WIP: in tree Dockerfile and github actions push to github registry

Update submodule ecl to latest Thu May 6 12:39:12 UTC 2021
- ecl in PX4/Firmware (a300d32523e24df3f366a0d564b764261e1c1909): https://github.com/PX4/PX4-ECL/commit/a7b8afe420f438554ad90bcba0f1f4872325e75b - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/29243ac5cbb5d27ac71744e88afcd786df6f748d - Changes: https://github.com/PX4/PX4-ECL/compare/a7b8afe420f438554ad90bcba0f1f4872325e75b...29243ac5cbb5d27ac71744e88afcd786df6f748d 29243ac 2021-05-05 bresch - yaw_reset: reduce minimum vector length to compute yaw error aad4840 2021-05-02 Kabir Mohammed - EKF: increase allowed difference between flow and gyro ODRs
2026-05-24 00:57:35 +08:00 · 2021-05-06 15:08:03 -04:00 · 2021-05-06 13:53:40 -04:00 · 2021-05-06 13:52:43 -04:00 · 2021-05-06 10:20:24 +02:00 · 2021-05-06 08:12:07 +02:00
584 changed files with 10001 additions and 6423 deletions
@@ -9,10 +9,10 @@ pipeline {
        script {
          def build_nodes = [:]
          def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2021-02-04",
-            arm64: "px4io/px4-dev-aarch64:2021-02-04",
-            base: "px4io/px4-dev-base-bionic:2021-02-04",
-            nuttx: "px4io/px4-dev-nuttx-focal:2021-02-04",
+            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",
            snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
          ]

@@ -46,9 +46,7 @@ pipeline {
                     "cuav_can-gps-v1_default",
                     "cuav_nora_default",
                     "cuav_x7pro_default",
-                     "cubepilot_cubeorange_console",
                     "cubepilot_cubeorange_default",
-                     "cubepilot_cubeyellow_console",
                     "cubepilot_cubeyellow_default",
                     "holybro_can-gps-v1_canbootloader",
                     "holybro_can-gps-v1_default",
@@ -56,6 +54,7 @@ pipeline {
                     "holybro_kakutef7_default",
                     "holybro_pix32v5_default",
                     "modalai_fc-v1_default",
+                     "modalai_fc-v1_rtps",
                     "mro_ctrl-zero-f7_default",
                     "mro_ctrl-zero-f7-oem_default",
                     "mro_ctrl-zero-h7_default",
@@ -77,7 +76,6 @@ pipeline {
                     "px4_fmu-v2_fixedwing",
                     "px4_fmu-v2_multicopter",
                     "px4_fmu-v2_rover",
-                     "px4_fmu-v2_test",
                     "px4_fmu-v3_default",
                     "px4_fmu-v4_cannode",
                     "px4_fmu-v4_default",
@@ -96,7 +94,6 @@ pipeline {
                     "px4_fmu-v5x_base_phy_DP83848C",
                     "px4_fmu-v5x_default",
                     "px4_fmu-v6u_default",
-                     "px4_fmu-v6u_test",
                     "px4_fmu-v6x_default",
                     "px4_io-v2_default",
                     "spracing_h7extreme_default",
@@ -133,7 +130,7 @@ pipeline {
    // TODO: actually upload artifacts to S3
    // stage('S3 Upload') {
    //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+    //     docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
    //   }
    //   options {
    //         skipDefaultCheckout()
@@ -7,12 +7,12 @@ pipeline {

      parallel {

-        stage("cubepilot_cubeorange_console") {
+        stage("cubepilot_cubeorange_test") {
          stages {
-            stage("build cubepilot_cubeorange_console") {
+            stage("build cubepilot_cubeorange_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -22,10 +22,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make cubepilot_cubeorange_console'
+                sh 'make cubepilot_cubeorange_test'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cubepilot_cubeorange_console'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
              }
              post {
                always {
@@ -42,9 +42,9 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'cubepilot_cubeorange_console'
+                    unstash 'cubepilot_cubeorange_test'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_console/cubepilot_cubeorange_console.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
@@ -52,12 +52,12 @@ pipeline {
                    // 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 IMU_GYRO_RATEMAX 2000"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                    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 "px4io forceupdate 14662 /etc/extras/cubepilot_io-v2_default.bin" || true' // force px4io update
+                    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") {
@@ -84,12 +84,12 @@ pipeline {
          }
        }

-        stage("cuav_x7pro_default") {
+        stage("cuav_x7pro_test") {
          stages {
-            stage("build cuav_x7pro_default") {
+            stage("build cuav_x7pro_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -99,10 +99,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make cuav_x7pro_default'
+                sh 'make cuav_x7pro_test'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cuav_x7pro_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cuav_x7pro_test'
              }
              post {
                always {
@@ -119,21 +119,21 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'cuav_x7pro_default'
+                    unstash 'cuav_x7pro_test'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_default/cuav_x7pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                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 IMU_GYRO_RATEMAX 2000"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                    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") {
@@ -160,64 +160,12 @@ pipeline {
          }
        }

-        // stage("px4_fmu-v2_test") {
-        //   stages {
-        //     stage("build px4_fmu-v2_test") {
-        //       agent {
-        //         docker {
-        //           image 'px4io/px4-dev-nuttx-focal:2020-09-14'
-        //           args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-        //         }
-        //       }
-        //       steps {
-        //         sh 'export'
-        //         sh 'make distclean'
-        //         sh 'ccache -s'
-        //         sh 'git fetch --tags'
-        //         sh 'make px4_fmu-v2_test'
-        //         sh 'make sizes'
-        //         sh 'ccache -s'
-        //         stash includes: 'build/px4_fmu-v2_test/px4_fmu-v2_test.elf', name: 'px4_fmu-v2_test'
-        //       }
-        //       post {
-        //         always {
-        //             sh 'make distclean'
-        //         }
-        //       }
-        //     } // stage build
-        //     stage("test") {
-        //       agent {
-        //         label 'px4_fmu-v2'
-        //       }
-        //       stages {
-        //         stage("flash") {
-        //           steps {
-        //             sh 'export'
-        //             sh 'find /dev/serial'
-        //             unstash 'px4_fmu-v2_test'
-        //             // flash board and watch bootup
-        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-        //           }
-        //         }
-        //         stage("reset") {
-        //           steps {
-        //             cleanupFTDI();
-        //           }
-        //         }
-        //       }
-        //       options {
-        //         timeout(time: 90, unit: 'MINUTES')
-        //       }
-        //     }
-        //   }
-        // }
-
-        stage("px4_fmu-v3_default") {
+        stage("px4_fmu-v3_test") {
          stages {
-            stage("build px4_fmu-v3_default") {
+            stage("build px4_fmu-v3_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -227,10 +175,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make px4_fmu-v3_default'
+                sh 'make px4_fmu-v3_test'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v3_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
              }
              post {
                always {
@@ -247,21 +195,21 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v3_default'
+                    unstash 'px4_fmu-v3_test'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_default/px4_fmu-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                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_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
-                    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 set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"'   // generic vtol standard
+                    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 "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
-                    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 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") {
@@ -288,12 +236,12 @@ pipeline {
          }
        }

-        stage("px4_fmu-v4_default") {
+        stage("px4_fmu-v4_test") {
          stages {
-            stage("build px4_fmu-v4_default") {
+            stage("build px4_fmu-v4_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -303,10 +251,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make px4_fmu-v4_default'
+                sh 'make px4_fmu-v4_test'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
              }
              post {
                always {
@@ -323,20 +271,21 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v4_default'
+                    unstash 'px4_fmu-v4_test'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_default/px4_fmu-v4_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                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_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
-                    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 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 "reboot" || true'                // reboot to apply
+                    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") {
@@ -363,12 +312,12 @@ pipeline {
          }
        }

-        stage("px4_fmu-v4pro_default") {
+        stage("px4_fmu-v4pro_test") {
          stages {
-            stage("build px4_fmu-v4pro_default") {
+            stage("build px4_fmu-v4pro_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -378,10 +327,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make px4_fmu-v4pro_default'
+                sh 'make px4_fmu-v4pro_test'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4pro_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
              }
              post {
                always {
@@ -398,21 +347,21 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v4pro_default'
+                    unstash 'px4_fmu-v4pro_test'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                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_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
-                    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 set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"'   // generic vtol standard
+                    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 "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
-                    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 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") {
@@ -439,12 +388,12 @@ pipeline {
          }
        }

-        stage("px4_fmu-v5_default") {
+        stage("px4_fmu-v5_test") {
          stages {
-            stage("build px4_fmu-v5_default") {
+            stage("build px4_fmu-v5_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -454,10 +403,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make px4_fmu-v5_default'
+                sh 'make px4_fmu-v5_test'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
              }
              post {
                always {
@@ -474,21 +423,21 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v5_default'
+                    unstash 'px4_fmu-v5_test'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_default/px4_fmu-v5_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                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_AUTOCONFIG 2"'
-                    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 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 "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
-                    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 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") {
@@ -520,7 +469,7 @@ pipeline {
            stage("build px4_fmu-v5_debug") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -561,13 +510,14 @@ pipeline {
                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 IMU_GYRO_RATEMAX 250"' // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'   // generic multicopter
-                    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 set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"'  // limit cpu usage
+                    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 "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
-                    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 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") {
@@ -599,7 +549,7 @@ pipeline {
            stage("build px4_fmu-v5_optimized") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -637,12 +587,13 @@ pipeline {
                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_AUTOCONFIG 2"'
-                    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 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 "reboot" || true'                // reboot to apply
+                    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") {
@@ -674,7 +625,7 @@ pipeline {
            stage("build px4_fmu-v5_stackcheck") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -715,13 +666,14 @@ pipeline {
                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 IMU_GYRO_RATEMAX 250"' // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0"'       // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'   // generic multicopter
-                    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 set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"'  // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0"'        // limit cpu usage
+                    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 save"'
-                    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 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") {
@@ -748,12 +700,12 @@ pipeline {
          }
        }

-        stage("modalai_fc-v1_default") {
+        stage("modalai_fc-v1_test") {
          stages {
-            stage("build modalai_fc-v1_default") {
+            stage("build modalai_fc-v1_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -763,10 +715,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make modalai_fc-v1_default'
+                sh 'make modalai_fc-v1_test'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_test'
              }
              post {
                always {
@@ -783,20 +735,21 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'modalai_fc-v1_default'
+                    unstash 'modalai_fc-v1_test'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_default/modalai_fc-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("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_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'  // generic vtol standardulticopter
-                    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 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 "reboot" || true'                // reboot to apply
+                    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") {
@@ -823,12 +776,12 @@ pipeline {
          }
        }

-        stage("holybro_durandal-v1_default") {
+        stage("holybro_durandal-v1_test") {
          stages {
-            stage("build holybro_durandal-v1_default") {
+            stage("build holybro_durandal-v1_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -838,10 +791,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make holybro_durandal-v1_default'
+                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_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'holybro_durandal-v1_test'
              }
              post {
                always {
@@ -858,24 +811,21 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'holybro_durandal-v1_default'
+                    unstash 'holybro_durandal-v1_test'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    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 DSHOT_CONFIG 600"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 4000"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                    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 set SYS_USE_IO 0"'          // for dshot
                    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 "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
+                    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") {
@@ -903,12 +853,12 @@ pipeline {
          }
        }

-        stage("nxp_fmuk66-v3_default") {
+        stage("nxp_fmuk66-v3_test") {
          stages {
-            stage("build nxp_fmuk66-v3_default") {
+            stage("build nxp_fmuk66-v3_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -918,10 +868,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make nxp_fmuk66-v3_default'
+                sh 'make nxp_fmuk66-v3_test'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
              }
              post {
                always {
@@ -938,20 +888,21 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'nxp_fmuk66-v3_default'
+                    unstash 'nxp_fmuk66-v3_test'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                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_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
-                    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 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 "reboot" || true'                // reboot to apply
+                    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") {
@@ -1027,6 +978,7 @@ void statusFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gps"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag"'
@@ -1038,6 +990,7 @@ void statusFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_gps_position"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position"'
@@ -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:2021-02-04",
+	"image": "px4io/px4-dev-nuttx-focal:2021-04-29",

 	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],

@@ -28,7 +28,7 @@ jobs:
          "parameters_metadata",
        ]
    container:
-      image: px4io/px4-dev-nuttx-focal:2021-02-04
+      image: ghcr.io/px4/px4-dev:2021-05-06
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2021-02-04
+    container: px4io/px4-dev-clang:2021-04-29
    steps:
    - uses: actions/checkout@v1
      with:
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2021-02-04
+    container: px4io/px4-dev-armhf:2021-04-29
    strategy:
      matrix:
        config: [
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2021-02-04
+    container: px4io/px4-dev-aarch64:2021-04-29
    strategy:
      matrix:
        config: [
@@ -4,6 +4,7 @@ on:
  push:
    branches:
    - 'master'
+    - 'github-actions'
  pull_request:
    branches:
    - '*'
@@ -11,34 +12,39 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-02-04
+    container: ghcr.io/px4/px4-dev:2021-05-06
    strategy:
      matrix:
        config: [
          airmind_mindpx-v2_default,
          ark_can-flow_canbootloader,
+          ark_can-flow_debug,
          ark_can-flow_default,
          av_x-v1_default,
          bitcraze_crazyflie21_default,
          bitcraze_crazyflie_default,
          cuav_can-gps-v1_canbootloader,
+          cuav_can-gps-v1_debug,
          cuav_can-gps-v1_default,
          cuav_nora_default,
          cuav_x7pro_default,
-          cubepilot_cubeorange_console,
          cubepilot_cubeorange_default,
-          cubepilot_cubeyellow_console,
+          cubepilot_cubeorange_test,
          cubepilot_cubeyellow_default,
+          cubepilot_cubeyellow_test,
+          cubepilot_io-v2_default,
          holybro_can-gps-v1_canbootloader,
+          holybro_can-gps-v1_debug,
          holybro_can-gps-v1_default,
          holybro_durandal-v1_default,
          holybro_kakutef7_default,
          holybro_pix32v5_default,
          modalai_fc-v1_default,
-          mro_ctrl-zero-f7_default,
+          modalai_fc-v1_rtps,
          mro_ctrl-zero-f7-oem_default,
-          mro_ctrl-zero-h7_default,
+          mro_ctrl-zero-f7_default,
          mro_ctrl-zero-h7-oem_default,
+          mro_ctrl-zero-h7_default,
          mro_pixracerpro_default,
          mro_x21-777_default,
          mro_x21_default,
@@ -49,31 +55,31 @@ jobs:
          nxp_fmuk66-v3_rtps,
          nxp_fmuk66-v3_socketcan,
          nxp_fmurt1062-v1_default,
-          nxp_ucans32k146_default,
          nxp_ucans32k146_canbootloader,
+          nxp_ucans32k146_default,
          omnibus_f4sd_default,
          px4_fmu-v2_default,
          px4_fmu-v2_fixedwing,
          px4_fmu-v2_multicopter,
          px4_fmu-v2_rover,
-          px4_fmu-v2_test,
          px4_fmu-v3_default,
          px4_fmu-v4_cannode,
          px4_fmu-v4_default,
          px4_fmu-v4pro_default,
          px4_fmu-v5_ctrlalloc,
+          px4_fmu-v5_debug,
          px4_fmu-v5_default,
          px4_fmu-v5_fixedwing,
          px4_fmu-v5_multicopter,
          px4_fmu-v5_optimized,
          px4_fmu-v5_rover,
          px4_fmu-v5_rtps,
+          px4_fmu-v5_stackcheck,
          px4_fmu-v5_uavcanv0periph,
          px4_fmu-v5_uavcanv1,
          px4_fmu-v5x_base_phy_DP83848C,
          px4_fmu-v5x_default,
          px4_fmu-v6u_default,
-          px4_fmu-v6u_test,
          px4_fmu-v6x_default,
          px4_io-v2_default,
          spracing_h7extreme_default,
@@ -118,6 +124,8 @@ jobs:
      run: make ${{matrix.config}} bloaty_symbols || true
    - name: make ${{matrix.config}} bloaty_templates
      run: make ${{matrix.config}} bloaty_templates || true
+    - name: make ${{matrix.config}} bloaty_ram
+      run: make ${{matrix.config}} bloaty_ram || true
    - name: make ${{matrix.config}} bloaty_compare_master
      run: make ${{matrix.config}} bloaty_compare_master || true
    - name: ccache post-run
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-02-04
+    container: ghcr.io/px4/px4-dev:2021-05-06
    strategy:
      matrix:
        config: [
@@ -0,0 +1,31 @@
+name: Build and publish Docker image
+
+on:
+  push:
+    branches:
+    - 'master'
+    - 'github-actions'
+
+jobs:
+  docker:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v1
+        with:
+          registry: ghcr.io
+          username: ${{ github.repository_owner }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Build and push
+        uses: docker/build-push-action@v2
+        with:
+          context: .
+          platforms: linux/amd64
+          push: true
+          tags: |
+            px4/px4-dev:latest
+            ghcr.io/px4/px4-dev:latest
+
+      - name: Image digest
+        run: echo ${{ steps.docker_build.outputs.digest }}
@@ -23,7 +23,7 @@ jobs:
    needs: enumerate_targets
    strategy:
      matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
-    container: px4io/px4-dev-${{ matrix.container }}:2021-02-04
+    container: px4io/px4-dev-${{ matrix.container }}:2021-04-29
    steps:
    - uses: actions/checkout@v1
      with:
@@ -1,131 +0,0 @@
-name: MAVROS Avoidance Tests
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          - {test_file: "mavros_posix_test_avoidance.test",    vehicle: "iris_obs_avoid", mission: "avoidance",       build_type: "RelWithDebInfo"}
-          - {test_file: "mavros_posix_test_safe_landing.test", vehicle: "iris_obs_avoid", mission: "MC_safe_landing", build_type: "RelWithDebInfo"}
-
-    container:
-      image: px4io/px4-dev-ros-melodic:2021-02-04
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4 and sitl_gazebo
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        ccache -z
-        make px4_sitl_default
-        make px4_sitl_default sitl_gazebo
-        ccache -s
-
-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run SITL tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        export
-        ./test/rostest_avoidance_run.sh ${{matrix.config.test_file}} mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}} || true
-
-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: coredump
-        path: px4.core
-
-    # - name: ecl EKF analysis
-    #   if: always()
-    #   run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg
-
-    - name: Upload logs to flight review
-      if: always()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
-
-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
-
-    - name: Store PX4 log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_log
-        path: ~/.ros/log/*/*.ulg
-
-    - name: Store ROS log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: ros_log
-        path: ~/.ros/**/rostest-*.log
-
-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      if: contains(matrix.config.build_type, 'Coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavros_avoidance
-        file: coverage/lcov.info
@@ -25,7 +25,7 @@ jobs:
          #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2021-02-04
+      image: px4io/px4-dev-ros-melodic:2021-04-29
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -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:2021-02-04
+      image: px4io/px4-dev-ros-melodic:2021-04-29
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -11,7 +11,7 @@ jobs:

  airframe:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: ghcr.io/px4/px4-dev:2021-05-06
    steps:
    - uses: actions/checkout@v1
      with:
@@ -26,7 +26,7 @@ jobs:

  module:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: ghcr.io/px4/px4-dev:2021-05-06
    steps:
    - uses: actions/checkout@v1
      with:
@@ -41,7 +41,7 @@ jobs:

  parameter:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: ghcr.io/px4/px4-dev:2021-05-06
    steps:
    - uses: actions/checkout@v1
      with:
@@ -65,7 +65,7 @@ jobs:

  uorb_graph:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-02-04
+    container: ghcr.io/px4/px4-dev:2021-05-06
    steps:
    - uses: actions/checkout@v1
      with:
@@ -80,7 +80,7 @@ jobs:

  micrortps_agent:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: ghcr.io/px4/px4-dev:2021-05-06
    steps:
    - uses: actions/checkout@v1
      with:
@@ -94,7 +94,7 @@ jobs:

