battery: improve remaining flight time estimation

makes the remaining flight time estimation based on SoC and it's derivative  s.t. it also works without setting battery capacity

.gitattributes

@@ -72,6 +72,7 @@ Makefile.* text eol=lf
 *.tar    binary
 *.tgz    binary
 *.zip    binary
+*.hex    binary
 
 # everything else
 .gitattributes text eol=lf

.github/workflows/build_all_targets.yml

@@ -14,9 +14,15 @@ on:
       - 'stable'
       - 'beta'
       - 'release/**'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
       - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
 
 jobs:
   group_targets:

.github/workflows/checks.yml

@@ -4,9 +4,15 @@ on:
   push:
     branches:
     - 'main'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
     - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
 
 jobs:
   build:
@@ -25,28 +31,27 @@ jobs:
           "NO_NINJA_BUILD=1 px4_fmu-v5_default",
           "NO_NINJA_BUILD=1 px4_sitl_default",
           "px4_sitl_allyes",
-          "airframe_metadata",
           "module_documentation",
-          "parameters_metadata",
         ]
-    container:
-      image: px4io/px4-dev-nuttx-focal:2022-08-12
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
 
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: ${{matrix.check}}
-      run: make ${{matrix.check}}
-    - name: upload coverage
-      if: contains(matrix.check, 'coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: unittests
-        file: coverage/lcov.info
+      - name: Building [${{ matrix.check }}]
+        uses: addnab/docker-run-action@v3
+        with:
+          image: px4io/px4-dev-nuttx-focal:2022-08-12
+          options: -v ${{ github.workspace }}:/workspace
+          run: |
+            cd /workspace
+            git config --global --add safe.directory /workspace
+            make ${{ matrix.check }}
+
+      - name: Uploading Coverage to Codecov.io
+        if: contains(matrix.check, 'coverage')
+        uses: codecov/codecov-action@v1
+        with:
+          token: ${{ secrets.CODECOV_TOKEN }}
+          flags: unittests
+          file: coverage/lcov.info

.github/workflows/clang-tidy.yml

@@ -4,20 +4,29 @@ on:
   push:
     branches:
     - 'main'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
     - '*'
-
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2021-09-08
     steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v4
       with:
-        token: ${{secrets.ACCESS_TOKEN}}
+        fetch-depth: 0
 
-    - uses: corrupt952/actions-retry-command@v1.0.7
+    - name: Testing (clang-tidy-quiet)
+      uses: addnab/docker-run-action@v3
       with:
-        command: make clang-tidy-quiet
-        max_attempts: 3
+        image: px4io/px4-dev-clang:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
+        run: |
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make clang-tidy-quiet

.github/workflows/compile_macos.yml

@@ -4,9 +4,15 @@ on:
   push:
     branches:
     - 'main'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
     - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
 
 jobs:
   build:
@@ -19,13 +25,11 @@ jobs:
           ]
     steps:
     - name: install Python 3.10
-      uses: actions/setup-python@v4
+      uses: actions/setup-python@v5
       with:
         python-version: "3.10"
 
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
+    - uses: actions/checkout@v4
 
     - name: setup
       run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
@@ -37,7 +41,7 @@ jobs:
         string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
         message("::set-output name=timestamp::${current_date}")
     - name: ccache cache files
-      uses: actions/cache@v2
+      uses: actions/cache@v4
       with:
         path: ~/.ccache
         key: macos_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}

.github/workflows/compile_ubuntu.yml

@@ -7,9 +7,15 @@ on:
       - 'stable'
       - 'beta'
       - 'release/**'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
       - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
 
 jobs:
   build_and_test:

.github/workflows/dev_container.yml

@@ -10,14 +10,20 @@ on:
       - 'release/**'
     tags:
       - 'v*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
       - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
 
 jobs:
   build:
     name: Build and Push Container
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     steps:
       - uses: actions/checkout@v4
         with:
@@ -25,8 +31,14 @@ jobs:
           submodules: false
           fetch-depth: 0
 
+      - name: Set PX4 Tag
+        id: px4-tag
+        run: |
+          echo "tag=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
+
       - name: Login to Docker Hub
         uses: docker/login-action@v3
+        if: github.event_name != 'pull_request'
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
@@ -44,16 +56,9 @@ jobs:
         with:
           images: |
             ghcr.io/PX4/px4-dev
-            px4io/px4-dev
+            ${{ (github.event_name != 'pull_request') && 'px4io/px4-dev' || '' }}
           tags: |
-            type=schedule
-            type=semver,pattern={{version}}
-            type=semver,pattern={{major}}.{{minor}}
-            type=semver,pattern={{major}}
-            type=ref,event=branch,suffix=-{{date 'YYYYMMDD'}},priority=600
-            type=ref,event=branch,suffix=,priority=500
-            type=ref,event=pr
-            type=sha
+            type=raw,enable=true,value=${{ steps.px4-tag.outputs.tag }},priority=1000
 
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
@@ -97,6 +102,6 @@ jobs:
           platforms: |
             linux/amd64
           provenance: mode=max
-          push: true
+          push: ${{ github.event_name != 'pull_request' }}
           cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }}
           cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max

.github/workflows/docs_crowdin_download.yml

@@ -0,0 +1,55 @@
+name: Docs - Crowdin - Download Guide Translations
+
+# https://github.com/crowdin/github-action/tree/master
+
+on:
+  schedule:
+    - cron: '0 0 * * 0' # Runs every Sunday at 00:00 UTC
+  workflow_dispatch:
+
+permissions:
+  contents: write
+  pull-requests: write
+
+jobs:
+  synchronize-with-crowdin:
+    name: Synchronize with Crowdin
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      max-parallel: 1 # Should be 1 to avoid parallel builds
+      matrix:
+        lc: [ko, uk, zh-CN] # Target languages https://developer.crowdin.com/language-codes/
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+      - name: Debug Environment Variables
+        run: |
+          echo "CROWDIN_PROJECT_ID: ${{ secrets.CROWDIN_DOCS_PROJECT_ID }}"
+          echo "CROWDIN_PERSONAL_TOKEN: ${{ secrets.PX4BUILDBOT_CROWDIN_PERSONAL_TOKEN }}"
+      - name: Matrix
+        uses: crowdin/github-action@v2
+        with:
+          config: 'docs/crowdin_docs.yml'
+          upload_sources: false
+          upload_translations: false
+          download_translations: true
+          commit_message: New Crowdin translations - ${{ matrix.lc }}
+          localization_branch_name: l10n_crowdin_docs_translations_${{ matrix.lc }}
+          crowdin_branch_name: main
+          create_pull_request: true
+          pull_request_base_branch_name: 'main'
+          pull_request_title: New PX4 guide translations (Crowdin) - ${{ matrix.lc }}
+          pull_request_body: 'New PX4 guide Crowdin translations by [Crowdin GH Action](https://github.com/crowdin/github-action) for ${{ matrix.lc }}'
+          pull_request_labels: Documentation
+          pull_request_reviewers: hamishwillee
+          download_language: ${{ matrix.lc }}
+        env:
+          # A classic GitHub Personal Access Token with the 'repo' scope selected (the user should have write access to the repository).
+          GITHUB_TOKEN: ${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}
+
+          # A numeric ID, found at https://crowdin.com/project/<projectName>/tools/api
+          CROWDIN_PROJECT_ID: ${{ secrets.CROWDIN_DOCS_PROJECT_ID }}
+
+          # Visit https://crowdin.com/settings#api-key to create this token
+          CROWDIN_PERSONAL_TOKEN: ${{ secrets.PX4BUILDBOT_CROWDIN_PERSONAL_TOKEN }}

.github/workflows/docs_crowdin_upload.yml

@@ -0,0 +1,44 @@
+name: Docs - Crowdin - Upload Guide sources (en)
+
+# https://github.com/crowdin/github-action/tree/master
+
+on:
+  push:
+    branches:
+      - main
+    paths:
+      - 'docs/en/**'
+  #pull_request:
+  #  types:
+  #    - closed
+  #  branches:
+  #    - main
+  #  paths:
+  #    - 'docs/en/**'
+  workflow_dispatch:
+
+jobs:
+  upload-to-crowdin:
+    #if: github.event.pull_request.merged == true || github.event_name == 'push'  || github.event_name == 'workflow_dispatch'
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+      - name: crowdin push
+        uses: crowdin/github-action@v2
+        with:
+          config: 'docs/crowdin_docs.yml'
+          upload_sources: true
+          upload_translations: false
+          download_translations: false
+          crowdin_branch_name: main
+        env:
+          # A classic GitHub Personal Access Token with the 'repo' scope selected (the user should have write access to the repository).
+          GITHUB_TOKEN: ${{ secrets.PX4BUILDBOT_ACCESSTOKEN }}
+
+          # A numeric ID, found at https://crowdin.com/project/<projectName>/tools/api
+          CROWDIN_PROJECT_ID: ${{ secrets.CROWDIN_DOCS_PROJECT_ID }}
+
+          # Visit https://crowdin.com/settings#api-key to create this token
+          CROWDIN_PERSONAL_TOKEN: ${{ secrets.PX4BUILDBOT_CROWDIN_PERSONAL_TOKEN }}

.github/workflows/docs_deploy.yml

@@ -0,0 +1,94 @@
+name: Docs - Deploy PX4 User Guide
+
+on:
+  push:
+    branches:
+      - 'main'
+      - 'release/**'
+    paths:
+      - 'docs/en/**'
+  pull_request:
+    branches:
+      - '*'
+    paths:
+      - 'docs/en/**'
+
+  # Allows you to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+# Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
+permissions:
+  contents: read
+  pages: write
+  id-token: write
+
+# Allow only one concurrent deployment, skipping runs queued between the run in-progress and latest queued.
+# However, do NOT cancel in-progress runs as we want to allow these production deployments to complete.
+concurrency:
+  group: pages
+  cancel-in-progress: false
+
+env:
+  BRANCH_NAME: ${{ github.head_ref || github.ref_name }}
+
+jobs:
+  build:
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    steps:
+      - uses: runs-on/action@v1
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Setup Node
+        uses: actions/setup-node@v4
+        with:
+          node-version: 20
+          cache: npm
+          # Specify the path to lock file for correct caching
+          cache-dependency-path: ./docs/yarn.lock
+
+      - name: Install dependencies
+        run: yarn install --frozen-lockfile --cwd ./docs
+
+      - name: Build with VitePress
+        working-directory: ./docs
+        run: |
+          npm run docs:build_ubuntu
+          touch .vitepress/dist/.nojekyll
+          npm run docs:sitemap
+
+      - name: Upload artifact
+        if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
+        uses: actions/upload-artifact@v4
+        with:
+          name: px4_docs_build
+          path: docs/.vitepress/dist/
+          retention-days: 1
+
+  deploy:
+    if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
+    needs: build
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+
+    steps:
+      - name: Download Artifact
+        uses: actions/download-artifact@v4
+        with:
+          name: px4_docs_build
+          path: ~/_book
+
+      - name: Deploy
+        run: |
+          git clone --single-branch --branch main https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/docs.px4.io.git
+          rm -rf docs.px4.io/${BRANCH_NAME}
+          mkdir -p docs.px4.io/${BRANCH_NAME}
+          cp -r ~/_book/* docs.px4.io/${BRANCH_NAME}/
+          cd docs.px4.io
+          git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
+          git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
+          git add ${BRANCH_NAME}
+          git commit -a -m "PX4 docs build update (vitepress) `date`"
+          #git add .
+          #git commit --amend -m "PX4 docs build update (vitepress) `date`"
+          #git commit --allow-empty -m "Empty commit to force rebuild"
+          git push origin main -f

.github/workflows/docs_flaw_checker.yml

@@ -0,0 +1,74 @@
+name: Docs - Check for flaws in PX4 Guide Source
+# So far:
+  # Modifications of translations files
+  # Broken internal links
+
+on:
+  pull_request_target:
+    types: [opened, edited, synchronize]
+    paths:
+      - 'docs/en/**'
+
+jobs:
+  check_flaws:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+
+      - name: Install Node.js
+        uses: actions/setup-node@v3
+        with:
+          node-version: '16'
+
+      - name: Create logs directory
+        run: |
+          mkdir logs
+
+      - name: Get changed english files
+        id: get_changed_markdown_english
+        uses: tj-actions/changed-files@v35.9.2
+        with:
+          json: true
+          base_sha: "${{ github.event.pull_request.base.sha }}"
+          sha: "${{ github.event.pull_request.head.sha }}"
+          # Below are used to output files to a directory. May use in flaw checker.
+          # write_output_files: true
+          # output_dir: "./logs"
+          files: |
+            docs/en/**/*.md
+
+      - name: Save JSON file containing files to link check
+        run: |
+          echo "${{ steps.get_changed_markdown_english.outputs.all_changed_files }}"
+          echo "${{ steps.get_changed_markdown_english.outputs.all_changed_files }}" > ./logs/prFiles.json
+
+      - name: Run link checker
+        id: link-check
+        run: |
+          npm -g install markdown_link_checker_sc@0.0.134
+          markdown_link_checker_sc -r ${{ github.workspace }} -d en -f ./docs/logs/prFiles.json -i assets -u docs.px4.io/main/ > ./docs/logs/errorsFilteredByPrPages.md
+          mkdir -p ./pr
+          cp ./docs/logs/errorsFilteredByPrPages.md ./pr/errorsFilteredByPrPages.md
+
+      - name: Read errorsFilteredByPrPages.md file
+        id: read-errors-by-page
+        uses: juliangruber/read-file-action@v1
+        with:
+          path: ./logs/errorsFilteredByPrPages.md
+
+      - name: Echo Errors by Page
+        run: echo "${{ steps.read-errors-by-page.outputs.content }}"
+
+      - name: Save PR number
+        env:
+          PR_NUMBER: ${{ github.event.number }}
+        run: |
+          #mkdir -p ./pr
+          echo $PR_NUMBER > ./pr/pr_number
+      - uses: actions/upload-artifact@v4
+        with:
+          name: pr_number
+          path: pr/

.github/workflows/docs_pr_comment.yml

@@ -0,0 +1,107 @@
+name: Docs - Comment Workflow
+on:
+  workflow_run:
+    workflows: ["Docs - Check for flaws in PX4 Guide Source"]
+    types:
+      - completed
+jobs:
+  comment:
+    permissions:
+      pull-requests: write # for marocchino/sticky-pull-request-comment
+    name: Comments
+    runs-on: ubuntu-latest
+    steps:
+      - name: 'Download PR artifact'
+        uses: actions/github-script@v6
+        with:
+          script: |
+            let allArtifacts = await github.rest.actions.listWorkflowRunArtifacts({
+               owner: context.repo.owner,
+               repo: context.repo.repo,
+               run_id: context.payload.workflow_run.id,
+            });
+            let matchArtifact = allArtifacts.data.artifacts.filter((artifact) => {
+              return artifact.name == "pr_number"
+            })[0];
+            let download = await github.rest.actions.downloadArtifact({
+               owner: context.repo.owner,
+               repo: context.repo.repo,
+               artifact_id: matchArtifact.id,
+               archive_format: 'zip',
+            });
+            let fs = require('fs');
+            fs.writeFileSync(`${process.env.GITHUB_WORKSPACE}/pr_number.zip`, Buffer.from(download.data));
+
+      - name: 'Unzip artifact'
+        run: unzip pr_number.zip
+
+      # Doesn't work across workflows
+      #- name: Get artifacts from flaw checker workflow
+      #  uses: actions/download-artifact@v3
+      #  with:
+      #    name: logs_and_errors
+      #    #path: ./logs
+
+      - name: Read errorsFilteredByPrPages.md file
+        id: read-errors-by-page
+        uses: juliangruber/read-file-action@v1
+        with:
+          path: ./errorsFilteredByPrPages.md
+
+      - name: Read PR number
+        id: read-error-pr-number
+        uses: juliangruber/read-file-action@v1
+        with:
+          path: ./pr_number
+
+      - name: File detail info
+        run: |
+          echo "${{ steps.read-errors-by-page.outputs.content }}"
+          echo "${{ steps.read-error-pr-number.outputs.content }}"
+
+      - name: Create or update comment
+        id: comment_to_pr
+        uses: marocchino/sticky-pull-request-comment@v2
+        with:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          recreate: true
+          number: ${{ steps.read-error-pr-number.outputs.content }}
+          header: flaws
+          message: ${{ steps.read-errors-by-page.outputs.content || 'No flaws found' }}
+
+      #- name: Dump GitHub context
+      #  env:
+      #    GITHUB_CONTEXT: ${{ toJSON(github) }}
+      #  run: echo "$GITHUB_CONTEXT"
+
+      # Would like to do this, but it doesn't work (for me).
+      # Moving to time-based, or triggering on workflow
+      #- name: Wait for artifacts upload to succeed
+      #  uses: lewagon/wait-on-check-action@v1.3.1
+      #  with:
+      #    ref: ${{ github.ref }}
+      #    check-name: 'Archive production artifacts'
+      #    repo-token: ${{ secrets.GITHUB_TOKEN }}
+      #    wait-interval: 80
+
+      # Not needed for now - trying to trigger off the workflow
+      #- name: Sleep for 80 seconds
+      #  run: sleep 80s
+      #  shell: bash
+      #- name: Find Comment
+      #  uses: peter-evans/find-comment@v2
+      #  id: fc
+      #  with:
+      #    issue-number: ${{ steps.read-error-pr-number.outputs.content }}
+      #    comment-author: 'github-actions[bot]'
+      #    body-includes: Flaws (may be none)
+
+      #- name: Create or update comment
+      #  uses: peter-evans/create-or-update-comment@v3
+      #  with:
+      #    comment-id: ${{ steps.fc.outputs.comment-id }}
+      #    issue-number: ${{ steps.read-error-pr-number.outputs.content }}
+      #    body: |
+      #      Flaws (may be none)
+      #      ${{ steps.read-errors-by-page.outputs.content }}
+      #    edit-mode: replace

