NuttX with stm32 pinmap changes, USB OTG, ULPI Updates

Allow to modify uxrce_dds_client port with a env var
Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
2026-05-30 18:00:05 +08:00 · 2023-05-11 23:48:47 -07:00 · 2023-05-10 08:17:56 -07:00 · 2023-05-10 22:33:53 +09:00 · 2023-05-10 14:23:12 +02:00 · 2023-05-10 14:23:12 +02:00
310 changed files with 8635 additions and 11833 deletions
@@ -18,6 +18,14 @@ Fixes #{Github issue ID}
 - Add ... for ...
 - Refactor ...

+### Changelog Entry
+For release notes:
+```
+Feature/Bugfix XYZ
+New parameter: XYZ_Z
+Documentation: Need to clarfiy page ... / done, read docs.px4.io/...
+```
+
 ### Alternatives
 We could also ...

@@ -58,7 +58,7 @@
 	path = src/lib/crypto/libtommath
 	url = https://github.com/PX4/libtommath.git
 	branch = px4
-[submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
-	path = src/modules/microdds_client/Micro-XRCE-DDS-Client
+[submodule "src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client"]
+	path = src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client
 	url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
 	branch = px4
@@ -483,7 +483,8 @@ shellcheck_all:
 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/*" \
-	-not -path "$(SRC_DIR)/src/modules/microdds_client/dds_topics.yaml" \
+	-not -path "$(SRC_DIR)/src/modules/uxrce_dds_client/dds_topics.yaml" \
+	-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
 	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
 	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml

@@ -0,0 +1,30 @@
+#!/bin/sh
+#
+# @name Generic Iris Quadrotor SITL
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+
+param set-default CA_AIRFRAME 0
+
+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
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
@@ -17,12 +17,9 @@ param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1

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

 param set-default CA_ROTOR_COUNT 4
@@ -22,7 +22,6 @@ param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
-param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

 param set-default BAT_N_CELLS 3
@@ -27,12 +27,9 @@ param set-default MC_PITCH_P 5
 param set-default MAV_TYPE 19

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

 param set-default BAT_N_CELLS 3
@@ -30,10 +30,10 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

 # EKF2
-param set-default EKF2_AID_MASK 2
 param set-default EKF2_GPS_CTRL 0
 param set-default EKF2_EVP_NOISE 0.05
 param set-default EKF2_EVA_NOISE 0.05
+param set-default EKF2_OF_CTRL 1

 # LPE: Flow-only mode
 param set-default LPE_FUSION 242
@@ -30,5 +30,3 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

 param set-default COM_OBS_AVOID 1
-param set-default MPC_XY_CRUISE 5.0
-
@@ -30,8 +30,8 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

 # EKF2
-param set-default EKF2_AID_MASK 2
 param set-default EKF2_GPS_CTRL 0
+param set-default EKF2_OF_CTRL 1

 # LPE: Flow-only mode
 param set-default LPE_FUSION 242
@@ -5,9 +5,6 @@

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

-# disable circuit breaker for airspeed sensor
-param set-default CBRK_AIRSPD_CHK 162128
-
 param set-default CA_AIRFRAME 7
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_R_REV 255
@@ -5,9 +5,6 @@

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

-# disable circuit breaker for airspeed sensor
-param set-default CBRK_AIRSPD_CHK 162128
-
 param set-default CA_AIRFRAME 7

 param set-default CA_ROTOR_COUNT 8
@@ -5,9 +5,6 @@

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

-param set-default EKF2_MAG_ACCLIM 0
-param set-default EKF2_MAG_YAWLIM 0
-
 param set-default FW_LND_ANG 8

 param set-default NPFG_PERIOD 12
@@ -5,10 +5,8 @@

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

-param set-default EKF2_MAG_ACCLIM 0
-param set-default EKF2_MAG_YAWLIM 0

-param set-default FW_LND_AIRSPD_SC 1
+
 param set-default FW_LND_ANG 8

 param set-default NPFG_PERIOD 12
@@ -5,10 +5,9 @@

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

-param set-default EKF2_MAG_ACCLIM 0
-param set-default EKF2_MAG_YAWLIM 0
+param set-default FW_LAUN_DETCN_ON 1
+param set-default FW_THR_IDLE 0.1 # needs to be running before throw as that's how gazebo detects arming

-param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

 param set-default NPFG_PERIOD 12
@@ -47,8 +46,6 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

-param set-default RWTO_TKOFF 1
-
 param set-default CA_AIRFRAME 1

 param set-default CA_ROTOR_COUNT 1
@@ -74,5 +71,3 @@ param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256

-param set-default RWTO_TKOFF 0
-
@@ -5,8 +5,7 @@

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

-param set-default EKF2_MAG_ACCLIM 0
-param set-default EKF2_MAG_YAWLIM 0
+

 param set-default FW_LND_ANG 8

@@ -5,8 +5,7 @@

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

-param set-default EKF2_MAG_ACCLIM 0
-param set-default EKF2_MAG_YAWLIM 0
+

 param set-default FW_LND_ANG 8

@@ -26,7 +25,6 @@ param set-default FW_THR_TRIM 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
@@ -5,10 +5,8 @@

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

-param set-default EKF2_MAG_ACCLIM 0
-param set-default EKF2_MAG_YAWLIM 0

-param set-default FW_LND_AIRSPD_SC 1
+
 param set-default FW_LND_ANG 8

 param set-default NPFG_PERIOD 12
@@ -47,8 +45,6 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

-param set-default RWTO_TKOFF 1
-
 param set-default CA_AIRFRAME 1

 param set-default CA_ROTOR_COUNT 1
@@ -75,4 +71,3 @@ param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256

 param set-default FW_THR_TRIM 0.0
-param set-default RWTO_TKOFF 0
@@ -5,7 +5,6 @@

