set-default MC_YAWRATE_MAX 50
 
 param set-default MPC_XY_P 0.8

ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad

@@ -9,7 +9,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults

ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger

@@ -9,11 +9,11 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+
 param set-default FW_AIRSPD_MAX   22
 param set-default FW_AIRSPD_MIN   14
 param set-default FW_AIRSPD_TRIM  16
@@ -68,6 +68,7 @@ param set-default PWM_AUX_REV4    1
 
 param set-default PWM_AUX_DIS5 950
 
+
 param set-default VT_ARSP_TRANS   15
 param set-default VT_F_TRANS_THR    0.6
 param set-default VT_IDLE_PWM_MC 1180

ROMFS/px4fmu_common/init.d/airframes/13010_claire

@@ -13,6 +13,7 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+
 param set-default PWM_AUX_DISARM 1000
 param set-default PWM_AUX_MAX 2000
 param set-default PWM_AUX_MIN 1000

ROMFS/px4fmu_common/init.d/airframes/13012_convergence

@@ -22,6 +22,7 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+
 param set-default CBRK_AIRSPD_CHK 162128
 
 param set-default FW_ARSP_MODE 1

ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad

@@ -22,6 +22,7 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+
 param set-default BAT1_CAPACITY 23000
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_R_INTERNAL 0.0025

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

@@ -18,11 +18,11 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+
 param set-default BAT1_N_CELLS 6
 
 param set-default FW_AIRSPD_MAX 30

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

@@ -22,11 +22,12 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+
+
 param set-default VT_IDLE_PWM_MC 1100
 param set-default VT_TYPE 1
 param set-default VT_MOT_ID 1234

ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo

@@ -21,11 +21,11 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+
 param set-default PWM_AUX_DIS5 950
 
 param set-default VT_TYPE 2

ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter

@@ -14,11 +14,11 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0

ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+

@@ -19,3 +19,5 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER tri_y_yaw+
+
+set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw-

@@ -19,3 +19,5 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER tri_y_yaw-
+
+set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli

@@ -19,6 +19,7 @@
 . ${R}etc/init.d/rc.mc_defaults
 set MIXER coax
 
+
 param set-default MC_ROLLRATE_P 0.17
 param set-default MC_ROLLRATE_I 0.05
 param set-default MC_ROLLRATE_D 0.005
@@ -40,4 +41,5 @@ param set-default RTL_DESCEND_ALT 10
 set MIXER_AUX pass
 
 # use PWM parameters for throttle channel
+set PWM_AUX_OUT 1234
 set PWM_OUT 34

ROMFS/px4fmu_common/init.d/airframes/16001_helicopter

@@ -24,7 +24,8 @@ set MAV_TYPE 4
 
 set MIXER blade130
 
-set PWM_OUT none
+#set PWM_OUT 1234
+
 
 param set-default ATT_BIAS_MAX 0
 

ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1

@@ -15,6 +15,7 @@
 
 . ${R}etc/init.d/rc.balloon_defaults
 
+
 param set-default COM_PREARM_MODE 2  # always in prearm state
 param set-default CBRK_IO_SAFETY 22027
 param set-default SDLOG_PROFILE 17
@@ -27,5 +28,6 @@ param set-default SER_TEL2_BAUD 9600
 set MAV_TYPE 8
 param set MAV_TYPE ${MAV_TYPE}
 
+
 set MIXER IO_pass
 set MIXER_AUX pass

ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox

@@ -28,6 +28,7 @@
 
 set VEHICLE_TYPE mc
 
+
 param set-default NAV_ACC_RAD 2
 
 param set-default PWM_AUX_RATE 400

ROMFS/px4fmu_common/init.d/airframes/2507_cloudship

@@ -18,5 +18,6 @@
 param set-default COM_PREARM_MODE 2
 param set-default CBRK_IO_SAFETY 22027
 
+
 set MIXER cloudship
 set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5

@@ -37,4 +37,5 @@ param set-default FW_PR_FF 0.35
 param set-default FW_RR_FF 0.6
 param set-default FW_RR_P 0.04
 