  ROS_msgs:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: ghcr.io/px4/px4-dev:2021-05-06
    steps:
    - uses: actions/checkout@v1
      with:
@@ -107,7 +107,7 @@ jobs:

  ROS2_bridge:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: ghcr.io/px4/px4-dev:2021-05-06
    steps:
    - uses: actions/checkout@v1
      with:
@@ -20,7 +20,7 @@ jobs:
          - {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:2021-02-04
+      image: px4io/px4-dev-simulation-focal:2021-04-29
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -28,9 +28,9 @@ jobs:
        token: ${{ secrets.ACCESS_TOKEN }}

    - name: Download MAVSDK
-      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.36.0/mavsdk_0.36.0_ubuntu20.04_amd64.deb
+      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
    - name: Install MAVSDK
-      run: dpkg -i mavsdk_0.36.0_ubuntu20.04_amd64.deb
+      run: dpkg -i "mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@@ -33,7 +33,7 @@
 [submodule "src/modules/micrortps_bridge/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
 	url = https://github.com/PX4/Micro-CDR.git
-	branch = px4
+	branch = master
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
@@ -59,7 +59,11 @@
 	url = https://github.com/UAVCAN/public_regulated_data_types.git
 [submodule "src/drivers/uavcannode_gps_demo/public_regulated_data_types"]
 	path = src/drivers/uavcannode_gps_demo/public_regulated_data_types
-	url = https://github.com/UAVCAN/public_regulated_data_types
+	url = https://github.com/UAVCAN/public_regulated_data_types.git
 [submodule "src/drivers/uavcannode_gps_demo/libcanard"]
 	path = src/drivers/uavcannode_gps_demo/libcanard
-	url = https://github.com/UAVCAN/libcanard
+	url = https://github.com/UAVCAN/libcanard.git
+[submodule "src/drivers/uavcan_v1/legacy_data_types"]
+	path = src/drivers/uavcan_v1/legacy_data_types
+	url = https://github.com/px4/public_regulated_data_types/
+	branch = legacy
@@ -2,18 +2,12 @@
    "configurations": [
        {
            "name": "PX4",
-            "configurationProvider": "ms-vscode.cmake-tools",
-            "compileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
            "includePath": [
-                ".",
-                "${workspaceFolder}/platforms/common",
-                "${workspaceFolder}/platforms/common/include",
-                "${workspaceFolder}/src",
-                "${workspaceFolder}/src/include",
-                "${workspaceFolder}/src/lib",
-                "${workspaceFolder}/src/lib/matrix",
-                "${workspaceFolder}/src/modules"
+                "${workspaceFolder}/**"
            ],
+            "defines": [],
+            "macFrameworkPath": [],
+            "configurationProvider": "ms-vscode.cmake-tools",
            "cppStandard": "c++14",
            "cStandard": "c11"
        }
@@ -6,16 +6,6 @@ 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
@@ -106,21 +96,26 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: cuav_x7pro_default
-    cubepilot_cubeorange_default:
+    cubepilot_cubeorange_test:
      short: cubepilot_cubeorange
      buildType: MinSizeRel
      settings:
-        CONFIG: cubepilot_orange_default
-    cubepilot_cubeyellow_default:
-      short: cubepilot_cubeyellow
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cubepilot_cubeyellow_default
+        CONFIG: cubepilot_orange_test
    emlid_navio2_default:
      short: emlid_navio2
      buildType: MinSizeRel
      settings:
        CONFIG: emlid_navio2_default
+    holybro_can-gps-v1_canbootloader:
+      short: holybro_can-gps-v1_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: holybro_can-gps-v1_canbootloader
+    holybro_can-gps-v1_default:
+      short: holybro_can-gps-v1_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: holybro_can-gps-v1_default
    holybro_durandal-v1_default:
      short: holybro_durandal-v1
      buildType: MinSizeRel
@@ -5,9 +5,7 @@
        "breadcrumbs.enabled": true,
        "C_Cpp.autoAddFileAssociations": false,
        "C_Cpp.clang_format_fallbackStyle": "none",
-        "C_Cpp.configurationWarnings": "Disabled",
        "C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
-        "C_Cpp.default.compileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
        "C_Cpp.default.cppStandard": "c++14",
        "C_Cpp.default.cStandard": "c11",
        "C_Cpp.formatting": "Disabled",
@@ -18,10 +16,8 @@
        "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
        "cmake.buildTask": true,
        "cmake.configureOnOpen": true,
-        "cmake.copyCompileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
        "cmake.ctest.parallelJobs": 1,
-        "cmake.ignoreKitEnv": true,
-        "cmake.skipConfigureIfCachePresent": false,
+        "cmake.skipConfigureIfCachePresent": true,
        "cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
        "cmakeExplorer.parallelJobs": 1,
        "cmakeExplorer.suiteDelimiter": "-",
@@ -185,6 +185,8 @@ if((CMAKE_BUILD_TYPE STREQUAL "Debug") OR (CMAKE_BUILD_TYPE STREQUAL "Coverage")
 	set(MAX_CUSTOM_OPT_LEVEL -O0)
 elseif(CMAKE_BUILD_TYPE MATCHES "Sanitizer")
 	set(MAX_CUSTOM_OPT_LEVEL -O1)
+elseif(CMAKE_BUILD_TYPE MATCHES "Release")
+	set(MAX_CUSTOM_OPT_LEVEL -O3)
 else()
 	if(px4_constrained_flash_build)
 		set(MAX_CUSTOM_OPT_LEVEL -Os)
@@ -0,0 +1,29 @@
+#
+# PX4 development environment
+#
+
+FROM ubuntu:20.04
+LABEL maintainer="Daniel Agar <daniel@agar.ca>"
+
+COPY Tools/setup/ubuntu.sh /tmp/ubuntu.sh
+COPY Tools/setup/requirements.txt /tmp/requirements.txt
+RUN DEBIAN_FRONTEND=noninteractive /tmp/ubuntu.sh --no-sim-tools \
+	&& apt-get -y autoremove \
+	&& apt-get clean autoclean \
+	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+
+# create user with id 1001 (jenkins docker workflow default)
+RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout user
+
+ENV CCACHE_UMASK=000
+ENV PATH="/usr/lib/ccache:$PATH"
+
+# SITL UDP PORTS
+EXPOSE 14556/udp
+EXPOSE 14557/udp
+
+# create and start as LOCAL_USER_ID
+COPY Tools/setup/entrypoint.sh /usr/local/bin/entrypoint.sh
+ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
+
+CMD ["/bin/bash"]
@@ -15,7 +15,7 @@ pipeline {
        // stage('Catkin build on ROS workspace') {
        //   agent {
        //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2021-02-04'
+        //       image 'px4io/px4-dev-ros-melodic:2021-04-29'
        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
        //     }
        //   }
@@ -56,7 +56,7 @@ pipeline {
        stage('Colcon build on ROS2 workspace') {
          agent {
            docker {
-              image 'px4io/px4-dev-ros2-foxy:2021-02-04'
+              image 'px4io/px4-dev-ros2-foxy:2021-04-29'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
            }
          }
@@ -85,10 +85,11 @@ pipeline {

        stage('Airframe') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh 'make distclean'
+            sh 'git fetch --all --tags'
            sh 'make airframe_metadata'
            dir('build/px4_sitl_default/docs') {
              archiveArtifacts(artifacts: 'airframes.md, airframes.xml')
@@ -104,14 +105,15 @@ pipeline {

        stage('Parameter') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh 'make distclean'
+            sh 'git fetch --all --tags'
            sh 'make parameters_metadata'
            dir('build/px4_sitl_default/docs') {
-              archiveArtifacts(artifacts: 'parameters.md, parameters.xml, params.json.xz')
-              stash includes: 'parameters.md, parameters.xml, params.json.xz', name: 'metadata_parameters'
+              archiveArtifacts(artifacts: 'parameters.md, parameters.xml, parameters.json.xz')
+              stash includes: 'parameters.md, parameters.xml, parameters.json.xz', name: 'metadata_parameters'
            }
          }
          post {
@@ -123,10 +125,11 @@ pipeline {

        stage('Module') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh 'make distclean'
+            sh 'git fetch --all --tags'
            sh 'make module_documentation'
            dir('build/px4_sitl_default/docs') {
              archiveArtifacts(artifacts: 'modules/*.md')
@@ -143,13 +146,14 @@ pipeline {
        stage('uORB graphs') {
          agent {
            docker {
-              image 'px4io/px4-dev-nuttx-focal:2021-02-04'
+              image 'px4io/px4-dev-nuttx-focal:2021-04-29'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
            }
          }
          steps {
            sh 'export'
            sh 'make distclean'
+            sh 'git fetch --all --tags'
            sh 'make uorb_graphs'
            dir('Tools/uorb_graph') {
              archiveArtifacts(artifacts: 'graph_px4_sitl.json')
@@ -172,7 +176,7 @@ pipeline {

        stage('Userguide') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh('export')
@@ -202,7 +206,7 @@ pipeline {

        stage('QGroundControl') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh('export')
@@ -230,7 +234,7 @@ pipeline {

        stage('microRTPS agent') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh('export')
@@ -260,7 +264,7 @@ pipeline {

        stage('PX4 ROS msgs') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh('export')
@@ -289,7 +293,7 @@ pipeline {

        stage('PX4 ROS2 bridge') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh('export')
@@ -332,7 +336,7 @@ pipeline {

        stage('S3') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh('export')
@@ -342,7 +346,7 @@ pipeline {
            withAWS(credentials: 'px4_aws_s3_key', region: 'us-east-1') {
              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'airframes.xml', path: 'Firmware/master/')
              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.xml', path: 'Firmware/master/')
-              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'params.json.xz', path: 'Firmware/master/')
+              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.json.xz', path: 'Firmware/master/')
            }
          }
          when {
@@ -303,7 +303,7 @@ check_%:
 	@echo

 uorb_graphs:
-	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --file Tools/uorb_graph/graph_full
+	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib --file Tools/uorb_graph/graph_full
 	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
 	@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
 	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
@@ -469,6 +469,7 @@ validate_module_configs:

 clean:
 	@rm -rf "$(SRC_DIR)"/build
+	@git submodule foreach git clean -df

 submodulesclean:
 	@git submodule foreach --quiet --recursive git clean -ff -x -d
@@ -486,7 +487,7 @@ gazeboclean:

 distclean: gazeboclean
 	@git submodule deinit -f .
-	@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode"
+	@git clean -ff -x -d -e ".cproject" -e ".idea" -e ".project" -e ".settings" -e ".vscode"

 # Help / Error
 # --------------------------------------------------------------------
@@ -17,7 +17,7 @@ PX4 is highly portable, OS-independent and supports Linux, NuttX and QuRT out of
  * [VTOL](https://docs.px4.io/master/en/frames_vtol/)
  * [Autogyro](https://docs.px4.io/master/en/frames_autogyro/)
  * [Rover](https://docs.px4.io/master/en/frames_rover/)
-  * many more experimental types (Blimps, Boats, Submarines, Autogyros, etc)
+  * many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
 * Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)


@@ -85,23 +85,24 @@ See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and
 This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.

 ### Pixhawk Standard Boards
-  * FMUv2
-    * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
-    * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
-  * FMUv3
+  * FMUv6X and FMUv6U (STM32H7, 2021)
+    * Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
+  * FMUv5 and FMUv5X (STM32F7, 2019/20)
+    * [Pixhawk 4 (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
+    * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
+    * [CUAV V5+ (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
+    * [CUAV V5 nano (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
+    * [Auterion Skynode (FMUv5X)](https://docs.px4.io/master/en/flight_controller/auterion_skynode.html)
+  * FMUv4 (STM32F4, 2015)
+    * [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
+    * [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
+  * FMUv3 (STM32F4, 2014)
    * [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
    * [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
    * [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
-  * FMUv4 (STM32F4)
-    * [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
-    * [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
-  * FMUv5 (STM32F7)
-    * [Pixhawk 4](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
-    * [Pixhawk 4 mini](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
-    * [CUAV V5+](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
-    * [CUAV V5 nano](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
-  * FMUv6X and FMUv6U (STM32H7)
-    * Various vendors will provide FMUv6X and FMUv6U based designs Q2/2021
+  * FMUv2 (STM32F4, 2013)
+    * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
+    * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)

 ### Manufacturer and Community supported
  * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
@@ -76,15 +76,6 @@ unset BOARD_RC_DEFAULTS
 #
 rgbled start -X -q
 rgbled_ncp5623c start -X -q
-rgbled_pwm start
-
-if param greater -s LIGHT_EN_BLINKM 0
-then
-	if blinkm start -X
-	then
-		blinkm systemstate
-	fi
-fi

 #
 # board sensors: rc.sensors
@@ -34,6 +34,9 @@
 add_subdirectory(airframes)

 px4_add_romfs_files(
+	px4-rc.params
+	px4-rc.simulator
+	px4-rc.mavlink
 	rc.replay
 	rcS
 )
@@ -10,43 +10,39 @@
 . ${R}etc/init.d/rc.mc_defaults
 . ${R}etc/init.d/rc.ctrlalloc

-if [ $AUTOCNF = yes ]
-then
-	param set MPC_USE_HTE 0
+param set-default MPC_USE_HTE 0

-	param set VM_MASS 1.5
-	param set VM_INERTIA_XX 0.03
-	param set VM_INERTIA_YY 0.03
-	param set VM_INERTIA_ZZ 0.05
+param set-default VM_MASS 1.5
+param set-default VM_INERTIA_XX 0.03
+param set-default VM_INERTIA_YY 0.03
+param set-default VM_INERTIA_ZZ 0.05

-	param set CA_AIRFRAME 0
-	param set CA_METHOD 1
-	param set CA_ACT0_MIN 0.0
-	param set CA_ACT1_MIN 0.0
-	param set CA_ACT2_MIN 0.0
-	param set CA_ACT3_MIN 0.0
-	param set CA_ACT0_MAX 1.0
-	param set CA_ACT1_MAX 1.0
-	param set CA_ACT2_MAX 1.0
-	param set CA_ACT3_MAX 1.0
+param set-default CA_AIRFRAME 0
+param set-default CA_METHOD 1
+param set-default CA_ACT0_MIN 0.0
+param set-default CA_ACT1_MIN 0.0
+param set-default CA_ACT2_MIN 0.0
+param set-default CA_ACT3_MIN 0.0
+param set-default CA_ACT0_MAX 1.0
+param set-default CA_ACT1_MAX 1.0
+param set-default CA_ACT2_MAX 1.0
+param set-default CA_ACT3_MAX 1.0

-	param set CA_MC_R0_PX 0.1515
-	param set CA_MC_R0_PY 0.245
-	param set CA_MC_R0_CT 6.5
-	param set CA_MC_R0_KM 0.05
-	param set CA_MC_R1_PX -0.1515
-	param set CA_MC_R1_PY -0.1875
-	param set CA_MC_R1_CT 6.5
-	param set CA_MC_R1_KM 0.05
-	param set CA_MC_R2_PX 0.1515
-	param set CA_MC_R2_PY -0.245
-	param set CA_MC_R2_CT 6.5
-	param set CA_MC_R2_KM -0.05
-	param set CA_MC_R3_PX -0.1515
-	param set CA_MC_R3_PY 0.1875
-	param set CA_MC_R3_CT 6.5
-	param set CA_MC_R3_KM -0.05
-
-fi
+param set-default CA_MC_R0_PX 0.1515
+param set-default CA_MC_R0_PY 0.245
+param set-default CA_MC_R0_CT 6.5
+param set-default CA_MC_R0_KM 0.05
+param set-default CA_MC_R1_PX -0.1515
+param set-default CA_MC_R1_PY -0.1875
+param set-default CA_MC_R1_CT 6.5
+param set-default CA_MC_R1_KM 0.05
+param set-default CA_MC_R2_PX 0.1515
+param set-default CA_MC_R2_PY -0.245
+param set-default CA_MC_R2_CT 6.5
+param set-default CA_MC_R2_KM -0.05
+param set-default CA_MC_R3_PX -0.1515
+param set-default CA_MC_R3_PY 0.1875
+param set-default CA_MC_R3_CT 6.5
+param set-default CA_MC_R3_KM -0.05

 set MIXER direct
@@ -7,8 +7,6 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_RNG_AID 1
-	param set EKF2_RNG_A_HMAX 10
-fi
+param set-default EKF2_RNG_AID 1
+param set-default EKF2_RNG_A_HMAX 10
+
@@ -8,15 +8,12 @@

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

-if [ $AUTOCNF = yes ]
-then
-	# EKF2: Multi GPS blending (as the model has 2 GPS's)
-	param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
-	param set TRIG_INTERFACE 3
-	param set TRIG_MODE 4
-	param set MNT_MODE_IN 4
-	param set MNT_MODE_OUT 2
-	param set MNT_DO_STAB 2
-fi
+# EKF2: Multi GPS blending (as the model has 2 GPS's)
+param set-default SENS_GPS_MASK 7
+param set-default TRIG_INTERFACE 3
+param set-default TRIG_MODE 4
+param set-default MNT_MODE_IN 4
+param set-default MNT_MODE_OUT 2
+param set-default MNT_DO_STAB 2

 set MIXER quad_x
@@ -7,16 +7,14 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-if [ $AUTOCNF = yes ]
-then
-	# EKF2
-	param set EKF2_AID_MASK 2
-	param set EKF2_EVP_NOISE 0.05
-	param set EKF2_EVA_NOISE 0.05
+# EKF2
+param set-default EKF2_AID_MASK 2
+param set-default EKF2_EVP_NOISE 0.05
+param set-default EKF2_EVA_NOISE 0.05

-	# LPE: Flow-only mode
-	param set LPE_FUSION 242
-	param set LPE_FAKE_ORIGIN 1
+# LPE: Flow-only mode
+param set-default LPE_FUSION 242
+param set-default LPE_FAKE_ORIGIN 1
+
+param set-default MPC_ALT_MODE 2

-	param set MPC_ALT_MODE 2
-fi
@@ -7,12 +7,9 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-if [ $AUTOCNF = yes ]
-then
-	# enable fusion of landing target velocity
-	param set LTEST_MODE 1
-	param set PLD_HACC_RAD 0.1
-fi
+# enable fusion of landing target velocity
+param set-default LTEST_MODE 1
+param set-default PLD_HACC_RAD 0.1

 # Start up Landing Target Estimator module
 landing_target_estimator start
@@ -7,7 +7,5 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-if [ $AUTOCNF = yes ]
-then
-	param set LPE_FUSION 242
-fi
+param set-default LPE_FUSION 242
+
@@ -7,15 +7,13 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-if [ $AUTOCNF = yes ]
-then
-	# EKF2: Vision position and heading
-	param set EKF2_AID_MASK 24
-	param set EKF2_EV_DELAY 5
+# EKF2: Vision position and heading
+param set-default EKF2_AID_MASK 24
+param set-default EKF2_EV_DELAY 5

-	# LPE: Vision + baro
-	param set LPE_FUSION 132
+# LPE: Vision + baro
+param set-default LPE_FUSION 132
+
+# AEQ: External heading set to use vision input
+param set-default ATT_EXT_HDG_M 1