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

-param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
@@ -5,8 +5,7 @@

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

-param set-default EKF2_MAG_ACCLIM 0
-param set-default EKF2_MAG_YAWLIM 0
+

 param set-default FW_LND_ANG 8
 param set-default FW_THR_LND_MAX 0
@@ -67,7 +67,6 @@ param set-default MC_YAW_P 1.6

 param set-default MIS_TAKEOFF_ALT 10

-param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_XY_P 0.8
 param set-default MPC_XY_VEL_P_ACC 3
 param set-default MPC_XY_VEL_I_ACC 4
@@ -77,6 +76,5 @@ param set-default NAV_ACC_RAD 5

 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75
-param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2

@@ -44,6 +44,12 @@ param set-default PWM_MAIN_FUNC6 201
 param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_REV 96 # invert both elevons

+# Single-EKF (for replay)
+param set-default EKF2_MULTI_IMU 0
+param set-default SENS_IMU_MODE 1
+param set-default EKF2_MULTI_MAG 0
+param set-default SENS_MAG_MODE 1
+
 param set-default NPFG_PERIOD 12
 param set-default FW_PR_I 0.2
 param set-default FW_PR_P 0.2
@@ -55,7 +61,6 @@ 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
@@ -63,7 +68,6 @@ param set-default FW_T_TAS_TC 2
 param set-default MC_AIRMODE 1
 param set-default MC_ROLLRATE_P 0.3

-param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_XY_P 0.8
 param set-default MPC_XY_VEL_P_ACC 3
 param set-default MPC_XY_VEL_I_ACC 4
@@ -70,7 +70,6 @@ param set-default MPC_XY_VEL_D_ACC 0.1

 param set-default MIS_TAKEOFF_ALT 10

-param set-default VT_B_TRANS_DUR 8
 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_FWD_THRUST_SC 0.6
 param set-default VT_TILT_TRANS 0.6
@@ -66,7 +66,6 @@ param set-default MC_YAW_P 1.6

 param set-default MIS_TAKEOFF_ALT 10

-param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_XY_P 0.8
 param set-default MPC_XY_VEL_P_ACC 3
 param set-default MPC_XY_VEL_I_ACC 4
@@ -78,7 +77,6 @@ param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2


@@ -5,10 +5,8 @@

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

-param set-default EKF2_MAG_ACCLIM 0
-param set-default EKF2_MAG_YAWLIM 0

-param set-default FW_LND_AIRSPD_SC 1
+
 param set-default FW_LND_ANG 8

 param set-default NPFG_PERIOD 12
@@ -18,12 +18,9 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

-param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

-param set-default CBRK_AIRSPD_CHK 162128
-
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

@@ -18,12 +18,9 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

-param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

-param set-default CBRK_AIRSPD_CHK 162128
-
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

@@ -25,12 +25,9 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

-param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

-param set-default CBRK_AIRSPD_CHK 162128
-
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 3.0

@@ -18,12 +18,9 @@ param set-default GND_THR_CRUISE 0.85
 param set-default GND_THR_MAX 1
 param set-default GND_THR_MIN 0

-param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

-param set-default CBRK_AIRSPD_CHK 162128
-
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

@@ -26,7 +26,6 @@ param set-default NAV_ACC_RAD 20
 param set-default NAV_DLL_ACT 2
 param set-default NAV_LOITER_RAD 50

-param set-default RWTO_TKOFF 0
 # Parameters related to autogyro takeoff PR
 #param set-default AG_TKOFF 1
 #param set-default AG_PROT_TYPE 1
@@ -5,50 +5,6 @@
 # @type Quadrotor
 #

-. ${R}etc/init.d/rc.mc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_depth}

-param set-default SIM_GZ_EN 1
-
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-
-param set-default CA_AIRFRAME 0
-param set-default CA_ROTOR_COUNT 4
-
-param set-default CA_ROTOR0_PX 0.13
-param set-default CA_ROTOR0_PY 0.22
-param set-default CA_ROTOR0_KM  0.05
-
-param set-default CA_ROTOR1_PX -0.13
-param set-default CA_ROTOR1_PY -0.20
-param set-default CA_ROTOR1_KM  0.05
-
-param set-default CA_ROTOR2_PX 0.13
-param set-default CA_ROTOR2_PY -0.22
-param set-default CA_ROTOR2_KM -0.05
-
-param set-default CA_ROTOR3_PX -0.13
-param set-default CA_ROTOR3_PY 0.20
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_FUNC4 104
-
-param set-default SIM_GZ_EC_MIN1 150
-param set-default SIM_GZ_EC_MIN2 150
-param set-default SIM_GZ_EC_MIN3 150
-param set-default SIM_GZ_EC_MIN4 150
-
-param set-default SIM_GZ_EC_MAX1 1000
-param set-default SIM_GZ_EC_MAX2 1000
-param set-default SIM_GZ_EC_MAX3 1000
-param set-default SIM_GZ_EC_MAX4 1000
-
-param set-default MPC_THR_HOVER 0.60
+. ${R}etc/init.d-posix/airframes/4001_gz_x500
@@ -10,13 +10,14 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}

+param set-default SIM_GZ_EN 1
+
 param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 0
 param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1

-param set-default EKF2_MAG_ACCLIM 0
-param set-default EKF2_MAG_YAWLIM 0
+

 param set-default FW_LND_ANG 8

@@ -11,6 +11,8 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}

+param set-default SIM_GZ_EN 1
+
 param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 0
 param set-default SENS_EN_MAGSIM 1
@@ -94,7 +96,6 @@ param set-default MC_YAW_P 1.6

 param set-default MIS_TAKEOFF_ALT 10

-param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_XY_P 0.8
 param set-default MPC_XY_VEL_P_ACC 3
 param set-default MPC_XY_VEL_I_ACC 4
@@ -104,6 +105,5 @@ param set-default NAV_ACC_RAD 5

 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75
-param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2
 param set-default FD_ESCS_EN 0
@@ -5,8 +5,6 @@
 # @type Quadrotor
 #