.github/workflows/ekf_functional_change_indicator.yml

@@ -1,21 +1,31 @@
 name: EKF Change Indicator
 
-on: pull_request
+on:
+  pull_request:
+    branches:
+    - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
 
 jobs:
   unit_tests:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
     steps:
-    - uses: actions/checkout@v2.3.1
+    - uses: actions/checkout@v4
       with:
         fetch-depth: 0
-    - name: checkout newest version of branch
-      run: |
-        git fetch origin pull/${{github.event.pull_request.number}}/head:${{github.head_ref}}
-        git checkout ${GITHUB_HEAD_REF}
+
     - name: main test
-      run: make tests TESTFILTER=EKF
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev-base-focal:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
+        run: |
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make tests TESTFILTER=EKF
+
     - name: Check if there is a functional change
       run: git diff --exit-code
       working-directory: src/modules/ekf2/test/change_indication

.github/workflows/ekf_update_change_indicator.yml

@@ -1,29 +1,48 @@
 name: EKF Update Change Indicator
 
-on: push
+on:
+  push:
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
 
 jobs:
   unit_tests:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
     env:
       GIT_COMMITTER_EMAIL: bot@px4.io
       GIT_COMMITTER_NAME: PX4BuildBot
     steps:
-    - uses: actions/checkout@v2.3.1
+    - uses: actions/checkout@v4
       with:
         fetch-depth: 0
-    - name: main test updates change indication files
-      run: make tests TESTFILTER=EKF
+
+    - name: main test
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev-base-focal:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
+        run: |
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make tests TESTFILTER=EKF
+
     - name: Check if there exists diff and save result in variable
-      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_ENV
+      id: diff-check
+      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_OUTPUT
       working-directory: src/modules/ekf2/test/change_indication
+
     - name: auto-commit any changes to change indication
       uses: stefanzweifel/git-auto-commit-action@v4
       with:
-        commit_message: '[AUTO COMMIT] update change indication'
+        file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
         commit_user_name: ${GIT_COMMITTER_NAME}
         commit_user_email: ${GIT_COMMITTER_EMAIL}
-    - if: ${{env.CHANGE_INDICATED}}
-      name: if there is a functional change, fail check
+        commit_message: |
+          '[AUTO COMMIT] update change indication'
+
+          See .github/workflopws/ekf_update_change_indicator.yml for more details
+
+    - name: if there is a functional change, fail check
+      if: ${{ steps.diff-check.outputs.CHANGE_INDICATED }}
       run: exit 1

.github/workflows/failsafe_sim.yml

@@ -4,9 +4,15 @@ on:
   push:
     branches:
     - 'main'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
     - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
 
 jobs:
   build:
@@ -24,21 +30,23 @@ jobs:
       image: px4io/px4-dev-nuttx-focal:2022-08-12
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
+      - name: Install Node v20.18.0
+        uses: actions/setup-node@v4
+        with:
+          node-version: 20.18.0
 
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: install emscripten
-      run: |
-        git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
-        cd _emscripten_sdk
-        ./emsdk install latest
-        ./emsdk activate latest
-    - name: ${{matrix.check}}
-      run: |
-        . ./_emscripten_sdk/emsdk_env.sh
-        make ${{matrix.check}}
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Install empscripten
+        run: |
+          git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
+          cd _emscripten_sdk
+          ./emsdk install latest
+          ./emsdk activate latest
+
+      - name: Testing [${{ matrix.check }}]
+        run: |
+          . ./_emscripten_sdk/emsdk_env.sh
+          make ${{ matrix.check }}

.github/workflows/flash_analysis.yml

@@ -1,12 +1,27 @@
 name: FLASH usage analysis
 
+permissions:
+  contents: read
+  pull-requests: write
+  issues: write
+
 on:
   push:
     branches:
       - 'main'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
       - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
+
+env:
+  MIN_FLASH_POS_DIFF_FOR_COMMENT: 50
+  MIN_FLASH_NEG_DIFF_FOR_COMMENT: -50
 
 jobs:
   analyze_flash:
@@ -18,8 +33,10 @@ jobs:
       matrix:
         target: [px4_fmu-v5x, px4_fmu-v6x]
     outputs:
-      px4_fmu-v5x: ${{ steps.gen-output.outputs.output_px4_fmu-v5x }}
-      px4_fmu-v6x: ${{ steps.gen-output.outputs.output_px4_fmu-v6x }}
+      px4_fmu-v5x-bloaty-output: ${{ steps.gen-output.outputs.px4_fmu-v5x-bloaty-output }}
+      px4_fmu-v5x-bloaty-summary-map: ${{ steps.gen-output.outputs.px4_fmu-v5x-bloaty-summary-map }}
+      px4_fmu-v6x-bloaty-output: ${{ steps.gen-output.outputs.px4_fmu-v6x-bloaty-output }}
+      px4_fmu-v6x-bloaty-summary-map: ${{ steps.gen-output.outputs.px4_fmu-v6x-bloaty-summary-map }}
     steps:
       - uses: actions/checkout@v4
         with:
@@ -30,19 +47,20 @@ jobs:
         run: git config --system --add safe.directory '*'
 
       - name: Build Target
-        run: make ${{ matrix.target }}
+        run: make ${{ matrix.target }}_flash-analysis
 
       - name: Store the ELF with the change
-        run: cp ./build/${{ matrix.target }}_default/${{ matrix.target }}_default.elf ./with-change.elf
+        run: cp ./build/**/*.elf ./with-change.elf
 
       - name: Clean previous build
         run: |
           make clean
           make distclean
 
-      - name: If it's a PR checkout the base commit
+      - name: If it's a PR checkout the base branch
         if: ${{ github.event.pull_request }}
-        run: git checkout ${{ github.event.pull_request.base.sha }}
+        # As checkout creates a merge commit (merging the base branch into the PR branch), the base branch is the base for a diff of the PR changes.
+        run: git checkout ${{ github.event.pull_request.base.ref }}
 
       - name: If it's a push checkout the previous commit
         if: github.event_name == 'push'
@@ -52,31 +70,43 @@ jobs:
         run: make submodulesupdate
 
       - name: Build
-        run: make ${{ matrix.target }}
+        run: make ${{ matrix.target }}_flash-analysis
 
       - name: Store the ELF before the change
-        run: cp ./build/${{ matrix.target }}_default/${{ matrix.target }}_default.elf ./before-change.elf
+        run: cp ./build/**/*.elf ./before-change.elf
 
       - name: bloaty-action
-        uses: carlosperate/bloaty-action@v1.1.0
+        uses: PX4/bloaty-action@v1.0.0
         id: bloaty-step
         with:
-          bloaty-args: -d sections,compileunits -n 0 ./with-change.elf -- ./before-change.elf
+          bloaty-file-args: ./with-change.elf -- ./before-change.elf
+          bloaty-additional-args: -d sections,compileunits -s vm -n 20
           output-to-summary: true
 
       - name: Generate output
         id: gen-output
         run: |
           EOF=$(dd if=/dev/urandom bs=15 count=1 status=none | base64)
-          echo "output_${{ matrix.target }}<<$EOF" >> $GITHUB_OUTPUT
+          echo "${{ matrix.target }}-bloaty-output<<$EOF" >> $GITHUB_OUTPUT
           echo "${{ steps.bloaty-step.outputs.bloaty-output-encoded }}" >> $GITHUB_OUTPUT
           echo "$EOF" >> $GITHUB_OUTPUT
+          echo "${{ matrix.target }}-bloaty-summary-map<<$EOF" >> $GITHUB_OUTPUT
+          echo '${{ steps.bloaty-step.outputs.bloaty-summary-map }}' >> $GITHUB_OUTPUT
+          echo "$EOF" >> $GITHUB_OUTPUT
 
+  # TODO:
+  # This part of the workflow is causing errors for forks. We should find a way to fix this and enable it again for forks.
+  # Track this issue https://github.com/PX4/PX4-Autopilot/issues/24408
   post_pr_comment:
     name: Publish Results
     runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     needs: [analyze_flash]
-    if: ${{ github.event.pull_request }}
+    env:
+      V5X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-absolute) }}
+      V5X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-percentage) }}
+      V6X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-absolute) }}
+      V6X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-percentage) }}
+    if: github.event.pull_request && github.event.pull_request.head.repo.full_name == github.repository
     steps:
       - name: Find Comment
         uses: peter-evans/find-comment@v3
@@ -92,25 +122,32 @@ jobs:
           echo "timestamp=$(date +'%Y-%m-%dT%H:%M:%S')" >> $GITHUB_OUTPUT
 
       - name: Create or update comment
+        # This can't be moved to the job-level conditions, as GH actions don't allow a job-level if condition to access the env.
+        if: |
+          steps.fc.outputs.comment-id != '' ||
+          env.V5X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
+          env.V5X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT) ||
+          env.V6X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
+          env.V6X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT)
         uses: peter-evans/create-or-update-comment@v4
         with:
           comment-id: ${{ steps.fc.outputs.comment-id }}
           issue-number: ${{ github.event.pull_request.number }}
           body: |
-            ## FLASH Analysis
+            ## 🔎 FLASH Analysis
             <details>
-              <summary>px4_fmu-v5x</summary>
+              <summary>px4_fmu-v5x [Total VM Diff: ${{ env.V5X-SUMMARY-MAP-ABS }} byte (${{ env.V5X-SUMMARY-MAP-PERC}} %)]</summary>
 
               ```
-              ${{ needs.analyze_flash.outputs.px4_fmu-v5x }}
+              ${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }}
               ```
             </details>
 
             <details>
-              <summary>px4_fmu-v6x</summary>
+              <summary>px4_fmu-v6x [Total VM Diff: ${{ env.V6X-SUMMARY-MAP-ABS }} byte (${{ env.V6X-SUMMARY-MAP-PERC }} %)]</summary>
 
               ```
-              ${{ needs.analyze_flash.outputs.px4_fmu-v6x }}
+              ${{ needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-output }}
               ```
             </details>
 

.github/workflows/mavros_mission_tests.yml

@@ -4,138 +4,39 @@ on:
   push:
     branches:
     - 'main'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
     - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
 
 jobs:
   build:
     runs-on: ubuntu-latest
-    env:
-      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
     strategy:
       fail-fast: false
       matrix:
         config:
-          - {vehicle: "iris",          mission: "MC_mission_box",  build_type: "RelWithDebInfo"}
-          - {vehicle: "rover",         mission: "rover_mission_1", build_type: "RelWithDebInfo"}
-          #- {vehicle: "plane",         mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
-          #- {vehicle: "plane_catapult",mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
-          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "Coverage"}
-          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "AddressSanitizer"}
-          #- {vehicle: "tailsitter",    mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
-          #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
+          - {vehicle: "iris",          mission: "MC_mission_box"}
+          - {vehicle: "rover",         mission: "rover_mission_1"}
 
-    container:
-      image: px4io/px4-dev-ros-melodic:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v4
       with:
-        token: ${{ secrets.ACCESS_TOKEN }}
+        fetch-depth: 0
 
-    - 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::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
+    - name: Build SITL and Run Tests
+      uses: addnab/docker-run-action@v3
       with:
-        path: ~/.ccache
-        key: sitl_tests-${{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 = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4 and sitl_gazebo-classic
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        ccache -z
-        make px4_sitl_default
-        make px4_sitl_default sitl_gazebo-classic
-        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: ${{matrix.config.build_type}}
-      run: |
-        export
-        ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
-      timeout-minutes: 45
-
-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v3
-      with:
-        name: coredump
-        path: px4.core
-
-    - name: ecl EKF analysis
-      if: always()
-      run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
-
-    - name: Upload logs to flight review
-      if: always()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
-
-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v3
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
-
-    - name: Store PX4 log
-      if: failure()
-      uses: actions/upload-artifact@v3
-      with:
-        name: px4_log
-        path: ~/.ros/log/*/*.ulg
-
-    - name: Store ROS log
-      if: failure()
-      uses: actions/upload-artifact@v3
-      with:
-        name: ros_log
-        path: ~/.ros/**/rostest-*.log
-
-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ 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_mission
-        file: coverage/lcov.info
+        image: px4io/px4-dev-ros-melodic:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
+        run: |
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make px4_sitl_default
+          make px4_sitl_default sitl_gazebo-classic
+          ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}

.github/workflows/mavros_offboard_tests.yml

@@ -4,9 +4,15 @@ on:
   push:
     branches:
     - 'main'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
     - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
 
 jobs:
   build:
@@ -17,120 +23,21 @@ jobs:
       fail-fast: false
       matrix:
         config:
-          - {test_file: "mavros_posix_tests_offboard_posctl.test",    vehicle: "iris", build_type: "RelWithDebInfo"}
-          #- {test_file: "mavros_posix_tests_offboard_attctl.test",    vehicle: "iris", build_type: "RelWithDebInfo"}
-          #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
+          - {test_file: "mavros_posix_tests_offboard_posctl.test",    vehicle: "iris"}
 
-    container:
-      image: px4io/px4-dev-ros-melodic:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v4
       with:
-        token: ${{ secrets.ACCESS_TOKEN }}
+        fetch-depth: 0
 
-    - 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::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
+    - name: Build PX4 and Run Tests
+      uses: addnab/docker-run-action@v3
       with:
-        path: ~/.ccache
-        key: sitl_tests-${{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 = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4 and sitl_gazebo-classic
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        ccache -z
-        make px4_sitl_default
-        make px4_sitl_default sitl_gazebo-classic
-        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_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
-      timeout-minutes: 45
-
-    - 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@v3
-      with:
-        name: coredump
-        path: px4.core
-
-    - name: ecl EKF analysis
-      if: always()
-      run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
-
-    - 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} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
-
-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v3
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
-
-    - name: Store PX4 log
-      if: failure()
-      uses: actions/upload-artifact@v3
-      with:
-        name: px4_log
-        path: ~/.ros/log/*/*.ulg
-
-    - name: Store ROS log
-      if: failure()
-      uses: actions/upload-artifact@v3
-      with:
-        name: ros_log
-        path: ~/.ros/**/rostest-*.log
-
-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ 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_offboard
-        file: coverage/lcov.info
+        image: px4io/px4-dev-ros-melodic:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
+        run: |
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make px4_sitl_default
+          make px4_sitl_default sitl_gazebo-classic
+          ./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}

.github/workflows/nuttx_env_config.yml

@@ -4,29 +4,40 @@ on:
   push:
     branches:
     - 'main'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
     - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
 
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2022-08-12
     strategy:
       matrix:
         config: [
-          px4_fmu-v5,
+          px4_fmu-v5_default,
           ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
 
-    - name: make ${{matrix.config}}
-      env:
-        PX4_EXTRA_NUTTX_CONFIG: "CONFIG_NSH_LOGIN_PASSWORD=\"test\";CONFIG_NSH_CONSOLE_LOGIN=y"
-      run: |
-        echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"
-        make ${{matrix.config}} nuttx_context
-        # Check that the config option is set
-        grep CONFIG_NSH_LOGIN_PASSWORD build/${{matrix.config}}_default/NuttX/nuttx/.config
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
+
+    - name: Build PX4 and Run Test [${{ matrix.config }}]
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev-nuttx-focal:2022-08-12
+        options: -v ${{ github.workspace }}:/workspace
+        run: |
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          export PX4_EXTRA_NUTTX_CONFIG="CONFIG_NSH_LOGIN_PASSWORD=\"test\";CONFIG_NSH_CONSOLE_LOGIN=y"
+          echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"
+          make ${{ matrix.config }} nuttx_context
+          echo "Check that the config option is set"
+          grep CONFIG_NSH_LOGIN_PASSWORD build/${{ matrix.config }}/NuttX/nuttx/.config

.github/workflows/python_checks.yml

@@ -4,22 +4,32 @@ on:
   push:
     branches:
     - 'main'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
     - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
 
 jobs:
   build:
     runs-on: ubuntu-24.04
     steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v4
       with:
-        token: ${{ secrets.ACCESS_TOKEN }}
+        fetch-depth: 0
+
     - name: Install Python3
       run: sudo apt-get install python3 python3-setuptools python3-pip -y
+
     - name: Install tools
       run: python3 -m pip install mypy types-requests flake8 --break-system-packages
+
     - name: Check MAVSDK test scripts with mypy
       run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
+
     - name: Check MAVSDK test scripts with flake8
       run: $HOME/.local/bin/flake8 test/mavsdk_tests/*.py

.github/workflows/ros_translation_node.yml

@@ -0,0 +1,58 @@
+name: ROS Translation Node Tests
+on:
+  push:
+    branches:
+    - 'main'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
+  pull_request:
+    branches:
+    - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
+defaults:
+  run:
+    shell: bash
+jobs:
+  build_and_test:
+    name: Build and test
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - {ros_version: "humble", ubuntu: "jammy"}
+          - {ros_version: "jazzy", ubuntu: "noble"}
+    container:
+      image: rostooling/setup-ros-docker:ubuntu-${{ matrix.config.ubuntu }}-latest
+    steps:
+      - name: Setup ROS 2 (${{ matrix.config.ros_version }})
+        uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: ${{ matrix.config.ros_version }}
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      # Workaround for https://github.com/actions/runner/issues/2033
+      - name: ownership workaround
+        run: git config --system --add safe.directory '*'
+
+      - name: Check .msg file versioning
+        if: github.event_name == 'pull_request'
+        run: |
+          ./Tools/ci/check_msg_versioning.sh ${{ github.event.pull_request.base.sha }} ${{github.event.pull_request.head.sha}}
+
+      - name: Build and test
+        run: |
+          ros_ws=/ros_ws
+          mkdir -p $ros_ws/src
+          ./Tools/copy_to_ros_ws.sh $ros_ws
+          cd $ros_ws
+          source /opt/ros/${{ matrix.config.ros_version }}/setup.sh
+          colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install --event-handlers=console_cohesion+
+          source ./install/setup.sh
+          ./build/translation_node/translation_node_unit_tests

.github/workflows/sitl_tests.yml

@@ -9,9 +9,15 @@ on:
   push:
     branches:
     - 'main'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
     - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
 
 jobs:
   build:
@@ -121,7 +127,7 @@ jobs:
           path: |
             logs/**/**/**/*.log
             logs/**/**/**/*.ulg
-            build/px4_sitl_default/tmp_mavsdk_tests/rootfs/*.ulg
+            build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/**/*.ulg
 
       - name: Look at Core files
         if: failure() && ${{ hashFiles('px4.core') != '' }}

