[DO NOT MERGE] parameter testing

This prevents a memory sanitizer/valgrind warning:

Conditional jump or move depends on uninitialised value(s)
   at 0x2DA536: __sanitizer_cov_trace_cmp4 (in build/px4_sitl_default-clang/bin/px4)
   by 0x6590D8: FailureDetector::update(vehicle_status_s const&, vehicle_control_mode_s const&) (src/modules/commander/failure_detector/FailureDetector.cpp:76) by 0x3817DF: Commander::run() (src/modules/commander/Commander.cpp:2605)
   by 0x38B10B: ModuleBase<Commander>::run_trampoline(int, char**) (platforms/common/include/px4_platform_common/module.h:180)

.ci/Jenkinsfile-compile

@@ -66,8 +66,11 @@ pipeline {
                      "mro_ctrl-zero-f7_default",
                      "mro_ctrl-zero-f7-oem_default",
                      "mro_ctrl-zero-h7_default",
+                     "mro_ctrl-zero-h7_rtps",
                      "mro_ctrl-zero-h7-oem_default",
+                     "mro_ctrl-zero-h7-oem_rtps",
                      "mro_pixracerpro_default",
+                     "mro_pixracerpro_rtps",
                      "mro_x21-777_default",
                      "mro_x21_default",
                      "nxp_fmuk66-e_default",
@@ -94,7 +97,6 @@ pipeline {
                      "px4_fmu-v5_stackcheck",
                      "px4_fmu-v5_uavcanv0periph",
                      "px4_fmu-v5_uavcanv1",
-                     "px4_fmu-v5x_base_phy_DP83848C",
                      "px4_fmu-v5x_default",
                      "px4_fmu-v6u_default",
                      "px4_fmu-v6x_default",
@@ -168,7 +170,7 @@ def createBuildNode(Boolean archive, String docker_image, String target) {
             try {
               sh('export')
               checkout(scm)
-              sh('make distclean')
+              sh('make distclean; git clean -ff -x -d .')
               sh('git fetch --tags')
               sh('ccache -s')
               sh('make ' + target)
@@ -185,7 +187,7 @@ def createBuildNode(Boolean archive, String docker_image, String target) {
               throw (exc)
             }
             finally {
-              sh('make distclean')
+              sh('make distclean; git clean -ff -x -d .')
             }
           }
         }

.ci/Jenkinsfile-hardware

@@ -21,11 +21,11 @@ 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/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*, build/cubepilot_cubeorange_test/etc/init.d/airframes/*', name: 'cubepilot_cubeorange_test'
               }
               post {
                 always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                 }
               }
             } // stage build
@@ -42,12 +42,16 @@ pipeline {
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_bootloader/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'
+                    resetBoard()
                   }
                 }
                 stage("tests") {
                   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") {
@@ -69,9 +73,11 @@ pipeline {
                 }
               }
               post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                 always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
-                    resetBoard()
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
                 }
               }
             } // stage test
@@ -92,11 +98,11 @@ 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/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'cuav_x7pro_test'
               }
               post {
                 always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                 }
               }
             } // stage build
@@ -113,6 +119,7 @@ pipeline {
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_bootloader/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'
+                    resetBoard()
                   }
                 }
                 stage("tests") {
@@ -138,9 +145,11 @@ pipeline {
                 }
               }
               post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                 always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
-                    resetBoard()
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
                 }
               }
             } // stage test
@@ -161,11 +170,11 @@ 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/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v3_test'
               }
               post {
                 always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                 }
               }
             } // stage build
@@ -182,6 +191,7 @@ pipeline {
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_bootloader.elf'
                     // flash board and watch bootup
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
                   }
                 }
                 stage("tests") {
@@ -207,9 +217,11 @@ pipeline {
                 }
               }
               post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                 always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
-                    resetBoard()
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
                 }
               }
             } // stage test
@@ -230,11 +242,11 @@ 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/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4_test'
               }
               post {
                 always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                 }
               }
             } // stage build
@@ -251,6 +263,7 @@ pipeline {
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_bootloader.elf'
                     // flash board and watch bootup
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
                   }
                 }
                 stage("tests") {
@@ -275,9 +288,11 @@ pipeline {
                 }
               }
               post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                 always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
-                    resetBoard()
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
                 }
               }
             } // stage test
@@ -298,11 +313,11 @@ 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/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4pro_test'
               }
               post {
                 always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                 }
               }
             } // stage build
@@ -319,6 +334,7 @@ pipeline {
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_bootloader.elf'
                     // flash board and watch bootup
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
                   }
                 }
                 stage("tests") {
@@ -344,9 +360,11 @@ pipeline {
                 }
               }
               post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                 always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
-                    resetBoard()
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
                 }
               }
             } // stage test
@@ -367,11 +385,11 @@ 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/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_debug'
               }
               post {
                 always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                 }
               }
             } // stage build
@@ -393,25 +411,24 @@ pipeline {
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_bootloader.elf'
                     // flash board and watch bootup
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600 || true'
+                    resetBoard()
                   }
                 }
                 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" || 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_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" || 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 "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'
+                    // test dataman
+                    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'
                   }
@@ -424,7 +441,6 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
                     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
                     checkStatus()
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
                   }
@@ -436,9 +452,11 @@ pipeline {
                 }
               }
               post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                 always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
-                    resetBoard()
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
                 }
               }
             } // stage test
@@ -459,11 +477,11 @@ 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/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_stackcheck'
               }
               post {
                 always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                 }
               }
             } // stage build
@@ -485,6 +503,7 @@ pipeline {
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_bootloader.elf'
                     // flash board and watch bootup
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
                   }
                 }
                 stage("tests") {
@@ -493,6 +512,9 @@ pipeline {
                     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 "uorb_tests"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
+
+                    // test dataman
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
                   }
                 }
                 stage("status") {
@@ -503,7 +525,6 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
                     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
                     checkStatus()
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
                   }
@@ -515,9 +536,11 @@ pipeline {
                 }
               }
               post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                 always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
-                    resetBoard()
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
                 }
               }
             } // stage test
@@ -538,11 +561,11 @@ 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/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_test'
               }
               post {
                 always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                 }
               }
             } // stage build
@@ -559,6 +582,7 @@ pipeline {
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_bootloader.elf'
                     // flash board and watch bootup
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
                   }
                 }
                 stage("tests") {
@@ -584,9 +608,11 @@ pipeline {
                 }
               }
               post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                 always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
-                    resetBoard()
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
                 }
               }
             } // stage test
@@ -607,11 +633,11 @@ 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/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'nxp_fmuk66-v3_test'
               }
               post {
                 always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                 }
               }
             } // stage build
@@ -628,6 +654,7 @@ pipeline {
                     //sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_bootloader.elf'
                     // flash board and watch bootup
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
                   }
                 }
                 stage("tests") {
@@ -653,9 +680,11 @@ pipeline {
                 }
               }
               post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                 always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
-                    resetBoard()
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
                 }
               }
             } // stage test
@@ -681,7 +710,7 @@ void checkoutSCM() {
   retry(3) {
     checkout scm
     sh 'export'
-    sh 'make distclean'
+    sh 'make distclean; git clean -ff -x -d .'
     sh 'git fetch --tags'
     sh 'ccache -z'
   }
@@ -714,30 +743,37 @@ 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
-  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 on"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sleep 1"' // sleep before continuing
   // status commands
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/meminfo"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/uptime"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander check" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload; top once; listener cpuload"'
-  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 "logger status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /bin"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
@@ -758,7 +794,7 @@ void checkStatus() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
   // stop logger
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
 }
 
 void resetParameters() {
@@ -768,28 +804,21 @@ 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"'
 
-  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"'
@@ -797,35 +826,32 @@ void runTests() {
   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'
 
-  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 "param dump /fs/mtd_params"'
   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 "param dump /fs/mtd_params"'
   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 "param dump /fs/mtd_params"'
   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 "param dump /fs/mtd_params"'
 
   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"'
 
+  // tests (stop modules first)
   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 "mavlink stop-all"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "navigator stop"'
+  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 "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'
 
-  // test rebooting multiple times
-  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/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/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/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/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 "calib_udelay"'
 }
 
 void printTopics() {
@@ -925,10 +951,6 @@ 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'
@@ -936,28 +958,6 @@ 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
-
-  // check SD card
-  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/microsd" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
-  // format
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman stop" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "umount /fs/microsd" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mkfatfs -F 32 /dev/mmcsd0" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once" || true'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount -t vfat /dev/mmcsd0 /fs/microsd" || true'
-  // check SD card
-  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/microsd" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "echo > /fs/microsd/.format" || true'
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
 }

.github/workflows/deploy_all.yml

@@ -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:

.github/workflows/sitl_tests.yml

@@ -15,10 +15,10 @@ jobs:
       fail-fast: false
       matrix:
         config:
-          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo",   model: "iris"          } # Alaska
-          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer", model: "standard_vtol" } # Australia
-          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo",   model: "tailsitter"    } # Florida
-          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",         model: "standard_vtol" } # Zurich
+          - {model: "iris",          latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
+          - {model: "standard_vtol", latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer" } # Australia
+          - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
+          - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
 
     container:
       image: px4io/px4-dev-simulation-focal:2021-09-08
@@ -96,7 +96,7 @@ jobs:
         PX4_HOME_LON: ${{matrix.config.longitude}}
         PX4_HOME_ALT: ${{matrix.config.altitude}}
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json
+      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
       timeout-minutes: 45
 
     - name: Look at core files

.gitignore

@@ -105,8 +105,4 @@ src/lib/version/build_git_version.h
 src/modules/simulator/simulator_config.h
 src/systemcmds/topic_listener/listener_generated.cpp
 