-. ${R}etc/init.d-posix/airframes/4001_gz_x500
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_vision}
+
+. ${R}etc/init.d-posix/airframes/4001_gz_x500
@@ -0,0 +1,152 @@
+#!/bin/sh
+#
+# @name PX4Vision SITL
+# Holybro px4vision. Gazebo Only.
+#
+# @type Quadrotor
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=px4vision}
+
+param set-default SIM_GZ_EN 1
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+
+# Commander Parameters
+param set-default COM_OBS_AVOID 0
+param set-default COM_DISARM_LAND 0.5
+
+# EKF2 parameters
+param set-default EKF2_DRAG_CTRL 1
+param set-default EKF2_IMU_POS_X 0.02
+param set-default EKF2_GPS_POS_X 0.055
+param set-default EKF2_GPS_POS_Z -0.15
+param set-default EKF2_MIN_RNG 0.03
+param set-default EKF2_OF_CTRL 1
+param set-default EKF2_OF_POS_X 0.055
+param set-default EKF2_OF_POS_Y 0.02
+param set-default EKF2_OF_POS_Z 0.065
+param set-default EKF2_REQ_HDRIFT 0.3
+param set-default EKF2_REQ_SACC 1
+param set-default EKF2_REQ_VDRIFT 0.3
+param set-default EKF2_RNG_A_HMAX 8
+param set-default EKF2_RNG_A_VMAX 2
+param set-default EKF2_RNG_POS_X 0.055
+param set-default EKF2_RNG_POS_Y -0.01
+param set-default EKF2_RNG_POS_Z 0.065
+param set-default EKF2_PCOEF_XP -0.25
+param set-default EKF2_PCOEF_YN -0.55
+param set-default EKF2_PCOEF_YP -0.55
+
+# MAVLink parameters
+# param set-default MAV_0_CONFIG 101		Not found
+# param set-default MAV_1_CONFIG 102		Not found
+param set-default MAV_1_RATE 80000
+param set-default MAV_1_MODE 9
+# param set-default SER_TEL1_BAUD 921600	Not found
+
+# Vehicle attitude PID tuning
+param set-default MC_ACRO_EXPO 0
+param set-default MC_ACRO_EXPO_Y 0
+param set-default MC_ACRO_P_MAX 200
+param set-default MC_ACRO_R_MAX 200
+param set-default MC_ACRO_SUPEXPO 0
+param set-default MC_ACRO_SUPEXPOY 0
+param set-default MC_ACRO_Y_MAX 150
+param set-default MC_PITCHRATE_D 0.0015
+param set-default MC_ROLLRATE_D 0.0015
+param set-default MC_YAWRATE_P 0.3
+
+# Position Control Tuning
+param set-default CP_DIST 6
+param set-default MPC_ACC_DOWN_MAX 5
+param set-default MPC_ACC_HOR_MAX 10
+param set-default MPC_MANTHR_MIN 0
+param set-default MPC_MAN_Y_MAX 120
+param set-default MPC_THR_HOVER 0.3
+param set-default MPC_VEL_MANUAL 5
+param set-default MPC_XY_VEL_MAX 5
+param set-default MPC_XY_VEL_P_ACC 1.58
+param set-default MPC_XY_TRAJ_P 0.3
+# param set-default MPC_Z_TRAJ_P 0.3		Not found
+param set-default MPC_Z_VEL_P_ACC 5
+param set-default MPC_Z_VEL_I_ACC 3
+param set-default MPC_LAND_ALT1 3
+param set-default MPC_LAND_ALT2 1
+param set-default MPC_POS_MODE 3
+param set-default CP_GO_NO_DATA 1
+
+# Navigator Parameters
+param set-default NAV_ACC_RAD 2
+
+# RTL Parameters
+param set-default RTL_DESCEND_ALT 5
+param set-default RTL_RETURN_ALT 5
+
+# Logging Parameters
+param set-default SDLOG_PROFILE 131
+
+# Sensors Parameters
+# param set-default SENS_CM8JL65_CFG 202 	Not found
+param set-default SENS_FLOW_MAXHGT 25
+param set-default SENS_FLOW_MINHGT 0.5
+param set-default IMU_GYRO_CUTOFF 100
+# param set-default SENS_TFLOW_CFG 103		Not found
+
+# Power Parameters
+param set-default BAT1_N_CELLS 4
+# param set-default BAT1_A_PER_V 36.364		Not found
+# param set-default BAT1_V_DIV 18.182		Not found
+
+# Circuit breakers
+param set-default CBRK_IO_SAFETY 22027
+
+param set-default THR_MDL_FAC 0.3
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.15
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_KM -0.05
+
+# Outputs
+# param set-default PWM_AUX_FUNC1 101
+# param set-default PWM_AUX_FUNC2 102
+# param set-default PWM_AUX_FUNC3 103
+# param set-default PWM_AUX_FUNC4 104
+
+# 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 SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_EC_FUNC3 103
+param set-default SIM_GZ_EC_FUNC4 104
+
+param set-default SIM_GZ_EC_MIN1 150
+param set-default SIM_GZ_EC_MIN2 150
+param set-default SIM_GZ_EC_MIN3 150
+param set-default SIM_GZ_EC_MIN4 150
+
+param set-default SIM_GZ_EC_MAX1 1100
+param set-default SIM_GZ_EC_MAX2 1100
+param set-default SIM_GZ_EC_MAX3 1100
+param set-default SIM_GZ_EC_MAX4 1100
+
+
@@ -75,11 +75,13 @@ px4_add_romfs_files(
 	4003_gz_rc_cessna
 	4004_gz_standard_vtol
 	4005_gz_x500_vision
+	4006_gz_px4vision