.vscode/cmake-variants.yaml

@@ -131,6 +131,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_can-flow_canbootloader
+    ark_can-flow-mr_canbootloader:
+      short: ark_can-flow-mr_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-flow-mr_canbootloader
     ark_can-gps_default:
       short: ark_can-gps_default
       buildType: MinSizeRel
@@ -166,6 +171,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_septentrio-gps_canbootloader
+    ark_teseo-gps_canbootloader:
+      short: ark_teseo-gps_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_teseo-gps_canbootloader
     ark_cannode_default:
       short: ark_cannode_default
       buildType: MinSizeRel
@@ -301,6 +311,11 @@ CONFIG:
       buildType: MiniSizeRel
       settings:
         CONFIG: matek_gnss-m9n-f4_default
+    micoair_h743_bootloader:
+      short: micoair_h743_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: micoair_h743_bootloader
     micoair_h743_default:
       short: micoair_h743
       buildType: MinSizeRel
@@ -316,6 +331,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: micoair_h743-aio_default
+    micoair_h743-v2_bootloader:
+      short: micoair_h743-v2_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: micoair_h743-v2_bootloader
+    micoair_h743-v2_default:
+      short: micoair_h743-v2
+      buildType: MinSizeRel
+      settings:
+        CONFIG: micoair_h743-v2_default
     modalai_fc-v1_default:
       short: modalai_fc-v1
       buildType: MinSizeRel

.vscode/settings.json

@@ -129,5 +129,4 @@
         "yaml.schemas": {
                 "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
         },
-        "ros.distro": "humble"
 }

CMakeLists.txt

@@ -99,7 +99,7 @@
 #
 #=============================================================================
 
-cmake_minimum_required(VERSION 3.9 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.10 FATAL_ERROR)
 
 set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
 set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)

Jenkinsfile

@@ -231,9 +231,13 @@ pipeline {
               sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
               // 'main' branch
               sh('rm -f px4_msgs/msg/*.msg')
+              sh('rm -f px4_msgs/msg/versioned/*.msg')
               sh('rm -f px4_msgs/srv/*.srv')
+              sh('rm -f px4_msgs/srv/versioned/*.srv')
               sh('cp msg/*.msg px4_msgs/msg/')
+              sh('cp msg/versioned/*.msg px4_msgs/msg/ || true')
               sh('cp srv/*.srv px4_msgs/srv/')
+              sh('cp srv/versioned/*.srv px4_msgs/srv/ || true')
               sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
               sh('cd px4_msgs; git push origin main || true')
               sh('rm -rf px4_msgs')

Kconfig

@@ -73,13 +73,6 @@ menu "Toolchain"
         help
             relative path to the ROMFS root directory
 
-    config BOARD_ROOTFSDIR
-        string "Root directory"
-        depends on PLATFORM_POSIX
-        default "."
-        help
-            Configure the root directory in the file system for PX4 files
-
     config BOARD_IO
         string "IO board name"
         default "px4_io-v2_default"

MAINTAINERS.md

@@ -0,0 +1,42 @@
+Maintainers
+===========
+
+See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/maintainers.html) to learn about the role of the maintainers and the process to become one.
+
+**Active Maintainers**
+
+| Name                    | Sector | GitHub | Chat | email
+|-------------------------|--------|--------|------|----------------
+| Lorenz Meier | Founder | [LorenzMeier][LorenzMeier] |  | <lorenz@px4.io>
+| Daniel Agar | Architecture | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
+| Beat Küng | Architecture | [bkueng][bkueng] | beatkueng | <beat-kueng@gmx.net>
+| Ramón Roche | CI / Testing | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
+| Mathieu Bresciani | State Estimation | [bresch][bresch] | mbresch |
+| Paul Riseborough | State Estimation | [priseborough][priseborough] |  |
+| David Sidrane | RTOS / NuttX | [davids5][davids5] | david_s5 | <David.Sidrane@Nscdg.com>
+| Jayoung Lim | Simulation | [Jaeyoung-Lim][Jaeyoung-Lim] | jaeyounglim. | <jalim@ethz.ch>
+| Beniamino Pozzan | ROS 2 | [beniaminopozzan][beniaminopozzan] | beniaminopozzan | <beniamino.pozzan@gmail.com>
+| Matthias Grob | Multirotor | [MaEtUgR][MaEtUgR] | maetugr |
+| Silvan Fuhrer | Fixed-Wing / VTOL | [sfuhrer][sfuhrer] | sfuhrer |
+| Christian Friedrich | Rover | [chfriedrich98][chfriedrich98] | christian982564 |
+| Pedro Roque | Spacecraft | [Pedro-Roque][Pedro-Roque] | .pedroroque | <padr@kth.se>
+
+
+**Documentation Maintainers**
+
+| Name | GitHub | Chat | email
+|------|--------|------|----------------------
+| Hamish Willee  | [hamishwillee][hamishwillee] | hamishwillee |
+
+**Release Managers**
+
+| Name | GitHub | Chat | email
+|------|--------|------|----------------------
+| Ramón Roche | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
+| Daniel Agar | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
+
+**Retired Maintainers**
+
+| Name | GitHub | Chat | email
+|------|--------|------|----------------------
+|  |  |  |

Makefile

@@ -344,6 +344,7 @@ bootloaders_update: \
 	matek_h743-slim_bootloader \
         micoair_h743_bootloader \
         micoair_h743-aio_bootloader \
+	micoair_h743-v2_bootloader \
 	modalai_fc-v2_bootloader \
 	mro_ctrl-zero-classic_bootloader \
 	mro_ctrl-zero-h7_bootloader \
@@ -403,7 +404,7 @@ check_newlines:
 
 # Testing
 # --------------------------------------------------------------------
-.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance
+.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard
 .PHONY: rostest python_coverage
 
 tests:
@@ -456,10 +457,6 @@ tests_offboard: rostest
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_rpyrt_ctl.test
 
-tests_avoidance: rostest
-	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test
-	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_safe_landing.test
-
 python_coverage:
 	@mkdir -p "$(SRC_DIR)"/build/python_coverage
 	@cd "$(SRC_DIR)"/build/python_coverage && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DPYTHON_COVERAGE=ON

README.md

@@ -2,7 +2,7 @@
 
 [![Releases](https://img.shields.io/github/release/PX4/PX4-Autopilot.svg)](https://github.com/PX4/PX4-Autopilot/releases) [![DOI](https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot)
 
-[![Nuttx Targets](https://github.com/PX4/PX4-Autopilot/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)
+[![Build Targets](https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml/badge.svg?branch=main)](https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)
 
 [![Discord Shield](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.gg/dronecode)
 
@@ -17,17 +17,19 @@ PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out o
   * [VTOL](https://docs.px4.io/main/en/frames_vtol/)
   * [Autogyro](https://docs.px4.io/main/en/frames_autogyro/)
   * [Rover](https://docs.px4.io/main/en/frames_rover/)
-  * many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
+  * many more experimental types (Blimps, Boats, Submarines, High Altitude Balloons, Spacecraft, etc)
 * Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
 
+## Releases
+
+Release notes and supporting information for PX4 releases can be found on the [Developer Guide](https://docs.px4.io/main/en/releases/).
 
 ## Building a PX4 based drone, rover, boat or robot
 
-The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4.
-See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
+The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4. See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
 
 
-## Changing code and contributing
+## Changing Code and Contributing
 
 This [Developer Guide](https://docs.px4.io/main/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
 
@@ -35,7 +37,7 @@ Developers should read the [Guide for Contributions](https://docs.px4.io/main/en
 See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
 
 
-### Weekly Dev Call
+## Weekly Dev Call
 
 The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/contribute/).
 
@@ -44,96 +46,17 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/con
 
 ## Maintenance Team
 
-Note: This is the source of truth for the active maintainers of PX4 ecosystem.
+See the latest list of maintainers on [MAINTAINERS](MAINTAINERS.md) file at the root of the project.
 
-| Sector | Maintainer |
-|---|---|
-| Founder | [Lorenz Meier](https://github.com/LorenzMeier) |
-| Architecture | [Daniel Agar](https://github.com/dagar) / [Beat Küng](https://github.com/bkueng)|
-| State Estimation | [Mathieu Bresciani](https://github.com/bresch) / [Paul Riseborough](https://github.com/priseborough) |
-| OS/NuttX | [David Sidrane](https://github.com/davids5) |
-| Drivers | [Daniel Agar](https://github.com/dagar) |
-| Simulation | [Jaeyoung Lim](https://github.com/Jaeyoung-Lim) |
-| ROS2 | [Beniamino Pozzan](https://github.com/beniaminopozzan) |
-| Community QnA Call | [Ramon Roche](https://github.com/mrpollo) |
-| [Documentation](https://docs.px4.io/main/en/) | [Hamish Willee](https://github.com/hamishwillee) |
-
-| Vehicle Type | Maintainer |
-|---|---|
-| Multirotor | [Matthias Grob](https://github.com/MaEtUgR) |
-| Fixed Wing | [Thomas Stastny](https://github.com/tstastny) |
-| Hybrid VTOL | [Silvan Fuhrer](https://github.com/sfuhrer) |
-| Rover | [Christian Friedrich](https://github.com/chfriedrich98) |
-| Boat | x |
-
-
-See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github). However it may be not up to date.
+For the latest stats on contributors please see the latest stats for the Dronecode ecosystem in our project dashboard under [LFX Insights](https://insights.lfx.linuxfoundation.org/foundation/dronecode). For information on how to update your profile and affiliations please see the following support link on how to [Complete Your LFX Profile](https://docs.linuxfoundation.org/lfx/my-profile/complete-your-lfx-profile). Dronecode publishes a yearly snapshot of contributions and achievements on its [website under the Reports section](https://dronecode.org).
 
 ## Supported Hardware
 
-Pixhawk standard boards and proprietary boards are shown below (discontinued boards aren't listed).
-
-For the most up to date information, please visit [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
-
-### Pixhawk Standard Boards
-
-These boards fully comply with Pixhawk Standard, and are maintained by the PX4-Autopilot maintainers and Dronecode team
-
-* FMUv6X and FMUv6C
-  * [CUAV Pixahwk V6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/cuav_pixhawk_v6x.html)
-  * [Holybro Pixhawk 6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/pixhawk6x.html)
-  * [Holybro Pixhawk 6C (FMUv6C)](https://docs.px4.io/main/en/flight_controller/pixhawk6c.html)
-  * [Holybro Pix32 v6 (FMUv6C)](https://docs.px4.io/main/en/flight_controller/holybro_pix32_v6.html)
-* FMUv5 and FMUv5X (STM32F7, 2019/20)
-  * [Pixhawk 4 (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4.html)
-  * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4_mini.html)
-  * [CUAV V5+ (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_plus.html)
-  * [CUAV V5 nano (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_nano.html)
-  * [Auterion Skynode (FMUv5X)](https://docs.auterion.com/avionics/skynode)
-* FMUv4 (STM32F4, 2015)
-  * [Pixracer](https://docs.px4.io/main/en/flight_controller/pixracer.html)
-  * [Pixhawk 3 Pro](https://docs.px4.io/main/en/flight_controller/pixhawk3_pro.html)
-* FMUv3 (STM32F4, 2014)
-  * [Pixhawk 2](https://docs.px4.io/main/en/flight_controller/pixhawk-2.html)
-  * [Pixhawk Mini](https://docs.px4.io/main/en/flight_controller/pixhawk_mini.html)
-  * [CUAV Pixhack v3](https://docs.px4.io/main/en/flight_controller/pixhack_v3.html)
-* FMUv2 (STM32F4, 2013)
-  * [Pixhawk](https://docs.px4.io/main/en/flight_controller/pixhawk.html)
-
-### Manufacturer supported
-
-These boards are maintained to be compatible with PX4-Autopilot by the Manufacturers.
-
-* [ARK Electronics ARKV6X](https://docs.px4.io/main/en/flight_controller/ark_v6x.html)
-* [CubePilot Cube Orange+](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orangeplus.html)
-* [CubePilot Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
-* [CubePilot Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
-* [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html)
-* [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
-* [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
-* [Holybro Kakute F7](https://docs.px4.io/main/en/flight_controller/kakutef7.html)
-
-### Community supported
-
-These boards don't fully comply industry standards, and thus is solely maintained by the PX4 public community members.
-
-### Experimental
-
-These boards are not maintained by PX4 team nor Manufacturer, and is not guaranteed to be compatible with up to date PX4 releases.
-
-* [Raspberry PI with Navio 2](https://docs.px4.io/main/en/flight_controller/raspberry_pi_navio2.html)
-* [Bitcraze Crazyflie 2.0](https://docs.px4.io/main/en/complete_vehicles/crazyflie2.html)
-
-## Project Roadmap
-
-**Note: Outdated**
-
-A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).
+For the most up to date information, please visit [PX4 User Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
 
 ## Project Governance
 
 The PX4 Autopilot project including all of its trademarks is hosted under [Dronecode](https://www.dronecode.org/), part of the Linux Foundation.
 
-<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://mavlink.io/assets/site/logo_dronecode.png" alt="Dronecode Logo" width="110px"/></a>
-<a href="https://www.linuxfoundation.org/projects" style="padding:20px;"><img src="https://mavlink.io/assets/site/logo_linux_foundation.png" alt="Linux Foundation Logo" width="80px" /></a>
+<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://dronecode.org/wp-content/uploads/sites/24/2020/08/dronecode_logo_default-1.png" alt="Dronecode Logo" width="110px"/></a>
 <div style="padding:10px">&nbsp;</div>

ROMFS/performance-test/CMakeLists.txt

@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_subdirectory(init.d)

ROMFS/performance-test/init.d/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -31,9 +31,6 @@
 #
 ############################################################################
 
-px4_add_library(bezier
-		BezierQuad.cpp
-		BezierN.cpp
+px4_add_romfs_files(
+	rcS
 )
-
-px4_add_unit_gtest(SRC BezierNTest.cpp LINKLIBS bezier)

ROMFS/performance-test/init.d/rcS

@@ -0,0 +1,68 @@
+#!/bin/sh
+# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
+set +e
+# Un comment the line below to help debug scripts by printing a trace of the script commands
+#set -x
+# PX4FMU startup script.
+#
+# NOTE: environment variable references:
+#    If the dollar sign ('$') is followed by a left bracket ('{') then the
+#    variable name is terminated with the right bracket character ('}').
+#    Otherwise, the variable name goes to the end of the argument.
+#
+#
+# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
+#
+#------------------------------------------------------------------------------
+set R /
+
+#
+# Print full system version.
+#
+ver all
+
+#
+# Set the parameter file the board supports params on
+# MTD device.
+#
+if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
+then
+	set PARAM_FILE /fs/mtd_params
+fi
+
+#
+# Load parameters.
+#
+# if the board has a storage for (factory) calibration data
+if mft query -q -k MTD -s MTD_CALDATA -v /fs/mtd_caldata
+then
+	param load /fs/mtd_caldata
+fi
+
+#
+# Load parameters.
+#
+param select $PARAM_FILE
+if ! param load
+then
+	param reset_all
+fi
+
+#
+# Try to mount the microSD card.
+#
+mount -t vfat /dev/mmcsd0 /fs/microsd
+if [ $? = 0 ]
+then
+	echo "SD card mounted at /fs/microsd"
+else
+	echo "No SD card found"
+fi
+
+unset R
+
+echo ""
+echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
+echo "!!!!!!     This is the PERFORMANCE TESTING firmware! WARNs and ERRORs are expected!     !!!!!"
+echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
+echo ""

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

@@ -35,8 +35,11 @@ add_subdirectory(airframes)
 
 px4_add_romfs_files(
 	px4-rc.mavlink
-	px4-rc.params
 	px4-rc.simulator
+	px4-rc.gzsim
+	px4-rc.jmavsim
+	px4-rc.mavlinksim
+	px4-rc.sihsim
 	rc.replay
 	rcS
 )

ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx

@@ -16,10 +16,6 @@ param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 
-# disable some checks to allow to fly:
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-
 # Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 1
@@ -38,4 +34,6 @@ param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 
+param set-default EKF2_GPS_DELAY 0
+
 param set SIH_VEHICLE_TYPE 0

ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane

@@ -16,12 +16,6 @@ param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1
 
-# disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-
 param set-default SIH_T_MAX 6
 param set-default SIH_MASS 0.3
 param set-default SIH_IXX 0.00402
@@ -33,19 +27,22 @@ param set-default SIH_KDV 0.2
 param set-default SIH_VEHICLE_TYPE 1 	# sih as fixed wing
 param set-default RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)
 
-
 param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
 
+# SIH for now hardcodes this configuration which we need to match in the airframe files.
 param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS0_TRQ_R 1
+param set-default CA_SV_CS0_TYPE 15  # single channel aileron
 param set-default CA_SV_CS1_TRQ_P 1
-param set-default CA_SV_CS1_TYPE 3
+param set-default CA_SV_CS1_TYPE 3  # elevator
 param set-default CA_SV_CS2_TRQ_Y 1
-param set-default CA_SV_CS2_TYPE 4
-param set-default PWM_MAIN_FUNC3 201
-param set-default PWM_MAIN_FUNC4 202
-param set-default PWM_MAIN_FUNC5 203
-param set-default PWM_MAIN_FUNC6 101
+param set-default CA_SV_CS2_TYPE 4  # rudder
+
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 202
+param set-default PWM_MAIN_FUNC3 203
+param set-default PWM_MAIN_FUNC4 101
+
+param set-default EKF2_GPS_DELAY 0

ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert

@@ -11,6 +11,7 @@
 PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}
 
+param set-default EKF2_GPS_DELAY 0
 param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
 
 param set-default SENS_EN_GPSSIM 1
@@ -27,10 +28,6 @@ param set-default MC_PITCH_P 5
 
 param set-default MAV_TYPE 19
 
-# disable some checks to allow to fly:
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-
 param set-default SIH_T_MAX 2
 param set-default SIH_Q_MAX 0.0165
 param set-default SIH_MASS 0.2

ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_standard_vtol

@@ -0,0 +1,96 @@
+#!/bin/sh
+#
+# @name SIH Standard VTOL
+#
+# @type Simulation
+# @class VTOL
+#
+# @output Motor1 MC motor front right
+# @output Motor2 MC motor back left
+# @output Motor3 MC motor front left
+# @output Motor4 MC motor back right
+# @output Motor5 Forward thrust motor
+# @output Servo1 Ailerons (single channel)
+# @output Servo2 Elevator
+# @output Servo3 Rudder
+#
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 1
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 1
+
+param set-default EKF2_GPS_DELAY 0
+
+param set-default VT_TYPE 2
+param set-default MPC_MAN_Y_MAX 60
+param set-default MC_PITCH_P 5
+
+param set-default CA_AIRFRAME 2
+param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR0_PX 0.2
+param set-default CA_ROTOR0_PY 0.2
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR1_PX -0.2
+param set-default CA_ROTOR1_PY -0.2
+param set-default CA_ROTOR2_PX 0.2
+param set-default CA_ROTOR2_PY -0.2
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.2
+param set-default CA_ROTOR3_PY 0.2
+param set-default CA_ROTOR3_KM -0.05
+param set-default CA_ROTOR4_PX -0.3
+param set-default CA_ROTOR4_KM 0.05
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
+
+# SIH for now hardcodes this configuration which we need to match in the airframe files.
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TRQ_R 1
+param set-default CA_SV_CS0_TYPE 15  # single channel aileron
+param set-default CA_SV_CS1_TRQ_P 1
+param set-default CA_SV_CS1_TYPE 3  # elevator
+param set-default CA_SV_CS2_TRQ_Y 1
+param set-default CA_SV_CS2_TYPE 4  # rudder
+
+param set-default FW_AIRSPD_MIN 7
+param set-default FW_AIRSPD_TRIM 10
+param set-default FW_AIRSPD_MAX 12
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 201
+param set-default PWM_MAIN_FUNC6 202
+param set-default PWM_MAIN_FUNC7 203
+param set-default PWM_MAIN_FUNC8 105
+
+param set-default MAV_TYPE 22
+
+# set SYS_HITL to 2 to start the SIH and avoid sensors startup
+# param set-default SYS_HITL 2
+
+param set-default SENS_DPRES_OFF 0.001
+
+param set SIH_T_MAX 2.0
+param set SIH_Q_MAX 0.0165
+param set SIH_MASS 0.2
+# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
+param set SIH_IXX 0.00354
+param set SIH_IYY 0.000625
+param set SIH_IZZ 0.00300
+param set SIH_IXZ 0
+param set SIH_KDV 0.2
+param set SIH_L_ROLL 0.2
+
+# sih as standard vtol
+param set SIH_VEHICLE_TYPE 3

ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid

@@ -1,32 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-
-param set-default COM_OBS_AVOID 1

ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid.post

@@ -1,2 +0,0 @@
-# shellcheck disable=SC2154
-mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 -p # add mavlink stream for SDK

ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam.post

@@ -0,0 +1 @@
+mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p

ROMFS/px4fmu_common/init.d-posix/airframes/17002_flightgear_tf-g2

@@ -44,7 +44,7 @@ param set-default FW_R_LIM 30
 
 param set-default FW_MAN_R_MAX 30
 
-param set-default FW_THR_CRUISE 0.8
+param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0
 

ROMFS/px4fmu_common/init.d-posix/airframes/4001_gz_x500

@@ -13,10 +13,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}
 
 param set-default SIM_GZ_EN 1
 
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 4
 

ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna

@@ -12,13 +12,8 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}
 
 param set-default SIM_GZ_EN 1
 
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1
 
-
-
 param set-default FW_LND_ANG 8
 
 param set-default NPFG_PERIOD 12

ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol

@@ -13,9 +13,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
 
 param set-default SIM_GZ_EN 1
 
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1
 
 # TODO: Enable motor failure detection when the

ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision

@@ -14,12 +14,7 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=px4vision}
 
 param set-default SIM_GZ_EN 1
 
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-
 # Commander Parameters
-param set-default COM_OBS_AVOID 0
 param set-default COM_DISARM_LAND 0.5
 
 # EKF2 parameters

ROMFS/px4fmu_common/init.d-posix/airframes/4008_gz_advanced_plane

@@ -11,8 +11,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=advanced_plane}
 
 param set-default SIM_GZ_EN 1
 
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1
 
 param set-default FW_LND_ANG 8

ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover

@@ -11,36 +11,39 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
-# Rover parameters
+param set-default NAV_ACC_RAD 0.5
+
+# Differential Parameters
 param set-default RD_WHEEL_TRACK 0.3
-param set-default RD_MAX_ACCEL 5
-param set-default RD_MAX_DECEL 10
-param set-default RD_MAX_JERK 30
 param set-default RD_MAX_THR_YAW_R 1.5
-param set-default RD_YAW_RATE_P 0.25
-param set-default RD_YAW_RATE_I 0.01
-param set-default RD_YAW_P 5
-param set-default RD_YAW_I 0.1
-param set-default RD_MAX_SPEED 2
-param set-default RD_MAX_THR_SPD 2.15
-param set-default RD_SPEED_P 0.1
-param set-default RD_SPEED_I 0.01
-param set-default RD_MAX_YAW_RATE 180
-param set-default RD_MISS_SPD_DEF 2
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533
-param set-default RD_MAX_YAW_ACCEL 1000
 
-# Pure pursuit parameters
-param set-default PP_LOOKAHD_MAX 30
-param set-default PP_LOOKAHD_MIN 2
+# Rover Control Parameters
+param set-default RO_ACCEL_LIM 5
+param set-default RO_DECEL_LIM 10
+param set-default RO_JERK_LIM 30
+param set-default RO_MAX_THR_SPEED 2.1
+
+# Rover Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.01
+param set-default RO_YAW_RATE_P 0.25
+param set-default RO_YAW_RATE_LIM 180
+param set-default RO_YAW_ACCEL_LIM 120
+param set-default RO_YAW_DECEL_LIM 1000
+
+# Rover Attitude Control Parameters
+param set-default RO_YAW_P 5
+
+# Rover Position Control Parameters
+param set-default RO_SPEED_LIM 2
+param set-default RO_SPEED_I 0.5
+param set-default RO_SPEED_P 1
+
+# Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1
-
-# Simulated sensors
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1
 
 # Actuator mapping
 param set-default SIM_GZ_WH_FUNC1 101 # right wheel

ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower

@@ -11,11 +11,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=lawnmower}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
-# Simulated sensors
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
 # We can arm and drive in manual mode when it slides and GPS check fails:
 param set-default COM_ARM_WO_GPS 1
 
@@ -29,7 +24,6 @@ param set-default RD_MAX_SPEED 8
 param set-default RD_YAW_P 5
 param set-default RD_YAW_I 0.1
 param set-default RD_MAX_YAW_RATE 30
-param set-default RD_MISS_SPD_DEF 8
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533
 
@@ -61,19 +55,25 @@ param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels
 # controls in practical scenarios.
 
 # Cutter deck blades clutch, PCA9685 servo channel 3,  "RC FLAPS" (406) - leftmost switch, or "Servo 3" (203):
-param set-default SIM_GZ_SV_FUNC3 203
-param set-default SIM_GZ_SV_MIN3 0
-param set-default SIM_GZ_SV_MAX3 1000
-param set-default SIM_GZ_SV_DIS3 500
-param set-default SIM_GZ_SV_FAIL3 500
+param set-default SIM_GZ_SV_FUNC1 201
+param set-default SIM_GZ_SV_MIN1 0
+param set-default SIM_GZ_SV_MAX1 1000
+param set-default SIM_GZ_SV_DIS1 500
+param set-default SIM_GZ_SV_FAIL1 500
+param set-default SIM_GZ_SV_MAXA1 90
+param set-default SIM_GZ_SV_MINA1 -90
 
 # Gas engine throttle, PCA9685 servo channel 4, "RC AUX1" (407) - left knob, or "Servo 4" (204):
 #    - on minimum when disarmed or failed:
-param set-default SIM_GZ_SV_FUNC4 204
-param set-default SIM_GZ_SV_MIN4 0
-param set-default SIM_GZ_SV_MAX4 1000
-param set-default SIM_GZ_SV_DIS4 500
-param set-default SIM_GZ_SV_FAIL4 500
+param set-default SIM_GZ_SV_FUNC2 202
+param set-default SIM_GZ_SV_MIN2 0
+param set-default SIM_GZ_SV_MAX2 1000
+param set-default SIM_GZ_SV_DIS2 500
+param set-default SIM_GZ_SV_FAIL2 500
+param set-default SIM_GZ_SV_MAXA2 90
+param set-default SIM_GZ_SV_MINA2 -90
+
+param set-default CA_SV_CS_COUNT 2
 
 # Controlling PCA9685 servos 5,6,7,8 directly via "Servo 5..8" setting, by publishing actuator_servos.control[]:
 

ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann

@@ -11,35 +11,39 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
-# Rover parameters
 param set-default NAV_ACC_RAD 0.5
+
+# Ackermann Parameters
+param set-default RA_WHEEL_BASE 0.321
 param set-default RA_ACC_RAD_GAIN 2
 param set-default RA_ACC_RAD_MAX 3
-param set-default RA_LAT_ACCEL_I 0.01
-param set-default RA_LAT_ACCEL_P 0.1
-param set-default RA_MAX_ACCEL 3
-param set-default RA_MAX_DECEL 6
-param set-default RA_MAX_JERK 15
-param set-default RA_MAX_LAT_ACCEL 4
-param set-default RA_MAX_SPEED 3
 param set-default RA_MAX_STR_ANG 0.5236
-param set-default RA_MAX_STR_RATE 360
-param set-default RA_MAX_THR_SPEED 3.1
-param set-default RA_SPEED_I 0.01
-param set-default RA_SPEED_P 0.1
-param set-default RA_WHEEL_BASE 0.321
+param set-default RA_STR_RATE_LIM 360
+
+# Rover Control Parameters
+param set-default RO_ACCEL_LIM 3
+param set-default RO_DECEL_LIM 6
+param set-default RO_JERK_LIM 15
+param set-default RO_MAX_THR_SPEED 3.1
+
+# Rover Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.1
+param set-default RO_YAW_RATE_P 1
+param set-default RO_YAW_RATE_LIM 180
+
+# Rover Attitude Control Parameters
+param set-default RO_YAW_P 3
+
+# Rover Position Control Parameters
+param set-default RO_SPEED_LIM 3
+param set-default RO_SPEED_I 0.1
+param set-default RO_SPEED_P 1
 
 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1
 param set-default PP_LOOKAHD_MAX 10
 param set-default PP_LOOKAHD_MIN 1
 
-# Simulated sensors
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
-
 # Wheels
 param set-default SIM_GZ_WH_FUNC1 101
 param set-default SIM_GZ_WH_MIN1 0
@@ -47,5 +51,8 @@ param set-default SIM_GZ_WH_MAX1 200
 param set-default SIM_GZ_WH_DIS1 100
 
 # Steering
+param set-default SIM_GZ_SV_MAXA1 30
+param set-default SIM_GZ_SV_MINA1 -30
+param set-default CA_SV_CS_COUNT 1
 param set-default SIM_GZ_SV_FUNC1 201
 param set-default SIM_GZ_SV_REV 1

ROMFS/px4fmu_common/init.d-posix/airframes/4015_gz_r1_rover_mecanum

@@ -11,54 +11,61 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover_mecanum}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
-# Rover parameters
-param set-default RM_WHEEL_TRACK 0.3
-param set-default RM_MAN_YAW_SCALE 0.1
-param set-default RM_YAW_RATE_I 0
-param set-default RM_YAW_RATE_P 0.01
-param set-default RM_MAX_ACCEL 3
-param set-default RM_MAX_JERK 5
-param set-default RM_MAX_SPEED 4
-param set-default RM_MAX_THR_SPD 7
-param set-default RM_MAX_THR_YAW_R 7.5
-param set-default RM_YAW_P 5
-param set-default RM_YAW_I 0.1
-param set-default RM_MAX_YAW_RATE 180
-param set-default RM_MISS_SPD_DEF 3
-param set-default RM_MISS_VEL_GAIN 1
-param set-default RM_SPEED_I 0.01
-param set-default RM_SPEED_P 0.1
+param set-default NAV_ACC_RAD 0.5
 
-# Pure pursuit parameters
+# Mecanum Parameters
+param set-default RM_WHEEL_TRACK 0.3
+param set-default RM_MAX_THR_YAW_R 1.2
+param set-default RM_MISS_SPD_GAIN 1
+
+# Rover Control Parameters
+param set-default RO_ACCEL_LIM 3
+param set-default RO_DECEL_LIM 5
+param set-default RO_JERK_LIM 30
+param set-default RO_MAX_THR_SPEED 2.1
+
+# Rover Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.1
+param set-default RO_YAW_RATE_P 0.1
+param set-default RO_YAW_RATE_LIM 120
+param set-default RO_YAW_ACCEL_LIM 240
+param set-default RO_YAW_DECEL_LIM 1000
+
+# Rover Attitude Control Parameters
+param set-default RO_YAW_P 5
+
+# Rover Position Control Parameters
+param set-default RO_SPEED_LIM 2
+param set-default RO_SPEED_I 0.5
+param set-default RO_SPEED_P 1
+
+# Pure Pursuit parameters
+param set-default PP_LOOKAHD_GAIN 0.5
 param set-default PP_LOOKAHD_MAX 10
 param set-default PP_LOOKAHD_MIN 1
-param set-default PP_LOOKAHD_GAIN 0.5
 
 # Simulated sensors
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
 param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
 
 # Actuator mapping
 param set-default SIM_GZ_WH_FUNC1 102 # right wheel front
-param set-default SIM_GZ_WH_MIN1 0
-param set-default SIM_GZ_WH_MAX1 200
+param set-default SIM_GZ_WH_MIN1 70
+param set-default SIM_GZ_WH_MAX1 130
 param set-default SIM_GZ_WH_DIS1 100
 
 param set-default SIM_GZ_WH_FUNC2 101 # left wheel front
-param set-default SIM_GZ_WH_MIN2 0
-param set-default SIM_GZ_WH_MAX2 200
+param set-default SIM_GZ_WH_MIN2 70
+param set-default SIM_GZ_WH_MAX2 130
 param set-default SIM_GZ_WH_DIS2 100
 
 param set-default SIM_GZ_WH_FUNC3 104 # right wheel back
-param set-default SIM_GZ_WH_MIN3 0
-param set-default SIM_GZ_WH_MAX3 200
+param set-default SIM_GZ_WH_MIN3 70
+param set-default SIM_GZ_WH_MAX3 130
 param set-default SIM_GZ_WH_DIS3 100
 
 param set-default SIM_GZ_WH_FUNC4 103 # left wheel back
-param set-default SIM_GZ_WH_MIN4 0
-param set-default SIM_GZ_WH_MAX4 200
+param set-default SIM_GZ_WH_MIN4 70
+param set-default SIM_GZ_WH_MAX4 130
 param set-default SIM_GZ_WH_DIS4 100
 
 param set-default SIM_GZ_WH_REV 10

ROMFS/px4fmu_common/init.d-posix/airframes/4018_gz_quadtailsitter

@@ -0,0 +1,91 @@
+#!/bin/sh
+#
+# @name Quadrotor + Tailsitter
+#
+# @type VTOL Quad Tailsitter
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadtailsitter}
+
+param set-default SIM_GZ_EN 1 # Gazebo bridge
+
+param set-default MAV_TYPE 20
+
+param set-default CA_AIRFRAME 4
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.23
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.23
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.23
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.23
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default CA_SV_CS_COUNT 0
+
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_EC_FUNC3 103
+param set-default SIM_GZ_EC_FUNC4 104
+
+param set-default SIM_GZ_EC_MIN1 10
+param set-default SIM_GZ_EC_MIN2 10
+param set-default SIM_GZ_EC_MIN3 10
+param set-default SIM_GZ_EC_MIN4 10
+
+param set-default SIM_GZ_EC_MAX1 1500
+param set-default SIM_GZ_EC_MAX2 1500
+param set-default SIM_GZ_EC_MAX3 1500
+param set-default SIM_GZ_EC_MAX4 1500
+
+param set-default FD_FAIL_R 70
+
+param set-default FW_P_TC 0.6
+
+param set-default FW_PR_I 0.3
+param set-default FW_PR_P 0.5
+param set-default FW_PSP_OFF 2
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_I 0.1
+param set-default FW_RR_P 0.2
+param set-default FW_YR_FF 0 # make yaw rate controller very weak, only keep default P
+param set-default FW_YR_I 0
+param set-default FW_THR_TRIM 0.35
+param set-default FW_THR_MAX 0.8
+param set-default FW_THR_MIN 0.05
+param set-default FW_T_CLMB_MAX 6
+param set-default FW_T_HRATE_FF 0.5
+param set-default FW_T_SINK_MAX 3
+param set-default FW_T_SINK_MIN 1.6
+param set-default FW_AIRSPD_STALL 10
+param set-default FW_AIRSPD_MIN 14
+param set-default FW_AIRSPD_TRIM 18
+param set-default FW_AIRSPD_MAX 22
+
+param set-default MC_AIRMODE 2
+param set-default MAN_ARM_GESTURE 0 # required for yaw airmode
+param set-default MC_ROLL_P 3
+param set-default MC_PITCH_P 3
+param set-default MC_ROLLRATE_P 0.3
+param set-default MC_PITCHRATE_P 0.3
+
+param set-default VT_ARSP_TRANS 15
+param set-default VT_B_TRANS_DUR 5
+param set-default VT_FW_DIFTHR_EN 7
+param set-default VT_FW_DIFTHR_S_Y 1
+param set-default VT_F_TRANS_DUR 1.5
+param set-default VT_TYPE 0
+
+param set-default WV_EN 0
+
+param set-default EKF2_FUSE_BETA 0

ROMFS/px4fmu_common/init.d-posix/airframes/4019_gz_x500_gimbal

@@ -0,0 +1,23 @@
+#!/bin/sh
+#
+# @name Gazebo x500 gimbal
+#
+# @type Quadrotor
+#
+
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_gimbal}
+
+. ${R}etc/init.d-posix/airframes/4001_gz_x500
+
+# Gimbal settings
+param set-default MNT_MODE_IN 4
+param set-default MNT_MODE_OUT 2
+param set-default MNT_RC_IN_MODE 1
+
+param set-default MNT_MAN_ROLL 1
+param set-default MNT_MAN_PITCH 2
+param set-default MNT_MAN_YAW 3
+
+param set-default MNT_RANGE_ROLL 180
+param set-default MNT_RANGE_PITCH 180
+param set-default MNT_RANGE_YAW 720

