Makefile: add target for unit tests

qurt: update for functional logger
Qurt platform/common dependency fixes
2026-05-26 00:57:34 +08:00 · 2022-10-26 19:40:31 +02:00 · 2022-10-25 21:07:15 -04:00 · 2022-10-25 21:06:00 -04:00 · 2022-10-25 09:20:01 -04:00 · 2022-10-25 08:02:47 +02:00
593 changed files with 21284 additions and 26065 deletions
@@ -69,24 +69,18 @@ pipeline {
                     "matek_h743-slim_default",
                     "matek_h743_default",
                     "modalai_fc-v1_default",
-                     "modalai_fc-v1_rtps",
                     "modalai_fc-v2_default",
                     "modalai_voxl2-io_default",
                     "mro_ctrl-zero-f7_default",
                     "mro_ctrl-zero-f7-oem_default",
                     "mro_ctrl-zero-h7-oem_default",
-                     "mro_ctrl-zero-h7-oem_rtps",
                     "mro_ctrl-zero-h7_default",
-                     "mro_ctrl-zero-h7_rtps",
                     "mro_pixracerpro_default",
-                     "mro_pixracerpro_rtps",
                     "mro_x21-777_default",
                     "mro_x21_default",
                     "nxp_fmuk66-e_default",
-                     "nxp_fmuk66-e_rtps",
                     "nxp_fmuk66-e_socketcan",
                     "nxp_fmuk66-v3_default",
-                     "nxp_fmuk66-v3_rtps",
                     "nxp_fmuk66-v3_socketcan",
                     "nxp_fmurt1062-v1_default",
                     "nxp_ucans32k146_canbootloader",
@@ -104,7 +98,6 @@ pipeline {
                     "px4_fmu-v5_debug",
                     "px4_fmu-v5_default",
                     "px4_fmu-v5_lto",
-                     "px4_fmu-v5_rtps",
                     "px4_fmu-v5_stackcheck",
                     "px4_fmu-v5_uavcanv0periph",
                     "px4_fmu-v5x_default",
@@ -937,7 +937,7 @@ void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_odometry" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_rates_setpoint" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status_flags" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener failsafe_flags" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vtol_vehicle_status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener yaw_estimator_status" || true'
 }
@@ -23,7 +23,6 @@ jobs:
          "shellcheck_all",
          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
          "NO_NINJA_BUILD=1 px4_sitl_default",
-          "BUILD_MICRORTPS_AGENT=1 px4_sitl_rtps",
          "airframe_metadata",
          "module_documentation",
          "parameters_metadata",
@@ -0,0 +1,44 @@
+name: Failsafe Simulator Build
+
+on:
+  push:
+    branches:
+    - 'main'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    defaults:
+      run:
+        shell: bash
+    strategy:
+      fail-fast: false
+      matrix:
+        check: [
+          "failsafe_web",
+        ]
+    container:
+      image: px4io/px4-dev-nuttx-focal:2021-09-08
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: check environment
+      run: |
+          export
+          ulimit -a
+    - name: install emscripten
+      run: |
+        git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
+        cd _emscripten_sdk
+        ./emsdk install latest
+        ./emsdk activate latest
+    - name: ${{matrix.check}}
+      run: |
+        . ./_emscripten_sdk/emsdk_env.sh
+        make ${{matrix.check}}
@@ -116,7 +116,7 @@ jobs:
        ls -ls *
      # TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/

-  micrortps_agent:
+  ROS2_msgs:
    runs-on: ubuntu-latest
    container: px4io/px4-dev-base-focal:2021-09-08
    steps:
@@ -124,34 +124,8 @@ jobs:
      with:
        token: ${{ secrets.ACCESS_TOKEN }}

-    - name: microRTPS agent
-      run: |
-        make px4_sitl_rtps
-        git clone https://github.com/PX4/micrortps_agent.git
-        cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent
-
-  ROS_msgs:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: PX4 ROS msgs
+    - name: PX4 ROS2 msgs
      run: |
        git clone https://github.com/PX4/px4_msgs.git
-        python3 msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/
-
-  ROS2_bridge:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: PX4 ROS2 bridge
-      run: |
-        git clone https://github.com/PX4/px4_ros_com.git
-        ./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml
+        rm px4_msgs/msg/*.msg
+        cp msg/*.msg px4_msgs/msg/
@@ -18,10 +18,6 @@
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/PX4-GPSDrivers.git
 	branch = main
-[submodule "src/modules/micrortps_bridge/micro-CDR"]
-	path = src/modules/micrortps_bridge/micro-CDR
-	url = https://github.com/PX4/Micro-CDR.git
-	branch = master
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
@@ -64,4 +60,5 @@
 	branch = px4
 [submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
 	path = src/modules/microdds_client/Micro-XRCE-DDS-Client
-	url = https://github.com/eProsima/Micro-XRCE-DDS-Client.git
+	url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
+	branch = px4
@@ -6,11 +6,11 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_default
-    px4_sitl_rtps:
-      short: px4_sitl_rtps
+    px4_sitl_nolockstep:
+      short: px4_sitl_nolockstep
      buildType: RelWithDebInfo
      settings:
-        CONFIG: px4_sitl_rtps
+        CONFIG: px4_sitl_nolockstep
    px4_sitl_asan:
      short: px4_sitl (AddressSanitizer)
      buildType: AddressSanitizer
@@ -410,7 +410,7 @@ if(BUILD_TESTING)
 	include(gtest)

 	add_custom_target(test_results
-			COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R ${TESTFILTER} USES_TERMINAL
+			COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R \"${TESTFILTER}\" USES_TERMINAL
 			DEPENDS
 				px4
 				examples__dyn_hello
@@ -829,7 +829,6 @@ RECURSIVE              = YES
 # run.

 EXCLUDE                = @CMAKE_SOURCE_DIR@/src/modules/uavcan/libuavcan \
-                         @CMAKE_SOURCE_DIR@/src/modules/micrortps_bridge/micro-CDR \
                         @CMAKE_SOURCE_DIR@/src/examples \
                         @CMAKE_SOURCE_DIR@/src/templates

@@ -13,76 +13,6 @@ pipeline {
        }
      }
      parallel {
-        // stage('Catkin build on ROS workspace') {
-        //   agent {
-        //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2021-08-18'
-        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-        //     }
-        //   }
-        //   steps {
-        //     sh 'ls -l'
-        //     sh '''#!/bin/bash -l
-        //       echo $0;
-        //       mkdir -p catkin_ws/src;
-        //       cd catkin_ws;
-        //       git -C ${WORKSPACE}/catkin_ws/src/Firmware submodule update --init --recursive --force Tools/simulation/gazebo/sitl_gazebo
-        //       git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/simulation/gazebo/sitl_gazebo src/mavlink_sitl_gazebo;
-        //       git -C ${WORKSPACE}/catkin_ws/src/Firmware fetch --tags;
-        //       source /opt/ros/melodic/setup.bash;
-        //       export PYTHONPATH=/opt/ros/$ROS_DISTRO/lib/python2.7/dist-packages:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages;
-        //       catkin init;
-        //       catkin build -j$(nproc) -l$(nproc);
-        //     '''
-        //     // test if the binary was correctly installed and runs using 'mavros_posix_sitl.launch'
-        //     sh '''#!/bin/bash -l
-        //       echo $0;
-        //       source catkin_ws/devel/setup.bash;
-        //       rostest px4 pub_test.launch;
-        //     '''
-        //   }
-        //   post {
-        //     always {
-        //       sh 'rm -rf catkin_ws'
-        //     }
-        //     failure {
-        //       archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.xml, .ros/**/*.log')
-        //     }
-        //   }
-        //   options {
-        //     checkoutToSubdirectory('catkin_ws/src/Firmware')
-        //   }
-        // }
-
-        stage('Colcon build on ROS2 workspace') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros2-foxy:2021-08-18'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-            }
-          }
-          steps {
-            sh 'ls -l'
-            sh '''#!/bin/bash -l
-              echo $0;
-              unset ROS_DISTRO;
-              mkdir -p colcon_ws/src;
-              cd colcon_ws;
-              git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/simulation/gazebo/sitl_gazebo;
-              git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
-              source /opt/ros/foxy/setup.sh;
-              colcon build --event-handlers console_direct+ --symlink-install;
-            '''
-          }
-          post {
-            always {
-              sh 'rm -rf colcon_ws'
-            }
-          }
-          options {
-            checkoutToSubdirectory('colcon_ws/src/Firmware')
-          }
-        }

        stage('Airframe') {
          agent {
@@ -149,7 +79,7 @@ pipeline {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
-            sh 'mkdir -p build/msg_docs; ./msg/tools/generate_msg_docs.py -d build/msg_docs'
+            sh 'mkdir -p build/msg_docs; ./Tools/msg/generate_msg_docs.py -d build/msg_docs'
            dir('build') {
              archiveArtifacts(artifacts: 'msg_docs/*.md')
              stash includes: 'msg_docs/*.md', name: 'msg_documentation'
@@ -162,6 +92,35 @@ pipeline {
          }
        }

+        stage('failsafe docs') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+          }
+          steps {
+            sh '''#!/bin/bash -l
+			echo $0;
+            git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk;
+            cd _emscripten_sdk;
+            ./emsdk install latest;
+            ./emsdk activate latest;
+            . ./_emscripten_sdk/emsdk_env.sh;
+			make failsafe_web;
+			cd build/px4_sitl_default_failsafe_web;
+			mkdir -p failsafe_sim;
+			cp index.* parameters.json failsafe_sim;
+			'''
+            dir('build/px4_sitl_default_failsafe_web') {
+              archiveArtifacts(artifacts: 'failsafe_sim/*')
+              stash includes: 'failsafe_sim/*', name: 'failsafe_sim'
+            }
+          }
+          post {
+            always {
+              sh 'make distclean; git clean -ff -x -d .'
+            }
+          }
+        }
+
        stage('uORB graphs') {
          agent {
            docker {
@@ -203,6 +162,7 @@ pipeline {
            unstash 'metadata_parameters'
            unstash 'metadata_module_documentation'
            unstash 'msg_documentation'
+            unstash 'failsafe_sim'
            unstash 'uorb_graph'
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/PX4-user_guide.git')
@@ -211,6 +171,7 @@ pipeline {
              sh('cp -R modules/*.md PX4-user_guide/en/modules/')
              sh('cp -R graph_*.json PX4-user_guide/.vuepress/public/en/middleware/')
              sh('cp -R msg_docs/*.md PX4-user_guide/en/msg_docs/')
+              sh('cp -R failsafe_sim/* PX4-user_guide/.vuepress/public/en/config/failsafe')
              sh('cd PX4-user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
              sh('cd PX4-user_guide; git push origin main || true')
              sh('rm -rf PX4-user_guide')
@@ -257,37 +218,6 @@ pipeline {
          }
        }

-        stage('microRTPS agent') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
-          }
-          steps {
-            sh('export')
-            sh('git fetch --all --tags')
-            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}")
-              sh("rm -rf micrortps_agent/src micrortps_agent/idl")
-              sh('cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent')
-              sh('cd micrortps_agent; git status; git add src; git commit -a -m "Update microRTPS agent source code `date`" || true')
-              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
-              sh('cd micrortps_agent; git status; git add idl; git commit -a -m "Update IDL definitions `date`" || true')
-              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
-              sh('cd micrortps_agent; git status; git add CMakeLists.txt; git commit -a -m "Update CMakeLists.txt `date`" || true')
-              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
-              sh('rm -rf micrortps_agent')
-            }
-          }
-          when {
-            anyOf {
-              branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
-              branch 'pr-jenkins' // for testing
-            }
-          }
-        }
-
        stage('PX4 ROS msgs') {
          agent {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
@@ -298,66 +228,16 @@ pipeline {
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
              // 'main' branch
-              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
+              sh('rm -f px4_msgs/msg/*.msg')
+              sh('cp msg/*.msg px4_msgs/msg/')
              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
              sh('cd px4_msgs; git push origin main || true')
-              // 'ros1' branch
-              sh('cd px4_msgs; git checkout ros1')
-              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
-              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
-              sh('cd px4_msgs; git push origin ros1 || true')
              sh('rm -rf px4_msgs')
            }
          }
          when {
            anyOf {
              branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
-              branch 'pr-jenkins' // for testing
-            }
-          }
-        }
-
-        stage('PX4 ROS2 bridge') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
-          }
-          steps {
-            sh('export')
-            sh('make distclean; git clean -ff -x -d .')
-            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
-              // deploy uORB RTPS ID map
-              sh('./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml')
-              sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
-              sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
-              // deploy uORB RTPS required tools
-              sh('cp msg/tools/uorb_rtps_classifier.py px4_ros_com/scripts/uorb_rtps_classifier.py')
-              sh('cp msg/tools/generate_microRTPS_bridge.py px4_ros_com/scripts/generate_microRTPS_bridge.py')
-              sh('cp msg/tools/px_generate_uorb_topic_files.py px4_ros_com/scripts/px_generate_uorb_topic_files.py')
-              sh('cp msg/tools/px_generate_uorb_topic_helper.py px4_ros_com/scripts/px_generate_uorb_topic_helper.py')
-              // deploy templates
-              sh('cp msg/templates/urtps/microRTPS_agent.cpp.em px4_ros_com/templates/microRTPS_agent.cpp.em')
-              sh('cp msg/templates/urtps/microRTPS_timesync.cpp.em px4_ros_com/templates/microRTPS_timesync.cpp.em')
-              sh('cp msg/templates/urtps/microRTPS_timesync.h.em px4_ros_com/templates/microRTPS_timesync.h.em')
-              sh('cp msg/templates/urtps/microRTPS_transport.cpp px4_ros_com/templates/microRTPS_transport.cpp')
-              sh('cp msg/templates/urtps/microRTPS_transport.h px4_ros_com/templates/microRTPS_transport.h')
-              sh('cp msg/templates/urtps/Publisher.cpp.em px4_ros_com/templates/Publisher.cpp.em')
-              sh('cp msg/templates/urtps/Publisher.h.em px4_ros_com/templates/Publisher.h.em')
-              sh('cp msg/templates/urtps/Subscriber.cpp.em px4_ros_com/templates/Subscriber.cpp.em')
-              sh('cp msg/templates/urtps/Subscriber.h.em px4_ros_com/templates/Subscriber.h.em')
-              sh('cp msg/templates/urtps/RtpsTopics.cpp.em px4_ros_com/templates/RtpsTopics.cpp.em')
-              sh('cp msg/templates/urtps/RtpsTopics.h.em px4_ros_com/templates/RtpsTopics.h.em')
-              sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS script tools `date`" || true')
-              sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
-              sh('rm -rf px4_msgs')
-            }
-          }
-          when {
-            anyOf {
-              branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
-              branch 'pr-jenkins' // for testing
            }
          }
        }
@@ -172,11 +172,6 @@ ifdef PYTHON_EXECUTABLE
 	override CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
 endif

