4003_qavr5 : inch in title breaks docs rendering

- these are nearly identical with slightly different scaling and haven't been tested for years

.ci/Jenkinsfile-compile

@@ -9,10 +9,10 @@ pipeline {
         script {
           def build_nodes = [:]
           def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2021-04-29",
-            arm64: "px4io/px4-dev-aarch64:2021-04-29",
-            base: "px4io/px4-dev-base-bionic:2021-04-29",
-            nuttx: "px4io/px4-dev-nuttx-focal:2021-04-29",
+            armhf: "px4io/px4-dev-armhf:2021-05-04",
+            arm64: "px4io/px4-dev-aarch64:2021-05-04",
+            base: "px4io/px4-dev-base-bionic:2021-05-04",
+            nuttx: "px4io/px4-dev-nuttx-focal:2021-05-04",
             snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
           ]
 
@@ -133,7 +133,7 @@ pipeline {
     // TODO: actually upload artifacts to S3
     // stage('S3 Upload') {
     //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+    //     docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
     //   }
     //   options {
     //         skipDefaultCheckout()

.ci/Jenkinsfile-hardware

@@ -12,7 +12,7 @@ pipeline {
             stage("build cubepilot_cubeorange_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -86,7 +86,7 @@ pipeline {
             stage("build cuav_x7pro_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -159,7 +159,7 @@ pipeline {
             stage("build px4_fmu-v3_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -232,7 +232,7 @@ pipeline {
             stage("build px4_fmu-v4_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -305,7 +305,7 @@ pipeline {
             stage("build px4_fmu-v4pro_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -378,7 +378,7 @@ pipeline {
             stage("build px4_fmu-v5_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -451,7 +451,7 @@ pipeline {
             stage("build px4_fmu-v5_debug") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -528,7 +528,7 @@ pipeline {
             stage("build px4_fmu-v5_optimized") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -601,7 +601,7 @@ pipeline {
             stage("build px4_fmu-v5_stackcheck") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -678,7 +678,7 @@ pipeline {
             stage("build modalai_fc-v1_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -746,86 +746,12 @@ pipeline {
           }
         }
 
-        stage("holybro_durandal-v1_test") {
-          stages {
-            stage("build holybro_durandal-v1_test") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                checkout scm
-                sh 'export'
-                sh 'make distclean'
-                sh 'ccache -s'
-                sh 'git fetch --tags'
-                sh 'make holybro_durandal-v1_test'
-                sh 'make sizes'
-                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'holybro_durandal-v1_test'
-              }
-              post {
-                always {
-                    sh 'make distclean'
-                }
-              }
-            } // stage build
-            stage("test") {
-              agent {
-                label 'holybro_durandal-v1'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'holybro_durandal-v1_test'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_test/holybro_durandal-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                  }
-                }
-                stage("configure") {
-                  steps {
-                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
-                  }
-                }
-                stage("status") {
-                  steps {
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dshot status"'
-                    statusFTDI()
-                  }
-                }
-                stage("tests") {
-                  steps {
-                    // run tests
-                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
-                  }
-                }
-                stage("reset") {
-                  steps {
-                    cleanupFTDI()
-                  }
-                }
-              }
-            } // stage test
-          }
-        }
-
         stage("nxp_fmuk66-v3_test") {
           stages {
             stage("build nxp_fmuk66-v3_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }

.devcontainer/devcontainer.json

@@ -2,7 +2,7 @@
 // https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
 {
 	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2021-04-29",
+	"image": "px4io/px4-dev-nuttx-focal:2021-05-04",
 
 	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
 

.github/workflows/checks.yml

@@ -23,12 +23,13 @@ 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",
         ]
     container:
-      image: px4io/px4-dev-nuttx-focal:2021-04-29
+      image: px4io/px4-dev-nuttx-focal:2021-05-04
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1

.github/workflows/clang-tidy.yml

@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2021-04-29
+    container: px4io/px4-dev-clang:2021-05-04
     steps:
     - uses: actions/checkout@v1
       with:

.github/workflows/compile_linux.yml

@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2021-04-29
+    container: px4io/px4-dev-armhf:2021-05-04
     strategy:
       matrix:
         config: [

.github/workflows/compile_linux_arm64.yml

@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2021-04-29
+    container: px4io/px4-dev-aarch64:2021-05-04
     strategy:
       matrix:
         config: [

.github/workflows/compile_nuttx.yml

@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-04-29
+    container: px4io/px4-dev-nuttx-focal:2021-05-04
     strategy:
       matrix:
         config: [

.github/workflows/compile_nuttx_cannode.yml

@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-04-29
+    container: px4io/px4-dev-nuttx-focal:2021-05-04
     strategy:
       matrix:
         config: [

.github/workflows/deploy_all.yml

@@ -23,7 +23,7 @@ jobs:
     needs: enumerate_targets
     strategy:
       matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
-    container: px4io/px4-dev-${{ matrix.container }}:2021-04-29
+    container: px4io/px4-dev-${{ matrix.container }}:2021-05-04
     steps:
     - uses: actions/checkout@v1
       with:
@@ -56,13 +56,13 @@ jobs:
     - name: ccache post-run
       run: ccache -s
 
-    - name: parameter metadata
+    - name: parameter & events metadata
       run: |
-        make ${{matrix.target}} ver_gen
+        make ${{matrix.target}} ver_gen events_json
         ./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
         cd build/${{ matrix.target }}
         mkdir _metadata || true
-        cp parameters.* _metadata
+        cp parameters.* events/*.xz _metadata
 
     - uses: jakejarvis/s3-sync-action@master
       with:

.github/workflows/ekf_functional_change_indicator.yml

@@ -0,0 +1,20 @@
+name: EKF Change Indicator
+
+on: pull_request
+
+jobs:
+  unit_tests:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-05-04
+    steps:
+    - uses: actions/checkout@v2.3.1
+    - name: checkout newest version of branch
+      run: |
+        git fetch origin pull/${{github.event.pull_request.number}}/head:${{github.head_ref}}
+        git checkout ${GITHUB_HEAD_REF}
+    - name: main test
+      run: cd ${GITHUB_WORKSPACE}/src/lib/ecl; make test
+      working-directory: src/lib/ecl
+    - name: Check if there is a functional change
+      run: git diff --exit-code
+      working-directory: src/lib/ecl/test/change_indication

.github/workflows/ekf_standalone_build_tests.yml

@@ -0,0 +1,56 @@
+
+name: EKF Build Tests
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - '*'
+
+jobs:
+  Linux-GCC:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-05-04
+    steps:
+    - uses: actions/checkout@v1
+    - name: main build
+      run: make
+      working-directory: src/lib/ecl
+    - name: clean build
+      run: make clean
+      working-directory: src/lib/ecl
+    - name: main test
+      run: make test
+      working-directory: src/lib/ecl
+  Linux-Clang:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-clang:2021-05-04
+    env:
+      CC: clang
+      CXX: clang++
+    steps:
+      - uses: actions/checkout@v1
+      - name: main build
+        run: make
+        working-directory: src/lib/ecl
+      - name: clean build
+        run: make clean
+        working-directory: src/lib/ecl
+      - name: main test
+        run: make test
+        working-directory: src/lib/ecl
+  Mac-OS:
+    runs-on: macos-latest
+    steps:
+      - uses: actions/checkout@v1
+      - name: main build
+        run: make
+        working-directory: src/lib/ecl
+      - name: clean build
+        run: make clean
+        working-directory: src/lib/ecl
+      - name: main test
+        run: make test
+        working-directory: src/lib/ecl

.github/workflows/ekf_update_change_indicator.yml

@@ -0,0 +1,27 @@
+name: EKF Update Change Indicator
+
+on: push
+
+jobs:
+  unit_tests:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-05-04
+    env:
+      GIT_COMMITTER_EMAIL: bot@px4.io
+      GIT_COMMITTER_NAME: PX4BuildBot
+    steps:
+    - uses: actions/checkout@v2.3.1
+    - name: main test updates change indication files
+      run: cd ${GITHUB_WORKSPACE}/src/lib/ecl; make test
+    - name: Check if there exists diff and save result in variable
+      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_ENV
+      working-directory: src/lib/ecl/test/change_indication
+    - name: auto-commit any changes to change indication
+      uses: stefanzweifel/git-auto-commit-action@v4
+      with:
+        commit_message: '[AUTO COMMIT] update change indication'
+        commit_user_name: ${GIT_COMMITTER_NAME}
+        commit_user_email: ${GIT_COMMITTER_EMAIL}
+    - if: ${{env.CHANGE_INDICATED}}
+      name: if there is a functional change, fail check
+      run: exit 1

.github/workflows/mavros_mission_tests.yml

@@ -25,7 +25,7 @@ jobs:
           #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
 
     container:
-      image: px4io/px4-dev-ros-melodic:2021-04-29
+      image: px4io/px4-dev-ros-melodic:2021-05-04
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1

.github/workflows/mavros_offboard_tests.yml

@@ -20,7 +20,7 @@ jobs:
           #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
 
     container:
-      image: px4io/px4-dev-ros-melodic:2021-04-29
+      image: px4io/px4-dev-ros-melodic:2021-05-04
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1