ROMFS/px4fmu_common/init.d-posix/airframes/4020_gz_tiltrotor

@@ -0,0 +1,107 @@
+#!/bin/sh
+#
+# @name VTOL Tiltrotor
+#
+# @type VTOL Tiltrotor
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=tiltrotor}
+
+param set-default SIM_GZ_EN 1 # Gazebo bridge
+
+param set-default MAV_TYPE 21
+
+param set-default CA_AIRFRAME 3
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default CA_ROTOR0_TILT 1
+param set-default CA_ROTOR2_TILT 2
+param set-default CA_SV_TL0_MAXA 90
+param set-default CA_SV_TL0_MINA 0
+param set-default CA_SV_TL0_TD 0
+param set-default CA_SV_TL0_CT 1
+param set-default CA_SV_TL1_MAXA 90
+param set-default CA_SV_TL1_MINA 0
+param set-default CA_SV_TL1_TD 0
+param set-default CA_SV_TL1_CT 1
+
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_TL_COUNT 2
+
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_EC_FUNC3 103
+param set-default SIM_GZ_EC_FUNC4 104
+
+param set-default SIM_GZ_EC_MIN1 10
+param set-default SIM_GZ_EC_MIN2 10
+param set-default SIM_GZ_EC_MIN3 10
+param set-default SIM_GZ_EC_MIN4 10
+
+param set-default SIM_GZ_EC_MAX1 1500
+param set-default SIM_GZ_EC_MAX2 1500
+param set-default SIM_GZ_EC_MAX3 1500
+param set-default SIM_GZ_EC_MAX4 1500
+
+param set-default SIM_GZ_SV_FUNC1 201
+param set-default SIM_GZ_SV_FUNC2 202
+param set-default SIM_GZ_SV_FUNC3 203
+param set-default SIM_GZ_SV_FUNC4 204
+param set-default SIM_GZ_SV_FUNC5 205
+
+param set-default SIM_GZ_SV_MAXA4 90
+param set-default SIM_GZ_SV_MINA4 0
+param set-default SIM_GZ_SV_MAXA5 90
+param set-default SIM_GZ_SV_MINA5 0
+
+param set-default NPFG_PERIOD 12
+param set-default FW_PR_FF 0.2
+param set-default FW_PR_P 0.9
+param set-default FW_PSP_OFF 2
+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_TRIM 0.38
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+
+param set-default MC_AIRMODE 1
+param set-default MC_YAWRATE_P 0.4
+param set-default MC_YAWRATE_I 0.1
+
+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-default MIS_TAKEOFF_ALT 10
+
+param set-default VT_FWD_THRUST_EN 4
+param set-default VT_FWD_THRUST_SC 0.6
+param set-default VT_TILT_TRANS 0.6
+param set-default VT_TYPE 1

ROMFS/px4fmu_common/init.d-posix/airframes/4021_gz_x500_flow

@@ -0,0 +1,15 @@
+#!/bin/sh
+#
+# @name Gazebo x500 with downward optical flow and distance sensor
+#
+# @type Quadrotor
+#
+
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_flow}
+
+. ${R}etc/init.d-posix/airframes/4001_gz_x500
+
+echo "Disabling Sim GPS"
+param set-default SYS_HAS_GPS 0
+param set-default SIM_GPS_USED 0
+param set-default EKF2_GPS_CTRL 0

ROMFS/px4fmu_common/init.d-posix/airframes/71001_gazebo-classic_spacecraft_dart

@@ -0,0 +1,155 @@
+#!/bin/sh
+#
+# @name 6DoF Spacecraft Model
+#
+# @type Freeflyer with 8 thrusters
+#
+# @maintainer Pedro Roque <padr@kth.se>
+#
+
+. ${R}etc/init.d/rc.sc_defaults
+
+param set-default CA_AIRFRAME 15
+param set-default MAV_TYPE 99
+
+param set-default CA_THRUSTER_CNT 12
+param set-default CA_R_REV 0
+
+# param set-default FW_ARSP_MODE 1
+
+# Auto to be provided by Custom Airframe
+param set-default CA_METHOD 0
+
+# disable attitude failure detection
+param set-default FD_FAIL_P 0
+param set-default FD_FAIL_R 0
+
+# Set proper failsafes
+param set-default COM_ACT_FAIL_ACT 0
+param set-default COM_LOW_BAT_ACT 0
+param set-default NAV_DLL_ACT 0
+param set-default GF_ACTION 1
+param set-default NAV_RCL_ACT 1
+param set-default COM_POSCTL_NAVL 2
+
+# Set thrusters
+param set-default CA_THRUSTER0_PX -0.50
+param set-default CA_THRUSTER0_PY 0.50
+param set-default CA_THRUSTER0_PZ 0.0
+param set-default CA_THRUSTER0_CT 0.237
+param set-default CA_THRUSTER0_AX 0.0
+param set-default CA_THRUSTER0_AY -1.0
+param set-default CA_THRUSTER0_AZ 0.0
+
+param set-default CA_THRUSTER1_PX 0.50
+param set-default CA_THRUSTER1_PY 0.50
+param set-default CA_THRUSTER1_PZ 0.0
+param set-default CA_THRUSTER1_CT 0.237
+param set-default CA_THRUSTER1_AX 0.0
+param set-default CA_THRUSTER1_AY -1.0
+param set-default CA_THRUSTER1_AZ 0.0
+
+param set-default CA_THRUSTER2_PX 0.50
+param set-default CA_THRUSTER2_PY -0.50
+param set-default CA_THRUSTER2_PZ 0.0
+param set-default CA_THRUSTER2_CT 0.237
+param set-default CA_THRUSTER2_AX 0.0
+param set-default CA_THRUSTER2_AY 1.0
+param set-default CA_THRUSTER2_AZ 0.0
+
+param set-default CA_THRUSTER3_PX -0.50
+param set-default CA_THRUSTER3_PY -0.50
+param set-default CA_THRUSTER3_PZ 0.0
+param set-default CA_THRUSTER3_CT 0.237
+param set-default CA_THRUSTER3_AX 0.0
+param set-default CA_THRUSTER3_AY 1.0
+param set-default CA_THRUSTER3_AZ 0.0
+
+param set-default CA_THRUSTER4_PX -0.50
+param set-default CA_THRUSTER4_PY 0.0
+param set-default CA_THRUSTER4_PZ -0.50
+param set-default CA_THRUSTER4_CT 0.237
+param set-default CA_THRUSTER4_AX 1.0
+param set-default CA_THRUSTER4_AY 0.0
+param set-default CA_THRUSTER4_AZ 0.0
+
+param set-default CA_THRUSTER5_PX 0.50
+param set-default CA_THRUSTER5_PY 0.0
+param set-default CA_THRUSTER5_PZ -0.50
+param set-default CA_THRUSTER5_CT 0.237
+param set-default CA_THRUSTER5_AX -1.0
+param set-default CA_THRUSTER5_AY 0.0
+param set-default CA_THRUSTER5_AZ 0.0
+
+param set-default CA_THRUSTER6_PX 0.50
+param set-default CA_THRUSTER6_PY 0.0
+param set-default CA_THRUSTER6_PZ 0.50
+param set-default CA_THRUSTER6_CT 0.237
+param set-default CA_THRUSTER6_AX -1.0
+param set-default CA_THRUSTER6_AY 0.0
+param set-default CA_THRUSTER6_AZ 0.0
+
+param set-default CA_THRUSTER7_PX -0.50
+param set-default CA_THRUSTER7_PY 0.0
+param set-default CA_THRUSTER7_PZ 0.50
+param set-default CA_THRUSTER7_CT 0.237
+param set-default CA_THRUSTER7_AX 1.0
+param set-default CA_THRUSTER7_AY 0.0
+param set-default CA_THRUSTER7_AZ 0.0
+
+param set-default CA_THRUSTER8_PX 0.0
+param set-default CA_THRUSTER8_PY -0.50
+param set-default CA_THRUSTER8_PZ -0.50
+param set-default CA_THRUSTER8_CT 0.237
+param set-default CA_THRUSTER8_AX 0.0
+param set-default CA_THRUSTER8_AY 0.0
+param set-default CA_THRUSTER8_AZ 1.0
+
+param set-default CA_THRUSTER9_PX 0.0
+param set-default CA_THRUSTER9_PY 0.50
+param set-default CA_THRUSTER9_PZ -0.50
+param set-default CA_THRUSTER9_CT 0.237
+param set-default CA_THRUSTER9_AX 0.0
+param set-default CA_THRUSTER9_AY 0.0
+param set-default CA_THRUSTER9_AZ 1.0
+
+param set-default CA_THRUSTER10_PX 0.0
+param set-default CA_THRUSTER10_PY 0.50
+param set-default CA_THRUSTER10_PZ 0.50
+param set-default CA_THRUSTER10_CT 0.237
+param set-default CA_THRUSTER10_AX 0.0
+param set-default CA_THRUSTER10_AY 0.0
+param set-default CA_THRUSTER10_AZ -1.0
+
+param set-default CA_THRUSTER11_PX 0.0
+param set-default CA_THRUSTER11_PY -0.50
+param set-default CA_THRUSTER11_PZ 0.50
+param set-default CA_THRUSTER11_CT 0.237
+param set-default CA_THRUSTER11_AX 0.0
+param set-default CA_THRUSTER11_AY 0.0
+param set-default CA_THRUSTER11_AZ -1.0
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 106
+param set-default PWM_MAIN_FUNC7 107
+param set-default PWM_MAIN_FUNC8 108
+param set-default PWM_MAIN_FUNC9 109
+param set-default PWM_MAIN_FUNC10 110
+param set-default PWM_MAIN_FUNC11 111
+param set-default PWM_MAIN_FUNC12 112
+
+# PWM Simulation
+param set PWM_SIM_PWM_MAX 10000
+param set PWM_SIM_PWM_MIN 0
+
+# Controller Tunings
+param set-default SC_ROLLRATE_P 0.14
+param set-default SC_PITCHRATE_P 0.14
+param set-default SC_ROLLRATE_I 0.3
+param set-default SC_PITCHRATE_I 0.3
+param set-default SC_ROLLRATE_D 0.004
+param set-default SC_PITCHRATE_D 0.004

ROMFS/px4fmu_common/init.d-posix/airframes/71002_gz_spacecraft_2d

@@ -0,0 +1,147 @@
+#!/bin/sh
+#
+# @name 3DoF Spacecraft Model
+#
+# @type 2D Freeflyer with 8 thrusters - Planar motion
+#
+# @maintainer Pedro Roque <padr@kth.se>
+#
+
+. ${R}etc/init.d/rc.sc_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=spacecraft_2d}
+
+param set-default SIM_GZ_EN 1
+
+param set-default SENS_EN_MAGSIM 1
+param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
+param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?
+
+param set-default CA_AIRFRAME 14
+param set-default MAV_TYPE 99
+
+param set-default CA_THRUSTER_CNT 8
+param set-default CA_R_REV 0
+
+# param set-default FW_ARSP_MODE 1
+
+# Auto to be provided by Custom Airframe
+param set-default CA_METHOD 0  # 0 is PseudoInverse, 3 is Metric
+
+# Set proper failsafes
+param set-default COM_ACT_FAIL_ACT 0
+param set-default COM_LOW_BAT_ACT 0
+param set-default NAV_DLL_ACT 0
+param set-default GF_ACTION 1
+param set-default NAV_RCL_ACT 1
+param set-default COM_POSCTL_NAVL 2
+
+# disable attitude failure detection
+param set-default FD_FAIL_P 0
+param set-default FD_FAIL_R 0
+
+param set-default CA_THRUSTER0_PX -0.12
+param set-default CA_THRUSTER0_PY -0.12
+param set-default CA_THRUSTER0_PZ 0.0
+param set-default CA_THRUSTER0_CT 1.4
+param set-default CA_THRUSTER0_AX 1.0
+param set-default CA_THRUSTER0_AY 0.0
+param set-default CA_THRUSTER0_AZ 0.0
+
+param set-default CA_THRUSTER1_PX 0.12
+param set-default CA_THRUSTER1_PY -0.12
+param set-default CA_THRUSTER1_PZ 0.0
+param set-default CA_THRUSTER1_CT 1.4
+param set-default CA_THRUSTER1_AX -1.0
+param set-default CA_THRUSTER1_AY 0.0
+param set-default CA_THRUSTER1_AZ 0.0
+
+param set-default CA_THRUSTER2_PX -0.12
+param set-default CA_THRUSTER2_PY 0.12
+param set-default CA_THRUSTER2_PZ 0.0
+param set-default CA_THRUSTER2_CT 1.4
+param set-default CA_THRUSTER2_AX 1.0
+param set-default CA_THRUSTER2_AY 0.0
+param set-default CA_THRUSTER2_AZ 0.0
+
+param set-default CA_THRUSTER3_PX 0.12
+param set-default CA_THRUSTER3_PY 0.12
+param set-default CA_THRUSTER3_PZ 0.0
+param set-default CA_THRUSTER3_CT 1.4
+param set-default CA_THRUSTER3_AX -1.0
+param set-default CA_THRUSTER3_AY 0.0
+param set-default CA_THRUSTER3_AZ 0.0
+
+param set-default CA_THRUSTER4_PX 0.12
+param set-default CA_THRUSTER4_PY -0.12
+param set-default CA_THRUSTER4_PZ 0.0
+param set-default CA_THRUSTER4_CT 1.4
+param set-default CA_THRUSTER4_AX 0.0
+param set-default CA_THRUSTER4_AY 1.0
+param set-default CA_THRUSTER4_AZ 0.0
+
+param set-default CA_THRUSTER5_PX 0.12
+param set-default CA_THRUSTER5_PY 0.12
+param set-default CA_THRUSTER5_PZ 0.0
+param set-default CA_THRUSTER5_CT 1.4
+param set-default CA_THRUSTER5_AX 0.0
+param set-default CA_THRUSTER5_AY -1.0
+param set-default CA_THRUSTER5_AZ 0.0
+
+param set-default CA_THRUSTER6_PX -0.12
+param set-default CA_THRUSTER6_PY -0.12
+param set-default CA_THRUSTER6_PZ 0.0
+param set-default CA_THRUSTER6_CT 1.4
+param set-default CA_THRUSTER6_AX 0.0
+param set-default CA_THRUSTER6_AY 1.0
+param set-default CA_THRUSTER6_AZ 0.0
+
+param set-default CA_THRUSTER7_PX -0.12
+param set-default CA_THRUSTER7_PY 0.12
+param set-default CA_THRUSTER7_PZ 0.0
+param set-default CA_THRUSTER7_CT 1.4
+param set-default CA_THRUSTER7_AX 0.0
+param set-default CA_THRUSTER7_AY -1.0
+param set-default CA_THRUSTER7_AZ 0.0
+
+param set-default SIM_GZ_TH_FUNC1 101
+param set-default SIM_GZ_TH_FUNC2 102
+param set-default SIM_GZ_TH_FUNC3 103
+param set-default SIM_GZ_TH_FUNC4 104
+param set-default SIM_GZ_TH_FUNC5 105
+param set-default SIM_GZ_TH_FUNC6 106
+param set-default SIM_GZ_TH_FUNC7 107
+param set-default SIM_GZ_TH_FUNC8 108
+
+param set-default SIM_GZ_TH_MIN1 0
+param set-default SIM_GZ_TH_MIN2 0
+param set-default SIM_GZ_TH_MIN3 0
+param set-default SIM_GZ_TH_MIN4 0
+param set-default SIM_GZ_TH_MIN5 0
+param set-default SIM_GZ_TH_MIN6 0
+param set-default SIM_GZ_TH_MIN7 0
+param set-default SIM_GZ_TH_MIN8 0
+
+param set-default SIM_GZ_TH_MAX1 10000
+param set-default SIM_GZ_TH_MAX2 10000
+param set-default SIM_GZ_TH_MAX3 10000
+param set-default SIM_GZ_TH_MAX4 10000
+param set-default SIM_GZ_TH_MAX5 10000
+param set-default SIM_GZ_TH_MAX6 10000
+param set-default SIM_GZ_TH_MAX7 10000
+param set-default SIM_GZ_TH_MAX8 10000
+
+# Controller Tunings
+param set SC_YAWRATE_P 3.335
+param set SC_YAWRATE_I 0.87
+param set SC_YAWRATE_D 0.15
+param set SC_YR_INT_LIM 0.2
+param set SC_YAW_P 3.0
+
+param set SPC_POS_P 0.20
+param set SPC_VEL_P 6.55
+param set SPC_VEL_I 0.0
+param set SPC_VEL_D 0.0
+param set SPC_VEL_MAX 12.0

ROMFS/px4fmu_common/init.d-posix/airframes/8011_gz_omnicopter

@@ -83,9 +83,6 @@ param set-default CA_ROTOR7_AY -0.211325
 param set-default CA_ROTOR7_AZ -0.57735
 
 param set-default SIM_GZ_EN 1
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
 
 param set-default SIM_GZ_EC_FUNC1 101
 param set-default SIM_GZ_EC_FUNC2 102

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

@@ -39,8 +39,6 @@ px4_add_romfs_files(
 	1012_gazebo-classic_iris_rplidar
 	1013_gazebo-classic_iris_vision
 	1013_gazebo-classic_iris_vision.post
-	1014_gazebo-classic_iris_obs_avoid
-	1014_gazebo-classic_iris_obs_avoid.post
 	1015_gazebo-classic_iris_depth_camera
 	1016_gazebo-classic_iris_downward_depth_camera
 	1017_gazebo-classic_iris_opt_flow_mockup
@@ -49,6 +47,7 @@ px4_add_romfs_files(
 	1022_gazebo-classic_uuv_bluerov2_heavy
 	1030_gazebo-classic_plane
 	1031_gazebo-classic_plane_cam
+	1031_gazebo-classic_plane_cam.post
 	1032_gazebo-classic_plane_catapult
 	1033_jsbsim_rascal
 	1034_flightgear_rascal-electric
@@ -89,6 +88,10 @@ px4_add_romfs_files(
 	4015_gz_r1_rover_mecanum
 	4016_gz_x500_lidar_down
 	4017_gz_x500_lidar_front
+	4018_gz_quadtailsitter
+	4019_gz_x500_gimbal
+	4020_gz_tiltrotor
+	4021_gz_x500_flow
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post
@@ -105,9 +108,13 @@ px4_add_romfs_files(
 	10040_sihsim_quadx
 	10041_sihsim_airplane
 	10042_sihsim_xvert
+	10043_sihsim_standard_vtol
 
