Showcase clang-format google style

.ackrc

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+--ignore-dir=Documentation

.ci/Jenkinsfile-compile

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+#!/usr/bin/env groovy
+
+pipeline {
+  agent none
+  stages {
+
+    stage('Build') {
+      steps {
+        script {
+          def build_nodes = [:]
+          def docker_images = [
+            armhf: "px4io/px4-dev-armhf:2021-09-08",
+            arm64: "px4io/px4-dev-aarch64:2021-09-08",
+            base: "px4io/px4-dev-base-bionic:2021-09-08",
+            nuttx: "px4io/px4-dev-nuttx-focal:2021-09-08",
+          ]
+
+          def armhf_builds = [
+            target: ["beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
+            image: docker_images.armhf,
+            archive: false
+          ]
+
+          def arm64_builds = [
+            target: ["scumaker_pilotpi_arm64"],
+            image: docker_images.arm64,
+            archive: false
+          ]
+
+          def base_builds = [
+            target: ["px4_sitl_default"],
+            image: docker_images.base,
+            archive: false
+          ]
+
+          def nuttx_builds_archive = [
+            target: [
+                     "airmind_mindpx-v2_default",
+                     "ark_can-flow_canbootloader",
+                     "ark_can-flow_default",
+                     "ark_can-gps_canbootloader",
+                     "ark_can-gps_default",
+                     "ark_can-rtk-gps_canbootloader",
+                     "ark_can-rtk-gps_default",
+                     "atl_mantis-edu_default",
+                     "av_x-v1_default",
+                     "bitcraze_crazyflie_default",
+                     "bitcraze_crazyflie21_default",
+                     "cuav_can-gps-v1_canbootloader",
+                     "cuav_can-gps-v1_default",
+                     "cuav_nora_default",
+                     "cuav_x7pro_default",
+                     "cubepilot_cubeorange_default",
+                     "cubepilot_cubeyellow_default",
+                     "diatone_mamba-f405-mk2_default",
+                     "freefly_can-rtk-gps_canbootloader",
+                     "freefly_can-rtk-gps_default",
+                     "holybro_can-gps-v1_canbootloader",
+                     "holybro_can-gps-v1_default",
+                     "holybro_durandal-v1_default",
+                     "holybro_kakutef7_default",
+                     "holybro_kakuteh7_default",
+                     "holybro_pix32v5_default",
+                     "matek_gnss-m9n-f4_canbootloader",
+                     "matek_gnss-m9n-f4_default",
+                     "matek_h743-mini_default",
+                     "matek_h743-slim_default",
+                     "matek_h743_default",
+                     "modalai_fc-v1_default",
+                     "modalai_fc-v1_rtps",
+                     "modalai_fc-v2_default",
+                     "mro_ctrl-zero-f7_default",
+                     "mro_ctrl-zero-f7-oem_default",
+                     "mro_ctrl-zero-h7-oem_default",
+                     "mro_ctrl-zero-h7-oem_rtps",
+                     "mro_ctrl-zero-h7_default",
+                     "mro_ctrl-zero-h7_rtps",
+                     "mro_pixracerpro_default",
+                     "mro_pixracerpro_rtps",
+                     "mro_x21-777_default",
+                     "mro_x21_default",
+                     "nxp_fmuk66-e_default",
+                     "nxp_fmuk66-e_rtps",
+                     "nxp_fmuk66-e_socketcan",
+                     "nxp_fmuk66-v3_default",
+                     "nxp_fmuk66-v3_rtps",
+                     "nxp_fmuk66-v3_socketcan",
+                     "nxp_fmurt1062-v1_default",
+                     "nxp_ucans32k146_canbootloader",
+                     "nxp_ucans32k146_default",
+                     "omnibus_f4sd_default",
+                     "px4_fmu-v2_default",
+                     "px4_fmu-v2_fixedwing",
+                     "px4_fmu-v2_lto",
+                     "px4_fmu-v2_multicopter",
+                     "px4_fmu-v2_rover",
+                     "px4_fmu-v3_default",
+                     "px4_fmu-v4_default",
+                     "px4_fmu-v4pro_default",
+                     "px4_fmu-v5_cyphal",
+                     "px4_fmu-v5_debug",
+                     "px4_fmu-v5_default",
+                     "px4_fmu-v5_lto",
+                     "px4_fmu-v5_rtps",
+                     "px4_fmu-v5_stackcheck",
+                     "px4_fmu-v5_uavcanv0periph",
+                     "px4_fmu-v5x_default",
+                     "px4_fmu-v6c_default",
+                     "px4_fmu-v6u_default",
+                     "px4_fmu-v6x_default",
+                     "px4_io-v2_default",
+                     "raspberrypi_pico_default",
+                     "sky-drones_smartap-airlink_default",
+                     "spracing_h7extreme_default",
+                     "uvify_core_default"
+            ],
+            image: docker_images.nuttx,
+            archive: true
+          ]
+
+          def docker_builds = [
+            armhf_builds, base_builds, nuttx_builds_archive
+          ]
+
+          for (def build_type = 0; build_type < docker_builds.size(); build_type++) {
+            for (def build_target = 0; build_target < docker_builds[build_type].target.size(); build_target++) {
+              build_nodes.put(docker_builds[build_type].target[build_target],
+                createBuildNode(docker_builds[build_type].archive, docker_builds[build_type].image, docker_builds[build_type].target[build_target])
+                )
+            }
+          }
+
+        parallel build_nodes
+
+        } // script
+      } // steps
+    } // stage Build
+
+    // TODO: actually upload artifacts to S3
+    // stage('S3 Upload') {
+    //   agent {
+    //     docker { image 'px4io/px4-dev-base-focal:2021-09-08' }
+    //   }
+    //   options {
+    //         skipDefaultCheckout()
+    //   }
+    //   when {
+    //     anyOf {
+    //       branch 'master'
+    //       branch 'beta'
+    //       branch 'stable'
+    //       branch 'pr-jenkins' // for testing
+    //     }
+    //   }
+    //   steps {
+    //     sh 'echo "uploading to S3"'
+    //   }
+    // }
+
+  } // stages
+  environment {
+    CCACHE_DIR = '/tmp/ccache'
+    CI = true
+  }
+  options {
+    buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
+    timeout(time: 90, unit: 'MINUTES')
+  }
+}
+
+def createBuildNode(Boolean archive, String docker_image, String target) {
+  return {
+
+    bypass_entrypoint = ''
+
+    node {
+      docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
+        docker.image(docker_image).inside('-e CCACHE_BASEDIR=${WORKSPACE} -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' + bypass_entrypoint) {
+          stage(target) {
+            try {
+              sh('export')
+              checkout(scm)
+              sh('make distclean; git clean -ff -x -d .')
+              sh('git fetch --tags')
+              sh('ccache -s')
+              sh('make ' + target)
+              sh('ccache -s')
+              sh('make sizes')
+              if (archive) {
+                archiveArtifacts(allowEmptyArchive: false, artifacts: 'build/*/*.px4, build/*/*.elf, build/*/*.bin', fingerprint: true, onlyIfSuccessful: true)
+              }
+              sh('make ' + target + ' package')
+              archiveArtifacts(allowEmptyArchive: true, artifacts: 'build/*/*.tar.bz2', fingerprint: true, onlyIfSuccessful: true)
+              archiveArtifacts(allowEmptyArchive: true, artifacts: 'build/*/*.deb', fingerprint: true, onlyIfSuccessful: true)
+            }
+            catch (exc) {
+              throw (exc)
+            }
+            finally {
+              sh('make distclean; git clean -ff -x -d .')
+            }
+          }
+        }
+      }
+    }
+  }
+}

.ci/Jenkinsfile-hardware

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+#!/usr/bin/env groovy
+
+pipeline {
+  agent none
+  stages {
+    stage('Hardware Test') {
+
+      parallel {
+
+        stage("cubepilot_cubeorange_test") {
+          stages {
+            stage("build cubepilot_cubeorange_test") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                checkoutSCM()
+                sh 'make cubepilot_cubeorange_bootloader'
+                sh 'make cubepilot_cubeorange_test'
+                sh 'ccache -s'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*, build/cubepilot_cubeorange_test/etc/init.d/airframes/*', name: 'cubepilot_cubeorange_test'
+              }
+              post {
+                always {
+                  sh 'make distclean; git clean -ff -x -d .'
+                }
+              }
+            } // stage build
+            stage("hardware") {
+              agent {
+                label 'cubepilot_cubeorange'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'cubepilot_cubeorange_test'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_bootloader/cubepilot_cubeorange_bootloader.elf'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
+                  }
+                }
+                stage("tests") {
+                  steps {
+                    // run tests
+                    runTests()
+
+                    // load all airframes
+                    // sh("./Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` `cd build/cubepilot_cubeorange_test/etc/init.d/airframes/; find . -regex '.*/[0-9].*' -exec basename {} \\; | cut -d '_' -f 1` || true") // test loading all airframes\
+                  }
+                }
+                stage("status") {
+                  steps {
+                    // configure
+                    resetParameters()
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    checkStatus()
+                    quickCalibrate()
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
+                  }
+                }
+                stage("print topics") {
+                  steps {
+                    printTopics()
+                  }
+                }
+              }
+              post {
+                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
+                }
+              }
+            } // stage test
+          }
+        }
+
+        stage("cuav_x7pro_test") {
+          stages {
+            stage("build cuav_x7pro_test") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                checkoutSCM()
+                sh 'make cuav_x7pro_bootloader'
+                sh 'make cuav_x7pro_test'
+                sh 'ccache -s'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'cuav_x7pro_test'
+              }
+              post {
+                always {
+                  sh 'make distclean; git clean -ff -x -d .'
+                }
+              }
+            } // stage build
+            stage("hardware") {
+              agent {
+                label 'cuav_x7pro'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'cuav_x7pro_test'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_bootloader/cuav_x7pro_bootloader.elf'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
+                  }
+                }
+                stage("tests") {
+                  steps {
+                    runTests()
+                  }
+                }
+                stage("status") {
+                  steps {
+                    // configure
+                    resetParameters()
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    checkStatus()
+                    quickCalibrate()
+                  }
+                }
+                stage("print topics") {
+                  steps {
+                    printTopics()
+                  }
+                }
+              }
+              post {
+                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
+                }
+              }
+            } // stage test
+          }
+        }
+
+        stage("px4_fmu-v3_test") {
+          stages {
+            stage("build px4_fmu-v3_test") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                checkoutSCM()
+                sh 'make px4_fmu-v3_test'
+                sh 'make px4_fmu-v3_test bootloader_elf'
+                sh 'ccache -s'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v3_test'
+              }
+              post {
+                always {
+                  sh 'make distclean; git clean -ff -x -d .'
+                }
+              }
+            } // stage build
+            stage("hardware") {
+              agent {
+                label 'px4_fmu-v3'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'px4_fmu-v3_test'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_bootloader.elf'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
+                  }
+                }
+                stage("tests") {
+                  steps {
+                    runTests()
+                  }
+                }
+                stage("status") {
+                  steps {
+                    // configure
+                    resetParameters()
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    checkStatus()
+                    quickCalibrate()
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
+                  }
+                }
+                stage("print topics") {
+                  steps {
+                    printTopics()
+                  }
+                }
+              }
+              post {
+                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
+                }
+              }
+            } // stage test
+          }
+        }
+
+        stage("px4_fmu-v4_test") {
+          stages {
+            stage("build px4_fmu-v4_test") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                checkoutSCM()
+                sh 'make px4_fmu-v4_test'
+                sh 'make px4_fmu-v4_test bootloader_elf'
+                sh 'ccache -s'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4_test'
+              }
+              post {
+                always {
+                  sh 'make distclean; git clean -ff -x -d .'
+                }
+              }
+            } // stage build
+            stage("hardware") {
+              agent {
+                label 'px4_fmu-v4'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'px4_fmu-v4_test'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_bootloader.elf'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
+                  }
+                }
+                stage("tests") {
+                  steps {
+                    runTests()
+                  }
+                }
+                stage("status") {
+                  steps {
+                    // configure
+                    resetParameters()
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    checkStatus()
+                    quickCalibrate()
+                  }
+                }
+                stage("print topics") {
+                  steps {
+                    printTopics()
+                  }
+                }
+              }
+              post {
+                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
+                }
+              }
+            } // stage test
+          }
+        }
+
+        stage("px4_fmu-v4pro_test") {
+          stages {
+            stage("build px4_fmu-v4pro_test") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                checkoutSCM()
+                sh 'make px4_fmu-v4pro_test'
+                sh 'make px4_fmu-v4pro_test bootloader_elf'
+                sh 'ccache -s'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4pro_test'
+              }
+              post {
+                always {
+                  sh 'make distclean; git clean -ff -x -d .'
+                }
+              }
+            } // stage build
+            stage("hardware") {
+              agent {
+                label 'px4_fmu-v4pro'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'px4_fmu-v4pro_test'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_bootloader.elf'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
+                  }
+                }
+                stage("tests") {
+                  steps {
+                    runTests()
+                  }
+                }
+                stage("status") {
+                  steps {
+                    // configure
+                    resetParameters()
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    checkStatus()
+                    quickCalibrate()
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
+                  }
+                }
+                stage("print topics") {
+                  steps {
+                    printTopics()
+                  }
+                }
+              }
+              post {
+                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
+                }
+              }
+            } // stage test
+          }
+        }
+
+        stage("px4_fmu-v5_debug") {
+          stages {
+            stage("build px4_fmu-v5_debug") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                checkoutSCM()
+                sh 'make px4_fmu-v5_debug'
+                sh 'make px4_fmu-v5_debug bootloader_elf'
+                sh 'ccache -s'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_debug'
+              }
+              post {
+                always {
+                  sh 'make distclean; git clean -ff -x -d .'
+                }
+              }
+            } // stage build
+            stage("hardware") {
+              agent {
+                label 'px4_fmu-v5'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'px4_fmu-v5_debug'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_bootloader.elf'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600 || true'
+                    resetBoard()
+                  }
+                }
+                stage("tests") {
+                  steps {
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
+
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
+
+                    // test dataman
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
+
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
+                  }
+                }
+                stage("status") {
+                  steps {
+                    // configure
+                    resetParameters()
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true'   // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
+                    checkStatus()
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
+                  }
+                }
+                stage("print topics") {
+                  steps {
+                    printTopics()
+                  }
+                }
+              }
+              post {
+                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
+                }
+              }
+            } // stage test
+          }
+        }
+
+        stage("px4_fmu-v5_stackcheck") {
+          stages {
+            stage("build px4_fmu-v5_stackcheck") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                checkoutSCM()
+                sh 'make px4_fmu-v5_stackcheck'
+                sh 'make px4_fmu-v5_stackcheck bootloader_elf'
+                sh 'ccache -s'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_stackcheck'
+              }
+              post {
+                always {
+                  sh 'make distclean; git clean -ff -x -d .'
+                }
+              }
+            } // stage build
+            stage("hardware") {
+              agent {
+                label 'px4_fmu-v5'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'px4_fmu-v5_stackcheck'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_bootloader.elf'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
+                  }
+                }
+                stage("tests") {
+                  steps {
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
+
+                    // test dataman
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
+                  }
+                }
+                stage("status") {
+                  steps {
+                    // configure
+                    resetParameters()
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true'   // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
+                    checkStatus()
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
+                  }
+                }
+                stage("print topics") {
+                  steps {
+                    printTopics()
+                  }
+                }
+              }
+              post {
+                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
+                }
+              }
+            } // stage test
+          }
+        }
+
+        stage("px4_fmu-v5_test") {
+          stages {
+            stage("build px4_fmu-v5_test") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                checkoutSCM()
+                sh 'make px4_fmu-v5_test'
+                sh 'make px4_fmu-v5_test bootloader_elf'
+                sh 'ccache -s'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_test'
+              }
+              post {
+                always {
+                  sh 'make distclean; git clean -ff -x -d .'
+                }
+              }
+            } // stage build
+            stage("hardware") {
+              agent {
+                label 'px4_fmu-v5'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'px4_fmu-v5_test'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_bootloader.elf'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
+                  }
+                }
+                stage("tests") {
+                  steps {
+                    runTests()
+                  }
+                }
+                stage("status") {
+                  steps {
+                    // configure
+                    resetParameters()
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    checkStatus()
+                    quickCalibrate()
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
+                  }
+                }
+                stage("print topics") {
+                  steps {
+                    printTopics()
+                  }
+                }
+              }
+              post {
+                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
+                }
+              }
+            } // stage test
+          }
+        }
+
+        stage("nxp_fmuk66-v3_test") {
+          stages {
+            stage("build nxp_fmuk66-v3_test") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                checkoutSCM()
+                sh 'make nxp_fmuk66-v3_test'
+                //sh 'make nxp_fmuk66-v3_test bootloader_elf'
+                sh 'ccache -s'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'nxp_fmuk66-v3_test'
+              }
+              post {
+                always {
+                  sh 'make distclean; git clean -ff -x -d .'
+                }
+              }
+            } // stage build
+            stage("hardware") {
+              agent {
+                label 'nxp_fmuk66-v3'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'nxp_fmuk66-v3_test'
+                    //sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_bootloader.elf'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
+                  }
+                }
+                stage("tests") {
+                  steps {
+                    runTests()
+                  }
+                }
+                stage("status") {
+                  steps {
+                    // configure
+                    resetParameters()
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "400"'
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    checkStatus()
+                    quickCalibrate()
+                  }
+                }
+                stage("print topics") {
+                  steps {
+                    printTopics()
+                  }
+                }
+              }
+              post {
+                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
+                }
+              }
+            } // stage test
+          }
+        }
+
+      } // parallel
+    } // stage Hardware Test
+  } // stages
+  environment {
+    CCACHE_DIR = '/tmp/ccache'
+    CCACHE_NOHASHDIR = 1
+    CI = true
+  }
+  options {
+    buildDiscarder(logRotator(numToKeepStr: '30', artifactDaysToKeepStr: '60'))
+    timeout(time: 180, unit: 'MINUTES')
+    skipDefaultCheckout()
+  }
+}
+
+void checkoutSCM() {
+  retry(3) {
+    checkout scm
+    sh 'export'
+    sh 'make distclean; git clean -ff -x -d .'
+    sh 'git fetch --tags'
+    sh 'ccache -z'
+  }
+}
+
+void quickCalibrate() {
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters before
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status || true"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick; sleep 1"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_ACC*"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro; sleep 2"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_GYRO*"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level; sleep 2"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SENS*"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick; sleep 1"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_MAG*"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate baro; sleep 5"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_BARO*"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters after
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
+}
+
+void checkStatus() {
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
+
+  // run logger
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sleep 1"' // sleep before continuing
+  // status commands
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/meminfo"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/uptime"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander check" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload; top once; listener cpuload"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /bin"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ps"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output0"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output1" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm_out status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uavcan status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
+  // stop logger
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
+}
+
+void resetParameters() {
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param reset_all"'
+  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "CBRK_BUZZER" --value "782097"'
+  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SDLOG_DIRS_MAX" --value "1"'
+}
+
+void runTests() {
+
+  // test loading a range of airframes
+  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 2100 3000 4001 6001 8001 10016'
+
+  resetParameters()
+
+  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_CAL_EN" --value "0" || true' // disable during testing
+  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_FFT_EN" --value "0" || true' // disable during testing
+  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_IMU_AUTOCAL" --value "0" || true' // disable during testing
+  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_MAG_AUTOCAL" --value "0" || true' // disable during testing
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ostest"'
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot after ostest
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink_tests" || true' // TODO
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
+
+  // tests (stop modules first)
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander stop"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink stop-all"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "navigator stop"'
+  sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'
+
+  //sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "calib_udelay"'
+}
+
+void printTopics() {
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
+
+  // these are for casually inspecting the system, output failure doesn't matter
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_armed" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_0" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_1" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_2" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_3" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_outputs" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_validated" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_wind" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener commander_state" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_fake_pos" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_pos" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_vel" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_global_position" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_test_ratios" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_variances" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovations" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_local_position" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_odometry" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_optical_flow_vel" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_selector_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_sensor_bias" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_states" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status_flags" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_wind" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener event" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener heater_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener input_rc" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener led_control" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener log_message" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener logger_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener manual_control_setpoint" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mavlink_log" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mission" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener multirotor_motor_limits" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener optical_flow" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener parameter_update" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_controller_landing_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_setpoint_triplet" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener radio_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener rate_ctrl_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener safety" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fft" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_preflight_mag" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_selection" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener task_stack_info" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener test_motor" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener trajectory_setpoint" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener tune_control" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_acceleration" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude_setpoint" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command_ack" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_control_mode" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_global_position" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_land_detected" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position_setpoint" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_magnetometer" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_odometry" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_rates_setpoint" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status_flags" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vtol_vehicle_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener yaw_estimator_status" || true'
+}
+
+void resetBoard() {
+  resetParameters()
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true'        // limit cpu usage
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "echo > /fs/microsd/.format" || true'
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
+}