-# SITL
-dataman
-eeprom/
-
 !src/drivers/distance_sensor/broadcom/afbrs50/Lib/*

.gitmodules

@@ -42,12 +42,6 @@
 [submodule "src/drivers/uavcan_v1/public_regulated_data_types"]
 	path = src/drivers/uavcan_v1/public_regulated_data_types
 	url = https://github.com/UAVCAN/public_regulated_data_types.git
-[submodule "src/drivers/uavcannode_gps_demo/public_regulated_data_types"]
-	path = src/drivers/uavcannode_gps_demo/public_regulated_data_types
-	url = https://github.com/UAVCAN/public_regulated_data_types.git
-[submodule "src/drivers/uavcannode_gps_demo/libcanard"]
-	path = src/drivers/uavcannode_gps_demo/libcanard
-	url = https://github.com/UAVCAN/libcanard.git
 [submodule "src/drivers/uavcan_v1/legacy_data_types"]
 	path = src/drivers/uavcan_v1/legacy_data_types
 	url = https://github.com/PX4/public_regulated_data_types.git

.vscode/cmake-variants.yaml

@@ -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

CMakeLists.txt

@@ -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)

Jenkinsfile

@@ -88,7 +88,7 @@ pipeline {
             docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
           }
           steps {
-            sh 'make distclean'
+            sh 'make distclean; git clean -ff -x -d .'
             sh 'git fetch --all --tags'
             sh 'make airframe_metadata'
             dir('build/px4_sitl_default/docs') {
@@ -98,7 +98,7 @@ pipeline {
           }
           post {
             always {
-              sh 'make distclean'
+              sh 'make distclean; git clean -ff -x -d .'
             }
           }
         }
@@ -108,7 +108,7 @@ pipeline {
             docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
           }
           steps {
-            sh 'make distclean'
+            sh 'make distclean; git clean -ff -x -d .'
             sh 'git fetch --all --tags'
             sh 'make parameters_metadata'
             dir('build/px4_sitl_default/docs') {
@@ -118,7 +118,7 @@ pipeline {
           }
           post {
             always {
-              sh 'make distclean'
+              sh 'make distclean; git clean -ff -x -d .'
             }
           }
         }
@@ -128,7 +128,7 @@ pipeline {
             docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
           }
           steps {
-            sh 'make distclean'
+            sh 'make distclean; git clean -ff -x -d .'
             sh 'git fetch --all --tags'
             sh 'make module_documentation'
             dir('build/px4_sitl_default/docs') {
@@ -138,7 +138,7 @@ pipeline {
           }
           post {
             always {
-              sh 'make distclean'
+              sh 'make distclean; git clean -ff -x -d .'
             }
           }
         }
@@ -156,7 +156,7 @@ pipeline {
           }
           post {
             always {
-              sh 'make distclean'
+              sh 'make distclean; git clean -ff -x -d .'
             }
           }
         }
@@ -170,7 +170,7 @@ pipeline {
           }
           steps {
             sh 'export'
-            sh 'make distclean'
+            sh 'make distclean; git clean -ff -x -d .'
             sh 'git fetch --all --tags'
             sh 'make uorb_graphs'
             dir('Tools/uorb_graph') {
@@ -180,7 +180,7 @@ pipeline {
           }
           post {
             always {
-              sh 'make distclean'
+              sh 'make distclean; git clean -ff -x -d .'
             }
           }
         }
@@ -261,7 +261,7 @@ pipeline {
           steps {
             sh('export')
             sh('git fetch --all --tags')
-            sh('make distclean')
+            sh('make distclean; git clean -ff -x -d .')
             sh('make px4_sitl_rtps')
             withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
               sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/micrortps_agent.git -b ${BRANCH_NAME}")
@@ -290,7 +290,7 @@ pipeline {
           }
           steps {
             sh('export')
-            sh('make distclean')
+            sh('make distclean; git clean -ff -x -d .')
             withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
               sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
               // 'master' branch
@@ -319,7 +319,7 @@ pipeline {
           }
           steps {
             sh('export')
-            sh('make distclean')
+            sh('make distclean; git clean -ff -x -d .')
             withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
               sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
               // deploy uORB RTPS ID map

Kconfig

@@ -114,14 +114,9 @@ config BOARD_ETHERNET
         flag to indicate that ethernet is enabled
 
 config BOARD_CRYPTO
-    string "Crypto"
+    bool "Crypto support"
     help
-        Crypto implementation selection
-
-config BOARD_KEYSTORE
-    string "Keystore"
-    help
-        Keystore implememntation selection
+        Enable PX4 Crypto Support. Select the implementation under drivers
 
 menu "Serial ports"
 

Makefile

@@ -482,7 +482,9 @@ 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 "$(SRC_DIR)"/src/lib -name *.yaml -type f \
+	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" -not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
+	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
 
 # Cleanup
 # --------------------------------------------------------------------

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

@@ -11,40 +11,22 @@
 
 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_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 CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
 
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102

ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic

@@ -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
 

ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus

@@ -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
 

ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy

@@ -5,11 +5,66 @@
 
 . ${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
 
-set PWM_OUT 12345678
-set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
-set MIXER custom
+param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 7
+
+param set-default CA_ROTOR_COUNT 8
+param set-default CA_R_REV 255
+param set-default CA_ROTOR0_AX 1.0000
+param set-default CA_ROTOR0_AY -1.0000
+param set-default CA_ROTOR0_AZ 0.0000
+param set-default CA_ROTOR0_KM 0.0000
+param set-default CA_ROTOR0_PX 0.5000
+param set-default CA_ROTOR0_PY 0.3000
+param set-default CA_ROTOR0_PZ 0.2000
+param set-default CA_ROTOR1_AX 1.0000
+param set-default CA_ROTOR1_AY 1.0000
+param set-default CA_ROTOR1_AZ 0.0000
+param set-default CA_ROTOR1_KM 0.0000
+param set-default CA_ROTOR1_PX 0.5000
+param set-default CA_ROTOR1_PY -0.3000
+param set-default CA_ROTOR1_PZ 0.2000
+param set-default CA_ROTOR2_AX 1.0000
+param set-default CA_ROTOR2_AY 1.0000
+param set-default CA_ROTOR2_AZ 0.0000
+param set-default CA_ROTOR2_KM 0.0000
+param set-default CA_ROTOR2_PX -0.5000
+param set-default CA_ROTOR2_PY 0.3000
+param set-default CA_ROTOR2_PZ 0.2000
+param set-default CA_ROTOR3_AX 1.0000
+param set-default CA_ROTOR3_AY -1.0000
+param set-default CA_ROTOR3_AZ 0.0000
+param set-default CA_ROTOR3_KM 0.0000
+param set-default CA_ROTOR3_PX -0.5000
+param set-default CA_ROTOR3_PY -0.3000
+param set-default CA_ROTOR3_PZ 0.2000
+param set-default CA_ROTOR4_AZ -1.0000
+param set-default CA_ROTOR4_KM 0.0000
+param set-default CA_ROTOR4_PX 0.5000
+param set-default CA_ROTOR4_PY 0.5000
+param set-default CA_ROTOR5_AZ 1.0000
+param set-default CA_ROTOR5_KM 0.0000
+param set-default CA_ROTOR5_PX 0.5000
+param set-default CA_ROTOR5_PY -0.5000
+param set-default CA_ROTOR6_AZ 1.0000
+param set-default CA_ROTOR6_KM 0.0000
+param set-default CA_ROTOR6_PX -0.5000
+param set-default CA_ROTOR6_PY 0.5000
+param set-default CA_ROTOR7_KM 0.0000
+param set-default CA_ROTOR7_PX -0.5000
+param set-default CA_ROTOR7_PY -0.5000
+
+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
+param set-default PWM_MAIN_FUNC7 107
+param set-default PWM_MAIN_FUNC8 108
+
+set MIXER skip
+

ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane

@@ -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
 
@@ -46,5 +43,32 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
+#param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256
+
+
 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol

@@ -7,6 +7,39 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+# param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 2
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS2_TRQ_P 1.0
+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 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
@@ -19,12 +52,9 @@ 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

ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter

@@ -7,14 +7,48 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+# param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 4
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 2
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default CA_SV_CS_COUNT 2
+param set-default CA_SV_CS0_TYPE 5
+param set-default CA_SV_CS0_TRQ_P 0.5
+param set-default CA_SV_CS0_TRQ_Y -0.5
+param set-default CA_SV_CS1_TYPE 6
+param set-default CA_SV_CS1_TRQ_P 0.5
+param set-default CA_SV_CS1_TRQ_Y 0.5
+
+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 0
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_REV 96 # invert both elevons
+
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_I 0.2
-param set-default FW_PR_P 0.3
+param set-default FW_PR_P 0.2
 param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
-param set-default FW_RR_P 0.3
+param set-default FW_RR_P 0.2
 param set-default FW_THR_CRUISE 0.33
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
@@ -36,6 +70,8 @@ param set-default MPC_XY_VEL_D_ACC 0.1
 param set-default NAV_ACC_RAD 5
 param set-default NAV_LOITER_RAD 80
 
+param set-default VT_FW_DIFTHR_EN 1
+param set-default VT_FW_DIFTHR_SC 0.5
 param set-default VT_F_TRANS_DUR 1.5
 param set-default VT_F_TRANS_THR 0.7
 param set-default VT_TYPE 0

ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor

@@ -7,6 +7,52 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+# param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 3
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default CA_ROTOR0_TILT 1
+param set-default CA_ROTOR1_TILT 2
+param set-default CA_ROTOR2_TILT 3
+param set-default CA_ROTOR3_TILT 4
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_TL0_CT 0
+param set-default CA_SV_TL1_CT 0
+param set-default CA_SV_TL2_CT 0
+param set-default CA_SV_TL3_CT 0
+param set-default CA_SV_TL_COUNT 4
+
+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 204
+param set-default PWM_MAIN_FUNC6 205
+param set-default PWM_MAIN_FUNC7 206
+param set-default PWM_MAIN_FUNC8 207
+param set-default PWM_MAIN_FUNC9 201
+param set-default PWM_MAIN_FUNC10 202
+param set-default PWM_MAIN_FUNC11 203
+
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
@@ -19,12 +65,9 @@ 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
 

ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover

@@ -28,6 +28,15 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0
 
+param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 5
+
+param set-default CA_R_REV 1
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 201
+param set-default PWM_MAIN_FUNC6 101
+param set-default PWM_MAIN_FUNC7 101
+
 set MAV_TYPE 10
 
-set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
+set MIXER_FILE skip

ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover

@@ -28,6 +28,15 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0
 
+param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 6
+
+param set-default CA_R_REV 3
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 101
+param set-default PWM_MAIN_FUNC6 102
+param set-default PWM_MAIN_FUNC7 102
+
 set MAV_TYPE 10
 
-set MIXER_FILE etc/mixers-sitl/rover_diff_sitl.main.mix
+set MIXER_FILE skip

ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat

@@ -28,6 +28,25 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0
 
+param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 9
+
+param set-default CA_ROTOR_COUNT 2
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AZ 0
+param set-default CA_ROTOR0_KM 0
+param set-default CA_ROTOR0_PX -2
+param set-default CA_ROTOR0_PY -1
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AZ 0
+param set-default CA_ROTOR1_KM 0
+param set-default CA_ROTOR1_PX -2
+param set-default CA_ROTOR1_PY 1
+param set-default CA_R_REV 3
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+
 set MAV_TYPE 11
 
-set MIXER_FILE etc/mixers-sitl/boat_sitl.main.mix
+set MIXER skip

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

@@ -11,5 +11,31 @@
 
 . ${R}etc/init.d/rc.airship_defaults
 
-set MIXER cloudship
-set PWM_OUT 1234
+param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 9
+
+param set-default CA_ROTOR_COUNT 3
+param set-default CA_ROTOR0_AX 1.0000
+param set-default CA_ROTOR0_AZ 0.0000
+param set-default CA_ROTOR0_KM 0.0000
+param set-default CA_ROTOR0_PY 2.0000
+param set-default CA_ROTOR1_AX 1.0000
+param set-default CA_ROTOR1_AZ 0.0000
+param set-default CA_ROTOR1_KM 0.0000
+param set-default CA_ROTOR1_PY -2.0000
+param set-default CA_ROTOR2_AY -1.0000
+param set-default CA_ROTOR2_AZ 0.0000
+param set-default CA_ROTOR2_KM 0.0000
+param set-default CA_ROTOR2_PX -10.0000
+
+param set-default CA_SV_CS_COUNT 1
+param set-default CA_SV_CS0_TRQ_P 1.0000
+
+param set-default CA_R_REV 7
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 201
+param set-default PWM_MAIN_FUNC4 103
+
+set MIXER skip

ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc

@@ -29,52 +29,27 @@ 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_ROTOR_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 CA_ROTOR0_PX 0.0
+param set-default CA_ROTOR0_PY 1.0
+param set-default CA_ROTOR0_KM -0.05
+param set-default CA_ROTOR1_PX 0.0
+param set-default CA_ROTOR1_PY -1.0
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.866025
+param set-default CA_ROTOR2_PY -0.5
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.866025
+param set-default CA_ROTOR3_PY 0.5
+param set-default CA_ROTOR3_KM 0.05
+param set-default CA_ROTOR4_PX 0.866025
+param set-default CA_ROTOR4_PY 0.5
+param set-default CA_ROTOR4_KM 0.05
+param set-default CA_ROTOR5_PX -0.866025
+param set-default CA_ROTOR5_PY -0.5
+param set-default CA_ROTOR5_KM -0.05
 
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -1,5 +1,7 @@
 #!/bin/sh
 
+set -e
+
 # PX4 commands need the 'px4-' prefix in bash.
 # (px4-alias.sh is expected to be in the PATH)
 # shellcheck disable=SC1091

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

@@ -64,7 +64,6 @@ param set-default FW_BAT_SCALE_EN 1
 param set-default FW_THR_ALT_SCL 2.7
 param set-default FW_T_RLL2THR 20
 
-param set-default LNDMC_ALT_MAX 9999
 param set-default LNDMC_XY_VEL_MAX 1
 param set-default LNDMC_Z_VEL_MAX 0.7
 

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

@@ -17,40 +17,21 @@ 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_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 CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.177
+param set-default CA_ROTOR0_PY 0.177
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.177
+param set-default CA_ROTOR1_PY -0.177
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.177
+param set-default CA_ROTOR2_PY -0.177
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.177
+param set-default CA_ROTOR3_PY 0.177
+param set-default CA_ROTOR3_KM -0.05
 
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102

ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic

@@ -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
 

ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus

@@ -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
 

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

@@ -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

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

@@ -13,58 +13,33 @@
 . ${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_ROTOR_COUNT 6
 
-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_ROTOR0_PX 0.0
+param set-default CA_ROTOR0_PY 0.275
+param set-default CA_ROTOR0_KM -0.05
 
-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_ROTOR1_PX 0.0
+param set-default CA_ROTOR1_PY -0.275
+param set-default CA_ROTOR1_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_ROTOR2_PX 0.238
+param set-default CA_ROTOR2_PY -0.1375
+param set-default CA_ROTOR2_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_ROTOR3_PX -0.238
+param set-default CA_ROTOR3_PY 0.1375
+param set-default CA_ROTOR3_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_ROTOR4_PX 0.238
+param set-default CA_ROTOR4_PY 0.1375
+param set-default CA_ROTOR4_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 CA_ROTOR5_PX -0.238
+param set-default CA_ROTOR5_PY -0.1375
+param set-default CA_ROTOR5_KM -0.05
 
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102

ROMFS/px4fmu_common/init.d/rc.airship_apps

@@ -48,6 +48,14 @@ fi
 #                        End Estimator Group Selection                        #
 ###############################################################################
 
+if param compare SYS_CTRL_ALLOC 1
+then
+	#
+	# Start Control Allocator
+	#
+	control_allocator start
+fi
+
 #
 # Start Airship Attitude Controller.
 #

ROMFS/px4fmu_common/init.d/rc.fw_apps

@@ -10,6 +10,14 @@
 #
 ekf2 start &
 
+if param compare SYS_CTRL_ALLOC 1
+then
+	#
+	# Start Control Allocator
+	#
+	control_allocator start
+fi
+
 #
 # Start attitude controller.
 #

ROMFS/px4fmu_common/init.d/rc.interface

@@ -18,8 +18,17 @@ set OUTPUT_AUX_DEV /dev/pwm_output1
 set OUTPUT_EXTRA_DEV /dev/pwm_output0
 
 # set these before starting the modules
-param set PWM_AUX_OUT ${PWM_AUX_OUT}
-param set PWM_MAIN_OUT ${PWM_OUT}
+if [ $PWM_AUX_OUT != none ]
+then
+
+	param set PWM_AUX_OUT ${PWM_AUX_OUT}
+fi
+
+
+if [ $PWM_OUT != none ]
+then
+	param set PWM_MAIN_OUT ${PWM_OUT}
+fi
 
 #
 # If mount (gimbal) control is enabled and output mode is AUX, set the aux

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -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
 
 #

ROMFS/px4fmu_common/init.d/rc.rover_apps

@@ -12,6 +12,13 @@ ekf2 start &
 #attitude_estimator_q start
 #local_position_estimator start
 
+if param compare SYS_CTRL_ALLOC 1
+then
+	#
+	# Start Control Allocator
+	#
+	control_allocator start
+fi
 
 #
 # Start attitude controllers.

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -4,19 +4,6 @@
 #
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
-
-if ! ver hwcmp OMNIBUS_F4SD
-then
-	if ! ver hwcmp BITCRAZE_CRAZYFLIE
-	then
-		# Configure all I2C buses to 100 KHz as they
-		# are all external or slow
-		# TODO: move this
-		pwm_out i2c 1 100000
-		pwm_out i2c 2 100000
-	fi
-fi
-
 ###############################################################################
 #                           Begin Optional drivers                            #
 ###############################################################################

ROMFS/px4fmu_common/init.d/rc.uuv_apps

@@ -15,6 +15,14 @@ ekf2 start &
 #                        End Estimator Group Selection                        #
 ###############################################################################
 
+if param compare SYS_CTRL_ALLOC 1
+then
+	#
+	# Start Control Allocator
+	#
+	control_allocator start
+fi
+
 #
 # Start UUV Attitude Controller.
 #

ROMFS/px4fmu_common/init.d/rc.vtol_apps

@@ -15,6 +15,14 @@ ekf2 start &
 #                        End Estimator group selection                        #
 ###############################################################################
 
+if param compare SYS_CTRL_ALLOC 1
+then
+	#
+	# Start Control Allocator
+	#
+	control_allocator start
+fi
+
 airspeed_selector start
 
 vtol_att_control start

ROMFS/px4fmu_common/init.d/rcS

@@ -35,7 +35,7 @@ set MIXER_AUX none
 set MIXER_FILE none
 set MIXER_EXTRA none
 set OUTPUT_MODE none
-set PARAM_FILE /fs/microsd/params
+set PARAM_FILE ""
 set PWM_OUT none
 set PWM_MAIN_RATE p:PWM_MAIN_RATE
 set PWM_AUX_OUT none
@@ -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
@@ -59,51 +60,56 @@ 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
+			echo "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
+			set SDCARD_FORMAT yes
+			rm /fs/microsd/.format
+			umount /fs/microsd
+
+		else
 			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
+	if [ $SDCARD_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
 	then
-		if mount -t vfat /dev/mmcsd0 /fs/microsd
+		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
-			set SDCARD_AVAILABLE yes
 			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
-			set STARTUP_TUNE 15 # tune 15 = SD_ERROR
 			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
+
+	set PARAM_FILE /fs/microsd/params
 fi
 