.github/workflows/metadata.yml

@@ -11,7 +11,7 @@ jobs:
 
   airframe:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-04-29
+    container: px4io/px4-dev-base-focal:2021-05-04
     steps:
     - uses: actions/checkout@v1
       with:
@@ -20,13 +20,24 @@ jobs:
     - name: airframe metadata
       run: |
         make airframe_metadata
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
         cd build/px4_sitl_default/docs
-        ls -ls *
-      # TODO: deploy to userguide gitbook and s3
+      # TODO: deploy to userguide gitbook
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/px4_sitl_default/docs/'
+        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
 
   module:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-04-29
+    container: px4io/px4-dev-base-focal:2021-05-04
     steps:
     - uses: actions/checkout@v1
       with:
@@ -41,7 +52,7 @@ jobs:
 
   parameter:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-04-29
+    container: px4io/px4-dev-base-focal:2021-05-04
     steps:
     - uses: actions/checkout@v1
       with:
@@ -63,9 +74,36 @@ jobs:
         SOURCE_DIR: 'build/px4_sitl_default/docs/'
         DEST_DIR: 'Firmware/${{ env.version }}/_general/'
 
+  events:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-05-04
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: events metadata
+      run: |
+        make extract_events
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
+        cd build/px4_sitl_default
+        mkdir _events_full || true
+        cp events/all_events_full.json.xz _events_full/all_events.json.xz
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/px4_sitl_default/_events_full/'
+        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
+
   uorb_graph:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-04-29
+    container: px4io/px4-dev-nuttx-focal:2021-05-04
     steps:
     - uses: actions/checkout@v1
       with:
@@ -80,7 +118,7 @@ jobs:
 
   micrortps_agent:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-04-29
+    container: px4io/px4-dev-base-focal:2021-05-04
     steps:
     - uses: actions/checkout@v1
       with:
@@ -94,7 +132,7 @@ jobs:
 
   ROS_msgs:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-04-29
+    container: px4io/px4-dev-base-focal:2021-05-04
     steps:
     - uses: actions/checkout@v1
       with:
@@ -107,7 +145,7 @@ jobs:
 
   ROS2_bridge:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-04-29
+    container: px4io/px4-dev-base-focal:2021-05-04
     steps:
     - uses: actions/checkout@v1
       with:

.github/workflows/python_checks.yml

@@ -18,7 +18,7 @@ jobs:
     - name: Install Python3
       run: sudo apt-get install python3 python3-setuptools python3-pip -y
     - name: Install tools
-      run: pip3 install --user mypy flake8
+      run: pip3 install --user mypy types-requests flake8
     - name: Check MAVSDK test scripts with mypy
       run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
     - name: Check MAVSDK test scripts with flake8

.github/workflows/sitl_tests.yml

@@ -15,12 +15,13 @@ jobs:
       fail-fast: false
       matrix:
         config:
-          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo", model: "iris"          } # Alaska
-          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "RelWithDebInfo", model: "standard_vtol" } # Australia
-          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo", model: "tailsitter"    } # Florida
-          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",       model: "standard_vtol" } # Zurich
+          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo",   model: "iris"          } # Alaska
+          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer", model: "standard_vtol" } # Australia
+          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo",   model: "tailsitter"    } # Florida
+          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",         model: "standard_vtol" } # Zurich
+
     container:
-      image: px4io/px4-dev-simulation-focal:2021-04-29
+      image: px4io/px4-dev-simulation-focal:2021-05-04
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1

.gitignore

@@ -108,3 +108,5 @@ src/systemcmds/topic_listener/listener_generated.cpp
 # SITL
 dataman
 eeprom/
+
+!src/drivers/distance_sensor/broadcom/afbrs50/Lib/*

.gitmodules

@@ -18,10 +18,6 @@
 	path = src/lib/matrix
 	url = https://github.com/PX4/PX4-Matrix.git
 	branch = master
-[submodule "src/lib/ecl"]
-	path = src/lib/ecl
-	url = https://github.com/PX4/PX4-ECL.git
-	branch = master
 [submodule "boards/atlflight/cmake_hexagon"]
 	path = boards/atlflight/cmake_hexagon
 	url = https://github.com/PX4/cmake_hexagon.git
@@ -67,3 +63,10 @@
 	path = src/drivers/uavcan_v1/legacy_data_types
 	url = https://github.com/PX4/public_regulated_data_types.git
 	branch = legacy
+[submodule "src/lib/crypto/monocypher"]
+	path = src/lib/crypto/monocypher
+	url = https://github.com/PX4/Monocypher.git
+	branch = px4
+[submodule "src/lib/events/libevents"]
+	path = src/lib/events/libevents
+	url = https://github.com/mavlink/libevents.git

.vscode/cmake-variants.yaml

@@ -6,6 +6,16 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_default
+    px4_sitl_asan:
+      short: px4_sitl (AddressSanitizer)
+      buildType: AddressSanitizer
+      settings:
+        CONFIG: px4_sitl_default
+    px4_sitl_ubsan:
+      short: px4_sitl (UndefinedBehaviorSanitizer)
+      buildType: UndefinedBehaviorSanitizer
+      settings:
+        CONFIG: px4_sitl_default
     px4_sitl_replay:
       short: px4_sitl_replay
       buildType: RelWithDebInfo
@@ -51,6 +61,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: px4_fmu-v5x_default
+    px4_fmu-v6x_default:
+      short: px4_fmu-v6x
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6x_default
+    px4_fmu-v6x_bootloader:
+      short: px4_fmu-v6x_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6x_bootloader
     airmind_mindpx-v2_default:
       short: airmind_mindpx-v2
       buildType: MinSizeRel

CMakeLists.txt

@@ -129,6 +129,10 @@ define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
                  BRIEF_DOCS "PX4 module paths"
                  FULL_DOCS "List of paths to all PX4 modules"
                  )
+define_property(GLOBAL PROPERTY PX4_SRC_FILES
+                 BRIEF_DOCS "src files from all PX4 modules & libs"
+                 FULL_DOCS "SRC files from px4_add_{module,library}"
+                 )
 
 #=============================================================================
 # configuration
@@ -417,6 +421,9 @@ foreach(module ${config_module_list})
 	add_subdirectory(src/${module})
 endforeach()
 
+# add events lib after modules and libs as it needs to know all source files (PX4_SRC_FILES)
+add_subdirectory(src/lib/events EXCLUDE_FROM_ALL)
+
 # must be the last module before firmware
 add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
 target_link_libraries(parameters_interface INTERFACE parameters)

Jenkinsfile

@@ -15,7 +15,7 @@ pipeline {
         // stage('Catkin build on ROS workspace') {
         //   agent {
         //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2021-04-29'
+        //       image 'px4io/px4-dev-ros-melodic:2021-05-04'
         //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
         //     }
         //   }
@@ -56,7 +56,7 @@ pipeline {
         stage('Colcon build on ROS2 workspace') {
           agent {
             docker {
-              image 'px4io/px4-dev-ros2-foxy:2021-04-29'
+              image 'px4io/px4-dev-ros2-foxy:2021-05-04'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
             }
           }
@@ -85,7 +85,7 @@ pipeline {
 
         stage('Airframe') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
           }
           steps {
             sh 'make distclean'
@@ -105,7 +105,7 @@ pipeline {
 
         stage('Parameter') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
           }
           steps {
             sh 'make distclean'
@@ -125,7 +125,7 @@ pipeline {
 
         stage('Module') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
           }
           steps {
             sh 'make distclean'
@@ -146,7 +146,7 @@ pipeline {
         stage('uORB graphs') {
           agent {
             docker {
-              image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+              image 'px4io/px4-dev-nuttx-focal:2021-05-04'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
@@ -176,7 +176,7 @@ pipeline {
 
         stage('Userguide') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
           }
           steps {
             sh('export')
@@ -206,7 +206,7 @@ pipeline {
 
         stage('QGroundControl') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
           }
           steps {
             sh('export')
@@ -234,7 +234,7 @@ pipeline {
 
         stage('microRTPS agent') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
           }
           steps {
             sh('export')
@@ -264,7 +264,7 @@ pipeline {
 
         stage('PX4 ROS msgs') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
           }
           steps {
             sh('export')
@@ -293,7 +293,7 @@ pipeline {
 
         stage('PX4 ROS2 bridge') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
           }
           steps {
             sh('export')
@@ -336,7 +336,7 @@ pipeline {
 
         stage('S3') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
           }
           steps {
             sh('export')

Makefile

@@ -63,7 +63,7 @@ all: px4_sitl_default
 space := $(subst ,, )
 
 define make_list
-     $(shell cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
+     $(shell [ -f .github/workflows/compile_${1}.yml ] && cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
 endef
 
 # Parsing
@@ -165,6 +165,11 @@ ifdef PYTHON_EXECUTABLE
 	CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
 endif
 
+# Check if the microRTPS agent is to be built
+ifdef BUILD_MICRORTPS_AGENT
+  CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
+endif
+
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
@@ -274,7 +279,6 @@ misc_qgc_extra_firmware: \
 	check_bitcraze_crazyflie_default \
 	check_bitcraze_crazyflie21_default \
 	check_airmind_mindpx-v2_default \
-	check_px4_fmu-v2_lpe \
 	sizes
 