.clang-format

@@ -0,0 +1,13 @@
+# Google C++ style as base
+Language: Cpp
+BasedOnStyle: Google
+
+# Indentation using tabs
+UseTab: ForContinuationAndIndentation
+TabWidth: 8
+IndentWidth: 8
+ContinuationIndentWidth: 8
+ConstructorInitializerIndentWidth: 8
+AccessModifierOffset: -8
+
+ColumnLimit: 120 # Allow more collumns

.clang-tidy

@@ -1,17 +1,11 @@
 ---
 Checks:          '*,
-                  -*-avoid-c-arrays,
-                  -*-uppercase-literal-suffix,
-                  -*-magic-numbers,
-                  -altera-id-dependent-backward-branch,
-                  -altera-unroll-loops,
                   -android*,
                   -bugprone-integer-division,
                   -cert-dcl50-cpp,
                   -cert-env33-c,
                   -cert-err34-c,
                   -cert-err58-cpp,
-                  -cert-flp30-c,
                   -cert-msc30-c,
                   -cert-msc50-cpp,
                   -clang-analyzer-core.CallAndMessage,
@@ -24,7 +18,6 @@ Checks:          '*,
                   -clang-analyzer-deadcode.DeadStores,
                   -clang-analyzer-optin.cplusplus.VirtualCall,
                   -clang-analyzer-optin.performance.Padding,
-                  -clang-analyzer-security.FloatLoopCounter,
                   -clang-analyzer-security.insecureAPI.strcpy,
                   -clang-analyzer-unix.API,
                   -clang-analyzer-unix.cstring.BadSizeArg,
@@ -44,7 +37,8 @@ Checks:          '*,
                   -cppcoreguidelines-pro-type-union-access,
                   -cppcoreguidelines-pro-type-vararg,
                   -cppcoreguidelines-special-member-functions,
-                  -fuchsia-*,
+                  -fuchsia-default-arguments,
+                  -fuchsia-overloaded-operator,
                   -google-build-using-namespace,
                   -google-explicit-constructor,
                   -google-global-names-in-headers,
@@ -68,7 +62,6 @@ Checks:          '*,
                   -hicpp-use-equals-delete,
                   -hicpp-use-override,
                   -hicpp-vararg,
-                  -llvmlibc-*,
                   -llvm-header-guard,
                   -llvm-include-order,
                   -llvm-namespace-comment,
@@ -91,7 +84,6 @@ Checks:          '*,
                   -modernize-use-override,
                   -modernize-use-trailing-return-type,
                   -modernize-use-using,
-                  -modernize-use-trailing-return-type,
                   -performance-inefficient-string-concatenation,
                   -readability-avoid-const-params-in-decls,
                   -readability-container-size-empty,

.devcontainer/devcontainer.json

@@ -2,7 +2,7 @@
 // https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
 {
 	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2022-08-12",
+	"image": "px4io/px4-dev-nuttx-focal:2021-09-08",
 
 	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
 
@@ -15,7 +15,6 @@
 	"extensions": [
 		"chiehyu.vscode-astyle",
 		"dan-c-underwood.arm",
-		"editorconfig.editorconfig",
 		"fredericbonnet.cmake-test-adapter",
 		"github.vscode-pull-request-github",
 		"marus25.cortex-debug",
@@ -30,8 +29,7 @@
 		"twxs.cmake",
 		"uavcan.dsdl",
 		"wholroyd.jinja",
-		"zixuanwang.linkerscript",
-		"ms-vscode.makefile-tools"
+		"zixuanwang.linkerscript"
 	],
 
 	"containerUser": "user",

.editorconfig

@@ -1,14 +0,0 @@
-root = true
-
-[*]
-insert_final_newline = true
-
-[{*.{c,cpp,cc,h,hpp},CMakeLists.txt,Kconfig}]
-indent_style = tab
-tab_width = 8
-# Not in the official standard, but supported by many editors
-max_line_length = 120
-
-[*.yaml, *.yml]
-indent_style = space
-indent_size = 2

.gitattributes

@@ -19,8 +19,9 @@
 *.jar    binary
 *.xml    text eol=lf
 
-# PX4 msgs, etc
+# PX4 mixers, msgs, etc
 *.bin    binary
+*.mix    text eol=lf
 *.msg    text eol=lf
 *.config text eol=lf
 *.sdf    text eol=lf

.github/ISSUE_TEMPLATE/1_Bug_report.md

@@ -0,0 +1,34 @@
+---
+name: 🐛 Bug report
+about: Create a report to help us improve
+labels: bug-report
+
+---
+
+## Describe the bug
+A clear and concise description of the bug.
+
+## To Reproduce
+Steps to reproduce the behavior:
+1. Drone switched on '...'
+2. Uploaded mission '....' (attach QGC mission file)
+3. Took off '....'
+4. See error
+
+## Expected behavior
+A clear and concise description of what you expected to happen.
+
+## Log Files and Screenshots
+*Always* provide a link to the flight log file:
+- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/master/en/getting_started/flight_reporting.html)).
+- Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
+- Share the link to the log (Copy and paste the URL of the log)
+
+Add screenshots to help explain your problem.
+
+## Drone (please complete the following information):
+- Describe the type of drone.
+- Photo of the IMU / autopilot setup if possible.
+
+## Additional context
+Add any other context about the problem here.

.github/ISSUE_TEMPLATE/2_Feature_request.md

@@ -0,0 +1,20 @@
+---
+name: 🚀 Feature Request
+about: Suggest an idea for this project
+labels: feature-request
+
+---
+
+For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Slack (you can find an invite link on this project README).
+
+## Describe problem solved by the proposed feature
+A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
+
+## Describe your preferred solution
+A clear and concise description of what you want to happen.
+
+## Describe possible alternatives
+A clear and concise description of alternative solutions or features you've considered.
+
+## Additional context
+Add any other context or screenshots for the feature request here.

.github/ISSUE_TEMPLATE/3_Support_question.md

@@ -0,0 +1,13 @@
+---
+name: ⛔ Support Question
+about: See http://discuss.px4.io/ for questions about using PX4.
+
+---
+
+## Attention! Please read the note below
+
+We use GitHub issues only to discuss PX4 bugs and new features.
+
+**For questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).**
+
+Thanks!

.github/ISSUE_TEMPLATE/4_Documentation_issue.md

@@ -0,0 +1,11 @@
+---
+name: ⛔ Documentation Issue
+about: See https://github.com/PX4/px4_user_guide for documentation issues
+
+---
+
+## Attention! Please read the note below
+
+**Please submit the documentation issue to the [User Guide](https://github.com/PX4/px4_user_guide) repository.**
+
+Thanks!

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -1,94 +0,0 @@
-name: 🐛 Bug report
-description: Create a report to help us improve
-title: "[Bug] "
-labels: ["bug-report"]
-body:
-  - type: textarea
-    attributes:
-      label: Describe the bug
-      description: A clear and concise description of the bug.
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: To Reproduce
-      description: |
-          Steps to reproduce the behavior.
-          1. Drone switched on '...'
-          2. Uploaded mission '....' (attach QGC mission file)
-          3. Took off '....'
-          4. See error
-    validations:
-      required: false
-
-  - type: textarea
-    attributes:
-      label: Expected behavior
-      description: A clear and concise description of what you expected to happen.
-    validations:
-      required: false
-
-  - type: textarea
-    attributes:
-      label: Screenshot / Media
-      description: Add screenshot / media if you have them
-
-  - type: textarea
-    attributes:
-      label: Flight Log
-      description: |
-          *Always* provide a link to the flight log file:
-          - Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
-          - Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
-          - Share the link to the log (Copy and paste the URL of the log)
-      placeholder: |
-          # PASTE HERE THE LINK TO THE LOG
-    validations:
-      required: false
-
-  - type: markdown
-    attributes:
-      value: |
-        ## Setup
-
-  - type: textarea
-    attributes:
-      label: Software Version
-      description: |
-          Which version of PX4 are you using?
-      placeholder: |
-          # If you don't know the version, paste the output of `ver all` in the MAVLink Shell of QGC
-    validations:
-      required: false
-
-  - type: input
-    attributes:
-      label: Flight controller
-      description: Specify your flight controller model (what type is it, where was it bought from, ...).
-    validations:
-      required: false
-
-  - type: dropdown
-    attributes:
-      label: Vehicle type
-      options:
-        - Multicopter
-        - Helicopter
-        - Fixed Wing
-        - Hybrid VTOL
-        - Airship/Balloon
-        - Rover
-        - Boat
-        - Submarine
-        - Other
-
-  - type: textarea
-    attributes:
-      label: How are the different components wired up (including port information)
-      description: Details about how all is wired.
-
-  - type: textarea
-    attributes:
-      label: Additional context
-      description: Add any other context about the problem here.

.github/ISSUE_TEMPLATE/config.yml

@@ -1,8 +0,0 @@
-blank_issues_enabled: false
-contact_links:
-  - name: Support Question
-    url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat
-    about: For questions about using PX4 or related components, please use the discuss forum and discord server
-  - name: Documentation Issue
-    url: https://github.com/PX4/PX4-user_guide/issues
-    about: If you found an issue in documentation, please submit it directly to the docs repository issues

.github/ISSUE_TEMPLATE/feature_request.yml

@@ -1,35 +0,0 @@
-name: 🚀 Feature Request
-description: Suggest an idea for this project
-labels: ["feature-request"]
-body:
-  - type: markdown
-    attributes:
-      value: |
-        ## Please note that feature requests are not 'fire and forget'
-        It is a lot more likely that the feature you would like to have will be implemented if you keep watching your feature request, and provide more details to developers looking into implementing your feature, and help them with testing.
-
-  - type: textarea
-    attributes:
-      label: Describe problem solved by the proposed feature
-      description: A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Describe your preferred solution
-      description: A clear and concise description of what you want to happen.
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Describe possible alternatives
-      description: A clear and concise description of any alternative solutions or features you've considered.
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Additional context
-      description: Add any other context or screenshots for the feature request here.

.github/PULL_REQUEST_TEMPLATE.md

@@ -1,37 +1,17 @@
-<!--
+Please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.
 
-Thank you for your contribution!
+## Describe problem solved by this pull request
+A clear and concise description of the problem this proposed change will solve. Or, what it will improve.
+E.g. For this use case I ran into...
 
-Get early feedback through
-- Dronecode Discord: https://discord.gg/dronecode
-- PX4 Discuss: http://discuss.px4.io/
-- opening a draft pr and sharing the link
+## Describe your solution
+A clear and concise description of what you have implemented.
 
--->
+## Describe possible alternatives
+A clear and concise description of alternative solutions or features you've considered.
 
-### Solved Problem
-When ... I found that ...
+## Test data / coverage
+How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.
 
-Fixes #{Github issue ID}
-
-### Solution
-- Add ... for ...
-- Refactor ...
-
-### Changelog Entry
-For release notes:
-```
-Feature/Bugfix XYZ
-New parameter: XYZ_Z
-Documentation: Need to clarify page ... / done, read docs.px4.io/...
-```
-
-### Alternatives
-We could also ...
-
-### Test coverage
-- Unit/integration test: ...
-- Simulation/hardware testing logs: https://review.px4.io/
-
-### Context
-Related links, screenshot before/after, video
+## Additional context
+Add any other related context or media.

.github/slack.svg

@@ -0,0 +1,24 @@
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="90" height="20">
+  <linearGradient id="smooth" x2="0" y2="100%">
+    <stop offset="0" stop-color="#bbb" stop-opacity=".1"/>
+    <stop offset="1" stop-opacity=".1"/>
+  </linearGradient>
+
+  <mask id="round">
+    <rect width="90" height="20" rx="3" fill="#fff"/>
+  </mask>
+
+  <g mask="url(#round)">
+    <rect width="42" height="20" fill="#555"/>
+    <rect x="42" width="48" height="20" fill="#E01563"/>
+    <rect width="90" height="20" fill="url(#smooth)"/>
+  </g>
+
+  <g fill="#fff" text-anchor="middle" font-family="DejaVu Sans,Verdana,Geneva,sans-serif" font-size="11">
+    <text x="22" y="15" fill="#010101" fill-opacity=".3">slack</text>
+    <text x="22" y="14">slack</text>
+    <text x="65" y="15" fill="#010101" fill-opacity=".3">Join us!</text>
+    <text x="65" y="14">Join us!</text>
+  </g>
+</svg>
+

.github/stale.yml

@@ -0,0 +1,15 @@
+# Number of days of inactivity before an issue becomes stale
+daysUntilStale: 90
+# Number of days of inactivity before a stale issue is closed, or `false` to disable
+daysUntilClose: false
+# Issues with these labels will never be considered stale
+exemptLabels:
+  - pinned
+# Label to use when marking an issue as stale
+staleLabel: stale
+# Comment to post when marking an issue as stale. Set to `false` to disable
+markComment: >
+  This issue has been automatically marked as stale because it has not had
+  recent activity. Thank you for your contributions.
+# Comment to post when closing a stale issue. Set to `false` to disable
+closeComment: false

.github/workflows/build_all_targets.yml

@@ -1,158 +0,0 @@
-# NOTE: this workflow is now running on Dronecode / PX4 AWS account.
-# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
-#   and comment the "runs-on: [runs-on,runner=..." lines.
-# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
-
-name: Build all targets
-
-on:
-  push:
-    tags:
-      - 'v*'
-    branches:
-      - 'main'
-      - 'stable'
-      - 'beta'
-      - 'release/**'
-  pull_request:
-    branches:
-      - '*'
-
-jobs:
-  group_targets:
-    name: Scan for Board Targets
-    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    outputs:
-      matrix: ${{ steps.set-matrix.outputs.matrix }}
-      timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
-      tagname: ${{ steps.set-tag.outputs.tagname }}
-      branchname: ${{ steps.set-branch.outputs.branchname }}
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Update python packaging to avoid canonicalize_version() error
-        run: |
-            pip3 install -U packaging
-
-      - name: Install Python Dependencies
-        uses: py-actions/py-dependency-install@v4
-        with:
-          path: "./Tools/setup/requirements.txt"
-
-      - id: set-matrix
-        run: echo "::set-output name=matrix::$(./Tools/ci/generate_board_targets_json.py --group)"
-
-      - id: set-timestamp
-        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
-
-      - id: set-branch
-        run: echo "::set-output name=branchname::${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}"
-
-      - name: Debug Matrix Output
-        if: runner.debug == '1'
-        run: |
-          echo "${{ steps.set-timestamp.outputs.timestamp }}"
-          echo "${{ steps.set-branch.outputs.branchname }}"
-          echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"
-
-  setup:
-    name: Build Group [${{ matrix.group }}]
-    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    needs: group_targets
-    strategy:
-      matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
-      fail-fast: false
-    container:
-      image: ${{ matrix.container }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: Setup ccache
-        uses: actions/cache@v4
-        with:
-          path: ~/.ccache
-          key: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
-          restore-keys: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
-
-      - name: Configure ccache
-        run: |
-            mkdir -p ~/.ccache
-            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-            echo "compression = true" >> ~/.ccache/ccache.conf
-            echo "compression_level = 6" >> ~/.ccache/ccache.conf
-            echo "max_size = 120M" >> ~/.ccache/ccache.conf
-            echo "hash_dir = false" >> ~/.ccache/ccache.conf
-            ccache -s
-            ccache -z
-
-      - name: Building [${{ matrix.group }}]
-        run: |
-            ./Tools/ci/build_all_runner.sh ${{matrix.targets}}
-
-      - name: Arrange Build Artifacts
-        run: |
-          ./Tools/ci/package_build_artifacts.sh
-
-      - name: Upload Build Artifacts
-        uses: actions/upload-artifact@v4
-        with:
-          name: px4_${{matrix.group}}_build_artifacts
-          path: artifacts/
-
-      - name: Cache Save
-        run: ccache -s
-
-  artifacts:
-    name: Upload Artifacts to S3
-    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    needs: [setup, group_targets]
-    if: contains(fromJSON('["main", "stable", "beta"]'), needs.group_targets.outputs.branchname)
-    steps:
-      - name: Download Artifacts
-        uses: actions/download-artifact@v4
-        with:
-          path: artifacts/
-          merge-multiple: true
-
-      - name: Branch Name
-        run: |
-          echo "${{ needs.group_targets.outputs.branchname }}"
-
-      - name: Uploading Artifacts to S3 [${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}]
-        uses: jakejarvis/s3-sync-action@master
-        with:
-          args: --acl public-read
-        env:
-          AWS_S3_BUCKET: 'px4-travis'
-          AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-          AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-          AWS_REGION: 'us-west-1'
-          SOURCE_DIR: artifacts/
-          DEST_DIR: Firmware/${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}/
-
-  release:
-    name: Create Release and Upload Artifacts
-    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    needs: [setup, group_targets]
-    if: startsWith(github.ref, 'refs/tags/v')
-    steps:
-      - name: Download Artifacts
-        uses: actions/download-artifact@v4
-        with:
-          path: artifacts/
-          merge-multiple: true
-
-      - name: Upload Binaries to Release
-        uses: softprops/action-gh-release@v2
-        with:
-          draft: true
-          files: artifacts/*.px4