 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2
 
+	71001_gazebo-classic_spacecraft_dart
+	71002_gz_spacecraft_2d
+
 	# [22000, 22999] Reserve for custom models
 )

ROMFS/px4fmu_common/init.d-posix/px4-rc.gzsim

@@ -0,0 +1,180 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+echo "INFO  [init] Gazebo simulator"
+
+# Enforce minimum gz version as Harmonic (gz-sim8)
+MIN_GZ_VERSION="8.0.0"
+GZ_SIM_VERSION=$(gz sim --versions 2>/dev/null | head -n 1 | tr -d ' ')
+
+if [ -z "$GZ_SIM_VERSION" ]; then
+    echo "ERROR [init] Gazebo gz sim not found. Please install gz-harmonic"
+    exit 1
+fi
+
+# Use sort compare, check that MIN_GZ_VERSION is ordered last
+if [ "$(printf '%s\n' "$GZ_SIM_VERSION" "$MIN_GZ_VERSION" | sort -V | head -n1)" = "$MIN_GZ_VERSION" ]; then
+	gz_command="gz"
+	gz_sub_command="sim"
+
+	# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
+	# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
+	if [ -n "${PX4_GZ_SIM_RENDER_ENGINE}" ]; then
+		echo "INFO  [init] Setting Gazebo render engine to '${PX4_GZ_SIM_RENDER_ENGINE}'!"
+		gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
+	fi
+else
+    echo "ERROR [init] Gazebo gz sim version is too old ($GZ_SIM_VERSION). Minimum required version is $MIN_GZ_VERSION"
+    exit 1
+fi
+
+# If not standalone
+if [ -z "${PX4_GZ_STANDALONE}" ]; then
+
+	# Look for an already running world
+	gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+
+	# shellcheck disable=SC2153
+	if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
+
+		# Setup gz environment variables
+		if [ -f ./gz_env.sh ]; then
+			. ./gz_env.sh
+
+		elif [ -f ../gz_env.sh ]; then
+			. ../gz_env.sh
+		fi
+
+		echo "INFO  [init] Starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
+
+		${gz_command} ${gz_sub_command} --verbose=${GZ_VERBOSE:=1} -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
+
+		if [ -z "${HEADLESS}" ]; then
+			echo "INFO  [init] Starting gz gui"
+			${gz_command} ${gz_sub_command} -g > /dev/null 2>&1 &
+		fi
+
+	else
+		# Gazebo is already running
+		echo "INFO  [init] gazebo already running world: ${gz_world}"
+		PX4_GZ_WORLD=${gz_world}
+	fi
+
+else
+	echo "INFO  [init] Standalone PX4 launch, waiting for Gazebo"
+fi
+
+# Wait for Gazebo world to be ready before proceeding
+check_scene_info() {
+	SERVICE_INFO=$(${gz_command} service -i --service "/world/${PX4_GZ_WORLD}/scene/info" 2>&1)
+	if echo "$SERVICE_INFO" | grep -q "Service providers"; then
+		return 0
+	else
+		return 1
+	fi
+}
+
+ATTEMPTS=30
+while [ $ATTEMPTS -gt 0 ]; do
+	if check_scene_info; then
+		echo "INFO  [init] Gazebo world is ready"
+		break
+	fi
+	ATTEMPTS=$((ATTEMPTS-1))
+	if [ $ATTEMPTS -eq 0 ]; then
+		echo "ERROR [init] Timed out waiting for Gazebo world"
+		exit 1
+	fi
+	echo "INFO  [init] Waiting for Gazebo world..."
+	sleep 1
+done
+
+# Start gz_bridge - either spawn a model or connect to existing one
+if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
+	# Spawn a model
+	MODEL_NAME="${PX4_SIM_MODEL#*gz_}"
+	MODEL_NAME_INSTANCE="${MODEL_NAME}_${px4_instance}"
+
+	POSE_ARG=""
+	if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
+		pos_x=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $1}')
+		pos_y=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $2}')
+		pos_z=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $3}')
+		pos_x=${pos_x:-0}
+		pos_y=${pos_y:-0}
+		pos_z=${pos_z:-0}
+
+		POSE_ARG=", pose: { position: { x: ${pos_x}, y: ${pos_y}, z: ${pos_z} } }"
+		echo "INFO  [init] Spawning model at position: ${pos_x} ${pos_y} ${pos_z}"
+	fi
+
+	echo "INFO  [init] Spawning model"
+
+	# Spawn model
+	${gz_command} service -s "/world/${PX4_GZ_WORLD}/create" --reqtype gz.msgs.EntityFactory \
+			--reptype gz.msgs.Boolean --timeout 5000 \
+			--req "sdf_filename: \"${PX4_GZ_MODELS}/${MODEL_NAME}/model.sdf\", name: \"${MODEL_NAME_INSTANCE}\", allow_renaming: false${POSE_ARG}" > /dev/null 2>&1
+
+	# Wait for model to spawn
+	sleep 1
+
+	# Start gz_bridge
+	if ! gz_bridge start -w "${PX4_GZ_WORLD}" -n "${MODEL_NAME_INSTANCE}"; then
+		echo "ERROR [init] gz_bridge failed to start and spawn model"
+		exit 1
+	fi
+
+	# Set physics parameters for faster-than-realtime simulation if needed
+	if [ -n "${PX4_SIM_SPEED_FACTOR}" ]; then
+		echo "INFO  [init] Setting simulation speed factor: ${PX4_SIM_SPEED_FACTOR}"
+		${gz_command} service -s "/world/${PX4_GZ_WORLD}/set_physics" --reqtype gz.msgs.Physics \
+					--reptype gz.msgs.Boolean --timeout 5000 \
+					--req "real_time_factor: ${PX4_SIM_SPEED_FACTOR}" > /dev/null 2>&1
+	fi
+
+	# Set up camera to follow the model if requested
+	if [ -n "${PX4_GZ_FOLLOW}" ]; then
+
+		echo "INFO  [init] Setting camera to follow ${MODEL_NAME_INSTANCE}"
+
+		# Set camera to follow the model
+		${gz_command} service -s "/gui/follow" --reqtype gz.msgs.StringMsg \
+				--reptype gz.msgs.Boolean --timeout 5000 \
+				--req "data: \"${MODEL_NAME_INSTANCE}\"" > /dev/null 2>&1
+
+		# Set default camera offset if not specified
+		follow_x=${PX4_GZ_FOLLOW_OFFSET_X:--2.0}
+		follow_y=${PX4_GZ_FOLLOW_OFFSET_Y:--2.0}
+		follow_z=${PX4_GZ_FOLLOW_OFFSET_Z:-2.0}
+
+		# Set camera offset
+		${gz_command} service -s "/gui/follow/offset" --reqtype gz.msgs.Vector3d \
+				--reptype gz.msgs.Boolean --timeout 5000 \
+				--req "x: ${follow_x}, y: ${follow_y}, z: ${follow_z}" > /dev/null 2>&1
+
+		echo "INFO  [init] Camera follow offset set to ${follow_x}, ${follow_y}, ${follow_z}"
+	fi
+
+elif [ -n "${PX4_GZ_MODEL_NAME}" ]; then
+	# Connect to existing model
+	echo "INFO  [init] PX4_GZ_MODEL_NAME set, PX4 will attach to existing model"
+	if ! gz_bridge start -w "${PX4_GZ_WORLD}" -n "${PX4_GZ_MODEL_NAME}"; then
+		echo "ERROR [init] gz_bridge failed to start and attach to existing model"
+		exit 1
+	fi
+else
+	echo "ERROR [init] failed to pass either PX4_GZ_MODEL_NAME or PX4_SIM_MODEL"
+	exit 1
+fi
+
+# NOTE: Only for rover_mecanum and spacecraft_2d. All other models have
+# the magnetometer sensor in the model.sdf.
+if param compare -s SENS_EN_MAGSIM 1
+then
+	sensor_mag_sim start
+fi
+# NOTE: new gz has airspeed sensor, remove once added
+if param compare -s SENS_EN_ARSPDSIM 1
+then
+	sensor_airspeed_sim start
+fi

ROMFS/px4fmu_common/init.d-posix/px4-rc.jmavsim

@@ -0,0 +1,14 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+echo "INFO  [init] jMAVSim simulator"
+
+if jps | grep -i jmavsim; then
+	kill "$(jps | grep -i jmavsim | awk '{print $1}')" || true
+	sleep 1
+fi
+
+param set IMU_INTEG_RATE 250
+./jmavsim_run.sh -l -r 250 &
+
+simulator_mavlink start -h localhost $((4560+px4_instance))

ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlinksim

@@ -0,0 +1,27 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+# EKF2 specifics
+param set-default EKF2_GPS_DELAY 10
+param set-default EKF2_MULTI_IMU 3
+param set-default SENS_IMU_MODE 0
+
+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 "INFO  [init] PX4_SIM_HOSTNAME: localhost"
+		simulator_mavlink start -c $simulator_tcp_port
+	else
+		echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
+		simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
+	fi
+
+else
+	echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
+	simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
+fi

ROMFS/px4fmu_common/init.d-posix/px4-rc.params

@@ -1,5 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-#param set-default MAV_SYS_ID $((px4_instance+1))
-#param set-default IMU_INTEG_RATE 250

ROMFS/px4fmu_common/init.d-posix/px4-rc.sihsim

@@ -0,0 +1,38 @@
+#!/bin/sh
+
+echo "INFO  [init] SIH simulator"
+
+if [ -n "${PX4_HOME_LAT}" ]; then
+	param set SIH_LOC_LAT0 ${PX4_HOME_LAT}
+fi
+
+if [ -n "${PX4_HOME_LON}" ]; then
+	param set SIH_LOC_LON0 ${PX4_HOME_LON}
+fi
+if [ -n "${PX4_HOME_ALT}" ]; then
+	param set SIH_LOC_H0 ${PX4_HOME_ALT}
+fi
+
+if simulator_sih start; then
+
+	if param compare -s SENS_EN_BAROSIM 1
+	then
+		sensor_baro_sim start
+	fi
+	if param compare -s SENS_EN_GPSSIM 1
+	then
+		sensor_gps_sim start
+	fi
+	if param compare -s SENS_EN_MAGSIM 1
+	then
+		sensor_mag_sim start
+	fi
+	if param compare -s SENS_EN_AGPSIM 1
+	then
+		sensor_agp_sim start
+	fi
+
+else
+	echo "ERROR [init] simulator_sih failed to start"
+	exit 1
+fi

ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator

@@ -4,196 +4,22 @@
 # Simulator IMU data provided at 250 Hz
 param set-default IMU_INTEG_RATE 250
 
+# For simulation, allow registering modes while armed for developer convenience
+param set-default COM_MODE_ARM_CHK 1
+
 if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then
-
-	echo "INFO  [init] SIH simulator"
-
-	if [ -n "${PX4_HOME_LAT}" ]; then
-		param set SIH_LOC_LAT0 ${PX4_HOME_LAT}
-	fi
-
-	if [ -n "${PX4_HOME_LON}" ]; then
-		param set SIH_LOC_LON0 ${PX4_HOME_LON}
-	fi
-	if [ -n "${PX4_HOME_ALT}" ]; then
-		param set SIH_LOC_H0 ${PX4_HOME_ALT}
-	fi
-
-	if simulator_sih start; then
-
-		if param compare -s SENS_EN_BAROSIM 1
-		then
-			sensor_baro_sim start
-		fi
-		if param compare -s SENS_EN_GPSSIM 1
-		then
-			sensor_gps_sim start
-		fi
-		if param compare -s SENS_EN_MAGSIM 1
-		then
-			sensor_mag_sim start
-		fi
-
-	else
-		echo "ERROR [init] simulator_sih failed to start"
-		exit 1
-	fi
+    # Run SIH
+    . px4-rc.sihsim
 
 elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
-	# Use Gazebo
-
-	echo "INFO  [init] Gazebo simulator"
-
-	# Only start up Gazebo if PX4_GZ_STANDALONE is not set.
-	if [ -z "${PX4_GZ_STANDALONE}" ]; then
-
-		# "gz sim" only available in Garden and later
-		GZ_SIM_VERSIONS=$(gz sim --versions 2>&1)
-		if [ $? -eq 0 ] && [ "${GZ_SIM_VERSIONS}" != "" ]
-		then
-			# "gz sim" from Garden on
-			gz_command="gz"
-			gz_sub_command="sim"
-
-			# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
-			# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
-			if [ -n "${PX4_GZ_SIM_RENDER_ENGINE}" ]; then
-				echo "INFO  [init] Setting Gazebo render engine to '${PX4_GZ_SIM_RENDER_ENGINE}'!"
-				gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
-			fi
-		else
-			echo "ERROR [init] Gazebo gz please install gz-garden"
-			exit 1
-		fi
-
-		# look for running ${gz_command} gazebo world
-		gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
-
-		# shellcheck disable=SC2153
-		if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
-
-			# source generated gz_env.sh for GZ_SIM_RESOURCE_PATH
-			if [ -f ./gz_env.sh ]; then
-				. ./gz_env.sh
-
-			elif [ -f ../gz_env.sh ]; then
-				. ../gz_env.sh
-			fi
-
-			echo "INFO  [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
-
-			${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
-
-			if [ -z "${HEADLESS}" ]; then
-				# HEADLESS not set, starting gui
-				${gz_command} ${gz_sub_command} -g &
-			fi
-
-		else
-			# Gazebo is already running, do not start the simulator, nor the GUI
-			echo "INFO  [init] gazebo already running world: ${gz_world}"
-			PX4_GZ_WORLD=${gz_world}
-		fi
-	else
-		echo "INFO  [init] Standalone PX4 launch, waiting for Gazebo"
-	fi
-
-	# start gz_bridge
-	if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
-		# model specified, gz_bridge will spawn model
-
-		if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
-			# model pose provided: [x, y, z, roll, pitch, yaw]
-
-			# Clean potential input line formatting.
-			model_pose="$( echo "${PX4_GZ_MODEL_POSE}" | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
-			echo "INFO  [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
-
-		else
-			# model pose not provided, origin will be used
-
-			echo "WARN  [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
-			model_pose="0,0,0,0,0,0"
-		fi
-
-		# start gz bridge with pose arg.
-		if ! gz_bridge start -p "${model_pose}" -m "${PX4_SIM_MODEL#*gz_}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
-			echo "ERROR [init] gz_bridge failed to start and spawn model"
-			exit 1
-		fi
-
-	elif [ -n "${PX4_GZ_MODEL_NAME}" ]; then
-		# model name specificed, gz_bridge will attach to existing model
-
-		echo "INFO  [init] PX4_GZ_MODEL_NAME set, PX4 will attach to existing model"
-		if ! gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
-			echo "ERROR [init] gz_bridge failed to start and attach to existing model"
-			exit 1
-		fi
-
-	else
-		echo "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_SIM_MODEL"
-		exit 1
-	fi
-
-	# Start the sensor simulator modules
-	if param compare -s SENS_EN_BAROSIM 1
-	then
-		sensor_baro_sim start
-	fi
-	if param compare -s SENS_EN_GPSSIM 1
-	then
-		sensor_gps_sim start
-	fi
-	if param compare -s SENS_EN_MAGSIM 1
-	then
-		sensor_mag_sim start
-	fi
-	if param compare -s SENS_EN_ARSPDSIM 1
-	then
-		sensor_airspeed_sim start
-	fi
+    # Run Gazebo (gz)
+    . px4-rc.gzsim
 
 elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "10017" ]; then
-
-	echo "INFO  [init] jMAVSim simulator"
-
-	if jps | grep -i jmavsim; then
-		kill "$(jps | grep -i jmavsim | awk '{print $1}')" || true
-		sleep 1
-	fi
-
-	param set IMU_INTEG_RATE 250
-	./jmavsim_run.sh -l -r 250 &
-
-	simulator_mavlink start -h localhost $((4560+px4_instance))
+    # Run jMAVSim
+    . px4-rc.jmavsim
 
 else
-	# otherwise start simulator (mavlink) module
-
-	# EKF2 specifics
-	param set-default EKF2_GPS_DELAY 10
-	param set-default EKF2_MULTI_IMU 3
-	param set-default SENS_IMU_MODE 0
-
-	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 "INFO  [init] PX4_SIM_HOSTNAME: localhost"
-			simulator_mavlink start -c $simulator_tcp_port
-		else
-			echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
-			simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
-		fi
-
-	else
-		echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
-		simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
-	fi
-
+    # Run simulator_mavlink module for interface with gazebo-classic
+    . px4-rc.mavlinksim
 fi

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -153,8 +153,6 @@ fi
 
 param set-default BAT1_N_CELLS 4
 
-param set-default CBRK_SUPPLY_CHK 894281
-
 # disable check, no CPU load reported on posix yet
 param set-default COM_CPU_MAX -1
 param set-default COM_RAM_MAX -1
@@ -229,9 +227,6 @@ then
 	exit 1
 fi
 
-#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
@@ -247,6 +242,8 @@ then
 	battery_simulator start
 fi
 
+system_power_simulator start
+
 tone_alarm start
 rc_update start
 manual_control start
@@ -337,6 +334,11 @@ then
 	payload_deliverer start
 fi
 
+if param compare -s ICE_EN 1
+then
+	internal_combustion_engine_control start
+fi
+
 #user defined mavlink streams for instances can be in PATH
 . px4-rc.mavlink
 

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -92,6 +92,13 @@ if(CONFIG_MODULES_ROVER_ACKERMANN)
 	)
 endif()
 