 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post

-	10016_gazebo-classic_iris
+	10015_gazebo-classic_iris
+	10016_none_iris
 	10017_jmavsim_iris
 	10018_gazebo-classic_iris_foggy_lidar
 	10019_gazebo-classic_omnicopter
@@ -129,6 +129,7 @@ fi
 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
+param set UXRCE_DDS_KEY $((px4_instance+1))

 if [ $AUTOCNF = yes ]
 then
@@ -264,20 +265,33 @@ fi

 navigator start

-# Try to start the microdds_client with UDP transport if module exists
-microdds_ns=""
+# Try to start the UXRCE-DDS Client with UDP transport if module exists
+uxrce_dds_ns=""
 if [ "$px4_instance" -ne "0" ]
 then
-	# Assign new xrce dds key based on instance number and set default namespace
-	param set XRCE_DDS_KEY ${px4_instance}
-	microdds_ns="-n px4_$px4_instance"
+	# for multi intances setup, add namespace prefix
+	uxrce_dds_ns="-n px4_$px4_instance"
 fi
-if [ -n "$PX4_MICRODDS_NS" ]
+if [ -n "$PX4_UXRCE_DDS_NS" ]
 then
 	# Override namespace if environment variable is defined
-	microdds_ns="-n $PX4_MICRODDS_NS"
+	uxrce_dds_ns="-n $PX4_UXRCE_DDS_NS"
 fi
-microdds_client start -t udp -h 127.0.0.1 -p 8888 $microdds_ns
+if [ -n "$ROS_DOMAIN_ID" ]
+then
+	# Match UXRCE_DDS_DOM_ID with ROS_DOMAIN_ID, if defined
+	param set UXRCE_DDS_DOM_ID $ROS_DOMAIN_ID
+else
+	param set UXRCE_DDS_DOM_ID 0
+fi
+uxrce_dds_port=8888
+if [ -n "$PX4_UXRCE_DDS_PORT" ]
+then
+	# Override port if environment variable is defined
+	uxrce_dds_port="$PX4_UXRCE_DDS_PORT"
+fi
+
+uxrce_dds_client start -t udp -h 127.0.0.1 -p $uxrce_dds_port $uxrce_dds_ns

 if param greater -s MNT_MODE_IN -1
 then
@@ -34,10 +34,7 @@ param set-default HIL_ACT_FUNC3 103
 param set-default HIL_ACT_FUNC4 104

 # disable some checks to allow to fly
-# - with usb
-param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
-param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027
@@ -34,8 +34,6 @@ param set-default MC_ROLLRATE_P 0.3
 param set-default MIS_TAKEOFF_ALT 10
 param set-default MIS_YAW_TMT 10

-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_THR_MIN 0.1
 param set-default MPC_XY_P 0.8
 param set-default MPC_XY_VEL_D_ACC 0.1
@@ -94,12 +92,9 @@ param set SYS_HITL 1
 param set UAVCAN_ENABLE 0

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

 param set-default MAV_TYPE 22
@@ -36,12 +36,9 @@ param set-default HIL_ACT_FUNC4 104
 param set SYS_HITL 2

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

 param set SIH_VEHICLE_TYPE 0
@@ -39,12 +39,9 @@ param set-default HIL_ACT_FUNC6 400
 param set-default SYS_HITL 2

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

 param set-default BAT_N_CELLS 3
@@ -56,12 +56,9 @@ param set-default MAV_TYPE 19
 param set-default SYS_HITL 2

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

 param set-default BAT_N_CELLS 3
@@ -33,9 +33,6 @@ param set-default CBRK_IO_SAFETY 22027

 param set-default EKF2_GPS_POS_X -0.12
 param set-default EKF2_IMU_POS_X -0.12
-param set-default EKF2_TAU_VEL 0.5
-param set-default EKF2_GPS_P_GATE 10
-param set-default EKF2_GPS_V_GATE 10

 param set-default FW_ARSP_MODE 1
 param set-default NPFG_PERIOD 25
@@ -48,11 +45,9 @@ param set-default FW_R_LIM 35
 param set-default FW_RR_FF 0.9
 param set-default FW_RR_I 0.08
 param set-default FW_RR_P 0.18
-param set-default FW_T_HRATE_FF 0.5
 param set-default FW_T_CLMB_MAX 3
 param set-default FW_T_SINK_MAX 3
 param set-default FW_T_SINK_MIN 1
-param set-default FW_T_VERT_ACC 6
 param set-default FW_THR_TRIM 0.70
 param set-default FW_THR_SLEW_MAX 1
 param set-default FW_P_LIM_MAX 15
@@ -62,18 +57,11 @@ param set-default FW_P_RMAX_POS 45
 param set-default FW_R_RMAX 50
 param set-default FW_THR_MIN 0.55
 param set-default FW_BAT_SCALE_EN 1
-param set-default FW_THR_ALT_SCL 2.7
 param set-default FW_T_RLL2THR 20

-param set-default LNDMC_XY_VEL_MAX 1
-param set-default LNDMC_Z_VEL_MAX 0.7
-
 param set-default MC_ROLLRATE_P 0.16
 param set-default MC_ROLLRATE_I 0.01
-param set-default MC_ROLLRATE_MAX 80
 param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCHRATE_MAX 80
-param set-default MC_YAW_P 3.5

 param set-default MC_YAWRATE_MAX 20
 param set-default MC_AIRMODE 1
@@ -82,16 +70,11 @@ param set-default MIS_DIST_1WP 100
 param set-default MIS_TAKEOFF_ALT 15

 param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 2
 param set-default MPC_XY_VEL_MAX 5
-param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_LAND_SPEED 1.2
 param set-default MPC_TILTMAX_LND 35
 param set-default MPC_Z_VEL_MAX_UP 1.5
-param set-default MPC_HOLD_MAX_XY 0.5
-param set-default MPC_HOLD_MAX_Z 0.5
 param set-default MPC_TKO_RAMP_T 0.8
-param set-default MPC_XY_CRUISE 5
 param set-default MPC_TILTMAX_AIR 25
 param set-default MPC_TILTMAX_LND 25
 param set-default MPC_YAWRAUTO_MAX 20
@@ -113,17 +96,12 @@ param set-default MAV_1_FORWARD 1
 param set-default SER_TEL2_BAUD 57600

 param set-default VT_TYPE 2
-param set-default VT_F_TRANS_THR 1
 param set-default VT_PITCH_MIN 8
 param set-default VT_FW_QC_P 55
 param set-default VT_FW_QC_R 55
 param set-default VT_TRANS_MIN_TM 15
-param set-default VT_B_TRANS_DUR 8
 param set-default VT_FWD_THRUST_SC 4
-param set-default VT_F_TRANS_DUR 1
-param set-default VT_B_TRANS_THR 0.7
 param set-default VT_TRANS_TIMEOUT 22
-param set-default VT_F_TRANS_RAMP 4