+
 set MIXER fw_generic_wing

ROMFS/px4fmu_common/init.d/airframes/3033_wingwing

@@ -41,6 +41,7 @@ param set-default FW_RR_P 0.04
 
 param set-default PWM_MAIN_DISARM 1000
 
+
 # Configure this as plane.
 set MAV_TYPE 1
 

ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha

@@ -21,6 +21,7 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
+
 param set-default FW_AIRSPD_MAX 25
 param set-default FW_AIRSPD_MIN 12.5
 param set-default FW_AIRSPD_TRIM 16.5

ROMFS/px4fmu_common/init.d/airframes/4001_quad_x

@@ -21,3 +21,7 @@
 #
 
 . ${R}etc/init.d/rc.mc_defaults
+
+set MIXER quad_x
+
+set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/4003_qavr5

@@ -13,6 +13,10 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+set MIXER quad_x
+set PWM_OUT 1234
+
+
 param set-default MC_ROLL_P 8
 param set-default MC_ROLLRATE_P 0.08
 param set-default MC_ROLLRATE_I 0.16

ROMFS/px4fmu_common/init.d/airframes/4009_qav250

@@ -13,6 +13,10 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+set MIXER quad_x
+set PWM_OUT 1234
+
+
 param set-default ATT_BIAS_MAX 0
 
 param set-default CBRK_IO_SAFETY 22027

ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330

@@ -11,6 +11,9 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+set MIXER quad_x
+set PWM_OUT 1234
+
 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_I 0.05
 param set-default MC_PITCH_P 7

ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450

@@ -10,6 +10,9 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+set MIXER quad_x
+set PWM_OUT 1234
+
 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_I 0.05
 param set-default MC_PITCH_P 7

ROMFS/px4fmu_common/init.d/airframes/4014_s500

@@ -13,6 +13,10 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+set MIXER quad_x
+set PWM_OUT 1234
+
+
 param set-default MC_ROLLRATE_P 0.18
 param set-default MC_PITCHRATE_P 0.18
 param set-default MC_ROLLRATE_I 0.15

ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500

@@ -13,6 +13,10 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+set MIXER quad_x
+set PWM_OUT 1234
+
+
 param set-default IMU_GYRO_CUTOFF 30
 
 param set-default MC_ROLLRATE_P 0.14

ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision

@@ -16,6 +16,10 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+set MIXER quad_x
+set PWM_OUT 1234
+
+
 # System parameters
 # use FMU motor outputs for less delay in the rate control loop
 param set-default SYS_USE_IO 0
@@ -84,8 +88,6 @@ param set-default MPC_Z_VEL_P_ACC 5
 param set-default MPC_Z_VEL_I_ACC 3
 param set-default MPC_LAND_ALT1 3
 param set-default MPC_LAND_ALT2 1
-param set-default MPC_POS_MODE 3
-param set-default CP_GO_NO_DATA 1
 
 # Navigator Parameters
 param set-default NAV_ACC_RAD 2

ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames

@@ -18,6 +18,9 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+set MIXER quad_x
+set PWM_OUT 1234
+
 param set-default IMU_DGYRO_CUTOFF 20
 
 param set-default MC_ROLLRATE_P 0.18

ROMFS/px4fmu_common/init.d/airframes/4018_s500_ctrlalloc

@@ -11,11 +11,8 @@
 #
 
 . ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.ctrlalloc
 
-set MIXER skip
-set MIXER_AUX none
-
-param set-default SYS_CTRL_ALLOC 1
 
 param set-default MPC_USE_HTE 0
 
@@ -52,7 +49,8 @@ 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
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
+set MIXER direct
+set PWM_OUT 1234
+
+set MIXER_AUX direct_aux
+set PWM_AUX_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo

@@ -18,6 +18,7 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+
 # tuning
 param set-default MC_PITCHRATE_P    0.11
 param set-default MC_ROLLRATE_P     0.11
@@ -82,5 +83,7 @@ param set-default RC5_TRIM          1500
 param set-default MAV_0_RATE 80000
 param set-default MAV_0_MODE 2
 param set-default SER_TEL1_BAUD 921600
+set MIXER quad_x
 