.github/workflows/checks.yml

@@ -3,7 +3,7 @@ name: Checks
 on:
   push:
     branches:
-    - 'main'
+    - 'master'
   pull_request:
     branches:
     - '*'
@@ -16,7 +16,6 @@ jobs:
       matrix:
         check: [
           "check_format",
-          "check_newlines",
           "tests",
           "tests_coverage",
           "px4_fmu-v2_default stack_check",
@@ -24,13 +23,13 @@ jobs:
           "shellcheck_all",
           "NO_NINJA_BUILD=1 px4_fmu-v5_default",
           "NO_NINJA_BUILD=1 px4_sitl_default",
-          "px4_sitl_allyes",
+          "BUILD_MICRORTPS_AGENT=1 px4_sitl_rtps",
           "airframe_metadata",
           "module_documentation",
           "parameters_metadata",
         ]
     container:
-      image: px4io/px4-dev-nuttx-focal:2022-08-12
+      image: px4io/px4-dev-nuttx-focal:2021-09-08
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1

.github/workflows/clang-tidy.yml

@@ -3,7 +3,7 @@ name: Clang Tidy
 on:
   push:
     branches:
-    - 'main'
+    - 'master'
   pull_request:
     branches:
     - '*'
@@ -17,7 +17,5 @@ jobs:
       with:
         token: ${{secrets.ACCESS_TOKEN}}
 
-    - uses: corrupt952/actions-retry-command@v1.0.7
-      with:
-        command: make clang-tidy-quiet
-        max_attempts: 3
+    - name: make clang-tidy-quiet
+      run: make clang-tidy-quiet

.github/workflows/compile_linux.yml

@@ -0,0 +1,54 @@
+name: Linux Targets
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-armhf:2021-09-08
+    strategy:
+      matrix:
+        config: [
+          beaglebone_blue_default,
+          emlid_navio2_default,
+          px4_raspberrypi_default,
+          scumaker_pilotpi_default,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-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: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: ccache post-run
+      run: ccache -s

.github/workflows/compile_linux_arm64.yml

@@ -0,0 +1,51 @@
+name: Linux ARM64 Targets
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-aarch64:2021-09-08
+    strategy:
+      matrix:
+        config: [
+          scumaker_pilotpi_arm64,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-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: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: ccache post-run
+      run: ccache -s

.github/workflows/compile_macos.yml

@@ -3,26 +3,22 @@ name: MacOS build
 on:
   push:
     branches:
-    - 'main'
+    - 'master'
   pull_request:
     branches:
     - '*'
 
 jobs:
   build:
-    runs-on: macos-latest
+    runs-on: macos-10.15
     strategy:
       matrix:
         config: [
           px4_fmu-v5_default,
           px4_sitl
+          #tests, # includes px4_sitl
           ]
     steps:
-    - name: install Python 3.10
-      uses: actions/setup-python@v4
-      with:
-        python-version: "3.10"
-
     - uses: actions/checkout@v1
       with:
         token: ${{secrets.ACCESS_TOKEN}}

.github/workflows/compile_nuttx.yml

@@ -0,0 +1,126 @@
+name: Nuttx Targets
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
+    strategy:
+      fail-fast: false
+      matrix:
+        config: [
+          airmind_mindpx-v2,
+          ark_can-flow,
+          ark_can-gps,
+          ark_can-rtk-gps,
+          ark_cannode,
+          atl_mantis-edu,
+          av_x-v1,
+          bitcraze_crazyflie,
+          bitcraze_crazyflie21,
+          cuav_can-gps-v1,
+          cuav_nora,
+          cuav_x7pro,
+          cubepilot_cubeorange,
+          cubepilot_cubeyellow,
+          diatone_mamba-f405-mk2,
+          freefly_can-rtk-gps,
+          holybro_can-gps-v1,
+          holybro_durandal-v1,
+          holybro_kakutef7,
+          holybro_kakuteh7,
+          holybro_pix32v5,
+          matek_gnss-m9n-f4,
+          matek_h743,
+          matek_h743-mini,
+          matek_h743-slim,
+          modalai_fc-v1,
+          modalai_fc-v2,
+          mro_ctrl-zero-f7,
+          mro_ctrl-zero-f7-oem,
+          mro_ctrl-zero-h7,
+          mro_ctrl-zero-h7-oem,
+          mro_pixracerpro,
+          mro_x21,
+          mro_x21-777,
+          nxp_fmuk66-e,
+          nxp_fmuk66-v3,
+          nxp_fmurt1062-v1,
+          nxp_ucans32k146,
+          omnibus_f4sd,
+          px4_fmu-v2,
+          px4_fmu-v3,
+          px4_fmu-v4,
+          px4_fmu-v4pro,
+          px4_fmu-v5,
+          px4_fmu-v5x,
+          px4_fmu-v6c,
+          px4_fmu-v6u,
+          px4_fmu-v6x,
+          raspberrypi_pico,
+          sky-drones_smartap-airlink,
+          spracing_h7extreme,
+          uvify_core
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 120M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make all_variants_${{matrix.config}}
+      run: make all_variants_${{matrix.config}}
+      timeout-minutes: 45
+    - name: make ${{matrix.config}} bloaty_compileunits
+      run: make ${{matrix.config}} bloaty_compileunits || true
+    - name: make ${{matrix.config}} bloaty_inlines
+      run: make ${{matrix.config}} bloaty_inlines || true
+    - name: make ${{matrix.config}} bloaty_segments
+      run: make ${{matrix.config}} bloaty_segments || true
+    - name: make ${{matrix.config}} bloaty_symbols
+      run: make ${{matrix.config}} bloaty_symbols || true
+    - name: make ${{matrix.config}} bloaty_templates
+      run: make ${{matrix.config}} bloaty_templates || true
+    - name: make ${{matrix.config}} bloaty_ram
+      run: make ${{matrix.config}} bloaty_ram || true
+    - name: make ${{matrix.config}} bloaty_compare_master
+      run: make ${{matrix.config}} bloaty_compare_master || true
+    - name: ccache post-run
+      run: ccache -s
+
+    - name: Upload px4 package
+      uses: actions/upload-artifact@v2
+      with:
+        name: px4_package_${{matrix.config}}
+        path: |
+          build/**/*.px4
+          build/**/*.bin

.github/workflows/compile_ubuntu.yml

@@ -1,46 +0,0 @@
-name: Ubuntu environment build
-
-on:
-  push:
-    branches:
-      - 'main'
-      - 'stable'
-      - 'beta'
-      - 'release/**'
-  pull_request:
-    branches:
-      - '*'
-
-jobs:
-  build_and_test:
-    name: Build and Test
-    strategy:
-      fail-fast: false
-      matrix:
-        version: ['ubuntu:22.04', 'ubuntu:24.04']
-    runs-on: [runs-on,runner=8cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
-    container:
-      image: ${{ matrix.version }}
-      volumes:
-        - /github/workspace:/github/workspace
-    steps:
-
-      - name: Fix git in container
-        run: |
-          # we only need this because we are running the job in a container
-          # when checkout pulls git it does it in a shared volume
-          # and file ownership changes between steps
-          # first we install git since its missing from the base image
-          # then we mark the directory as safe for other instances
-          # of git to use.
-          apt update && apt install git -y
-          git config --global --add safe.directory $(realpath .)
-
-      - uses: actions/checkout@v4
-
-      - name: Install Deps, Build, and Make Quick Check
-        run: |
-          # we need to install dependencies and build on the same step
-          # given the stateless nature of docker images
-          ./Tools/setup/ubuntu.sh
-          make quick_check

.github/workflows/deploy_all.yml

@@ -0,0 +1,54 @@
+name: Deploy metadata for all targets
+
+on:
+  push:
+    branches:
+    - 'master'
+    - 'release/*'
+    - 'pr-metadata-test'
+
+jobs:
+  enumerate_targets:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    outputs:
+      matrix: ${{ steps.set-matrix.outputs.matrix }}
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+    - id: set-matrix
+      run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py)"
+  build:
+    runs-on: ubuntu-latest
+    needs: enumerate_targets
+    strategy:
+      matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
+    container: px4io/px4-dev-${{ matrix.container }}:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: make ${{matrix.target}}
+      run: make ${{matrix.target}}
+
+    - name: parameter & events metadata
+      run: |
+        make ${{matrix.target}} ver_gen events_json actuators_json
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
+        cd build/${{ matrix.target }}
+        mkdir _metadata || true
+        cp parameters.* events/*.xz actuators.json* _metadata
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
+        DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
+

.github/workflows/dev_container.yml

@@ -1,102 +0,0 @@
-
-name: Container build
-
-on:
-  push:
-    branches:
-      - 'main'
-      - 'stable'
-      - 'beta'
-      - 'release/**'
-    tags:
-      - 'v*'
-  pull_request:
-    branches:
-      - '*'
-
-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]
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-tags: true
-          submodules: false
-          fetch-depth: 0
-
-      - name: Login to Docker Hub
-        uses: docker/login-action@v3
-        with:
-          username: ${{ secrets.DOCKERHUB_USERNAME }}
-          password: ${{ secrets.DOCKERHUB_TOKEN }}
-
-      - name: Login to GitHub Container Registry
-        uses: docker/login-action@v3
-        with:
-          registry: ghcr.io
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Extract metadata (tags, labels) for Docker
-        id: meta
-        uses: docker/metadata-action@v5
-        with:
-          images: |
-            ghcr.io/PX4/px4-dev
-            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
-
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
-
-      - name: Build and load container image
-        uses: docker/build-push-action@v6
-        id: docker
-        with:
-          context: Tools/setup
-          tags: ${{ steps.meta.outputs.tags }}
-          labels: ${{ steps.meta.outputs.labels }}
-          platforms: |
-            linux/amd64
-          load: true
-          push: false
-          cache-from: type=s3,blobs_prefix=cache/${{ 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=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max
-
-      - name: Get Tag Name
-        id: tag_name
-        run: |
-          echo "::set-output name=tag_name::$(echo '${{ fromJSON(steps.docker.outputs.metadata)['image.name'] }}' | sed 's/,.*$//')"
-
-      - name: make quick_check
-        uses: addnab/docker-run-action@v3
-        with:
-          image: ${{ steps.tag_name.outputs.tag_name }}
-          options: -v ${{ github.workspace }}:/workspace
-          run: |
-            cd /workspace
-            git config --global --add safe.directory /workspace
-            make px4_sitl_default
-            make px4_fmu-v6x_default
-
-      - name: Push container image
-        uses: docker/build-push-action@v6
-        with:
-          context: Tools/setup
-          tags: ${{ steps.meta.outputs.tags }}
-          labels: ${{ steps.meta.outputs.labels }}
-          platforms: |
-            linux/amd64
-          provenance: mode=max
-          push: true
-          cache-from: type=s3,blobs_prefix=cache/${{ 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/failsafe_sim.yml

@@ -1,44 +0,0 @@
-name: Failsafe Simulator Build
-
-on:
-  push:
-    branches:
-    - 'main'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    defaults:
-      run:
-        shell: bash
-    strategy:
-      fail-fast: false
-      matrix:
-        check: [
-          "failsafe_web",
-        ]
-    container:
-      image: px4io/px4-dev-nuttx-focal:2022-08-12
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: install emscripten
-      run: |
-        git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
-        cd _emscripten_sdk
-        ./emsdk install latest
-        ./emsdk activate latest
-    - name: ${{matrix.check}}
-      run: |
-        . ./_emscripten_sdk/emsdk_env.sh
-        make ${{matrix.check}}

.github/workflows/flash_analysis.yml

@@ -1,118 +0,0 @@
-name: FLASH usage analysis
-
-on:
-  push:
-    branches:
-      - 'main'
-  pull_request:
-    branches:
-      - '*'
-
-jobs:
-  analyze_flash:
-    name: Analyzing ${{ matrix.target }}
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    container:
-      image: px4io/px4-dev-nuttx-focal
-    strategy:
-      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 }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          submodules: recursive
-
-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: Build Target
-        run: make ${{ matrix.target }}
-
-      - name: Store the ELF with the change
-        run: cp ./build/${{ matrix.target }}_default/${{ matrix.target }}_default.elf ./with-change.elf
-
-      - name: Clean previous build
-        run: |
-          make clean
-          make distclean
-
-      - name: If it's a PR checkout the base commit
-        if: ${{ github.event.pull_request }}
-        run: git checkout ${{ github.event.pull_request.base.sha }}
-
-      - name: If it's a push checkout the previous commit
-        if: github.event_name == 'push'
-        run: git checkout ${{ github.event.before }}
-
-      - name: Update submodules
-        run: make submodulesupdate
-
-      - name: Build
-        run: make ${{ matrix.target }}
-
-      - name: Store the ELF before the change
-        run: cp ./build/${{ matrix.target }}_default/${{ matrix.target }}_default.elf ./before-change.elf
-
-      - name: bloaty-action
-        uses: carlosperate/bloaty-action@v1.1.0
-        id: bloaty-step
-        with:
-          bloaty-args: -d sections,compileunits -n 0 ./with-change.elf -- ./before-change.elf
-          output-to-summary: true
-
-      - name: Generate output
-        id: gen-output
-        run: |
-          EOF=$(dd if=/dev/urandom bs=15 count=1 status=none | base64)
-          echo "output_${{ matrix.target }}<<$EOF" >> $GITHUB_OUTPUT
-          echo "${{ steps.bloaty-step.outputs.bloaty-output-encoded }}" >> $GITHUB_OUTPUT
-          echo "$EOF" >> $GITHUB_OUTPUT
-
-  post_pr_comment:
-    name: Publish Results
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    needs: [analyze_flash]
-    if: ${{ github.event.pull_request }}
-    steps:
-      - name: Find Comment
-        uses: peter-evans/find-comment@v3
-        id: fc
-        with:
-          issue-number: ${{ github.event.pull_request.number }}
-          comment-author: 'github-actions[bot]'
-          body-includes: FLASH Analysis
-
-      - name: Set Build Time
-        id: bt
-        run: |
-          echo "timestamp=$(date +'%Y-%m-%dT%H:%M:%S')" >> $GITHUB_OUTPUT
-
-      - name: Create or update 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
-            <details>
-              <summary>px4_fmu-v5x</summary>
-
-              ```
-              ${{ needs.analyze_flash.outputs.px4_fmu-v5x }}
-              ```
-            </details>
-
-            <details>
-              <summary>px4_fmu-v6x</summary>
-
-              ```
-              ${{ needs.analyze_flash.outputs.px4_fmu-v6x }}
-              ```
-            </details>
-
-            **Updated: _${{ steps.bt.outputs.timestamp }}_**
-          edit-mode: replace

.github/workflows/mavros_mission_tests.yml

@@ -3,7 +3,7 @@ name: MAVROS Mission Tests
 on:
   push:
     branches:
-    - 'main'
+    - 'master'
   pull_request:
     branches:
     - '*'
@@ -11,8 +11,6 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    env:
-      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
     strategy:
       fail-fast: false
       matrix:
@@ -61,13 +59,13 @@ jobs:
       run: |
           export
           ulimit -a
-    - name: Build PX4 and sitl_gazebo-classic
+    - name: Build PX4 and sitl_gazebo
       env:
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
       run: |
         ccache -z
         make px4_sitl_default
-        make px4_sitl_default sitl_gazebo-classic
+        make px4_sitl_default sitl_gazebo
         ccache -s
 
     - name: Core dump settings
@@ -88,7 +86,7 @@ jobs:
       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
+      uses: actions/upload-artifact@v2-preview
       with:
         name: coredump
         path: px4.core
@@ -103,21 +101,21 @@ jobs:
 
     - name: Upload px4 binary
       if: failure()
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v2
       with:
         name: binary
         path: build/px4_sitl_default/bin/px4
 
     - name: Store PX4 log
       if: failure()
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v2
       with:
         name: px4_log
         path: ~/.ros/log/*/*.ulg
 
     - name: Store ROS log
       if: failure()
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v2
       with:
         name: ros_log
         path: ~/.ros/**/rostest-*.log

.github/workflows/mavros_offboard_tests.yml

@@ -3,7 +3,7 @@ name: MAVROS Offboard Tests
 on:
   push:
     branches:
-    - 'main'
+    - 'master'
   pull_request:
     branches:
     - '*'
@@ -11,8 +11,6 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    env:
-      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
     strategy:
       fail-fast: false
       matrix:
@@ -56,13 +54,13 @@ jobs:
       run: |
           export
           ulimit -a
-    - name: Build PX4 and sitl_gazebo-classic
+    - name: Build PX4 and sitl_gazebo
       env:
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
       run: |
         ccache -z
         make px4_sitl_default
-        make px4_sitl_default sitl_gazebo-classic
+        make px4_sitl_default sitl_gazebo
         ccache -s
 
     - name: Core dump settings
@@ -83,7 +81,7 @@ jobs:
       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
+      uses: actions/upload-artifact@v2-preview
       with:
         name: coredump
         path: px4.core
@@ -98,21 +96,21 @@ jobs:
 