+if(CONFIG_MODULES_SPACECRAFT)
+	px4_add_romfs_files(
+		rc.sc_apps
+		rc.sc_defaults
+	)
+endif()
+
 if(CONFIG_MODULES_ROVER_MECANUM)
 	px4_add_romfs_files(
 		rc.rover_mecanum_apps

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

@@ -5,6 +5,15 @@
 # @type Standard VTOL
 # @class VTOL
 #
+# @output Motor1 MC motor front right
+# @output Motor2 MC motor back left
+# @output Motor3 MC motor front left
+# @output Motor4 MC motor back right
+# @output Motor5 Forward thrust motor
+# @output Servo1 Aileron
+# @output Servo2 Elevator
+# @output Servo3 Rudder
+#
 # @maintainer Roman Bapst <roman@auterion.com>
 #
 # @board px4_fmu-v2 exclude

ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil

@@ -12,28 +12,25 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-
 param set UAVCAN_ENABLE 0
 
 param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
-param set-default CA_SV_CS_COUNT 4
-param set-default CA_SV_CS0_TRQ_R 0.5
-param set-default CA_SV_CS0_TYPE 2
-param set-default CA_SV_CS1_TRQ_P 1
-param set-default CA_SV_CS1_TYPE 3
-param set-default CA_SV_CS2_TRQ_Y 1
-param set-default CA_SV_CS2_TYPE 4
-param set-default CA_SV_CS3_TYPE 10
 
-param set-default HIL_ACT_REV 2
-param set-default HIL_ACT_FUNC1 201
-param set-default HIL_ACT_FUNC2 202
-param set-default HIL_ACT_FUNC3 203
-param set-default HIL_ACT_FUNC4 101
-param set-default HIL_ACT_FUNC5 204
-param set-default HIL_ACT_FUNC6 400
+# SIH for now hardcodes this configuration which we need to match in the airframe files.
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TRQ_R 1
+param set-default CA_SV_CS0_TYPE 15  # single channel aileron
+param set-default CA_SV_CS1_TRQ_P 1
+param set-default CA_SV_CS1_TYPE 3  # elevator
+param set-default CA_SV_CS2_TRQ_Y 1
+param set-default CA_SV_CS2_TYPE 4  # rudder
+
+param set HIL_ACT_FUNC1 201
+param set HIL_ACT_FUNC2 202
+param set HIL_ACT_FUNC3 203
+param set HIL_ACT_FUNC4 101
 
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set-default SYS_HITL 2

ROMFS/px4fmu_common/init.d/airframes/1103_standard_vtol_sih.hil

@@ -0,0 +1,92 @@
+#!/bin/sh
+#
+# @name SIH Standard VTOL QuadPlane
+#
+# @type Simulation
+# @class VTOL
+#
+# @output Motor1 MC motor front right
+# @output Motor2 MC motor back left
+# @output Motor3 MC motor front left
+# @output Motor4 MC motor back right
+# @output Motor5 Forward thrust motor
+# @output Servo1 Ailerons (single channel)
+# @output Servo2 Elevator
+# @output Servo3 Rudder
+#
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set UAVCAN_ENABLE 0
+
+param set-default VT_TYPE 2
+param set-default MPC_MAN_Y_MAX 60
+param set-default MC_PITCH_P 5
+
+param set-default CA_AIRFRAME 2
+param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR0_PX 0.2
+param set-default CA_ROTOR0_PY 0.2
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR1_PX -0.2
+param set-default CA_ROTOR1_PY -0.2
+param set-default CA_ROTOR2_PX 0.2
+param set-default CA_ROTOR2_PY -0.2
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.2
+param set-default CA_ROTOR3_PY 0.2
+param set-default CA_ROTOR3_KM -0.05
+param set-default CA_ROTOR4_PX -0.3
+param set-default CA_ROTOR4_KM 0.05
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
+
+# SIH for now hardcodes this configuration which we need to match in the airframe files.
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TRQ_R 1
+param set-default CA_SV_CS0_TYPE 15  # single channel aileron
+param set-default CA_SV_CS1_TRQ_P 1
+param set-default CA_SV_CS1_TYPE 3  # elevator
+param set-default CA_SV_CS2_TRQ_Y 1
+param set-default CA_SV_CS2_TYPE 4  # rudder
+
+param set-default FW_AIRSPD_MIN 7
+param set-default FW_AIRSPD_TRIM 10
+param set-default FW_AIRSPD_MAX 12
+
+param set-default HIL_ACT_FUNC1 101
+param set-default HIL_ACT_FUNC2 102
+param set-default HIL_ACT_FUNC3 103
+param set-default HIL_ACT_FUNC4 104
+param set-default HIL_ACT_FUNC5 201
+param set-default HIL_ACT_FUNC6 202
+param set-default HIL_ACT_FUNC7 203
+param set-default HIL_ACT_FUNC8 105
+
+param set-default MAV_TYPE 22
+
+# set SYS_HITL to 2 to start the SIH and avoid sensors startup
+param set-default SYS_HITL 2
+
+# disable some checks to allow to fly:
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+
+param set-default SENS_DPRES_OFF 0.001
+
+param set SIH_T_MAX 2.0
+param set SIH_Q_MAX 0.0165
+param set SIH_MASS 0.2
+# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
+param set SIH_IXX 0.00354
+param set SIH_IYY 0.000625
+param set SIH_IZZ 0.00300
+param set SIH_IXZ 0
+param set SIH_KDV 0.2
+param set SIH_L_ROLL 0.2
+
+# sih as standard vtol
+param set SIH_VEHICLE_TYPE 3

ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox

@@ -21,7 +21,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-
 param set-default MAV_TYPE 14
 
 param set-default CA_ROTOR_COUNT 8

ROMFS/px4fmu_common/init.d/airframes/16001_helicopter

@@ -11,7 +11,6 @@
 
 . ${R}etc/init.d/rc.heli_defaults
 
-
 # Disable PID gains for initial setup. These should be enabled after setting the FF gain.
 # P is expected to be lower than FF.
 param set-default MC_ROLLRATE_P 0

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

@@ -22,7 +22,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-
 param set-default BAT1_CAPACITY 2500
 param set-default BAT1_N_CELLS 3
 
@@ -41,7 +40,6 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
 
-
 param set-default CA_AIRFRAME 1
 
 param set-default CA_ROTOR_COUNT 1

ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2

@@ -20,7 +20,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-
 param set-default BAT1_CAPACITY 3300
 param set-default BAT1_N_CELLS 3
 

ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox

@@ -19,7 +19,6 @@ param set-default NAV_ACC_RAD 2
 param set-default RTL_DESCEND_ALT 10
 param set-default RTL_RETURN_ALT 30
 
-
 param set-default CA_ROTOR_COUNT 12
 # Bottom motors
 param set-default CA_ROTOR0_PX 0

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

@@ -12,7 +12,6 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 # Commander Parameters
-param set-default COM_OBS_AVOID 1
 param set-default COM_DISARM_LAND 0.5
 
 # EKF2 parameters

ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2

@@ -22,11 +22,6 @@ param set-default MC_PITCHRATE_I 0.3
 param set-default MC_ROLLRATE_D 0.004
 param set-default MC_PITCHRATE_D 0.004
 
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-
 # Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 1

ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5

@@ -12,7 +12,6 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 # Commander Parameters
-param set-default COM_OBS_AVOID 1
 param set-default COM_DISARM_LAND 0.5
 
 # EKF2 parameters

ROMFS/px4fmu_common/init.d/airframes/4050_generic_250

@@ -21,7 +21,6 @@ param set-default MC_PITCHRATE_P 0.08
 param set-default MC_PITCHRATE_D 0.001
 param set-default MC_YAW_P 4
 
-
 param set-default MC_ROLLRATE_MAX 1600
 param set-default MC_PITCHRATE_MAX 1600
 param set-default MC_YAWRATE_MAX 1000

ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu

@@ -38,7 +38,6 @@ param set-default COM_FLTMODE5 -1
 param set-default COM_FLTMODE6  1
 param set-default COM_RC_LOSS_T 3
 
-
 # ekf2
 param set-default EKF2_BARO_NOISE 2
 
@@ -79,19 +78,16 @@ param set-default EKF2_RNG_POS_Z 0.033
 
 param set-default EKF2_TERR_NOISE 1
 
-
 # Maximum allowed angle velocity in the landed state
 param set-default LNDMC_ROT_MAX 40
 
 # Maximum vertical velocity allowed in the landed state
 param set-default LNDMC_Z_VEL_MAX 0.7
 
-
 # filtering
 param set-default IMU_DGYRO_CUTOFF 50
 param set-default IMU_GYRO_CUTOFF 65
 
-
 # Pitch angle & rate setting
 param set-default MC_PITCHRATE_P 0.075
 param set-default MC_PITCHRATE_I 0.1
@@ -148,7 +144,6 @@ param set-default RC_MAP_RETURN_SW  7
 
 param set-default RC1_TRIM          1000
 
-
 # optical flow
 param set-default SENS_FLOW_MAXR   7.4
 param set-default SENS_FLOW_MINHGT 0.15

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

@@ -30,7 +30,6 @@ param set-default IMU_DGYRO_CUTOFF 90
 param set-default IMU_GYRO_CUTOFF 100
 
 # System
-
 param set-default SENS_BOARD_ROT 10
 
 # EKF2

ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21

@@ -18,7 +18,6 @@
 #
 . ${R}etc/init.d/rc.mc_defaults
 
-
 param set-default SYS_HAS_MAG 0
 param set-default EKF2_OF_CTRL 1
 param set-default EKF2_GPS_CTRL 0
@@ -85,6 +84,5 @@ param set-default PWM_MAIN_MAX3 255
 
 param set-default SENS_FLOW_MINRNG 0.05
 
-
 syslink start
 mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000

ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover

@@ -21,28 +21,37 @@ param set-default RBCLW_FUNC1 101
 param set-default RBCLW_FUNC2 102
 param set-default RBCLW_REV 1 # reverse right wheels
 
-# Rover parameters
+
+param set-default NAV_ACC_RAD 0.5
+
+# Differential Parameters
 param set-default RD_WHEEL_TRACK 0.3
-param set-default RD_MAX_ACCEL 3
-param set-default RD_MAX_DECEL 4
-param set-default RD_MAX_JERK 5
-param set-default RD_MAX_SPEED 1.6
-param set-default RD_MAX_THR_SPD 1.9
 param set-default RD_MAX_THR_YAW_R 0.7
-param set-default RD_MAX_YAW_ACCEL 600
-param set-default RD_MAX_YAW_RATE 250
-param set-default RD_MISS_SPD_DEF 1.5
-param set-default RD_SPEED_P 0.1
-param set-default RD_SPEED_I 0.01
 param set-default RD_TRANS_DRV_TRN 0.785398
 param set-default RD_TRANS_TRN_DRV 0.139626
-param set-default RD_YAW_P 5
-param set-default RD_YAW_I 0.1
-param set-default RD_YAW_RATE_P 0.1
-param set-default RD_YAW_RATE_I 0.01
 
+# Rover Control Parameters
+param set-default RO_ACCEL_LIM 3
+param set-default RO_DECEL_LIM 4
+param set-default RO_JERK_LIM 5
+param set-default RO_MAX_THR_SPEED 1.9
 
-# Pure pursuit parameters
+# Rover Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.01
+param set-default RO_YAW_RATE_P 0.1
+param set-default RO_YAW_RATE_LIM 250
+param set-default RO_YAW_ACCEL_LIM 600
+param set-default RO_YAW_DECEL_LIM 600
+
+# Rover Attitude Control Parameters
+param set-default RO_YAW_P 5
+
+# Rover Position Control Parameters
+param set-default RO_SPEED_LIM 1.6
+param set-default RO_SPEED_I 0.01
+param set-default RO_SPEED_P 0.1
+
+# Pure Pursuit parameters
+param set-default PP_LOOKAHD_GAIN 1
 param set-default PP_LOOKAHD_MAX 10
 param set-default PP_LOOKAHD_MIN 1
-param set-default PP_LOOKAHD_GAIN 1

ROMFS/px4fmu_common/init.d/airframes/51001_axial_scx10_2_trail_honcho

@@ -14,24 +14,33 @@
 . ${R}etc/init.d/rc.rover_ackermann_defaults
 
 param set-default BAT1_N_CELLS 3
-
-# Rover parameters
 param set-default NAV_ACC_RAD 0.5
+
+# Ackermann Parameters
+param set-default RA_WHEEL_BASE 0.321
 param set-default RA_ACC_RAD_GAIN 2
 param set-default RA_ACC_RAD_MAX 3
-param set-default RA_LAT_ACCEL_I 0.01
-param set-default RA_LAT_ACCEL_P 0.1
-param set-default RA_MAX_ACCEL 1.5
-param set-default RA_MAX_DECEL 10
-param set-default RA_MAX_JERK 20
-param set-default RA_MAX_LAT_ACCEL 3
-param set-default RA_MAX_SPEED 2.5
 param set-default RA_MAX_STR_ANG 0.5236
-param set-default RA_MAX_STR_RATE 270
-param set-default RA_MAX_THR_SPEED 2.8
-param set-default RA_SPEED_I 0.01
-param set-default RA_SPEED_P 0.1
-param set-default RA_WHEEL_BASE 0.321
+param set-default RA_STR_RATE_LIM 270
+
+# Rover Control Parameters
+param set-default RO_ACCEL_LIM 1.5
+param set-default RO_DECEL_LIM 10
+param set-default RO_JERK_LIM 20
+param set-default RO_MAX_THR_SPEED 2.8
+
+# Rover Rate Control Parameters
+param set-default RO_YAW_RATE_I 0
+param set-default RO_YAW_RATE_P 0
+param set-default RO_YAW_RATE_LIM 0
+
+# Rover Attitude Control Parameters
+param set-default RO_YAW_P 0
+
+# Rover Position Control Parameters
+param set-default RO_SPEED_LIM 2.5
+param set-default RO_SPEED_I 0.01
+param set-default RO_SPEED_P 0.1
 
 # Pure pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1

ROMFS/px4fmu_common/init.d/airframes/59000_generic_ground_vehicle

@@ -15,7 +15,6 @@
 
 . ${R}etc/init.d/rc.rover_defaults
 
-
 param set-default BAT1_N_CELLS 2
 
 param set-default EKF2_ANGERR_INIT 0.01

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

@@ -22,7 +22,6 @@
 
 . ${R}etc/init.d/rc.uuv_defaults
 
-
 param set-default MAV_1_CONFIG 102
 
 param set-default BAT1_A_PER_V 37.8798

ROMFS/px4fmu_common/init.d/airframes/70000_spacecraft_2d

@@ -0,0 +1,150 @@
+#!/bin/sh
+#
+# @name KTH Space Robot
+#
+# @type Space Robot
+# @class 2D Space Robot
+#
+# @maintainer DISCOWER
+#
+
+. ${R}etc/init.d/rc.sc_defaults
+
+param set-default CA_AIRFRAME 14
+param set-default MAV_TYPE 99
+
+param set-default CA_THRUSTER_CNT 8
+param set-default CA_R_REV 0
+
+# Auto to be provided by Custom Airframe
+param set-default CA_METHOD 0
+
+# Set proper failsafes
+param set-default COM_ACT_FAIL_ACT 0
+param set-default COM_LOW_BAT_ACT 0
+param set-default NAV_DLL_ACT 0
+param set-default GF_ACTION 1
+param set-default NAV_RCL_ACT 1
+param set-default COM_POSCTL_NAVL 2
+
+# Set Mocap Vision frame
+param set EKF2_EV_CTRL 15
+param set EKF2_HGT_REF 3
+
+# disable attitude failure detection
+param set-default FD_FAIL_P 0
+param set-default FD_FAIL_R 0
+
+param set-default CA_THRUSTER0_PX -0.12
+param set-default CA_THRUSTER0_PY -0.12
+param set-default CA_THRUSTER0_PZ 0.0
+param set-default CA_THRUSTER0_CT 1.4
+param set-default CA_THRUSTER0_AX 1.0
+param set-default CA_THRUSTER0_AY 0.0
+param set-default CA_THRUSTER0_AZ 0.0
+
+param set-default CA_THRUSTER1_PX 0.12
+param set-default CA_THRUSTER1_PY -0.12
+param set-default CA_THRUSTER1_PZ 0.0
+param set-default CA_THRUSTER1_CT 1.4
+param set-default CA_THRUSTER1_AX -1.0
+param set-default CA_THRUSTER1_AY 0.0
+param set-default CA_THRUSTER1_AZ 0.0
+
+param set-default CA_THRUSTER2_PX -0.12
+param set-default CA_THRUSTER2_PY 0.12
+param set-default CA_THRUSTER2_PZ 0.0
+param set-default CA_THRUSTER2_CT 1.4
+param set-default CA_THRUSTER2_AX 1.0
+param set-default CA_THRUSTER2_AY 0.0
+param set-default CA_THRUSTER2_AZ 0.0
+
+param set-default CA_THRUSTER3_PX 0.12
+param set-default CA_THRUSTER3_PY 0.12
+param set-default CA_THRUSTER3_PZ 0.0
+param set-default CA_THRUSTER3_CT 1.4
+param set-default CA_THRUSTER3_AX -1.0
+param set-default CA_THRUSTER3_AY 0.0
+param set-default CA_THRUSTER3_AZ 0.0
+
+param set-default CA_THRUSTER4_PX 0.12
+param set-default CA_THRUSTER4_PY -0.12
+param set-default CA_THRUSTER4_PZ 0.0
+param set-default CA_THRUSTER4_CT 1.4
+param set-default CA_THRUSTER4_AX 0.0
+param set-default CA_THRUSTER4_AY 1.0
+param set-default CA_THRUSTER4_AZ 0.0
+
+param set-default CA_THRUSTER5_PX 0.12
+param set-default CA_THRUSTER5_PY 0.12
+param set-default CA_THRUSTER5_PZ 0.0
+param set-default CA_THRUSTER5_CT 1.4
+param set-default CA_THRUSTER5_AX 0.0
+param set-default CA_THRUSTER5_AY -1.0
+param set-default CA_THRUSTER5_AZ 0.0
+
+param set-default CA_THRUSTER6_PX -0.12
+param set-default CA_THRUSTER6_PY -0.12
+param set-default CA_THRUSTER6_PZ 0.0
+param set-default CA_THRUSTER6_CT 1.4
+param set-default CA_THRUSTER6_AX 0.0
+param set-default CA_THRUSTER6_AY 1.0
+param set-default CA_THRUSTER6_AZ 0.0
+
+param set-default CA_THRUSTER7_PX -0.12
+param set-default CA_THRUSTER7_PY 0.12
+param set-default CA_THRUSTER7_PZ 0.0
+param set-default CA_THRUSTER7_CT 1.4
+param set-default CA_THRUSTER7_AX 0.0
+param set-default CA_THRUSTER7_AY -1.0
+param set-default CA_THRUSTER7_AZ 0.0
+
+
+param set-default PWM_AUX_TIM0 10
+param set-default PWM_AUX_TIM1 10
+param set-default PWM_AUX_TIM2 10
+
+param set-default PWM_AUX_FUNC1 101
+param set-default PWM_AUX_FUNC2 102
+param set-default PWM_AUX_FUNC3 103
+param set-default PWM_AUX_FUNC4 104
+param set-default PWM_AUX_FUNC5 105
+param set-default PWM_AUX_FUNC6 106
+param set-default PWM_AUX_FUNC7 107
+param set-default PWM_AUX_FUNC8 108
+
+param set-default PWM_AUX_DIS1 0
+param set-default PWM_AUX_DIS2 0
+param set-default PWM_AUX_DIS3 0
+param set-default PWM_AUX_DIS4 0
+param set-default PWM_AUX_DIS5 0
+param set-default PWM_AUX_DIS6 0
+param set-default PWM_AUX_DIS7 0
+param set-default PWM_AUX_DIS8 0
+
+param set-default PWM_AUX_MIN1 0
+param set-default PWM_AUX_MIN2 0
+param set-default PWM_AUX_MIN3 0
+param set-default PWM_AUX_MIN4 0
+param set-default PWM_AUX_MIN5 0
+param set-default PWM_AUX_MIN6 0
+param set-default PWM_AUX_MIN7 0
+param set-default PWM_AUX_MIN8 0
+
+# BOARD_PWM_FREQ is downscaled by 10, thus PWM value is given in 10s of usec
+param set-default PWM_AUX_MAX1 10000
+param set-default PWM_AUX_MAX2 10000
+param set-default PWM_AUX_MAX3 10000
+param set-default PWM_AUX_MAX4 10000
+param set-default PWM_AUX_MAX5 10000
+param set-default PWM_AUX_MAX6 10000
+param set-default PWM_AUX_MAX7 10000
+param set-default PWM_AUX_MAX8 10000
+
+# Controller Tunings
+param set-default SC_ROLLRATE_P 0.14
+param set-default SC_PITCHRATE_P 0.14
+param set-default SC_ROLLRATE_I 0.3
+param set-default SC_PITCHRATE_I 0.3
+param set-default SC_ROLLRATE_D 0.004
+param set-default SC_PITCHRATE_D 0.004