+set PWM_OUT 1234
 set MIXER_AUX none

ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad

@@ -13,6 +13,9 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+set MIXER quad_x
+set PWM_OUT 1234
+
 param set-default MC_ROLLRATE_P 0.14
 param set-default MC_ROLLRATE_I 0.1
 param set-default MC_ROLLRATE_D 0.004

ROMFS/px4fmu_common/init.d/airframes/4040_reaper

@@ -42,4 +42,8 @@ param set-default RTL_DESCEND_ALT 10
 
 set MIXER quad_h
 
+set PWM_OUT 1234
+
 set MIXER_AUX pass
+
+set PWM_AUX_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/4041_beta75x

@@ -23,6 +23,7 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+
 param set-default CBRK_SUPPLY_CHK 894281
 param set-default CBRK_USB_CHK 197848
 
@@ -56,3 +57,5 @@ param set-default SYS_HAS_MAG 0
 param set-default BAT1_N_CELLS 2
 # The Whoop uses reversed props
 set MIXER quad_h
+set PWM_OUT 1234
+

ROMFS/px4fmu_common/init.d/airframes/4050_generic_250

@@ -12,6 +12,10 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+set MIXER quad_x
+set PWM_OUT 1234
+
+
 param set-default MC_ROLL_P 8
 param set-default MC_ROLLRATE_P 0.08
 param set-default MC_ROLLRATE_I 0.25

ROMFS/px4fmu_common/init.d/airframes/4051_s250aq

@@ -23,9 +23,11 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_s250aq
-
 set MAV_TYPE 2
 
+set PWM_OUT 1234
+
+
 param set-default ATT_BIAS_MAX 0
 
 param set-default CBRK_IO_SAFETY 22027

ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250

@@ -15,6 +15,10 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+set MIXER quad_x
+set PWM_OUT 1234
+
+
 # The set does not include a battery, but most people will probably use 4S
 param set-default BAT1_N_CELLS 4
 

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

@@ -13,6 +13,10 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+set MIXER quad_x
+set PWM_OUT 1234
+
+
 param set-default BAT1_N_CELLS 4
 
 param set-default GPS_1_CONFIG 0

ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100

@@ -13,6 +13,10 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+set MIXER quad_x
+set PWM_OUT 1234
+
+
 param set-default BAT1_N_CELLS 6
 
 param set-default MC_ROLLRATE_P 0.05

ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu

@@ -19,6 +19,7 @@
 set MIXER none
 set MIXER_AUX none
 
+
 # Battery settings
 param set-default BAT_CRIT_THR 0.20
 param set-default BAT_LOW_THR 0.25

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

@@ -28,8 +28,10 @@ set PWM_OUT 1234
 
 # Attitude & rate gains
 param set-default MC_ROLLRATE_D 0.0013
+
 param set-default MC_PITCHRATE_D 0.0016
 
+
 param set-default MC_YAW_FF 0.5
 
 param set-default MPC_MANTHR_MAX 0.9

ROMFS/px4fmu_common/init.d/airframes/4072_draco

@@ -22,6 +22,10 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+set MIXER quad_x
+set PWM_OUT 1234
+
+
 # use the Q attitude estimator, it works w/o mag or GPS.
 param set-default SYS_MC_EST_GROUP 3
 param set-default ATT_ACC_COMP 0
@@ -77,3 +81,4 @@ param set-default IMU_DGYRO_CUTOFF 100
 
 # enable to use high-rate logging for better rate tracking analysis
 param set-default SDLOG_PROFILE 27
+

ROMFS/px4fmu_common/init.d/airframes/4090_nanomind

@@ -17,6 +17,10 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+set MIXER quad_x
+set PWM_OUT 1234
+
+
 param set-default BAT1_N_CELLS 1
 
 param set-default MC_ROLL_P 8

ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor

@@ -31,3 +31,5 @@
 # Set mixer
 set MIXER tilt_quad
 set MIXER_AUX tilt_quad
+
+set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/4250_teal