-# Check if the microRTPS agent is to be built
-ifdef BUILD_MICRORTPS_AGENT
-  override CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
-endif
-
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
@@ -253,7 +248,7 @@ endef
 # Other targets
 # --------------------------------------------------------------------

-.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware check_rtps
+.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware

 # QGroundControl flashable NuttX firmware
 qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
@@ -278,15 +273,7 @@ misc_qgc_extra_firmware: \
 	check_airmind_mindpx-v2_default \
 	sizes

-# builds with RTPS
-check_rtps: \
-	check_px4_fmu-v3_rtps \
-	check_px4_fmu-v4_rtps \
-	check_px4_fmu-v4pro_rtps \
-	check_px4_sitl_rtps \
-	sizes
-
-.PHONY: sizes check quick_check check_rtps uorb_graphs
+.PHONY: sizes check quick_check uorb_graphs

 sizes:
 	@-find build -name *.elf -type f | xargs size 2> /dev/null || :
@@ -399,6 +386,8 @@ tests_coverage:
 	@mkdir -p coverage
 	@lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info

+test_unit:
+	@$(MAKE) tests TESTFILTER="unit\|functional"

 rostest: px4_sitl_default
 	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
@@ -495,7 +484,9 @@ 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 "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
+	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" \
+	-not -path "$(SRC_DIR)/src/modules/microdds_client/dds_topics.yaml" \
+	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
 	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml

 # Cleanup
@@ -561,17 +552,12 @@ check_px4: $(call make_list,nuttx,"px4") \
 check_nxp: $(call make_list,nuttx,"nxp") \
 	sizes

-ifneq ($(ROS2_WS_DIR),)
-  ROS2_WS_DIR := $(basename ${ROS2_WS_DIR})
-else
-  ROS2_WS_DIR := ~/colcon_ws
-endif
-
-update_ros2_bridge:
-	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --all
-
-update_px4_ros_com:
-	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_ros_com
-
-update_px4_msgs:
-	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_msgs
+.PHONY: failsafe_web run_failsafe_web_server
+failsafe_web:
+	@if ! command -v emcc; then echo -e "Install emscripten first: https://emscripten.org/docs/getting_started/downloads.html\nAnd source the env: source <path>/emsdk_env.sh"; exit 1; fi
+	@$(MAKE) --no-print-directory px4_sitl_default failsafe_test parameters_xml \
+		PX4_CMAKE_BUILD_TYPE=Release BUILD_DIR_SUFFIX=_failsafe_web \
+		CMAKE_ARGS="-DCMAKE_CXX_COMPILER=em++ -DCMAKE_C_COMPILER=emcc"
+run_failsafe_web_server: failsafe_web
+	@cd build/px4_sitl_default_failsafe_web && \
+		python3 -m http.server
@@ -4,7 +4,7 @@

 [![Nuttx Targets](https://github.com/PX4/PX4-Autopilot/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)

-[![Slack](/.github/slack.svg)](https://join.slack.com/t/px4/shared_invite/zt-si4xo5qs-R4baYFmMjlrT4rQK5yUnaA)
+[![Discord Shield](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.gg/dronecode)

 This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.

@@ -75,7 +75,7 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/con
    * [Paul Riseborough](https://github.com/priseborough)
  * Vision based navigation and Obstacle Avoidance
    * [Markus Achtelik](https://github.com/markusachtelik)
-  * RTPS/ROS2 Interface
+  * DDS/ROS2 Interface
    * [Nuno Marques](https://github.com/TSC21)

 See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github).
@@ -36,7 +36,6 @@ add_subdirectory(airframes)
 px4_add_romfs_files(
 	px4-rc.mavlink
 	px4-rc.params
-	px4-rc.rtps
 	px4-rc.simulator
 	rc.replay
 	rcS
@@ -1,4 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
@@ -259,11 +259,8 @@ fi

 navigator start

-# Try to start the micrortps_client with UDP transport if module exists
-if px4-micrortps_client status > /dev/null 2>&1
-then
-	. px4-rc.rtps
-fi
+# Try to start the microdds_client with UDP transport if module exists
+microdds_client start -t udp -p 8888

 if param greater -s MNT_MODE_IN -1
 then
@@ -0,0 +1,75 @@
+#!/bin/sh
+#
+# @name Aion Robotics R1 UGV
+#
+# @url https://www.aionrobotics.com/r1
+#
+# @type Rover
+# @class Rover
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.rover_defaults
+
+param set-default BAT1_N_CELLS 4
+
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_ANGERR_INIT 0.01
+param set-default EKF2_MAG_TYPE 1
+
+param set-default FW_AIRSPD_MIN 0
+param set-default FW_AIRSPD_TRIM 1
+param set-default FW_AIRSPD_MAX 3
+
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_L1_DIST 5
+param set-default GND_L1_PERIOD 3
+param set-default GND_THR_CRUISE 0.7
+param set-default GND_THR_MAX 0.5
+
+# Because this is differential drive, it can make a turn with radius 0.
+# This corresponds to a turn angle of pi radians.
+# If a special case is made for differential-drive, this will need to change.
+param set-default GND_MAX_ANG 3.142
+param set-default GND_WHEEL_BASE 0.3
+
+# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
+# to support negative throttle.
+param set-default GND_THR_MIN 0
+param set-default GND_SPEED_P 0.25
+param set-default GND_SPEED_I 3
+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_LTRMIN_ALT 0.01
+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
+
+param set-default RBCLW_BAUD 8
+param set-default RBCLW_COUNTS_REV 1200
+param set-default RBCLW_ADDRESS 128
+# 104 corresponds to Telem 4
+param set-default RBCLW_SER_CFG 104
+# Start this driver after setting parameters, because the driver uses some of those parameters.
+# roboclaw start /dev/ttyS3
+
+# Set geometry & output configration
+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 102
+param set-default PWM_MAIN_DIS1 1500
+param set-default PWM_MAIN_DIS2 1500
+param set-default PWM_MAIN_TIM0 50
+param set-default PWM_MAIN_TIM1 50
+
@@ -118,6 +118,7 @@ px4_add_romfs_files(

 	50000_generic_ground_vehicle
 	50004_nxpcup_car_dfrobot_gpx
+	50003_aion_robotics_r1_rover

 	# [60000, 61000] (Unmanned) Underwater Robots
 	60000_uuv_generic
@@ -8,7 +8,6 @@ if [ $# -gt 0 ]; then
 fi

 exec find boards msg src platforms test \
-    -path msg/templates/urtps -prune -o \
    -path platforms/nuttx/NuttX -prune -o \
    -path platforms/qurt/dspal -prune -o \
    -path src/drivers/uavcan/libuavcan -prune -o \
@@ -21,8 +20,6 @@ exec find boards msg src platforms test \
    -path src/modules/ekf2/EKF -prune -o \
    -path src/modules/gyro_fft/CMSIS_5 -prune -o \
    -path src/modules/mavlink/mavlink -prune -o \
-    -path src/modules/micrortps_bridge/micro-CDR -prune -o \
-    -path src/modules/micrortps_bridge/microRTPS_client -prune -o \
    -path test/mavsdk_tests/catch2 -prune -o \
    -path src/lib/crypto/monocypher -prune -o \
    -path src/lib/crypto/libtomcrypt -prune -o \
@@ -1,15 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-SCRIPT_DIR=$0
-if [[ ${SCRIPT_DIR:0:1} != '/' ]]; then
-  SCRIPT_DIR=$(dirname $(realpath -s "$PWD/$0"))
-fi
-
-PX4_DIR=$(cd "$(dirname $(dirname $SCRIPT_DIR))" && pwd)
-
-if [ -d $PX4_DIR/build/*_rtps ]; then
-  cd $PX4_DIR/build/*_rtps/src/modules/micrortps_bridge/micrortps_agent/
-  cmake -Bbuild
-  cmake --build build -j$(nproc --all)
-fi
@@ -32,16 +32,16 @@ def extract_timer(line):
    # Try format: initIOTimer(Timer::Timer5, DMA{DMA::Index1, DMA::Stream0, DMA::Channel6}),
    search = re.search('Timer::([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
    if search:
-        return search.group(1)
+        return search.group(1), 'generic'

    # nxp rt1062 format: initIOPWM(PWM::FlexPWM2),
    search = re.search('PWM::Flex([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
    if search:
-        return search.group(1)
+        return search.group(1), 'imxrt'

-    return None
+    return None, 'unknown'

-def extract_timer_from_channel(line):
+def extract_timer_from_channel(line, num_channels_already_found):
    # Try format: initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
    search = re.search('Timer::([0-9a-zA-Z_]+), ', line, re.IGNORECASE)
    if search:
@@ -50,7 +50,8 @@ def extract_timer_from_channel(line):
    # nxp rt1062 format: initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_B0_06),
    search = re.search('PWM::(PWM[0-9]+)[_,\)]', line, re.IGNORECASE)
    if search:
-        return search.group(1)
+        # imxrt uses a 1:1 timer group to channel association
+        return str(num_channels_already_found)

    return None

@@ -72,7 +73,14 @@ def get_timer_groups(timer_config_file, verbose=False):
        line = line.strip()
        if len(line) == 0 or line.startswith('//'):
            continue
-        timer = extract_timer(line)
+        timer, timer_type = extract_timer(line)
+
+        if timer_type == 'imxrt':
+            if verbose: print('imxrt timer found')
+            max_num_channels = 16 # Just add a fixed number of timers
+            timers = [str(i) for i in range(max_num_channels)]
+            dshot_support = {str(i): False for i in range(max_num_channels)}
+            break

        if timer:
            if verbose: print('found timer def: {:}'.format(timer))
@@ -101,7 +109,7 @@ def get_timer_groups(timer_config_file, verbose=False):
            continue

        if verbose: print('--'+line+'--')
-        timer = extract_timer_from_channel(line)
+        timer = extract_timer_from_channel(line, len(channel_timers))

        if timer:
            if verbose: print('Found timer: {:} in channel line {:}'.format(timer, line))
@@ -66,7 +66,7 @@ if __name__ == "__main__":
        with open(msg_filename, 'r') as source_file:
            msg_contents = source_file.read()

-        #Format markdown using msg name, comment, url, contents.  
+        #Format markdown using msg name, comment, url, contents.
        markdown_output="""# %s (UORB message)

 %s
@@ -90,7 +90,7 @@ if __name__ == "__main__":
    readme_text="""# uORB Message Reference

 :::note
-This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/msg/tools/generate_msg_docs.py) from the source code.
+This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
 :::