 param set-default COM_RC_OVERRIDE 0

@@ -41,7 +41,6 @@ param set-default FW_R_RMAX 50
 param set-default FW_THR_TRIM 0.65
 param set-default FW_THR_MIN 0.3
 param set-default FW_THR_SLEW_MAX 0.6
-param set-default FW_T_HRATE_FF 0
 param set-default FW_T_SINK_MAX 15
 param set-default FW_T_SINK_MIN 3
 param set-default FW_YR_P 0.15
@@ -53,21 +52,12 @@ param set-default MC_YAWRATE_I 0.15
 param set-default MC_YAWRATE_MAX 40
 param set-default MC_YAWRATE_P 0.3

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

@@ -81,11 +71,9 @@ param set-default SENS_BOARD_ROT 4
 param set-default VT_ARSP_BLEND 10
 param set-default VT_ARSP_TRANS 21
 param set-default VT_B_DEC_MSS 1.5
-param set-default VT_B_TRANS_DUR 12
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_FWD_THRUST_SC 1.2
 param set-default VT_F_TR_OL_TM 8
-param set-default VT_PSHER_RMP_DT 2
 param set-default VT_TRANS_MIN_TM 4
 param set-default VT_TYPE 2

@@ -26,7 +26,6 @@ param set-default BAT1_N_CELLS 3

 param set-default SENS_BOARD_ROT 4

-param set-default FW_AIRSPD_MAX 20
 param set-default FW_AIRSPD_MIN 7
 param set-default FW_AIRSPD_TRIM 13
 param set-default FW_THR_TRIM 0.8
@@ -16,11 +16,12 @@ param set-default COM_OBS_AVOID 1
 param set-default COM_DISARM_LAND 0.5

 # EKF2 parameters
-param set-default EKF2_AID_MASK 35
+param set-default EKF2_DRAG_CTRL 1
 param set-default EKF2_IMU_POS_X 0.02
 param set-default EKF2_GPS_POS_X 0.055
 param set-default EKF2_GPS_POS_Z -0.15
 param set-default EKF2_MIN_RNG 0.03
+param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_POS_X 0.055
 param set-default EKF2_OF_POS_Y 0.02
 param set-default EKF2_OF_POS_Z 0.065
@@ -59,12 +60,9 @@ param set-default MC_YAWRATE_P 0.3
 param set-default CP_DIST 6
 param set-default MPC_ACC_DOWN_MAX 5
 param set-default MPC_ACC_HOR_MAX 10
-param set-default MPC_ACC_UP_MAX 4
 param set-default MPC_MAN_Y_MAX 120
-param set-default MPC_TILTMAX_AIR 45
 param set-default MPC_THR_HOVER 0.3
 param set-default MPC_VEL_MANUAL 5
-param set-default MPC_XY_CRUISE 5
 param set-default MPC_XY_VEL_MAX 5
 param set-default MPC_XY_VEL_P_ACC 1.58
 param set-default MPC_XY_TRAJ_P 0.3
@@ -33,3 +33,10 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.25
 param set-default CA_ROTOR3_PY 0.25
 param set-default CA_ROTOR3_KM -0.05
+
+param set-default PWM_AUX_FUNC1 101
+param set-default PWM_AUX_FUNC2 102
+param set-default PWM_AUX_FUNC3 103
+param set-default PWM_AUX_FUNC4 104
+param set-default PWM_AUX_TIM0 -4
+
@@ -16,11 +16,12 @@ param set-default COM_OBS_AVOID 1
 param set-default COM_DISARM_LAND 0.5

 # EKF2 parameters
-param set-default EKF2_AID_MASK 35
+param set-default EKF2_DRAG_CTRL 1
 param set-default EKF2_IMU_POS_X 0.02
 param set-default EKF2_GPS_POS_X 0.055
 param set-default EKF2_GPS_POS_Z -0.15
 param set-default EKF2_MIN_RNG 0.03
+param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_POS_X 0.055
 param set-default EKF2_OF_POS_Y 0.02
 param set-default EKF2_OF_POS_Z 0.065
@@ -59,13 +60,10 @@ param set-default MC_YAWRATE_P 0.3
 param set-default CP_DIST 6
 param set-default MPC_ACC_DOWN_MAX 5
 param set-default MPC_ACC_HOR_MAX 10
-param set-default MPC_ACC_UP_MAX 4
 param set-default MPC_MANTHR_MIN 0
 param set-default MPC_MAN_Y_MAX 120
-param set-default MPC_TILTMAX_AIR 45
 param set-default MPC_THR_HOVER 0.3
 param set-default MPC_VEL_MANUAL 5
-param set-default MPC_XY_CRUISE 5
 param set-default MPC_XY_VEL_MAX 5
 param set-default MPC_XY_VEL_P_ACC 1.58
 param set-default MPC_XY_TRAJ_P 0.3
@@ -19,7 +19,6 @@
 . ${R}etc/init.d/rc.mc_defaults

 param set-default CBRK_SUPPLY_CHK 894281
-param set-default CBRK_USB_CHK 197848

 param set-default IMU_GYRO_CUTOFF 100
 param set-default IMU_DGYRO_CUTOFF 60
@@ -58,8 +58,6 @@ param set-default CA_ROTOR3_PX -0.15
 param set-default CA_ROTOR3_PY 0.15
 param set-default CA_ROTOR3_KM -0.05

-param set-default PWM_MAIN_TIM0 0
-
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
@@ -37,23 +37,20 @@ param set-default COM_RC_LOSS_T 3