@@ -0,0 +1,190 @@
+#!/bin/sh
+#
+# @name Teal One
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+#
+# @maintainer Matt McFadden <matt.mcfadden@tealdrones.com>
+#
+# @board px4_fmu-v2 exclude
+# @board px4_fmu-v3 exclude
+# @board px4_fmu-v4pro exclude
+# @board px4_fmu-v5 exclude
+# @board px4_fmu-v5x exclude
+# @board bitcraze_crazyflie exclude
+#
+
+echo "Executing 4250_teal script."
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER quad_x
+set PWM_OUT 1234
+
+
+# First thing, reset all params to default... EXCEPT THIS LIST
+param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* CAL_MAG* SENS_BOARD* EKF2_MAGBIAS*
+
+# battery
+param set-default BAT_CRIT_THR 0.15
+param set-default BAT_EMERGEN_THR 0.075
+param set-default BAT_LOW_THR 0.20
+
+param set-default BAT1_CAPACITY 2750
+param set-default BAT1_N_CELLS 4
+param set-default BAT1_R_INTERNAL 0.06
+param set-default BAT1_SOURCE 1
+param set-default BAT1_V_CHARGED 4.15
+param set-default BAT1_V_DIV 11.1625
+param set-default BAT1_V_EMPTY 3.65
+param set-default BAT1_V_OFFS_CURR -0.0045
+
+# sensor calibration
+param set-default CAL_MAG_SIDES 63
+
+# circuit breakers
+param set-default CBRK_IO_SAFETY 22027
+param set-default CBRK_USB_CHK 197848
+
+# commander
+param set-default COM_DISARM_LAND 0.1
+# Return mode at critically low level, Land mode at current position if reaching dangerously low levels.
+param set-default COM_LOW_BAT_ACT 3
+
+# ekf2
+param set-default EKF2_MAG_TYPE 1
+param set-default EKF2_GPS_CHECK 511
+param set-default EKF2_GPS_POS_X -0.04
+param set-default EKF2_IMU_POS_X -0.06
+param set-default EKF2_PCOEF_XN 0.1
+param set-default EKF2_PCOEF_XP -0.5
+param set-default EKF2_RNG_A_VMAX 20
+param set-default EKF2_RNG_NOISE 0.2
+param set-default EKF2_MIN_RNG 0.07
+
+# geofence
+# Geofence violation action -- Warning.
+param set-default GF_ACTION 1
+
+# land detector
+param set-default LNDMC_XY_VEL_MAX 1
+# This is set high because we have lots of vibrations while in contact with ground.
+param set-default LNDMC_ROT_MAX 50
+
+# serial comms
+param set-default SER_TEL1_BAUD 921600
+param set-default SER_TEL2_BAUD 921600
+
+# mavlink stream configuration
+# TEL1 ttyS1 -- disabled. TX1 FTDI UART has issues.
+param set-default MAV_0_CONFIG 0
+param set-default MAV_0_RATE 800000
+
+# TEL2 ttyS2 -- Primary MAVLINK stream to companion computer.
+param set-default MAV_1_CONFIG 102
+param set-default MAV_1_RATE 800000
+
+# mc_att_control
+param set-default MC_ACRO_P_MAX 360
+param set-default MC_ACRO_R_MAX 360
+param set-default MC_ACRO_Y_MAX 360
+
+param set-default MC_ROLL_P 6
+param set-default MC_ROLLRATE_P 0.055
+param set-default MC_ROLLRATE_D 0.0012
+param set-default MC_ROLLRATE_MAX 180
+