-	# AEQ: External heading set to use vision input
-	param set ATT_EXT_HDG_M 1
-fi
@@ -7,10 +7,7 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set MC_PITCHRATE_P 0.1
-	param set MC_ROLLRATE_P 0.1
-fi
+param set-default MC_PITCHRATE_P 0.1
+param set-default MC_ROLLRATE_P 0.1

 set MIXER quad_x
@@ -7,8 +7,6 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-if [ $AUTOCNF = yes ]
-then
-	param set COM_OBS_AVOID 1
-	param set MPC_XY_CRUISE 5.0
-fi
+param set-default COM_OBS_AVOID 1
+param set-default MPC_XY_CRUISE 5.0
+
@@ -7,15 +7,12 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-if [ $AUTOCNF = yes ]
-then
-	# EKF2
-	param set EKF2_AID_MASK 2
-	param set SENS_FLOW_ROT 0
+# EKF2
+param set-default EKF2_AID_MASK 2
+param set-default SENS_FLOW_ROT 0

-	# LPE: Flow-only mode
-	param set LPE_FUSION 242
-	param set LPE_FAKE_ORIGIN 1
+# LPE: Flow-only mode
+param set-default LPE_FUSION 242
+param set-default LPE_FAKE_ORIGIN 1

-	param set MPC_ALT_MODE 2
-fi
+param set-default MPC_ALT_MODE 2
@@ -7,9 +7,6 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-if [ $AUTOCNF = yes ]
-then
-	# EKF2: Vision velocity and heading
-	param set EKF2_AID_MASK 272
-	param set EKF2_EV_DELAY 5
-fi
+# EKF2: Vision velocity and heading
+param set-default EKF2_AID_MASK 272
+param set-default EKF2_EV_DELAY 5
@@ -7,8 +7,5 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-if [ $AUTOCNF = yes ]
-then
-	# EKF2: Multi GPS blending
-	param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
-fi
+# EKF2: Multi GPS blending
+param set-default SENS_GPS_MASK 7
@@ -5,16 +5,13 @@

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

-if [ $AUTOCNF = yes ]
-then
-	#Set data link loss failsafe mode (0: disabled)
-	param set NAV_DLL_ACT 0
+#Set data link loss failsafe mode (0: disabled)
+param set-default NAV_DLL_ACT 0

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

-	#param set CBRK_GPSFAIL 240024
-fi
+#param set CBRK_GPSFAIL 240024

 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}
@@ -5,16 +5,13 @@

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

-if [ $AUTOCNF = yes ]
-then
-	#Set data link loss failsafe mode (0: disabled)
-	param set NAV_DLL_ACT 0
+#Set data link loss failsafe mode (0: disabled)
+param set-default NAV_DLL_ACT 0

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

-	#param set CBRK_GPSFAIL 240024
-fi
+#param set CBRK_GPSFAIL 240024

 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}
@@ -5,15 +5,11 @@

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

-if [ $AUTOCNF = yes ]
-then
-	#Set data link loss failsafe mode (0: disabled)
-	param set NAV_DLL_ACT 0
+#Set data link loss failsafe mode (0: disabled)
+param set-default NAV_DLL_ACT 0

-	# disable circuit breaker for airspeed sensor
-	param set CBRK_AIRSPD_CHK 162128
-
-fi
+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128

 set PWM_OUT 12345678
 set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
@@ -5,54 +5,50 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	param set EKF2_MAG_ACCLIM 0
-	param set EKF2_MAG_YAWLIM 0
+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 FW_LND_AIRSPD_SC 1
-	param set FW_LND_ANG 8
-	param set FW_THR_LND_MAX 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 FW_L1_PERIOD 12
+param set-default FW_L1_PERIOD 12

-	param set FW_MAN_P_MAX 30
+param set-default FW_MAN_P_MAX 30

-	param set FW_PR_I 0.4
-	param set FW_PR_P 0.9
-	param set FW_PR_FF 0.2
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
+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 FW_RR_FF 0.1
-	param set FW_RR_P 0.3
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_P 0.3

-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_THR_CRUISE 0.25
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_THR_CRUISE 0.25

-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2
+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 FW_W_EN 1
+param set-default FW_W_EN 1

-	param set MIS_LTRMIN_ALT 30
-	param set MIS_TAKEOFF_ALT 30
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 30

-	param set NAV_ACC_RAD 15
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 50
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 50

-	param set RWTO_TKOFF 1
-
-fi
+param set-default RWTO_TKOFF 1

 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom
@@ -5,10 +5,8 @@

 . ${R}etc/init.d-posix/airframes/1030_plane

-if [ $AUTOCNF = yes ]
-then
-	# Camera trigger interface is MAVLink
-	param set TRIG_INTERFACE 3
-	# Distance trigger mode enabled
-	param set TRIG_MODE 4
-fi
+# Camera trigger interface is MAVLink
+param set-default TRIG_INTERFACE 3
+
+# Distance trigger mode enabled
+param set-default TRIG_MODE 4
@@ -5,8 +5,5 @@

 . ${R}etc/init.d-posix/airframes/1030_plane

-if [ $AUTOCNF = yes ]
-then
-	param set RWTO_TKOFF 0
+param set-default RWTO_TKOFF 0

-fi
@@ -5,8 +5,5 @@

 . ${R}etc/init.d-posix/airframes/1030_plane

-if [ $AUTOCNF = yes ]
-then
-	param set FW_LND_USETER 1
+param set-default FW_LND_USETER 1

-fi
@@ -5,54 +5,55 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	#param set EKF2_MAG_ACCLIM 0
-	#param set EKF2_MAG_YAWLIM 0
+param set-default EKF2_ARSP_THR 8
+param set-default EKF2_FUSE_BETA 1

-	param set FW_LND_AIRSPD_SC 1.1
-	param set FW_LND_ANG 5
-	param set FW_THR_LND_MAX 0
-	param set FW_LND_HHDIST 30
-	param set FW_LND_FL_PMIN 9.5
-	param set FW_LND_FL_PMAX 20
-	param set FW_LND_FLALT 5
-	param set FW_LND_TLALT 15
+param set-default FW_LND_AIRSPD_SC 1.1
+param set-default FW_LND_ANG 5
+param set-default FW_THR_LND_MAX 0
+param set-default FW_LND_HHDIST 30
+param set-default FW_LND_FL_PMIN 9.5
+param set-default FW_LND_FL_PMAX 20
+param set-default FW_LND_FLALT 5
+param set-default FW_LND_TLALT 15

-	param set FW_L1_PERIOD 25
+param set-default FW_L1_PERIOD 25

-	param set FW_P_TC 0.4
-	param set FW_PR_FF 0.40
-	param set FW_PR_I 0.05
-	param set FW_PR_P 0.05
+param set-default FW_P_TC 0.4
+param set-default FW_PR_FF 0.40
+param set-default FW_PR_I 0.05
+param set-default FW_PR_P 0.05

-	param set FW_R_TC 0.45
-	param set FW_RR_FF 0.40
-	param set FW_RR_I 0.132
-	param set FW_RR_P 0.085
+param set-default FW_R_TC 0.45
+param set-default FW_RR_FF 0.40
+param set-default FW_RR_I 0.132
+param set-default FW_RR_P 0.085

-	param set FW_W_EN 1
+param set-default FW_W_EN 1

-	param set MIS_LTRMIN_ALT 30
-	param set MIS_TAKEOFF_ALT 20
-	param set MIS_DIST_1WP 2500
-	param set MIS_DIST_WPS 10000
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000

-	param set NAV_ACC_RAD 15
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 50
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 50

-	param set RWTO_TKOFF 1
-	#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
-	param set RWTO_MAX_PITCH 20
-	param set RWTO_MAX_ROLL 10
-	#param set RWTO_MAX_THR 0.6		# fix takeoff failure for JSBsim in autonomous mission mode.
-	param set RWTO_PSP 8
-	param set RWTO_AIRSPD_SCL 1.8
+param set-default RWTO_TKOFF 1
+
+# fix takeoff failure for JSBsim in autonomous mission mode.
+#param set FW_THR_SLEW_MAX 0.3
+
+param set-default RWTO_MAX_PITCH 20
+param set-default RWTO_MAX_ROLL 10
+
+# fix takeoff failure for JSBsim in autonomous mission mode.
+#param set-default RWTO_MAX_THR 0.6
+
+param set-default RWTO_PSP 8
+param set-default RWTO_AIRSPD_SCL 1.8

-fi

 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom
@@ -5,54 +5,54 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	#param set EKF2_MAG_ACCLIM 0
-	#param set EKF2_MAG_YAWLIM 0
+param set-default EKF2_ARSP_THR 8
+param set-default EKF2_FUSE_BETA 1

-	param set FW_LND_AIRSPD_SC 1.1
-	param set FW_LND_ANG 5
-	param set FW_THR_LND_MAX 0
-	param set FW_LND_HHDIST 30
-	param set FW_LND_FL_PMIN 9.5
-	param set FW_LND_FL_PMAX 20
-	param set FW_LND_FLALT 5
-	param set FW_LND_TLALT 15
+param set-default FW_LND_AIRSPD_SC 1.1
+param set-default FW_LND_ANG 5
+param set-default FW_THR_LND_MAX 0
+param set-default FW_LND_HHDIST 30
+param set-default FW_LND_FL_PMIN 9.5
+param set-default FW_LND_FL_PMAX 20
+param set-default FW_LND_FLALT 5
+param set-default FW_LND_TLALT 15

-	param set FW_L1_PERIOD 25
+param set-default FW_L1_PERIOD 25

-	param set FW_P_TC 0.4
-	param set FW_PR_FF 0.40
-	param set FW_PR_I 0.05
-	param set FW_PR_P 0.05
+param set-default FW_P_TC 0.4
+param set-default FW_PR_FF 0.40
+param set-default FW_PR_I 0.05
+param set-default FW_PR_P 0.05

-	param set FW_R_TC 0.45
-	param set FW_RR_FF 0.40
-	param set FW_RR_I 0.132
-	param set FW_RR_P 0.085
+param set-default FW_R_TC 0.45
+param set-default FW_RR_FF 0.40
+param set-default FW_RR_I 0.132
+param set-default FW_RR_P 0.085

-	param set FW_W_EN 1
+param set-default FW_W_EN 1

-	param set MIS_LTRMIN_ALT 30
-	param set MIS_TAKEOFF_ALT 20
-	param set MIS_DIST_1WP 2500
-	param set MIS_DIST_WPS 10000
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000

-	param set NAV_ACC_RAD 15
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 50
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 50

-	param set RWTO_TKOFF 1
-	#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
-	param set RWTO_MAX_PITCH 20
-	param set RWTO_MAX_ROLL 10
-	#param set RWTO_MAX_THR 0.6		# fix takeoff failure for JSBsim in autonomous mission mode.
-	param set RWTO_PSP 8
-	param set RWTO_AIRSPD_SCL 1.8
+param set-default RWTO_TKOFF 1

-fi
+# fix takeoff failure for JSBsim in autonomous mission mode.
+#param set FW_THR_SLEW_MAX 0.3
+
+param set-default RWTO_MAX_PITCH 20
+param set-default RWTO_MAX_ROLL 10
+
+# fix takeoff failure for JSBsim in autonomous mission mode.
+#param set RWTO_MAX_THR 0.6
+
+param set-default RWTO_PSP 8
+param set-default RWTO_AIRSPD_SCL 1.8

 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom
@@ -5,43 +5,39 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	param set EKF2_MAG_ACCLIM 0
-	param set EKF2_MAG_YAWLIM 0
+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 FW_LND_AIRSPD_SC 1
-	param set FW_LND_ANG 8
-	param set FW_THR_LND_MAX 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 FW_L1_PERIOD 15
+param set-default FW_L1_PERIOD 15

-	param set FW_P_TC 0.5
-	param set FW_PR_FF 0.40
-	param set FW_PR_I 0.05
-	param set FW_PR_P 0.05
+param set-default FW_P_TC 0.5
+param set-default FW_PR_FF 0.40
+param set-default FW_PR_I 0.05
+param set-default FW_PR_P 0.05

-	param set FW_R_TC 0.7
-	param set FW_RR_FF 0.20
-	param set FW_RR_I 0.02
-	param set FW_RR_P 0.22
+param set-default FW_R_TC 0.7
+param set-default FW_RR_FF 0.20
+param set-default FW_RR_I 0.02
+param set-default FW_RR_P 0.22

-	param set FW_L1_PERIOD 12
+param set-default FW_L1_PERIOD 12

-	param set FW_W_EN 1
+param set-default FW_W_EN 1

-	param set MIS_LTRMIN_ALT 30
-	param set MIS_TAKEOFF_ALT 30
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 30

-	param set NAV_ACC_RAD 15
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 50
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 50

-	param set RWTO_TKOFF 1
-
-fi
+param set-default RWTO_TKOFF 1

 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom
@@ -5,52 +5,46 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	#param set EKF2_MAG_ACCLIM 0
-	#param set EKF2_MAG_YAWLIM 0
+param set-default EKF2_ARSP_THR 8
+param set-default EKF2_FUSE_BETA 1

-	param set FW_LND_AIRSPD_SC 1.1
-	param set FW_LND_ANG 5
-	param set FW_THR_LND_MAX 0
-	param set FW_LND_HHDIST 30
-	param set FW_LND_FL_PMIN 9.5
-	param set FW_LND_FL_PMAX 20
-	param set FW_LND_FLALT 5
-	param set FW_LND_TLALT 15
+param set-default FW_LND_AIRSPD_SC 1.1
+param set-default FW_LND_ANG 5
+param set-default FW_THR_LND_MAX 0
+param set-default FW_LND_HHDIST 30
+param set-default FW_LND_FL_PMIN 9.5
+param set-default FW_LND_FL_PMAX 20
+param set-default FW_LND_FLALT 5
+param set-default FW_LND_TLALT 15

-	param set FW_L1_PERIOD 25
+param set-default FW_L1_PERIOD 25

-	param set FW_P_TC 0.4
-	param set FW_PR_FF 0.40
-	param set FW_PR_I 0.05
-	param set FW_PR_P 0.05
+param set-default FW_P_TC 0.4
+param set-default FW_PR_FF 0.40
+param set-default FW_PR_I 0.05
+param set-default FW_PR_P 0.05

-	param set FW_R_TC 0.45
-	param set FW_RR_FF 0.40
-	param set FW_RR_I 0.132
-	param set FW_RR_P 0.085
+param set-default FW_R_TC 0.45
+param set-default FW_RR_FF 0.40
+param set-default FW_RR_I 0.132
+param set-default FW_RR_P 0.085

-	param set FW_W_EN 1
+param set-default FW_W_EN 1

-	param set MIS_LTRMIN_ALT 30
-	param set MIS_TAKEOFF_ALT 20
-	param set MIS_DIST_1WP 2500
-	param set MIS_DIST_WPS 10000
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000

-	param set NAV_ACC_RAD 15
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 50
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 50

-	param set RWTO_TKOFF 1
-	param set RWTO_MAX_PITCH 20
-	param set RWTO_MAX_ROLL 10
-	param set RWTO_PSP 8
-	param set RWTO_AIRSPD_SCL 1.8
-
-fi
+param set-default RWTO_TKOFF 1
+param set-default RWTO_MAX_PITCH 20
+param set-default RWTO_MAX_ROLL 10
+param set-default RWTO_PSP 8
+param set-default RWTO_AIRSPD_SCL 1.8

 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom
@@ -7,50 +7,46 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set FW_L1_PERIOD 12
-	param set FW_MAN_P_MAX 30
-	param set FW_PR_FF 0.2
-	param set FW_PR_I 0.4
-	param set FW_PR_P 0.9
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
-	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.3
-	param set FW_THR_CRUISE 0.25
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2
+param set-default FW_L1_PERIOD 12
+param set-default FW_MAN_P_MAX 30
+param set-default FW_PR_FF 0.2
+param set-default FW_PR_I 0.4
+param set-default FW_PR_P 0.9
+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_CRUISE 0.25
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_T_ALT_TC 2
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_TAS_TC 2

-	param set MC_ROLLRATE_P 0.3
-	param set MC_YAW_P 1.6
+param set-default MC_ROLLRATE_P 0.3
+param set-default MC_YAW_P 1.6

-	param set MIS_TAKEOFF_ALT 10
+param set-default MIS_TAKEOFF_ALT 10

-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P_ACC 3
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_D_ACC 0.1
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_XY_P 0.8
+param set-default MPC_XY_VEL_P_ACC 3
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_D_ACC 0.1

-	param set NAV_ACC_RAD 5
-	param set NAV_LOITER_RAD 80
+param set-default NAV_ACC_RAD 5
+param set-default NAV_LOITER_RAD 80

-	param set VT_FWD_THRUST_EN 4
-	param set VT_F_TRANS_THR 0.75
-	param set VT_MOT_ID 1234
-	param set VT_FW_MOT_OFFID 1234
-	param set VT_B_TRANS_DUR 8
-	param set VT_TYPE 2
-
-fi
+param set-default VT_FWD_THRUST_EN 4
+param set-default VT_F_TRANS_THR 0.75
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
+param set-default VT_B_TRANS_DUR 8
+param set-default VT_TYPE 2

 set MAV_TYPE 22

@@ -7,44 +7,40 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set FW_L1_PERIOD 12
-	param set FW_MAN_P_MAX 30
-	param set FW_PR_I 0.2
-	param set FW_PR_P 0.3
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
-	param set FW_RR_P 0.3
-	param set FW_THR_CRUISE 0.33
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2
+param set-default FW_L1_PERIOD 12
+param set-default FW_MAN_P_MAX 30
+param set-default FW_PR_I 0.2
+param set-default FW_PR_P 0.3
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
+param set-default FW_P_LIM_MIN -15
+param set-default FW_RR_P 0.3
+param set-default FW_THR_CRUISE 0.33
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_T_ALT_TC 2
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_TAS_TC 2

-	param set MC_ROLLRATE_P 0.3
+param set-default MC_ROLLRATE_P 0.3

-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P_ACC 3
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_D_ACC 0.1
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_XY_P 0.8
+param set-default MPC_XY_VEL_P_ACC 3
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_D_ACC 0.1

-	param set NAV_ACC_RAD 5
-	param set NAV_LOITER_RAD 80
+param set-default NAV_ACC_RAD 5
+param set-default NAV_LOITER_RAD 80

-	param set VT_F_TRANS_DUR 1.5
-	param set VT_F_TRANS_THR 0.7
-	param set VT_TYPE 0
+param set-default VT_F_TRANS_DUR 1.5
+param set-default VT_F_TRANS_THR 0.7
+param set-default VT_TYPE 0

-	param set WV_EN 0
-
-fi
+param set-default WV_EN 0

 set MAV_TYPE 20

@@ -7,48 +7,44 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set FW_L1_PERIOD 12
-	param set FW_MAN_P_MAX 30
-	param set FW_PR_FF 0.2
-	param set FW_PR_I 0.4
-	param set FW_PR_P 0.9
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
-	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.3
-	param set FW_THR_CRUISE 0.38
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2
+param set-default FW_L1_PERIOD 12
+param set-default FW_MAN_P_MAX 30
+param set-default FW_PR_FF 0.2
+param set-default FW_PR_I 0.4
+param set-default FW_PR_P 0.9
+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_CRUISE 0.38
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_T_ALT_TC 2
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_TAS_TC 2

-	param set MC_YAW_P 1.6
+param set-default MC_YAW_P 1.6

-	param set MIS_TAKEOFF_ALT 10
+param set-default MIS_TAKEOFF_ALT 10

-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P_ACC 3
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_D_ACC 0.1
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_XY_P 0.8
+param set-default MPC_XY_VEL_P_ACC 3
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_D_ACC 0.1