     - name: Upload px4 binary
       if: failure()
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v2
       with:
         name: binary
         path: build/px4_sitl_default/bin/px4
 
     - name: Store PX4 log
       if: failure()
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v2
       with:
         name: px4_log
         path: ~/.ros/log/*/*.ulg
 
     - name: Store ROS log
       if: failure()
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v2
       with:
         name: ros_log
         path: ~/.ros/**/rostest-*.log

.github/workflows/metadata.yml

@@ -0,0 +1,157 @@
+name: Metadata
+
+on:
+  push:
+    branches:
+    - 'master'
+    - 'release/*'
+    - 'pr-metadata-test'
+
+jobs:
+
+  airframe:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: airframe metadata
+      run: |
+        make airframe_metadata
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
+        cd build/px4_sitl_default/docs
+      # TODO: deploy to userguide gitbook
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/px4_sitl_default/docs/'
+        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
+
+  module:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: module documentation
+      run: |
+        make module_documentation
+        cd build/px4_sitl_default/docs
+        ls -ls *
+      # TODO: deploy to userguide gitbook and s3
+
+  parameter:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: parameter metadata
+      run: |
+        make parameters_metadata
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/px4_sitl_default/docs/'
+        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
+
+  events:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: events metadata
+      run: |
+        make extract_events
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
+        cd build/px4_sitl_default
+        mkdir _events_full || true
+        cp events/all_events_full.json.xz _events_full/all_events.json.xz
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/px4_sitl_default/_events_full/'
+        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
+
+  uorb_graph:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: uORB graph
+      run: |
+        make uorb_graphs
+        cd Tools/uorb_graph
+        ls -ls *
+      # TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/
+
+  micrortps_agent:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: microRTPS agent
+      run: |
+        make px4_sitl_rtps
+        git clone https://github.com/PX4/micrortps_agent.git
+        cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent
+
+  ROS_msgs:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: PX4 ROS msgs
+      run: |
+        git clone https://github.com/PX4/px4_msgs.git
+        python3 msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/
+
+  ROS2_bridge:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: PX4 ROS2 bridge
+      run: |
+        git clone https://github.com/PX4/px4_ros_com.git
+        ./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml

.github/workflows/nuttx_env_config.yml

@@ -1,32 +0,0 @@
-name: Nuttx Target with extra env config
-
-on:
-  push:
-    branches:
-    - 'main'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2022-08-12
-    strategy:
-      matrix:
-        config: [
-          px4_fmu-v5,
-          ]
-    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

.github/workflows/python_checks.yml

@@ -3,14 +3,14 @@ name: Python CI Checks
 on:
   push:
     branches:
-    - 'main'
+    - 'master'
   pull_request:
     branches:
     - '*'
 
 jobs:
   build:
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v1
       with:
@@ -18,7 +18,7 @@ jobs:
     - 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
+      run: pip3 install --user mypy types-requests flake8
     - name: Check MAVSDK test scripts with mypy
       run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
     - name: Check MAVSDK test scripts with flake8

.github/workflows/sitl_tests.yml

@@ -1,153 +1,135 @@
-# NOTE: this workflow is now running on Dronecode / PX4 AWS account.
-# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
-#   and comment the "runs-on: [runs-on,runner=..." lines.
-# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
-
 name: SITL Tests
 
 on:
   push:
     branches:
-    - 'main'
+    - 'master'
   pull_request:
     branches:
     - '*'
 
 jobs:
   build:
-    name: Testing PX4 ${{ matrix.config.model }}
-    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    container:
-      image: px4io/px4-dev-simulation-focal:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    runs-on: ubuntu-latest
     strategy:
       fail-fast: false
       matrix:
         config:
           - {model: "iris",          latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
+          - {model: "standard_vtol", latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer" } # Australia
           - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
           - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
 
+    container:
+      image: px4io/px4-dev-simulation-focal:2021-09-08
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
 
-      - name: Git Ownership Workaround
-        run: git config --system --add safe.directory '*'
+    - name: Download MAVSDK
+      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+    - name: Install MAVSDK
+      run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
 
-      - id: set-timestamp
-        name: Set timestamp for cache
-        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
 
-      - name: Cache Key Config
-        uses: actions/cache@v4
-        with:
-          path: ~/.ccache
-          key: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
-          restore-keys: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
+    - name: check environment
+      env:
+        PX4_HOME_LAT: ${{matrix.config.latitude}}
+        PX4_HOME_LON: ${{matrix.config.longitude}}
+        PX4_HOME_ALT: ${{matrix.config.altitude}}
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+          export
+          ulimit -a
+    - name: Build PX4
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: make px4_sitl_default
+    - name: ccache post-run px4/firmware
+      run: ccache -s
+    - name: Build SITL Gazebo
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: make px4_sitl_default sitl_gazebo
+    - name: ccache post-run sitl_gazebo
+      run: ccache -s
+    - name: Build MAVSDK tests
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        DONT_RUN: 1
+      run: make px4_sitl_default gazebo mavsdk_tests
+    - name: ccache post-run mavsdk_tests
+      run: ccache -s
 
-      - name: Cache Conf Config
-        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 = 120M" >> ~/.ccache/ccache.conf
-            echo "hash_dir = false" >> ~/.ccache/ccache.conf
-            ccache -s
-            ccache -z
+    - name: Core dump settings
+      run: |
+          ulimit -c unlimited
+          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
 
-      - name: Build PX4
-        env:
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: make px4_sitl_default
+    - name: Run SITL tests
+      env:
+        PX4_HOME_LAT: ${{matrix.config.latitude}}
+        PX4_HOME_LON: ${{matrix.config.longitude}}
+        PX4_HOME_ALT: ${{matrix.config.altitude}}
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
+      timeout-minutes: 45
 
-      - name: Cache Post-Run [px4_sitl_default]
-        run: ccache -s
+    - name: Look at core files
+      if: failure()
+      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+    - name: Upload px4 coredump
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: coredump
+        path: px4.core
 
-      - name: Build SITL Gazebo
-        env:
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: make px4_sitl_default sitl_gazebo-classic
+    - name: Upload px4 binary
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: binary
+        path: build/px4_sitl_default/bin/px4
 
-      - name: Cache Post-Run [sitl_gazebo-classic]
-        run: ccache -s
-
-      - name: Download MAVSDK
-        run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
-
-      - name: Install MAVSDK
-        run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
-
-      - name: Check PX4 Environment Variables
-        env:
-          PX4_HOME_LAT: ${{matrix.config.latitude}}
-          PX4_HOME_LON: ${{matrix.config.longitude}}
-          PX4_HOME_ALT: ${{matrix.config.altitude}}
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: |
-            export
-            ulimit -a
-
-      - name: Build PX4 / MAVSDK tests
-        env:
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-          DONT_RUN: 1
-        run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
-
-      - name: Cache Post-Run [px4_sitl_default sitl_gazebo-classic mavsdk_tests]
-        run: ccache -s
-
-      - name: Core Dump Settings
-        run: |
-            ulimit -c unlimited
-            echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-      - name: Run SITL / MAVSDK Tests
-        env:
-          PX4_HOME_LAT: ${{matrix.config.latitude}}
-          PX4_HOME_LON: ${{matrix.config.longitude}}
-          PX4_HOME_ALT: ${{matrix.config.altitude}}
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
-        timeout-minutes: 45
-
-      - name: Upload failed logs
-        if: failure()
-        uses: actions/upload-artifact@v4
-        with:
-          name: failed-${{matrix.config.model}}-logs.zip
-          path: |
-            logs/**/**/**/*.log
-            logs/**/**/**/*.ulg
-            build/px4_sitl_default/tmp_mavsdk_tests/rootfs/*.ulg
-
-      - name: Look at Core files
-        if: failure() && ${{ hashFiles('px4.core') != '' }}
-        run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-
-      - name: Upload PX4 coredump
-        if: failure() && ${{ hashFiles('px4.core') != '' }}
-        uses: actions/upload-artifact@v4
-        with:
-          name: coredump
-          path: px4.core
-
-      - name: Setup & Generate Coverage Report
-        if: contains(matrix.config.build_type, 'Coverage')
-        run: |
-            git config --global credential.helper "" # disable the keychain credential helper
-            git config --global --add credential.helper store # enable the local store credential helper
-            echo "https://x-access-token:${{ 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@v4
-        with:
-          token: ${{ secrets.CODECOV_TOKEN }}
-          flags: mavsdk
-          file: coverage/lcov.info
+    # Report test coverage
+    - name: Upload coverage
+      if: contains(matrix.config.build_type, 'Coverage')
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ 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: mavsdk
+        file: coverage/lcov.info

.github/workflows/stale.yml

@@ -1,16 +0,0 @@
-name: 'Handle stale issues and PRs'
-on:
-  schedule:
-    - cron: '30 1 * * *'
-
-jobs:
-  stale:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/stale@v8
-        with:
-          days-before-stale: 30
-          days-before-close: -1
-          stale-issue-label: 'stale'
-          stale-pr-label: 'stale'
-          remove-stale-when-updated: true

.github_changelog_generator

@@ -0,0 +1,33 @@
+# How to install:
+#   gem install github_changelog_generator
+# How to run:
+#   github_changelog_generator -u PX4 -p Firmware
+# Description:
+#   The following params are sensible defaults for the PX4 project,
+#   if you want to do a changelog before a release you need to update since-tag and future-releases,
+
+# Params:
+#   github_changelog_generator --help for all options
+
+# max-issues
+#   max threshold for github api queries
+#   make sure you set your CHANGELOG_GITHUB_TOKEN before
+#   running
+max-issues=1500
+
+# exclude-tags-regex
+#   excludes release candidates
+exclude-tags-regex=rc[0-9]{1,}|beta[0-9]{1,}
+
+# since-tag
+#   version of last stable release
+#   you need to change this depending on what you need
+#   if you want a changelog between versions this is the lowest version
+since-tag=1.6.5
+
+# future-release
+#   version you are about to release
+#   if you want a changelog between a version and all unreleased changes grouped as a release
+#     eg: v1.6.5 to v1.7.0
+future-release=v1.7.0
+

.gitignore

@@ -93,6 +93,7 @@ rules.ninja
 /googletest-*/
 /logs
 /mavsdk_tests
+/test_mixer_multirotor
 /unit-*
 /uORB/
 DartConfiguration.tcl
@@ -105,6 +106,3 @@ src/modules/simulator/simulator_config.h
 src/systemcmds/topic_listener/listener_generated.cpp
 
 !src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
-
-# colcon
-log/

.gitmodules

@@ -2,31 +2,39 @@
 	path = src/modules/mavlink/mavlink
 	url = https://github.com/mavlink/mavlink.git
 	branch = master
-[submodule "Tools/simulation/jmavsim/jMAVSim"]
-	path = Tools/simulation/jmavsim/jMAVSim
+[submodule "src/drivers/uavcan/libuavcan"]
+	path = src/drivers/uavcan/libuavcan
+	url = https://github.com/dronecan/libuavcan.git
+	branch = main
+[submodule "Tools/jMAVSim"]
+	path = Tools/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
-	branch = main
-[submodule "Tools/simulation/gazebo-classic/sitl_gazebo-classic"]
-	path = Tools/simulation/gazebo-classic/sitl_gazebo-classic
-	url = https://github.com/PX4/PX4-SITL_gazebo-classic.git
-	branch = main
+	branch = master
+[submodule "Tools/sitl_gazebo"]
+	path = Tools/sitl_gazebo
+	url = https://github.com/PX4/PX4-SITL_gazebo.git
+	branch = master
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/PX4-GPSDrivers.git
-	branch = main
+	branch = master
+[submodule "src/modules/micrortps_bridge/micro-CDR"]
+	path = src/modules/micrortps_bridge/micro-CDR
+	url = https://github.com/PX4/Micro-CDR.git
+	branch = master
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.3.0+
+	branch = px4_firmware_nuttx-10.1.0+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-10.3.0+
+	branch = px4_firmware_nuttx-10.1.0+
 [submodule "Tools/flightgear_bridge"]
-	path = Tools/simulation/flightgear/flightgear_bridge
+	path = Tools/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
-[submodule "Tools/simulation/jsbsim/jsbsim_bridge"]
-	path = Tools/simulation/jsbsim/jsbsim_bridge
+[submodule "Tools/jsbsim_bridge"]
+	path = Tools/jsbsim_bridge
 	url = https://github.com/PX4/px4-jsbsim-bridge.git
 [submodule "src/drivers/cyphal/libcanard"]
 	path = src/drivers/cyphal/libcanard
@@ -45,7 +53,9 @@
 [submodule "src/lib/events/libevents"]
 	path = src/lib/events/libevents
 	url = https://github.com/mavlink/libevents.git
-	branch = main
+[submodule "Tools/simulation-ignition"]
+	path = Tools/simulation-ignition
+	url = https://github.com/PX4/px4-simulation-ignition.git
 [submodule "src/lib/crypto/libtomcrypt"]
 	path = src/lib/crypto/libtomcrypt
 	url = https://github.com/PX4/libtomcrypt.git
@@ -54,38 +64,6 @@
 	path = src/lib/crypto/libtommath
 	url = https://github.com/PX4/libtommath.git
 	branch = px4
-[submodule "src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client"]
-	path = src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client
-	url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
-	branch = px4
-[submodule "src/lib/cdrstream/cyclonedds"]
-	path = src/lib/cdrstream/cyclonedds
-	url = https://github.com/px4/cyclonedds
-[submodule "src/lib/cdrstream/rosidl"]
-	path = src/lib/cdrstream/rosidl
-	url = https://github.com/px4/rosidl
-[submodule "src/modules/zenoh/zenoh-pico"]
-	path = src/modules/zenoh/zenoh-pico
-	url = https://github.com/px4/zenoh-pico
-	branch = dev/1.0.0-px4
-[submodule "src/lib/heatshrink/heatshrink"]
-	path = src/lib/heatshrink/heatshrink
-	url = https://github.com/PX4/heatshrink.git
-	branch = px4
-[submodule "Tools/simulation/gz"]
-	path = Tools/simulation/gz
-	url = https://github.com/PX4/PX4-gazebo-models.git
-	branch = main
-[submodule "boards/modalai/voxl2/libfc-sensor-api"]
-	path = boards/modalai/voxl2/libfc-sensor-api
-	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git
-[submodule "src/drivers/actuators/vertiq_io/iq-module-communication-cpp"]
-	path = src/drivers/actuators/vertiq_io/iq-module-communication-cpp
-	url = https://github.com/PX4/iq-module-communication-cpp.git
-	branch = master
-[submodule "src/drivers/uavcan/libdronecan/dsdl"]
-	path = src/drivers/uavcan/libdronecan/dsdl
-	url = https://github.com/PX4/DSDL.git
-[submodule "src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan"]
-	path = src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan
-	url = https://github.com/dronecan/pydronecan
+[submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
+	path = src/modules/microdds_client/Micro-XRCE-DDS-Client
+	url = https://github.com/eProsima/Micro-XRCE-DDS-Client.git

.travis.yml

@@ -0,0 +1,35 @@
+language: cpp
+
+git:
+  depth: 100
+  submodules: false
+
+matrix:
+  fast_finish: true
+  include:
+    - os: linux
+      dist: xenial
+      # In order to stay under the coverity rate limit, we only run this weekly
+      # and not on push which is configured in travis-ci settings.
+      if: branch = master
+
+before_install:
+    - echo -n | openssl s_client -connect scan.coverity.com:443 | sed -ne '/-BEGIN CERTIFICATE-/,/-END CERTIFICATE-/p' | sudo tee -a /etc/ssl/certs/ca-
+
+install:
+    - export PATH=$HOME/.local/bin:$PATH
+    - pip install --user --upgrade pip
+    - pip install --user -r Tools/setup/requirements.txt
+
+script:
+    - make
+
+addons:
+  coverity_scan:
+    project:
+      name: "PX4/Firmware"
+      description: "Build submitted via Travis CI"
+    notification_email: ci@px4.io
+    build_command_prepend: "make distclean"
+    build_command: "make px4_sitl_default"
+    branch_pattern: coverity_scan

.vscode/.gitignore

@@ -4,7 +4,6 @@ compile_commands.json
 
 # generated by cmake
 launch.json
-c_cpp_properties.json
 
 # C/C++ extension does some local caching in this folder
 ipch/

.vscode/c_cpp_properties.json

@@ -0,0 +1,16 @@
+{
+    "configurations": [
+        {
+            "name": "PX4",
+            "includePath": [
+                "${workspaceFolder}/**"
+            ],
+            "defines": [],
+            "macFrameworkPath": [],
+            "configurationProvider": "ms-vscode.cmake-tools",
+            "cppStandard": "c++14",
+            "cStandard": "c11"
+        }
+    ],
+    "version": 4
+}

.vscode/cmake-kits.json

@@ -2,4 +2,4 @@
 	{
 		"name": "PX4 detect"
 	}
-]
+]