+param set-default MC_PITCHRATE_P 0.06
+param set-default MC_PITCHRATE_D 0.0012
+param set-default MC_PITCHRATE_MAX 180
+
+param set-default MC_YAW_P 1
+param set-default MC_YAWRATE_P 0.08
+param set-default MC_YAWRATE_I 0.08
+
+param set-default MC_YAWRATE_MAX 180
+
+# Set to reduce voltage transients as seen by battery management system.
+param set-default MOT_SLEW_MAX 0.15
+
+#### CONTROLLER ###
+param set-default MPC_LAND_ALT1 8
+param set-default MPC_LAND_ALT2 5
+param set-default MPC_TKO_RAMP_T 0.75
+param set-default MPC_TKO_SPEED 0.75
+param set-default MPC_TILTMAX_LND 18
+param set-default MPC_TILTMAX_AIR 45
+param set-default MPC_MAN_TILT_MAX 45
+
+param set-default MPC_MANTHR_MAX 0.85
+param set-default MPC_MANTHR_MIN 0.15
+# Full throttle can trip over current protection on BMS.
+param set-default MPC_THR_MAX 0.85
+param set-default MPC_THR_MIN 0.15
+
+param set-default MPC_VEL_MANUAL 26.5
+# RTL speed, it was too fast and scaring people.
+param set-default MPC_XY_CRUISE 15
+
+param set-default MPC_MAN_Y_MAX 200
+
+param set-default MPC_JERK_MAX 5
+param set-default MPC_ACC_UP_MAX 10
+param set-default MPC_ACC_DOWN_MAX 10
+param set-default MPC_ACC_HOR 10
+param set-default MPC_ACC_HOR_MAX 15
+
+param set-default MPC_XY_P 1.15
+param set-default MPC_XY_VEL_P_ACC 2.8
+param set-default MPC_XY_VEL_I_ACC 0.28
+param set-default MPC_XY_VEL_D_ACC 0.28
+param set-default MPC_XY_VEL_MAX 26.5
+
+param set-default MPC_Z_P 0.85
+param set-default MPC_Z_VEL_P_ACC 5
+param set-default MPC_Z_VEL_I_ACC 1.7
+param set-default MPC_Z_VEL_D_ACC 0.4
+# Documentation says limit is 8.0, but does not seem to be enforced in code.
+param set-default MPC_Z_VEL_MAX_UP 20
+param set-default MPC_Z_VEL_MAX_DN 2.5
+#### CONTROLLER ###
+
+# navigator
+param set-default NAV_ACC_RAD 2.5
+# RC loss failsafe behavior -- hold mode.
+param set-default NAV_RCL_ACT 1
+
+# pwm control
+param set-default PWM_MAIN_DISARM 900
+param set-default PWM_MAIN_MAX 1850
+param set-default PWM_MAIN_MIN 1075
+# Oneshot125
+param set-default PWM_MAIN_RATE 0
+
+# rtl
+param set-default RTL_DESCEND_ALT 5
+param set-default RTL_LAND_DELAY 5
+param set-default RTL_MIN_DIST 7.5
+param set-default RTL_RETURN_ALT 25
+
+# calibration
+param set-default CAL_ACC0_PRIO 255
+param set-default CAL_ACC1_PRIO 0
+
+param set-default CAL_GYRO0_PRIO 255
+param set-default CAL_GYRO1_PRIO 0
+# Logger mode. Default(1) + estimator replay(2) + thermal calibration(4)
+param set-default SDLOG_PROFILE 6
+
+# Do not start frsky_telemetry on port ttyS6 by default, PGA460 lives there. 500 is in arbitrary unused number.
+param set TEL_FRSKY_CONFIG 500
+# We want to make sure these always start
+param set SENS_EN_PGA460 1
+param set SENS_EN_THERMAL 1
+param set SENS_EN_BATT 1