-	param set NAV_ACC_RAD 5
-	param set NAV_LOITER_RAD 80
+param set-default NAV_ACC_RAD 5
+param set-default NAV_LOITER_RAD 80

-	param set VT_B_TRANS_DUR 8
-	param set VT_FWD_THRUST_EN 4
-	param set VT_MOT_ID 1234
-	param set VT_TILT_TRANS 0.6
-	param set VT_TYPE 1
-
-fi
+param set-default VT_B_TRANS_DUR 8
+param set-default VT_FWD_THRUST_EN 4
+param set-default VT_MOT_ID 1234
+param set-default VT_TILT_TRANS 0.6
+param set-default VT_TYPE 1

 set MAV_TYPE 21

@@ -7,53 +7,50 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set FW_L1_PERIOD 12
-	param set FW_MAN_P_MAX 30
-	param set FW_PR_FF 0.2
-	param set FW_PR_I 0.4
-	param set FW_PR_P 0.9
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
-	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.3
-	param set FW_THR_CRUISE 0.25
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2
+param set-default FW_L1_PERIOD 12
+param set-default FW_MAN_P_MAX 30
+param set-default FW_PR_FF 0.2
+param set-default FW_PR_I 0.4
+param set-default FW_PR_P 0.9
+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_CRUISE 0.25
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_T_ALT_TC 2
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_TAS_TC 2

-	param set MC_ROLLRATE_P 0.3
-	param set MC_YAW_P 1.6
+param set-default MC_ROLLRATE_P 0.3
+param set-default MC_YAW_P 1.6

-	param set MIS_TAKEOFF_ALT 10
+param set-default MIS_TAKEOFF_ALT 10

-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P_ACC 3
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_D_ACC 0.1
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_XY_P 0.8
+param set-default MPC_XY_VEL_P_ACC 3
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_D_ACC 0.1

-	param set NAV_ACC_RAD 5
-	param set NAV_LOITER_RAD 80
+param set-default NAV_ACC_RAD 5
+param set-default NAV_LOITER_RAD 80

-	param set VT_FWD_THRUST_EN 4
-	param set VT_F_TRANS_THR 0.75
-	param set VT_MOT_ID 1234
-	param set VT_FW_MOT_OFFID 1234
-	param set VT_B_TRANS_DUR 8
-	param set VT_TYPE 2
+param set-default VT_FWD_THRUST_EN 4
+param set-default VT_F_TRANS_THR 0.75
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
+param set-default VT_B_TRANS_DUR 8
+param set-default VT_TYPE 2

-	param set RC_MAP_AUX1 8
-	param set RC_MAP_AUX2 9
-	param set RC_MAP_AUX3 10
-fi
+param set-default RC_MAP_AUX1 8
+param set-default RC_MAP_AUX2 9
+param set-default RC_MAP_AUX3 10

 set MAV_TYPE 22

@@ -5,32 +5,28 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set GND_L1_DIST 5
-	param set GND_L1_PERIOD 10
-	param set GND_SP_CTRL_MODE 1
-	param set GND_SPEED_D 0.001
-	param set GND_SPEED_I 3
-	param set GND_SPEED_IMAX 0.125
-	param set GND_SPEED_P 0.25
-	param set GND_SPEED_THR_SC 1
-	param set GND_SPEED_TRIM 4
-	param set GND_THR_CRUISE 0.3
-	param set GND_THR_MAX 0.5
-	param set GND_THR_MIN 0
+param set-default GND_L1_DIST 5
+param set-default GND_L1_PERIOD 10
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_SPEED_D 0.001
+param set-default GND_SPEED_I 3
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_P 0.25
+param set-default GND_SPEED_THR_SC 1
+param set-default GND_SPEED_TRIM 4
+param set-default GND_THR_CRUISE 0.3
+param set-default GND_THR_MAX 0.5
+param set-default GND_THR_MIN 0

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

-	param set CBRK_AIRSPD_CHK 162128
+param set-default CBRK_AIRSPD_CHK 162128

-	param set GND_MAX_ANG 0.6
-	param set GND_WHEEL_BASE 2.0
-
-fi
+param set-default GND_MAX_ANG 0.6
+param set-default GND_WHEEL_BASE 2.0

 set MAV_TYPE 10

@@ -6,31 +6,27 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set GND_L1_DIST 5
-	param set GND_SP_CTRL_MODE 1
-	param set GND_SPEED_D 3
-	param set GND_SPEED_I 0.001
-	param set GND_SPEED_IMAX 0.125
-	param set GND_SPEED_P 0.25
-	param set GND_SPEED_THR_SC 1
-	param set GND_SPEED_TRIM 4
-	param set GND_THR_CRUISE 0.3
-	param set GND_THR_MAX 0.5
-	param set GND_THR_MIN 0
+param set-default GND_L1_DIST 5
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_SPEED_D 3
+param set-default GND_SPEED_I 0.001
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_P 0.25
+param set-default GND_SPEED_THR_SC 1
+param set-default GND_SPEED_TRIM 4
+param set-default GND_THR_CRUISE 0.3
+param set-default GND_THR_MAX 0.5
+param set-default GND_THR_MIN 0

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

-	param set CBRK_AIRSPD_CHK 162128
+param set-default CBRK_AIRSPD_CHK 162128

-	param set GND_MAX_ANG 0.6
-	param set GND_WHEEL_BASE 2.0
-
-fi
+param set-default GND_MAX_ANG 0.6
+param set-default GND_WHEEL_BASE 2.0

 set MAV_TYPE 10

@@ -10,32 +10,28 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set GND_L1_DIST 5
-	param set GND_SP_CTRL_MODE 1
-	param set GND_SPEED_D 3
-	param set GND_SPEED_I 0.001
-	param set GND_SPEED_IMAX 0.125
-	param set GND_SPEED_P 0.25
-	param set GND_SPEED_THR_SC 1
-	param set GND_SPEED_TRIM 15
-	param set GND_SPEED_MAX 25
-	param set GND_THR_CRUISE 0.3
-	param set GND_THR_MAX 0.5
-	param set GND_THR_MIN 0
+param set-default GND_L1_DIST 5
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_SPEED_D 3
+param set-default GND_SPEED_I 0.001
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_P 0.25
+param set-default GND_SPEED_THR_SC 1
+param set-default GND_SPEED_TRIM 15
+param set-default GND_SPEED_MAX 25
+param set-default GND_THR_CRUISE 0.3
+param set-default GND_THR_MAX 0.5
+param set-default GND_THR_MIN 0

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

-	param set CBRK_AIRSPD_CHK 162128
+param set-default CBRK_AIRSPD_CHK 162128

-	param set GND_MAX_ANG 0.6
-	param set GND_WHEEL_BASE 3.0
-
-fi
+param set-default GND_MAX_ANG 0.6
+param set-default GND_WHEEL_BASE 3.0

 set MAV_TYPE 10

@@ -5,32 +5,28 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set GND_L1_DIST 5
-	param set GND_L1_PERIOD 100
-	param set GND_SP_CTRL_MODE 1
-	param set GND_SPEED_D 0.001
-	param set GND_SPEED_I 8
-	param set GND_SPEED_IMAX 0.125
-	param set GND_SPEED_P 2
-	param set GND_SPEED_THR_SC 1
-	param set GND_SPEED_TRIM 1
-	param set GND_THR_CRUISE 0.85
-	param set GND_THR_MAX 1
-	param set GND_THR_MIN 0
+param set-default GND_L1_DIST 5
+param set-default GND_L1_PERIOD 100
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_SPEED_D 0.001
+param set-default GND_SPEED_I 8
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_P 2
+param set-default GND_SPEED_THR_SC 1
+param set-default GND_SPEED_TRIM 1
+param set-default GND_THR_CRUISE 0.85
+param set-default GND_THR_MAX 1
+param set-default GND_THR_MIN 0

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

-	param set CBRK_AIRSPD_CHK 162128
+param set-default CBRK_AIRSPD_CHK 162128

-	param set GND_MAX_ANG 0.6
-	param set GND_WHEEL_BASE 2.0
-
-fi
+param set-default GND_MAX_ANG 0.6
+param set-default GND_WHEEL_BASE 2.0

 set MAV_TYPE 11

@@ -12,52 +12,47 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	param set ASPD_STALL 10.0
+param set-default EKF2_ARSP_THR 8
+param set-default EKF2_FUSE_BETA 1
+param set-default ASPD_STALL 10.0

-	param set FW_P_RMAX_NEG 20.0
-	param set FW_P_RMAX_POS 60.0
-	param set FW_W_RMAX 10
-	param set FW_W_EN 1
+param set-default FW_P_RMAX_NEG 20.0
+param set-default FW_P_RMAX_POS 60.0
+param set-default FW_W_RMAX 10
+param set-default FW_W_EN 1

-	param set FW_PR_IMAX 0.4
-	param set FW_R_TC 0.4
-	param set FW_RR_FF 0.5
-	param set FW_RR_I 0.1
-	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.08
+param set-default FW_PR_IMAX 0.4
+param set-default FW_R_TC 0.4
+param set-default FW_RR_FF 0.5
+param set-default FW_RR_I 0.1
+param set-default FW_RR_IMAX 0.2
+param set-default FW_RR_P 0.08

-	param set MIS_LTRMIN_ALT 50
-	param set MIS_TAKEOFF_ALT 3
+param set-default MIS_LTRMIN_ALT 50
+param set-default MIS_TAKEOFF_ALT 3

-	param set NAV_ACC_RAD 20
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 100
+param set-default NAV_ACC_RAD 20
+param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 100

-	param set RWTO_TKOFF 1
+param set-default RWTO_TKOFF 1

-	param set FW_ARSP_SCALE_EN 0
+param set-default FW_ARSP_SCALE_EN 0

-	param set FW_AIRSPD_MAX 35
-	param set FW_AIRSPD_MIN 7
-	param set FW_AIRSPD_TRIM 15
+param set-default FW_AIRSPD_MAX 35
+param set-default FW_AIRSPD_MIN 7
+param set-default FW_AIRSPD_TRIM 15

-	param set FW_P_LIM_MAX 25
-	param set FW_P_LIM_MIN -5
-	param set FW_R_LIM 30
+param set-default FW_P_LIM_MAX 25
+param set-default FW_P_LIM_MIN -5
+param set-default FW_R_LIM 30

-	param set FW_MAN_P_MAX 30.0
-	param set FW_MAN_R_MAX 30.0
-
-	param set FW_THR_CRUISE 0.8
-	param set FW_THR_IDLE 0
-	param set COM_DISARM_PRFLT 0
-
-fi
+param set-default FW_MAN_P_MAX 30.0
+param set-default FW_MAN_R_MAX 30.0

+param set-default FW_THR_CRUISE 0.8
+param set-default FW_THR_IDLE 0
+param set-default COM_DISARM_PRFLT 0

 set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
 set MIXER custom
@@ -9,24 +9,21 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set MC_PITCHRATE_P 0.1
-	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCH_P 6.0
-	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.1
-	param set MC_ROLL_P 6.0
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_P_ACC 3
+param set-default MC_PITCHRATE_P 0.1
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCH_P 6.0
+param set-default MC_ROLLRATE_P 0.15
+param set-default MC_ROLLRATE_I 0.1
+param set-default MC_ROLL_P 6.0
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_P_ACC 3

-	param set RTL_DESCEND_ALT 10
+param set-default RTL_DESCEND_ALT 10

-	param set TRIG_INTERFACE 3
-	param set TRIG_MODE 4
-	param set MNT_MODE_IN 4
-	param set MNT_DO_STAB 2
-fi
+param set-default TRIG_INTERFACE 3
+param set-default TRIG_MODE 4
+param set-default MNT_MODE_IN 4
+param set-default MNT_DO_STAB 2

 set MAV_TYPE 13

@@ -7,27 +7,24 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set MC_PITCHRATE_P 0.0800
-	param set MC_PITCHRATE_I 0.0400
-	param set MC_PITCHRATE_D 0.0010
-	param set MC_PITCH_P 9.0
-	param set MC_ROLLRATE_P 0.0800
-	param set MC_ROLLRATE_I 0.0400
-	param set MC_ROLLRATE_D 0.0010
-	param set MC_ROLL_P 9.0
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_P_ACC 3
+param set-default MC_PITCHRATE_P 0.0800
+param set-default MC_PITCHRATE_I 0.0400
+param set-default MC_PITCHRATE_D 0.0010
+param set-default MC_PITCH_P 9.0
+param set-default MC_ROLLRATE_P 0.0800
+param set-default MC_ROLLRATE_I 0.0400
+param set-default MC_ROLLRATE_D 0.0010
+param set-default MC_ROLL_P 9.0
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_P_ACC 3

-	param set RTL_DESCEND_ALT 10
+param set-default RTL_DESCEND_ALT 10

-	param set TRIG_INTERFACE 3
-	param set TRIG_MODE 4
-	param set MNT_MODE_IN 4
-	param set MNT_MODE_OUT 2
-	param set MAV_PROTO_VER 2
-fi
+param set-default TRIG_INTERFACE 3
+param set-default TRIG_MODE 4
+param set-default MNT_MODE_IN 4
+param set-default MNT_MODE_OUT 2
+param set-default MAV_PROTO_VER 2

 set MAV_TYPE 13

@@ -8,66 +8,63 @@
 . ${R}etc/init.d/rc.mc_defaults
 . ${R}etc/init.d/rc.ctrlalloc

-if [ $AUTOCNF = yes ]
-then
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_P_ACC 3
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_P_ACC 3

-	param set RTL_DESCEND_ALT 10
-	param set RTL_LAND_DELAY 0
+param set-default RTL_DESCEND_ALT 10
+param set-default RTL_LAND_DELAY 0

-	param set TRIG_INTERFACE 3
-	param set TRIG_MODE 4
-	param set MNT_MODE_IN 0
-	param set MAV_PROTO_VER 2
+param set-default TRIG_INTERFACE 3
+param set-default TRIG_MODE 4
+param set-default MNT_MODE_IN 0
+param set-default MAV_PROTO_VER 2

-	param set MPC_USE_HTE 0
+param set-default MPC_USE_HTE 0

-	param set VM_MASS 2.66
-	param set VM_INERTIA_XX 0.06
-	param set VM_INERTIA_YY 0.06
-	param set VM_INERTIA_ZZ 0.10
+param set-default VM_MASS 2.66
+param set-default VM_INERTIA_XX 0.06
+param set-default VM_INERTIA_YY 0.06
+param set-default VM_INERTIA_ZZ 0.10

-	param set CA_AIRFRAME 0
-	param set CA_METHOD 1
-	param set CA_ACT0_MIN 0.0
-	param set CA_ACT1_MIN 0.0
-	param set CA_ACT2_MIN 0.0
-	param set CA_ACT3_MIN 0.0
-	param set CA_ACT4_MIN 0.0
-	param set CA_ACT5_MIN 0.0
-	param set CA_ACT0_MAX 1.0
-	param set CA_ACT1_MAX 1.0
-	param set CA_ACT2_MAX 1.0
-	param set CA_ACT3_MAX 1.0
-	param set CA_ACT4_MAX 1.0
-	param set CA_ACT5_MAX 1.0
+param set-default CA_AIRFRAME 0
+param set-default CA_METHOD 1
+param set-default CA_ACT0_MIN 0.0
+param set-default CA_ACT1_MIN 0.0
+param set-default CA_ACT2_MIN 0.0
+param set-default CA_ACT3_MIN 0.0
+param set-default CA_ACT4_MIN 0.0
+param set-default CA_ACT5_MIN 0.0
+param set-default CA_ACT0_MAX 1.0
+param set-default CA_ACT1_MAX 1.0
+param set-default CA_ACT2_MAX 1.0
+param set-default CA_ACT3_MAX 1.0
+param set-default CA_ACT4_MAX 1.0
+param set-default CA_ACT5_MAX 1.0

-	param set CA_MC_R0_PX 0.0
-	param set CA_MC_R0_PY 1.0
-	param set CA_MC_R0_CT 9.5
-	param set CA_MC_R0_KM -0.05
-	param set CA_MC_R1_PX 0.0
-	param set CA_MC_R1_PY -1.0
-	param set CA_MC_R1_CT 9.5
-	param set CA_MC_R1_KM 0.05
-	param set CA_MC_R2_PX 0.866025
-	param set CA_MC_R2_PY -0.5
-	param set CA_MC_R2_CT 9.5
-	param set CA_MC_R2_KM -0.05
-	param set CA_MC_R3_PX -0.866025
-	param set CA_MC_R3_PY 0.5
-	param set CA_MC_R3_CT 9.5
-	param set CA_MC_R3_KM 0.05
-	param set CA_MC_R4_PX 0.866025
-	param set CA_MC_R4_PY 0.5
-	param set CA_MC_R4_CT 9.5
-	param set CA_MC_R4_KM 0.05
-	param set CA_MC_R5_PX -0.866025
-	param set CA_MC_R5_PY -0.5
-	param set CA_MC_R5_CT 9.5
-	param set CA_MC_R5_KM -0.05
-fi
+param set-default CA_MC_R0_PX 0.0
+param set-default CA_MC_R0_PY 1.0
+param set-default CA_MC_R0_CT 9.5
+param set-default CA_MC_R0_KM -0.05
+param set-default CA_MC_R1_PX 0.0
+param set-default CA_MC_R1_PY -1.0
+param set-default CA_MC_R1_CT 9.5
+param set-default CA_MC_R1_KM 0.05
+param set-default CA_MC_R2_PX 0.866025
+param set-default CA_MC_R2_PY -0.5
+param set-default CA_MC_R2_CT 9.5
+param set-default CA_MC_R2_KM -0.05
+param set-default CA_MC_R3_PX -0.866025
+param set-default CA_MC_R3_PY 0.5
+param set-default CA_MC_R3_CT 9.5
+param set-default CA_MC_R3_KM 0.05
+param set-default CA_MC_R4_PX 0.866025
+param set-default CA_MC_R4_PY 0.5
+param set-default CA_MC_R4_CT 9.5
+param set-default CA_MC_R4_KM 0.05
+param set-default CA_MC_R5_PX -0.866025
+param set-default CA_MC_R5_PY -0.5
+param set-default CA_MC_R5_CT 9.5
+param set-default CA_MC_R5_KM -0.05

 set MAV_TYPE 13

@@ -0,0 +1,32 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+udp_offboard_port_local=$((14580+px4_instance))
+udp_offboard_port_remote=$((14540+px4_instance))
+[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
+udp_onboard_payload_port_local=$((14280+px4_instance))
+udp_onboard_payload_port_remote=$((14030+px4_instance))
+udp_onboard_gimbal_port_local=$((13030+px4_instance))
+udp_onboard_gimbal_port_remote=$((13280+px4_instance))
+udp_gcs_port_local=$((18570+px4_instance))
+
+# GCS link
+mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
+mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
+mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
+mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
+mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
+mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
+mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
+mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
+mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
+mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
+
+# API/Offboard link
+mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
+
+# Onboard link to camera
+mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
+
+# Onboard link to gimbal
+mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
@@ -0,0 +1,5 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+#param set MAV_SYS_ID $((px4_instance+1))
+#param set IMU_INTEG_RATE 250
@@ -0,0 +1,20 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+simulator_tcp_port=$((4560+px4_instance))
+
+# Check if PX4_SIM_HOSTNAME environment variable is empty
+# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
+# If both are empty use localhost for simulator
+if [ -z "${PX4_SIM_HOSTNAME}" ]; then
+  if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
+    echo "PX4 SIM HOST: localhost"
+    simulator start -c $simulator_tcp_port
+  else
+    echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
+    simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
+  fi
+else
+  echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
+  simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
+fi
@@ -5,7 +5,8 @@
 # shellcheck disable=SC1091
 . px4-alias.sh