 #
@@ -136,8 +142,38 @@ else
 	param select $PARAM_FILE
 	if ! param import
 	then
-		param reset_all
+		echo "ERROR [init] param import failed"
+		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
+
+		param dump $PARAM_FILE
+
+		hexdump $PARAM_FILE
+
+		if [ -d "/fs/microsd" ]
+		then
+			dmesg >> /fs/microsd/param_import_fail.txt &
+
+			# try to make a backup copy
+			cp $PARAM_FILE /fs/microsd/param_import_fail.bson &
+		fi
+
+		# try importing from backup file
+		if [ -f "/fs/microsd/parameters_backup.bson" ]
+		then
+			echo "[init] importing from parameter backup"
+
+			# dump current backup file contents for comparison
+			param dump /fs/microsd/parameters_backup.bson
+
+			param import /fs/microsd/parameters_backup.bson
+		fi
 	fi
+
+	if [ $SDCARD_AVAILABLE = yes ]
+	then
+		param select-backup /fs/microsd/parameters_backup.bson
+	fi
+
 	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X
 	then
 		netman update -i eth0
@@ -185,7 +221,16 @@ else
 	# Waypoint storage.
 	# REBOOTWORK this needs to start in parallel.
 	#
-	dataman start
+	if param compare SYS_DM_BACKEND 1
+	then
+		dataman start -r
+	else
+		if param compare SYS_DM_BACKEND 0
+		then
+			# dataman start default
+			dataman start
+		fi
+	fi
 
 	#
 	# Start the socket communication send_event handler.
@@ -418,6 +463,12 @@ else
 		rc_input start $RC_INPUT_ARGS
 	fi
 
+	# PPS capture driver (before pwm_out)
+	if param greater -s PPS_CAP_ENABLE 0
+	then
+		pps_capture start
+	fi
+
 	# Camera capture driver (before pwm_out)
 	if param greater -s CAM_CAP_FBACK 0
 	then
@@ -547,6 +598,7 @@ 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

ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt

@@ -33,15 +33,11 @@
 
 px4_add_romfs_files(
 	autogyro_sitl.main.mix
-	boat_sitl.main.mix
 	delta_wing_sitl.main.mix
 	package_drop.aux.mix
 	plane_sitl.main.mix
 	quad_x_vtol.main.mix
-	rover_ackermann_sitl.main.mix
-	rover_diff_sitl.main.mix
 	standard_vtol_sitl.main.mix
 	tiltrotor_sitl.main.mix
 	uuv_x_sitl.main.mix
-	vectored6dof_sitl.main.mix
 )

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

@@ -1,15 +0,0 @@
-Mixer for SITL boat
-=========================================================
-
-Throttle of left propeller of boat on Output 0
----------------------------------------
-M: 2
-S: 0 2    10000   10000      0  -10000  10000
-S: 0 3    10000   10000      0  -10000  10000
-
-
-Throttle of right propeller of boat on Output 1
----------------------------------------
-M: 2
-S: 0 2   -10000  -10000      0  -10000  10000
-S: 0 3    10000   10000      0  -10000  10000

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

@@ -1,46 +0,0 @@
-Mixer for SITL rover
-=========================================================
-
-Output 0
----------------------------------------
-M: 1
-O:       10000   10000      0 -10000  10000
-S: 0 2   10000   10000      0 -10000  10000
-
-Output 1
----------------------------------------
-M: 1
-O:       10000   10000      0 -10000  10000
-S: 0 2   10000   10000      0 -10000  10000
-
-Output 2
----------------------------------------
-Z:
-
-Output 3
----------------------------------------
-Z:
-
-Output 4
----------------------------------------
-Z:
-
-Output 5
----------------------------------------
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3  10000  10000      0 -10000  10000
-
-Output 6
----------------------------------------
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3  10000  10000      0 -10000  10000
-
-Output 7
----------------------------------------
-Z:
-
-Output 8
----------------------------------------
-Z:

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

@@ -1,46 +0,0 @@
-Mixer for SITL rover
-=========================================================
-
-Output 0
----------------------------------------
-M: 2
-S: 0 2  10000   10000      0 -10000  10000
-S: 0 3  10000   10000      0 -10000  10000
-
-Output 1
----------------------------------------
-M: 2
-S: 0 2  10000   10000      0 -10000  10000
-S: 0 3  10000   10000      0 -10000  10000
-
-Output 2
----------------------------------------
-Z:
-
-Output 3
----------------------------------------
-Z:
-
-Output 4
----------------------------------------
-Z:
-
-Output 5
----------------------------------------
-M: 2
-S: 0 2  -10000  -10000      0 -10000  10000
-S: 0 3   10000   10000      0 -10000  10000
-
-Output 6
----------------------------------------
-M: 2
-S: 0 2  -10000  -10000      0 -10000  10000
-S: 0 3   10000   10000      0 -10000  10000
-
-Output 7
----------------------------------------
-Z:
-
-Output 8
----------------------------------------
-Z:

ROMFS/px4fmu_common/mixers-sitl/vectored6dof_sitl.main.mix

@@ -1,40 +0,0 @@
-# Motor 1
-M: 3
-S: 0 2  -4000  -4000  0   -4000  +4000
-S: 0 3  +4000  +4000  0   -4000  +4000
-S: 0 4  -4000  -4000  0   -4000  +4000
-# Motor 2
-M: 3
-S: 0 2  +4000  +4000  0   -4000  +4000
-S: 0 3  +4000  +4000  0   -4000  +4000
-S: 0 4  +4000  +4000  0   -4000  +4000
-# Motor 3
-M: 3
-S: 0 2  -4000  -4000  0   -4000  +4000
-S: 0 3  +4000  +4000  0   -4000  +4000
-S: 0 4  +4000  +4000  0   -4000  +4000
-# Motor 4
-M: 3
-S: 0 2  +4000  +4000  0   -4000  +4000
-S: 0 3  +4000  +4000  0   -4000  +4000
-S: 0 4  -4000  -4000  0   -4000  +4000
-# Motor 5
-M: 3
-S: 0 0  -4000  -4000  0   -4000  +4000
-S: 0 1  +4000  +4000  0   -4000  +4000
-S: 0 5  -4000  -4000  0   -4000  +4000
-# Motor 6
-M: 3
-S: 0 0  -4000  -4000  0   -4000  +4000
-S: 0 1  -4000  -4000  0   -4000  +4000
-S: 0 5  +4000  +4000  0   -4000  +4000
-# Motor 7
-M: 3
-S: 0 0  +4000  +4000  0   -4000  +4000
-S: 0 1  +4000  +4000  0   -4000  +4000
-S: 0 5  +4000  +4000  0   -4000  +4000
-# Motor 8
-M: 3
-S: 0 0  +4000  +4000  0   -4000  +4000
-S: 0 1  -4000  -4000  0   -4000  +4000
-S: 0 5  -4000  -4000  0   -4000  +4000

Tools/HIL/monitor_firmware_upload.py

@@ -7,6 +7,8 @@ from argparse import ArgumentParser
 import re
 import sys
 import datetime
+import serial.tools.list_ports as list_ports
+import tempfile
 
 COLOR_RED    = "\x1b[31m"
 COLOR_GREEN  = "\x1b[32m"
@@ -36,12 +38,13 @@ def print_line(line):
     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)
+
+def monitor_firmware_upload(port_url, baudrate):
+    ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
 
     timeout = 180  # 3 minutes
-    timeout_start = time.time()
-    timeout_newline = time.time()
+    timeout_start = time.monotonic()
+    timeout_newline = time.monotonic()
 
     return_code = 0
 
@@ -49,33 +52,59 @@ def monitor_firmware_upload(port, baudrate):
         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:
-            sys.exit(return_code)
-        elif "nsh>" in serial_line:
-            sys.exit(return_code)
+            if "NuttShell (NSH)" in serial_line:
+                sys.exit(return_code)
+            elif "nsh>" in serial_line:
+                sys.exit(return_code)
 
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout")
-            sys.exit(-1)
+        else:
+            if time.monotonic() > timeout_start + timeout:
+                print("Error, timeout")
+                sys.exit(-1)
+
+            # newline every 10 seconds if still running
+            if (len(serial_line) <= 0) and (time.monotonic() - timeout_newline > 10):
+                timeout_newline = time.monotonic()
+                ser.write("\n".encode("ascii"))
 
-        # newline every 10 seconds if still running
-        if time.time() - timeout_newline > 10:
-            timeout_newline = time.time()
-            ser.write("\n".encode("ascii"))
-            ser.flush()
 
 def main():
+
+    default_device = None
+    device_required = True
+
+    # select USB UART as default if there's only 1
+    ports = list(serial.tools.list_ports.grep('USB UART'))
+
+    if (len(ports) == 1):
+        default_device = ports[0].device
+        device_required = False
+
+        print("Default USB UART port: {0}".format(ports[0].name))
+        print(" device: {0}".format(ports[0].device))
+        print(" description: \"{0}\" ".format(ports[0].description))
+        print(" hwid: {0}".format(ports[0].hwid))
+        #print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
+        #print(" serial_number: {0}".format(ports[0].serial_number))
+        #print(" location: {0}".format(ports[0].location))
+        print(" manufacturer: {0}".format(ports[0].manufacturer))
+        #print(" product: {0}".format(ports[0].product))
+        #print(" interface: {0}".format(ports[0].interface))
+
     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)
+    parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
+    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
     args = parser.parse_args()
 