ROMFS/px4fmu_common/init.d/airframes/4500_clover4

@@ -13,6 +13,10 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+set MIXER quad_x
+set PWM_OUT 1234
+
+
 param set-default MC_PITCHRATE_P 0.087
 param set-default MC_PITCHRATE_I 0.037
 param set-default MC_PITCHRATE_D 0.0044

ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie

@@ -17,6 +17,7 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x_cw
+set PWM_OUT 1234
 
 param set-default BAT1_N_CELLS 1
 param set-default BAT1_CAPACITY 240
@@ -68,3 +69,4 @@ set PWM_MAIN_MIN none
 
 syslink start
 mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
+

ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21

@@ -17,6 +17,7 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x_cw
+set PWM_OUT 1234
 
 param set-default SYS_MC_EST_GROUP 2
 param set-default SYS_HAS_MAG 0
@@ -60,6 +61,7 @@ param set-default PWM_MAIN_RATE 3921
 
 param set-default SENS_FLOW_MINRNG 0.05
 
+
 set PWM_MAIN_DISARM none
 set PWM_MAIN_MAX none
 set PWM_MAIN_MIN none

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

@@ -18,6 +18,7 @@
 
 . ${R}etc/init.d/rc.rover_defaults
 
+
 param set-default BAT1_N_CELLS 4
 
 param set-default EKF2_GBIAS_INIT 0.01

ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx

@@ -20,6 +20,7 @@
 
 . ${R}etc/init.d/rc.rover_defaults
 
+
 param set-default BAT1_N_CELLS 2
 
 param set-default EKF2_GBIAS_INIT 0.01

ROMFS/px4fmu_common/init.d/airframes/5001_quad_+

@@ -26,3 +26,5 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_+
+
+set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy

@@ -22,6 +22,7 @@
 
 . ${R}etc/init.d/rc.uuv_defaults
 
+
 #Set data link loss failsafe mode (0: disabled)
 
 # disable circuit breaker for airspeed sensor
@@ -42,3 +43,4 @@ param set-default BAT_V_OFFS_CURR 0.33
 set PWM_OUT 12345678
 # set MIXER IO_pass
 set MIXER vectored6dof
+

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

@@ -26,7 +26,6 @@
 #
 
 . ${R}etc/init.d/rc.mc_defaults
-
 set MIXER hexa_x
 set PWM_OUT 12345678
 

ROMFS/px4fmu_common/init.d/airframes/6003_hexa_x_ctrlalloc

@@ -11,8 +11,9 @@
 #
 
 . ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.ctrlalloc
+
 
-param set-default SYS_CTRL_ALLOC 1
 param set-default MPC_USE_HTE 0
 
 param set-default VM_MASS 1.5
@@ -66,12 +67,8 @@ 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
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 105
-param set-default PWM_MAIN_FUNC6 106
+set MIXER direct
+set PWM_OUT 123456
 
-set MIXER skip
-set MIXER_AUX none
+set MIXER_AUX direct_aux
+set PWM_AUX_OUT 123456

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

@@ -88,6 +88,7 @@ px4_add_romfs_files(
 	4080_zmr250
 	4090_nanomind
 	4100_tiltquadrotor
+	4250_teal
 	4500_clover4
 	4900_crazyflie
 	4901_crazyflie21

ROMFS/px4fmu_common/init.d/rc.autostart_ext

@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# External airframe startup script (on SD card)
-#
-set SDCARD_MIXERS_PATH ${SDCARD_EXT_PATH}/mixers
-
-if [ -e ${SDCARD_EXT_PATH}/rc.autostart ]
-then
-	. ${SDCARD_EXT_PATH}/rc.autostart
-else
-	echo "Error: ${SDCARD_EXT_PATH}/rc.autostart does not exist"
-fi

ROMFS/px4fmu_common/init.d/rc.ctrlalloc

@@ -0,0 +1,26 @@
+#!/bin/sh
+#
+# Standard apps for new control allocation and controllers
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+#
+# Start angular velocity controller
+#
+angular_velocity_controller start
+mc_rate_control stop
+
+#
+# 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
+param set COM_PREARM_MODE 0

ROMFS/px4fmu_common/init.d/rc.fw_apps

@@ -16,12 +16,6 @@ ekf2 start &
 fw_att_control start
 fw_pos_control_l1 start
 airspeed_selector start
-
-#
-# Start attitude control auto-tuner
-#
-fw_autotune_attitude_control start
-
 #
 # Start Land Detector.
 #

ROMFS/px4fmu_common/init.d/rc.interface

@@ -96,16 +96,10 @@ then
 
 	if [ $OUTPUT_MODE = $OUTPUT_CMD -o $OUTPUT_MODE = io ]
 	then
-		if param compare SYS_CTRL_ALLOC 1
+		if ! $OUTPUT_CMD start
 		then
-			pwm_out start
-			dshot start
-		else
-			if ! $OUTPUT_CMD start
-			then
-				echo "$OUTPUT_CMD start failed"
-				tune_control play error
-			fi
+			echo "$OUTPUT_CMD start failed"
+			tune_control play error
 		fi
 	fi
 fi
@@ -220,10 +214,10 @@ fi
 
 if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
 then
-	if [ $PWM_OUT != none -a $PWM_MAIN_RATE != none ]
+	if [ $PWM_OUT != none ]
 	then
 		# Set PWM output frequency.
-		if ! param compare SYS_CTRL_ALLOC 1
+		if [ $PWM_MAIN_RATE != none ]
 		then
 			pwm rate -c ${PWM_OUT} -r ${PWM_MAIN_RATE}
 		fi