-SCRIPT_DIR="$(CDPATH='' cd -- "$(dirname -- "$0")" && pwd)"
+#search path for sourcing px4-rc.*
+PATH="$PATH:${R}etc/init.d-posix"

 #
 # Main SITL startup script
@@ -45,9 +46,9 @@ else
 	# Find the matching Autostart ID (file name has the form: [0-9]+_${PX4_SIM_MODEL})
 	# TODO: unify with rc.autostart generation
 	# shellcheck disable=SC2012
-	REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
+	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 $SCRIPT_DIR/airframes)"
+		echo "Error: 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"
@@ -98,21 +99,12 @@ then
 	set AUTOCNF yes

 	# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
-	param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT_UUID
+	param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
 fi

 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
-simulator_tcp_port=$((4560+px4_instance))
-udp_offboard_port_local=$((14580+px4_instance))
-udp_offboard_port_remote=$((14540+px4_instance))
-[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
-udp_onboard_payload_port_local=$((14280+px4_instance))
-udp_onboard_payload_port_remote=$((14030+px4_instance))
-udp_onboard_gimbal_port_local=$((13030+px4_instance))
-udp_onboard_gimbal_port_remote=$((13280+px4_instance))
-udp_gcs_port_local=$((18570+px4_instance))

 if [ $AUTOCNF = yes ]
 then
@@ -177,6 +169,10 @@ if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
 	COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
 	echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
 	param set COM_OF_LOSS_T $COM_OF_LOSS_T_LONGER
+
+	COM_OBC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 5.0" | bc)
+	echo "COM_OBC_LOSS_T set to $COM_OBC_LOSS_T_LONGER"
+	param set COM_OBC_LOSS_T $COM_OBC_LOSS_T_LONGER
 fi

 # Autostart ID
@@ -212,11 +208,14 @@ fi
 # Simulator IMU data provided at 250 Hz
 param set IMU_INTEG_RATE 250

+#user defined params for instances can be in PATH
+. px4-rc.params
+
 dataman start
 # only start the simulator if not in replay mode, as both control the lockstep time
 if ! replay tryapplyparams
 then
-	simulator start -c $simulator_tcp_port
+  . px4-rc.simulator
 fi
 load_mon start
 battery_simulator start
@@ -254,32 +253,8 @@ fi
 #
 . ${R}etc/init.d/rc.vehicle_setup

-if [ -e etc/init.d-posix/rc.mavlink_override ]
-then
-	echo "Running non-default mavlink config rc.mavlink_override"
-	sh etc/init.d-posix/rc.mavlink_override
-else
-	# GCS link
-	mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
-	mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
-	mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
-	mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
-	mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
-	mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
-	mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
-	mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
-	mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
-	mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
-
-	# API/Offboard link
-	mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
-
-	# Onboard link to camera
-	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
-
-	# Onboard link to gimbal
-	mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
-fi
+#user defined mavlink streams for instances can be in PATH
+. px4-rc.mavlink

 # execute autostart post script if any
 [ -e "$autostart_file".post ] && . "$autostart_file".post
@@ -14,7 +14,7 @@
 . ${R}etc/init.d/rc.vtol_defaults


-param set-default PWM_AUX_DISARMED 1000
+param set-default PWM_AUX_DISARM 1000
 param set-default PWM_AUX_MAX 2000
 param set-default PWM_AUX_MIN 1000
 param set-default PWM_AUX_RATE 50
@@ -112,7 +112,7 @@ param set-default MPC_YAWRAUTO_MAX 20
 param set-default NAV_DLL_ACT 0
 param set-default NAV_LOITER_RAD 100

-param set-default PWM_AUX_DISARMED 950
+param set-default PWM_AUX_DISARM 950

 param set-default PWM_MAIN_DIS5 1500
 param set-default PWM_MAIN_DIS6 1500
@@ -111,5 +111,6 @@ set MAV_TYPE 22
 set MIXER babyshark
 set MIXER_AUX pass

+# Mark outputs for the alternate rate
+# or D-Shot
 set PWM_OUT 5678
-set PWM_AUX_OUT 1234
@@ -31,7 +31,7 @@ set VEHICLE_TYPE mc
 param set-default NAV_ACC_RAD 2

 param set-default PWM_AUX_RATE 400
-param set-default PWM_AUX_DISARMED 900
+param set-default PWM_AUX_DISARM 900
 param set-default PWM_AUX_MIN 1075
 param set-default PWM_AUX_MAX 1950

@@ -33,7 +33,7 @@ param set-default MC_YAW_P 4

 param set-default NAV_ACC_RAD 2

-param set-default PWM_AUX_DISARMED 950
+param set-default PWM_AUX_DISARM 950
 param set-default PWM_AUX_RATE 50
 param set-default PWM_MAIN_MIN 1100
 param set-default PWM_MAIN_MAX 1900
@@ -16,8 +16,6 @@
 set MIXER quad_x
 set PWM_OUT 1234

-set PARAM_DEFAULTS_VER 2
-

 param set-default BAT_N_CELLS 4

@@ -7,8 +7,6 @@
 # @type Rover
 # @class Rover
 #
-# @board px4_fmu-v2 exclude
-#
 # @output MAIN0 Speed of left wheels
 # @output MAIN1 Speed of right wheels
 #
@@ -16,6 +16,8 @@ param set-default COM_POS_FS_EPV 30
 param set-default COM_POS_FS_GAIN 0
 param set-default COM_POS_FS_PROB 1
 param set-default COM_VEL_FS_EVH 5
+# Disable preflight disarm to not interfere with external launching
+param set-default COM_DISARM_PRFLT -1

 param set-default EKF2_ARSP_THR 8
 param set-default EKF2_FUSE_BETA 1
@@ -108,11 +108,18 @@ then
 	vl53l1x start -X
 fi

+# ADIS16448 spi external IMU
+if param compare -s SENS_EN_ADIS164X 1
+then
+	adis16448 -S start
+fi
+
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
+	icm20948_i2c_passthrough -X -q start
+
 	# compasses
-	ak09916 -X -R 6 -q start # external AK09916 (Here2) is rotated 270 degrees yaw
 	hmc5883 -T -X -q start
 	ist8308 -X -q start
 	ist8310 -X -q start
@@ -121,6 +128,9 @@ then
 	qmc5883l -X -q start
 	rm3100 -X -q start

+	# start last (wait for possible icm20948 passthrough mode)
+	ak09916 -X -q start
+
 	# differential pressure sensors
 	if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ]
 	then
@@ -23,6 +23,7 @@ param set-default MPC_XY_ERR_MAX 5
 param set-default MPC_XY_VEL_MAX 4
 param set-default MPC_Z_VEL_MAX_DN 1.5
 param set-default MPC_JERK_MAX 4.5
+param set-default MPC_YAW_MODE 4

 param set-default NAV_ACC_RAD 3

@@ -51,12 +51,6 @@ set STARTUP_TUNE 1
 set USE_IO no
 set VEHICLE_TYPE none

-# Airframe parameter versioning: airframe maintainers can set this in the
-# airframe startup script, and then increase it by one whenever an airframe
-# parameter is updated - it will ensure that these parameters will be updated
-# when the firmware is flashed.
-set PARAM_DEFAULTS_VER 1
-
 #
 # Mount the procfs.
 #
@@ -171,12 +165,8 @@ else
 	#
 	if param greater SYS_AUTOCONFIG 0
 	then
-		if param compare SYS_AUTOCONFIG 1
-		then
-			# Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID
-			param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT* SYS_PARAM_VER
-		fi
-
+		# Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID
+		param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
 		set AUTOCNF yes
 	fi

@@ -239,14 +229,6 @@ else
 	rgbled start -X -q
 	rgbled_ncp5623c start -X -q

-	if param greater -s LIGHT_EN_BLINKM 0
-	then
-		if blinkm start -X
-		then
-			blinkm systemstate
-		fi
-	fi
-
 	#
 	# Set parameters and env variables for selected AUTOSTART.
 	#
@@ -272,6 +254,34 @@ else
 		param set SYS_AUTOCONFIG 0
 	fi

+	#
+	# Check if UAVCAN is enabled, default to it for ESCs.
+	#
+	if param greater -s UAVCAN_ENABLE 0
+	then
+		# Start core UAVCAN module.
+		if uavcan start
+		then
+			if param greater UAVCAN_ENABLE 1
+			then
+				# Start UAVCAN firmware update server and dynamic node ID allocation server.
+				uavcan start fw
+				tune_control play -t 1
+				if param greater UAVCAN_ENABLE 2
+				then
+					set OUTPUT_MODE uavcan_esc
+				fi
+			fi
+		else
+			tune_control play error
+		fi
+	else
+		if param greater -s UAVCAN_V1_ENABLE 0
+		then
+			uavcan_v1 start
+		fi
+	fi
+
 	#
 	# Check if PX4IO present and update firmware if needed.
 	# Assumption IOFW set to firmware file and IO_PRESENT = no
@@ -303,6 +313,8 @@ else
 					else
 						tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 					fi
+				else
+					tune_control stop
 				fi
 			fi
 		fi
@@ -414,34 +426,6 @@ else
 		camera_feedback start
 	fi

-	#
-	# Check if UAVCAN is enabled, default to it for ESCs.
-	#
-	if param greater -s UAVCAN_ENABLE 0
-	then
-		# Start core UAVCAN module.
-		if uavcan start
-		then
-			if param greater UAVCAN_ENABLE 1
-			then
-				# Start UAVCAN firmware update server and dynamic node ID allocation server.
-				uavcan start fw
-				tune_control play -t 1
-				if param greater UAVCAN_ENABLE 2
-				then
-					set OUTPUT_MODE uavcan_esc
-				fi
-			fi
-		else
-			tune_control play error
-		fi
-	fi
-
-	if param greater -s UAVCAN_V1_ENABLE 0
-	then
-		uavcan_v1 start
-	fi
-
 	#
 	# Optional board mavlink streams: rc.board_mavlink
 	#
@@ -570,15 +554,6 @@ else
 		fi
 	fi

-	if ! param compare SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
-	then
-		echo "Switched to different parameter version. Resetting parameters."
-		param set SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
-		param set SYS_AUTOCONFIG 2
-		param save
-		reboot
-	fi
-
 #
 # End of autostart.
 #
@@ -603,7 +578,6 @@ unset MIXER
 unset MIXER_AUX
 unset MIXER_FILE
 unset OUTPUT_MODE
-unset PARAM_DEFAULTS_VER
 unset PARAM_FILE
 unset PWM_AUX_OUT
 unset PWM_AUX_RATE
@@ -59,7 +59,7 @@ if [ ! -f $HOOK_FILE ] && [ "$CI" != "true" ]; then
 	fi
 fi

-${DIR}/files_to_check_code_style.sh | xargs -n 1 -P 8 -I % ${DIR}/check_code_style.sh %
+${DIR}/files_to_check_code_style.sh | xargs -P 8 -I % ${DIR}/check_code_style.sh %

 if [ $? -eq 0 ]; then
    echo "Format checks passed"
@@ -0,0 +1,13 @@
+custom_data_source: {
+  name: "bloaty_static_ram"
+  base_data_source: "sections"
+
+  rewrite: {
+    pattern: "^\\.bss"
+    replacement: "ram"
+  }
+  rewrite: {
+    pattern: "^\\.data"
+    replacement: "ram"
+  }
+}
@@ -2,10 +2,7 @@

 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:2021-02-04"
-	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
+	if [[ $@ =~ .*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"
 	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
@@ -30,7 +27,7 @@ fi

 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2020-09-14"
+	PX4_DOCKER_REPO="ghcr.io/px4/px4-dev:2021-05-06"
 fi

 # docker hygiene
@@ -67,4 +64,5 @@ docker run -it --rm -w "${SRC_DIR}" \
 	--publish 14556:14556/udp \
 	--volume=${CCACHE_DIR}:${CCACHE_DIR}:rw \
 	--volume=${SRC_DIR}:${SRC_DIR}:rw \
+	-v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=$DISPLAY -h $HOSTNAME
 	${PX4_DOCKER_REPO} /bin/bash -c "$1 $2 $3"
@@ -1,4 +1,4 @@
-#! /usr/bin/env python
+#! /usr/bin/env python3

 from __future__ import print_function

@@ -7,6 +7,7 @@ import os
 import math
 import matplotlib.pyplot as plt
 import numpy as np
+import scipy as sp

 from pyulog import *

@@ -63,6 +64,9 @@ def resampleWithDeltaX(x,y):

    return resampledX,resampledY

+def median_filter(data):
+    return sp.signal.medfilt(data, 31)
+
 parser = argparse.ArgumentParser(description='Reads in IMU data from a static thermal calibration test and performs a curve fit of gyro, accel and baro bias vs temperature')
 parser.add_argument('filename', metavar='file.ulg', help='ULog input file')
 parser.add_argument('--no_resample', dest='noResample', action='store_const',
@@ -184,12 +188,16 @@ if num_gyros >= 1 and not math.isnan(sensor_gyro_0['temperature'][0]):
    temp_rel_resample = np.linspace(gyro_0_params['TC_G0_TMIN']-gyro_0_params['TC_G0_TREF'], gyro_0_params['TC_G0_TMAX']-gyro_0_params['TC_G0_TREF'], 100)
    temp_resample = temp_rel_resample + gyro_0_params['TC_G0_TREF']

+    sensor_gyro_0['x'] = median_filter(sensor_gyro_0['x'])
+    sensor_gyro_0['y'] = median_filter(sensor_gyro_0['y'])
+    sensor_gyro_0['z'] = median_filter(sensor_gyro_0['z'])
+
    # fit X axis
    if noResample:
-        coef_gyro_0_x = np.polyfit(temp_rel,sensor_gyro_0['x'],3)
+        coef_gyro_0_x = np.polyfit(temp_rel, sensor_gyro_0['x'], 3)
    else:
-        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_0['x'])
-        coef_gyro_0_x = np.polyfit(temp, sens ,3)
+        temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_0['x'])
+        coef_gyro_0_x = np.polyfit(temp, sens, 3)

    gyro_0_params['TC_G0_X3_0'] = coef_gyro_0_x[0]
    gyro_0_params['TC_G0_X2_0'] = coef_gyro_0_x[1]
@@ -200,10 +208,10 @@ if num_gyros >= 1 and not math.isnan(sensor_gyro_0['temperature'][0]):

    # fit Y axis
    if noResample:
-        coef_gyro_0_y = np.polyfit(temp_rel,sensor_gyro_0['y'],3)
+        coef_gyro_0_y = np.polyfit(temp_rel, sensor_gyro_0['y'], 3)
    else:
        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_0['y'])
-        coef_gyro_0_y = np.polyfit(temp, sens ,3)
+        coef_gyro_0_y = np.polyfit(temp, sens, 3)

    gyro_0_params['TC_G0_X3_1'] = coef_gyro_0_y[0]
    gyro_0_params['TC_G0_X2_1'] = coef_gyro_0_y[1]
@@ -214,9 +222,9 @@ if num_gyros >= 1 and not math.isnan(sensor_gyro_0['temperature'][0]):

    # fit Z axis
    if noResample:
-        coef_gyro_0_z = np.polyfit(temp_rel,sensor_gyro_0['z'],3)
+        coef_gyro_0_z = np.polyfit(temp_rel, sensor_gyro_0['z'],3)
    else:
-        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_0['z'])
+        temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_0['z'])
        coef_gyro_0_z = np.polyfit(temp, sens ,3)

    gyro_0_params['TC_G0_X3_2'] = coef_gyro_0_z[0]
@@ -292,6 +300,10 @@ if num_gyros >= 2 and not math.isnan(sensor_gyro_1['temperature'][0]):
    temp_rel_resample = np.linspace(gyro_1_params['TC_G1_TMIN']-gyro_1_params['TC_G1_TREF'], gyro_1_params['TC_G1_TMAX']-gyro_1_params['TC_G1_TREF'], 100)
    temp_resample = temp_rel_resample + gyro_1_params['TC_G1_TREF']

+    sensor_gyro_1['x'] = median_filter(sensor_gyro_1['x'])
+    sensor_gyro_1['y'] = median_filter(sensor_gyro_1['y'])
+    sensor_gyro_1['z'] = median_filter(sensor_gyro_1['z'])
+
    # fit X axis
    if noResample:
        coef_gyro_1_x = np.polyfit(temp_rel,sensor_gyro_1['x'],3)
@@ -400,6 +412,10 @@ if num_gyros >= 3 and not math.isnan(sensor_gyro_2['temperature'][0]):
    temp_rel_resample = np.linspace(gyro_2_params['TC_G2_TMIN']-gyro_2_params['TC_G2_TREF'], gyro_2_params['TC_G2_TMAX']-gyro_2_params['TC_G2_TREF'], 100)
    temp_resample = temp_rel_resample + gyro_2_params['TC_G2_TREF']

+    sensor_gyro_2['x'] = median_filter(sensor_gyro_2['x'])
+    sensor_gyro_2['y'] = median_filter(sensor_gyro_2['y'])
+    sensor_gyro_2['z'] = median_filter(sensor_gyro_2['z'])
+
    # fit X axis
    if noResample:
        coef_gyro_2_x = np.polyfit(temp_rel,sensor_gyro_2['x'],3)
@@ -416,10 +432,10 @@ if num_gyros >= 3 and not math.isnan(sensor_gyro_2['temperature'][0]):

    # fit Y axis
    if noResample:
-        coef_gyro_2_y = np.polyfit(temp_rel,sensor_gyro_2['y'],3)
+        coef_gyro_2_y = np.polyfit(temp_rel, sensor_gyro_2['y'], 3)
    else:
-        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_2['y'])
-        coef_gyro_2_y = np.polyfit(temp, sens ,3)
+        temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_2['y'])
+        coef_gyro_2_y = np.polyfit(temp, sens, 3)

    gyro_2_params['TC_G2_X3_1'] = coef_gyro_2_y[0]
    gyro_2_params['TC_G2_X2_1'] = coef_gyro_2_y[1]
@@ -430,10 +446,10 @@ if num_gyros >= 3 and not math.isnan(sensor_gyro_2['temperature'][0]):

    # fit Z axis
    if noResample:
-        coef_gyro_2_z = np.polyfit(temp_rel,sensor_gyro_2['z'],3)
+        coef_gyro_2_z = np.polyfit(temp_rel,sensor_gyro_2['z'], 3)
    else:
        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_2['z'])
-        coef_gyro_2_z = np.polyfit(temp, sens ,3)
+        coef_gyro_2_z = np.polyfit(temp, sens, 3)

    gyro_2_params['TC_G2_X3_2'] = coef_gyro_2_z[0]
    gyro_2_params['TC_G2_X2_2'] = coef_gyro_2_z[1]
@@ -508,8 +524,12 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
    temp_rel_resample = np.linspace(gyro_3_params['TC_G3_TMIN']-gyro_3_params['TC_G3_TREF'], gyro_3_params['TC_G3_TMAX']-gyro_3_params['TC_G3_TREF'], 100)
    temp_resample = temp_rel_resample + gyro_3_params['TC_G3_TREF']

+    sensor_gyro_3['x'] = median_filter(sensor_gyro_3['x'])
+    sensor_gyro_3['y'] = median_filter(sensor_gyro_3['y'])
+    sensor_gyro_3['z'] = median_filter(sensor_gyro_3['z'])
+
    # fit X axis
-    coef_gyro_3_x = np.polyfit(temp_rel,sensor_gyro_3['x'],3)
+    coef_gyro_3_x = np.polyfit(temp_rel,sensor_gyro_3['x'], 3)
    gyro_3_params['TC_G3_X3_0'] = coef_gyro_3_x[0]
    gyro_3_params['TC_G3_X2_0'] = coef_gyro_3_x[1]
    gyro_3_params['TC_G3_X1_0'] = coef_gyro_3_x[2]
@@ -518,7 +538,7 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
    gyro_3_x_resample = fit_coef_gyro_3_x(temp_rel_resample)