-    monitor_firmware_upload(args.device, args.baudrate)
+    tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
+    port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
+
+    print("pyserial url: {0}".format(port_url))
+
+    monitor_firmware_upload(port_url, args.baudrate)
 
 if __name__ == "__main__":
    main()

Tools/HIL/nsh_param_set.py

@@ -6,6 +6,9 @@ from subprocess import call, Popen
 from argparse import ArgumentParser
 import re
 import sys
+import datetime
+import serial.tools.list_ports as list_ports
+import tempfile
 
 COLOR_RED    = "\x1b[31m"
 COLOR_GREEN  = "\x1b[32m"
@@ -29,109 +32,140 @@ def print_line(line):
     if "FAILED" in line:
         line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
 
-    print(line, end='')
+    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 do_param_set_cmd(port, baudrate, param_name, param_value):
-    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.1, xonxoff=True, rtscts=False, dsrdtr=False)
 
-    timeout_start = time.time()
+def do_param_set_cmd(port_url, baudrate, param_name, param_value):
+    ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
+
+    timeout_start = time.monotonic()
     timeout = 30  # 30 seconds
 
+    ser.write("\n\n\n".encode("ascii"))
+
     # wait for nsh prompt
     while True:
-        ser.write("\n".encode("ascii"))
-        ser.flush()
-
         serial_line = ser.readline().decode("ascii", errors='ignore')
 
-        if "nsh>" in serial_line:
-            break
+        if len(serial_line) > 0:
+            if "nsh>" in serial_line:
+                break
         else:
-            if len(serial_line) > 0:
-                print_line(serial_line)
+            if time.monotonic() > timeout_start + timeout:
+                print("Error, timeout waiting for prompt")
+                sys.exit(1)
+
+            ser.write("\n".encode("ascii"))
 
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout waiting for prompt")
-            sys.exit(1)
 
     # clear
-    ser.readlines()
+    ser.reset_input_buffer()
 
     # run command
-    timeout_start = time.time()
+    timeout_start = time.monotonic()
     timeout = 10  # 10 seconds
 
     cmd = "param set " + param_name + " " + param_value
 
     # write command (param set) and wait for command echo
-    serial_cmd = '{0}\r\n'.format(cmd)
+    print("Running command: \'{0}\'".format(cmd))
+    serial_cmd = '{0}\n'.format(cmd)
+
     ser.write(serial_cmd.encode("ascii"))
-    ser.flush()
+
     while True:
         serial_line = ser.readline().decode("ascii", errors='ignore')
 
-        if cmd in serial_line:
-            print_line(serial_line)
-            break
-        else:
-            if len(serial_line) > 0:
-                print_line(serial_line)
+        if len(serial_line) > 0:
+            if cmd in serial_line:
+                break
 
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout waiting for command echo")
-            break
+            print_line(serial_line)
+
+        else:
+            if time.monotonic() > timeout_start + timeout:
+                print("Error, timeout waiting for command echo")
+                break
+
+    # clear
+    ser.reset_input_buffer()
 
     # verify param value
     cmd = "param show " + param_name
-    serial_cmd = '{0}\r\n'.format(cmd)
+    print("Running command: \'{0}\'".format(cmd))
+    serial_cmd = '{0}\n'.format(cmd)
     ser.write(serial_cmd.encode("ascii"))
-    ser.flush()
 
     param_show_response = param_name + " ["
 
-    timeout_start = time.time()
-    timeout = 2  # 2 seconds
+    timeout_start = time.monotonic()
+    timeout = 3  # 3 seconds
 
     while True:
         serial_line = ser.readline().decode("ascii", errors='ignore')
 
-        if param_show_response in serial_line:
+        if len(serial_line) > 0:
             print_line(serial_line)
-            current_param_value = serial_line.split(":")[-1].strip()
 
-            if (current_param_value == param_value):
-                sys.exit(0)
+            if param_show_response in serial_line:
+                current_param_value = serial_line.split(":")[-1].strip()
+
+                if (current_param_value == param_value):
+                    sys.exit(0)
+                else:
+                    sys.exit(1)
             else:
-                sys.exit(1)
+                if time.monotonic() > timeout_start + timeout:
+                    if "nsh>" in serial_line:
+                        sys.exit(1) # error, command didn't complete successfully
+                    elif "NuttShell (NSH)" in serial_line:
+                        sys.exit(1) # error, command didn't complete successfully
         else:
-            if len(serial_line) > 0:
-                print_line(serial_line)
+            if time.monotonic() > timeout_start + timeout:
+                print("Error, timeout")
+                sys.exit(-1)
 
-            if time.time() > timeout_start + timeout:
-                if "nsh>" in serial_line:
-                    sys.exit(1) # error, command didn't complete successfully
-                elif "NuttShell (NSH)" in serial_line:
-                    sys.exit(1) # error, command didn't complete successfully
-
-        if len(serial_line) <= 0:
-            ser.write("\r\n".encode("ascii"))
-            ser.flush()
-
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout")
-            sys.exit(-1)
-
-    ser.close()
 
 def main():
+
+    default_device = None
+    device_required = True
+
+    # select USB UART as default if there's only 1
+    ports = list(serial.tools.list_ports.grep('USB UART'))
+
+    if (len(ports) == 1):
+        default_device = ports[0].device
+        device_required = False
+
+        print("Default USB UART port: {0}".format(ports[0].name))
+        print(" device: {0}".format(ports[0].device))
+        print(" description: \"{0}\" ".format(ports[0].description))
+        print(" hwid: {0}".format(ports[0].hwid))
+        #print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
+        #print(" serial_number: {0}".format(ports[0].serial_number))
+        #print(" location: {0}".format(ports[0].location))
+        print(" manufacturer: {0}".format(ports[0].manufacturer))
+        #print(" product: {0}".format(ports[0].product))
+        #print(" interface: {0}".format(ports[0].interface))
+
     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)
+    parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
+    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
     parser.add_argument("--name", "-p", dest="param_name", help="Parameter name")
     parser.add_argument("--value", "-v", dest="param_value", help="Parameter value")
     args = parser.parse_args()
 
-    do_param_set_cmd(args.device, args.baudrate, args.param_name, args.param_value)
+    tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
+    port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
+
+    print("pyserial url: {0}".format(port_url))
+
+    do_param_set_cmd(port_url, args.baudrate, args.param_name, args.param_value)
 
 if __name__ == "__main__":
    main()

Tools/HIL/reboot.py

@@ -0,0 +1,111 @@
+#! /usr/bin/env python3
+
+import serial, time
+import subprocess
+from subprocess import call, Popen
+from argparse import ArgumentParser
+import re
+import sys
+import datetime
+import serial.tools.list_ports as list_ports
+import tempfile
+
+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 reboot(port_url, baudrate):
+    ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
+
+    time_start = time.monotonic()
+
+    ser.write("\n\n\n".encode("ascii"))
+
+    ser.write("reboot\n".encode("ascii"))
+    time_reboot_cmd = time_start
+
+    timeout_reboot_cmd = 90
+    timeout = 300  # 5 minutes
+
+    return_code = 0
+
+    while True:
+        serial_line = ser.readline().decode("ascii", errors='ignore')
+
+        if len(serial_line) > 0:
+            print_line(serial_line)
+
+            if "ERROR" in serial_line:
+                return_code = -1
+
+            if "NuttShell (NSH)" in serial_line:
+                sys.exit(return_code)
+
+        else:
+            if time.monotonic() > time_start + timeout:
+                print("Error, timeout")
+                sys.exit(-1)
+
+            if time.monotonic() > time_reboot_cmd + timeout_reboot_cmd:
+                time_reboot_cmd = time.monotonic()
+                print("sending reboot cmd again")
+                ser.write("reboot\n".encode("ascii"))
+
+
+def main():
+
+    default_device = None
+    device_required = True
+
+    # select USB UART as default if there's only 1
+    ports = list(serial.tools.list_ports.grep('USB UART'))
+
+    if (len(ports) == 1):
+        default_device = ports[0].device
+        device_required = False
+
+        print("Default USB UART port: {0}".format(ports[0].name))
+        print(" device: {0}".format(ports[0].device))
+        print(" description: \"{0}\" ".format(ports[0].description))
+        print(" hwid: {0}".format(ports[0].hwid))
+        #print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
+        #print(" serial_number: {0}".format(ports[0].serial_number))
+        #print(" location: {0}".format(ports[0].location))
+        print(" manufacturer: {0}".format(ports[0].manufacturer))
+        #print(" product: {0}".format(ports[0].product))
+        #print(" interface: {0}".format(ports[0].interface))
+
+    parser = ArgumentParser(description=__doc__)
+    parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
+    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
+    args = parser.parse_args()
+
+    reboot(args.device, args.baudrate)
+
+if __name__ == "__main__":
+   main()

Tools/HIL/run_nsh_cmd.py

@@ -7,6 +7,8 @@ from argparse import ArgumentParser
 import re
 import sys
 import datetime
+import serial.tools.list_ports as list_ports
+import tempfile
 
 COLOR_RED    = "\x1b[31m"
 COLOR_GREEN  = "\x1b[32m"
@@ -37,101 +39,123 @@ def print_line(line):
         print('{0}'.format(line), end='')
 
 
-def do_nsh_cmd(port, baudrate, cmd):
-    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)
+def do_nsh_cmd(port_url, baudrate, cmd):
+    ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
 
-    timeout_start = time.time()
+    timeout_start = time.monotonic()
     timeout = 30  # 30 seconds
 
+    ser.write("\n\n\n".encode("ascii"))
+
     # wait for nsh prompt
     while True:
-        ser.write("\n".encode("ascii"))
-        ser.flush()
-
         serial_line = ser.readline().decode("ascii", errors='ignore')
 
-        if "nsh>" in serial_line:
-            break
+        if len(serial_line) > 0:
+            if "nsh>" in serial_line:
+                break
         else:
-            if len(serial_line) > 0:
-                print_line(serial_line)
+            if time.monotonic() > timeout_start + timeout:
+                print("Error, timeout waiting for prompt")
+                sys.exit(1)
+
+            ser.write("\n".encode("ascii"))
 
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout waiting for prompt")
-            sys.exit(1)
 
     # clear
-    ser.readlines()
+    ser.reset_input_buffer()
 
     # run command
-    timeout_start = time.time()
-    timeout = 1  # 1 second
+    timeout_start = time.monotonic()
+    timeout = 5  # 5 seconds
 
     success_cmd = "cmd succeeded!"
 