 # builds with RTPS
@@ -315,18 +319,21 @@ coverity_scan: px4_sitl_default
 
 # Documentation
 # --------------------------------------------------------------------
-.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata doxygen
+.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata doxygen
 
 parameters_metadata:
 	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen
 
 airframe_metadata:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes
+	@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes ver_gen
 
 module_documentation:
 	@$(MAKE) --no-print-directory px4_sitl_default metadata_module_documentation
 
-px4_metadata: parameters_metadata airframe_metadata module_documentation
+extract_events:
+	@$(MAKE) --no-print-directory px4_sitl_default metadata_extract_events ver_gen
+
+px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events
 
 doxygen:
 	@mkdir -p "$(SRC_DIR)"/build/doxygen

README.md

@@ -110,7 +110,7 @@ This repository contains code supporting Pixhawk standard boards (best supported
   * [Hex Cube Yellow](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_yellow.html)
   * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
   * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
-  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/flight_controller/crazyflie2.html)
+  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/complete_vehicles/crazyflie2.html)
   * [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
   * [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
   * [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)

ROMFS/px4fmu_common/init.d-posix/airframes/1016_iris_rtps

@@ -1,8 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (RTPS)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris

ROMFS/px4fmu_common/init.d-posix/airframes/1016_iris_rtps.post

@@ -1,4 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))

ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer

@@ -0,0 +1,54 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default EKF2_ARSP_THR 8
+param set-default EKF2_FUSE_BETA 1
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
+
+param set-default FW_LND_AIRSPD_SC 1
+param set-default FW_LND_ANG 8
+param set-default FW_THR_LND_MAX 0
+
+param set-default FW_L1_PERIOD 12
+
+param set-default FW_MAN_P_MAX 30
+
+param set-default FW_PR_I 0.4
+param set-default FW_PR_P 0.9
+param set-default FW_PR_FF 0.2
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
+param set-default FW_P_LIM_MIN -15
+
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_P 0.3
+
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_THR_CRUISE 0.25
+
+param set-default FW_T_ALT_TC 2
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_TAS_TC 2
+
+param set-default FW_W_EN 1
+
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 30
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 50
+
+param set-default RWTO_TKOFF 1
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom

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

@@ -46,8 +46,6 @@ px4_add_romfs_files(
 	1014_solo
 	1015_iris_obs_avoid
 	1015_iris_obs_avoid.post
-	1016_iris_rtps
-	1016_iris_rtps.post
 	1017_iris_opt_flow_mockup
 	1018_iris_vision_velocity
 	1019_iris_dual_gps
@@ -62,6 +60,7 @@ px4_add_romfs_files(
 	1034_rascal-electric
 	1035_techpod
 	1036_malolo
+	1037_believer
 	1040_standard_vtol
 	1041_tailsitter
 	1042_tiltrotor

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -48,10 +48,10 @@ else
 	# shellcheck disable=SC2012
 	REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
 	if [ -z "$REQUESTED_AUTOSTART" ]; then
-		echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
+		echo "ERROR  [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
 		exit 1
 	else
-		echo "Info: found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
+		echo "INFO  [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
 	fi
 fi
 
@@ -126,7 +126,7 @@ then
 	param set SYS_RESTART_TYPE 2
 fi
 
-param set-default BAT_N_CELLS 4
+param set-default BAT1_N_CELLS 4
 
 param set-default CBRK_AIRSPD_CHK 0
 param set-default CBRK_SUPPLY_CHK 894281
@@ -225,6 +225,12 @@ sensors start
 commander start
 navigator start
 
+# Try to start the micrortps_client with UDP transport if module exists
+if px4-micrortps_client status > /dev/null 2>&1
+then
+	# shellcheck disable=SC2154
+	micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
+fi
 
 if param greater -s MNT_MODE_IN -1
 then

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

@@ -13,12 +13,13 @@
 # @output MAIN6 gear
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
+# @board px4_fmu-v2 exclude
 #
 
 . ${R}etc/init.d/rc.fw_defaults
 
 
-param set-default BAT_N_CELLS 3
+param set-default BAT1_N_CELLS 3
 
 param set-default FW_AIRSPD_MAX 20
 param set-default FW_AIRSPD_MIN 12

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

@@ -38,8 +38,9 @@ param set-default MC_YAWRATE_P 0.25
 param set-default MC_YAWRATE_I 0.25
 param set-default MC_YAWRATE_D 0
 
-param set-default BAT_V_DIV 12.27559
-param set-default BAT_A_PER_V 15.39103
+param set-default BAT1_V_DIV 12.27559
+param set-default BAT1_A_PER_V 15.39103
+
 set MIXER quad_w
 
 set PWM_OUT 1234

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

@@ -26,7 +26,7 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 
-param set-default BAT_N_CELLS 4
+param set-default BAT1_N_CELLS 4
 
 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.13

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

@@ -26,8 +26,8 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 
-param set-default BAT_N_CELLS 6
-param set-default BAT_V_EMPTY 3.5
+param set-default BAT1_N_CELLS 6
+param set-default BAT1_V_EMPTY 3.5
 
 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.08
@@ -45,6 +45,7 @@ param set-default MC_YAWRATE_D 0
 param set-default MPC_XY_VEL_MAX 2
 
 param set-default PWM_MAIN_MIN 1080
+
 set MIXER quad_w
 
 set PWM_OUT 1234

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

@@ -6,6 +6,7 @@
 # @class Copter
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
+# @board px4_fmu-v2 exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults

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

@@ -14,7 +14,7 @@
 . ${R}etc/init.d/rc.vtol_defaults
 
 
-param set-default BAT_N_CELLS 3
+param set-default BAT1_N_CELLS 3
 
 param set-default COM_RC_IN_MODE 1
 

ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik

@@ -44,7 +44,8 @@ param set-default MPC_HOLD_MAX_XY 0.25
 param set-default MPC_THR_MIN 0.15
 param set-default MPC_Z_VEL_MAX_DN 2
 
-param set-default BAT_N_CELLS 4
+param set-default BAT1_N_CELLS 4
+
 set MIXER octo_cox_w
 
 set PWM_OUT 12345678

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

@@ -23,9 +23,9 @@
 . ${R}etc/init.d/rc.vtol_defaults
 
 
-param set-default BAT_CAPACITY 23000
-param set-default BAT_N_CELLS 4
-param set-default BAT_R_INTERNAL 0.0025
+param set-default BAT1_CAPACITY 23000
+param set-default BAT1_N_CELLS 4
+param set-default BAT1_R_INTERNAL 0.0025
 
 param set-default CBRK_AIRSPD_CHK 162128
 param set-default CBRK_IO_SAFETY 22027

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

@@ -23,8 +23,7 @@
 . ${R}etc/init.d/rc.vtol_defaults
 
 
-
-param set-default BAT_N_CELLS 6
+param set-default BAT1_N_CELLS 6
 
 param set-default FW_AIRSPD_MAX 30
 param set-default FW_AIRSPD_MIN 19
@@ -71,7 +70,6 @@ param set-default MPC_JERK_AUTO 4
 param set-default MPC_LAND_SPEED 1
 param set-default MPC_MAN_TILT_MAX 25
 param set-default MPC_MAN_Y_MAX 40
-param set-default MPC_POS_MODE 3
 param set-default MPC_SPOOLUP_TIME 1.5
 param set-default MPC_THR_HOVER 0.45
 param set-default MPC_TILTMAX_AIR 25

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

@@ -13,6 +13,7 @@
 # @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
 #
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v2 exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults

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

@@ -13,6 +13,7 @@
 # @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
 #
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v2 exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2

@@ -26,8 +26,8 @@
 . ${R}etc/init.d/rc.fw_defaults
 
 
-param set-default BAT_CAPACITY 2500
-param set-default BAT_N_CELLS 3
+param set-default BAT1_CAPACITY 2500
+param set-default BAT1_N_CELLS 3
 
 param set-default PWM_AUX_RATE 50
 param set-default PWM_MAIN_RATE 50
@@ -46,5 +46,6 @@ param set-default FW_R_LIM 40
 param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
+
 set MIXER TF-AutoG2
 set MIXER_AUX pass

ROMFS/px4fmu_common/init.d/airframes/3031_phantom

@@ -48,8 +48,7 @@ param set-default PWM_MAIN_DISARM 1000
 # the payload bay is pitched up about 7 degrees
 param set-default SENS_BOARD_Y_OFF 7
 
-
-set MIXER phantom
+set MIXER fw_generic_wing
 
 # Provide ESC a constant 1000 us pulse
 set PWM_OUT 4

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

@@ -23,7 +23,7 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default BAT_N_CELLS 2
+param set-default BAT1_N_CELLS 2
 param set-default FW_AIRSPD_MAX 15
 param set-default FW_AIRSPD_MIN 10
 param set-default FW_AIRSPD_TRIM 13
@@ -48,7 +48,7 @@ param set-default PWM_MAIN_DISARM 1000
 set MAV_TYPE 1
 