 # ekf2
-param set-default EKF2_AID_MASK 33
 param set-default EKF2_TERR_MASK 1
-param set-default EKF2_BARO_DELAY 0
 param set-default EKF2_BARO_NOISE 2.0

 param set-default EKF2_BCOEF_X 31.5
 param set-default EKF2_BCOEF_Y 25.5

+param set-default EKF2_DRAG_CTRL 1
+
 param set-default EKF2_GPS_DELAY 100
 param set-default EKF2_GPS_POS_X 0.06
-param set-default EKF2_GPS_POS_Y 0.0
-param set-default EKF2_GPS_POS_Z 0.0
 param set-default EKF2_GPS_V_NOISE 0.5

 param set-default EKF2_IMU_POS_X 0.06

-param set-default EKF2_MAG_DELAY 0
 param set-default EKF2_MAG_NOISE 0.1

 param set-default EKF2_MIN_RNG 0.15
@@ -61,7 +58,6 @@ param set-default EKF2_MIN_RNG 0.15
 param set-default EKF2_OF_DELAY 38
 param set-default EKF2_OF_GATE 2.0
 param set-default EKF2_OF_POS_X -0.035
-param set-default EKF2_OF_POS_Y 0.0
 param set-default EKF2_OF_POS_Z 0.033
 param set-default EKF2_OF_MIN_RNG 0.01
 param set-default EKF2_OF_A_HMAX 7.0
@@ -119,30 +115,20 @@ param set-default MPC_ACC_HOR_MAX 10.0
 param set-default MPC_ACC_UP_MAX 3.0
 param set-default MPC_ALT_MODE 0
 param set-default MPC_LAND_SPEED 0.5
-param set-default MPC_LAND_VEL_XY 10
 param set-default MPC_MAN_TILT_MAX 20
 param set-default MPC_YAWRAUTO_MAX 80.0
-param set-default MPC_POS_MODE 4
 param set-default MPC_THR_HOVER 0.54
 param set-default MPC_THR_MAX 0.9
 param set-default MPC_THR_MIN 0.06
 param set-default MPC_TILTMAX_AIR 30
 param set-default MPC_XY_P 1.0
-param set-default MPC_XY_VEL_D 0.005
-param set-default MPC_XY_VEL_I 0.02
-param set-default MPC_XY_VEL_P 0.15
 param set-default MPC_Z_P 2.0
-param set-default MPC_Z_VEL_D 0.0
-param set-default MPC_Z_VEL_I 0.02
 param set-default MPC_Z_VEL_MAX_DN 2.0
-param set-default MPC_Z_VEL_P 0.27
-

 # gimbal configuration
 param set-default MNT_MODE_IN 0
 param set-default MNT_MODE_OUT 1
 param set-default MNT_MAN_PITCH 2
-param set-default MNT_RC_IN_MODE 1
 param set-default MNT_RATE_PITCH 30

 # RC
@@ -165,7 +151,6 @@ param set-default RC1_TRIM          1000
 param set-default SENS_FLOW_MAXR   7.4
 param set-default SENS_FLOW_MINHGT 0.15
 param set-default SENS_FLOW_MAXHGT 5.0
-param set-default SENS_FLOW_ROT 0

 # ignore the SD card errors and use normal startup sound
 set STARTUP_TUNE "1"
@@ -22,10 +22,7 @@
 param set-default MC_ROLLRATE_D 0.0013
 param set-default MC_PITCHRATE_D 0.0016

-param set-default MC_YAW_FF 0.5
-
 param set-default MPC_MANTHR_MAX 0.9
-param set-default MPC_MANTHR_MIN 0.08

 # Filter settings
 param set-default IMU_DGYRO_CUTOFF 90
@@ -37,11 +34,8 @@ param set-default SENS_BOARD_ROT 10

 # EKF2
 param set-default EKF2_GND_EFF_DZ 6
-param set-default EKF2_HGT_REF 1

 # Position control
-param set-default MPC_Z_P 1
-param set-default MPC_Z_VEL_P_ACC 4
 param set-default MPC_Z_VEL_I_ACC 0.4

 param set-default MPC_THR_MIN 0.06
@@ -51,7 +45,6 @@ param set-default MIS_TAKEOFF_ALT 1.1
 param set-default MPC_XY_P 1.7
 param set-default MPC_XY_VEL_P_ACC 2.6
 param set-default MPC_XY_VEL_I_ACC 1.2
-param set-default MPC_XY_VEL_D_ACC 0.2
 param set-default MPC_TKO_RAMP_T 1
 param set-default MPC_VEL_MANUAL 3

@@ -59,7 +52,6 @@ param set-default BAT1_SOURCE 0
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_V_DIV 10.14
 param set-default BAT1_A_PER_V 18.18
-param set-default COM_DISARM_LAND 2

 # Filter settings
 param set-default IMU_GYRO_CUTOFF 90
@@ -23,9 +23,6 @@ param set-default MC_ROLLRATE_D 0.0013

 param set-default MC_PITCHRATE_D 0.0016

-
-param set-default MPC_MANTHR_MIN 0.08
-
 # Filter settings
 param set-default IMU_GYRO_CUTOFF 100

@@ -40,12 +37,11 @@ param set-default SENS_TFMINI_CFG 103
 param set-default SENS_EN_BATT 1

 # EKF2
-param set-default EKF2_AID_MASK 3
 param set-default EKF2_GND_EFF_DZ 6
-param set-default EKF2_HGT_REF 1
 param set-default EKF2_MIN_RNG 0.3

 # Flow
+param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_QMIN 70

 # Position control
@@ -60,7 +56,6 @@ param set-default MIS_TAKEOFF_ALT 1.1
 param set-default MPC_XY_P 1.7
 param set-default MPC_XY_VEL_P_ACC 2.6
 param set-default MPC_XY_VEL_I_ACC 1.2
-param set-default MPC_XY_VEL_D_ACC 0.2
 param set-default MPC_TKO_RAMP_T 1
 param set-default MPC_VEL_MANUAL 3

@@ -68,7 +63,6 @@ param set-default BAT1_SOURCE 0
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_V_DIV 10.14
 param set-default BAT1_A_PER_V 18.18
-param set-default COM_DISARM_LAND 2