.vscode/cmake-variants.yaml

@@ -2,15 +2,15 @@ CONFIG:
   default: px4_sitl_default
   choices:
     px4_sitl_default:
-      short: px4_sitl_default
+      short: px4_sitl
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_default
-    px4_sitl_nolockstep:
-      short: px4_sitl_nolockstep
+    px4_sitl_rtps:
+      short: px4_sitl_rtps
       buildType: RelWithDebInfo
       settings:
-        CONFIG: px4_sitl_nolockstep
+        CONFIG: px4_sitl_rtps
     px4_sitl_asan:
       short: px4_sitl (AddressSanitizer)
       buildType: AddressSanitizer
@@ -71,26 +71,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: px4_fmu-v5x_default
-    px4_fmu-v6c_default:
-      short: px4_fmu-v6c
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6c_default
-    px4_fmu-v6c_bootloader:
-      short: px4_fmu-v6c_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6c_bootloader
-    px4_fmu-v6u_default:
-      short: px4_fmu-v6u
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6u_default
-    px4_fmu-v6u_bootloader:
-      short: px4_fmu-v6u_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6u_bootloader
     px4_fmu-v6x_default:
       short: px4_fmu-v6x
       buildType: MinSizeRel
@@ -101,21 +81,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: px4_fmu-v6x_bootloader
-    px4_fmu-v6xrt_default:
-      short: px4_fmu-v6xrt
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6xrt_default
-    px4_fmu-v6xrt_bootloader:
-      short: px4_fmu-v6xrt_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6xrt_bootloader
-    3dr_ctrl-zero-h7-oem-revg_default:
-      short: 3dr_ctrl-zero-h7-oem-revg
-      buildType: MinSizeRel
-      settings:
-        CONFIG: 3dr_ctrl-zero-h7-oem-revg_default
     airmind_mindpx-v2_default:
       short: airmind_mindpx-v2
       buildType: MinSizeRel
@@ -156,16 +121,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_can-rtk-gps_canbootloader
-    ark_septentrio-gps_default:
-      short: ark_septentrio-gps_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_septentrio-gps_default
-    ark_septentrio-gps_canbootloader:
-      short: ark_septentrio-gps_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_septentrio-gps_canbootloader
     ark_cannode_default:
       short: ark_cannode_default
       buildType: MinSizeRel
@@ -176,36 +131,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_cannode_canbootloader
-    ark_fmu-v6x_bootloader:
-      short: ark_fmu-v6x_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_fmu-v6x_bootloader
-    ark_fmu-v6x_default:
-      short: ark_fmu-v6x_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_fmu-v6x_default
-    ark_fpv_bootloader:
-      short: ark_fpv_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_fpv_bootloader
-    ark_fpv_default:
-      short: ark_fpv_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_fpv_default
-    ark_pi6x_bootloader:
-      short: ark_pi6x_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_pi6x_bootloader
-    ark_pi6x_default:
-      short: ark_pi6x_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_pi6x_default
     atl_mantis-edu_default:
       short: atl_mantis-edu
       buildType: MinSizeRel
@@ -241,21 +166,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: cuav_x7pro_default
-    cuav_7-nano_default:
-      short: cuav_7-nano
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_7-nano_default
     cubepilot_cubeorange_test:
       short: cubepilot_cubeorange
       buildType: MinSizeRel
       settings:
-        CONFIG: cubepilot_cubeorange_test
-    cubepilot_cubeorangeplus_test:
-      short: cubepilot_cubeorangeplus
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cubepilot_cubeorangeplus_test
+        CONFIG: cubepilot_orange_test
     emlid_navio2_default:
       short: emlid_navio2
       buildType: MinSizeRel
@@ -301,21 +216,6 @@ CONFIG:
       buildType: MiniSizeRel
       settings:
         CONFIG: matek_gnss-m9n-f4_default
-    micoair_h743_default:
-      short: micoair_h743
-      buildType: MinSizeRel
-      settings:
-        CONFIG: micoair_h743_default
-    micoair_h743-aio_bootloader:
-      short: micoair_h743-aio_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: micoair_h743-aio_bootloader
-    micoair_h743-aio_default:
-      short: micoair_h743-aio
-      buildType: MinSizeRel
-      settings:
-        CONFIG: micoair_h743-aio_default
     modalai_fc-v1_default:
       short: modalai_fc-v1
       buildType: MinSizeRel
@@ -326,11 +226,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: modalai_fc-v2_default
-    modalai_voxl2-io_default:
-      short: modalai_voxl2-io
-      buildType: MinSizeRel
-      settings:
-        CONFIG: modalai_voxl2-io_default
     mro_ctrl-zero-f7_default:
       short: mro_ctrl-zero-f7
       buildType: MinSizeRel
@@ -356,43 +251,8 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: nxp_fmuk66-v3_default
-    nxp_mr-canhubk3_default:
-      short: nxp_mr-canhubk3_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: nxp_mr-canhubk3_default
-    nxp_mr-canhubk3_fmu:
-      short: nxp_mr-canhubk3_fmu
-      buildType: MinSizeRel
-      settings:
-        CONFIG: nxp_mr-canhubk3_fmu
-    nxp_tropic-community_default:
-      short: nxp_tropic-community_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: nxp_tropic-community_default
     raspberrypi_pico_default:
       short: raspberrypi_pico
       buildType: MinSizeRel
       settings:
         CONFIG: raspberrypi_pico_default
-    zeroone_x6_default:
-      short: zeroone_x6
-      buildType: MinSizeRel
-      settings:
-        CONFIG: zeroone_x6_default
-    zeroone_x6_bootloader:
-      short: zeroone_x6_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: zeroone_x6_bootloader
-    x-mav_ap-h743v2_bootloader:
-      short: x-mav_ap-h743v2-boot
-      buildType: MinSizeRel
-      settings:
-        CONFIG: x-mav_ap-h743v2_bootloader
-    x-mav_ap-h743v2_default:
-      short: x-mav_ap-h743v2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: x-mav_ap-h743v2_default

.vscode/extensions.json

@@ -4,7 +4,6 @@
     "recommendations": [
         "chiehyu.vscode-astyle",
         "dan-c-underwood.arm",
-        "editorconfig.editorconfig",
         "fredericbonnet.cmake-test-adapter",
         "github.vscode-pull-request-github",
         "marus25.cortex-debug",
@@ -19,7 +18,6 @@
         "twxs.cmake",
         "uavcan.dsdl",
         "wholroyd.jinja",
-        "zixuanwang.linkerscript",
-        "ms-vscode.makefile-tools"
+        "zixuanwang.linkerscript"
     ]
 }

.vscode/settings.json

@@ -2,6 +2,7 @@
         "astyle.astylerc": "${workspaceFolder}/Tools/astyle/astylerc",
         "astyle.c.enable": true,
         "astyle.cpp.enable": true,
+        "breadcrumbs.enabled": true,
         "C_Cpp.autoAddFileAssociations": false,
         "C_Cpp.clang_format_fallbackStyle": "none",
         "C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
@@ -15,11 +16,11 @@
         "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
         "cmake.configureOnOpen": true,
         "cmake.ctest.parallelJobs": 1,
-        "cmake.options.statusBarVisibility": "compact",
         "cmake.skipConfigureIfCachePresent": true,
         "cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
         "cmakeExplorer.parallelJobs": 1,
         "cmakeExplorer.suiteDelimiter": "-",
+        "cortex-debug.enableTelemetry": false,
         "cSpell.allowCompoundWords": true,
         "cSpell.diagnosticLevel": "Hint",
         "cSpell.showStatus": false,
@@ -30,6 +31,7 @@
         ],
         "debug.toolBarLocation": "docked",
         "editor.defaultFormatter": "chiehyu.vscode-astyle",
+        "editor.dragAndDrop": false,
         "editor.insertSpaces": false,
         "editor.minimap.maxColumn": 120,
         "editor.minimap.renderCharacters": false,
@@ -117,17 +119,20 @@
                 "utility": "cpp",
                 "valarray": "cpp",
                 "variant": "cpp",
-                "vector": "cpp",
-                "Jenkinsfile*": "groovy",
-                "*.sdf": "xml"
+                "vector": "cpp"
         },
         "search.exclude": {
                 "${workspaceFolder}/build": true
         },
         "search.showLineNumbers": true,
-        "terminal.integrated.scrollback": 15000,
+        "telemetry.enableTelemetry": false,
+        "terminal.integrated.scrollback": 5000,
+        "window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
+        "workbench.editor.highlightModifiedTabs": true,
+        "workbench.enableExperiments": false,
+        "workbench.settings.enableNaturalLanguageSearch": false,
         "yaml.schemas": {
                 "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
         },
-        "ros.distro": "humble"
+        "cortex-debug.openocdPath": "${env:PICO_SDK_PATH}/../openocd/src/openocd"       // Added for rp2040
 }

.vscode/tasks.json

@@ -50,64 +50,41 @@
             }
         },
         {
-            "label": "jmavsim kill",
+            "label": "jmavsim build",
             "type": "shell",
-            "command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}') || true",
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
-                "focus": false,
-                "panel": "dedicated",
-                "showReuseMessage": false,
-                "clear": false,
-                "close": true
+            "command": "ant create_run_jar copy_res",
+            "options": {
+                "cwd": "${workspaceFolder}/Tools/jMAVSim"
             },
             "problemMatcher": [],
-            "dependsOn":["px4_sitl_cleanup"]
-        },
-        {
-            "label": "gazebo-classic build",
-            "type": "shell",
-            "command": "make px4_sitl_default sitl_gazebo-classic",
-            "options": {
-                "cwd": "${workspaceFolder}"
-            },
-            "presentation": {
+            "presentation":{
                 "echo": true,
                 "reveal": "never",
-                "revealProblems": "onProblem",
                 "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                 "showReuseMessage": false,
                 "clear": false,
-                "close": true
-            },
-            "problemMatcher": [],
+            }
         },
         {
-            "label": "gazebo-classic start",
+            "label": "jmavsim",
             "type": "shell",
-            "dependsOn": "gazebo-classic build",
+            "dependsOn": "jmavsim build",
+            "command": "java -Djava.ext.dirs= -jar jmavsim_run.jar -r 250 -lockstep -tcp localhost:4560 -qgc",
             "options": {
-                "cwd": "${workspaceFolder}",
+                "cwd": "${workspaceFolder}/Tools/jMAVSim/out/production",
                 "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo-classic",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models",
                     "PX4_SIM_SPEED_FACTOR": "1"
                 }
             },
-            "command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/empty.world",
             "isBackground": true,
             "presentation": {
                 "echo": true,
                 "reveal": "never",
-                "revealProblems": "onProblem",
                 "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                 "showReuseMessage": false,
-                "clear": false,
-                "close": true
+                "clear": false
             },
             "problemMatcher": [
                 {
@@ -128,28 +105,57 @@
             ]
         },
         {
-            "label": "gazebo-classic",
+            "label": "jmavsim kill",
             "type": "shell",
-            "dependsOn": "gazebo-classic start",
+            "command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}')",
+            "presentation": {
+                "echo": false,
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false
+            },
+            "problemMatcher": []
+        },
+        {
+            "label": "gazebo build",
+            "type": "shell",
+            "command": "make px4_sitl_default sitl_gazebo",
+            "options": {
+                "cwd": "${workspaceFolder}"
+            },
+            "problemMatcher": [],
+            "presentation":{
+                "echo": true,
+                "reveal": "always",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false,
+            }
+        },
+        {
+            "label": "gazebo start",
+            "type": "shell",
+            "dependsOn": "gazebo build",
             "options": {
                 "cwd": "${workspaceFolder}",
                 "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo-classic",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models",
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
                     "PX4_SIM_SPEED_FACTOR": "1"
                 }
             },
-            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris/iris.sdf --model-name=iris -x 1.01 -y 0.98 -z 0.83",
-            "isBackground": false,
+            "command": "gzserver --verbose ${workspaceFolder}/Tools/sitl_gazebo/worlds/${input:gazeboWorld}.world",
+            "isBackground": true,
             "presentation": {
                 "echo": true,
                 "reveal": "never",
-                "revealProblems": "onProblem",
                 "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                 "showReuseMessage": false,
-                "clear": false,
-                "close": true
+                "clear": false
             },
             "problemMatcher": [
                 {
@@ -172,75 +178,109 @@
         {
             "label": "gazebo",
             "type": "shell",
+            "dependsOn": "gazebo start",
             "options": {
                 "cwd": "${workspaceFolder}",
                 "env": {
-                    "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/gz/models",
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
+                    "PX4_SIM_SPEED_FACTOR": "1"
                 }
             },
-            "command": "gz sim -v 4 -r ${workspaceFolder}/Tools/simulation/gz/worlds/${input:gzWorld}.sdf",
-            "isBackground": true,
-            "presentation": {
-                "echo": true,
-                "reveal": "always",
-                "revealProblems": "onProblem",
-                "focus": true,
-                "panel": "dedicated",
-                "showReuseMessage": false,
-                "clear": false,
-                "close": false
-            },
-            "problemMatcher": [],
-            "dependsOn":["gazebo kill"]
-        },
-        {
-            "label": "gazebo-classic kill",
-            "type": "shell",
-            "command": "pkill -9 -f gzserver || true",
+            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/sitl_gazebo/models/${input:vehicleModel}/${input:vehicleModel}.sdf --model-name=${input:vehicleModel} -x 1.01 -y 0.98 -z 0.83",
+            "isBackground": false,
             "presentation": {
                 "echo": true,
                 "reveal": "never",
-                "revealProblems": "onProblem",
                 "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                 "showReuseMessage": false,
-                "clear": false,
-                "close": true
+                "clear": false
             },
-            "problemMatcher": [],
-            "dependsOn":["px4_sitl_cleanup"]
+            "problemMatcher": [
+                {
+                    "pattern": [
+                        {
+                            "regexp": ".",
+                            "file": 1,
+                            "location": 2,
+                            "message": 3
+                        }
+                    ],
+                    "background": {
+                        "activeOnStart": true,
+                        "beginsPattern": ".",
+                        "endsPattern": ".",
+                    }
+                }
+            ]
+        },
+        {
+            "label": "gazebo client",
+            "type": "shell",
+            "dependsOn": "gazebo build",
+            "options": {
+                "cwd": "${workspaceFolder}",
+                "env": {
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
+                    "PX4_SIM_SPEED_FACTOR": "1"
+                }
+            },
+            "command": "gzclient --verbose",
+            "isBackground": true,
+            "presentation": {
+                "echo": true,
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false
+            },
+            "problemMatcher": [
+                {
+                    "pattern": [
+                        {
+                            "regexp": ".",
+                            "file": 1,
+                            "location": 2,
+                            "message": 3
+                        }
+                    ],
+                    "background": {
+                        "activeOnStart": true,
+                        "beginsPattern": ".",
+                        "endsPattern": ".",
+                    }
+                }
+            ]
         },
         {
             "label": "gazebo kill",
             "type": "shell",
-            "command": "pkill -9 -f 'gz sim' || true",
+            "command": "killall gzserver",
             "presentation": {
                 "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
+                "reveal": "silent",
                 "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                 "showReuseMessage": false,
-                "clear": false,
-                "close": true
+                "clear": false
             },
             "problemMatcher": [],
             "dependsOn":["px4_sitl_cleanup"]
         },
-
         {
             "label": "px4_sitl_cleanup",
             "type": "shell",
-            "command": "rm -rfv /tmp/px4* || true",
+            "command": "rm -rfv /tmp/px4*",
             "presentation": {
                 "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
+                "reveal": "silent",
                 "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                 "showReuseMessage": false,
-                "clear": false,
-                "close": true
+                "clear": false
             },
             "problemMatcher": [],
             "dependsOn":["px4_kill"]
@@ -248,16 +288,14 @@
         {
             "label": "px4_kill",
             "type": "shell",
-            "command": "pkill -9 px4 || true",
+            "command": "killall px4 || true",
             "presentation": {
                 "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
+                "reveal": "silent",
                 "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                 "showReuseMessage": false,
-                "clear": false,
-                "close": true
+                "clear": false
             },
             "problemMatcher": []
         },
@@ -299,12 +337,37 @@
     "inputs": [
         {
             "type": "pickString",
-            "id": "gzWorld",
-            "description": "gz world",
+            "id": "vehicleModel",
+            "description": "gazebo model",
             "options": [
-                "default"
+              "iris",
+              "typhoon_h480",
+              "plane",
+              "plane_catapult",
+              "plane_lidar",
+              "standard_vtol",
+              "tailsitter",
+              "tiltrotor",
+              "r1_rover",
+              "boat"
             ],
-            "default": "default"
+            "default": "iris"
+        },
+        {
+            "type": "pickString",
+            "id": "gazeboWorld",
+            "description": "gazebo world",
+            "options": [
+                "baylands",
+                "empty",
+                "ksql_airport",
+                "mcmillan_airfield",
+                "sonoma_raceway",
+                "warehouse",
+                "windy",
+                "yosemite"
+            ],
+            "default": "empty"
         }
     ]
 }