    # fit Y axis
-    coef_gyro_3_y = np.polyfit(temp_rel,sensor_gyro_3['y'],3)
+    coef_gyro_3_y = np.polyfit(temp_rel,sensor_gyro_3['y'], 3)
    gyro_3_params['TC_G3_X3_1'] = coef_gyro_3_y[0]
    gyro_3_params['TC_G3_X2_1'] = coef_gyro_3_y[1]
    gyro_3_params['TC_G3_X1_1'] = coef_gyro_3_y[2]
@@ -527,7 +547,7 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
    gyro_3_y_resample = fit_coef_gyro_3_y(temp_rel_resample)

    # fit Z axis
-    coef_gyro_3_z = np.polyfit(temp_rel,sensor_gyro_3['z'],3)
+    coef_gyro_3_z = np.polyfit(temp_rel,sensor_gyro_3['z'], 3)
    gyro_3_params['TC_G3_X3_2'] = coef_gyro_3_z[0]
    gyro_3_params['TC_G3_X2_2'] = coef_gyro_3_z[1]
    gyro_3_params['TC_G3_X1_2'] = coef_gyro_3_z[2]
@@ -540,8 +560,8 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):

    # draw plots
    plt.subplot(3,1,1)
-    plt.plot(sensor_gyro_3['temperature'],sensor_gyro_3['x'],'b')
-    plt.plot(temp_resample,gyro_3_x_resample,'r')
+    plt.plot(sensor_gyro_3['temperature'],sensor_gyro_3['x'], 'b')
+    plt.plot(temp_resample,gyro_3_x_resample, 'r')
    plt.title('Gyro 2 ({}) Bias vs Temperature'.format(gyro_3_params['TC_G3_ID']))
    plt.ylabel('X bias (rad/s)')
    plt.xlabel('temperature (degC)')
@@ -601,13 +621,17 @@ if num_accels >= 1 and not math.isnan(sensor_accel_0['temperature'][0]):
    temp_rel_resample = np.linspace(accel_0_params['TC_A0_TMIN']-accel_0_params['TC_A0_TREF'], accel_0_params['TC_A0_TMAX']-accel_0_params['TC_A0_TREF'], 100)
    temp_resample = temp_rel_resample + accel_0_params['TC_A0_TREF']

+    sensor_accel_0['x'] = median_filter(sensor_accel_0['x'])
+    sensor_accel_0['y'] = median_filter(sensor_accel_0['y'])
+    sensor_accel_0['z'] = median_filter(sensor_accel_0['z'])
+
    # fit X axis
    correction_x = sensor_accel_0['x'] - np.median(sensor_accel_0['x'])
    if noResample:
-        coef_accel_0_x = np.polyfit(temp_rel,correction_x,3)
+        coef_accel_0_x = np.polyfit(temp_rel,correction_x, 3)
    else:
        temp, sens = resampleWithDeltaX(temp_rel,correction_x)
-        coef_accel_0_x = np.polyfit(temp, sens ,3)
+        coef_accel_0_x = np.polyfit(temp, sens, 3)

    accel_0_params['TC_A0_X3_0'] = coef_accel_0_x[0]
    accel_0_params['TC_A0_X2_0'] = coef_accel_0_x[1]
@@ -617,12 +641,12 @@ if num_accels >= 1 and not math.isnan(sensor_accel_0['temperature'][0]):
    correction_x_resample = fit_coef_accel_0_x(temp_rel_resample)

    # fit Y axis
-    correction_y = sensor_accel_0['y']-np.median(sensor_accel_0['y'])
+    correction_y = sensor_accel_0['y'] - np.median(sensor_accel_0['y'])
    if noResample:
-        coef_accel_0_y = np.polyfit(temp_rel,correction_y,3)
+        coef_accel_0_y = np.polyfit(temp_rel, correction_y, 3)
    else:
        temp, sens = resampleWithDeltaX(temp_rel,correction_y)
-        coef_accel_0_y = np.polyfit(temp, sens ,3)
+        coef_accel_0_y = np.polyfit(temp, sens, 3)

    accel_0_params['TC_A0_X3_1'] = coef_accel_0_y[0]
    accel_0_params['TC_A0_X2_1'] = coef_accel_0_y[1]
@@ -632,12 +656,12 @@ if num_accels >= 1 and not math.isnan(sensor_accel_0['temperature'][0]):
    correction_y_resample = fit_coef_accel_0_y(temp_rel_resample)

    # fit Z axis
-    correction_z = sensor_accel_0['z']-np.median(sensor_accel_0['z'])
+    correction_z = sensor_accel_0['z'] - np.median(sensor_accel_0['z'])
    if noResample:
-        coef_accel_0_z = np.polyfit(temp_rel,correction_z,3)
+        coef_accel_0_z = np.polyfit(temp_rel,correction_z, 3)
    else:
        temp, sens = resampleWithDeltaX(temp_rel,correction_z)
-        coef_accel_0_z = np.polyfit(temp, sens ,3)
+        coef_accel_0_z = np.polyfit(temp, sens, 3)

    accel_0_params['TC_A0_X3_2'] = coef_accel_0_z[0]
    accel_0_params['TC_A0_X2_2'] = coef_accel_0_z[1]
@@ -712,13 +736,17 @@ if num_accels >= 2 and not math.isnan(sensor_accel_1['temperature'][0]):
    temp_rel_resample = np.linspace(accel_1_params['TC_A1_TMIN']-accel_1_params['TC_A1_TREF'], accel_1_params['TC_A1_TMAX']-accel_1_params['TC_A1_TREF'], 100)
    temp_resample = temp_rel_resample + accel_1_params['TC_A1_TREF']

+    sensor_accel_1['x'] = median_filter(sensor_accel_1['x'])
+    sensor_accel_1['y'] = median_filter(sensor_accel_1['y'])
+    sensor_accel_1['z'] = median_filter(sensor_accel_1['z'])
+
    # fit X axis
-    correction_x = sensor_accel_1['x']-np.median(sensor_accel_1['x'])
+    correction_x = sensor_accel_1['x'] - np.median(sensor_accel_1['x'])
    if noResample:
-        coef_accel_1_x = np.polyfit(temp_rel,correction_x,3)
+        coef_accel_1_x = np.polyfit(temp_rel, correction_x, 3)
    else:
-        temp, sens = resampleWithDeltaX(temp_rel,correction_x)
-        coef_accel_1_x = np.polyfit(temp, sens ,3)
+        temp, sens = resampleWithDeltaX(temp_rel, correction_x)
+        coef_accel_1_x = np.polyfit(temp, sens, 3)

    accel_1_params['TC_A1_X3_0'] = coef_accel_1_x[0]
    accel_1_params['TC_A1_X2_0'] = coef_accel_1_x[1]
@@ -728,7 +756,7 @@ if num_accels >= 2 and not math.isnan(sensor_accel_1['temperature'][0]):
    correction_x_resample = fit_coef_accel_1_x(temp_rel_resample)

    # fit Y axis
-    correction_y = sensor_accel_1['y']-np.median(sensor_accel_1['y'])
+    correction_y = sensor_accel_1['y'] - np.median(sensor_accel_1['y'])
    if noResample:
        coef_accel_1_y = np.polyfit(temp_rel,correction_y,3)
    else:
@@ -743,12 +771,12 @@ if num_accels >= 2 and not math.isnan(sensor_accel_1['temperature'][0]):
    correction_y_resample = fit_coef_accel_1_y(temp_rel_resample)

    # fit Z axis
-    correction_z = (sensor_accel_1['z'])-np.median(sensor_accel_1['z'])
+    correction_z = sensor_accel_1['z'] - np.median(sensor_accel_1['z'])
    if noResample:
-        coef_accel_1_z = np.polyfit(temp_rel,correction_z,3)
+        coef_accel_1_z = np.polyfit(temp_rel,correction_z, 3)
    else:
        temp, sens = resampleWithDeltaX(temp_rel,correction_z)
-        coef_accel_1_z = np.polyfit(temp, sens ,3)
+        coef_accel_1_z = np.polyfit(temp, sens, 3)

    accel_1_params['TC_A1_X3_2'] = coef_accel_1_z[0]
    accel_1_params['TC_A1_X2_2'] = coef_accel_1_z[1]
@@ -824,13 +852,17 @@ if num_accels >= 3 and not math.isnan(sensor_accel_2['temperature'][0]):
    temp_rel_resample = np.linspace(accel_2_params['TC_A2_TMIN']-accel_2_params['TC_A2_TREF'], accel_2_params['TC_A2_TMAX']-accel_2_params['TC_A2_TREF'], 100)
    temp_resample = temp_rel_resample + accel_2_params['TC_A2_TREF']

+    sensor_accel_2['x'] = median_filter(sensor_accel_2['x'])
+    sensor_accel_2['y'] = median_filter(sensor_accel_2['y'])
+    sensor_accel_2['z'] = median_filter(sensor_accel_2['z'])
+
    # fit X axis
-    correction_x = sensor_accel_2['x']-np.median(sensor_accel_2['x'])
+    correction_x = sensor_accel_2['x'] - np.median(sensor_accel_2['x'])
    if noResample:
-        coef_accel_2_x = np.polyfit(temp_rel,correction_x,3)
+        coef_accel_2_x = np.polyfit(temp_rel,correction_x, 3)
    else:
-        temp, sens = resampleWithDeltaX(temp_rel,correction_x)
-        coef_accel_2_x = np.polyfit(temp, sens ,3)
+        temp, sens = resampleWithDeltaX(temp_rel, correction_x)
+        coef_accel_2_x = np.polyfit(temp, sens, 3)

    accel_2_params['TC_A2_X3_0'] = coef_accel_2_x[0]
    accel_2_params['TC_A2_X2_0'] = coef_accel_2_x[1]
@@ -840,7 +872,7 @@ if num_accels >= 3 and not math.isnan(sensor_accel_2['temperature'][0]):
    correction_x_resample = fit_coef_accel_2_x(temp_rel_resample)

    # fit Y axis
-    correction_y = sensor_accel_2['y']-np.median(sensor_accel_2['y'])
+    correction_y = sensor_accel_2['y'] - np.median(sensor_accel_2['y'])
    if noResample:
        coef_accel_2_y = np.polyfit(temp_rel,correction_y,3)
    else:
@@ -855,7 +887,7 @@ if num_accels >= 3 and not math.isnan(sensor_accel_2['temperature'][0]):
    correction_y_resample = fit_coef_accel_2_y(temp_rel_resample)

    # fit Z axis
-    correction_z = sensor_accel_2['z']-np.median(sensor_accel_2['z'])
+    correction_z = sensor_accel_2['z'] - np.median(sensor_accel_2['z'])
    if noResample:
        coef_accel_2_z = np.polyfit(temp_rel,correction_z,3)
    else:
@@ -935,9 +967,13 @@ if num_accels >= 4 and not math.isnan(sensor_accel_3['temperature'][0]):
    temp_rel_resample = np.linspace(accel_3_params['TC_A3_TMIN']-accel_3_params['TC_A3_TREF'], accel_3_params['TC_A3_TMAX']-accel_3_params['TC_A3_TREF'], 100)
    temp_resample = temp_rel_resample + accel_3_params['TC_A3_TREF']

+    sensor_accel_3['x'] = median_filter(sensor_accel_3['x'])
+    sensor_accel_3['y'] = median_filter(sensor_accel_3['y'])
+    sensor_accel_3['z'] = median_filter(sensor_accel_3['z'])
+
    # fit X axis
-    correction_x = sensor_accel_3['x']-np.median(sensor_accel_3['x'])
-    coef_accel_3_x = np.polyfit(temp_rel,correction_x,3)
+    correction_x = sensor_accel_3['x'] - np.median(sensor_accel_3['x'])
+    coef_accel_3_x = np.polyfit(temp_rel, correction_x, 3)
    accel_3_params['TC_A3_X3_0'] = coef_accel_3_x[0]
    accel_3_params['TC_A3_X2_0'] = coef_accel_3_x[1]
    accel_3_params['TC_A3_X1_0'] = coef_accel_3_x[2]
@@ -946,8 +982,8 @@ if num_accels >= 4 and not math.isnan(sensor_accel_3['temperature'][0]):
    correction_x_resample = fit_coef_accel_3_x(temp_rel_resample)

    # fit Y axis
-    correction_y = sensor_accel_3['y']-np.median(sensor_accel_3['y'])
-    coef_accel_3_y = np.polyfit(temp_rel,correction_y,3)
+    correction_y = sensor_accel_3['y'] - np.median(sensor_accel_3['y'])
+    coef_accel_3_y = np.polyfit(temp_rel, correction_y, 3)
    accel_3_params['TC_A3_X3_1'] = coef_accel_3_y[0]
    accel_3_params['TC_A3_X2_1'] = coef_accel_3_y[1]
    accel_3_params['TC_A3_X1_1'] = coef_accel_3_y[2]
@@ -956,8 +992,8 @@ if num_accels >= 4 and not math.isnan(sensor_accel_3['temperature'][0]):
    correction_y_resample = fit_coef_accel_3_y(temp_rel_resample)

    # fit Z axis
-    correction_z = sensor_accel_3['z']-np.median(sensor_accel_3['z'])
-    coef_accel_3_z = np.polyfit(temp_rel,correction_z,3)
+    correction_z = sensor_accel_3['z'] - np.median(sensor_accel_3['z'])
+    coef_accel_3_z = np.polyfit(temp_rel, correction_z, 3)
    accel_3_params['TC_A3_X3_2'] = coef_accel_3_z[0]
    accel_3_params['TC_A3_X2_2'] = coef_accel_3_z[1]
    accel_3_params['TC_A3_X1_2'] = coef_accel_3_z[2]
@@ -1024,8 +1060,10 @@ temp_rel = sensor_baro_0['temperature'] - baro_0_params['TC_B0_TREF']
 temp_rel_resample = np.linspace(baro_0_params['TC_B0_TMIN']-baro_0_params['TC_B0_TREF'], baro_0_params['TC_B0_TMAX']-baro_0_params['TC_B0_TREF'], 100)
 temp_resample = temp_rel_resample + baro_0_params['TC_B0_TREF']

+sensor_baro_0['pressure'] = median_filter(sensor_baro_0['pressure'])
+
 # fit data
-median_pressure = np.median(sensor_baro_0['pressure']);
+median_pressure = np.median(sensor_baro_0['pressure'])
 if noResample:
    coef_baro_0_x = np.polyfit(temp_rel,100*(sensor_baro_0['pressure']-median_pressure),5) # convert from hPa to Pa
 else:
@@ -1081,8 +1119,10 @@ if num_baros >= 2:
    temp_rel_resample = np.linspace(baro_1_params['TC_B1_TMIN']-baro_1_params['TC_B1_TREF'], baro_1_params['TC_B1_TMAX']-baro_1_params['TC_B1_TREF'], 100)
    temp_resample = temp_rel_resample + baro_1_params['TC_B1_TREF']

+    sensor_baro_1['pressure'] = median_filter(sensor_baro_1['pressure'])
+
    # fit data
-    median_pressure = np.median(sensor_baro_1['pressure']);
+    median_pressure = np.median(sensor_baro_1['pressure'])
    if noResample:
        coef_baro_1_x = np.polyfit(temp_rel,100*(sensor_baro_1['pressure']-median_pressure),5) # convert from hPa to Pa
    else:
@@ -1099,7 +1139,7 @@ if num_baros >= 2:
    baro_1_x_resample = fit_coef_baro_1_x(temp_rel_resample)

    # baro 2 vs temperature
-    plt.figure(9,figsize=(20,13))
+    plt.figure(10,figsize=(20,13))

    # draw plots
    plt.plot(sensor_baro_1['temperature'],100*sensor_baro_1['pressure']-100*median_pressure,'b')
@@ -1139,8 +1179,10 @@ if num_baros >= 3:
    temp_rel_resample = np.linspace(baro_2_params['TC_B2_TMIN']-baro_2_params['TC_B2_TREF'], baro_2_params['TC_B2_TMAX']-baro_2_params['TC_B2_TREF'], 100)
    temp_resample = temp_rel_resample + baro_2_params['TC_B2_TREF']

+    sensor_baro_2['pressure'] = median_filter(sensor_baro_2['pressure'])
+
    # fit data
-    median_pressure = np.median(sensor_baro_2['pressure']);
+    median_pressure = np.median(sensor_baro_2['pressure'])
    if noResample:
        coef_baro_2_x = np.polyfit(temp_rel,100*(sensor_baro_2['pressure']-median_pressure),5) # convert from hPa to Pa
    else:
@@ -1157,7 +1199,7 @@ if num_baros >= 3:
    baro_2_x_resample = fit_coef_baro_2_x(temp_rel_resample)

    # baro 2 vs temperature
-    plt.figure(10,figsize=(20,13))
+    plt.figure(11,figsize=(20,13))

    # draw plots
    plt.plot(sensor_baro_2['temperature'],100*sensor_baro_2['pressure']-100*median_pressure,'b')
@@ -1197,6 +1239,8 @@ if num_baros >= 4:
    temp_rel_resample = np.linspace(baro_3_params['TC_B3_TMIN']-baro_3_params['TC_B3_TREF'], baro_3_params['TC_B3_TMAX']-baro_3_params['TC_B3_TREF'], 100)
    temp_resample = temp_rel_resample + baro_3_params['TC_B3_TREF']

+    sensor_baro_3['pressure'] = median_filter(sensor_baro_3['pressure'])
+
    # fit data
    median_pressure = np.median(sensor_baro_3['pressure'])
    coef_baro_3_x = np.polyfit(temp_rel,100*(sensor_baro_3['pressure']-median_pressure),5) # convert from hPa to Pa
@@ -1210,7 +1254,7 @@ if num_baros >= 4:
    baro_3_x_resample = fit_coef_baro_3_x(temp_rel_resample)

    # baro 3 vs temperature
-    plt.figure(11,figsize=(20,13))
+    plt.figure(12,figsize=(20,13))

    # draw plots
    plt.plot(sensor_baro_3['temperature'],100*sensor_baro_3['pressure']-100*median_pressure,'b')
@@ -98,6 +98,8 @@ class ParameterGroup(object):
            return "Boat"
        elif (self.name == "Balloon"):
            return "Balloon"
+        elif (self.name == "Vectored 6 DOF UUV"):
+            return "Vectored6DofUUV"
        return "AirframeUnknown"

    def GetParams(self):
@@ -190,7 +190,6 @@ if rc_serial_output_dir is None and serial_params_output_file is None:
 serial_commands = []
 ethernet_configuration = []
 additional_params = ""
-additional_ethernet_params = ""

 if ethernet_supported:
    ethernet_configuration.append({
@@ -211,7 +210,7 @@ def parse_yaml_serial_config(yaml_config):
        ret.append(serial_config)
    return ret