 # Set mixer.
-set MIXER wingwing
+set MIXER fw_generic_wing
 
 # Provide ESC a constant 1000 us pulse.
 set PWM_OUT 4

ROMFS/px4fmu_common/init.d/airframes/3034_fx79

@@ -27,5 +27,4 @@ param set-default FW_AIRSPD_TRIM 15
 
 param set-default NAV_LOITER_RAD 150
 
-
-set MIXER FX79
+set MIXER fw_generic_wing

ROMFS/px4fmu_common/init.d/airframes/3036_pigeon

@@ -49,8 +49,7 @@ param set-default PWM_MAIN_DISARM 1000
 # the payload bay is pitched up about 7 degrees
 param set-default SENS_BOARD_Y_OFF 11.9
 
-
-set MIXER phantom
+set MIXER fw_generic_wing
 
 # Provide ESC a constant 1000 us pulse
 set PWM_OUT 4

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

@@ -63,6 +63,6 @@ param set-default PWM_MAIN_REV2 1
 param set-default PWM_MAIN_MIN 900
 param set-default PWM_MAIN_MAX 2100
 
+set MIXER fw_generic_wing
 
-set MIXER caipi
 set PWM_OUT 1234

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

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# @name Lumenier QAV-R (raceblade) 5" arms
+# @name Lumenier QAV-R (raceblade) 5inch arms
 #
 # @type Quadrotor x
 # @class Copter

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

@@ -127,9 +127,9 @@ param set-default IMU_GYRO_CUTOFF 100
 param set-default SENS_EN_PMW3901 1
 
 # Power Parameters
-param set-default BAT_N_CELLS 4
-param set-default BAT_A_PER_V 36.364
-param set-default BAT_V_DIV 18.182
+param set-default BAT1_N_CELLS 4
+param set-default BAT1_A_PER_V 36.364
+param set-default BAT1_V_DIV 18.182
 
 # Circuit breakers
 param set-default CBRK_IO_SAFETY 22027

ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb

@@ -1,38 +0,0 @@
-#!/bin/sh
-#
-# @name Hobbyking Micro PCB
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @maintainer Thomas Gubler <thomas@px4.io>
-#
-# @board px4_fmu-v2 exclude
-# @board px4_fmu-v3 exclude
-# @board px4_fmu-v4 exclude
-# @board px4_fmu-v4pro exclude
-# @board px4_fmu-v5 exclude
-# @board px4_fmu-v5x exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
-
-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.1
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.1
-param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_YAW_P 2.8
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
-
-param set-default PWM_MAIN_MIN 1200

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

@@ -54,7 +54,7 @@ param set-default DSHOT_CONFIG 600
 param set-default SYS_HAS_BARO 0
 param set-default SYS_HAS_MAG 0
 
-param set-default BAT_N_CELLS 2
+param set-default BAT1_N_CELLS 2
 # The Whoop uses reversed props
 set MIXER quad_h
 set PWM_OUT 1234

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

@@ -20,7 +20,7 @@ set PWM_OUT 1234
 
 
 # The set does not include a battery, but most people will probably use 4S
-param set-default BAT_N_CELLS 4
+param set-default BAT1_N_CELLS 4
 
 param set-default IMU_GYRO_CUTOFF 120
 param set-default IMU_DGYRO_CUTOFF 45

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

@@ -17,7 +17,7 @@ set MIXER quad_x
 set PWM_OUT 1234
 
 
-param set-default BAT_N_CELLS 4
+param set-default BAT1_N_CELLS 4
 
 param set-default GPS_1_CONFIG 0
 param set-default RC_PORT_CONFIG 201

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

@@ -17,7 +17,7 @@ set MIXER quad_x
 set PWM_OUT 1234
 
 
-param set-default BAT_N_CELLS 6
+param set-default BAT1_N_CELLS 6
 
 param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.05

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

@@ -92,10 +92,10 @@ param set-default MPC_TKO_RAMP_T 1
 param set-default MPC_TKO_SPEED 1.1
 param set-default MPC_VEL_MANUAL 3
 
-param set-default BAT_SOURCE 0
-param set-default BAT_N_CELLS 4
-param set-default BAT_V_DIV 10.14
-param set-default BAT_A_PER_V 18.18
+param set-default BAT1_SOURCE 0
+param set-default BAT1_N_CELLS 4
+param set-default BAT1_V_DIV 10.14
+param set-default BAT1_A_PER_V 18.18
 #param set CBRK_IO_SAFETY 22027
 param set-default COM_DISARM_LAND 2
 

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

@@ -73,7 +73,7 @@ param set-default PWM_MAIN_RATE 0
 
 param set-default SENS_BOARD_ROT 2
 
-param set-default BAT_SOURCE 0
+param set-default BAT1_SOURCE 0
 param set-default CBRK_IO_SAFETY 22027
 #param set COM_DISARM_LAND 3
 

ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s

@@ -102,10 +102,10 @@ param set-default MPC_TKO_RAMP_T 1
 param set-default MPC_TKO_SPEED 1.1
 param set-default MPC_VEL_MANUAL 3
 
-param set-default BAT_SOURCE 0
-param set-default BAT_N_CELLS 4
-param set-default BAT_V_DIV 10.14
-param set-default BAT_A_PER_V 18.18
+param set-default BAT1_SOURCE 0
+param set-default BAT1_N_CELLS 4
+param set-default BAT1_V_DIV 10.14
+param set-default BAT1_A_PER_V 18.18
 #param set CBRK_IO_SAFETY 22027
 param set-default COM_DISARM_LAND 2
 

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

@@ -21,7 +21,7 @@ set MIXER quad_x
 set PWM_OUT 1234
 
 
-param set-default BAT_N_CELLS 1
+param set-default BAT1_N_CELLS 1
 
 param set-default MC_ROLL_P 8
 param set-default MC_ROLLRATE_P 0.19

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

@@ -32,17 +32,18 @@ set PWM_OUT 1234
 param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* CAL_MAG* SENS_BOARD* EKF2_MAGBIAS*
 
 # battery
-param set-default BAT_CAPACITY 2750
 param set-default BAT_CRIT_THR 0.15
 param set-default BAT_EMERGEN_THR 0.075
 param set-default BAT_LOW_THR 0.20
-param set-default BAT_N_CELLS 4
-param set-default BAT_R_INTERNAL 0.06
-param set-default BAT_SOURCE 1
-param set-default BAT_V_CHARGED 4.15
-param set-default BAT_V_DIV 11.1625
-param set-default BAT_V_EMPTY 3.65
-param set-default BAT_V_OFFS_CURR -0.0045
+
+param set-default BAT1_CAPACITY 2750
+param set-default BAT1_N_CELLS 4
+param set-default BAT1_R_INTERNAL 0.06
+param set-default BAT1_SOURCE 1
+param set-default BAT1_V_CHARGED 4.15
+param set-default BAT1_V_DIV 11.1625
+param set-default BAT1_V_EMPTY 3.65
+param set-default BAT1_V_OFFS_CURR -0.0045
 
 # sensor calibration
 param set-default CAL_MAG_SIDES 63

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

@@ -19,9 +19,9 @@
 set MIXER quad_x_cw
 set PWM_OUT 1234
 
-param set-default BAT_N_CELLS 1
-param set-default BAT_CAPACITY 240
-param set-default BAT_SOURCE 1
+param set-default BAT1_N_CELLS 1
+param set-default BAT1_CAPACITY 240
+param set-default BAT1_SOURCE 1
 
 param set-default CBRK_SUPPLY_CHK 894281
 param set-default CBRK_USB_CHK 197848

ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle

@@ -16,7 +16,7 @@
 . ${R}etc/init.d/rc.rover_defaults
 
 
-param set-default BAT_N_CELLS 2
+param set-default BAT1_N_CELLS 2
 
 param set-default EKF2_ANGERR_INIT 0.01
 param set-default EKF2_GBIAS_INIT 0.01

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

@@ -2,7 +2,7 @@
 #
 # @name Aion Robotics R1 UGV
 #
-# @url http://docs.aionrobotics.com/en/latest/r1-ugv.html
+# @url https://www.aionrobotics.com/r1
 #
 # @type Rover
 # @class Rover
@@ -19,7 +19,7 @@
 . ${R}etc/init.d/rc.rover_defaults
 
 
-param set-default BAT_N_CELLS 4
+param set-default BAT1_N_CELLS 4
 
 param set-default EKF2_GBIAS_INIT 0.01
 param set-default EKF2_ANGERR_INIT 0.01

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

@@ -21,7 +21,7 @@
 . ${R}etc/init.d/rc.rover_defaults
 
 
-param set-default BAT_N_CELLS 2
+param set-default BAT1_N_CELLS 2
 
 param set-default EKF2_GBIAS_INIT 0.01
 param set-default EKF2_ANGERR_INIT 0.01

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

@@ -116,9 +116,9 @@ param set-default COM_DISARM_LAND 3
 param set-default PWM_MAIN_RATE 0
 
 # Battery
-param set-default BAT_SOURCE 0
-param set-default BAT_N_CELLS 4
-param set-default BAT_V_DIV 10.133
+param set-default BAT1_SOURCE 0
+param set-default BAT1_N_CELLS 4
+param set-default BAT1_V_DIV 10.133
 
 # TELEM1 ttyS1
 param set-default MAV_0_CONFIG 101

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

@@ -71,7 +71,6 @@ px4_add_romfs_files(
 	4016_holybro_px4vision
 	4017_nxp_hovergames
 	4018_s500_ctrlalloc
-	4020_hk_micro_pcb
 	4030_3dr_solo
 	4031_3dr_quad
 	4040_reaper