.ycm_extra_conf.py

@@ -0,0 +1,172 @@
+# This file is NOT licensed under the GPLv3, which is the license for the rest
+# of YouCompleteMe.
+#
+# Here's the license text for this file:
+#
+# This is free and unencumbered software released into the public domain.
+#
+# Anyone is free to copy, modify, publish, use, compile, sell, or
+# distribute this software, either in source code form or as a compiled
+# binary, for any purpose, commercial or non-commercial, and by any
+# means.
+#
+# In jurisdictions that recognize copyright laws, the author or authors
+# of this software dedicate any and all copyright interest in the
+# software to the public domain. We make this dedication for the benefit
+# of the public at large and to the detriment of our heirs and
+# successors. We intend this dedication to be an overt act of
+# relinquishment in perpetuity of all present and future rights to this
+# software under copyright law.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+# IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
+# OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
+# ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+# OTHER DEALINGS IN THE SOFTWARE.
+#
+# For more information, please refer to <http://unlicense.org/>
+
+import os
+import ycm_core
+
+# These are the compilation flags that will be used in case there's no
+# compilation database set (by default, one is not set).
+# CHANGE THIS LIST OF FLAGS. YES, THIS IS THE DROID YOU HAVE BEEN LOOKING FOR.
+flags = [
+'-Wall',
+'-Wextra',
+'-Werror',
+#'-Wc++98-compat',
+'-Wno-long-long',
+'-Wno-variadic-macros',
+'-fexceptions',
+'-DNDEBUG',
+# You 100% do NOT need -DUSE_CLANG_COMPLETER in your flags; only the YCM
+# source code needs it.
+#'-DUSE_CLANG_COMPLETER',
+# THIS IS IMPORTANT! Without a "-std=<something>" flag, clang won't know which
+# language to use when compiling headers. So it will guess. Badly. So C++
+# headers will be compiled as C headers. You don't want that so ALWAYS specify
+# a "-std=<something>".
+# For a C project, you would set this to something like 'c99' instead of
+# 'c++14'.
+'-std=c++14',
+# ...and the same thing goes for the magic -x option which specifies the
+# language that the files to be compiled are written in. This is mostly
+# relevant for c++ headers.
+# For a C project, you would set this to 'c' instead of 'c++'.
+'-x',
+'c++',
+'-undef', # get rid of standard definitions to allow us to include arm math header
+'-I', os.path.join(os.path.expanduser("~"),'gcc-arm-none-eabi-4_7-2013q3/arm-none-eabi/include'),
+'-I', 'Build/px4_io-v2_default.build/nuttx-export/include/',
+'-I', './NuttX/nuttx/arch/arm/include',
+'-include', './src/include/visibility.h',
+'-I', './src',
+'-I', './src/modules',
+'-I', './src/include',
+'-I', './src/lib',
+'-I', './NuttX',
+]
+
+
+# Set this to the absolute path to the folder (NOT the file!) containing the
+# compile_commands.json file to use that instead of 'flags'. See here for
+# more details: http://clang.llvm.org/docs/JSONCompilationDatabase.html
+#
+# Most projects will NOT need to set this to anything; you can just change the
+# 'flags' list of compilation flags. Notice that YCM itself uses that approach.
+compilation_database_folder = ''
+
+if os.path.exists( compilation_database_folder ):
+  database = ycm_core.CompilationDatabase( compilation_database_folder )
+else:
+  database = None
+
+SOURCE_EXTENSIONS = [ '.cpp', '.cxx', '.cc', '.c', '.m', '.mm' ]
+
+def DirectoryOfThisScript():
+  return os.path.dirname( os.path.abspath( __file__ ) )
+
+
+def MakeRelativePathsInFlagsAbsolute( flags, working_directory ):
+  if not working_directory:
+    return list( flags )
+  new_flags = []
+  make_next_absolute = False
+  path_flags = [ '-isystem', '-I', '-iquote', '--sysroot=' ]
+  for flag in flags:
+    new_flag = flag
+
+    if make_next_absolute:
+      make_next_absolute = False
+      if not flag.startswith( '/' ):
+        new_flag = os.path.join( working_directory, flag )
+
+    for path_flag in path_flags:
+      if flag == path_flag:
+        make_next_absolute = True
+        break
+
+      if flag.startswith( path_flag ):
+        path = flag[ len( path_flag ): ]
+        new_flag = path_flag + os.path.join( working_directory, path )
+        break
+
+    if new_flag:
+      new_flags.append( new_flag )
+  return new_flags
+
+
+def IsHeaderFile( filename ):
+  extension = os.path.splitext( filename )[ 1 ]
+  return extension in [ '.h', '.hxx', '.hpp', '.hh' ]
+
+
+def GetCompilationInfoForFile( filename ):
+  # The compilation_commands.json file generated by CMake does not have entries
+  # for header files. So we do our best by asking the db for flags for a
+  # corresponding source file, if any. If one exists, the flags for that file
+  # should be good enough.
+  if IsHeaderFile( filename ):
+    basename = os.path.splitext( filename )[ 0 ]
+    for extension in SOURCE_EXTENSIONS:
+      replacement_file = basename + extension
+      if os.path.exists( replacement_file ):
+        compilation_info = database.GetCompilationInfoForFile(
+          replacement_file )
+        if compilation_info.compiler_flags_:
+          return compilation_info
+    return None
+  return database.GetCompilationInfoForFile( filename )
+
+
+def FlagsForFile( filename, **kwargs ):
+  if database:
+    # Bear in mind that compilation_info.compiler_flags_ does NOT return a
+    # python list, but a "list-like" StringVec object
+    compilation_info = GetCompilationInfoForFile( filename )
+    if not compilation_info:
+      return None
+
+    final_flags = MakeRelativePathsInFlagsAbsolute(
+      compilation_info.compiler_flags_,
+      compilation_info.compiler_working_dir_ )
+
+    # NOTE: This is just for YouCompleteMe; it's highly likely that your project
+    # does NOT need to remove the stdlib flag. DO NOT USE THIS IN YOUR
+    # ycm_extra_conf IF YOU'RE NOT 100% SURE YOU NEED IT.
+    #try:
+    #  final_flags.remove( '-stdlib=libc++' )
+    #except ValueError:
+    #  pass
+  else:
+    relative_to = DirectoryOfThisScript()
+    final_flags = MakeRelativePathsInFlagsAbsolute( flags, relative_to )
+
+  return {
+    'flags': final_flags,
+    'do_cache': True
+  }

CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2017 - 2024 PX4 Development Team. All rights reserved.
+# Copyright (c) 2017 - 2019 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
@@ -113,36 +113,12 @@ include(px4_parse_function_args)
 include(px4_git)
 
 execute_process(
-	COMMAND git describe --exclude ext/* --tags --match "v[0-9]*"
+	COMMAND git describe --exclude ext/* --always --tags
 	OUTPUT_VARIABLE PX4_GIT_TAG
 	OUTPUT_STRIP_TRAILING_WHITESPACE
-	RESULTS_VARIABLE GIT_DESCRIBE_RESULT
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
-
-# if proper git tag unavilable default to v0.0.0
-if(NOT ${GIT_DESCRIBE_RESULT} MATCHES "0")
-	set(PX4_GIT_TAG "v0.0.0")
-endif()
-
-message(STATUS "PX4_GIT_TAG: ${PX4_GIT_TAG}")
-
-# git describe to X.Y.Z version
-string(REPLACE "." ";" VERSION_LIST ${PX4_GIT_TAG})
-
-# major version
-list(GET VERSION_LIST 0 PX4_VERSION_MAJOR)
-string(REPLACE "v" "" PX4_VERSION_MAJOR ${PX4_VERSION_MAJOR})
-# minor version
-list(GET VERSION_LIST 1 PX4_VERSION_MINOR)
-# patch version
-list(GET VERSION_LIST 2 PX4_VERSION_PATCH)
-string(REPLACE "-" ";" PX4_VERSION_PATCH ${PX4_VERSION_PATCH})
-list(GET PX4_VERSION_PATCH 0 PX4_VERSION_PATCH)
-
-# # Capture only the hash part after 'g'
-string(REGEX MATCH "g([a-f0-9]+)$" GIT_HASH "${PX4_GIT_TAG}")
-set(PX4_GIT_HASH ${CMAKE_MATCH_1})
+message(STATUS "PX4 version: ${PX4_GIT_TAG}")
 
 define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                  BRIEF_DOCS "PX4 module libs"
@@ -158,7 +134,6 @@ define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
                  BRIEF_DOCS "PX4 module paths"
                  FULL_DOCS "List of paths to all PX4 modules"
                  )
-
 define_property(GLOBAL PROPERTY PX4_SRC_FILES
                  BRIEF_DOCS "src files from all PX4 modules & libs"
                  FULL_DOCS "SRC files from px4_add_{module,library}"
@@ -168,24 +143,31 @@ define_property(GLOBAL PROPERTY PX4_SRC_FILES
 # configuration
 #
 
+set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
+
 include(px4_add_module)
 set(config_module_list)
 set(config_kernel_list)
 
 # Find Python
-find_package(Python COMPONENTS Interpreter)
-
-# We have a custom error message to tell users how to install python3.
-if(NOT Python_FOUND)
-	message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
-		"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
-		"    macOS: brew install python")
+# If using catkin, Python 2 is found since it points
+# to the Python libs installed with the ROS distro
+if (NOT CATKIN_DEVEL_PREFIX)
+	find_package(PythonInterp 3)
+	# We have a custom error message to tell users how to install python3.
+	if (NOT PYTHONINTERP_FOUND)
+		message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
+			"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
+			"    macOS: brew install python")
+	endif()
+else()
+	find_package(PythonInterp REQUIRED)
 endif()
 
 option(PYTHON_COVERAGE "Python code coverage" OFF)
 if(PYTHON_COVERAGE)
 	message(STATUS "python coverage enabled")
-	set(Python_EXECUTABLE coverage run -p)
+	set(PYTHON_EXECUTABLE coverage run -p)
 endif()
 
 include(px4_config)
@@ -193,12 +175,6 @@ include(kconfig)
 message(STATUS "PX4 config: ${PX4_CONFIG}")
 message(STATUS "PX4 platform: ${PX4_PLATFORM}")
 
-if($ENV{CLION_IDE})
-	# CLion automatically executes some compiler commands after configuring the
-	# project. This would fail on NuttX, as visibility.h tries to (indirectly)
-	# include nuttx/config.h, which at that point does not exist yet
-	add_definitions(-DPX4_DISABLE_GCC_POISON)
-endif()
 
 if(${PX4_PLATFORM} STREQUAL "posix")
 	if(ENABLE_LOCKSTEP_SCHEDULER)
@@ -225,11 +201,6 @@ if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
 	include(init)
 endif()
 
-#=============================================================================
-# project definition
-#
-project(px4 CXX C ASM)
-
 # CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
 if(NOT CMAKE_BUILD_TYPE)
 	if(${PX4_PLATFORM} STREQUAL "nuttx")
@@ -258,6 +229,11 @@ endif()
 set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage;AddressSanitizer;UndefinedBehaviorSanitizer")
 message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
 
+#=============================================================================
+# project definition
+#
+project(px4 CXX C ASM)
+
 # Check if LTO option and check if toolchain supports it
 if(LTO)
     include(CheckIPOSupported)
@@ -274,9 +250,15 @@ set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
+# For the catkin build process, unset build of dynamically-linked binaries
+# and do not change CMAKE_RUNTIME_OUTPUT_DIRECTORY
+if (NOT CATKIN_DEVEL_PREFIX)
+	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
+	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
+	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
+else()
+	SET(BUILD_SHARED_LIBS OFF)
+endif()
 
 #=============================================================================
 
@@ -308,10 +290,7 @@ if(${PX4_PLATFORM} STREQUAL "posix")
 	set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 	set(CMAKE_ENABLE_EXPORTS ON)
 
-	if(CMAKE_BUILD_TYPE MATCHES "Coverage")
-		include(coverage)
-	endif()
-
+	include(coverage)
 	include(sanitizers)
 
 	# Define GNU standard installation directories
@@ -324,6 +303,21 @@ endif()
 
 include(ccache)
 
+#=============================================================================
+# find programs and packages
+#
+
+# see if catkin was invoked to build this
+if (CATKIN_DEVEL_PREFIX)
+	message(STATUS "catkin ENABLED")
+	find_package(catkin REQUIRED)
+	if (catkin_FOUND)
+		catkin_package()
+	else()
+		message(FATAL_ERROR "catkin not found")
+	endif()
+endif()
+
 #=============================================================================
 # get chip and chip manufacturer
 #
@@ -409,18 +403,12 @@ include(px4_add_gtest)
 if(BUILD_TESTING)
 	include(gtest)
 
-	# Ensure there's no -R without any filter expression since that trips newer ctest versions
-	if(TESTFILTER)
-		set(TESTFILTERARG "-R")
-	else()
-		set(TESTFILTERARG "")
-	endif()
-
 	add_custom_target(test_results
-			COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test ${TESTFILTERARG} ${TESTFILTER}
+			COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R ${TESTFILTER} USES_TERMINAL
 			DEPENDS
 				px4
 				examples__dyn_hello
+				test_mixer_multirotor
 			USES_TERMINAL
 			COMMENT "Running tests"
 			WORKING_DIRECTORY ${PX4_BINARY_DIR})
@@ -433,8 +421,6 @@ endif()
 #
 add_library(parameters_interface INTERFACE)
 add_library(kernel_parameters_interface INTERFACE)
-add_library(events_interface INTERFACE)
-add_library(kernel_events_interface INTERFACE)
 
 include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)
@@ -459,13 +445,10 @@ add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)
 add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
 
 if(${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT)
-	target_link_libraries(parameters_interface INTERFACE usr_parameters)
-	target_link_libraries(kernel_parameters_interface INTERFACE parameters)
-	target_link_libraries(events_interface INTERFACE usr_events)
-	target_link_libraries(kernel_events_interface INTERFACE events)
+target_link_libraries(parameters_interface INTERFACE usr_parameters)
+target_link_libraries(kernel_parameters_interface INTERFACE parameters)
 else()
-	target_link_libraries(parameters_interface INTERFACE parameters)
-	target_link_libraries(events_interface INTERFACE events)
+target_link_libraries(parameters_interface INTERFACE parameters)
 endif()
 
 # firmware added last to generate the builtin for included modules
@@ -482,7 +465,7 @@ foreach(module ${config_module_list})
 endforeach()
 
 add_custom_command(OUTPUT ${uorb_graph_config}
-	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
 		${graph_module_list} --src-path src/lib
 		--merge-depends
 		--exclude-path src/examples
@@ -494,20 +477,21 @@ add_custom_command(OUTPUT ${uorb_graph_config}
 add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
 
 
-include(bloaty)
-
-
 include(doxygen)
 include(metadata)
 include(package)
 
+# print size
+add_custom_target(size
+	COMMAND size $<TARGET_FILE:px4>
+	DEPENDS px4
+	WORKING_DIRECTORY ${PX4_BINARY_DIR}
+	USES_TERMINAL
+	)
+
 # install python requirements using configured python
 add_custom_target(install_python_requirements
-	COMMAND ${Python_EXECUTABLE} -m pip install --break-system-packages --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+	COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	USES_TERMINAL
 )
-
-if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/finalize.cmake")
-	include(finalize)
-endif()

CONTRIBUTING.md

@@ -8,7 +8,7 @@ First [fork and clone](https://help.github.com/articles/fork-a-repo) the project
 