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -48,22 +48,6 @@ fi
 #                        End Estimator Group Selection                        #
 ###############################################################################
 
-if param compare SYS_CTRL_ALLOC 1
-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
-
 #
 # Start Multicopter Rate Controller.
 #
@@ -73,11 +57,7 @@ mc_rate_control start
 # Start Multicopter Attitude Controller.
 #
 mc_att_control start
-
-if param greater -s MC_AT_EN 0
-then
-	mc_autotune_attitude_control start
-fi
+mc_autotune_attitude_control start
 
 #
 # Start Multicopter Position Controller.

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -25,8 +25,4 @@ param set-default GPS_UBX_DYNMODEL 6
 #
 set MIXER_AUX pass
 
-set MIXER quad_x
-
-set PWM_OUT 1234
-
 set PWM_AUX_OUT 1234

ROMFS/px4fmu_common/init.d/rc.vtol_apps

@@ -25,14 +25,8 @@ flight_mode_manager start
 mc_pos_control start vtol
 mc_hover_thrust_estimator start
 
-if param greater -s MC_AT_EN 0
-then
-	mc_autotune_attitude_control start
-fi
-
 fw_att_control start vtol
 fw_pos_control_l1 start vtol
-fw_autotune_attitude_control start vtol
 
 # Start Land Detector
 # Multicopter for now until we have something for VTOL

ROMFS/px4fmu_common/init.d/rcS

@@ -44,8 +44,6 @@ set PWM_EXTRA_OUT none
 set PWM_EXTRA_RATE p:PWM_EXTRA_RATE
 set EXTRA_MIXER_MODE none
 set RC_INPUT_ARGS ""
-set SDCARD_AVAILABLE no
-set SDCARD_EXT_PATH /fs/microsd/ext_autostart
 set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
 set STARTUP_TUNE 1
 set USE_IO no
@@ -59,6 +57,7 @@ ver all
 #
 # Try to mount the microSD card.
 #
+set SDCARD_AVAILABLE no
 # REBOOTWORK this needs to start after the flight control loop.
 if mount -t vfat /dev/mmcsd0 /fs/microsd
 then
@@ -98,13 +97,15 @@ if [ $SDCARD_AVAILABLE = yes ]
 then
 	if hardfault_log check
 	then
-		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
+		# Error tune.
+		set STARTUP_TUNE 2
 		if hardfault_log commit
 		then
 			hardfault_log reset
 		fi
 	fi
 fi
+unset SDCARD_AVAILABLE
 
 #
 # Look for an init script on the microSD card.
@@ -181,6 +182,15 @@ else
 	#
 	tone_alarm start
 
+	#
+	# Play the startup tune (if not disabled or there is an error)
+	#
+	param compare CBRK_BUZZER 782090
+	if [ $? != 0 -o $STARTUP_TUNE != 1 ]
+	then
+		tune_control play -t $STARTUP_TUNE
+	fi
+
 	#
 	# Waypoint storage.
 	# REBOOTWORK this needs to start in parallel.
@@ -206,22 +216,10 @@ else
 	#
 	# Set parameters and env variables for selected AUTOSTART.
 	#
-	set AUTOSTART_PATH etc/init.d/rc.autostart
 	if ! param compare SYS_AUTOSTART 0
 	then
-		if param greater SYS_AUTOSTART 1000000
-		then
-			# Use external startup file
-			if [ $SDCARD_AVAILABLE = yes ]
-			then
-				set AUTOSTART_PATH etc/init.d/rc.autostart_ext
-			else
-				echo "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
-			fi
-		fi
-		. ${R}$AUTOSTART_PATH
+		. ${R}etc/init.d/rc.autostart
 	fi
-	unset AUTOSTART_PATH
 