     # wait for command echo
-    serial_cmd = '{0}; echo "{1}"; echo "{2}";\r\n'.format(cmd, success_cmd, success_cmd)
+    print("Running command: \'{0}\'".format(cmd))
+    serial_cmd = '{0}; echo "{1}"; echo "{2}";\n'.format(cmd, success_cmd, success_cmd)
     ser.write(serial_cmd.encode("ascii"))
-    ser.flush()
+
     while True:
         serial_line = ser.readline().decode("ascii", errors='ignore')
 
-        if cmd in serial_line:
-            break
-        elif serial_line.startswith(success_cmd) and len(serial_line) <= len(success_cmd) + 2:
-            print_line(serial_line)
-            # we missed the echo, but command ran and succeeded
-            sys.exit(0)
-        else:
-            if len(serial_line) > 0:
+        if len(serial_line) > 0:
+            if cmd in serial_line:
+                break
+            elif serial_line.startswith(success_cmd) and len(serial_line) <= len(success_cmd) + 2:
                 print_line(serial_line)
-
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout waiting for command echo")
-            break
+                # we missed the echo, but command ran and succeeded
+                sys.exit(0)
+            else:
+                print_line(serial_line)
+        else:
+            if time.monotonic() > timeout_start + timeout:
+                print("Error, timeout waiting for command echo")
+                break
 
 
-    timeout_start = time.time()
-    timeout = 180 # 3 minutes
+    timeout_start = time.monotonic()
+    timeout = 240 # 4 minutes
 
     return_code = 0
 
     while True:
         serial_line = ser.readline().decode("ascii", errors='ignore')
 
-        if success_cmd in serial_line:
-            sys.exit(return_code)
-            break
-        else:
-            if len(serial_line) > 0:
+        if len(serial_line) > 0:
+            if success_cmd in serial_line:
+                sys.exit(return_code)
+            else:
                 if "ERROR " in serial_line:
                     return_code = -1
 
                 print_line(serial_line)
 
-            if "nsh>" in serial_line:
-                sys.exit(1) # error, command didn't complete successfully
-            elif "NuttShell (NSH)" in serial_line:
-                sys.exit(1) # error, command didn't complete successfully
+                if "nsh>" in serial_line:
+                    sys.exit(1) # error, command didn't complete successfully
+                elif "NuttShell (NSH)" in serial_line:
+                    sys.exit(1) # error, command didn't complete successfully
+        else:
+            if time.monotonic() > timeout_start + timeout:
+                print("Error, timeout")
+                sys.exit(-1)
 
-        if len(serial_line) <= 0:
-            ser.write("\r\n".encode("ascii"))
-            ser.flush()
-
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout")
-            sys.exit(-1)
-
-    ser.close()
 
 def main():
+
+    default_device = None
+    device_required = True
+
+    # select USB UART as default if there's only 1
+    ports = list(serial.tools.list_ports.grep('USB UART'))
+
+    if (len(ports) == 1):
+        default_device = ports[0].device
+        device_required = False
+
+        print("Default USB UART port: {0}".format(ports[0].name))
+        print(" device: {0}".format(ports[0].device))
+        print(" description: \"{0}\" ".format(ports[0].description))
+        print(" hwid: {0}".format(ports[0].hwid))
+        #print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
+        #print(" serial_number: {0}".format(ports[0].serial_number))
+        #print(" location: {0}".format(ports[0].location))
+        print(" manufacturer: {0}".format(ports[0].manufacturer))
+        #print(" product: {0}".format(ports[0].product))
+        #print(" interface: {0}".format(ports[0].interface))
+
     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)
+    parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
+    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
     parser.add_argument("--cmd", "-c", dest="cmd", help="Command to run")
     args = parser.parse_args()
 
-    do_nsh_cmd(args.device, args.baudrate, args.cmd)
+    tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
+    port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
+
+    print("pyserial url: {0}".format(port_url))
+
+    do_nsh_cmd(port_url, args.baudrate, args.cmd)
 
 if __name__ == "__main__":
    main()

Tools/HIL/run_tests.py

@@ -9,6 +9,9 @@ import unittest
 import os
 import sys
 import datetime
+import serial.tools.list_ports as list_ports
+import tempfile
+import warnings
 
 COLOR_RED    = "\x1b[31m"
 COLOR_GREEN  = "\x1b[32m"
@@ -38,33 +41,36 @@ def print_line(line):
     else:
         print('{0}'.format(line), end='')
 
-def do_test(port, baudrate, test_name):
-    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)
 
-    timeout_start = time.time()
+def do_test(port_url, baudrate, test_name):
+
+    # ignore pyserial spy:// resource warnings
+    warnings.filterwarnings(action="ignore", message="unclosed", category=ResourceWarning)
+
+    ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
+
+    timeout_start = time.monotonic()
     timeout = 30  # 30 seconds
 
+    ser.write("\n\n\n".encode("ascii"))
+
     # wait for nsh prompt
     while True:
-        ser.write("\n".encode("ascii"))
-        ser.flush()
-
         serial_line = ser.readline().decode("ascii", errors='ignore')
 
-        if "nsh>" in serial_line:
-            break
+        if len(serial_line) > 0:
+            if "nsh>" in serial_line:
+                break
         else:
-            if len(serial_line) > 0:
-                print(serial_line, end='')
+            if time.monotonic() > timeout_start + timeout:
+                print("Error, timeout waiting for prompt")
+                return False
+
+            ser.write("\n".encode("ascii"))
 
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout waiting for prompt")
-            return False
 
     # clear
-    ser.readlines()
-
-    success = False
+    ser.reset_input_buffer()
 
     # run test cmd
     print('\n|======================================================================')
@@ -72,30 +78,28 @@ def do_test(port, baudrate, test_name):
     print("| Running:", cmd)
     print('|======================================================================')
 
-    timeout_start = time.time()
+    timeout_start = time.monotonic()
     timeout = 2  # 2 seconds
 
     # wait for command echo
+    print("Running command: \'{0}\'".format(cmd))
     serial_cmd = '{0}\n'.format(cmd)
     ser.write(serial_cmd.encode("ascii"))
-    ser.flush()
+
     while True:
         serial_line = ser.readline().decode("ascii", errors='ignore')
 
-        if cmd in serial_line:
-            break
+        if len(serial_line) > 0:
+            if cmd in serial_line:
+                break
         else:
-            if len(serial_line) > 0:
-                print_line(serial_line)
-
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout waiting for command echo")
-            break
-
+            if time.monotonic() > timeout_start + timeout:
+                print("Error, timeout waiting for command echo")
+                break
 
     # print results, wait for final result (PASSED or FAILED)
     timeout = 300  # 5 minutes
-    timeout_start = time.time()
+    timeout_start = time.monotonic()
     timeout_newline = timeout_start
 
     while True:
@@ -104,27 +108,26 @@ def do_test(port, baudrate, test_name):
         if len(serial_line) > 0:
             print_line(serial_line)
 
-        if test_name + " PASSED" in serial_line:
-            success = True
-            break
-        elif test_name + " FAILED" in serial_line:
-            success = False
-            break
+            if test_name + " PASSED" in serial_line:
+                ser.close()
+                return True
+            elif test_name + " FAILED" in serial_line:
+                ser.close()
+                return False
+        else:
+            if time.monotonic() > timeout_start + timeout:
+                print("Error, timeout")
+                print(test_name + f" {COLOR_RED}FAILED{COLOR_RESET}")
+                ser.close()
+                return False
 
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout")
-            print(test_name + f" {COLOR_RED}FAILED{COLOR_RESET}")
-            success = False
-            break
-
-        # newline every 10 seconds if still running
-        if time.time() - timeout_newline > 10:
-            ser.write("\n".encode("ascii"))
-            timeout_newline = time.time()
+            # newline every 30 seconds if still running
+            if time.monotonic() - timeout_newline > 30:
+                ser.write("\n".encode("ascii"))
+                timeout_newline = time.monotonic()
 
     ser.close()
-
-    return success
+    return False
 
 class TestHardwareMethods(unittest.TestCase):
     TEST_DEVICE = 0
@@ -206,12 +209,39 @@ class TestHardwareMethods(unittest.TestCase):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "versioning"))
 
 def main():
+
+    default_device = None
+    device_required = True
+
+    # select USB UART as default if there's only 1
+    ports = list(serial.tools.list_ports.grep('USB UART'))
+
+    if (len(ports) == 1):
+        default_device = ports[0].device
+        device_required = False
+
+        print("Default USB UART port: {0}".format(ports[0].name))
+        print(" device: {0}".format(ports[0].device))
+        print(" description: \"{0}\" ".format(ports[0].description))
+        print(" hwid: {0}".format(ports[0].hwid))
+        #print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
+        #print(" serial_number: {0}".format(ports[0].serial_number))
+        #print(" location: {0}".format(ports[0].location))
+        print(" manufacturer: {0}".format(ports[0].manufacturer))
+        #print(" product: {0}".format(ports[0].product))
+        #print(" interface: {0}".format(ports[0].interface))
+
     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)
+    parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
+    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
     args = parser.parse_args()
 