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

@@ -48,6 +48,7 @@ if(CONFIG_MODULES_SIMULATION_PWM_OUT_SIM)
 		1100_rc_quad_x_sih.hil
 		1101_rc_plane_sih.hil
 		1102_tailsitter_duo_sih.hil
+		1103_standard_vtol_sih.hil
 	)
 endif()
 

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -13,8 +13,6 @@ param set-default MAV_TYPE 1
 #
 # Default parameters for fixed wing UAVs.
 #
-param set-default COM_POS_FS_DELAY 5
-
 # there is a 2.5 factor applied on the _FS thresholds if for invalidation
 param set-default COM_POS_FS_EPH 50
 param set-default COM_VEL_FS_EVH 3
@@ -26,7 +24,6 @@ param set-default COM_DISARM_PRFLT -1
 
 param set-default EKF2_ARSP_THR 8
 param set-default EKF2_FUSE_BETA 1
-param set-default EKF2_GPS_CHECK 21
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_REQ_EPH 10
 param set-default EKF2_REQ_EPV 10

ROMFS/px4fmu_common/init.d/rc.heli_defaults

@@ -12,6 +12,7 @@ param set-default MAV_TYPE 4
 
 param set-default COM_PREARM_MODE 2
 param set-default COM_SPOOLUP_TIME 10
+param set-default COM_DISARM_PRFLT 60
 
 # No need for minimum collective pitch (or airmode) to keep torque authority
 param set-default MPC_MANTHR_MIN 0

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -21,3 +21,6 @@ param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10
 
 param set-default GPS_UBX_DYNMODEL 6
+
+# lower RNG_FOG since MC are expected to fly closer over obstacles
+param set-default EKF2_RNG_FOG 1.0

ROMFS/px4fmu_common/init.d/rc.sc_apps

@@ -0,0 +1,36 @@
+#!/bin/sh
+#
+# Standard apps for sr. Attitude/Position estimator, Attitude/Position control.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+# Start Spacecraft App
+spacecraft start
+
+# Estimator Group Selection
+# ekf2 start &
+
+# Start MicroDDS Client
+# uxrce_dds_client start -t udp -h 192.168.0.1 -n spacebot2
+# uxrce_dds_client start -t udp -p 8888
+
+#
+# Start Control Allocator
+#
+# sc_control_allocator start
+
+#
+# Start Spacecraft Rate Controller.
+#
+# sc_rate_control start
+
+#
+# Start Spacecraft Attitude Controller.
+#
+# sc_att_control start
+
+#
+# Start Spacecraft Position Controller.
+#
+# sc_pos_control start

ROMFS/px4fmu_common/init.d/rc.sc_defaults

@@ -0,0 +1,27 @@
+#!/bin/sh
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+set VEHICLE_TYPE sc
+
+# MAV_TYPE_QUADROTOR 2
+#param set-default MAV_TYPE 12
+
+# Set micro-dds-client to use ethernet and IP-address 192.168.0.1
+param set-default UXRCE_DDS_AG_IP -1062731775
+
+# Disable preflight disarm to not interfere with external launching
+param set-default COM_DISARM_PRFLT -1
+param set-default CBRK_SUPPLY_CHK 894281
+param set-default COM_ARM_HFLT_CHK 0
+
+#Missing params
+param set-default CP_DIST -1.0
+
+# Default to MoCap fusion
+param set-default ATT_EXT_HDG_M 2
+param set-default EKF2_EV_CTRL 15
+param set-default EKF2_EV_DELAY 5
+param set-default EKF2_GPS_CTRL 0
+param set-default EKF2_HGT_REF 3

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -211,6 +211,13 @@ then
 	spl06 -X -a 0x77 start
 fi
 
+# SPA06 sensor external I2C
+if param compare -s SENS_EN_SPA06 1
+then
+	spa06 -X start
+	spa06 -X -a 0x77 start
+fi
+
 # PCF8583 counter (RPM sensor)
 if param compare -s SENS_EN_PCF8583 1
 then
@@ -225,9 +232,12 @@ then
 
 	# compasses
 	hmc5883 -T -X -q start
+	if ! iis2mdc -X -q start
+	then
+		lis2mdl -X -q start
+	fi
 	ist8308 -X -q start
 	ist8310 -X -q start
-	lis2mdl -X -q start
 	if ! lis3mdl -X -q start
 	then
 		lis3mdl -X -q -a 0x1c start

ROMFS/px4fmu_common/init.d/rcS

@@ -302,6 +302,75 @@ else
 		. $FCONFIG
 	fi
 
+
+	#
+	# Sensors System (start before Commander so Preflight checks are properly run).
+	#
+	if param greater SYS_HITL 0
+	then
+		sensors start -h
+
+		# disable GPS
+		param set GPS_1_CONFIG 0
+
+		# start the simulator in hardware if needed
+		if param compare SYS_HITL 2
+		then
+			simulator_sih start
+			sensor_baro_sim start
+			sensor_mag_sim start
+			sensor_gps_sim start
+			sensor_agp_sim start
+		fi
+
+	else
+		#
+		# board sensors: rc.sensors
+		#
+		set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
+		if [ -f $BOARD_RC_SENSORS ]
+		then
+			echo "Board sensors: ${BOARD_RC_SENSORS}"
+			. $BOARD_RC_SENSORS
+		fi
+		unset BOARD_RC_SENSORS
+
+		. ${R}etc/init.d/rc.sensors
+
+		if param compare -s BAT1_SOURCE 2
+		then
+			esc_battery start
+		fi
+
+		if ! param compare BAT1_SOURCE 1
+		then
+			battery_status start
+		fi
+
+		sensors start
+	fi
+
+	#
+	# state estimator selection
+	#
+	if param compare -s EKF2_EN 1
+	then
+		ekf2 start &
+	fi
+
+	if param compare -s LPE_EN 1
+	then
+		local_position_estimator start
+	fi
+
+	if param compare -s ATT_EN 1
+	then
+		attitude_estimator_q start
+	fi
+
+	#
+	# px4io
+	#
 	if px4io supported
 	then
 	# Check if PX4IO present and update firmware if needed.
@@ -354,6 +423,11 @@ else
 	then
 		pps_capture start
 	fi
+	# RPM capture driver
+	if param greater -s RPM_CAP_ENABLE 0
+	then
+		rpm_capture start
+	fi
 	# Camera capture driver
 	if param greater -s CAM_CAP_FBACK 0
 	then
@@ -364,78 +438,24 @@ else
 	fi
 
 	#
-	# Sensors System (start before Commander so Preflight checks are properly run).
-	# Commander needs to be this early for in-air-restarts.
+	# Commander
 	#
 	if param greater SYS_HITL 0
 	then
+		commander start -h
+
 		if ! pwm_out_sim start -m hil
 		then
 			tune_control play error
 		fi
 
-		sensors start -h
-		commander start -h
-		# disable GPS
-		param set GPS_1_CONFIG 0
-
-		# start the simulator in hardware if needed
-		if param compare SYS_HITL 2
-		then
-			simulator_sih start
-			sensor_baro_sim start
-			sensor_mag_sim start
-			sensor_gps_sim start
-		fi
-
 	else
-		#
-		# board sensors: rc.sensors
-		#
-		set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
-		if [ -f $BOARD_RC_SENSORS ]
-		then
-			echo "Board sensors: ${BOARD_RC_SENSORS}"
-			. $BOARD_RC_SENSORS
-		fi
-		unset BOARD_RC_SENSORS
-
-		. ${R}etc/init.d/rc.sensors
-
-		if param compare -s BAT1_SOURCE 2
-		then
-			esc_battery start
-		fi
-
-		if ! param compare BAT1_SOURCE 1
-		then
-			battery_status start
-		fi
-
-		sensors start
 		commander start
 
 		dshot start
 		pwm_out start
 	fi
 
-	#
-	# state estimator selection
-	if param compare -s EKF2_EN 1
-	then
-		ekf2 start &
-	fi
-
-	if param compare -s LPE_EN 1
-	then
-		local_position_estimator start
-	fi
-
-	if param compare -s ATT_EN 1
-	then
-		attitude_estimator_q start
-	fi
-
 	#
 	# Configure vehicle type specific parameters.
 	# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.
@@ -468,11 +488,14 @@ else
 	rc_input start $RC_INPUT_ARGS
 
 	# Manages USB interface
-	if ! cdcacm_autostart start
+	if param greater -s SYS_USB_AUTO -1
 	then
-		sercon
-		echo "Starting MAVLink on /dev/ttyACM0"
-		mavlink start -d /dev/ttyACM0
+		if ! cdcacm_autostart start
+		then
+			sercon
+			echo "Starting MAVLink on /dev/ttyACM0"
+			mavlink start -d /dev/ttyACM0
+		fi
 	fi
 
 	#
@@ -535,6 +558,11 @@ else
 		payload_deliverer start
 	fi
 
+	if param compare -s ICE_EN 1
+	then
+		internal_combustion_engine_control start
+	fi
+
 	#
 	# Optional board supplied extras: rc.board_extras
 	#

Tools/HIL/run_tests.py

@@ -136,9 +136,6 @@ class TestHardwareMethods(unittest.TestCase):
     def test_atomic_bitset(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "atomic_bitset"))
 
-    def test_bezier(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bezier"))
-
     def test_bitset(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bitset"))
 

Tools/astyle/check_code_style_all.sh

@@ -43,7 +43,7 @@ fi
 
 # install git pre-commit hook
 HOOK_FILE="$DIR/../../.git/hooks/pre-commit"
-if [ ! -f $HOOK_FILE ] && [ "$CI" != "true" ]; then
+if [ ! -f $HOOK_FILE ] && [ "$CI" != "true" ] && [ $- == *i* ]; then
 	echo ""
 	echo -e "\033[31mNinja tip: add a git pre-commit hook to automatically check code style\033[0m"
 	echo -e "Would you like to install one now? (\033[94mcp ./Tools/astyle/pre-commit .git/hooks/pre-commit\033[0m): [y/\033[1mN\033[0m]"

Tools/astyle/check_newlines.sh

@@ -3,14 +3,14 @@
 return_value=0
 
 # Check if there are files checked in that don't end in a newline (POSIX requirement)
-git grep --cached -Il '' | xargs -L1 bash -c 'if test "$(tail -c 1 "$0")"; then echo "No new line at end of $0"; exit 1; fi'
+git grep --cached -Il '' -- ':!docs/*' | xargs -L1 bash -c 'if test "$(tail -c 1 "$0")"; then echo "No new line at end of $0"; exit 1; fi'
 
 if [ $? -ne 0 ]; then
 	return_value=1
 fi
 
 # Check if there are files checked in that have duplicate newlines at the end (fail trailing whitespace checks)
-git grep --cached -Il '' | xargs -L1 bash -c 'if tail -c 2 "$0" | ( read x && read y && [ x"$x" = x ] && [ x"$y" = x ]); then echo "Multiple newlines at the end of $0"; exit 1; fi'
+git grep --cached -Il '' -- ':!docs/*' | xargs -L1 bash -c 'if tail -c 2 "$0" | ( read x && read y && [ x"$x" = x ] && [ x"$y" = x ]); then echo "Multiple newlines at the end of $0"; exit 1; fi'
 
 if [ $? -ne 0 ]; then
 	return_value=1

Tools/astyle/files_to_check_code_style.sh

@@ -8,10 +8,12 @@ if [ $# -gt 0 ]; then
 fi
 
 exec find boards msg src platforms test \
+    -path msg/translation_node -prune -o \
     -path platforms/nuttx/NuttX -prune -o \
     -path platforms/qurt/dspal -prune -o \
     -path src/drivers/ins/vectornav/libvnc -prune -o \
     -path src/drivers/uavcan/libdronecan -prune -o \
+    -path src/drivers/uavcan/libuavcan -prune -o \
     -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
     -path src/drivers/cyphal/libcanard -prune -o \
     -path src/lib/crypto/monocypher -prune -o \

Tools/ci/check_msg_versioning.sh

@@ -0,0 +1,76 @@
+#! /bin/bash
+# Copy a git diff between two commits if msg versioning is added
+
+DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+
+PX4_SRC_DIR="$DIR/.."
+
+BASE_COMMIT="$1"
+HEAD_COMMIT="$2"
+if [ -z "${BASE_COMMIT}" ] || [ -z "${HEAD_COMMIT}" ]
+then
+  echo "Usage: $0 <base_commit> <head_commit>"
+  exit 1
+fi
+
+failed=0
+
+# Iterate git diff files between BASE_COMMIT and HEAD_COMMIT
+modified_files="$(git --no-pager diff --no-color --name-only --diff-filter=M "${BASE_COMMIT}"..."${HEAD_COMMIT}")"
+all_files="$(     git --no-pager diff --no-color --name-only                 "${BASE_COMMIT}"..."${HEAD_COMMIT}")"
+for file in ${modified_files}
+do
+  if [[ "$file" == msg/versioned/*.msg ]]; then
+    echo "Modified msg file: ${file}"
+    # A modified versioned .msg file requires:
+    # - Incrementing the version
+    # - An old .msg version exists
+    # - A translation header exists and is included
+
+    # Ignore changes to comments or constants
+    content_a=$(git show "${BASE_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v =)
+    content_b=$(git show "${HEAD_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v =)
+    if [ "${content_a}" == "${content_b}" ]; then
+      echo "No version update required for ${file}"
+      continue
+    fi
+
+    diff=$(git --no-pager diff --no-color --diff-filter=M "${BASE_COMMIT}"..."${HEAD_COMMIT}" -- "${file}")
+    old_version=$(echo "${diff}" | sed -n 's/^-uint32 MESSAGE_VERSION = \([0-9]*\).*/\1/p')
+    new_version=$(echo "${diff}" | sed -n 's/^+uint32 MESSAGE_VERSION = \([0-9]*\).*/\1/p')
+
+    # Check that the version is incremented
+    if [ -z "${new_version}" ] || [ -z "${old_version}" ]; then
+      echo "ERROR: Missing version update for ${file}"
+      failed=1
+    else
+      if [ $((new_version-old_version)) -ne 1 ]; then
+        echo "ERROR: Version not incremented by +1 for ${file}"
+        failed=1
+      fi
+    fi
+
+    # Check that an old version exists
+    filename=$(basename -- "$file")
+    filename="${filename%.*}"
+    old_version_file="px4_msgs_old/msg/${filename}V${old_version}.msg"
+    if [[ "${all_files}" != *"${old_version_file}"* ]]; then
+      echo "ERROR: Old message version does not exist for ${file} (missing ${old_version_file})"
+      failed=1
+    fi
+
+    # Check that a translation header got added by checking for a modification to all_translations.h
+    # If it is changed, we assume a new header got added too, so we don't explicitly check for that
+    if [[ "${modified_files}" != *"translations/all_translations.h"* ]]; then
+      echo "ERROR: missing modification to translations/all_translations.h"
+      failed=1
+    fi
+  fi
+done
+
+if [ ${failed} -ne 0 ]; then
+  echo ""
+  echo "ERROR: missing message versioning due to changed .msg file(s) (see above)"
+  echo "Check the documentation under https://docs.px4.io/main/en/ros2/px4_ros2_msg_translation_node.html for how to add a new version"
+  exit 1
+fi