-def parse_yaml_parameters_config(yaml_config):
+def parse_yaml_parameters_config(yaml_config, ethernet_supported):
    """ parse the parameters section from the yaml config file """
    if 'parameters' not in yaml_config:
        return ''
@@ -224,79 +223,7 @@ def parse_yaml_parameters_config(yaml_config):
        param_group = parameters_section.get('group', None)
        for param_name in definitions:
            param = definitions[param_name]
-            if 'ethernet' in param:
-                continue
-            num_instances = param.get('num_instances', 1)
-            instance_start = param.get('instance_start', 0) # offset
-
-            # get the type and extract all tags
-            tags = '@group {:}'.format(param_group)
-            if param['type'] == 'enum':
-                param_type = 'INT32'
-                for key in param['values']:
-                    tags += '\n * @value {:} {:}'.format(key, param['values'][key])
-            elif param['type'] == 'boolean':
-                param_type = 'INT32'
-                tags += '\n * @boolean'
-            elif param['type'] == 'int32':
-                param_type = 'INT32'
-            elif param['type'] == 'float':
-                param_type = 'FLOAT'
-            else:
-                raise Exception("unknown param type {:}".format(param['type']))
-
-            for tag in ['decimal', 'increment', 'category', 'volatile', 'bit',
-                        'min', 'max', 'unit', 'reboot_required']:
-                if tag in param:
-                    tags += '\n * @{:} {:}'.format(tag, param[tag])
-
-            for i in range(num_instances):
-                # default value
-                default_value = 0
-                if 'default' in param:
-                    # default can be a list of num_instances or a single value
-                    if type(param['default']) == list:
-                        assert len(param['default']) == num_instances
-                        default_value = param['default'][i]
-                    else:
-                        default_value = param['default']
-
-                if type(default_value) == bool:
-                    default_value = int(default_value)
-
-                # output the existing C-style format
-                ret += '''
-/**
- * {short_descr}
- *
- * {long_descr}
- *
- * {tags}
- */
-PARAM_DEFINE_{param_type}({name}, {default_value});
-'''.format(short_descr=param['description']['short'].replace("\n", "\n * "),
-           long_descr=param['description']['long'].replace("\n", "\n * "),
-           tags=tags,
-           param_type=param_type,
-           name=param_name,
-           default_value=default_value,
-          ).replace('${i}', str(i+instance_start))
-    return ret
-
-def parse_yaml_ethernet_parameters_config(yaml_config):
-    """ parse the parameters section from the yaml config file """
-    if 'parameters' not in yaml_config:
-        return ''
-    parameters_section_list = yaml_config['parameters']
-    for parameters_section in parameters_section_list:
-        if 'definitions' not in parameters_section:
-            return ''
-        definitions = parameters_section['definitions']
-        ret = ''
-        param_group = parameters_section.get('group', None)
-        for param_name in definitions:
-            param = definitions[param_name]
-            if 'ethernet' not in param:
+            if param.get('requires_ethernet', False) and not ethernet_supported:
                continue
            num_instances = param.get('num_instances', 1)
            instance_start = param.get('instance_start', 0) # offset
@@ -362,9 +289,8 @@ for yaml_file in args.config_files:
            serial_commands.extend(parse_yaml_serial_config(yaml_config))

            # TODO: additional params should be parsed in a separate script
-            additional_params += parse_yaml_parameters_config(yaml_config)
-            if ethernet_supported:
-                additional_ethernet_params += parse_yaml_ethernet_parameters_config(yaml_config)
+            additional_params += parse_yaml_parameters_config(
+                yaml_config, ethernet_supported)

        except yaml.YAMLError as exc:
            print(exc)
@@ -429,7 +355,7 @@ for serial_command in serial_commands:
            'default_port': default_port,
            'param_group': port_config['group'],
            'description_extended': port_config.get('description_extended', ''),
-			'ethernet_config': serial_command.get('ethernet', 'none')
+			'supports_networking': serial_command.get('supports_networking', False)
            })

 if verbose:
@@ -473,6 +399,5 @@ if serial_params_output_file is not None:
        fid.write(template.render(serial_devices=serial_devices,
            ethernet_configuration=ethernet_configuration,
            commands=commands, serial_ports=serial_ports,
-            additional_definitions=additional_params,
-            additional_ethernet_definitions=additional_ethernet_params))
+            additional_definitions=additional_params))

@@ -17,9 +17,9 @@ if param compare "$PRT" {{ serial_device.index }}; then
 fi

 {% endfor %}
+
 {% for config in ethernet_configuration -%}
 if param compare "$PRT" {{ config.index }}; then
 	set SERIAL_DEV ethernet
 fi
-
 {% endfor %}
@@ -58,10 +58,11 @@ PARAM_DEFINE_INT32(SER_{{ serial_device.tag }}_BAUD, {{ serial_device.default_ba
 {%- for serial_device in serial_devices %}
 * @value {{ serial_device.index }} {{ serial_device.label }}
 {%- endfor %}
-{%- if command.ethernet_config != "none" %}
+{%- if command.supports_networking %}
 {%- for config in ethernet_configuration %}
 * @value {{ config.index }} {{ config.label }}
-{%- endfor %}{% endif %}
+{%- endfor %}
+{%- endif %}
 * @group {{ command.param_group }}
 * @reboot_required true
 */
@@ -72,5 +73,3 @@ PARAM_DEFINE_INT32({{ command.port_param_name }}, {{ command.default_port }});

 {{ additional_definitions }}

-{{ additional_ethernet_definitions }}
-
@@ -0,0 +1,11 @@
+.PHONY: docker_build docker_push all
+
+DATE := $(shell date +%Y-%m-%d)
+
+docker_build:
+	docker build -f Dockerfile -t px4-dev:${DATE} .
+
+docker_push: build
+        docker push px4io/px4-dev:${DATE}
+
+all: docker_build
@@ -155,8 +155,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 			# fix VMWare 3D graphics acceleration for gazebo
 			exportline="export SVGA_VGPU10=0"

-			if grep -Fxq "$exportline" $HOME/.profile; then
-			else
+			if !grep -Fxq "$exportline" $HOME/.profile; then
 				echo $exportline >> $HOME/.profile;
 			fi
 		fi
@@ -0,0 +1,27 @@
+#!/bin/bash
+
+# Start virtual X server in the background
+# - DISPLAY default is :99, set in dockerfile
+# - Users can override with `-e DISPLAY=` in `docker run` command to avoid
+#   running Xvfb and attach their screen
+if [[ -x "$(command -v Xvfb)" && "$DISPLAY" == ":99" ]]; then
+	echo "Starting Xvfb"
+	Xvfb :99 -screen 0 1600x1200x24+32 &
+fi
+
+# Check if the ROS_DISTRO is passed and use it
+# to source the ROS environment
+if [ -n "${ROS_DISTRO}" ]; then
+	source "/opt/ros/$ROS_DISTRO/setup.bash"
+fi
+
+# Use the LOCAL_USER_ID if passed in at runtime
+if [ -n "${LOCAL_USER_ID}" ]; then
+	echo "Starting with UID : $LOCAL_USER_ID"
+	# modify existing user's id
+	usermod -u $LOCAL_USER_ID user
+	# run as user
+	exec gosu user "$@"
+else
+	exec "$@"
+fi
@@ -45,7 +45,7 @@ fi

 # Python dependencies
 echo "Installing PX4 Python3 dependencies"
-pip3 install --user -r ${DIR}/requirements.txt
+python3 -m pip install --user -r ${DIR}/requirements.txt

 # Optional, but recommended additional simulation tools:
 if [[ $INSTALL_SIM == "--sim-tools" ]]; then
@@ -1,24 +1,26 @@
 argcomplete
-argparse>=1.2
+argparse
 cerberus
 coverage
 empy>=3.3
 jinja2>=2.8
+jsonschema
+kconfiglib
 matplotlib>=3.0.*
 numpy>=1.13
-nunavut
+nunavut>=1.1.0
 packaging
-pandas>=0.21
 pkgconfig
 psutil
 pygments
-wheel>=0.31.1
 pymavlink
 pyros-genmsg
 pyserial>=3.0
 pyulog>=0.5.0
 pyyaml
 requests
+serial
 setuptools>=39.2.0
 six>=1.12.0
 toml>=0.9
+wheel>=0.31.1
@@ -31,10 +31,9 @@ done
 # detect if running in docker
 if [ -f /.dockerenv ]; then
 	echo "Running within docker, installing initial dependencies";
-	apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
+	apt-get -qq update && DEBIAN_FRONTEND=noninteractive apt-get -q -y --no-install-recommends install \
 		ca-certificates \
-		gnupg \
-		lsb-core \
+		gosu \
 		sudo \
 		wget \
 		;
@@ -53,7 +52,7 @@ fi

 # check ubuntu version
 # otherwise warn and point to docker?
-UBUNTU_RELEASE="`lsb_release -rs`"
+UBUNTU_RELEASE=$(cat /etc/os-release | grep VERSION_ID | cut -d "\"" -f 2)

 if [[ "${UBUNTU_RELEASE}" == "14.04" ]]; then
 	echo "Ubuntu 14.04 is no longer supported"
@@ -63,16 +62,18 @@ elif [[ "${UBUNTU_RELEASE}" == "16.04" ]]; then
 	exit 1
 elif [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
 	echo "Ubuntu 18.04"
+
 elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
 	echo "Ubuntu 20.04"
+
 fi


 echo
 echo "Installing PX4 general dependencies"

-sudo apt-get update -y --quiet
-sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+sudo apt-get -qq update
+sudo DEBIAN_FRONTEND=noninteractive apt-get -q -y --no-install-recommends install \
 	astyle \
 	build-essential \
 	ccache \
@@ -93,20 +94,23 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
 	python3-wheel \
 	rsync \
 	shellcheck \
-	unzip \
-	zip \
 	;

 if [[ "${UBUNTU_RELEASE}" == "16.04" ]]; then
 	echo "Installing Ubuntu 16.04 PX4-compatible ccache version"
-	wget -O /tmp/ccache_3.4.1-1_amd64.deb http://launchpadlibrarian.net/356662933/ccache_3.4.1-1_amd64.deb
+	wget -q -O /tmp/ccache_3.4.1-1_amd64.deb http://launchpadlibrarian.net/356662933/ccache_3.4.1-1_amd64.deb
 	sudo dpkg -i /tmp/ccache_3.4.1-1_amd64.deb
 fi

 # Python3 dependencies
 echo
 echo "Installing PX4 Python3 dependencies"
-python3 -m pip install --user -r ${DIR}/requirements.txt
+if [ -f /.dockerenv ]; then
+	# system wide for docker
+	python3 -m pip install -r ${DIR}/requirements.txt
+else
+	python3 -m pip install --user --quiet -r ${DIR}/requirements.txt
+fi

 # NuttX toolchain (arm-none-eabi-gcc)
 if [[ $INSTALL_NUTTX == "true" ]]; then
@@ -114,17 +118,11 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 	echo
 	echo "Installing NuttX dependencies"

-	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-		autoconf \
-		automake \
-		bison \
-		bzip2 \
-		file \
-		flex \
+	sudo DEBIAN_FRONTEND=noninteractive apt-get -q -y --no-install-recommends install \
+		g++-multilib \
+		gcc-multilib \
 		gdb-multiarch \
-		gperf \
-		libncurses-dev \
-		libtool \
+		genromfs \
 		pkg-config \
 		screen \
 		vim-common \
@@ -150,7 +148,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then

 	else
 		echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
-		wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-linux.tar.bz2 && \
+		wget -q -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-linux.tar.bz2 && \
 			sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/;

 		# add arm-none-eabi-gcc to user's PATH
@@ -171,37 +169,36 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	echo "Installing PX4 simulation dependencies"

 	# General simulation dependencies
-	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+	sudo DEBIAN_FRONTEND=noninteractive apt-get -q -y --no-install-recommends install \
 		bc \
 		;

 	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
-		java_version=11
 		gazebo_version=9
+		MAVSDK_VERSION=0.39.0
+		wget -q "https://github.com/mavlink/MAVSDK/releases/download/v${MAVSDK_VERSION}/mavsdk_{MAVSDK_VERSION})_ubuntu18.04_amd64.deb" -O /tmp/mavsdk.deb && sudo dpkg -i /tmp/mavsdk.deb
 	elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
-		java_version=14
 		gazebo_version=11
+		MAVSDK_VERSION=0.39.0
+		wget -q "https://github.com/mavlink/MAVSDK/releases/download/v{MAVSDK_VERSION}/mavsdk_{MAVSDK_VERSION}_ubuntu20.04_amd64.deb" -O /tmp/mavsdk.deb && sudo dpkg -i /tmp/mavsdk.deb
 	else
-		java_version=14
 		gazebo_version=11
 	fi
+
 	# Java (jmavsim or fastrtps)
-	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+	sudo DEBIAN_FRONTEND=noninteractive apt-get -q -y --no-install-recommends install \
 		ant \
-		openjdk-$java_version-jre \
-		openjdk-$java_version-jdk \
+		default-jre-headless \
+		default-jdk-headless \
 		libvecmath-java \
 		;

-	# Set Java 11 as default
-	sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")
-
 	# Gazebo
 	sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
-	wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
+	wget -q http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
 	# Update list, since new gazebo-stable.list has been added
-	sudo apt-get update -y --quiet
-	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+	sudo apt-get update -qq
+	sudo DEBIAN_FRONTEND=noninteractive apt-get -q -y --no-install-recommends install \
 		dmidecode \
 		gazebo$gazebo_version \
 		gstreamer1.0-plugins-bad \
@@ -44,7 +44,7 @@ parser.add_argument('-m', '--modules', action='store',
                    default='')


-logging.basicConfig(level=logging.WARNING)
+logging.basicConfig(level=logging.WARNING,format='%(message)s')
 log = logging.getLogger()

 def get_N_colors(N, s=0.8, v=0.9):
@@ -61,6 +61,9 @@ class PubSub(object):
    """ Collects either publication or subscription information for nodes
    (modules and topics) & edges """

+    # special value to signal an ambiguous was found -- don't record this topic, and stop processing.
+    AMBIGUOUS_SITE_TOPIC = "AMBIGUOUS"
+
    def __init__(self, name, topic_blacklist, regexes):
        """
            :param is_publication: if True, publications, False for
@@ -74,13 +77,12 @@ class PubSub(object):
        self._topic_blacklist = topic_blacklist
        self._regexes = set([ re.compile(regex) for regex in regexes])

-    def match(self, source_line: str) -> Set[str]:
+    def match(self, source_line: str) -> str:
        """ Extract subscribed/published topics from a source string
        :param src_str: string of C/C++ code with comments and whitespace removed
-        :return: if any topic was found, it is returned as a str.  Otherwise, None
+        :return: if any topic was found, returned as a str.   On error, raise on exception.  On ambiguous line, return `AMBIGUOUS_SITE_TOPIC`.  Otherwise, return `None`
        """

-        matches = set()
        for regex in self._regexes:
            # just the matches for this particular pattern:
            match = regex.search(source_line)
@@ -88,11 +90,10 @@ class PubSub(object):
            if match is None:
                continue

-            # all regexes should contain 2 capture groups
-            # total_match = match.group(0)
+            # # all regexes should contain 2 capture groups  (or else this code block crashes)
            route_group, topic_group = match.groups()

-            log.debug(f"          ####:{self._name}:  {route_group}, {topic_group}")
+            log.debug("          ####:{}:  {}, {}".format( self._name, route_group, topic_group))

            # # TODO: handle this case... but not sure where, yet
            # if match == 'ORB_ID_VEHICLE_ATTITUDE_CONTROLS': # special case
@@ -102,49 +103,31 @@ class PubSub(object):
            if route_group:
                if route_group == 'ORB_ID':
                    log.debug("            >>> Found ORB_ID topic: " + topic_group +  "    w/regex: " + str(regex.pattern))
-                    self._add_topic(matches, topic_group)
-                    break
-                elif route_group == '<' and topic_group.endswith('_s'):
-                    topic_group = topic_group[:-2]
-                    log.debug("            >>> Found C++ template-declaration: " + topic_group +  "    w/regex: " + str(regex.pattern))
-                    self._add_topic(matches, topic_group)
-                    # continue processing
-                elif route_group in ['{','('] and topic_group.endswith('_s'):
-                    topic_group = topic_group[:-2]
-                    log.debug("            >>> Found standard declaration: " + topic_group +  "    w/regex: " + str(regex.pattern))
-                    self._add_topic(matches, topic_group)
-                    break
+                    return self._filter_topic(topic_group)
                elif route_group == '[':
-                    if topic_group.endswith('_s'):
-                        topic_group = topic_group[:-2]
-                        log.debug("            >>> Found array declaration: " + topic_group +  "    w/regex: " + str(regex.pattern))
-                        self._add_topic(matches, topic_group)
-                        break
-                    else:
-                        # no topic found -- ambiguity -- return an empty set
-                        return set()
-                elif 'Multi' in route_group and topic_group.endswith('_s'):
-                        topic_group = topic_group[:-2]
-                        log.debug("            >>> Found 'multi' declaration: " + topic_group +  "    w/regex: " + str(regex.pattern))
-                        self._add_topic(matches, topic_group)
-                        break
+                    if not topic_group:
+                        log.debug("            !! found an ambiguous site => return an empty set")
+                        return PubSub.AMBIGUOUS_SITE_TOPIC
                else:
                    raise SyntaxError('!!! Encountered regex case:  `route_group` contains unrecognized value!: '+ route_group+'  (::'+str(regex.pattern)+')\n'
                                        + "        ("+ route_group+', '+topic_group +")\n"
                                        + "        " + source_line)
+            elif route_group.empty() and topic_group.empty():
+                log.debug('!!! Found ambiguous site, without `ORB_ID` or topic (::'+str(regex.pattern))
+                return PubSub.AMBIGUOUS_SITE_TOPIC

            else:
                raise SyntaxError("            !!! unhandled case:  unknown-variant: "+route_group+", " + topic_group + " ....from regex: " + str(regex.pattern))

-        return matches
+        return None

-    def _add_topic(self, topic_set: Set[str], topic_name: str):
+    def _filter_topic(self, topic_name: str) -> str:
        """ add topic to set, unless the topic is ignored """
        if topic_name in self._topic_blacklist:
            log.debug("                    XX Ignoring blacklisted topic " + topic_name)
-            return
+            return None
        else:
-            return topic_set.add(topic_name)
+            return topic_name

 class Publications(PubSub):
    """ Collects topic publication information for scopes """
@@ -189,7 +172,7 @@ class Scope(object):
        return self._name

    def reduce_ambiguities(self) -> Set[str]:
-        self.ambiguities = self.ambiguities - self.subscriptions - self.ambiguities
+        self.ambiguities = self.ambiguities - self.subscriptions - self.publications
        return self.dependencies

    @property
@@ -225,8 +208,8 @@ class Graph(object):
            - topic_blacklist
        """

-        self._comment_remove_pattern = re.compile( r'//.*?$|/\*.*?\*/|\'(?:\\.|[^\\\'])*\'|"(?:\\.|[^\\"])*"', re.DOTALL | re.MULTILINE)
        self._whitespace_pattern = re.compile(r'\s+')
+
        self._scope_blacklist = set(kwargs.get('scope_blacklist',set()))
        self._scope_whitelist = set(kwargs.get('scope_whitelist',set()))

@@ -249,28 +232,27 @@ class Graph(object):
        self._topic_colors = {} # key = topic, value = color (html string)