-    TestHardwareMethods.TEST_DEVICE = args.device
+    tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
+    port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
+
+    print("pyserial url: {0}".format(port_url))
+
+    TestHardwareMethods.TEST_DEVICE = port_url
     TestHardwareMethods.TEST_BAUDRATE = args.baudrate
 
     unittest.main(__name__, failfast=True, verbosity=0, argv=['main'])

Tools/HIL/test_airframes.sh

@@ -0,0 +1,47 @@
+#! /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 status'
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param save'
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump'
+
+	${DIR}/reboot.py --device ${SERIAL_DEVICE}
+
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/mtd_params' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/parameters_backup.bson' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/param_import_fail.bson' || true
+
+	${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

Tools/docker_run.sh

@@ -19,7 +19,7 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 		PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
 	elif [[ $@ =~ .*tests* ]]; then
 		# run all tests with simulation
-		PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-02-04"
+		PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-12-11"
 	fi
 else
 	echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";

Tools/generate_board_targets_json.py

@@ -41,7 +41,9 @@ def process_target(px4board_file, target_name):
     platform = None
     toolchain = None
 
-    if px4board_file.endswith("default.px4board"):
+    if px4board_file.endswith("default.px4board") or \
+        px4board_file.endswith("recovery.px4board") or \
+        px4board_file.endswith("bootloader.px4board"):
         kconf.load_config(px4board_file, replace=True)
     else: # Merge config with default.px4board
         default_kconfig = re.sub(r'[a-zA-Z\d_]+\.px4board', 'default.px4board', px4board_file)

Tools/kconfig/cmake_kconfig_lut.txt

@@ -92,6 +92,7 @@ pca9685,CONFIG_DRIVERS_PCA9685=y
 pca9685_pwm_out,CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 power_monitor/ina226,CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 power_monitor/voxlpm,CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
+pps_capture,CONFIG_DRIVERS_PPS_CAPTURE=y
 protocol_splitter,CONFIG_DRIVERS_PROTOCOL_SPLITTER=y
 pwm_input,CONFIG_DRIVERS_PWM_INPUT=y
 pwm_out_sim,CONFIG_DRIVERS_PWM_OUT_SIM=y

Tools/module_config/generate_actuators_metadata.py

@@ -0,0 +1,496 @@
+#!/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
+
+
+    actuator_output_yaml = yaml_config['actuator_output']
+    output_groups = actuator_output_yaml['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 actuator_output_yaml:
+        actuator_output['show-subgroups-if'] = actuator_output_yaml['show_subgroups_if']
+    add_reverse_range_param = actuator_output_yaml.get('add_reverse_range_param', False)
+
+    # 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(actuator_output_yaml.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)
+
+
+        if add_reverse_range_param:
+            param = {
+                    'label': 'Rev Range\n(for Servos)',
+                    'name': param_prefix+'_REV',
+                    'index-offset': -1,
+                    'show-as': 'bitset',
+                }
+            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.get('per_item_parameters', {})
+                params = []
+                if 'standard' in per_item_params:
+                    standard_params = per_item_params['standard']
+                    index_offset = standard_params.get('index_offset', 0)
+                    if 'position' in standard_params:
+                        params.extend([
+                        {
+                            'label': 'Position X',
+                            'function': 'posx',
+                            'name': standard_params['position'][0],
+                            'index-offset': index_offset,
+                        },
+                        {
+                            'label': 'Position Y',
+                            'function': 'posy',
+                            'name': standard_params['position'][1],
+                            'index-offset': index_offset,
+                        },
+                        {
+                            'label': 'Position Z',
+                            'function': 'posz',
+                            'name': standard_params['position'][2],
+                            'advanced': True,
+                            'index-offset': index_offset,
+                        },
+                        ])
+                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
+                if 'item_label_prefix' in actuator_conf:
+                    actuator['item-label-prefix'] = actuator_conf['item_label_prefix']
+            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))
+
+    rules = []
+    for rule in yaml_config['mixer'].get('rules', []):
+        rules.append({k.replace('_','-'): v for k, v in rule.items()})
+
+    if verbose:
+        print('Mixer rules: {}'.format(rules))
+    
+    mixers = {
+            'actuator-types': actuator_types,
+            'config': config,
+            'rules': rules,
+        }
+    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)

Tools/module_config/generate_params.py

@@ -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):
@@ -104,6 +110,13 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
                     param_type = 'INT32'
                     for key in param['values']:
                         tags += '\n * @value {:} {:}'.format(key, param['values'][key])
+                elif param['type'] == 'bitmask':
+                    param_type = 'INT32'
+                    for key in param['bit']:
+                        tags += '\n * @bit {:} {:}'.format(key, param['bit'][key])
+                    max_val = max(key for key in param['bit'])
+                    tags += '\n * @min 0'
+                    tags += '\n * @max {:}'.format((1<<(max_val+1)) - 1)
                 elif param['type'] == 'boolean':
                     param_type = 'INT32'
                     tags += '\n * @boolean'
@@ -114,7 +127,7 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
                 else:
                     raise Exception("unknown param type {:}".format(param['type']))
 
-                for tag in ['decimal', 'increment', 'category', 'volatile', 'bit',
+                for tag in ['decimal', 'increment', 'category', 'volatile',
                             'min', 'max', 'unit', 'reboot_required']:
                     if tag in param:
                         tags += '\n * @{:} {:}'.format(tag, param[tag])
@@ -144,7 +157,7 @@ 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)),
@@ -161,9 +174,13 @@ 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
 
+    add_reverse_range_param = yaml_config['actuator_output'].get('add_reverse_range_param', False)
+    all_param_prefixes = {}
+
     def add_local_param(param_name, param_def):
         nonlocal all_params
         # add as a list, as there can be multiple entries with the same param_name
@@ -182,7 +199,9 @@ 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 +216,29 @@ 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)
@@ -219,12 +254,19 @@ 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']
                     for i in range(count):
                         output_function_values[start+i] = function_name_label+' '+str(i+1)
 
+        if param_prefix not in all_param_prefixes:
+            all_param_prefixes[param_prefix] = []
+        all_param_prefixes[param_prefix].append((instance_start,
+            instance_start_label, num_channels, channel_label))
+
         # function param
         param = {
             'description': {
@@ -304,6 +346,30 @@ When set to -1 (default), the value depends on the function (see {:}).
                     }
                 add_local_param(param_prefix+'_'+param_suffix+'${i}', param)
 
+    if add_reverse_range_param:
+        for param_prefix in all_param_prefixes:
+            groups = all_param_prefixes[param_prefix]
+            # collect the bits
+            channel_bits = {}
+            for instance_start, instance_start_label, num_instances, label in groups:
+                for instance in range(instance_start, instance_start+num_instances):
+                    instance_label = instance - instance_start + instance_start_label
+                    channel_bits[instance-1] = label + ' ' + str(instance_label)
+
+            param = {
+                'description': {
+                    'short': 'Reverse Output Range for '+module_name,
+                    'long':
+'''Allows to reverse the output range for each channel.
+Note: this is only useful for servos.
+'''.format(channel_label),
+                    },
+                'type': 'bitmask',
+                'default': 0,
+                'bit': channel_bits
+                }
+            add_local_param(param_prefix+'_REV', param)
+
     if verbose: print('adding actuator params: {:}'.format(all_params))
     return all_params
 

Tools/module_config/output_groups_from_timer_config.py

@@ -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)

Tools/px4airframes/markdownout.py

@@ -72,38 +72,27 @@ div.frame_variant td, div.frame_variant th {
 
             # check if all outputs are equal for the group: if so, show them
             # only once
-            outputs_prev = ['', ''] # split into MAINx and others (AUXx)
-            outputs_match = [True, True]
+            all_outputs = {}
+            num_configs = len(group.GetParams())
             for param in group.GetParams():
                 if not self.IsExcluded(param, board):
-                    outputs_current = ['', '']
                     for output_name in param.GetOutputCodes():
                         value = param.GetOutputValue(output_name)
-                        if output_name.lower().startswith('main'):
-                            idx = 0
-                        else:
-                            idx = 1
-                        outputs_current[idx] += '<li><b>%s</b>: %s</li>' % (output_name, value)
-                    for i in range(2):
-                        if len(outputs_current[i]) != 0:
-                            if outputs_prev[i] == '':
-                                outputs_prev[i] = outputs_current[i]
-                            elif outputs_current[i] != outputs_prev[i]:
-                                outputs_match[i] = False
+                        key_value_pair = (output_name, value)
+                        if key_value_pair not in all_outputs:
+                            all_outputs[key_value_pair] = 0
+                        all_outputs[key_value_pair] += 1
+            has_common_outputs = any(all_outputs[k] == num_configs for k in all_outputs)
 
-            for i in range(2):
-                if len(outputs_prev[i]) == 0:
-                    outputs_match[i] = False
-                if not outputs_match[i]:
-                    outputs_prev[i] = ''
-
-            if outputs_match[0] or outputs_match[1]:
+            if has_common_outputs:
+                outputs_common = ''.join(['<li><b>{:}</b>: {:}</li>'.format(k[0], k[1]) \
+                    for k in all_outputs if all_outputs[k] == num_configs])
                 result += '<table>\n'
                 result += ' <thead>\n'
                 result += '   <tr><th>Common Outputs</th></tr>\n'
                 result += ' </thead>\n'
                 result += ' <tbody>\n'
-                result += '<tr>\n <td><ul>%s%s</ul></td>\n</tr>\n' % (outputs_prev[0], outputs_prev[1])
+                result += '<tr>\n <td><ul>%s</ul></td>\n</tr>\n' % (outputs_common)
                 result += '</tbody></table>\n'
 
             result += '</div>\n\n'
@@ -138,11 +127,8 @@ div.frame_variant td, div.frame_variant th {
                     for output_name in param.GetOutputCodes():
                         value = param.GetOutputValue(output_name)
                         valstrs = value.split(";")
-                        if output_name.lower().startswith('main'):
-                            idx = 0
-                        else:
-                            idx = 1
-                        if not outputs_match[idx]:
+                        key_value_pair = (output_name, value)
+                        if all_outputs[key_value_pair] < num_configs:
                             outputs += '<li><b>%s</b>: %s</li>' % (output_name, value)
                             has_outputs = True
 