 This topic lists the UORB messages available in PX4 (some of which may be may be shared by the [PX4-ROS 2 Bridge](../ros/ros2_comm.md)).
@@ -0,0 +1,253 @@
+#!/usr/bin/env python3
+#############################################################################
+#
+#   Copyright (C) 2013-2022 PX4 Pro Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+#############################################################################
+
+"""
+px_generate_uorb_topic_files.py
+Generates c/cpp header/source files for uorb topics from .msg
+message files
+"""
+
+import os
+import argparse
+import re
+import sys
+
+try:
+    import em
+except ImportError as e:
+    print("Failed to import em: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user empy")
+    print("")
+    sys.exit(1)
+
+try:
+    import genmsg.template_tools
+except ImportError as e:
+    print("Failed to import genmsg: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user pyros-genmsg")
+    print("")
+    sys.exit(1)
+
+
+__author__ = "Sergey Belash, Thomas Gubler, Beat Kueng"
+__copyright__ = "Copyright (C) 2013-2022 PX4 Development Team."
+__license__ = "BSD"
+__email__ = "thomasgubler@gmail.com"
+
+
+TEMPLATE_FILE = ['msg.h.em', 'msg.cpp.em']
+TOPICS_LIST_TEMPLATE_FILE = ['uORBTopics.hpp.em', 'uORBTopics.cpp.em']
+OUTPUT_FILE_EXT = ['.h', '.cpp']
+INCL_DEFAULT = ['std_msgs:./msg/std_msgs']
+PACKAGE = 'px4'
+TOPICS_TOKEN = '# TOPICS '
+
+
+def get_topics(filename):
+    """
+    Get TOPICS names from a "# TOPICS" line
+    """
+    ofile = open(filename, 'r')
+    text = ofile.read()
+    result = []
+    for each_line in text.split('\n'):
+        if each_line.startswith(TOPICS_TOKEN):
+            topic_names_str = each_line.strip()
+            topic_names_str = topic_names_str.replace(TOPICS_TOKEN, "")
+            topic_names_list = topic_names_str.split(" ")
+            for topic in topic_names_list:
+                # topic name PascalCase (file name) to snake_case (topic name)
+                topic_name = re.sub(r'(?<!^)(?=[A-Z])', '_', topic).lower()
+                result.append(topic_name)
+    ofile.close()
+
+    if len(result) == 0:
+        # topic name PascalCase (file name) to snake_case (topic name)
+        file_base_name = os.path.basename(filename).replace(".msg", "")
+        topic_name = re.sub(r'(?<!^)(?=[A-Z])', '_', file_base_name).lower()
+        result.append(topic_name)
+
+    return result
+
+
+def generate_output_from_file(format_idx, filename, outputdir, package, templatedir, includepath):
+    """
+    Converts a single .msg file to an uorb header/source file
+    """
+    msg_context = genmsg.msg_loader.MsgContext.create_default()
+    full_type_name = genmsg.gentools.compute_full_type_name(package, os.path.basename(filename))
+
+    file_base_name = os.path.basename(filename).replace(".msg", "")
+
+    full_type_name_snake = re.sub(r'(?<!^)(?=[A-Z])', '_', file_base_name).lower()
+
+    spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename, full_type_name)
+
+    field_name_and_type = {}
+    for field in spec.parsed_fields():
+        field_name_and_type.update({field.name: field.type})
+
+    # assert if the timestamp field exists
+    try:
+        assert 'timestamp' in field_name_and_type
+    except AssertionError:
+        print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\tNo 'timestamp' field found in " +
+              spec.short_name + " msg definition!")
+        exit(1)
+
+    # assert if the timestamp field is of type uint64
+    try:
+        assert field_name_and_type.get('timestamp') == 'uint64'
+    except AssertionError:
+        print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\t'timestamp' field in " + spec.short_name +
+              " msg definition is not of type uint64 but rather of type " + field_name_and_type.get('timestamp') + "!")
+        exit(1)
+
+    topics = get_topics(filename)
+
+    if includepath:
+        search_path = genmsg.command_line.includepath_to_dict(includepath)
+    else:
+        search_path = {}
+
+    genmsg.msg_loader.load_depends(msg_context, spec, search_path)
+
+    em_globals = {
+        "name_snake_case": full_type_name_snake,
+        "file_name_in": filename,
+        "search_path": search_path,
+        "msg_context": msg_context,
+        "spec": spec,
+        "topics": topics,
+    }
+
+    # Make sure output directory exists:
+    if not os.path.isdir(outputdir):
+        os.makedirs(outputdir)
+
+    template_file = os.path.join(templatedir, TEMPLATE_FILE[format_idx])
+    output_file = os.path.join(outputdir, full_type_name_snake + OUTPUT_FILE_EXT[format_idx])
+
+    return generate_by_template(output_file, template_file, em_globals)
+
+
+def generate_by_template(output_file, template_file, em_globals):
+    """
+    Invokes empy intepreter to geneate output_file by the
+    given template_file and predefined em_globals dict
+    """
+    # check if folder exists:
+    folder_name = os.path.dirname(output_file)
+    if not os.path.exists(folder_name):
+        os.makedirs(folder_name)
+
+    ofile = open(output_file, 'w')
+    # todo, reuse interpreter
+    interpreter = em.Interpreter(output=ofile, globals=em_globals, options={
+                                 em.RAW_OPT: True, em.BUFFERED_OPT: True})
+    try:
+        interpreter.file(open(template_file))
+    except OSError as e:
+        ofile.close()
+        os.remove(output_file)
+        raise
+    interpreter.shutdown()
+    ofile.close()
+    return True
+
+
+def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir):
+    # generate cpp file with topics list
+    filenames = []
+    for filename in [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]:
+        filenames.append(re.sub(r'(?<!^)(?=[A-Z])', '_', filename).lower())
+
+    topics = []
+    for msg_filename in files:
+        topics.extend(get_topics(msg_filename))
+
+    tl_globals = {"msgs": filenames, "topics": topics}
+    tl_template_file = os.path.join(templatedir, template_filename)
+    tl_out_file = os.path.join(outputdir, template_filename.replace(".em", ""))
+
+    generate_by_template(tl_out_file, tl_template_file, tl_globals)
+
+
+def append_to_include_path(path_to_append, curr_include, package):
+    for p in path_to_append:
+        curr_include.append('%s:%s' % (package, p))
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description='Convert msg files to uorb headers/sources')
+    parser.add_argument('--headers', help='Generate header files', action='store_true')
+    parser.add_argument('--sources', help='Generate source files', action='store_true')
+    parser.add_argument('-f', dest='file',
+                        help="files to convert (use only without -d)",
+                        nargs="+")
+    parser.add_argument('-i', dest="include_paths",
+                        help='Additional Include Paths', nargs="*",
+                        default=None)
+    parser.add_argument('-e', dest='templatedir',
+                        help='directory with template files',)
+    parser.add_argument('-k', dest='package', default=PACKAGE,
+                        help='package name')
+    parser.add_argument('-o', dest='outputdir',
+                        help='output directory for header files')
+    parser.add_argument('-p', dest='prefix', default='',
+                        help='string added as prefix to the output file '
+                        ' name when converting directories')
+    args = parser.parse_args()
+
+    if args.include_paths:
+        append_to_include_path(args.include_paths, INCL_DEFAULT, args.package)
+
+    if args.headers:
+        generate_idx = 0
+    elif args.sources:
+        generate_idx = 1
+    else:
+        print('Error: either --headers or --sources must be specified')
+        exit(-1)
+    if args.file is not None:
+        for f in args.file:
+            generate_output_from_file(generate_idx, f, args.outputdir, args.package, args.templatedir, INCL_DEFAULT)
+
+        # Generate topics list header and source file
+        if os.path.isfile(os.path.join(args.templatedir, TOPICS_LIST_TEMPLATE_FILE[generate_idx])):
+            generate_topics_list_file_from_files(args.file, args.outputdir, TOPICS_LIST_TEMPLATE_FILE[generate_idx], args.templatedir)
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 #############################################################################
 #
-#   Copyright (C) 2013-2021 PX4 Pro Development Team. All rights reserved.
+#   Copyright (C) 2013-2022 PX4 Pro Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -41,6 +41,7 @@ precompiled and thus message generation will be much faster

 import os
 import errno
+import re

 import genmsg.msgs

@@ -236,8 +237,12 @@ def convert_type(spec_type, use_short_type=False):
        c_type = type_map_short[msg_type]
    elif msg_type in type_map:
        c_type = type_map[msg_type]
+    else:
+        c_type = re.sub(r'(?<!^)(?=[A-Z])', '_', c_type).lower() # PascalCase to snake_case
+
    if is_array:
        return c_type + "[" + str(array_length) + "]"
+
    return c_type


@@ -257,6 +262,7 @@ def print_field_def(field):
    type_prefix = ''
    if (sl_pos >= 0):
        type_name = type_name[sl_pos + 1:]
+        type_name = re.sub(r'(?<!^)(?=[A-Z])', '_', type_name).lower() # PascalCase to snake_case
        type_prefix = 'struct '
        type_appendix = '_s'

@@ -6,15 +6,51 @@
@# generates CDR serialization & deserialization methods
@#
@# Context:
+@#  - file_name_in (String) Source file
@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
-@#  - search_path (str) Path to .msg files
+@#  - search_path (dict) search paths for genmsg
+@#  - topics (List of String) topic names
@###############################################
+/****************************************************************************
+ *
+ *   Copyright (C) 2013-2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
@{
 import genmsg.msgs
+import re
 from px_generate_uorb_topic_helper import * # this is in Tools/

-topic = spec.short_name
-uorb_struct = '%s_s'%spec.short_name
+topic = name_snake_case
+uorb_struct = '%s_s'%name_snake_case

 # get fields, struct size and paddings
 def add_fields(msg_fields, name_prefix='', offset=0):
@@ -79,7 +115,8 @@ for field in spec.parsed_fields():
        if not field.is_header:
            (package, name) = genmsg.names.package_resource_name(field.base_type)
            package = package or spec.package # convert '' to package
-            print('#include <uORB/ucdr/%s.h>'%(name))
+            name_snake = re.sub(r'(?<!^)(?=[A-Z])', '_', name).lower()
+            print('#include <uORB/ucdr/%s.h>'%(name_snake))
 }@

 static inline constexpr int ucdr_topic_size_@(topic)()
@@ -87,11 +124,8 @@ static inline constexpr int ucdr_topic_size_@(topic)()
 	return @(struct_size);
 }

-bool ucdr_serialize_@(topic)(const @(uorb_struct)& topic, ucdrBuffer& buf)
+bool ucdr_serialize_@(topic)(const @(uorb_struct)& topic, ucdrBuffer& buf, int64_t time_offset = 0)
 {
-	if (ucdr_buffer_remaining(&buf) < @(struct_size)) {
-		return false;
-	}
@{
 for field_type, field_name, field_size, padding in fields:
 	if padding > 0:
@@ -99,7 +133,18 @@ for field_type, field_name, field_size, padding in fields:
 		print('\tbuf.offset += {:}; // padding'.format(padding))

 	print('\tstatic_assert(sizeof(topic.{0}) == {1}, "size mismatch");'.format(field_name, field_size))
-	print('\tmemcpy(buf.iterator, &topic.{0}, sizeof(topic.{0}));'.format(field_name))
+
+	if field_type == 'uint64' and field_name == 'timestamp':
+		print('\tconst uint64_t timestamp_adjusted = topic.timestamp + time_offset;')
+		print('\tmemcpy(buf.iterator, &timestamp_adjusted, sizeof(topic.{0}));'.format(field_name))
+
+	elif field_type == 'uint64' and field_name == 'timestamp_sample':
+		print('\tconst uint64_t timestamp_sample_adjusted = topic.timestamp_sample + time_offset;')
+		print('\tmemcpy(buf.iterator, &timestamp_sample_adjusted, sizeof(topic.{0}));'.format(field_name))
+
+	else:
+		print('\tmemcpy(buf.iterator, &topic.{0}, sizeof(topic.{0}));'.format(field_name))
+
 	print('\tbuf.iterator += sizeof(topic.{:});'.format(field_name))
 	print('\tbuf.offset += sizeof(topic.{:});'.format(field_name))

@@ -107,11 +152,8 @@ for field_type, field_name, field_size, padding in fields:
 	return true;
 }

-bool ucdr_deserialize_@(topic)(ucdrBuffer& buf, @(uorb_struct)& topic)
+bool ucdr_deserialize_@(topic)(ucdrBuffer& buf, @(uorb_struct)& topic, int64_t time_offset = 0)
 {
-	if (ucdr_buffer_remaining(&buf) < @(struct_size)) {
-		return false;
-	}
@{
 for field_type, field_name, field_size, padding in fields:
 	if padding > 0:
@@ -120,6 +162,10 @@ for field_type, field_name, field_size, padding in fields:

 	print('\tstatic_assert(sizeof(topic.{0}) == {1}, "size mismatch");'.format(field_name, field_size))
 	print('\tmemcpy(&topic.{0}, buf.iterator, sizeof(topic.{0}));'.format(field_name))
+
+	if field_type == 'uint64' and (field_name == 'timestamp' or field_name == 'timestamp_sample'):
+		print('\ttopic.{0} -= time_offset;'.format(field_name))
+
 	print('\tbuf.iterator += sizeof(topic.{:});'.format(field_name))
 	print('\tbuf.offset += sizeof(topic.{:});'.format(field_name))

@@ -13,12 +13,11 @@
@#  - file_name_in (String) Source file
@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
@#  - search_path (dict) search paths for genmsg
-@#  - topics (List of String) multi-topic names
-@#  - constrained_flash set to true if flash is constrained
+@#  - topics (List of String) topic names
@###############################################
 /****************************************************************************
 *
- *   Copyright (C) 2013-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2013-2022 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -56,8 +55,7 @@ import genmsg.msgs

 from px_generate_uorb_topic_helper import * # this is in Tools/

-uorb_struct = '%s_s'%spec.short_name
-topic_name = spec.short_name
+uorb_struct = '%s_s'%name_snake_case

 sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
 struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
@@ -67,7 +65,7 @@ topic_fields = ["%s %s" % (convert_type(field.type, True), field.name) for field
 #include <inttypes.h>
 #include <px4_platform_common/log.h>
 #include <px4_platform_common/defines.h>
-#include <uORB/topics/@(topic_name).h>
+#include <uORB/topics/@(name_snake_case).h>
 #include <uORB/topics/uORBTopics.hpp>
 #include <drivers/drv_hrt.h>
 #include <lib/drivers/device/Device.hpp>
@@ -76,10 +74,10 @@ topic_fields = ["%s %s" % (convert_type(field.type, True), field.name) for field