 ### Create a feature branch
 
-*Always* branch off main for new features.
+*Always* branch off master for new features.
 
 ```
 git checkout -b mydescriptivebranchname
@@ -16,7 +16,7 @@ git checkout -b mydescriptivebranchname
 
 ### Edit and build the code
 
-The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://docs.px4.io/main/en/contribute/code.html) when editing files.
+The [developer guide](http://dev.px4.io/) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://dev.px4.io/master/en/contribute/code.html) when editing files.
 
 ### Commit your changes
 

Documentation/Doxyfile.in

@@ -828,7 +828,8 @@ RECURSIVE              = YES
 # Note that relative paths are relative to the directory from which doxygen is
 # run.
 
-EXCLUDE                = @CMAKE_SOURCE_DIR@/src/modules/uavcan/libdronecan \
+EXCLUDE                = @CMAKE_SOURCE_DIR@/src/modules/uavcan/libuavcan \
+                         @CMAKE_SOURCE_DIR@/src/modules/micrortps_bridge/micro-CDR \
                          @CMAKE_SOURCE_DIR@/src/examples \
                          @CMAKE_SOURCE_DIR@/src/templates
 

Firmware.sublime-project

@@ -0,0 +1,83 @@
+{
+	"folders":
+	[
+		{
+			"path": ".",
+			"file_exclude_patterns":
+			[
+				"*.o",
+				"*.a",
+				"*.d",
+				".built",
+				".context",
+				".depend",
+				".config",
+				".version",
+				"Make.dep",
+				".configured",
+				"*.sublime-project",
+				"*.sublime-workspace",
+				".project",
+				".cproject",
+				"cscope.out"
+			],
+			"folder_exclude_patterns":
+			[
+				".settings",
+				"nuttx/arch/arm/src/board",
+				"nuttx/arch/arm/src/chip",
+				"build_*"
+			]
+		}
+	],
+	"settings":
+	{
+		"tab_size": 8,
+		"translate_tabs_to_spaces": false,
+		"highlight_line": true,
+		"AStyleFormatter":
+		{
+			"options_c":
+			{
+				"use_only_additional_options": true,
+				"additional_options_file": "${project_path}/Tools/astyle/astylerc"
+			},
+			"options_c++":
+			{
+				"use_only_additional_options": true,
+				"additional_options_file": "${project_path}/Tools/astyle/astylerc"
+			}
+		}
+	},
+	"build_systems":
+	[
+		{
+			"name": "PX4: make all",
+			"working_dir": "${project_path}",
+			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"cmd": ["make"],
+			"shell": true
+		},
+		{
+			"name": "PX4: make and upload",
+			"working_dir": "${project_path}",
+			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"cmd": ["make upload px4_fmu-v2_default -j8"],
+			"shell": true
+		},
+		{
+			"name": "PX4: make posix",
+			"working_dir": "${project_path}",
+			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"cmd": ["make posix"],
+			"shell": true
+		},
+		{
+			"name": "MindPX_V2: make and upload",
+			"working_dir": "${project_path}",
+			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"cmd": ["make upload mindpx-v2_default -j8"],
+			"shell": true
+		}
+	]
+}

Jenkinsfile

@@ -7,12 +7,81 @@ pipeline {
     stage('Analysis') {
       when {
         anyOf {
-          branch 'main'
-          branch 'master' // should be removed, but in case there is something going on...
+          branch 'master'
           branch 'pr-jenkins' // for testing
         }
       }
       parallel {
+        // stage('Catkin build on ROS workspace') {
+        //   agent {
+        //     docker {
+        //       image 'px4io/px4-dev-ros-melodic:2021-08-18'
+        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+        //     }
+        //   }
+        //   steps {
+        //     sh 'ls -l'
+        //     sh '''#!/bin/bash -l
+        //       echo $0;
+        //       mkdir -p catkin_ws/src;
+        //       cd catkin_ws;
+        //       git -C ${WORKSPACE}/catkin_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
+        //       git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
+        //       git -C ${WORKSPACE}/catkin_ws/src/Firmware fetch --tags;
+        //       source /opt/ros/melodic/setup.bash;
+        //       export PYTHONPATH=/opt/ros/$ROS_DISTRO/lib/python2.7/dist-packages:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages;
+        //       catkin init;
+        //       catkin build -j$(nproc) -l$(nproc);
+        //     '''
+        //     // test if the binary was correctly installed and runs using 'mavros_posix_silt.launch'
+        //     sh '''#!/bin/bash -l
+        //       echo $0;
+        //       source catkin_ws/devel/setup.bash;
+        //       rostest px4 pub_test.launch;
+        //     '''
+        //   }
+        //   post {
+        //     always {
+        //       sh 'rm -rf catkin_ws'
+        //     }
+        //     failure {
+        //       archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.xml, .ros/**/*.log')
+        //     }
+        //   }
+        //   options {
+        //     checkoutToSubdirectory('catkin_ws/src/Firmware')
+        //   }
+        // }
+
+        stage('Colcon build on ROS2 workspace') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros2-foxy:2021-08-18'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'ls -l'
+            sh '''#!/bin/bash -l
+              echo $0;
+              unset ROS_DISTRO;
+              mkdir -p colcon_ws/src;
+              cd colcon_ws;
+              git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo;
+              git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
+              source /opt/ros/foxy/setup.sh;
+              colcon build --event-handlers console_direct+ --symlink-install;
+            '''
+          }
+          post {
+            always {
+              sh 'rm -rf colcon_ws'
+            }
+          }
+          options {
+            checkoutToSubdirectory('colcon_ws/src/Firmware')
+          }
+        }
 
         stage('Airframe') {
           agent {
@@ -79,7 +148,7 @@ pipeline {
             docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
           }
           steps {
-            sh 'mkdir -p build/msg_docs; ./Tools/msg/generate_msg_docs.py -d build/msg_docs'
+            sh 'mkdir -p build/msg_docs; ./msg/tools/generate_msg_docs.py -d build/msg_docs'
             dir('build') {
               archiveArtifacts(artifacts: 'msg_docs/*.md')
               stash includes: 'msg_docs/*.md', name: 'msg_documentation'
@@ -92,41 +161,10 @@ pipeline {
           }
         }
 
-        stage('failsafe docs') {
-          agent {
-            docker { image 'px4io/px4-dev-nuttx-focal:2022-08-12' }
-          }
-          steps {
-            sh '''#!/bin/bash -l
-            echo $0;
-            git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk;
-            cd _emscripten_sdk;
-            ./emsdk install latest;
-            ./emsdk activate latest;
-            cd ..;
-            . ./_emscripten_sdk/emsdk_env.sh;
-            git fetch --all --tags;
-            make failsafe_web;
-            cd build/px4_sitl_default_failsafe_web;
-            mkdir -p failsafe_sim;
-            cp index.* parameters.json failsafe_sim;
-            '''
-            dir('build/px4_sitl_default_failsafe_web') {
-              archiveArtifacts(artifacts: 'failsafe_sim/*')
-              stash includes: 'failsafe_sim/*', name: 'failsafe_sim'
-            }
-          }
-          post {
-            always {
-              sh 'make distclean; git clean -ff -x -d .'
-            }
-          }
-        }
-
         stage('uORB graphs') {
           agent {
             docker {
-              image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+              image 'px4io/px4-dev-nuttx-focal:2021-08-18'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
@@ -164,25 +202,22 @@ pipeline {
             unstash 'metadata_parameters'
             unstash 'metadata_module_documentation'
             unstash 'msg_documentation'
-            unstash 'failsafe_sim'
             unstash 'uorb_graph'
             withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/PX4-user_guide.git')
-              sh('cp airframes.md PX4-user_guide/en/airframes/airframe_reference.md')
-              sh('cp parameters.md PX4-user_guide/en/advanced_config/parameter_reference.md')
-              sh('cp -R modules/*.md PX4-user_guide/en/modules/')
-              sh('cp -R graph_*.json PX4-user_guide/public/middleware/')  // vitepress
-              sh('cp -R msg_docs/*.md PX4-user_guide/en/msg_docs/')
-              sh('cp -R failsafe_sim/* PX4-user_guide/public/config/failsafe')  // vitepress
-              sh('cd PX4-user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
-              sh('cd PX4-user_guide; git push origin main || true')
-              sh('rm -rf PX4-user_guide')
+              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_user_guide.git')
+              sh('cp airframes.md px4_user_guide/en/airframes/airframe_reference.md')
+              sh('cp parameters.md px4_user_guide/en/advanced_config/parameter_reference.md')
+              sh('cp -R modules/*.md px4_user_guide/en/modules/')
+              sh('cp -R graph_*.json px4_user_guide/.vuepress/public/en/middleware/')
+              sh('cp -R msg_docs/*.md px4_user_guide/en/msg_docs/')
+              sh('cd px4_user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
+              sh('cd px4_user_guide; git push origin master || true')
+              sh('rm -rf px4_user_guide')
             }
           }
           when {
             anyOf {
-              branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
+              branch 'master'
               branch 'pr-jenkins' // for testing
             }
           }
@@ -210,8 +245,7 @@ pipeline {
           }
           when {
             anyOf {
-              branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
+              branch 'master'
               branch 'pr-jenkins' // for testing
             }
           }
@@ -220,6 +254,36 @@ pipeline {
           }
         }
 
+        stage('microRTPS agent') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+          }
+          steps {
+            sh('export')
+            sh('git fetch --all --tags')
+            sh('make distclean; git clean -ff -x -d .')
+            sh('make px4_sitl_rtps')
+            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
+              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/micrortps_agent.git -b ${BRANCH_NAME}")
+              sh("rm -rf micrortps_agent/src micrortps_agent/idl")
+              sh('cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent')
+              sh('cd micrortps_agent; git status; git add src; git commit -a -m "Update microRTPS agent source code `date`" || true')
+              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
+              sh('cd micrortps_agent; git status; git add idl; git commit -a -m "Update IDL definitions `date`" || true')
+              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
+              sh('cd micrortps_agent; git status; git add CMakeLists.txt; git commit -a -m "Update CMakeLists.txt `date`" || true')
+              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
+              sh('rm -rf micrortps_agent')
+            }
+          }
+          when {
+            anyOf {
+              branch 'master'
+              branch 'pr-jenkins' // for testing
+            }
+          }
+        }
+
         stage('PX4 ROS msgs') {
           agent {
             docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
@@ -229,19 +293,65 @@ pipeline {
             sh('make distclean; git clean -ff -x -d .')
             withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
               sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
-              // 'main' branch
-              sh('rm -f px4_msgs/msg/*.msg')
-              sh('rm -f px4_msgs/srv/*.srv')
-              sh('cp msg/*.msg px4_msgs/msg/')
-              sh('cp srv/*.srv px4_msgs/srv/')
+              // 'master' branch
+              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
               sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
-              sh('cd px4_msgs; git push origin main || true')
+              sh('cd px4_msgs; git push origin master || true')
+              // 'ros1' branch
+              sh('cd px4_msgs; git checkout ros1')
+              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
+              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
+              sh('cd px4_msgs; git push origin ros1 || true')
               sh('rm -rf px4_msgs')
             }
           }
           when {
             anyOf {
-              branch 'main'
+              branch 'master'
+              branch 'pr-jenkins' // for testing
+            }
+          }
+        }
+
+        stage('PX4 ROS2 bridge') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+          }
+          steps {
+            sh('export')
+            sh('make distclean; git clean -ff -x -d .')
+            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
+              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
+              // deploy uORB RTPS ID map
+              sh('./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml')
+              sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
+              sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
+              // deploy uORB RTPS required tools
+              sh('cp msg/tools/uorb_rtps_classifier.py px4_ros_com/scripts/uorb_rtps_classifier.py')
+              sh('cp msg/tools/generate_microRTPS_bridge.py px4_ros_com/scripts/generate_microRTPS_bridge.py')
+              sh('cp msg/tools/px_generate_uorb_topic_files.py px4_ros_com/scripts/px_generate_uorb_topic_files.py')
+              sh('cp msg/tools/px_generate_uorb_topic_helper.py px4_ros_com/scripts/px_generate_uorb_topic_helper.py')
+              // deploy templates
+              sh('cp msg/templates/urtps/microRTPS_agent.cpp.em px4_ros_com/templates/microRTPS_agent.cpp.em')
+              sh('cp msg/templates/urtps/microRTPS_timesync.cpp.em px4_ros_com/templates/microRTPS_timesync.cpp.em')
+              sh('cp msg/templates/urtps/microRTPS_timesync.h.em px4_ros_com/templates/microRTPS_timesync.h.em')
+              sh('cp msg/templates/urtps/microRTPS_transport.cpp px4_ros_com/templates/microRTPS_transport.cpp')
+              sh('cp msg/templates/urtps/microRTPS_transport.h px4_ros_com/templates/microRTPS_transport.h')
+              sh('cp msg/templates/urtps/Publisher.cpp.em px4_ros_com/templates/Publisher.cpp.em')
+              sh('cp msg/templates/urtps/Publisher.h.em px4_ros_com/templates/Publisher.h.em')
+              sh('cp msg/templates/urtps/Subscriber.cpp.em px4_ros_com/templates/Subscriber.cpp.em')
+              sh('cp msg/templates/urtps/Subscriber.h.em px4_ros_com/templates/Subscriber.h.em')
+              sh('cp msg/templates/urtps/RtpsTopics.cpp.em px4_ros_com/templates/RtpsTopics.cpp.em')
+              sh('cp msg/templates/urtps/RtpsTopics.h.em px4_ros_com/templates/RtpsTopics.h.em')
+              sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS script tools `date`" || true')
+              sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
+              sh('rm -rf px4_msgs')
+            }
+          }
+          when {
+            anyOf {
+              branch 'master'
+              branch 'pr-jenkins' // for testing
             }
           }
         }
@@ -263,8 +373,7 @@ pipeline {
           }
           when {
             anyOf {
-              branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
+              branch 'master'
               branch 'pr-jenkins' // for testing
             }
           }

Kconfig

@@ -17,8 +17,6 @@ menu "Toolchain"
             bool "posix"
         config PLATFORM_QURT
             bool "qurt"
-        config PLATFORM_ROS2
-            bool "ros2"
     endchoice
 
     config BOARD_PLATFORM
@@ -26,7 +24,6 @@ menu "Toolchain"
         default "nuttx" if PLATFORM_NUTTX
         default "posix" if PLATFORM_POSIX
         default "qurt" if PLATFORM_QURT
-        default "ros2" if PLATFORM_ROS2
 
     config BOARD_LOCKSTEP
         bool "Force enable lockstep"
@@ -40,8 +37,8 @@ menu "Toolchain"
         help
             forces nolockstep behaviour, despite REPLAY env variable
 
-    config BOARD_LINUX_TARGET
-        bool "Linux OS Target"
+    config BOARD_LINUX
+        bool "Linux OS"
         depends on PLATFORM_POSIX
         help
             Board Platform is running the Linux operating system
@@ -73,13 +70,6 @@ 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"
@@ -181,19 +171,8 @@ menu "Serial ports"
     config BOARD_SERIAL_WIFI
         string "WIFI tty port"
 
-    config BOARD_SERIAL_EXT2
-        string "EXT2 tty port"
-endmenu
-
-menu "File paths"
-
-    config BOARD_ROOT_PATH
-        string "PX4 Root file path"
-        default "/fs/microsd"
-
-    config BOARD_PARAM_FILE
-        string "Parameter file"
-        default "/fs/mtd_params"
+    config BOARD_SERIAL_PPB
+        string "PPB (Pixhawk Payload Bus) tty port"
 endmenu
 
 menu "drivers"
@@ -211,10 +190,3 @@ endmenu
 menu "examples"
 source "src/examples/Kconfig"
 endmenu
-
-menu "platforms"
-depends on PLATFORM_QURT || PLATFORM_POSIX
-source "platforms/common/Kconfig"
-endmenu
-
-source "src/lib/*/Kconfig"

LICENSE

@@ -1,6 +1,6 @@
 BSD 3-Clause License
 
-Copyright (c) 2012 - 2023, PX4 Development Team
+Copyright (c) 2012 - 2022, PX4 Development Team
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

Makefile

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 - 2024 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 - 2020 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
@@ -129,54 +129,57 @@ else
 	BUILD_DIR_SUFFIX :=
 endif
 
-CMAKE_ARGS ?=
-
 # additional config parameters passed to cmake
 ifdef EXTERNAL_MODULES_LOCATION
-	override CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
+	CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
 endif
 
 ifdef PX4_CMAKE_BUILD_TYPE
-	override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
+	CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
 else
 
 	# Address Sanitizer
 	ifdef PX4_ASAN
-		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=AddressSanitizer
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=AddressSanitizer
 	endif
 
 	# Memory Sanitizer
 	ifdef PX4_MSAN
-		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=MemorySanitizer
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=MemorySanitizer
 	endif
 
 	# Thread Sanitizer
 	ifdef PX4_TSAN
-		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=ThreadSanitizer
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=ThreadSanitizer
 	endif
 
 	# Undefined Behavior Sanitizer
 	ifdef PX4_UBSAN
-		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
 	endif
 
 	# Fuzz Testing
 	ifdef PX4_FUZZ
-		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
 	endif
 
 endif
 
 # Pick up specific Python path if set
 ifdef PYTHON_EXECUTABLE
-	override CMAKE_ARGS += -DPython_EXECUTABLE=${PYTHON_EXECUTABLE}
+	CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
+endif
+
+# Check if the microRTPS agent is to be built
+ifdef BUILD_MICRORTPS_AGENT
+  CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
 endif
 
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-	$(eval override CMAKE_ARGS += -DCONFIG=$(1))
+	$(eval CMAKE_ARGS += -DCONFIG=$(1))
 	@$(eval BUILD_DIR = "$(SRC_DIR)/build/$(1)")
 	@# check if the desired cmake configuration matches the cache then CMAKE_CACHE_CHECK stays empty
 	@$(call cmake-cache-check)
@@ -248,7 +251,7 @@ endef
 # Other targets
 # --------------------------------------------------------------------
 
-.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware
+.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware check_rtps
 
 # QGroundControl flashable NuttX firmware
 qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
@@ -266,13 +269,22 @@ px4fmu_firmware: \
 
 misc_qgc_extra_firmware: \
 	check_nxp_fmuk66-v3_default \
+	check_nxp_fmurt1062-v1_default \
 	check_mro_x21_default \
 	check_bitcraze_crazyflie_default \
 	check_bitcraze_crazyflie21_default \
 	check_airmind_mindpx-v2_default \
 	sizes
 
-.PHONY: sizes check quick_check uorb_graphs
+# builds with RTPS
+check_rtps: \
+	check_px4_fmu-v3_rtps \
+	check_px4_fmu-v4_rtps \
+	check_px4_fmu-v4pro_rtps \
+	check_px4_sitl_rtps \
+	sizes
+
+.PHONY: sizes check quick_check check_rtps uorb_graphs
 
 sizes:
 	@-find build -name *.elf -type f | xargs size 2> /dev/null || :
@@ -302,14 +314,10 @@ uorb_graphs:
 	@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
 	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
 
-px4io_update:
-	@$(MAKE) --no-print-directory px4_io-v2_default
-	@$(MAKE) --no-print-directory cubepilot_io-v2_default
+px4io_update: px4_io-v2_default cubepilot_io-v2_default
 	# px4_io-v2_default
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/ark/fmu-v6x/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/pix32v5/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21-777/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v2/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v3/extras/px4_io-v2_default.bin
@@ -323,37 +331,7 @@ px4io_update:
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status
 
-bootloaders_update: \
-	3dr_ctrl-zero-h7-oem-revg_bootloader \
-	ark_fmu-v6x_bootloader \
-	ark_fpv_bootloader \
-	ark_pi6x_bootloader \
-	cuav_nora_bootloader \
-	cuav_x7pro_bootloader \
-	cuav_7-nano_bootloader \
-	cubepilot_cubeorange_bootloader \
-	cubepilot_cubeorangeplus_bootloader \
-	hkust_nxt-dual_bootloader \
-	hkust_nxt-v1_bootloader \
-	holybro_durandal-v1_bootloader \
-	holybro_kakuteh7_bootloader \
-	holybro_kakuteh7mini_bootloader \
-	holybro_kakuteh7v2_bootloader \
-	matek_h743_bootloader \
-	matek_h743-mini_bootloader \
-	matek_h743-slim_bootloader \
-        micoair_h743_bootloader \
-        micoair_h743-aio_bootloader \
-	modalai_fc-v2_bootloader \
-	mro_ctrl-zero-classic_bootloader \
-	mro_ctrl-zero-h7_bootloader \
-	mro_ctrl-zero-h7-oem_bootloader \
-	mro_pixracerpro_bootloader \
-	px4_fmu-v6c_bootloader \
-	px4_fmu-v6u_bootloader \
-	px4_fmu-v6x_bootloader \
-	px4_fmu-v6xrt_bootloader \
-	siyi_n7_bootloader
+bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
 	git status
 
 .PHONY: coverity_scan