Tools/px4airframes/rcout.py

@@ -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"

Tools/setup/ubuntu.sh

@@ -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)

Tools/validate_json.py

@@ -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)

boards/airmind/mindpx-v2/default.px4board

@@ -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

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

@@ -42,6 +42,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0030
 CONFIG_CDCACM_PRODUCTSTR="MindPX FMU v2.x"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -113,7 +114,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y

boards/airmind/mindpx-v2/src/init.c

@@ -239,7 +239,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (!spi4) {
 		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 4\n");
 		board_autoled_on(LED_AMBER);
-		return -ENODEV;
 	}
 
 	/* Default SPI4 to 10MHz and de-assert the known chip selects. */
@@ -255,7 +254,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (!spi1) {
 		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 1\n");
 		board_autoled_on(LED_AMBER);
-		return -ENODEV;
 	}
 
 	/* Default SPI1 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
@@ -279,9 +277,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
 
 	if (!sdio) {
-		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n",
-		       CONFIG_NSH_MMCSDSLOTNO);
-		return -ENODEV;
+		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", CONFIG_NSH_MMCSDSLOTNO);
 	}
 
 	/* Now bind the SDIO interface to the MMC/SD driver */
@@ -289,7 +285,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (ret != OK) {
 		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
-		return ret;
 	}
 
 	/* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */

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

@@ -91,7 +91,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y

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

@@ -146,7 +146,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (result != OK) {
 		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
-		return -ENODEV;
 	}
 
 #endif // FLASH_BASED_PARAMS

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

@@ -93,7 +93,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y

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

@@ -151,7 +151,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (result != OK) {
 		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
-		return -ENODEV;
 	}
 
 #endif // FLASH_BASED_PARAMS

boards/ark/can-rtk-gps/nuttx-config/nsh/defconfig

@@ -93,7 +93,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y

boards/ark/can-rtk-gps/src/init.c

@@ -157,7 +157,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (result != OK) {
 		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
-		return -ENODEV;
 	}
 
 #endif // FLASH_BASED_PARAMS

boards/atl/mantis-edu/default.px4board

@@ -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

boards/atl/mantis-edu/nuttx-config/nsh/defconfig

@@ -39,6 +39,7 @@ CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=22114
@@ -46,6 +47,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0061
 CONFIG_CDCACM_PRODUCTSTR="PX4 ATL Mantis-EDU"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -119,10 +121,11 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
 CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y

boards/atl/mantis-edu/src/init.c

@@ -240,7 +240,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (ret != OK) {
 		led_on(LED_RED);
-		return ret;
 	}
 
 #endif /* CONFIG_MMCSD */

boards/av/x-v1/default.px4board

@@ -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

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

@@ -51,6 +51,7 @@ CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=22114
@@ -78,6 +79,7 @@ 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
@@ -91,7 +93,6 @@ CONFIG_IOB_NBUFFERS=24
 CONFIG_IOB_THROTTLE=0
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
@@ -145,6 +146,8 @@ CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
 CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y

boards/av/x-v1/src/init.c

@@ -175,7 +175,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (ret != OK) {
 		syslog(LOG_ERR, "[boot] SDIO init failed\n");
-		return ret;
 	}
 
 #endif /* CONFIG_MMCSD */

boards/beaglebone/blue/default.px4board

@@ -14,6 +14,7 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
+CONFIG_DRIVERS_LINUX_PWM_OUT=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_PWM_OUT_SIM=y
 CONFIG_DRIVERS_RC_INPUT=y
@@ -23,6 +24,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y

boards/bitcraze/crazyflie/default.px4board

@@ -12,6 +12,7 @@ CONFIG_DRIVERS_OPTICAL_FLOW_PMW3901=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
@@ -31,28 +32,19 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
-CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=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_SYSTEM_TIME=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

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

@@ -42,6 +42,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0016
 CONFIG_CDCACM_PRODUCTSTR="PX4 Crazyflie v2.0"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/bitcraze/crazyflie/src/init.c

@@ -150,12 +150,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	}
 
 #ifdef CONFIG_SPI
-	int ret = stm32_spi_bus_initialize();
-
-	if (ret != OK) {
-		return ret;
-	}
-
+	stm32_spi_bus_initialize();
 #endif
 
 	/* Configure the HW based on the manifest */

boards/bitcraze/crazyflie/syslink/syslink_main.cpp

@@ -404,9 +404,9 @@ Syslink::handle_message(syslink_message_t *msg)
 		memcpy(&vbat, &msg->data[1], sizeof(float));
 		//memcpy(&iset, &msg->data[5], sizeof(float));
 
-		_battery.updateBatteryStatus(t, vbat, -1, true,
-					     battery_status_s::BATTERY_SOURCE_POWER_MODULE, 0, 0);
-
+		_battery.setConnected(true);
+		_battery.updateVoltage(vbat);
+		_battery.updateAndPublishBatteryStatus(t);
 
 		// Update battery charge state
 		if (charging) {

boards/bitcraze/crazyflie/syslink/syslink_main.h

@@ -139,7 +139,7 @@ private:
 
 	// nrf chip schedules battery updates with SYSLINK_SEND_PERIOD_MS
 	static constexpr uint32_t SYSLINK_BATTERY_STATUS_INTERVAL_US = 10_ms;
-	Battery _battery{1, nullptr, SYSLINK_BATTERY_STATUS_INTERVAL_US};
+	Battery _battery{1, nullptr, SYSLINK_BATTERY_STATUS_INTERVAL_US, battery_status_s::BATTERY_SOURCE_POWER_MODULE};
 
 	int32_t _rssi;
 	battery_state _bstate;

boards/bitcraze/crazyflie21/default.px4board

@@ -11,6 +11,7 @@ CONFIG_DRIVERS_OPTICAL_FLOW_PMW3901=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
@@ -18,7 +19,6 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
@@ -31,27 +31,19 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
-CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=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_SYSTEM_TIME=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

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

@@ -41,6 +41,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0016
 CONFIG_CDCACM_PRODUCTSTR="PX4 Crazyflie v2.0"
 CONFIG_CDCACM_RXBUFSIZE=300

boards/bitcraze/crazyflie21/src/init.c

@@ -150,12 +150,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	}
 
 #ifdef CONFIG_SPI
-	int ret = stm32_spi_bus_initialize();
-
-	if (ret != OK) {
-		return ret;
-	}
-
+	stm32_spi_bus_initialize();
 #endif
 
 	return OK;

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

@@ -31,6 +31,7 @@ CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_BOARD_RESET_ON_ASSERT=2
@@ -93,7 +94,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y

boards/cuav/can-gps-v1/src/init.c

@@ -145,7 +145,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (result != OK) {
 		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
-		return -ENODEV;
 	}
 
 #endif // FLASH_BASED_PARAMS

boards/cuav/nora/default.px4board

@@ -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

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

@@ -29,6 +29,7 @@ CONFIG_BOARD_LOOPSPERMSEC=22114
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x004c
 CONFIG_CDCACM_PRODUCTSTR="PX4 BL CUAV Nora"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -51,7 +52,6 @@ CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_LIB_BOARDCTL=y
-CONFIG_FS_PROCFS_MAX_TASKS=8
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_PREALLOC_TIMERS=50

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

@@ -46,6 +46,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x004c
 CONFIG_CDCACM_PRODUCTSTR="PX4 CUAV Nora"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -120,7 +121,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y

boards/cuav/nora/src/init.c

@@ -201,12 +201,10 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (!sdio_dev) {
 		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", 0);
-		return ERROR;
 	}
 
 	if (mmcsd_slotinitialize(0, sdio_dev) != OK) {
 		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver\n");
-		return ERROR;
 	}
 
 	/* Assume that the SD card is inserted.  What choice do we have? */

boards/cuav/x7pro/default.px4board

@@ -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

boards/cuav/x7pro/init/rc.board_sensors

@@ -5,7 +5,7 @@
 board_adc start
 
 # SPI1
-if ! icm20689 -s -b 1 -R 2 start
+if ! icm20689 -s -b 1 -R 2 -q start
 then
 	adis16470 -s -b 1 -R 2 start
 fi

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

@@ -29,6 +29,7 @@ CONFIG_BOARD_LOOPSPERMSEC=22114
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x004c
 CONFIG_CDCACM_PRODUCTSTR="PX4 BL CUAV X7Pro"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -51,7 +52,6 @@ CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_LIB_BOARDCTL=y
-CONFIG_FS_PROCFS_MAX_TASKS=8
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_PREALLOC_TIMERS=50

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

@@ -17,6 +17,7 @@
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
 # CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HEXDUMP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
@@ -46,13 +47,13 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x004c
 CONFIG_CDCACM_PRODUCTSTR="PX4 CUAV X7Pro"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x3163
 CONFIG_CDCACM_VENDORSTR="CUAV"
-CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
@@ -60,6 +61,7 @@ CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
+CONFIG_EXAMPLES_CALIB_UDELAY=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
@@ -82,7 +84,6 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
@@ -120,7 +121,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y