@# join all msg files in one line e.g: "float[3] position;float[3] velocity;bool armed"
@# This is used for the logger
-constexpr char __orb_@(topic_name)_fields[] = "@( ";".join(topic_fields) );";
+constexpr char __orb_@(name_snake_case)_fields[] = "@( ";".join(topic_fields) );";

-@[for multi_topic in topics]@
-ORB_DEFINE(@multi_topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(topic_name)_fields, static_cast<uint8_t>(ORB_ID::@multi_topic));
+@[for topic in topics]@
+ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(name_snake_case)_fields, static_cast<uint8_t>(ORB_ID::@topic));
@[end for]

 void print_message(const orb_metadata *meta, const @uorb_struct& message)
@@ -13,11 +13,11 @@
@#  - file_name_in (String) Source file
@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
@#  - search_path (dict) search paths for genmsg
-@#  - topics (List of String) multi-topic names
+@#  - topics (List of String) topic names
@###############################################
 /****************************************************************************
 *
- *   Copyright (C) 2013-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2013-2022 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -52,12 +52,12 @@

@{
 import genmsg.msgs
+import re

 from px_generate_uorb_topic_helper import * # this is in Tools/

-uorb_struct = '%s_s'%spec.short_name
-uorb_struct_upper = spec.short_name.upper()
-topic_name = spec.short_name
+uorb_struct = '%s_s'%name_snake_case
+uorb_struct_upper = name_snake_case.upper()
 }@

 #pragma once
@@ -77,6 +77,8 @@ for field in spec.parsed_fields():
        if (not field.is_header):
            (package, name) = genmsg.names.package_resource_name(field.base_type)
            package = package or spec.package # convert '' to package
+
+            name = re.sub(r'(?<!^)(?=[A-Z])', '_', name).lower()
            print('#include <uORB/topics/%s.h>'%(name))
 }@

@@ -127,9 +129,17 @@ for constant in spec.constants:
 #endif
 };

+#ifdef __cplusplus
+namespace px4 {
+	namespace msg {
+		using @(spec.short_name) = @(uorb_struct);
+	} // namespace msg
+} // namespace px4
+#endif
+
 /* register this as object request broker structure */
-@[for multi_topic in topics]@
-ORB_DECLARE(@multi_topic);
+@[for topic in topics]@
+ORB_DECLARE(@topic);
@[end for]

 #ifdef __cplusplus
@@ -8,11 +8,11 @@
@#
@# Context:
@#  - msgs (List) list of all msg files
-@#  - topics (List) list of all topic names
+@#  - multi_topics (List) list of all multi-topic names
@###############################################
 /****************************************************************************
 *
- *   Copyright (C) 2013-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2013-2022 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -46,19 +46,22 @@
 #include <uORB/topics/uORBTopics.hpp>
 #include <uORB/uORB.h>
@{
-msg_names = [mn.replace(".msg", "") for mn in msgs]
+msg_names = list(set([mn.replace(".msg", "") for mn in msgs])) # set() filters duplicates
+msg_names.sort()
 msgs_count = len(msg_names)
-topics_all = topics
-topics_all.sort()
-topics_count_all = len(topics_all)
+
+topic_names = list(set(topics)) # set() filters duplicates
+topic_names.sort()
+topics_count = len(topics)
+
 }@
@[for msg_name in msg_names]@
 #include <uORB/topics/@(msg_name).h>
@[end for]

 const constexpr struct orb_metadata *const uorb_topics_list[ORB_TOPICS_COUNT] = {
-@[for idx, topic_name in enumerate(topics_all, 1)]@
-	ORB_ID(@(topic_name))@[if idx != topics_count_all], @[end if]
+@[for idx, topic_name in enumerate(topic_names, 1)]@
+	ORB_ID(@(topic_name))@[if idx != topic_names], @[end if]
@[end for]
 };

@@ -7,12 +7,11 @@
@# Start of Template
@#
@# Context:
-@#  - msgs (List) list of all msg files
@#  - topics (List) list of all topic names
@###############################################
 /****************************************************************************
 *
- *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2021-2022 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -44,11 +43,9 @@
 ****************************************************************************/

@{
-msg_names = [mn.replace(".msg", "") for mn in msgs]
-msgs_count = len(msg_names)
-topics_all = topics
-topics_all.sort()
-topics_count_all = len(topics_all)
+topics_count = len(topics)
+topic_names_all = list(set(topics)) # set() filters duplicates
+topic_names_all.sort()
 }@

 #pragma once
@@ -57,7 +54,7 @@ topics_count_all = len(topics_all)

 #include <uORB/uORB.h>

-static constexpr size_t ORB_TOPICS_COUNT{@(topics_count_all)};
+static constexpr size_t ORB_TOPICS_COUNT{@(topics_count)};
 static constexpr size_t orb_topics_count() { return ORB_TOPICS_COUNT; }

 /*
@@ -66,8 +63,8 @@ static constexpr size_t orb_topics_count() { return ORB_TOPICS_COUNT; }
 extern const struct orb_metadata *const *orb_get_topics() __EXPORT;

 enum class ORB_ID : uint8_t {
-@[for idx, msg_name in enumerate(topics_all)]@
-	@(msg_name) = @(idx),
+@[for idx, topic_name in enumerate(topic_names_all)]@
+	@(topic_name) = @(idx),
@[end for]
 	INVALID
 };
@@ -211,6 +211,11 @@ class SourceParser(object):

                    ignore_event = False

+                    def parse_message(s):
+                        assert s[0] == '"', "Argument must be a string literal: {:}".format(s)
+                        # unescape \x, to treat the string the same as the C++ compiler
+                        return s[1:-1].encode("utf-8").decode('unicode_escape')
+
                    # extract function arguments
                    args_split = self._parse_arguments(args)
                    if call == "events::send" or call == "send":
@@ -228,8 +233,7 @@ class SourceParser(object):
                            else:
                                raise Exception("Could not extract event ID from {:}".format(args_split[0]))
                            event.name = event_name
-                            # unescape \x, to treat the string the same as the C++ compiler
-                            event.message = args_split[2][1:-1].encode("utf-8").decode('unicode_escape')
+                            event.message = parse_message(args_split[2])
                    elif call in ['reporter.healthFailure', 'reporter.armingCheckFailure']:
                        assert len(args_split) == num_args + 5, \
                            "Unexpected Number of arguments for: {:}, {:}".format(args_split, num_args)
@@ -239,7 +243,7 @@ class SourceParser(object):
                        else:
                            raise Exception("Could not extract event ID from {:}".format(args_split[2]))
                        event.name = event_name
-                        event.message = args_split[4][1:-1]
+                        event.message = parse_message(args_split[4])
                        if 'health' in call:
                            event.group = "health"
                        else:
@@ -9,8 +9,6 @@
 ## - jMAVSim simulator (omit with arg: --no-sim-tools)
 ## - Gazebo simulator (not by default, use --gazebo)
 ##
-## Not Installs:
-## - FastRTPS and FastCDR

 INSTALL_NUTTX="true"
 INSTALL_SIM="true"
@@ -122,7 +120,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	echo
 	echo "Installing PX4 simulation dependencies"

-	# java (jmavsim or fastrtps)
+	# java (jmavsim)
 	sudo pacman -S --noconfirm --needed \
 		ant \
 		jdk-openjdk \
@@ -10,8 +10,6 @@ set -e
 ## - NuttX toolchain (omit with arg: --no-nuttx)
 ## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools)
 ##
-## Not Installs:
-## - FastRTPS and FastCDR

 INSTALL_NUTTX="true"
 INSTALL_SIM="true"
@@ -216,7 +214,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	else
 		java_version=14
 	fi
-	# Java (jmavsim or fastrtps)
+	# Java (jmavsim)
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		ant \
 		openjdk-$java_version-jre \
@@ -1,135 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-agent_template_files_updated=0
-code_generator_files_updated=0
-
-# parse help argument
-if [[ $1 == "-h" ]] || [[ $1 == "--help" ]]; then
-  echo -e "Usage: update_px4_ros2_bridge.bash [options...] \t This script allows to update px4_ros_com and px4_msgs in a specified directory." >&2
-  echo
-  echo -e "\t--ws_dir \t\t Location of the ament/colcon workspace. Default: $HOME/colcon_ws."
-  echo -e "\t--px4_ros_com \t\t Updates px4_ros_com microRTPS agent code generation and templates."
-  echo -e "\t--px4_msgs \t\t Updates px4_msgs messages definition files."
-  echo -e "\t--all \t\t Updates both px4_ros_com and px4_msgs."
-  echo
-  exit 0
-fi
-
-# parse the arguments
-while [ $# -gt 0 ]; do
-  if [[ $1 == *"--"* ]]; then
-    v="${1/--/}"
-    if [ ! -z $2 ]; then
-      declare $v="$2"
-    else
-      declare $v=1
-    fi
-  fi
-  shift
-done
-
-# get script directory
-SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
-
-# get PX4-Autopilot directory
-PX4_DIR=$(cd "$(dirname "$SCRIPT_DIR")" && pwd)
-
-function compare_and_update () {
-  cmp -s "$1" "$2"
-  if [ $? -eq 1 ]; then
-    cp "$1" "$2"
-    return 0
-  fi
-
-  return 1;
-}
-
-# update microRTPS agent code generators / helpers
-function update_agent_code {
-  declare -a templates=( \
-    "microRTPS_agent.cpp.em" \
-    "microRTPS_timesync.cpp.em" \
-    "microRTPS_timesync.h.em" \
-    "microRTPS_transport.cpp" \
-    "microRTPS_transport.h" \
-    "Publisher.cpp.em" \
-    "Publisher.h.em" \
-    "Subscriber.cpp.em" \
-    "Subscriber.h.em" \
-    "RtpsTopics.cpp.em" \
-    "RtpsTopics.h.em" \
-    )
-
-  for file in ${templates[@]}; do
-    compare_and_update "$PX4_DIR/msg/templates/urtps/$file" "$ws_dir/src/px4_ros_com/templates/$file" \
-      && echo -e "--\t\t- '$ws_dir/src/px4_ros_com/templates/$file' updated" && ((agent_template_files_updated+=1))
-  done
-  if [ $agent_template_files_updated -eq 0 ]; then
-    echo -e "--\t\t- No template files updated"
-  elif [ $agent_template_files_updated -eq 1 ]; then
-    echo -e "--\t\t  - 1 template file updated"
-  else
-    echo -e "--\t\t  - $agent_template_files_updated template files updated"
-  fi
-}
-
-# update microRTPS agent code templates
-function update_agent_templates {
-  declare -a code_generators=( \
-    "uorb_rtps_classifier.py" \
-    "generate_microRTPS_bridge.py" \
-    "px_generate_uorb_topic_files.py" \
-    )
-  for file in ${code_generators[@]}; do
-    compare_and_update "$PX4_DIR/msg/tools/$file $ws_dir/src/px4_ros_com/scripts/$file" \
-      && echo -e "--\t\t- '$ws_dir/src/px4_ros_com/scripts/$file' updated" && ((code_generator_files_updated+=1))
-  done
-  if [ $code_generator_files_updated -eq 0 ]; then
-    echo -e "--\t\t- No code generators / helpers files updated"
-  elif [ $code_generator_files_updated -eq 1 ]; then
-    echo -e "--\t\t  - 1 code generator / helper file updated"
-  else
-    echo -e "--\t\t  - $code_generator_files_updated code generator / helper files updated"
-  fi
-}
-
-# update px4_ros_com files
-function update_px4_ros_com {
-  python3 $PX4_DIR/msg/tools/uorb_to_ros_urtps_topics.py -i $PX4_DIR/msg/tools/urtps_bridge_topics.yaml -o $ws_dir/src/px4_ros_com/templates/urtps_bridge_topics.yaml
-  echo -e "---------------          \033[1mmicroRTPS agent code generation and templates update\033[0m          ----------------"
-  echo "-------------------------------------------------------------------------------------------------------"
-  update_agent_code
-  update_agent_templates
-  return 0
-}
-
-# function to update px4_msgs
-function update_px4_msgs {
-  find "$ws_dir/src/px4_msgs/msg/" -maxdepth 1 -type f -delete
-  python3 $PX4_DIR/msg/tools/uorb_to_ros_msgs.py $PX4_DIR/msg/ $ws_dir/src/px4_msgs/msg/
-}
-
-# decisor
-echo "-------------------------------------------------------------------------------------------------------"
-if [ -d "${ws_dir}" ]; then
-  ws_dir=$(cd "$ws_dir" && pwd)
-  if [ ! -z ${all} ]; then
-    update_px4_ros_com
-    echo "-------------------------------------------------------------------------------------------------------"
-    update_px4_msgs
-  elif [ ! -z ${px4_ros_com} ]; then
-    update_px4_ros_com
-    echo "-------------------------------------------------------------------------------------------------------"
-  elif [ ! -z ${px4_msgs} ]; then
-    update_px4_msgs
-  fi
-  echo -e "--------------------------------          \033[0;32mUpdate successful!\033[0m          ---------------------------------"
-  echo "-------------------------------------------------------------------------------------------------------"
-  exit 0
-else
-  echo -e "-- \033[0;31mWorkspace directory doesn't exist...\033[0m"
-  echo -e "----------------------------------          \033[0;31mUpdate failed!\033[0m          -----------------------------------"
-  echo "-------------------------------------------------------------------------------------------------------"
-  exit $ERRCODE
-fi
@@ -48,6 +48,7 @@ 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_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -34,7 +34,6 @@ CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_TRANSPONDER_SAGETECH_MXS=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -53,7 +52,6 @@ CONFIG_MODULES_GYRO_FFT=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
@@ -63,6 +61,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -15,7 +15,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
-CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
@@ -50,6 +50,7 @@ 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_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -29,6 +29,7 @@ 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
@@ -56,6 +56,7 @@ 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_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -53,6 +53,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 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
@@ -52,6 +52,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 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
@@ -53,6 +53,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 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
@@ -66,6 +66,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -1 +0,0 @@
-CONFIG_MODULES_MICRORTPS_BRIDGE=y
@@ -36,7 +36,6 @@ CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
@@ -54,7 +53,6 @@ CONFIG_MODULES_GYRO_FFT=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
@@ -64,6 +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_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -62,6 +62,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -62,6 +62,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -1 +0,0 @@
-CONFIG_MODULES_MICRORTPS_BRIDGE=y
@@ -63,6 +63,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -1 +0,0 @@
-CONFIG_MODULES_MICRORTPS_BRIDGE=y
@@ -62,6 +62,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -1 +0,0 @@
-CONFIG_MODULES_MICRORTPS_BRIDGE=y
@@ -41,6 +41,7 @@ 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
@@ -49,6 +50,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -64,7 +66,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -75,7 +77,6 @@ CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -1 +0,0 @@
-CONFIG_MODULES_MICRORTPS_BRIDGE=y
@@ -68,6 +68,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -1 +0,0 @@
-CONFIG_MODULES_MICRORTPS_BRIDGE=y
@@ -45,6 +45,7 @@ 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_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
@@ -236,6 +236,7 @@
 */