 # Filter settings
 param set-default IMU_GYRO_CUTOFF 90
@@ -21,14 +21,13 @@ param set-default BAT1_CAPACITY 240
 param set-default BAT1_SOURCE 1

 param set-default CBRK_SUPPLY_CHK 894281
-param set-default CBRK_USB_CHK 197848
 param set-default COM_RC_IN_MODE 1

 param set-default EKF2_ABL_LIM 2
-param set-default EKF2_AID_MASK 3
 param set-default EKF2_HGT_REF 2
 param set-default EKF2_RNG_CTRL 2
 param set-default EKF2_MAG_TYPE 1
+param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_DELAY 10

 param set-default IMU_GYRO_CUTOFF 100
@@ -19,7 +19,7 @@

 param set-default SYS_MC_EST_GROUP 2
 param set-default SYS_HAS_MAG 0
-param set-default EKF2_AID_MASK 2
+param set-default EKF2_OF_CTRL 1
 param set-default EKF2_GPS_CTRL 0
 param set-default EKF2_MAG_TYPE 5

@@ -27,7 +27,6 @@ param set-default BAT1_N_CELLS 1
 param set-default BAT1_SOURCE 1

 param set-default CBRK_SUPPLY_CHK 894281
-param set-default CBRK_USB_CHK 197848
 param set-default COM_RC_IN_MODE 1

 param set-default IMU_GYRO_CUTOFF 100
@@ -39,8 +39,6 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

-param set-default MIS_TAKEOFF_ALT 0.01
-
 param set-default NAV_ACC_RAD 0.5

 param set-default CA_AIRFRAME 5
@@ -44,13 +44,8 @@ param set-default GND_SPEED_D 0.001
 param set-default GND_SPEED_IMAX 0.125
 param set-default GND_SPEED_THR_SC 1

-param set-default MIS_TAKEOFF_ALT 0.01
-
 param set-default NAV_ACC_RAD 0.5

-# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
-param set-default CBRK_AIRSPD_CHK 162128
-
 # Differential drive acts like ackermann steering with a maximum turn angle of 180 degrees, or pi radians
 param set-default GND_MAX_ANG 3.1415

@@ -45,13 +45,8 @@ param set-default GND_SPEED_D 0.001
 param set-default GND_SPEED_IMAX 0.125
 param set-default GND_SPEED_THR_SC 1

-param set-default MIS_TAKEOFF_ALT 0.01
-
 param set-default NAV_ACC_RAD 0.5

-# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
-param set-default CBRK_AIRSPD_CHK 162128
-
 param set-default CA_AIRFRAME 5

 param set-default CA_R_REV 1
@@ -13,10 +13,6 @@

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

-# disable circuit breaker for airspeed sensor
-param set-default CBRK_AIRSPD_CHK 162128
-
-
 param set-default CA_AIRFRAME 7
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_R_REV 255
@@ -13,9 +13,6 @@

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

-# disable circuit breaker for airspeed sensor
-param set-default CBRK_AIRSPD_CHK 162128
-
 param set-default CA_AIRFRAME 7
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_R_REV 255
@@ -23,14 +23,9 @@
 . ${R}etc/init.d/rc.uuv_defaults


-# disable circuit breaker for airspeed sensor
-param set-default CBRK_AIRSPD_CHK 162128
 # companion computer is connected via USB permanently
-param set-default CBRK_USB_CHK 197848
 param set-default CBRK_IO_SAFETY 22027

-param set-default COM_PREARM_MODE 0
-
 param set-default MAV_1_CONFIG 102

 param set-default BAT1_A_PER_V 37.8798
@@ -41,14 +41,8 @@ param set-default MPC_ACC_HOR 8
 param set-default MPC_THR_MIN 0.06
 param set-default MPC_THR_HOVER 0.3
 # altitude control gains
-param set-default MPC_Z_P 1
-param set-default MPC_Z_VEL_P_ACC 4
 param set-default MPC_Z_VEL_I_ACC 0.4
 # position control gains
-param set-default MPC_XY_P 0.9500
-param set-default MPC_XY_VEL_P_ACC 1.8
-param set-default MPC_XY_VEL_I_ACC 0.4
-param set-default MPC_XY_VEL_D_ACC 0.2
 # etc gains
 param set-default MPC_TKO_RAMP_T 0.4
 param set-default MPC_VEL_MANUAL 5
@@ -69,8 +63,6 @@ param set-default MIS_TAKEOFF_ALT 1.1
 #####################################
 # EKF
 #####################################
-# Height mode as GPS
-param set-default EKF2_HGT_REF 1
 # Enable optical flow and GPS
 param set-default EKF2_MAG_TYPE 1
 param set-default EKF2_OF_QMIN 80
@@ -20,7 +20,7 @@ control_allocator start
 #
 fw_rate_control start
 fw_att_control start
-fw_path_navigation start
+fw_pos_control start
 airspeed_selector start

 #
@@ -10,9 +10,9 @@ set VEHICLE_TYPE rover
 # MAV_TYPE_GROUND_ROVER 10
 param set-default MAV_TYPE 10

-#
-# Default parameters for UGVs.
-#
+# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default MIS_TAKEOFF_ALT 0.01

 param set-default NAV_ACC_RAD 2
@@ -132,6 +132,12 @@ then
 	fi
 fi

+# ADIS16507 spi external IMU
+if param greater -s SENS_EN_ADIS165X 0
+then
+	adis16507 -S start
+fi
+
 # Eagle Tree airspeed sensor external I2C
 if param compare -s SENS_EN_ETSASPD 1
 then
@@ -9,3 +9,6 @@ set VEHICLE_TYPE uuv

 # MAV_TYPE_SUBMARINE 12
 param set-default MAV_TYPE 12
+
+# UUV don't have an airspeed sensor, so disable checks around it
+param set-default CBRK_AIRSPD_CHK 162128
@@ -37,7 +37,7 @@ fi

 fw_rate_control start vtol
 fw_att_control start vtol
-fw_path_navigation start vtol
+fw_pos_control start vtol
 fw_autotune_attitude_control start vtol