ROMFS/px4fmu_common/init.d/rc.interface

@@ -226,6 +226,8 @@ then
 	fi
 fi
 
+param set PWM_AUX_OUT ${PWM_AUX_OUT}
+
 if [ $MIXER_AUX != none -a $AUX_MODE = none -a -e $OUTPUT_AUX_DEV ]
 then
 	#
@@ -268,6 +270,8 @@ then
 	fi
 fi
 
+param set PWM_MAIN_OUT ${PWM_OUT}
+
 if [ $EXTRA_MIXER_MODE != none ]
 then
 

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -26,6 +26,12 @@ then
 	batt_smbus start -X
 fi
 
+# Start batmon driver if enabled using BATMON_DRIVER_EN
+if param compare -s BATMON_DRIVER_EN 1
+then
+	batmon start -X  #start on external bus
+fi
+
 # Sensors on the PWM interface bank
 if param compare -s SENS_EN_LL40LS 1
 then
@@ -111,7 +117,14 @@ fi
 # ADIS16448 spi external IMU
 if param compare -s SENS_EN_ADIS164X 1
 then
-	adis16448 -S start
+	if param compare -s SENS_OR_ADIS164X 0
+	then
+		adis16448 -S start
+	fi
+	if param compare -s SENS_OR_ADIS164X 4
+	then
+		adis16448 -S start -R 4
+	fi
 fi
 
 # probe for optional external I2C devices

ROMFS/px4fmu_common/init.d/rcS

@@ -81,33 +81,6 @@ then
 			hardfault_log reset
 		fi
 	fi
-
-	# Prevent MacOS and Ubuntu from creating unnecessary temporary files on the microSD card
-
-	# block MacOS Spotlight indexing (.Spotlight-V100 folder)
-	if [ ! -f "/fs/microsd/.metadata_never_index" ]; then
-		cat > /fs/microsd/.metadata_never_index
-	fi
-
-	# block MacOS trashes
-	if [ ! -f "/fs/microsd/.Trashes" ]; then
-		cat > /fs/microsd/.Trashes
-	fi
-
-	# block MacOS logging of filesystem events
-	if [ ! -d "/fs/microsd/.fseventsd" ]; then
-		mkdir /fs/microsd/.fseventsd
-	fi
-
-	if [ ! -f "/fs/microsd/.fseventsd/no_log" ]; then
-		cat > /fs/microsd/.fseventsd/no_log
-	fi
-
-	# block Ubuntu trash
-	if [ ! -f "/fs/microsd/.Trash-1000" ]; then
-		cat > /fs/microsd/.Trash-1000
-	fi
-
 else
 	# tune SD_INIT
 	set STARTUP_TUNE 14 # tune 14 = SD_INIT
@@ -404,21 +377,30 @@ else
 
 	if param greater -s TRIG_MODE 0
 	then
-		# We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
-		if param compare TRIG_PINS 56
+		if param compare TRIG_PINS_EX 0
 		then
-			# clear pins 5 and 6
-			set FMU_MODE pwm4
-			set AUX_MODE pwm4
-		else
-			if param compare TRIG_PINS 78
+			# We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
+			if param compare TRIG_PINS 56
 			then
-				# clear pins 7 and 8
-				set FMU_MODE pwm6
-				set AUX_MODE pwm6
+				# clear pins 5 and 6
+				set FMU_MODE pwm4
+				set AUX_MODE pwm4
 			else
-				set FMU_MODE none
-				set AUX_MODE none
+				if param compare TRIG_PINS 78
+				then
+					# clear pins 7 and 8
+					set FMU_MODE pwm6
+					set AUX_MODE pwm6
+				else
+					set FMU_MODE none
+					set AUX_MODE none
+				fi
+			fi
+		else
+			if param compare TRIG_PINS_EX 12288
+			then
+				set FMU_MODE pwm12
+				set AUX_MODE pwm12
 			fi
 		fi
 

ROMFS/px4fmu_common/mixers/CMakeLists.txt

@@ -39,7 +39,6 @@ px4_add_romfs_files(
 	AETRFG.main.mix
 	babyshark.main.mix
 	blade130.main.mix
-	caipi.main.mix
 	CCPM.main.mix
 	claire.aux.mix
 	claire.main.mix
@@ -53,7 +52,6 @@ px4_add_romfs_files(
 	firefly6.aux.mix
 	firefly6.main.mix
 	fw_generic_wing.main.mix
-	FX79.main.mix
 	generic_diff_rover.main.mix
 	hexa_cox.main.mix
 	hexa_+.main.mix
@@ -66,7 +64,6 @@ px4_add_romfs_files(
 	octo_+.main.mix
 	octo_x.main.mix
 	pass.aux.mix
-	phantom.main.mix
 	quad_dc.main.mix
 	quad_h.main.mix
 	quad_+.main.mix
@@ -94,5 +91,4 @@ px4_add_romfs_files(
 	vtol_convergence.main.mix
 	vtol_delta.aux.mix
 	vtol_tailsitter_duo.main.mix
-	wingwing.main.mix
 )

ROMFS/px4fmu_common/mixers/FX79.main.mix

@@ -1,50 +0,0 @@
-FX-79 Delta-wing mixer for PX4FMU
-=================================
-
-Designed for FX-79.
-
-TODO (sjwilks): Add mixers for flaps.
-
-This file defines mixers suitable for controlling a delta wing aircraft using
-PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
-servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
-assumed to be unused.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
-
-See the README for more information on the scaler format.
-
-Elevon mixers
--------------
-Three scalers total (output, roll, pitch).
-
-On the assumption that the two elevon servos are physically reversed, the pitch
-input is inverted between the two servos.
-
-The scaling factor for roll inputs is adjusted to implement differential travel
-for the elevons.
-
-M: 2
-S: 0 0   8500   8500      0 -10000  10000
-S: 0 1   9500   9500      0 -10000  10000
-
-M: 2
-S: 0 0   8500   8500      0 -10000  10000
-S: 0 1  -9500  -9500      0 -10000  10000
-
-Output 2
---------
-This mixer is empty.
-
-Z:
-
-Motor speed mixer
------------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-S: 0 3      0  20000 -10000 -10000  10000

ROMFS/px4fmu_common/mixers/babyshark.main.mix

@@ -2,6 +2,7 @@
 # 1-4 (main): Ailerons (Y-cable), A-tail left, Pusher, A-tail right
 # 5-8 (main): quad motors
 #=============================
+# @board px4_fmu-v2 exclude
 
 
 Aileron mixer (roll)

ROMFS/px4fmu_common/mixers/caipi.main.mix

@@ -1,48 +0,0 @@
-Delta-wing mixer
-===========================
-
-Designed for TBS Caipirinha
-
-This file defines mixers suitable for controlling a delta wing aircraft using
-PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
-servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
-assumed to be unused.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
-
-See the README for more information on the scaler format.
-
-Elevon mixers
--------------
-Three scalers total (output, roll, pitch).
-
-On the assumption that the two elevon servos are physically reversed, the pitch
-input is inverted between the two servos.
-
-The scaling factor for roll inputs is adjusted to implement differential travel
-for the elevons.
-
-M: 2
-S: 0 0   8000   8000      0 -10000  10000
-S: 0 1   9000   9000      0 -10000  10000
-
-M: 2
-S: 0 0   8000   8000      0 -10000  10000
-S: 0 1  -9000  -9000      0 -10000  10000
-
-Output 2
---------
-This mixer is empty.
-
-Z:
-
-Motor speed mixer
------------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-S: 0 3      0  20000 -10000 -10000  10000

ROMFS/px4fmu_common/mixers/cloudship.main.mix

@@ -1,6 +1,8 @@
 Thrust tilt/ Starboard Thrust / Port Thrust / Tail Thrust mixer for PX4FMU
 =======================================================
 
+# @board px4_fmu-v2 exclude
+
 This file defines mixers suitable for controlling an airship with
 a thrust tilt, starboard and port thruster and a tail thruster using PX4FMU.
 The configuration assumes the starboard thruster is connected to PX4FMU

ROMFS/px4fmu_common/mixers/deltaquad.main.mix

@@ -1,5 +1,6 @@
 # DeltaQuad mixer for PX4FMU
 #=============================
+# @board px4_fmu-v2 exclude
 
 Quad motors 1 - 4
 -------------

ROMFS/px4fmu_common/mixers/dodeca_bottom_cox.aux.mix

@@ -1,3 +1,4 @@
 # Dodeca Cox
+# @board px4_fmu-v2 exclude
 
 R: 6a

ROMFS/px4fmu_common/mixers/dodeca_top_cox.main.mix

@@ -1,3 +1,4 @@
 # Dodeca Cox
+# @board px4_fmu-v2 exclude
 
 R: 6m

ROMFS/px4fmu_common/mixers/firefly6.aux.mix

@@ -1,6 +1,8 @@
 # mixer for the FireFly6 tilt mechansim servo, elevons and landing gear
 =======================================================================
 
+# @board px4_fmu-v2 exclude
+
 Tilt mechanism servo mixer
 ---------------------------
 M: 1