 #define DIRECT_PWM_OUTPUT_CHANNELS  8
+#define BOARD_NUM_IO_TIMERS         8

 // Input Capture not supported on MVP

@@ -76,9 +76,14 @@
 #define rENBL         REG(IMXRT_TMR_ENBL_OFFSET)

 constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
-	initIOPWM(PWM::FlexPWM2),
-	initIOPWM(PWM::FlexPWM3),
-	initIOPWM(PWM::FlexPWM4),
+	initIOPWM(PWM::FlexPWM2, PWM::Submodule0),
+	initIOPWM(PWM::FlexPWM2, PWM::Submodule1),
+	initIOPWM(PWM::FlexPWM2, PWM::Submodule2),
+	initIOPWM(PWM::FlexPWM2, PWM::Submodule3),
+	initIOPWM(PWM::FlexPWM3, PWM::Submodule2),
+	initIOPWM(PWM::FlexPWM3, PWM::Submodule0),
+	initIOPWM(PWM::FlexPWM4, PWM::Submodule2),
+	initIOPWM(PWM::FlexPWM4, PWM::Submodule0),
 };

 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
@@ -29,6 +29,7 @@ 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
@@ -1 +0,0 @@
-CONFIG_MODULES_MICRORTPS_BRIDGE=y
@@ -1,5 +1,7 @@
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_BOARD_CRYPTO=y
-CONFIG_DRIVERS_SW_CRYPTO=y
 CONFIG_DRIVERS_STUB_KEYSTORE=y
+CONFIG_DRIVERS_SW_CRYPTO=y
 CONFIG_PUBLIC_KEY0="../../../Tools/test_keys/key0.pub"
 CONFIG_PUBLIC_KEY1="../../../Tools/test_keys/rsa2048.pub"
@@ -73,6 +73,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -4,9 +4,13 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
 CONFIG_COMMON_DISTANCE_SENSOR=n
 CONFIG_COMMON_OPTICAL_FLOW=n
 CONFIG_COMMON_TELEMETRY=n
-CONFIG_DRIVERS_OSD=n
+CONFIG_DRIVERS_CAMERA_CAPTURE=n
+CONFIG_DRIVERS_CAMERA_TRIGGER=n
+CONFIG_DRIVERS_IRLOCK=n
+CONFIG_DRIVERS_PCA9685=n
+CONFIG_DRIVERS_PCA9685_PWM_OUT=n
+CONFIG_DRIVERS_PWM_INPUT=n
 CONFIG_DRIVERS_ROBOCLAW=n
-CONFIG_DRIVERS_RPM=n
 CONFIG_DRIVERS_UAVCAN=n
 CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
@@ -17,8 +21,8 @@ CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_POS_CONTROL_L1=n
 CONFIG_MODULES_GYRO_FFT=n
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
-CONFIG_MODULES_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_MODULES_UUV_ATT_CONTROL=n
 CONFIG_MODULES_UUV_POS_CONTROL=n
@@ -30,7 +34,6 @@ CONFIG_SYSTEMCMDS_DUMPFILE=n
 CONFIG_SYSTEMCMDS_GPIO=n
 CONFIG_SYSTEMCMDS_I2CDETECT=n
 CONFIG_SYSTEMCMDS_LED_CONTROL=n
-CONFIG_SYSTEMCMDS_MOTOR_TEST=n
 CONFIG_SYSTEMCMDS_MTD=n
 CONFIG_SYSTEMCMDS_NSHTERM=n
 CONFIG_SYSTEMCMDS_REFLECT=n
@@ -1,3 +0,0 @@
-CONFIG_DRIVERS_HEATER=n
-CONFIG_DRIVERS_OSD=n
-CONFIG_MODULES_MICRORTPS_BRIDGE=y
@@ -1,43 +1,43 @@
 # CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
+CONFIG_COMMON_BAROMETERS=n
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
+CONFIG_COMMON_DISTANCE_SENSOR=n
 CONFIG_COMMON_HYGROMETERS=n
 CONFIG_COMMON_TELEMETRY=n
+CONFIG_DRIVERS_ADC_ADS1115=n
 CONFIG_DRIVERS_BATT_SMBUS=n
 CONFIG_DRIVERS_CAMERA_CAPTURE=n
 CONFIG_DRIVERS_CAMERA_TRIGGER=n
-CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
-CONFIG_COMMON_DISTANCE_SENSOR=n
 CONFIG_DRIVERS_HEATER=n
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=n
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=n
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=n
 CONFIG_DRIVERS_IRLOCK=n
-CONFIG_DRIVERS_OSD=n
 CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_POWER_MONITOR_INA226=n
 CONFIG_DRIVERS_PWM_INPUT=n
-CONFIG_DRIVERS_PWM_OUT_SIM=n
 CONFIG_DRIVERS_ROBOCLAW=n
-CONFIG_DRIVERS_RPM=n
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
 CONFIG_DRIVERS_UAVCAN=n
 CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_CAMERA_FEEDBACK=n
 CONFIG_MODULES_ESC_BATTERY=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_GIMBAL=n
 CONFIG_MODULES_GYRO_CALIBRATION=n
 CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
-CONFIG_MODULES_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_MODULES_UUV_ATT_CONTROL=n
 CONFIG_MODULES_UUV_POS_CONTROL=n
-CONFIG_SYSTEMCMDS_MOTOR_TEST=n
 CONFIG_SYSTEMCMDS_REFLECT=n
 CONFIG_SYSTEMCMDS_SERIAL_TEST=n
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_TESTING=y
+CONFIG_DRIVERS_BAROMETER_MS5611=y
@@ -4,8 +4,8 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
 CONFIG_COMMON_HYGROMETERS=n
 CONFIG_COMMON_TELEMETRY=n
 CONFIG_DRIVERS_ADC_ADS1115=n
-CONFIG_DRIVERS_HEATER=n
 CONFIG_DRIVERS_GPS=n
+CONFIG_DRIVERS_HEATER=n
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=n
 CONFIG_DRIVERS_IRLOCK=n
@@ -14,15 +14,14 @@ CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_PWM_INPUT=n
 CONFIG_DRIVERS_ROBOCLAW=n
-CONFIG_DRIVERS_RPM=n
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
 CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_ESC_BATTERY=n
 CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
+CONFIG_MODULES_MICRODDS_CLIENT=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
-CONFIG_MODULES_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_MODULES_UUV_ATT_CONTROL=n
 CONFIG_MODULES_UUV_POS_CONTROL=n
@@ -9,7 +9,8 @@ CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_PPB="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_COMMON_BAROMETERS=y
+CONFIG_DRIVERS_BAROMETER_BMP388=y
+CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
@@ -30,12 +31,9 @@ CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_COMMON_OSD=y
-CONFIG_DRIVERS_PCA9685=y
-CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
-CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_COMMON_RC=y
@@ -76,6 +74,7 @@ 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_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_PAYLOAD_DELIVERER=y
 CONFIG_MODULES_RC_UPDATE=y
@@ -88,7 +87,6 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -103,7 +101,6 @@ CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_REFLECT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
-CONFIG_SYSTEMCMDS_SERIAL_TEST=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -112,4 +109,3 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
-CONFIG_EXAMPLES_FAKE_GPS=y
@@ -1,15 +0,0 @@
-CONFIG_COMMON_BAROMETERS=n
-CONFIG_COMMON_TELEMETRY=n
-CONFIG_DRIVERS_OSD=n
-CONFIG_EXAMPLES_FAKE_GPS=n
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=n
-CONFIG_SYSTEMCMDS_DUMPFILE=n
-CONFIG_SYSTEMCMDS_GPIO=n
-CONFIG_SYSTEMCMDS_MOTOR_TEST=n
-CONFIG_SYSTEMCMDS_REFLECT=n
-CONFIG_SYSTEMCMDS_SD_BENCH=n
-CONFIG_SYSTEMCMDS_SD_STRESS=n
-CONFIG_SYSTEMCMDS_SERIAL_TEST=n
-CONFIG_DRIVERS_BAROMETER_BMP388=y
-CONFIG_DRIVERS_BAROMETER_MS5611=y
-CONFIG_MODULES_MICRORTPS_BRIDGE=y
@@ -1,13 +1,11 @@
 CONFIG_DRIVERS_ADC_ADS1115=n
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
-CONFIG_DRIVERS_PCA9685=n
-CONFIG_DRIVERS_PCA9685_PWM_OUT=n
-CONFIG_DRIVERS_RPM=n
-CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
@@ -57,6 +57,7 @@ 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_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -143,8 +143,10 @@

 #define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Rev 0, 10 Sensor sets
 //                 Base/FMUM
-#define V6C00   HW_VER_REV(0x0,0x0) // FMUV6C,                 Rev 0
-#define V6C10   HW_VER_REV(0x1,0x0) // NO PX4IO,               Rev 0
+#define V6C00   HW_VER_REV(0x0,0x0) // FMUV6C,                 Rev 0  I2C4 External but with Internal devices
+#define V6C01   HW_VER_REV(0x0,0x1) // FMUV6C,                 Rev 1  I2C4 Internal I2C2 External
+#define V6C10   HW_VER_REV(0x1,0x0) // NO PX4IO,               Rev 0  I2C4 External but with Internal devices
+#define V6C11   HW_VER_REV(0x1,0x1) // NO PX4IO,               Rev 1  I2C4 Internal I2C2 External


 /* HEATER
@@ -97,8 +97,10 @@ static const px4_hw_mft_item_t hw_mft_list_v0610[] = {

 static px4_hw_mft_list_entry_t mft_lists[] = {
 //  ver_rev
-	{V6C00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
-	{V6C10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO
+	{V6C00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // Rev 0
+	{V6C01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // Rev 1
+	{V6C10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // Rev 0 No PX4IO
+	{V6C11, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // Rev 1 No PX4IO
 };

 /************************************************************************************
@@ -8,8 +8,8 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
-CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
+CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
@@ -24,7 +24,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42670P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
-CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
@@ -53,7 +52,6 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -66,11 +64,10 @@ 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_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
@@ -87,7 +84,6 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -29,11 +29,13 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
+CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_MC_ATT_CONTROL=y
 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_PAYLOAD_DELIVERER=y
 CONFIG_MODULES_RC_UPDATE=y
@@ -1 +0,0 @@
-CONFIG_MODULES_MICRORTPS_BRIDGE=y
@@ -69,6 +69,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -37,6 +37,7 @@ 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_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
@@ -144,7 +144,6 @@ function(px4_add_common_flags)
 	list(APPEND c_flags
 		-fno-common

-		-Wbad-function-cast
 		-Wnested-externs
 		-Wstrict-prototypes
 	)
@@ -16,4 +16,4 @@ uint8 SOURCE_RC_SWITCH = 1
 uint8 SOURCE_RC_BUTTON = 2
 uint8 SOURCE_RC_MODE_SLOT = 3

-uint8 mode # for ACTION_SWITCH_MODE what mode is requested according to commander_state.MAIN_STATE_
+uint8 mode # for ACTION_SWITCH_MODE what mode is requested according to vehicle_status_s::NAVIGATION_STATE_*
@@ -20,5 +20,5 @@ uint8 GROUP_INDEX_GIMBAL = 2
 uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
 float32[9] control

-# TOPICS actuator_controls actuator_controls_0 actuator_controls_1 actuator_controls_2
+# TOPICS actuator_controls_0 actuator_controls_1 actuator_controls_2
 # TOPICS actuator_controls_virtual_fw actuator_controls_virtual_mc
@@ -7,4 +7,4 @@ uint8 INDEX_THROTTLE = 3

 float32[4] control_power

-# TOPICS actuator_controls_status actuator_controls_status_0 actuator_controls_status_1
+# TOPICS actuator_controls_status_0 actuator_controls_status_1
@@ -3,4 +3,4 @@ bool triggered				# Set to true if the event is triggered