 # Start Land Detector
@@ -27,7 +27,6 @@ param set-default MIS_TKO_LAND_REQ 2

 param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_VEL_MANUAL 5
-param set-default MPC_XY_CRUISE 5
 param set-default MPC_XY_ERR_MAX 5
 param set-default MPC_XY_VEL_MAX 8
 param set-default MPC_JERK_MAX 4.5
@@ -25,5 +25,5 @@ exec find boards msg src platforms test \
    -path src/lib/crypto/monocypher -prune -o \
    -path src/lib/crypto/libtomcrypt -prune -o \
    -path src/lib/crypto/libtommath -prune -o \
-    -path src/modules/microdds_client/Micro-XRCE-DDS-Client -prune -o \
+    -path src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client -prune -o \
    -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3

 """
-Converts IP address given in decimal dot notation to int32 to be used in XRCE_DDS_0_CFG parameter
+Converts IP address given in decimal dot notation to int32 to be used in UXRCE_DDS_CFG parameter
 and vice-versa

@author: Beniamino Pozzan (beniamino.pozzan@phd.unipd.it)
@@ -264,7 +264,18 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
            }
        per_channel_params.append(param)

-        # TODO: support non-standard per-channel parameters
+        custom_params = group.get('custom_params', [])
+        for custom_param in custom_params:
+            # Simply pulls all custom params, assuming they are valid ones
+            param = {
+                'name': param_prefix+'_'+custom_param['name'],
+            }
+            # TODO: check and match the custom params in output_groups with module-level parameters
+            del custom_param['name']
+            for param_key in custom_param:
+                # '-' is used in actuators.schema.json, while '_' is used in module_schema.yml
+                param[param_key.replace('_', '-')] = custom_param[param_key]
+            per_channel_params.append(param)

        subgroup['per-channel-parameters'] = per_channel_params

@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<model>
+  <name>PX4 Vision</name>
+  <version>1.0</version>
+  <sdf version='1.9'>model.sdf</sdf>
+
+  <author>
+   <name>Jaeyoung Lim</name>
+   <email>jaeyoung@auterion.com</email>
+  </author>
+
+  <description>
+    This is a model of the Holybro PX4 Vision
+  </description>
+</model>
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version='1.9'>
+  <model name='px4vision'>
+  <include>
+    <uri>
+      https://fuel.gazebosim.org/1.0/PX4/models/PX4 Vision
+    </uri>
+  </include>
+  </model>
+</sdf>
@@ -2,7 +2,7 @@
 <sdf version='1.9'>
  <model name='x500-Depth'>
    <include merge='true'>
-      <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/x500-Base</uri>
+      <uri>x500</uri>
    </include>
    <include merge='true'>
      <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/OakD-Lite</uri>
@@ -12,7 +12,7 @@ baudrate=921600
 device=
 ip="127.0.0.1"
 protocol="tcp"
-while getopts ":b:d:u:p:qsr:f:i:loat" opt; do
+while getopts "b:d:ui:p:qsr:loat" opt; do
 	case $opt in
 		b)
 			baudrate=$OPTARG
@@ -45,7 +45,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -4,6 +4,7 @@ CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_EXTERNAL_METADATA=y
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_BOOTLOADERS=y
@@ -100,8 +100,6 @@ then
 	spl06 -X -a 0x77 start
 fi

-gps start -d /dev/ttyS0 -p ubx
-
 # probe for optional external I2C devices
 icm20948_i2c_passthrough -X -q start

@@ -17,6 +17,7 @@ CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
+CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
 CONFIG_COMMON_LIGHT=y
@@ -43,7 +44,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -60,11 +61,11 @@ 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_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
@@ -125,6 +125,7 @@
 /* SPI */

 #define SPI6_nRESET_EXTERNAL1       /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN10)
+#define SPI6_RESET(on_true)          px4_arch_gpiowrite(SPI6_nRESET_EXTERNAL1, !(on_true))

 /* I2C busses */

@@ -309,7 +310,6 @@
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
 #define VDD_3V3_ETH_POWER_EN(on_true)      px4_arch_gpiowrite(GPIO_ETH_POWER_EN, (on_true))

-
 /* Tone alarm output */

 #define TONE_ALARM_TIMER        14  /* Timer 14 */
@@ -110,6 +110,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
 	VDD_3V3_SENSORS4_EN(false);
+	SPI6_RESET(true);

 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
@@ -128,6 +129,8 @@ __EXPORT void board_peripheral_reset(int ms)
 	VDD_5V_HIPOWER_EN(true);
 	VDD_5V_PERIPH_EN(true);

+	/* Release SPI6 Reset */
+	SPI6_RESET(false);
 }

 /************************************************************************************
@@ -217,6 +220,8 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SENSORS4_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);

+	SPI6_RESET(false);
+
 	/* Need hrt running before using the ADC */

 	px4_platform_init();
@@ -42,7 +42,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -31,7 +31,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -49,7 +49,6 @@ 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_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -60,6 +59,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DYN=y
@@ -49,7 +49,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -66,13 +66,13 @@ 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_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
@@ -50,7 +50,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -67,13 +67,13 @@ 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_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
@@ -45,7 +45,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -62,13 +62,14 @@ 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_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -6,7 +6,6 @@ CONFIG_DRIVERS_UAVCAN=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
@@ -46,7 +46,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -62,13 +62,14 @@ 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_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -6,6 +6,5 @@ CONFIG_DRIVERS_UAVCAN=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
@@ -45,7 +45,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -33,7 +33,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -51,7 +51,6 @@ 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_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -62,6 +61,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DYN=y
@@ -43,7 +43,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -59,13 +59,13 @@ 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_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
@@ -28,9 +28,8 @@ CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_SYSTEMCMDS_PARAM=y
@@ -38,7 +38,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -55,14 +55,13 @@ 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_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
@@ -37,7 +37,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -58,7 +58,6 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
@@ -38,7 +38,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -55,14 +55,13 @@ 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_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
@@ -49,7 +49,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
--- a/Show More
+++ b/Show More