ROMFS/px4fmu_common/mixers/firefly6.main.mix

@@ -1,4 +1,6 @@
 # FireFly6 mixer for PX4FMU
 #
 #===========================
+# @board px4_fmu-v2 exclude
+
 R: 6c

ROMFS/px4fmu_common/mixers/mount_legs.aux.mix

@@ -1,3 +1,4 @@
+# @board px4_fmu-v2 exclude
 
 # Roll channel for mount
 M: 1

ROMFS/px4fmu_common/mixers/phantom.main.mix

@@ -1,45 +0,0 @@
-Phantom FX-61 mixer
-===================
-
-This file defines mixers suitable for controlling a delta wing aircraft using
-PX4/Pixhawk. The configuration assumes the elevon servos are connected to
-servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
-assumed to be unused.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
-
-See the README for more information on the scaler format.
-
-Elevon mixers
--------------
-Three scalers total (output, roll, pitch).
-
-On the assumption that the two elevon servos are physically reversed, the pitch
-input is inverted between the two servos.
-
-The scaling factor are set so that pitch will have more travel than roll.
-
-M: 2
-S: 0 0  -6000  -6000      0 -10000  10000
-S: 0 1   6500   6500      0 -10000  10000
-
-M: 2
-S: 0 0  -6000  -6000      0 -10000  10000
-S: 0 1  -6500  -6500      0 -10000  10000
-
-Output 2
---------
-This mixer is empty.
-
-Z:
-
-Motor speed mixer
------------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-S: 0 3      0  20000 -10000 -10000  10000

ROMFS/px4fmu_common/mixers/tilt_quad.aux.mix

@@ -1,6 +1,8 @@
 Tilt-Quadrotor mixer for PX4FMU (2/2) V2
 ===========================
 
+# @board px4_fmu-v2 exclude
+
 This file defines the aux outputs mixer for a Tilt-quadrotor in the + configuration.
 
 # @output AUX1 Outer servo motor for rotor 2 arm

ROMFS/px4fmu_common/mixers/tilt_quad.main.mix

@@ -1,6 +1,8 @@
 Tilt-Quadrotor mixer for PX4FMU (1/2) V2
 ===========================
 
+# @board px4_fmu-v2 exclude
+
 This file defines the main outputs mixer for a Tilt-quadrotor in the + configuration.
 
 # @output MAIN1 motor 1

ROMFS/px4fmu_common/mixers/vectored6dof.main.mix

@@ -1,3 +1,5 @@
+# @board px4_fmu-v2 exclude
+
 # Motor 1
 M: 3
 S: 0 2  -4000  -4000  0   -4000  +4000

ROMFS/px4fmu_common/mixers/vtol_AAERT.aux.mix

@@ -1,6 +1,8 @@
 Mixer for an AAERT VTOL
 =======================
 
+# @board px4_fmu-v2 exclude
+
 Aileron 1 mixer
 ---------------
 M: 1

ROMFS/px4fmu_common/mixers/vtol_AAVVT.aux.mix

@@ -1,6 +1,8 @@
 Aileron/v-tail/throttle VTOL mixer for PX4FMU
 =======================================================
 
+# @board px4_fmu-v2 exclude
+
 This file defines mixers suitable for controlling a fixed wing aircraft with
 aileron, v-tail (rudder, elevator) and throttle using PX4FMU.
 The configuration assumes the aileron servos are connected to PX4FMU 

ROMFS/px4fmu_common/mixers/vtol_TTTTAAER.aux.mix

@@ -1,5 +1,7 @@
 # Generic quadplane tiltrotor servo mixer
 
+# @board px4_fmu-v2 exclude
+
 # Tilt mechanism servo mixer
 ---------------------------
 # front left up:2000 down:1000

ROMFS/px4fmu_common/mixers/vtol_convergence.main.mix

@@ -1,4 +1,5 @@
 # E-flite Convergence Tricopter Y-Configuration Mixer
+# @board px4_fmu-v2 exclude
 
 # Motors
 R: 3y

ROMFS/px4fmu_common/mixers/wingwing.main.mix

@@ -1,48 +0,0 @@
-Delta-wing mixer for PX4FMU
-===========================
-
-Designed for Wing Wing Z-84
-
-This file defines mixers suitable for controlling a delta wing aircraft using
-PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
-servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
-assumed to be unused.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
-
-See the README for more information on the scaler format.
-
-Elevon mixers
--------------
-Three scalers total (output, roll, pitch).
-
-On the assumption that the two elevon servos are physically reversed, the pitch
-input is inverted between the two servos.
-
-The scaling factor for roll inputs is adjusted to implement differential travel
-for the elevons.
-
-M: 2
-S: 0 0  -6000  -6000      0 -10000  10000
-S: 0 1   6500   6500      0 -10000  10000
-
-M: 2
-S: 0 0  -6000  -6000      0 -10000  10000
-S: 0 1  -6500  -6500      0 -10000  10000
-
-Output 2
---------
-This mixer is empty.
-
-Z:
-
-Motor speed mixer
------------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-S: 0 3      0  20000 -10000 -10000  10000

Tools/astyle/files_to_check_code_style.sh

@@ -16,10 +16,12 @@ exec find boards msg src platforms test \
     -path src/drivers/uavcannode_gps_demo/libcanard -prune -o \
     -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
     -path src/lib/ecl -prune -o \
+    -path src/lib/events/libevents -prune -o \
     -path src/lib/matrix -prune -o \
     -path src/lib/parameters/uthash -prune -o \
     -path src/modules/gyro_fft/CMSIS_5 -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 \
     -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN

Tools/build_micrortps_agent.sh

@@ -0,0 +1,15 @@
+#!/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

Tools/compress.py

@@ -0,0 +1,20 @@
+#!/usr/bin/env python
+
+import argparse
+import lzma
+
+parser = argparse.ArgumentParser(description="""Compress a file with xz""")
+parser.add_argument('filename', metavar='file', help='Input file (output: file.xz)')
+
+args = parser.parse_args()
+filename = args.filename
+
+def save_compressed(filename):
+    #create xz compressed version
+    xz_filename=filename+'.xz'
+    with lzma.open(xz_filename, 'wt', preset=9) as f:
+        with open(filename, 'r') as content_file:
+            f.write(content_file.read())
+
+save_compressed(filename)
+

Tools/cryptotools.py

@@ -81,7 +81,8 @@ def sign(bin_file_path, key_file_path=None, generated_key_file=None):
         # Align to 4 bytes. Signature always starts at
         # 4 byte aligned address, but the signee size
         # might not be aligned
-        signee_bin += bytearray(b'\xff')*(4-len(signee_bin)%4)
+        if len(signee_bin)%4 != 0:
+            signee_bin += bytearray(b'\xff')*(4-len(signee_bin)%4)
 
     try:
         with open(key_file_path,mode='r') as f:
@@ -133,7 +134,7 @@ if(__name__ == "__main__"):
     parser.add_argument("signee", help=".bin file to add signature", nargs='?', default=None)
     parser.add_argument("signed", help="signed output .bin", nargs='?', default=None)
 
-    parser.add_argument("--key", help="key.json file", default="Tools/test_keys.json")
+    parser.add_argument("--key", help="key.json file", default="Tools/test_keys/test_keys.json")
     parser.add_argument("--rdct", help="binary R&D certificate file", default=None)
     parser.add_argument("--genkey", help="new generated key", default=None)
     args = parser.parse_args()
@@ -152,7 +153,7 @@ if(__name__ == "__main__"):
         sys.exit(1)
 
     # Issue a warning when signing with testing key
-    if args.key=='Tools/test_keys.json':
+    if args.key=='Tools/test_keys/test_keys.json':
         print("WARNING: Signing with PX4 test key")
 
     # Sign the binary

Tools/docker_run.sh

@@ -4,7 +4,7 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	echo "guessing PX4_DOCKER_REPO based on input";
 	if [[ $@ =~ .*px4_fmu.* ]]; then
 		# nuttx-px4fmu-v{1,2,3,4,5}
-		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-04-29"
+		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-05-04"
 	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
 		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
 		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"
@@ -30,7 +30,7 @@ fi
 
 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-04-29"
+	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-05-04"
 fi
 
 # docker hygiene

Tools/gazebo_sitl_multiple_run.sh

@@ -20,7 +20,7 @@ function spawn_model() {
 	X=${X:=0.0}
 	Y=${Y:=$((3*${N}))}
 
-	SUPPORTED_MODELS=("iris" "iris_rtps" "plane" "standard_vtol" "rover" "r1_rover" "typhoon_h480")
+	SUPPORTED_MODELS=("iris" "plane" "standard_vtol" "rover" "r1_rover" "typhoon_h480")
 	if [[ " ${SUPPORTED_MODELS[*]} " != *"$MODEL"* ]];
 	then
 		echo "ERROR: Currently only vehicle model $MODEL is not supported!"