 # TOPICS button_event safety_button

-uint8 ORB_QUEUE_LENGTH = 2
+uint8 ORB_QUEUE_LENGTH = 2
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2016-2022 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -37,224 +37,188 @@ cmake_policy(SET CMP0057 NEW)
 include(px4_list_make_absolute)

 set(msg_files
-	action_request.msg
-	actuator_armed.msg
-	actuator_controls.msg
-	actuator_controls_status.msg
-	actuator_motors.msg
-	actuator_outputs.msg
-	actuator_servos.msg
-	actuator_servos_trim.msg
-	actuator_test.msg
-	adc_report.msg
-	airspeed.msg
-	airspeed_validated.msg
-	airspeed_wind.msg
-	autotune_attitude_control_status.msg
-	battery_status.msg
-	button_event.msg
-	camera_capture.msg
-	camera_status.msg
-	camera_trigger.msg
-	cellular_status.msg
-	collision_constraints.msg
-	collision_report.msg
-	commander_state.msg
-	control_allocator_status.msg
-	cpuload.msg
-	differential_pressure.msg
-	distance_sensor.msg
-	ekf2_timestamps.msg
-	esc_report.msg
-	esc_status.msg
-	estimator_aid_source_1d.msg
-	estimator_aid_source_2d.msg
-	estimator_aid_source_3d.msg
-	estimator_bias.msg
-	estimator_event_flags.msg
-	estimator_gps_status.msg
-	estimator_innovations.msg
-	estimator_selector_status.msg
-	estimator_sensor_bias.msg
-	estimator_states.msg
-	estimator_status.msg
-	estimator_status_flags.msg
-	event.msg
-	failure_detector_status.msg
-	follow_target.msg
-	follow_target_estimator.msg
-	follow_target_status.msg
-	generator_status.msg
-	geofence_result.msg
-	gimbal_device_attitude_status.msg
-	gimbal_device_information.msg
-	gimbal_device_set_attitude.msg
-	gimbal_manager_information.msg
-	gimbal_manager_set_attitude.msg
-	gimbal_manager_set_manual_control.msg
-	gimbal_manager_status.msg
-	gps_dump.msg
-	gps_inject_data.msg
-	health_report.msg
-	gripper.msg
-	heater_status.msg
-	home_position.msg
-	hover_thrust_estimate.msg
-	input_rc.msg
-	internal_combustion_engine_status.msg
-	iridiumsbd_status.msg
-	irlock_report.msg
-	landing_gear.msg
-	landing_target_innovations.msg
-	landing_target_pose.msg
-	led_control.msg
-	log_message.msg
-	logger_status.msg
-	mag_worker_data.msg
-	magnetometer_bias_estimate.msg
-	manual_control_setpoint.msg
-	manual_control_switches.msg
-	mavlink_log.msg
-	mavlink_tunnel.msg
-	mission.msg
-	mission_result.msg
-	mount_orientation.msg
-	navigator_mission_item.msg
-	npfg_status.msg
-	obstacle_distance.msg
-	offboard_control_mode.msg
-	onboard_computer_status.msg
-	orbit_status.msg
-	parameter_update.msg
-	ping.msg
-	position_controller_landing_status.msg
-	position_controller_status.msg
-	position_setpoint.msg
-	position_setpoint_triplet.msg
-	power_button_state.msg
-	power_monitor.msg
-	pps_capture.msg
-	pwm_input.msg
-	px4io_status.msg
-	radio_status.msg
-	rate_ctrl_status.msg
-	rc_channels.msg
-	rc_parameter_map.msg
-	rpm.msg
-	rtl_time_estimate.msg
-	satellite_info.msg
-	sensor_accel.msg
-	sensor_accel_fifo.msg
-	sensor_baro.msg
-	sensor_combined.msg
-	sensor_correction.msg
-	sensor_gnss_relative.msg
-	sensor_gps.msg
-	sensor_gyro.msg
-	sensor_gyro_fft.msg
-	sensor_gyro_fifo.msg
-	sensor_hygrometer.msg
-	sensor_mag.msg
-	sensor_optical_flow.msg
-	sensor_preflight_mag.msg
-	sensor_selection.msg
-	sensors_status.msg
-	sensors_status_imu.msg
-	system_power.msg
-	takeoff_status.msg
-	task_stack_info.msg
-	tecs_status.msg
-	telemetry_status.msg
-	timesync.msg
-	timesync_status.msg
-	trajectory_bezier.msg
-	trajectory_setpoint.msg
-	trajectory_waypoint.msg
-	transponder_report.msg
-	tune_control.msg
-	uavcan_parameter_request.msg
-	uavcan_parameter_value.msg
-	ulog_stream.msg
-	ulog_stream_ack.msg
-	uwb_distance.msg
-	uwb_grid.msg
-	vehicle_acceleration.msg
-	vehicle_air_data.msg
-	vehicle_angular_acceleration.msg
-	vehicle_angular_acceleration_setpoint.msg
-	vehicle_angular_velocity.msg
-	vehicle_attitude.msg
-	vehicle_attitude_setpoint.msg
-	vehicle_command.msg
-	vehicle_command_ack.msg
-	vehicle_constraints.msg
-	vehicle_control_mode.msg
-	vehicle_global_position.msg
-	vehicle_imu.msg
-	vehicle_imu_status.msg
-	vehicle_land_detected.msg
-	vehicle_local_position.msg
-	vehicle_local_position_setpoint.msg
-	vehicle_magnetometer.msg
-	vehicle_odometry.msg
-	vehicle_optical_flow.msg
-	vehicle_optical_flow_vel.msg
-	vehicle_rates_setpoint.msg
-	vehicle_roi.msg
-	vehicle_status.msg
-	vehicle_status_flags.msg
-	vehicle_thrust_setpoint.msg
-	vehicle_torque_setpoint.msg
-	vehicle_trajectory_bezier.msg
-	vehicle_trajectory_waypoint.msg
-	vtol_vehicle_status.msg
-	wheel_encoders.msg
-	wind.msg
-	yaw_estimator_status.msg
+	ActionRequest.msg
+	ActuatorArmed.msg
+	ActuatorControls.msg
+	ActuatorControlsStatus.msg
+	ActuatorMotors.msg
+	ActuatorOutputs.msg
+	ActuatorServos.msg
+	ActuatorServosTrim.msg
+	ActuatorTest.msg
+	AdcReport.msg
+	Airspeed.msg
+	AirspeedValidated.msg
+	AirspeedWind.msg
+	AutotuneAttitudeControlStatus.msg
+	BatteryStatus.msg
+	ButtonEvent.msg
+	CameraCapture.msg
+	CameraStatus.msg
+	CameraTrigger.msg
+	CellularStatus.msg
+	CollisionConstraints.msg
+	CollisionReport.msg
+	ControlAllocatorStatus.msg
+	Cpuload.msg
+	DebugArray.msg
+	DebugKeyValue.msg
+	DebugValue.msg
+	DebugVect.msg
+	DifferentialPressure.msg
+	DistanceSensor.msg
+	Ekf2Timestamps.msg
+	EscReport.msg
+	EscStatus.msg
+	EstimatorAidSource1d.msg
+	EstimatorAidSource2d.msg
+	EstimatorAidSource3d.msg
+	EstimatorBias.msg
+	EstimatorEventFlags.msg
+	EstimatorGpsStatus.msg
+	EstimatorInnovations.msg
+	EstimatorSelectorStatus.msg
+	EstimatorSensorBias.msg
+	EstimatorStates.msg
+	EstimatorStatus.msg
+	EstimatorStatusFlags.msg
+	Event.msg
+	FailsafeFlags.msg
+	FailureDetectorStatus.msg
+	FollowTarget.msg
+	FollowTargetEstimator.msg
+	FollowTargetStatus.msg
+	GeneratorStatus.msg
+	GeofenceResult.msg
+	GimbalDeviceAttitudeStatus.msg
+	GimbalDeviceInformation.msg
+	GimbalDeviceSetAttitude.msg
+	GimbalManagerInformation.msg
+	GimbalManagerSetAttitude.msg
+	GimbalManagerSetManualControl.msg
+	GimbalManagerStatus.msg
+	GpsDump.msg
+	GpsInjectData.msg
+	Gripper.msg
+	HealthReport.msg
+	HeaterStatus.msg
+	HomePosition.msg
+	HoverThrustEstimate.msg
+	InputRc.msg
+	InternalCombustionEngineStatus.msg
+	IridiumsbdStatus.msg
+	IrlockReport.msg
+	LandingGear.msg
+	LandingTargetInnovations.msg
+	LandingTargetPose.msg
+	LedControl.msg
+	LoggerStatus.msg
+	LogMessage.msg
+	MagnetometerBiasEstimate.msg
+	MagWorkerData.msg
+	ManualControlSetpoint.msg
+	ManualControlSwitches.msg
+	MavlinkLog.msg
+	MavlinkTunnel.msg
+	Mission.msg
+	MissionResult.msg
+	MountOrientation.msg
+	NavigatorMissionItem.msg
+	NpfgStatus.msg
+	ObstacleDistance.msg
+	OffboardControlMode.msg
+	OnboardComputerStatus.msg
+	OrbitStatus.msg
+	OrbTest.msg
+	OrbTestLarge.msg
+	OrbTestMedium.msg
+	ParameterUpdate.msg
+	Ping.msg
+	PositionControllerLandingStatus.msg
+	PositionControllerStatus.msg
+	PositionSetpoint.msg
+	PositionSetpointTriplet.msg
+	PowerButtonState.msg
+	PowerMonitor.msg
+	PpsCapture.msg
+	PwmInput.msg
+	Px4ioStatus.msg
+	RadioStatus.msg
+	RateCtrlStatus.msg
+	RcChannels.msg
+	RcParameterMap.msg
+	Rpm.msg
+	RtlTimeEstimate.msg
+	SatelliteInfo.msg
+	SensorAccel.msg
+	SensorAccelFifo.msg
+	SensorBaro.msg
+	SensorCombined.msg
+	SensorCorrection.msg
+	SensorGnssRelative.msg
+	SensorGps.msg
+	SensorGyro.msg
+	SensorGyroFft.msg
+	SensorGyroFifo.msg
+	SensorHygrometer.msg
+	SensorMag.msg
+	SensorOpticalFlow.msg
+	SensorPreflightMag.msg
+	SensorSelection.msg
+	SensorsStatus.msg
+	SensorsStatusImu.msg
+	SystemPower.msg
+	TakeoffStatus.msg
+	TaskStackInfo.msg
+	TecsStatus.msg
+	TelemetryStatus.msg
+	TimesyncStatus.msg
+	TrajectoryBezier.msg
+	TrajectorySetpoint.msg
+	TrajectoryWaypoint.msg
+	TransponderReport.msg
+	TuneControl.msg
+	UavcanParameterRequest.msg
+	UavcanParameterValue.msg
+	UlogStream.msg
+	UlogStreamAck.msg
+	UwbDistance.msg
+	UwbGrid.msg
+	VehicleAcceleration.msg
+	VehicleAirData.msg
+	VehicleAngularAcceleration.msg
+	VehicleAngularAccelerationSetpoint.msg
+	VehicleAngularVelocity.msg
+	VehicleAttitude.msg
+	VehicleAttitudeSetpoint.msg
+	VehicleCommand.msg
+	VehicleCommandAck.msg
+	VehicleConstraints.msg
+	VehicleControlMode.msg
+	VehicleGlobalPosition.msg
+	VehicleImu.msg
+	VehicleImuStatus.msg
+	VehicleLandDetected.msg
+	VehicleLocalPosition.msg
+	VehicleLocalPositionSetpoint.msg
+	VehicleMagnetometer.msg
+	VehicleOdometry.msg
+	VehicleOpticalFlow.msg
+	VehicleOpticalFlowVel.msg
+	VehicleRatesSetpoint.msg
+	VehicleRoi.msg
+	VehicleStatus.msg
+	VehicleThrustSetpoint.msg
+	VehicleTorqueSetpoint.msg
+	VehicleTrajectoryBezier.msg
+	VehicleTrajectoryWaypoint.msg
+	VtolVehicleStatus.msg
+	WheelEncoders.msg
+	Wind.msg
+	YawEstimatorStatus.msg
 )
-
-if(NOT px4_constrained_flash_build)
-	list(APPEND msg_files
-		debug_array.msg
-		debug_key_value.msg
-		debug_value.msg
-		debug_vect.msg
-	)
-endif()
-
-if(PX4_TESTING)
-	list(APPEND msg_files
-		orb_test.msg
-		orb_test_large.msg
-		orb_test_medium.msg
-	)
-endif()
-
 list(SORT msg_files)

-set(deprecated_msgs
-	ekf2_innovations.msg	# 2019-11-22, Updated estimator interface and logging; replaced by 'estimator_innovations'.
-	)
-
-foreach(msg IN LISTS deprecated_msgs)
-	if(msg IN_LIST msg_files)
-		get_filename_component(msg_we ${msg} NAME_WE)
-		list(APPEND invalid_msgs ${msg_we})
-	endif()
-endforeach()
-if(invalid_msgs)
-	list(LENGTH invalid_msgs invalid_msgs_size)
-	if(${invalid_msgs_size} GREATER 1)
-		foreach(msg IN LISTS invalid_msgs)
-			string(CONCAT invalid_msgs_cs ${invalid_msgs_cs} "'${msg}', ")
-		endforeach()
-		STRING(REGEX REPLACE ", +$" "" invalid_msgs_cs ${invalid_msgs_cs})
-		message(FATAL_ERROR "${invalid_msgs_cs} are listed as deprecated. Please use different names for the messages.")
-	else()
-		message(FATAL_ERROR "'${invalid_msgs}' is listed as deprecated. Please use a different name for the message.")
-	endif()
-endif()
-
 px4_list_make_absolute(msg_files ${CMAKE_CURRENT_SOURCE_DIR} ${msg_files})

 if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
@@ -272,63 +236,64 @@ endif()
 # headers
 set(msg_out_path ${PX4_BINARY_DIR}/uORB/topics)
 set(ucdr_out_path ${PX4_BINARY_DIR}/uORB/ucdr)
-set(msg_source_out_path	${CMAKE_CURRENT_BINARY_DIR}/topics_sources)
+set(msg_source_out_path ${CMAKE_CURRENT_BINARY_DIR}/topics_sources)