 	#
 	# Override parameters from user configuration file.
@@ -252,7 +250,7 @@ else
 			then
 				# Start UAVCAN firmware update server and dynamic node ID allocation server.
 				uavcan start fw
-
+				tune_control play -t 1
 				if param greater UAVCAN_ENABLE 2
 				then
 					set OUTPUT_MODE uavcan_esc
@@ -317,7 +315,7 @@ else
 	if [ $USE_IO = yes -a $IO_PRESENT = no ]
 	then
 		echo "PX4IO not found"
-		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
+		tune_control play error
 	fi
 
 	#
@@ -325,7 +323,6 @@ else
 	#  start before commander
 	#
 	rc_update start
-	manual_control start
 
 	#
 	# Sensors System (start before Commander so Preflight checks are properly run).
@@ -372,17 +369,6 @@ else
 		commander start
 	fi
 
-
-	#
-	# Play the startup tune (if not disabled or there is an error)
-	#
-	param compare CBRK_BUZZER 782090
-	if [ $? != 0 -o $STARTUP_TUNE != 1 ]
-	then
-		tune_control play -t $STARTUP_TUNE
-	fi
-
-
 	# Pre-takeoff continuous magnetometer calibration
 	if param compare -s MBE_ENABLE 1
 	then
@@ -507,13 +493,21 @@ else
 		. ${R}etc/init.d/rc.autostart.post
 	fi
 
-
-	set BOARD_BOOTLOADER_UPGRADE ${R}etc/init.d/rc.board_bootloader_upgrade
-	if [ -f $BOARD_BOOTLOADER_UPGRADE ]
+	#
+	# Bootloader upgrade
+	#
+	if param compare -s SYS_BL_UPDATE 1
 	then
-		sh $BOARD_BOOTLOADER_UPGRADE
+		if [ -f "/etc/extras/bootloader.bin" ]
+		then
+			param set SYS_BL_UPDATE 0
+			param save
+			echo "bootloader update..."
+			bl_update "/etc/extras/bootloader.bin"
+			echo "bootloader update done, rebooting"
+			reboot
+		fi
 	fi
-	unset BOARD_BOOTLOADER_UPGRADE
 
 #
 # End of autostart.
@@ -545,8 +539,6 @@ unset PWM_OUT
 unset PWM_EXTRA_OUT
 unset PWM_EXTRA_RATE
 unset RC_INPUT_ARGS
-unset SDCARD_AVAILABLE
-unset SDCARD_EXT_PATH
 unset SDCARD_MIXERS_PATH
 unset STARTUP_TUNE
 unset USE_IO

ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt

@@ -44,4 +44,5 @@ px4_add_romfs_files(
 	tiltrotor_sitl.main.mix
 	uuv_x_sitl.main.mix
 	vectored6dof_sitl.main.mix
+	tiltrotor_sitl_direct.main.mix
 )

ROMFS/px4fmu_common/mixers-sitl/tiltrotor_sitl_direct.main.mix

@@ -0,0 +1,14 @@
+Mixer for quad tiltrotor (x motor configuration)
+================================================
+
+A: 0
+A: 1
+A: 2
+A: 3
+A: 4
+A: 5
+A: 6
+A: 7
+A: 8
+A: 9
+A: 10

ROMFS/px4fmu_common/mixers/CMakeLists.txt

@@ -46,6 +46,7 @@ px4_add_romfs_files(
 	coax.main.mix
 	delta.main.mix
 	deltaquad.main.mix
+	direct.main.mix
 	dodeca_bottom_cox.aux.mix
 	dodeca_top_cox.main.mix
 	firefly6.aux.mix

ROMFS/px4fmu_common/mixers/direct.main.mix

@@ -0,0 +1,11 @@
+# Direct mixer
+# @board px4_fmu-v2 exclude
+
+A: 0
+A: 1
+A: 2
+A: 3
+A: 4
+A: 5
+A: 6
+A: 7