Tools/mavlink_shell.py

@@ -12,6 +12,7 @@ import sys, select
 import termios
 from timeit import default_timer as timer
 from argparse import ArgumentParser
+import os
 
 try:
     from pymavlink import mavutil
@@ -135,15 +136,20 @@ def main():
 
     mav_serialport.write('\n') # make sure the shell is started
 
-    # setup the console, so we can read one char at a time
+    # disable echo & avoid buffering on stdin
     fd_in = sys.stdin.fileno()
-    old_attr = termios.tcgetattr(fd_in)
-    new_attr = termios.tcgetattr(fd_in)
-    new_attr[3] = new_attr[3] & ~termios.ECHO # lflags
-    new_attr[3] = new_attr[3] & ~termios.ICANON
+    try:
+        old_attr = termios.tcgetattr(fd_in)
+        new_attr = termios.tcgetattr(fd_in)
+        new_attr[3] = new_attr[3] & ~termios.ECHO # lflags
+        new_attr[3] = new_attr[3] & ~termios.ICANON
+        termios.tcsetattr(fd_in, termios.TCSANOW, new_attr)
+    except termios.error:
+        # tcgetattr can fail if stdin is not a tty
+        old_attr = None
+    ubuf_stdin = os.fdopen(fd_in, 'rb', buffering=0)
 
     try:
-        termios.tcsetattr(fd_in, termios.TCSANOW, new_attr)
         cur_line = ''
         command_history = []
         cur_history_index = 0
@@ -156,11 +162,19 @@ def main():
 
         next_heartbeat_time = timer()
 
-        while True:
+        quit_time = None
+        while quit_time is None or quit_time > timer():
             while True:
-                i, o, e = select.select([sys.stdin], [], [], 0)
+                i, o, e = select.select([ubuf_stdin], [], [], 0)
                 if not i: break
-                ch = sys.stdin.read(1)
+                ch = ubuf_stdin.read(1).decode('utf8')
+
+                if len(ch) == 0: # EOF
+                    if quit_time is None:
+                        # run a bit longer to read the response (we could also
+                        # read until we get a prompt)
+                        quit_time = timer() + 1
+                    break
 
                 # provide a simple shell with command history
                 if ch == '\n':
@@ -182,8 +196,8 @@ def main():
                         cur_line = cur_line[:-1]
                         sys.stdout.write(ch)
                 elif ord(ch) == 27:
-                    ch = sys.stdin.read(1) # skip one
-                    ch = sys.stdin.read(1)
+                    ch = ubuf_stdin.read(1).decode('utf8') # skip one
+                    ch = ubuf_stdin.read(1).decode('utf8')
                     if ch == 'A': # arrow up
                         if cur_history_index > 0:
                             cur_history_index -= 1
@@ -223,7 +237,8 @@ def main():
         mav_serialport.close()
 
     finally:
-        termios.tcsetattr(fd_in, termios.TCSADRAIN, old_attr)
+        if old_attr:
+            termios.tcsetattr(fd_in, termios.TCSADRAIN, old_attr)
 
 
 if __name__ == '__main__':

Tools/px4airframes/markdownout.py

@@ -6,7 +6,7 @@ import html
 class MarkdownTablesOutput():
     def __init__(self, groups, board, image_path):
         result = ("# Airframes Reference\n"
-                  "> **Note** **This list is [auto-generated](https://github.com/PX4/Firmware/edit/master/Tools/px4airframes/markdownout.py) from the source code**.\n"
+                  "> **Note** **This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/master/Tools/px4airframes/markdownout.py) from the source code**.\n"
                   "> \n"
                   "> **AUX** channels may not be present on some flight controllers.\n"
                   "> If present, PWM AUX channels are commonly labelled **AUX OUT**.\n"

Tools/px4events/jsonout.py

@@ -0,0 +1,58 @@
+import codecs
+import json
+import sys
+import os
+
+
+class JsonOutput():
+    def __init__(self, groups):
+        all_json = {}
+        all_json['version'] = 1
+        component = {}
+        all_json['components'] = {1: component} #1: autopilot component
+
+        all_events = {}
+        component['namespace'] = "px4"
+        component['event_groups'] = all_events
+
+        for group in groups:
+            current_group = {}
+            current_events = {}
+            current_group['events'] = current_events
+            all_events[group] = current_group
+
+            for e in groups[group]:
+                event_obj = {}
+                event_obj['name'] = e.name
+                event_obj['message'] = e.message
+                if e.description is not None:
+                    event_obj['description'] = e.description
+                args = []
+                for i in range(len(e.arguments)):
+                    arg = {}
+                    arg['type'] = e.arguments[i][0]
+                    arg['name'] = e.arguments[i][1]
+                    args.append(arg)
+                if len(args) > 0:
+                    event_obj['arguments'] = args
+                sub_id = e.sub_id
+                assert sub_id not in current_events, \
+                        "Duplicate event ID for {0} (message: '{1}'), other event message: '{2}'".format(
+                        e.name, e.message, current_events[sub_id]['message'])
+                current_events[sub_id] = event_obj
+
+        self.json = all_json
+
+    def save(self, filename):
+        need_to_write = True
+        # only write if current file is not the same, to avoid updating the file
+        # timestamp
+        if os.path.isfile(filename):
+            with open(filename, 'rb') as json_file:
+                existing_data = json.load(json_file)
+                if existing_data == self.json:
+                    need_to_write = False
+        if need_to_write:
+            with codecs.open(filename, 'w', 'utf-8') as f:
+                f.write(json.dumps(self.json,indent=2))
+