-set(uorb_headers ${msg_out_path}/uORBTopics.hpp)
-set(uorb_sources ${msg_source_out_path}/uORBTopics.cpp)
+set(uorb_headers)
+set(uorb_sources)
 set(uorb_ucdr_headers)
 foreach(msg_file ${msg_files})
 	get_filename_component(msg ${msg_file} NAME_WE)
+
+	# Pascal case to snake case (MsgFile -> msg_file)
+	string(REGEX REPLACE "(.)([A-Z][a-z]+)" "\\1_\\2" msg "${msg}")
+	string(REGEX REPLACE "([a-z0-9])([A-Z])" "\\1_\\2" msg "${msg}")
+	string(TOLOWER "${msg}" msg)
+
 	list(APPEND uorb_headers ${msg_out_path}/${msg}.h)
 	list(APPEND uorb_sources ${msg_source_out_path}/${msg}.cpp)
 	list(APPEND uorb_ucdr_headers ${ucdr_out_path}/${msg}.h)
 endforeach()

-if (px4_constrained_flash_build)
-	set(added_arguments --constrained-flash)
-endif()
-
 # set parent scope msg_files for other modules to consume (eg topic_listener)
 set(msg_files ${msg_files} PARENT_SCOPE)

 # Generate uORB headers
-add_custom_command(OUTPUT ${uorb_headers}
-	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
+add_custom_command(
+	OUTPUT
+		${uorb_headers}
+		${msg_out_path}/uORBTopics.hpp
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--headers
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
 		-o ${msg_out_path}
-		-e templates/uorb
-		-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/headers
-		-q
-		${added_arguments}
+		-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
 	DEPENDS
 		${msg_files}
-		templates/uorb/msg.h.em
-		templates/uorb/uORBTopics.hpp.em
-		tools/px_generate_uorb_topic_files.py
-		tools/px_generate_uorb_topic_helper.py
+		${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/msg.h.em
+		${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/uORBTopics.hpp.em
+		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
 	COMMENT "Generating uORB topic headers"
 	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 	VERBATIM
 	)
 add_custom_target(uorb_headers DEPENDS ${uorb_headers})

-add_custom_command(OUTPUT ${uorb_ucdr_headers}
-	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
+# Generate microcdr headers
+add_custom_command(
+	OUTPUT ${uorb_ucdr_headers}
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--headers
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
 		-o ${ucdr_out_path}
-		-e templates/ucdr
-		-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/ucdr_headers
-		-q
-		${added_arguments}
+		-e ${PX4_SOURCE_DIR}/Tools/msg/templates/ucdr
 	DEPENDS
 		${msg_files}
-		templates/ucdr/msg.h.em
-		tools/px_generate_uorb_topic_files.py
-		tools/px_generate_uorb_topic_helper.py
+		${PX4_SOURCE_DIR}/Tools/msg/templates/ucdr/msg.h.em
+		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
 	COMMENT "Generating uORB topic ucdr headers"
 	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 	VERBATIM
@@ -336,26 +301,27 @@ add_custom_command(OUTPUT ${uorb_ucdr_headers}
 add_custom_target(uorb_ucdr_headers DEPENDS ${uorb_ucdr_headers})

 # Generate uORB sources
-add_custom_command(OUTPUT ${uorb_sources}
-	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
+add_custom_command(
+	OUTPUT
+		${uorb_sources}
+		${msg_source_out_path}/uORBTopics.cpp
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--sources
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
 		-o ${msg_source_out_path}
-		-e templates/uorb
-		-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/sources
-		-q
-		${added_arguments}
+		-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
 	DEPENDS
 		${msg_files}
-		templates/uorb/msg.cpp.em
-		templates/uorb/uORBTopics.cpp.em
-		tools/px_generate_uorb_topic_files.py
-		tools/px_generate_uorb_topic_helper.py
+		${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/msg.cpp.em
+		${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/uORBTopics.cpp.em
+		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
 	COMMENT "Generating uORB topic sources"
 	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 	VERBATIM
 	)

-add_library(uorb_msgs ${uorb_sources})
+add_library(uorb_msgs ${uorb_headers} ${msg_out_path}/uORBTopics.hpp ${uorb_sources} ${msg_source_out_path}/uORBTopics.cpp)
+target_link_libraries(uorb_msgs PRIVATE m)
 add_dependencies(uorb_msgs prebuild_targets uorb_headers)
@@ -5,5 +5,3 @@ uint32 seq		# Image sequence number
 bool feedback	# Trigger feedback from camera