        # note: the source-file-string is pre-processed to remove whitespace -- regexes should ignore whitespace
-        # note:  the regexes should have at least 3 capture groups '()'; otherwise they break downstream code
-        capture_cases_sub = [r"\borb_subscribe(?:_multi|)\b\s*\(\s*(ORB_ID)\s*\(\s*(\w+)",
-                             r"(?:uORB::)Subscription(?:Interval|)\s+\w+\s*[\{\(]\s*(ORB_ID)\s*\(\s*(\w+)",
-                             r"(?:uORB::)Subscription(?:Data|MultiArray|Blocking|)\s*(<)\s*(\w+)",
-                             r"(?:uORB::)SubscriptionCallbackWorkItem\s+\w+\s*\{\s*this,\s*(ORB_ID)\((\w+)",
+        # note: the regexes should 2 capture groups '()' to correctly register with downstream code
+        capture_cases_sub = [r"orb_subscribe\w*\((ORB_ID)(?:\(|::)(\w+)",
+                             r"orb_copy\((ORB_ID)(?:\(|::)(\w+)",
+                             r"Subscription\w*(?:<[^>]+>|)\w*(?:\[[^]]+\]|)[\{\(](ORB_ID)(?:\(|::)(\w+)",
+                             r"SubscriptionCallbackWorkItem\w+\{this,(ORB_ID)(?:\(|::)(\w+)",
                            ]
        self._subscriptions = Subscriptions( self._topic_blacklist, capture_cases_sub)

        # note: the source-file-string is pre-processed to remove whitespace -- regexes should ignore whitespace
-        # note: the regexes should have at least 3 capture groups '()'; otherwise they break downstream code
-        capture_cases_pub = [r"(?:uORB::)Publication(?:Data|Multi|)\s*(<)(\w+)>",
-                             r"orb_advertise(?:_multi|_queue|_multi_queue|)\s*\(\s*(ORB_ID)\s*\(\s*(\w+)",
-                             r"orb_publish(?:_auto|)\s*\(\s*(ORB_ID)\s*\(\s*(\w+)",
-                             r"(?:uORB::)Publication(?:Data|Multi|)\s*<\w+>\s+\w+\s*[\(\{](ORB_ID)\((\w+)"
+        # note: the regexes should 2 capture groups '()' to correctly register with downstream code
+        capture_cases_pub = [r"orb_advertise(?:_multi|_queue|_multi_queue|)\((ORB_ID)(?:\(|::)(\w+)",
+                             r"orb_publish(?:_auto|)\((ORB_ID)(?:\(|::)(\w+)",
+                             r"Publication\w*<\w+>\w+(?:\[[^]]+\]|)[\(\{]*(ORB_ID)(?:\(|::)(\w+)",
                            ]
        self._publications = Publications( self._topic_blacklist, capture_cases_pub)

        # note: the source-file-string is pre-processed to remove whitespace -- regexes should ignore whitespace
-        # note: the regexes should have at least 3 capture groups '()'; otherwise they break downstream code
-        capture_cases_ambiguous = [ r"orb_copy\s*\(\s*(ORB_ID)\s*\(\s*(\w+)",
-                                    r"(?:uORB::)Subscription[^\s]*\s+\w+\s*(\[)\s*\w+\s*\]()",
-                                    r"(ORB_ID)\s*\(\s*(\w+)",
+        # note: the regexes should 2 capture groups '()' to correctly register with downstream code
+        capture_cases_ambiguous = [ r"Publication\w*(?:\<\w+\>|)\w+(\[)()",
+                                    r"Subscription\w*(?:\<\w+\>|)\w+(\[)()",
+                                    r"(ORB_ID)(?:\(|::)(\w+)",
                                  ]
        self._ambiguities = Ambiguities( self._topic_blacklist, capture_cases_ambiguous)

@@ -279,7 +261,7 @@ class Graph(object):
            return None
        return self._current_scope[-1]

-    def build(self, src_path_list, path_blacklist=[], **kwargs):
+    def build(self, src_path_list, **kwargs):
        """ parse the source tree & extract pub/sub information.
            :param use_topic_pubsub_union: if true, use all topics that have a
            publisher or subscriber. If false, use only topics with at least one
@@ -288,7 +270,8 @@ class Graph(object):
            fill in self._module_subsciptions & self._module_publications
        """

-        self._path_blacklist = [os.path.normpath(p) for p in path_blacklist]
+
+        self._path_blacklist =  set([ os.path.normpath(p) for p in kwargs.get('path_blacklist',[]) ])

        for path in src_path_list:
            log.info("## Add src path: " + path )
@@ -296,9 +279,9 @@ class Graph(object):

        # Summarize the found counts: (all topics are defined in 'dependency' library)
        log.info('### Summary: Total Scanned:')
-        log.info('    Libraries Count:    '+str(len(self._found_libraries)))
-        log.info('    Modules Count:      '+str(len(self._found_modules)))
-        log.info('    Warnings Count:     '+str(len(self._warnings)))
+        log.info('    Library Count:      '+str(len(self._found_libraries)))
+        log.info('    Module Count:       '+str(len(self._found_modules)))
+        log.info('    Warning Count:      '+str(len(self._warnings)))

        if kwargs['merge_depends']:
            graph.merge_depends()
@@ -307,18 +290,21 @@ class Graph(object):
        self._generate_print_lists(use_topic_pubsub_union=kwargs['use_topic_pubsub_union'], merge_depends=kwargs['merge_depends'])

        # Summarize the found counts:
-        print('          ### Summary (in-scope):')
-        print('              Ambiguous Count:    '+str(len(self._print_ambiguities)))
-        print('              Scope Count:        '+str(len(self._print_scopes)))
-        print('              Topics Count:       '+str(len(self._print_topics)))
-        print('              Warnings Count:     '+str(len(self._warnings)))
+        log.info('### Summary (in-scope):')
+        log.info('    Scope Count:        '+str(len(self._print_scopes)))
+        log.info('    Ambiguous Topics:   '+str(len(self._print_ambiguities)))
+        log.info('    Linked Topics:      '+str(len(self._print_topics)))
+        log.info('    Warnings:           '+str(len(self._warnings)))

        if 0 < len(self._warnings):
            # print out the list of warning-sites:
            log.info('## Warning Sites:')
            for w in self._warnings:
+                scope_name = 'no-scope'
+                if None is not w[0]:
+                    scope_name = w[0].name
                # warnings tuple contains: (current_scope, file_name, line_number, line)
-                log.info("    -['{}']:{:<64s}:{} = {}".format(w[0].name, w[1].lstrip('/.'), w[2], w[3] ))
+                log.info("    -['{}']:{:<64s}:{} = {}".format(scope_name, w[1].lstrip('/.'), w[2], w[3] ))

        # initialize colors
        color_list = get_N_colors(len(self._print_topics), 0.7, 0.85)
@@ -334,9 +320,8 @@ class Graph(object):
        published_topics = set()
        ambiguous_topics = set()

-        # gather all possible modules...
-        # all_scopes = self._found_libraries | self._found_modules         # Python 3.9 or greater
-        all_scopes = { **self._found_libraries, **self._found_modules }    # Python 3.5 or greater
+        # gather all found scopes:
+        all_scopes = { **self._found_libraries, **self._found_modules }

        if 0 == len(self._scope_whitelist):
            select_scopes = self._found_modules
@@ -346,27 +331,28 @@ class Graph(object):
                if scope_name in all_scopes:
                    select_scopes[scope_name] = all_scopes[scope_name]
        if not isinstance(select_scopes, dict) or 0 == len(select_scopes):
-            raise TypeError("'select_scopes' should be a set!! aborting.")
+            log.error("!! No requested modules not found -- exiting.")
+            sys.exit(0)

-        log.debug(f'    >> Condensing found topics: scope -> total')
+        log.debug('### Condensing found topics: scope -> total')
        for name,scope in select_scopes.items():
-            log.debug(f'        @@ Scope: {name}')
+            log.debug('    # Scope: '+ name )

-            log.debug(f'          ## Subs: {name}')
-            for topic in scope.subscriptions:
-                log.debug(f'            - {topic}')
+            log.debug('        ## Subs: ' + str(len(scope.subscriptions)))
+            for topic in sorted(scope.subscriptions):
+                log.debug('            - ' + topic)
                subscribed_topics.add(topic)

-            log.debug(f'          ## Pubs: {name}')
-            for topic in scope.publications:
-                log.debug(f'            - {topic}')
+            log.debug('        ## Pubs: ' + str(len(scope.publications)))
+            for topic in sorted(scope.publications):
+                log.debug('            - ' + topic )
                published_topics.add(topic)

            scope.reduce_ambiguities()

-            log.debug(f'          ## Ambiguities: {name}')
-            for topic in scope.ambiguities:
-                log.debug(f'            - {topic}')
+            log.debug('        ## Ambiguities: ' + str(len(scope.ambiguities)))
+            for topic in sorted(scope.ambiguities):
+                log.debug('            - ' + topic )
                ambiguous_topics.add(topic)

        # filter modules iff they have at least a subscription or a publication
@@ -400,11 +386,11 @@ class Graph(object):

        entries = os.listdir(path)

-        # check if entering a new module
+        # check if entering a new scope
        cmake_file = 'CMakeLists.txt'
-        new_module = False
+        new_scope = False
        if cmake_file in entries:
-            new_module = self._extract_build_information(os.path.join(path, cmake_file), **kwargs)
+            new_scope = self._extract_build_information(os.path.join(path, cmake_file), **kwargs)

        # iterate directories recursively
        for entry in entries:
@@ -414,23 +400,23 @@ class Graph(object):


        # iterate source files
-        # Note: Skip all entries if we're not in a module -- both finding known pubs/subs and emitting warnings
-        if (0 == len(self._scope_whitelist)) or (0 < len(self._current_scope)) and (self._current_scope[-1].name in self._scope_whitelist):
-            for entry in entries:
-                file_name = os.path.join(path, entry)
-                if os.path.isfile(file_name):
-                    _, ext = os.path.splitext(file_name)
-                    if ext in ['.cpp', '.c', '.h', '.hpp']:
-                        self._process_source_file(file_name)
+        # Note: Skip all entries if we're not in a scope -- both finding known pubs/subs and emitting warnings
+        for entry in entries:
+            file_name = os.path.join(path, entry)
+            if os.path.isfile(file_name):
+                _, ext = os.path.splitext(file_name)
+                if ext in ['.cpp', '.c', '.h', '.hpp']:
+                    self._process_source_file(file_name)

-
-        if new_module:
+        if new_scope:
            self._current_scope.pop()


    def _extract_build_information(self, file_name, **kwargs):
-        """ extract the module name from a CMakeLists.txt file and store
-            in self._current_scope if there is any """
+        """ extract the module or library name from a CMakeLists.txt file and store
+            in self._current_scope if there is any
+            Also records dependencies, if any are specified.
+        """

        datafile = open(file_name)
        found_module_def = False
@@ -496,52 +482,59 @@ class Graph(object):


            current_scope = self._get_current_scope()
+            if current_scope:
+                if current_scope.name in self._scope_blacklist:
+                    return
+                elif current_scope.name == 'uorb_tests': # skip this
+                    return
+                elif current_scope.name == 'uorb':

-            if current_scope is None:
-                return  # ignore declarations outside of a declared module
-            elif current_scope.name in self._scope_blacklist:
-                return
-            elif current_scope.name == 'uorb_tests': # skip this
-                return
-            elif current_scope.name == 'uorb':
+                    # search and validate the ORB_ID_VEHICLE_ATTITUDE_CONTROLS define
+                    matches = self._orb_id_vehicle_attitude_controls_re.findall(content)
+                    for match in matches:
+                        if match != 'ORB_ID('+self._orb_id_vehicle_attitude_controls_topic:
+                            # if we land here, you need to change _orb_id_vehicle_attitude_controls_topic
+                            raise Exception(
+                                'The extracted define for ORB_ID_VEHICLE_ATTITUDE_CONTROLS '
+                                'is '+match+' but expected ORB_ID('+
+                                self._orb_id_vehicle_attitude_controls_topic)

-                # search and validate the ORB_ID_VEHICLE_ATTITUDE_CONTROLS define
-                matches = self._orb_id_vehicle_attitude_controls_re.findall(content)
-                for match in matches:
-                    if match != 'ORB_ID('+self._orb_id_vehicle_attitude_controls_topic:
-                        # if we land here, you need to change _orb_id_vehicle_attitude_controls_topic
-                        raise Exception(
-                            'The extracted define for ORB_ID_VEHICLE_ATTITUDE_CONTROLS '
-                            'is '+match+' but expected ORB_ID('+
-                            self._orb_id_vehicle_attitude_controls_topic)
-
-                return # skip uorb module for the rest
+                    return # skip uorb module for the rest

            line_number = 0
-            for line in content.splitlines():
+            for full_line in content.splitlines():
                line_number += 1

-                pub_topics = self._publications.match(line)
-                for each_topic in pub_topics:
-                    current_scope.publications.add(each_topic)
-                if pub_topics:
-                    continue
+                short_line = re.sub(self._whitespace_pattern, '', full_line)

-                sub_topics = self._subscriptions.match(line)
-                for each_topic in sub_topics:
-                    current_scope.subscriptions.add(each_topic)
-                if sub_topics:
-                    continue
+                topic = self._publications.match(short_line)
+                if topic:
+                    if current_scope:
+                        current_scope.publications.add(topic)
+                        continue
+                    else:
+                        raise AssertionError("Encountered Publication topic outside of any scope! " + file_name + " Aborting!")

-                ambi_topics = self._ambiguities.match(line)
-                for each_topic in ambi_topics:
-                    current_scope.ambiguities.add(each_topic)
-                    self._warnings.append((current_scope, file_name, line_number, line))
+                topic = self._subscriptions.match(short_line)
+                if topic:
+                    if current_scope:
+                        current_scope.subscriptions.add(topic)
+                        continue
+                    else:
+                        raise AssertionError("Encountered Subscription topic outside of any scope! " + file_name + " Aborting!")
+
+                topic = self._ambiguities.match(short_line)
+                if topic:
+                    if current_scope:
+                        if topic != PubSub.AMBIGUOUS_SITE_TOPIC:
+                            current_scope.ambiguities.add(topic)
+                        self._warnings.append((current_scope, file_name, line_number, full_line))
+                        continue
+                    else:
+                        raise AssertionError("Encountered Ambiguous topic outside of any scope! " + file_name + " Aborting!")

    def _in_scope(self, scope_name = None):
-        if 0 == len(self._scope_whitelist):
-            return True
-        elif 0 < len(self._current_scope):
+        if 0 < len(self._current_scope):
            if None is scope_name:
                scope_name = self._current_scope[-1].name
            if scope_name in self._scope_whitelist:
@@ -550,8 +543,10 @@ class Graph(object):
        return False

    def merge_depends(self):
+        log.info('### Merge Depends:')
+
        for modname,module in self._found_modules.items():
-            if self._in_scope(modname):
+            if modname in self._scope_whitelist or 0==len(self._scope_whitelist):
                for depname in module.dependencies:
                    if depname in self._found_libraries:
                        dep = self._found_libraries[depname]
@@ -730,33 +725,38 @@ if "__main__" == __name__:
    topic_blacklist = [ 'parameter_update', 'mavlink_log', 'log_message' ]
    print('Excluded topics: '+str(topic_blacklist))

-    # ignore certain modules; for any reason
-    scope_blacklist = []
-    if scope_blacklist:
-        print('Excluded Modules: '+str(topic_blacklist))
-
    if len(args.modules) == 0:
        scope_whitelist = []
    else:
        scope_whitelist = [ m.strip() for m in args.modules.split(',')]
        scope_whitelist = set(scope_whitelist)

-    graph = Graph(scope_whitelist=scope_whitelist, scope_blacklist=scope_blacklist, topic_blacklist=topic_blacklist)
+    graph = Graph(scope_whitelist=scope_whitelist, topic_blacklist=topic_blacklist)
+
+    # if no source paths are supplied, guess that we're in the project root, and apply it to the entire 'src/' tree
    if len(args.src_path) == 0:
        args.src_path = ['src']

-        if not os.path.exists(args.src_path[0]):
-            print(f"    !?could not find source directory: {args.src_path[0]}")
-            script_path = os.path.dirname(os.path.realpath(__file__))
-            args.src_path[0] = os.path.realpath(os.path.join( script_path, '..', '..', 'src' ))
-            print(f"        >> guessing at path: {args.src_path[0]}")
-
+    # transcribe only the source paths that actually exist:
+    source_paths = []
    for path in args.src_path:
-        if not os.path.exists(path):
-            print(f"    !?could not find source directory: {path} -- please check path!")
-            print(f"    Exiting.")
+        if os.path.exists(path):
+            source_paths.append(path)
+        else:
+            log.warn("Could not find path: " + path)

-    graph.build(args.src_path, args.exclude_path, use_topic_pubsub_union=args.use_topic_union, merge_depends=args.merge_depends)
+    if 0 == len(source_paths):
+        print("!! None of the source directories were valid -- Exiting.")
+        sys.exit(-1)
+
+    # ignore certain paths
+    path_blacklist = ['src/lib/parameters/']
+    if 0 < len(args.exclude_path):
+        path_blacklist = args.exclude_path
+    if path_blacklist:
+        print('Excluded Path: '+str(path_blacklist))
+
+    graph.build(source_paths, path_blacklist=path_blacklist, use_topic_pubsub_union=args.use_topic_union, merge_depends=args.merge_depends)

    if args.output == 'json':
        output_json = OutputJSON(graph)
@@ -8,13 +8,13 @@ px4_add_board(
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
 	ROMFSROOT px4fmu_common
-	TESTING
 	UAVCAN_INTERFACES 1
 	SERIAL_PORTS
 		GPS1:/dev/ttyS3
 		TEL1:/dev/ttyS1
 		TEL2:/dev/ttyS2
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -26,18 +26,18 @@ px4_add_board(
 		gps
 		#heater
 		#imu # all available imu drivers
+		imu/invensense/icm20948 # required for ak09916 mag
 		imu/l3gd20
 		imu/lsm303d
 		imu/invensense/mpu6000
 		imu/invensense/mpu6500
 		irlock
-		lights/blinkm
-		lights/rgbled
-		#lights/rgbled_ncp5623c
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_input
@@ -45,8 +45,8 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
+		rpm
 		telemetry # all available telemetry drivers
-		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -57,6 +57,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -73,12 +74,15 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
+		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -86,6 +90,7 @@ px4_add_board(
 		#dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -101,8 +106,8 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
-		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -112,13 +117,15 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		hello
-		hwtest # Hardware test
+		#fake_gyro
+		#fake_magnetometer
+		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		#hello
+		#hwtest # Hardware test
 		#matlab_csv_serial
-		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		rover_steering_control # Rover example app
-		uuv_example_app
-		work_item
+		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		#rover_steering_control # Rover example app
+		#uuv_example_app
+		#work_item
 	)
@@ -101,6 +101,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -81,6 +81,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -39,7 +39,6 @@ px4_add_board(
 	VENDOR atlflight
 	MODEL eagle
 	LABEL default
-	#TESTING
 	TOOLCHAIN arm-linux-gnueabihf
 	ROMFSROOT px4fmu_common
 	DRIVERS
@@ -108,7 +107,6 @@ px4_add_board(
 		sd_bench
 		shutdown
 		system_time
-		#tests # tests and test runner
 		#top
 		topic_listener
 		tune_control
@@ -49,7 +49,7 @@ px4_add_board(
 		imu/invensense/mpu9250
 		#magnetometer/hmc5883
 		qshell/qurt
-		spektrum_rc
+		snapdragon_spektrum_rc
 	MODULES
 		airspeed_selector
 		attitude_estimator_q
@@ -39,7 +39,6 @@ px4_add_board(
 	VENDOR atlflight
 	MODEL excelsior
 	LABEL default
-	#TESTING
 	TOOLCHAIN arm-oemllib32-linux-gnueabi
 	DRIVERS
 		#barometer # all available barometer drivers
@@ -106,7 +105,6 @@ px4_add_board(
 		sd_bench
 		shutdown
 		system_time
-		#tests # tests and test runner
 		#top
 		topic_listener
 		tune_control
--- a/Show More
+++ b/Show More