Tools/px4events/srcparser.py

@@ -0,0 +1,308 @@
+import sys
+import re
+import math
+
+def hash_32_fnv1a(data: str):
+    hash_val = 0x811c9dc5
+    prime = 0x1000193
+    for i in range(len(data)):
+        value = ord(data[i])
+        hash_val = hash_val ^ value
+        hash_val *= prime
+        hash_val &= 0xffffffff
+    return hash_val
+
+
+class Event(object):
+    """
+    Single event definition
+    """
+
+    def __init__(self):
+        self.name = None
+        self.message = None
+        self.description = None
+        self.group = "default"
+        self._arguments = []
+
+    @staticmethod
+    def _get_id(name):
+        return 0xffffff & hash_32_fnv1a(name)
+
+    @property
+    def arguments(self):
+        """ list of (type: str, name: str) tuples """
+        return self._arguments
+
+    def set_default_arguments(self, num_args):
+        """ set argument names to default (if not specified) """
+        for i in range(num_args):
+            self.add_argument(None, "arg"+str(i))
+
+    def _shift_printed_arguments(self, msg, offset):
+        """ shift all {<idx> arguments by an offset """
+        i = 0
+        while i < len(msg):
+
+            if msg[i] == '\\': # escaped character
+                i += 2
+                continue
+
+            if msg[i] == '{':
+                m = re.match(r"^(\d+)", msg[i+1:])
+                if m:
+                    arg_idx = int(m.group(1)) + offset
+                    msg = msg[:i+1] + str(arg_idx) + msg[i+1+len(m.group(1)):]
+            i += 1
+        return msg
+
+    def prepend_arguments(self, arguments):
+        """ prepend additional arguments, and shift all '{<index>}' in the
+            description and message
+            :param arguments: list of (type: str, name: str) tuples
+        """
+        self._arguments = arguments + self._arguments
+        num_added = len(arguments)
+        if self.message is not None:
+            self.message = self._shift_printed_arguments(self.message, num_added)
+        if self.description is not None:
+            self.description = self._shift_printed_arguments(self.description, num_added)
+
+    def add_argument(self, arg_type, name):
+        self._arguments.append((arg_type, name))
+
+    @property
+    def sub_id(self):
+        return self._get_id(self.name)
+
+    def validate(self):
+        if self.name is None: raise Exception("missing event name")
+        if self.message is None: raise Exception("missing event message for {}".format(self.name))
+        # just to ensure a common convention
+        assert self.message[-1] != '.', "Avoid event message ending in '.' ({:})".format(self.message)
+        # description is optional
+
+class SourceParser(object):
+    """
+    Parses provided data and stores all found events internally.
+    """
+
+    re_split_lines = re.compile(r'[\r\n]+')
+    re_comment_start = re.compile(r'^\/\*\s*EVENT$')
+    re_events_send = re.compile(r'^events::send[<\(]')
+    re_comment_content = re.compile(r'^\*\s*(.*)')
+    re_comment_tag = re.compile(r'^@([a-zA-Z][a-zA-Z0-9_]*):?\s*(.*)')
+    re_comment_end = re.compile(r'(.*?)\s*\*\/$')
+    re_code_end = re.compile(r'(.*?)\s*;$')
+    re_template_args = re.compile(r'([a-zA-Z0-9_:\.]+)\s*<([a-zA-Z0-9_,\s:]+)\s*>\s*\((.*)\);$')
+    re_no_template_args = re.compile(r'([a-zA-Z0-9_:\.]+)\s*\((.*)\);$')
+    re_event_id = re.compile(r'(events::)?ID\("([a-zA-Z0-9_]+)\"')
+
+    def __init__(self):
+        self._events = {}
+
+    @property
+    def events(self):
+        """ dict of 'group': [Event] list """
+        return self._events
+
+    def Parse(self, contents):
+        """
+        Incrementally parse program contents and append all found events
+        to the list.
+        """
+        # This code is essentially a comment-parsing grammar. "state"
+        # represents parser state. It contains human-readable state
+        # names.
+        state = None
+        def finalize_current_tag(event, tag, value):
+            if tag is None: return
+            if tag == "description":
+                descr = value.strip()
+                # merge continued lines (but not e.g. enumerations)
+                for i in range(1, len(descr)-1):
+                    if descr[i-1] != '\n' and descr[i] == '\n' and descr[i+1].isalpha():
+                        descr = descr[:i] + ' ' + descr[i+1:]
+                event.description = descr
+            elif tag == "group":
+                known_groups = ["calibration", "health", "arming_check", "normal"]
+                event.group = value.strip()
+                if not event.group in known_groups:
+                    raise Exception("Unknown event group: '{}'\nKnown groups: {}\n" \
+                        "If this is not a typo, add the new group to the script".format(event.group, known_groups))
+            elif tag.startswith("arg"):
+                arg_index = int(tag[3:])-1
+                arg_name = value.strip()
+                assert len(event.arguments) == arg_index, "Invalid argument ordering/duplicate ({}, {})".format(tag, value)
+                event.add_argument(None, arg_name)
+            else:
+                raise Exception("Invalid tag: {}\nvalue: {}".format(tag, value))
+
+        for line in self.re_split_lines.split(contents):
+            line = line.strip()
+            # Ignore empty lines
+            if line == "":
+                continue
+
+            assert not line.startswith("using namespace events;"), "Avoid 'using namespace events;', as it prevents proper events extraction"
+
+            # Check for '/* EVENT'
+            if self.re_comment_start.match(line):
+                state = "parse-comments"
+                event = Event()
+                current_tag = None
+                current_value = None
+                current_code = ""
+                continue
+
+            # Check for events::send (allow '/* EVENT' to be optional)
+            if state is None and self.re_events_send.match(line):
+                state = "parse-command"
+                event = Event()
+                current_tag = None
+                current_value = None
+                current_code = ""
+
+            if state is None:
+                assert 'events::ID(' not in line or line.startswith('//'), \
+                    "unmatched 'events::ID(' found in line '{:}'".format(line)
+                continue
+
+            if state == "parse-command":
+                current_code += line
+                m = self.re_code_end.search(line)
+                if m:
+                    # extract template arguments
+                    m = self.re_template_args.search(current_code)
+                    if m:
+                        call, template_args, args = m.group(1, 2, 3)
+                        template_args = template_args.split(',')
+                    else:
+                        m = self.re_no_template_args.search(current_code)
+                        if m:
+                            template_args = []
+                            call, args = m.group(1, 2)
+                        else:
+                            raise Exception("Failed to parse code line {:}".format(current_code))
+
+                    # if event arguments are not specified, use default naming
+                    if len(event.arguments) == 0:
+                        event.set_default_arguments(len(template_args))
+
+                    # get argument types from template arguments
+                    assert len(template_args) == len(event.arguments), \
+                        "Number of arguments mismatch (args: {:})".format(template_args)
+                    num_args = len(template_args)
+                    for i in range(num_args):
+                        arg_name = event.arguments[i][1]
+                        arg_type = template_args[i].strip()
+                        if arg_type.startswith('events::'):
+                            arg_type = arg_type[8:]
+                        arg_type = arg_type.replace('enums::', '')
+                        event.arguments[i] = (arg_type, arg_name)
+                    #print("method: {}, args: {}, template args: {}".format(call, args, event.arguments))
+
+                    ignore_event = False
+
+                    # extract function arguments
+                    args_split = self._parse_arguments(args)
+                    if call == "events::send" or call == "send":
+                        if len(args_split) == 1:
+                            # This is a send call for a generated event
+                            ignore_event = True
+                        else:
+                            assert len(args_split) == num_args + 3, \
+                                "Unexpected Number of arguments for: {:}, " \
+                                "num template args: {:} (missing template args?)" \
+                                .format(args_split, num_args)
+                            m = self.re_event_id.search(args_split[0])
+                            if m:
+                                _, event_name = m.group(1, 2)
+                            else:
+                                raise Exception("Could not extract event ID from {:}".format(args_split[0]))
+                            event.name = event_name
+                            event.message = args_split[2][1:-1]
+                    elif call in ['reporter.healthFailure', 'reporter.armingCheckFailure']:
+                        assert len(args_split) == num_args + 5, \
+                            "Unexpected Number of arguments for: {:}, {:}".format(args_split, num_args)
+                        m = self.re_event_id.search(args_split[2])
+                        if m:
+                            _, event_name = m.group(1, 2)
+                        else:
+                            raise Exception("Could not extract event ID from {:}".format(args_split[2]))
+                        event.name = event_name
+                        event.message = args_split[4][1:-1]
+                        if 'health' in call:
+                            event.group = "health"
+                        else:
+                            event.group = "arming_check"
+                        event.prepend_arguments([('common::navigation_mode_category_t', 'modes'),
+                                ('uint8_t', 'health_component_index')])
+                    else:
+                        raise Exception("unknown event method call: {}, args: {}".format(call, args))
+
+                    if not ignore_event:
+                        event.validate()
+
+                        # insert
+                        if not event.group in self._events:
+                            self._events[event.group] = []
+                        self._events[event.group].append(event)
+
+                    state = None
+
+            else: # parse-comments
+                m = self.re_comment_end.search(line)
+                if m:
+                    line = m.group(1)
+                    last_comment_line = True
+                else:
+                    last_comment_line = False
+                m = self.re_comment_content.match(line)
+                if m:
+                    comment_content = m.group(1)
+                    m = self.re_comment_tag.match(comment_content)
+                    if m:
+                        finalize_current_tag(event, current_tag, current_value)
+                        current_tag, current_value = m.group(1, 2)
+                    elif current_tag is not None:
+                        current_value += "\n"+comment_content
+                    # else: empty line before any tag
+                elif not last_comment_line:
+                    # Invalid comment line (inside comment, but not starting with
+                    # "*" or "*/".
+                    raise Exception("Excpected a comment, got '{}'".format(line))
+                if last_comment_line:
+                    finalize_current_tag(event, current_tag, current_value)
+                    state = "parse-command"
+        return True
+
+    def _parse_arguments(self, args):
+        """
+        given a string of arguments, returns a list of strings split into the
+        arguments, with respecting brackets.
+        args is expected to be a single line.
+        Note: comments are not handled, also template arguments.
+
+        e.g. "32, test(4,4), \"e(c\", ab" -> ["32", "test(4,4)", "\"e(c\"", "ab"]
+        """
+        args_split = []
+        start = 0
+        bracket = 0
+        in_string = False
+        for i in range(len(args)):
+            if in_string and args[i] == "\"" and args[i-1] != "\\":
+                in_string = False
+            elif not in_string and args[i] == "\"":
+                in_string = True
+            if in_string:
+                continue
+            if args[i] in "{([":
+                bracket += 1
+            if args[i] in "})]":
+                bracket -= 1
+            if bracket == 0 and args[i] == ',':
+                args_split.append(args[start:i].strip())
+                start = i + 1
+        args_split.append(args[start:].strip())
+        return args_split

Tools/px4events/srcscanner.py

@@ -0,0 +1,52 @@
+import os
+import re
+import codecs
+import sys
+
+class SourceScanner(object):
+    """
+    Traverses directory tree, reads all source files, and passes their contents
+    to the Parser.
+    """
+
+    def ScanDir(self, srcdirs, parser):
+        """
+        Scans provided path and passes all found contents to the parser using
+        parser.Parse method.
+        """
+        extensions = tuple([".cpp"])
+        for srcdir in srcdirs:
+            if os.path.isfile(srcdir):
+                if not self.ScanFile(srcdir, parser):
+                    return False
+            else:
+                for dirname, dirnames, filenames in os.walk(srcdir):
+                    for filename in filenames:
+                        if filename.endswith(extensions):
+                            path = os.path.join(dirname, filename)
+                            try:
+                                if not self.ScanFile(path, parser):
+                                    return False
+                            except:
+                                print(("Exception in file %s" % path))
+                                raise
+        return True
+
+    def ScanFile(self, path, parser):
+        """
+        Scans provided file and passes its contents to the parser using
+        parser.Parse method.
+        """
+
+        with codecs.open(path, 'r', 'utf-8') as f:
+            try:
+                contents = f.read()
+            except:
+                contents = ''
+                print('Failed reading file: %s, skipping content.' % path)
+                pass
+        try:
+            return parser.Parse(contents)
+        except Exception as e:
+            print("Exception while parsing file {}".format(path))
+            raise

Tools/px4moduledoc/markdownout.py

@@ -28,7 +28,7 @@ available commands, and in most cases `command help` will print the usage.
 Since this is generated from source, errors must be reported/fixed
 in the [PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) repository.
 The documentation pages can be generated by running the following command from
-the root of the Firmware directory:
+the root of the PX4-Autopilot directory:
 ```
 make module_documentation
 ```
@@ -66,7 +66,7 @@ The generated files will be written to the `modules` directory.
         result = ''
         for module in module_list:
             result += "## %s\n" % module.name()
-            result += "Source: [%s](https://github.com/PX4/Firmware/tree/master/src/%s)\n\n" % (module.scope(), module.scope())
+            result += "Source: [%s](https://github.com/PX4/PX4-Autopilot/tree/master/src/%s)\n\n" % (module.scope(), module.scope())
             doc = module.documentation()
             if len(doc) > 0:
                 result += "%s\n" % doc