 uint32 ORB_QUEUE_LENGTH = 2
-
-# TOPICS camera_trigger
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Matthias Grob	ac7e369418	Makefile: add target for unit tests	2022-10-26 19:40:31 +02:00
Zachary Lowell	740d2fccb1	qurt: update for functional logger	2022-10-25 21:07:15 -04:00
Zachary Lowell	bcae7e550b	Qurt platform/common dependency fixes	2022-10-25 21:06:00 -04:00
Daniel Agar	a242a0210e	Update world_magnetic_model to latest Mon 24 Oct 2022 09:29:11 PM EDT	2022-10-25 09:20:01 -04:00
Daniel Agar	c32cf21b63	commander: estimator check shorten messages - otherwise these are awkwardly split in mavlink	2022-10-25 08:02:47 +02:00
Daniel Agar	a7b909234b	commander: estimator nav test is not an arming check	2022-10-25 08:01:30 +02:00
Daniel Agar	6f861ba889	ekf2: pos/vel reset helpers pass new variance - optical flow velocity reset use already computed _flow_vel_ne	2022-10-24 10:59:58 -04:00
thomas	f9f466854b	abort front transition in vtol module instead of in navigator/rtl.cpp	2022-10-24 13:55:41 +02:00
thomas	26c36a96f2	remove unnecessary check. correct int comparison.	2022-10-24 13:55:41 +02:00
thomas	bf98503dec	better return altitude initialisation	2022-10-24 13:55:41 +02:00
thomas	f771c7ff63	back transition if RTL is called during front transition	2022-10-24 13:55:41 +02:00
Hamish Willee	96a305322a	params/uorb docs: rename mixer to control allocation (#20447 )	2022-10-24 13:22:26 +02:00
Igor Mišić	1c5750b292	mavlink: add support for uAvionix transmitters	2022-10-24 11:56:17 +02:00
Igor Mišić	c35ae7260b	transponder/sagetech_mxs: move the ADS-B related parameters to the lib ADS-B parameters can be reused for other ADS-B devices	2022-10-24 11:56:17 +02:00
Igor Mišić	4e6c094a54	mavlink/CMakeLists: add uAvionix dialect	2022-10-24 11:56:17 +02:00
Silvan Fuhrer	128e49358e	Wind Estimator: remove filter reset due to beta fusion timeout Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-10-24 09:56:18 +02:00
Daniel Agar	ed558e199f	ekf2: remove realignYawGPS() (replaced with yaw estimator)	2022-10-21 09:01:30 -04:00
Silvan Fuhrer	c267cf71c3	FW Position Control: fix entering of no-position-estimate failsafes Affects the states AUTO_ALTITUDE and AUTO_CLIMBRATE. Those modes should only be entered if armed (as they are pure failsafe modes). Also allow though to enter them even if the position setpoint(s) are invalid, as they are not needed. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-10-21 09:51:38 +02:00
Silvan Fuhrer	67b2c835e0	FW Positon control: do not use position_setpoint.valid to validate current position_setpoint Instead of checking the .valid flag of position_setpoint, check for ISFINITE() of lat, lon, alt when pulling the position_setpoint triplet. This fixes problems where the .valid flag didn't reflect the proper state of the setpoint (e.g. .valid was true, .lat though NAN) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-10-21 09:51:38 +02:00
Silvan Fuhrer	d8e483ae20	TECS: guard against NAN airspeed setpoints Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-10-21 09:51:38 +02:00
Eric Katzfey	4afd19f037	Moved the bad-function-cast compiler warning option out of the common flags and into the nuttx and posix specific options files since this option cannot be used with the qurt platform. There are header files in the hexagon sdk that fail this check.	2022-10-20 18:18:40 -04:00
bresch	96e7ea7a08	ekf2: remove old mag declination auto-code	2022-10-20 18:16:25 -04:00
bresch	f0a0a3e545	ekf2_test: compare mag decl fusion sympy vs symforce	2022-10-20 18:16:25 -04:00
bresch	2f3ea88099	ekf2: migrate mag declination to SymForce	2022-10-20 18:16:25 -04:00
Beniamino Pozzan	7786437a19	Makefile: remove update_ros2_bridge make commands as Tools/update_px4_ros2_bridge.sh as been deleted update_ros2_bridge, update_px4_ros_com and update_px4_msgs are no more needed Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>	2022-10-20 17:43:16 -04:00
Daniel Agar	5030b21d2e	ekf2: replace quatToInverseRotMat if only used once	2022-10-20 14:15:32 -04:00
Daniel Agar	fb3adc3faa	ekf2: move baro compensation to delayed time horizon and add validity check - this removes an unnecessary virtual call and simplifies things a bit Co-authored-by: bresch <brescianimathieu@gmail.com>	2022-10-20 09:17:55 -04:00
Daniel Agar	b400b7fcc4	vehicle_angular_velocity: ESC RPM notch filters minimize filter resets (#20449 ) - vehicle_angular_velocity: ESC RPM notch filters minimize filter resets - only allow one filter init per axis per cycle - "park" ESC notch filters at min frequency instead of full disable - relax timeout before a notch filter is disabled - add new parameter IMU_GYRO_DNF_MIN for configuring the minimum notch filter frequency	2022-10-20 09:05:23 -04:00
bresch	89bc28e836	wind_est: extract utility functions to separate file	2022-10-20 11:41:46 +02:00
bresch	2549054b28	wind_est: remove old derivation replaced by derivation.py	2022-10-20 11:41:46 +02:00
bresch	7115d5643c	wind_est: auto-generate initialization of state and cov matrix	2022-10-20 11:41:46 +02:00
bresch	a7124d3738	wind_est: auto-generate beta fusion using Symforce	2022-10-20 11:41:46 +02:00
bresch	487b84e90b	wind_est: place codegen details in function	2022-10-20 11:41:46 +02:00
Daniel Agar	fe80e7aa46	commander: respect COM_CPU_MAX for overload and adjust default threshold	2022-10-19 20:25:06 -04:00
Daniel Agar	309465858a	commander: elapsed time checks avoid subtracting unsigned integers - avoid the possibility of unsigned underflow from subtracting two HRT timestamps (uint64_t) - most of these aren't problematic, but people tend to replicate the pattern, so it's better to be safe - likely wasn't a problem when people were using hrt_absolute_time() in place, but if using an existing timestamp there's the possibility it's older than a more recent topic update	2022-10-19 20:21:36 -04:00
Daniel Agar	cea185268e	msg ROS2 compatibility, microdds_client improvements (timesync, reduced code size, added topics, etc), fastrtps purge - update all msgs to be directly compatible with ROS2 - microdds_client improvements - timesync - reduced code size - add to most default builds if we can afford it - lots of other little changes - purge fastrtps (I tried to save this multiple times, but kept hitting roadblocks)	2022-10-19 19:36:47 -04:00
Daniel Agar	e211e0ca0e	commander: limit some estimator checks to prearm	2022-10-19 19:06:56 -04:00
David Sidrane	f60b883041	px4_fmu-v6:Add Revision 1 to manifest to note I2C4 is only internal	2022-10-19 15:48:34 -04:00
Daniel Agar	f9509b442c	ekf2: height aid source consistency (#20405 ) - working towards keeping all height source (baro/ev/gnss/rng) handling as consistent as possible, possibly refactoring these out into separate classes later	2022-10-19 15:35:07 -04:00
Matthias Grob	870229ef49	FunctionsTest: add isFinite() tests with Vector3f arguments	2022-10-19 19:09:20 +02:00
Matthias Grob	5ca28dd6dc	Use isAllFinite() in all places that check finiteness on entire vectors or matrices	2022-10-19 19:09:20 +02:00
Matthias Grob	93de9567a5	Matrix: add isAllFinite() to check if every element is finite	2022-10-19 19:09:20 +02:00
bresch	f77d7d9413	[AUTO COMMIT] update change indication	2022-10-19 17:34:31 +02:00
bresch	cf9859965a	ekf2: remove old yaw fusion auto-code	2022-10-19 17:34:31 +02:00
bresch	e33215b61c	ekf2_test: compare yaw fusion sympy vs symforce	2022-10-19 17:34:31 +02:00
bresch	42f683fa64	ekf2_test: test using positive definite covariance matrix A covariance matrix needs to be positive definite	2022-10-19 17:34:31 +02:00
bresch	10f9ac148f	ekf2: migrate mag yaw fusion to SymForce	2022-10-19 17:34:31 +02:00
bresch	a41b6f416e	ekf2_test: verify heading innov variance in all orientations	2022-10-19 17:34:31 +02:00
bresch	f11908a266	ekf2: generate yaw fusion jacobians using symforce	2022-10-19 17:34:31 +02:00
Peter van der Perk	ccd90ede7a	Added io_bypass_control daemon to control IO directly from uORB useful RTPS full offboard (#20422 )	2022-10-19 09:15:12 -04:00
Silvan Fuhrer	aade01776a	airspeed selector: only do sideslip fusion (for airspeed less wind estimate) if not landed Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-10-19 10:35:28 +02:00
Silvan Fuhrer	ebc883f157	airspeed selector: remove redundant armed check (it already checks for in_air) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-10-19 10:35:28 +02:00
Silvan Fuhrer	0c4b2cd0c5	airspeed_selector: update wind estimator (w/o airspeed fusion) always if in FW mode This fixes a bug where by accident the vtol_status was considered instead of the vehicle_status, preventing it from running on planes. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-10-19 10:35:28 +02:00
Jaeyoung Lim	7e49147bcf	Fix feedforward acceleration setpoints for fixedwing offboard position This commit fixes feedforward acceleration setpoints for fixedwing offboard position control. Previously when acceleration feedforward inputs were sent, negative curvature accelerations were not being computed properly	2022-10-19 09:15:13 +02:00
Daniel Agar	b71fc63162	ekf2: fix sideslip timeout (typo)	2022-10-18 18:38:25 -04:00
Daniel Agar	0d2ff6e224	ekf2: test ekf_logger further reduce std::precision to minimize false positives	2022-10-18 14:19:16 -04:00
Daniel Agar	535415a537	ekf2: add OF estimator aid src status	2022-10-18 14:19:16 -04:00
Matthias Grob	75c63aee2a	Fix confusion between trajectory_setpoint and vehicle_local_postion_setpoint	2022-10-17 16:18:00 -04:00
Daniel Agar	7c237fca74	boards: px4_sitl use Mavlink development dialect	2022-10-17 16:16:36 -04:00
Daniel Agar	743200df22	mavlink: move mavlink dialect selection to kconfig	2022-10-17 16:16:36 -04:00
Daniel Agar	d792a3ff5b	simulator_mavlink: use existing development/common mavlink generation if available	2022-10-17 16:16:36 -04:00
Hamish Willee	2a9801f191	Default mavlink dialect should be common.xml	2022-10-17 16:16:36 -04:00
bresch	8b9ac2d7f3	ekf2: remove old mag 3D fusion auto-code	2022-10-17 16:14:56 -04:00
bresch	77a36219c6	ekf2_test: compare 3D mag fusion sympy vs symforce	2022-10-17 16:14:56 -04:00
bresch	b92cbe12a0	ekf2: migrate mag 3D fusion to symforce ekf2: merge mag 3d innov var, Hx and Kx computation to reduce flash Slightly less code produced, almost no performance change ekf2_mag3D: do not pre-compute Kalman gains The vector of Kalaman gains is not too expensive to compute using matrix-vector multiplication. Pre-generating it using CSE takes a lot of flash space for little benefit.	2022-10-17 16:14:56 -04:00
Silvan Fuhrer	5ea8c6e507	FlightTaskAuto: remove unused _getTargetVelocityXY() Inclusive velocity_valid field in position_setpoint message that's then no longer needed. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-10-17 16:12:15 -04:00
Silvan Fuhrer	42c613a0c7	position_setpoint.msg: remove unused alt_valid Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-10-17 16:12:15 -04:00
Silvan Fuhrer	42dd9b5063	position_setpoint.msg: remove unused velocity_frame field Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-10-17 16:12:15 -04:00
Daniel Agar	0d6766d14d	limit vehicle_command subscription updates per cycle - this is a precaution to eliminate the possibility of getting stuck in a loop trying to keep up with a high rate publication that could be coming from a higher priority task	2022-10-17 16:10:51 -04:00
Daniel Agar	677f3e9294	sensors/vehicle_optical_flow: limit gyro updates and generation lost error per cycle - in the worst case scenario printing the error message can take longer than the next gyro publication, so combined with an infinite loop you could get stuck here	2022-10-17 13:45:04 -04:00
Alex Klimaj	8545164869	sensors/vehicle_optical_flow: only get gyro if optical flow delta angle not available (#20416 )	2022-10-17 10:23:36 -04:00
Daniel Agar	116bb6049f	ekf2: fusion helper consistency - yaw fusion use measurementUpdate() - fuseVelPosHeight() respect _accel_bias_inhibit (like measurementUpdate())	2022-10-17 10:17:31 -04:00
Silvan Fuhrer	7bc90c7f00	FW rate controller gains: put default for all IMAX gains to 0.4 The previous default for yaw and roll was 0.2, which is very low, and for wheel was 1, which is very high. A value of 0.4 makes sense to me for all axes. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-10-17 10:27:09 +02:00
Silvan Fuhrer	4bbe8f3c0d	FW rate controller gains: open up some limitis for the rate controller gains Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-10-17 10:27:09 +02:00
Silvan Fuhrer	e2d1e79614	FW rate controller gains: reduce max FW_YR_I from 50 to 1 I guess this was a left over from times where the controller had a completely different structure, a value of 50 is well outside of reasonable range (50x the default). Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-10-17 10:27:09 +02:00
Silvan Fuhrer	ea44c89366	FW rate controller gains: reduce max FF gains to 1 The previous max of 10 for the FF gains seems a bit very high for me, well outside of reasonable reange. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-10-17 10:27:09 +02:00
bresch	458e5a6b0e	ekf2: update change indicator	2022-10-14 11:42:23 -04:00
bresch	1b4092abbb	symforce: temporarily remove custom cmake command otherwise the generated files are removed with make clean	2022-10-14 11:42:23 -04:00
bresch	a8a3107c05	ekf2: remove old covariance prediction code	2022-10-14 11:42:23 -04:00
bresch	df084d65e3	ekf2_test: compare covariance prediction sympy vs symforce	2022-10-14 11:42:23 -04:00
bresch	a4e511b90e	ekf2: migrate covariance prediction to SymForce	2022-10-14 11:42:23 -04:00
chris1seto	079dfdf209	drivers/osd/msp_osd: cleanup and small fixes/additions (#20399 ) - Fixed clearing arming word if flightmode unknown - Added power and cell voltage elements - New OSD layout - Fixed home direction/distance are now correct Co-authored-by: Chris Seto <chris1seto@gmail.com>	2022-10-14 10:54:14 -04:00
Beat Küng	3c290d812d	commander: use printRejectMode() also for rtl, takeoff, land & mission commands	2022-10-13 16:05:25 -04:00
Beat Küng	d542ffc10c	refactor vehicle_status_flags: rename to failsafe_flags	2022-10-13 16:05:25 -04:00
Beat Küng	f9c8e760b1	CI: add failsafe web build & deployment to the user guide	2022-10-13 16:05:25 -04:00
chris1seto	0ddba3ea90	Fix Discord badge not a link in README (#20406 ) * Add link to image * Update link to nice permalink Co-authored-by: Chris Seto <chris1seto@gmail.com>	2022-10-13 11:05:28 -07:00
Daniel Agar	2de990fd4b	estimator_aid_source split GNSS pos (3d) -> pos (2d) + hgt - per estimator air source status only keep a single set of flags and timestamp that applies to the entire source	2022-10-13 11:28:50 -04:00
David Sidrane	8a9a091ff3	nxp_fmurt1062-v1:Timer configuration for 1 channel per group (timer)	2022-10-13 08:17:51 +02:00
David Sidrane	3be8d52c8e	imxrt:io_timers Support 1 channel per group (timer)	2022-10-13 08:17:51 +02:00
David Sidrane	7f7137320a	fix imxrt: use 1:1 timer group to channel association	2022-10-13 08:17:51 +02:00
chris1seto	7e9ec325f7	Convert README to Discord (#20400 )	2022-10-12 21:41:00 -07:00
bresch	bdd043f27f	ekf2: fix sideslip fusion sign	2022-10-12 16:14:47 +02:00
bresch	53865118fb	ekf2: remove old sideslip fusion code	2022-10-12 09:55:35 -04:00
bresch	f7c749c9cd	ekf2_test: compare sideslip fusion of Sympy and SymForce	2022-10-12 09:55:35 -04:00
bresch	d0f92bfbd5	ekf2_test: create helper functions for auto-generated code diff	2022-10-12 09:55:35 -04:00
bresch	5f54f6fcda	ekf2: migrate sideslip fusion to SymForce - split fusion into update (compute innov and innov_var) and actual fusion to the state vector - use estimator_aid_source_1d struct to group the data	2022-10-12 09:55:35 -04:00
Beat Küng	c09be0f0ac	airframes: add r1 again This was dropped in `f454dcef6b`	2022-10-12 07:35:35 +02:00
Beat Küng	9b7a8d4568	vehicle_status_flags: add group 'Other'	2022-10-11 22:31:20 -04:00
Beat Küng	f7819f5dba	commander: reorder update calls Moves the arming checks before the command handling. This reduces the chance of race conditions. However it does not prevent them! The SDK will need to check when offboard is ready to run/arm to fix this. Specifically this is for sitl offboard tests, where offboard_control_mode is updated and immediately after a mode switch into offboard is commanded.	2022-10-11 22:31:20 -04:00
Beat Küng	38d3739b6d	refactor commander: rename rc_signal_lost -> manual_control_signal_lost, data_link_lost -> gcs_connection_lost	2022-10-11 22:31:20 -04:00
Beat Küng	e2d8ca73a5	commander: add unit tests for failsafe state machine	2022-10-11 22:31:20 -04:00
Beat Küng	3d1da597dd	commander: run arming checks on _offboard_control_mode_sub update	2022-10-11 22:31:20 -04:00
Beat Küng	6ee2252b8c	events: handle events being generated before a mavlink module started - do not print dropped events warnings - make sure current sequence is still sent with reset flag	2022-10-11 22:31:20 -04:00
Beat Küng	3fcdf40a47	events: use PRIx32 to print uint32	2022-10-11 22:31:20 -04:00
Beat Küng	acaa50a448	geofence: add and report reason for violation	2022-10-11 22:31:20 -04:00
mcsauder	ebc88afe46	Apply Google Style to Commander Private methods, rename geofence message geofence_violation to primary_geofence_breached.	2022-10-11 22:31:20 -04:00
Beat Küng	693af897b3	commander: check if battery was already disconnected on arming If so, don't report. Happens e.g. with USB powered pixhawk.	2022-10-11 22:31:20 -04:00
Beat Küng	24142bc014	commander: RcCalibrationChecks: avoid param access on each cycle reduces cpu usage a bit	2022-10-11 22:31:20 -04:00
Beat Küng	c72c580a0b	commander: run arming checks @ 10Hz Required for things like RC loss.	2022-10-11 22:31:20 -04:00
Beat Küng	6fda555cba	commander: move ownership of vehicle_status_flags_s to HealthAndArmingChecks	2022-10-11 22:31:20 -04:00
Beat Küng	cf2eb69d25	px4events/srcparser: ensure message is a string literal	2022-10-11 22:31:20 -04:00
Beat Küng	500a896a56	commander: print reason for mode rejection & report for GCS switches as well	2022-10-11 22:31:20 -04:00
Beat Küng	e4bb219d10	vehicle_status_flags: cleanup message, move non-failsafe flags to vehicle_status	2022-10-11 22:31:20 -04:00
Beat Küng	ae6377dfa0	mission_result: remove unused fields	2022-10-11 22:31:20 -04:00
Beat Küng	455b885f86	commander: use new failsafe state machine and add user intention class	2022-10-11 22:31:20 -04:00
Beat Küng	a04230faa1	commander: add failsafe state machine with webassembly simulation to run the simulation: install sdk: https://emscripten.org/docs/getting_started/downloads.html make run_failsafe_web_server open http://0.0.0.0:8000/ Co-authored-by: Konrad <konrad@auterion.com>	2022-10-11 22:31:20 -04:00
Beat Küng	82911e48be	fix commander: check estimator type & avoid timestamp wrap-around Before it was possible that the publication timestamp was never than 'now', leading to wrap-around.	2022-10-11 22:31:20 -04:00
Beat Küng	27f8298bb9	fix commander: add local position requirement to NAVIGATION_STATE_AUTO_LAND	2022-10-11 22:31:20 -04:00
Beat Küng	57c7b5e843	flight_mode_manager: reduce error verbosity & remove mode switching While disarmed, commander allows to be in any mode now.	2022-10-11 22:31:20 -04:00
Beat Küng	31dfdea12e	commander: remove state_machine_helper tests	2022-10-11 22:31:20 -04:00
Beat Küng	e9387cac1d	mavlink: move get_px4_custom_mode to px4_custom_mode.h	2022-10-11 22:31:20 -04:00
Silvan Fuhrer	9159f020cb	mavlink local_position_ned: always publish on update, not just when xy and v_xy valid Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-10-11 00:47:32 -04:00
Daniel Agar	ce609144b0	simulation/gz_bridge: fix implicit floating-point conversions	2022-10-09 14:11:19 -04:00
Daniel Agar	9010029e0d	lib/drivers/device: Device.hpp fully init devid - constructor use available setters	2022-10-09 13:49:39 -04:00