@@ -384,9 +362,9 @@ doxygen:
 	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
 	@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll
 
-# Style
+# Astyle
 # --------------------------------------------------------------------
-.PHONY: check_format format check_newlines
+.PHONY: check_format format
 
 check_format:
 	$(call colorecho,'Checking formatting with astyle')
@@ -397,9 +375,9 @@ format:
 	$(call colorecho,'Formatting with astyle')
 	@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh --fix
 
-check_newlines:
-	$(call colorecho,'Checking for missing or duplicate newlines at the end of files')
-	@"$(SRC_DIR)"/Tools/astyle/check_newlines.sh
+format_clang:
+	$(call colorecho,'Formatting with clang-format')
+	@"$(SRC_DIR)"/Tools/astyle/files_to_check_code_style.sh | xargs clang-format -i -style=file
 
 # Testing
 # --------------------------------------------------------------------
@@ -407,7 +385,7 @@ check_newlines:
 .PHONY: rostest python_coverage
 
 tests:
-	$(eval override CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
+	$(eval CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
 	$(eval ARGS += test_results)
 	$(eval ASAN_OPTIONS += color=always:check_initialization_order=1:detect_stack_use_after_return=1)
 	$(eval UBSAN_OPTIONS += color=always)
@@ -421,17 +399,17 @@ tests_coverage:
 
 
 rostest: px4_sitl_default
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
 
 tests_integration: px4_sitl_default
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
 	@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
 	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
 
 tests_integration_coverage:
 	@$(MAKE) clean
 	@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
 	@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
 	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
 	@mkdir -p coverage
@@ -441,13 +419,13 @@ tests_mission: rostest
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_missions.test
 
 rostest_run: px4_sitl_default
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh $(TEST_FILE) mission:=$(TEST_MISSION) vehicle:=$(TEST_VEHICLE)
 
 tests_mission_coverage:
 	@$(MAKE) clean
 	@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=VTOL_mission_1 vehicle:=standard_vtol
 	@$(MAKE) --no-print-directory px4_sitl_default generate_coverage
 
@@ -515,17 +493,12 @@ shellcheck_all:
 
 validate_module_configs:
 	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
-	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" \
-	-not -path "$(SRC_DIR)/src/modules/uxrce_dds_client/dds_topics.yaml" \
-	-not -path "$(SRC_DIR)/src/modules/zenoh/zenoh-pico/*" \
-	-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
-	-not -path "$(SRC_DIR)/src/lib/cdrstream/*" \
-	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
+	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" -not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
 	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
 
 # Cleanup
 # --------------------------------------------------------------------
-.PHONY: clean submodulesclean submodulesupdate distclean
+.PHONY: clean submodulesclean submodulesupdate gazeboclean distclean
 
 clean:
 	@[ ! -d "$(SRC_DIR)/build" ] || find "$(SRC_DIR)/build" -mindepth 1 -maxdepth 1 -type d -exec sh -c "echo {}; cmake --build {} -- clean || rm -rf {}" \; # use generated build system to clean, wipe build directory if it fails
@@ -543,7 +516,10 @@ submodulesupdate:
 	@git submodule update --init --recursive --jobs 4
 	@git fetch --all --tags --recurse-submodules=yes --jobs=4
 
-distclean:
+gazeboclean:
+	@rm -rf ~/.gazebo/*
+
+distclean: gazeboclean
 	@git submodule deinit --force $(SRC_DIR)
 	@rm -rf "$(SRC_DIR)/build"
 	@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"
@@ -554,14 +530,14 @@ distclean:
 # All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
 %:
 	$(if $(filter $(FIRST_ARG),$@), \
-		$(error "Make target $@ not found. It either does not exist or $@ cannot be the first argument. Use '$(MAKE) list_config_targets' to get a list of all possible [configuration] targets."),@#)
+		$(error "Make target $@ not found. It either does not exist or $@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)
 
 # Print a list of non-config targets (based on http://stackoverflow.com/a/26339924/1487069)
 help:
 	@echo "Usage: $(MAKE) <target>"
 	@echo "Where <target> is one of:"
 	@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
-		awk -v RS= -F: '/(^|\n)# Files(\n|$$)/,/(^|\n)# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
+		awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
 		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(Makefile)'
 	@echo
 	@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
@@ -583,20 +559,17 @@ check_px4: $(call make_list,nuttx,"px4") \
 check_nxp: $(call make_list,nuttx,"nxp") \
 	sizes
 
-# helpers for running olddefconfig (nuttx) and px4_savedefconfig on all boards
-.PHONY: all_oldconfig all_px4_savedefconfig
-all_oldconfig:
-	@for targ in $(ALL_CONFIG_TARGETS); do $(MAKE) $$targ oldconfig; done
+ifneq ($(ROS2_WS_DIR),)
+  ROS2_WS_DIR := $(basename ${ROS2_WS_DIR})
+else
+  ROS2_WS_DIR := ~/colcon_ws
+endif
 
-all_px4_savedefconfig:
-	@for targ in $(ALL_CONFIG_TARGETS); do $(MAKE) $$targ px4_savedefconfig; done
+update_ros2_bridge:
+	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --all
 
-.PHONY: failsafe_web run_failsafe_web_server
-failsafe_web:
-	@if ! command -v emcc; then echo -e "Install emscripten first: https://emscripten.org/docs/getting_started/downloads.html\nAnd source the env: source <path>/emsdk_env.sh"; exit 1; fi
-	@$(MAKE) --no-print-directory px4_sitl_default failsafe_test parameters_xml \
-		PX4_CMAKE_BUILD_TYPE=Release BUILD_DIR_SUFFIX=_failsafe_web \
-		CMAKE_ARGS="-DCMAKE_CXX_COMPILER=em++ -DCMAKE_C_COMPILER=emcc"
-run_failsafe_web_server: failsafe_web
-	@cd build/px4_sitl_default_failsafe_web && \
-		python3 -m http.server
+update_px4_ros_com:
+	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_ros_com
+
+update_px4_msgs:
+	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_msgs

README.md

@@ -4,136 +4,119 @@
 
 [![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)
 
-[![Discord Shield](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.gg/dronecode)
+[![Slack](/.github/slack.svg)](https://join.slack.com/t/px4/shared_invite/zt-si4xo5qs-R4baYFmMjlrT4rQK5yUnaA)
 
-This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
+This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
 
 PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.
 
-* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/main/LICENSE))
-* [Supported airframes](https://docs.px4.io/main/en/airframes/airframe_reference.html) ([portfolio](https://px4.io/ecosystem/commercial-systems/)):
-  * [Multicopters](https://docs.px4.io/main/en/frames_multicopter/)
-  * [Fixed wing](https://docs.px4.io/main/en/frames_plane/)
-  * [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/)
+* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
+* [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
+  * [Multicopters](https://docs.px4.io/master/en/frames_multicopter/)
+  * [Fixed wing](https://docs.px4.io/master/en/frames_plane/)
+  * [VTOL](https://docs.px4.io/master/en/frames_vtol/)
+  * [Autogyro](https://docs.px4.io/master/en/frames_autogyro/)
+  * [Rover](https://docs.px4.io/master/en/frames_rover/)
   * many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
 * Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/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/master/en/) explains how to assemble [supported vehicles](https://docs.px4.io/master/en/airframes/airframe_reference.html) and fly drones with PX4.
+See the [forum and chat](https://docs.px4.io/master/en/#support) if you need help!
 
 
 ## 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.
+This [Developer Guide](https://docs.px4.io/master/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.
 
-Developers should read the [Guide for Contributions](https://docs.px4.io/main/en/contribute/).
-See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
+Developers should read the [Guide for Contributions](https://docs.px4.io/master/en/contribute/).
+See the [forum and chat](https://dev.px4.io/master/en/#support) if you need help!
 
 
 ### Weekly Dev Call
 
-The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/contribute/).
+The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/contribute/#dev_call).
 
 > **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. It includes a QA session for newcomers. All regular calls are listed in the [Dronecode calendar](https://www.dronecode.org/calendar/).
 
 
 ## Maintenance Team
 
-Note: This is the source of truth for the active maintainers of PX4 ecosystem.
+  * Project: Founder
+    * [Lorenz Meier](https://github.com/LorenzMeier)
+  * Architecture
+    * [Daniel Agar](https://github.com/dagar)
+  * [Dev Call](https://github.com/PX4/PX4-Autopilot/labels/devcall)
+    * [Ramon Roche](https://github.com/mrpollo)
+  * Communication Architecture
+    * [Beat Kueng](https://github.com/bkueng)
+    * [Julian Oes](https://github.com/JulianOes)
+  * UI in QGroundControl
+    * [Gus Grubba](https://github.com/dogmaphobic)
+  * [Multicopter Flight Control](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
+    * [Mathieu Bresciani](https://github.com/bresch)
+  * [Multicopter Software Architecture](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
+    * [Matthias Grob](https://github.com/MaEtUgR)
+  * [VTOL Flight Control](https://github.com/PX4/PX4-Autopilot/labels/vtol)
+    * [Roman Bapst](https://github.com/RomanBapst)
+  * [Fixed Wing Flight Control](https://github.com/PX4/PX4-Autopilot/labels/fixedwing)
+    * [Roman Bapst](https://github.com/RomanBapst)
+  * OS / NuttX
+    * [David Sidrane](https://github.com/davids5)
+  * Driver Architecture
+    * [Daniel Agar](https://github.com/dagar)
+  * Commander Architecture
+    * [Julian Oes](https://github.com/julianoes)
+  * [UAVCAN](https://github.com/PX4/PX4-Autopilot/labels/uavcan)
+    * [Daniel Agar](https://github.com/dagar)
+  * [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
+    * [Paul Riseborough](https://github.com/priseborough)
+  * Vision based navigation and Obstacle Avoidance
+    * [Markus Achtelik](https://github.com/markusachtelik)
+  * RTPS/ROS2 Interface
+    * [Nuno Marques](https://github.com/TSC21)
 
-| 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.
+See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github).
 
 ## 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/).
+This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.
 
 ### Pixhawk Standard Boards
+  * FMUv6X and FMUv6U (STM32H7, 2021)
+    * Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
+  * FMUv5 and FMUv5X (STM32F7, 2019/20)
+    * [Pixhawk 4 (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
+    * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
+    * [CUAV V5+ (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
+    * [CUAV V5 nano (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
+    * [Auterion Skynode (FMUv5X)](https://docs.px4.io/master/en/flight_controller/auterion_skynode.html)
+  * FMUv4 (STM32F4, 2015)
+    * [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
+    * [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
+  * FMUv3 (STM32F4, 2014)
+    * [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
+    * [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
+    * [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
+  * FMUv2 (STM32F4, 2013)
+    * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
+    * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
 
-These boards fully comply with Pixhawk Standard, and are maintained by the PX4-Autopilot maintainers and Dronecode team
+### Manufacturer and Community supported
+  * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
+  * [Hex Cube Orange](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_orange.html)
+  * [Hex Cube Yellow](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_yellow.html)
+  * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
+  * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
+  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/complete_vehicles/crazyflie2.html)
+  * [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
+  * [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
+  * [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)
 
-* 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)
+Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/master/en/flight_controller/).
 
 ## Project Roadmap
 
-**Note: Outdated**
-
 A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).
-
-## 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>
-<div style="padding:10px">&nbsp;</div>

ROMFS/CMakeLists.txt

@@ -112,35 +112,42 @@ add_custom_command(
 		${PX4_SOURCE_DIR}/Tools/px4airframes/xmlout.py
 		${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
 	)
+set(romfs_extract_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_extract.stamp)
+add_custom_command(
+	OUTPUT ${romfs_extract_stamp}
+	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
+	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
+	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
+	WORKING_DIRECTORY ${romfs_gen_root_dir}
+	DEPENDS ${romfs_tar_file}
+	VERBATIM
+	)
 
-
-set(romfs_copy_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_copy.stamp)
 add_custom_command(
 	OUTPUT
 		${romfs_gen_root_dir}/init.d/rc.serial
 		${romfs_gen_root_dir}/init.d/rc.autostart
 		${romfs_gen_root_dir}/init.d/rc.autostart.post
-		${romfs_gen_root_dir}/init.d/rc.filepaths
-		${romfs_copy_stamp}
-	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
-	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
-	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+		romfs_copy.stamp
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		--airframes-path ${romfs_gen_root_dir}/init.d
 		--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
 		--board ${PX4_BOARD}
-	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
 		--rc-dir ${romfs_gen_root_dir}/init.d
 		--serial-ports ${board_serial_ports} ${added_arguments}
 		--config-files ${module_config_files} #--verbose
-	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/filepaths/generate_config.py
-		--rc-dir ${romfs_gen_root_dir}/init.d
-		--params-file ${CONFIG_BOARD_PARAM_FILE}
-	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
-	WORKING_DIRECTORY ${romfs_gen_root_dir}
-	DEPENDS ${romfs_tar_file}
+	COMMAND ${CMAKE_COMMAND} -E touch romfs_copy.stamp
+	DEPENDS
+		${romfs_extract_stamp}
 	COMMENT "ROMFS: copying, generating airframes"
 	)
 
+if(EXISTS ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)
+	set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
+	configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
+endif()
+
 # copy extras into ROMFS
 set(extras_dependencies)
 
@@ -207,24 +214,6 @@ endforeach()
 set(OPTIONAL_BOARD_EXTRAS)
 file(GLOB OPTIONAL_BOARD_EXTRAS ${PX4_BOARD_DIR}/extras/*)
 
-# bootloader (optional)
-#  - if systemcmds/bl_update included and board bootloader available then generate rc.board_bootloader_upgrade and copy bootloader binary
-#  - otherwise remove bootloader binary from extras in final ROMFS
-foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
-	file(RELATIVE_PATH extra_file_base_name ${PX4_BOARD_DIR}/extras/ ${board_extra_file})
-	if(${extra_file_base_name} MATCHES "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
-		if(CONFIG_SYSTEMCMDS_BL_UPDATE)
-			# generate rc.board_bootloader_upgrade
-			set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
-			configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
-		else()
-			# remove bootloader from extras
-			list(REMOVE_ITEM OPTIONAL_BOARD_EXTRAS ${board_extra_file})
-		endif()
-
-	endif()
-endforeach()
-
 foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
 
 	if(EXISTS "${board_extra_file}")
@@ -322,15 +311,14 @@ add_custom_command(OUTPUT romfs_extras.stamp
 
 add_custom_target(romfs_gen_files_target
 	DEPENDS
-		${romfs_copy_stamp}
+		${romfs_extract_stamp}
 		${romfs_gen_root_dir}/init.d/rc.serial
-		${romfs_gen_root_dir}/init.d/rc.filepaths
 		romfs_extras.stamp
 	)
 
 add_custom_command(
 	OUTPUT romfs_pruned.stamp
-	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py --folder ${romfs_gen_root_dir} --board ${PX4_BOARD}
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py --folder ${romfs_gen_root_dir} --board ${PX4_BOARD}
 	COMMAND ${CMAKE_COMMAND} -E touch romfs_pruned.stamp
 	DEPENDS
 		romfs_copy.stamp

ROMFS/cannode/init.d/rcS

@@ -21,14 +21,20 @@ set R /
 #
 ver all
 
-# Load param file location from kconfig
-. ${R}etc/init.d/rc.filepaths
+if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
+then
+	set PARAM_FILE /fs/mtd_params
+fi
+
+if mft query -q -k MTD -s MTD_PARAMETERS -v /dev/eeeprom0
+then
+	set PARAM_FILE /dev/eeeprom0
+fi
 
 #
 # Load parameters.
 #
 param select $PARAM_FILE
-
 if ! param load
 then
 	param reset_all

ROMFS/px4fmu_common/CMakeLists.txt

@@ -32,7 +32,9 @@
 ############################################################################
 
 add_subdirectory(init.d)
+add_subdirectory(mixers)
 # TODO: make this configurable from the board config, or better combine
 if("${PX4_BOARD}" MATCHES "sitl")
+	add_subdirectory(mixers-sitl)
 	add_subdirectory(init.d-posix)
 endif()

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

@@ -36,6 +36,7 @@ add_subdirectory(airframes)
 px4_add_romfs_files(
 	px4-rc.mavlink
 	px4-rc.params
+	px4-rc.rtps
 	px4-rc.simulator
 	rc.replay
 	rcS

ROMFS/px4fmu_common/init.d-posix/airframes/10015_gazebo-classic_iris

@@ -1,32 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL
-#
-# @type Quadrotor Wide
-#
-# @maintainer Julian Oes <julian@oes.ch>
-#
-
-. ${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

ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris

@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL
+#
+# @type Quadrotor Wide
+#
+# @maintainer Julian Oes <julian@oes.ch>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER quad_w

ROMFS/px4fmu_common/init.d-posix/airframes/10016_none_iris

@@ -1,30 +0,0 @@
-#!/bin/sh
-#
-# @name Generic Iris Quadrotor SITL
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104

ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc

@@ -0,0 +1,37 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL
+#
+# @type Quadrotor Wide
+#
+# @maintainer Julian Oes <julian@oes.ch>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default SYS_CTRL_ALLOC 1
+
+
+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
+
+set MIXER skip
+set MIXER_AUX none

ROMFS/px4fmu_common/init.d-posix/airframes/10017_jmavsim_iris

@@ -1,31 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL jMAVSim
-#
-# @type Quadrotor Wide
-#
-# @maintainer Julian Oes <julian@oes.ch>
-#
-
-. ${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

ROMFS/px4fmu_common/init.d-posix/airframes/10018_gazebo-classic_iris_foggy_lidar

@@ -1,32 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (foggy_lidar)
-#
-# @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 EKF2_RNG_A_HMAX 10

ROMFS/px4fmu_common/init.d-posix/airframes/10018_iris_foggy_lidar

@@ -0,0 +1,11 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (foggy_lidar)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+param set-default EKF2_RNG_A_HMAX 10
+

ROMFS/px4fmu_common/init.d-posix/airframes/10019_gazebo-classic_omnicopter

@@ -1,96 +0,0 @@
-#!/bin/sh
-#
-# @name 6DoF Omnicopter SITL
-#
-# @type Quadrotor Wide
-#
-# @maintainer Jaeyoung Lim <jalim@ethz.ch>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 8
-param set-default CA_R_REV 255
-
-param set-default CA_ROTOR0_PX 0.14435
-param set-default CA_ROTOR0_PY -0.14435
-param set-default CA_ROTOR0_PZ -0.14435
-param set-default CA_ROTOR0_KM 0.05 # CCW
-param set-default CA_ROTOR0_AX -0.788675
-param set-default CA_ROTOR0_AY -0.211325
-param set-default CA_ROTOR0_AZ -0.57735
-
-param set-default CA_ROTOR1_PX -0.14435
-param set-default CA_ROTOR1_PY -0.14435
-param set-default CA_ROTOR1_PZ -0.14435
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR1_AX 0.211325
-param set-default CA_ROTOR1_AY -0.788675
-param set-default CA_ROTOR1_AZ 0.57735
-
-param set-default CA_ROTOR2_PX 0.14435
-param set-default CA_ROTOR2_PY 0.14435
-param set-default CA_ROTOR2_PZ -0.14435
-param set-default CA_ROTOR2_KM 0.05
-param set-default CA_ROTOR2_AX -0.211325
-param set-default CA_ROTOR2_AY 0.788675
-param set-default CA_ROTOR2_AZ 0.57735
-
-param set-default CA_ROTOR3_PX -0.14435
-param set-default CA_ROTOR3_PY 0.14435
-param set-default CA_ROTOR3_PZ -0.14435
-param set-default CA_ROTOR3_KM 0.05
-param set-default CA_ROTOR3_AX 0.788675
-param set-default CA_ROTOR3_AY 0.211325
-param set-default CA_ROTOR3_AZ -0.57735
-
-param set-default CA_ROTOR4_PX 0.14435
-param set-default CA_ROTOR4_PY -0.14435
-param set-default CA_ROTOR4_PZ 0.14435
-param set-default CA_ROTOR4_KM 0.05
-param set-default CA_ROTOR4_AX 0.788675
-param set-default CA_ROTOR4_AY 0.211325
-param set-default CA_ROTOR4_AZ -0.57735
-
-param set-default CA_ROTOR5_PX -0.14435
-param set-default CA_ROTOR5_PY -0.14435
-param set-default CA_ROTOR5_PZ 0.14435
-param set-default CA_ROTOR5_KM 0.05
-param set-default CA_ROTOR5_AX -0.211325
-param set-default CA_ROTOR5_AY 0.788675
-param set-default CA_ROTOR5_AZ 0.57735
-
-param set-default CA_ROTOR6_PX 0.14435
-param set-default CA_ROTOR6_PY 0.14435
-param set-default CA_ROTOR6_PZ 0.14435
-param set-default CA_ROTOR6_KM 0.05
-param set-default CA_ROTOR6_AX 0.211325
-param set-default CA_ROTOR6_AY -0.788675
-param set-default CA_ROTOR6_AZ 0.57735
-
-param set-default CA_ROTOR7_PX -0.14435
-param set-default CA_ROTOR7_PY 0.14435
-param set-default CA_ROTOR7_PZ 0.14435
-param set-default CA_ROTOR7_KM 0.05
-param set-default CA_ROTOR7_AX -0.788675
-param set-default CA_ROTOR7_AY -0.211325
-param set-default CA_ROTOR7_AZ -0.57735
-
-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
-
-# disable MC desaturation which improves attitude tracking
-param set-default CA_METHOD 0
-
-# disable attitude failure detection
-param set-default FD_FAIL_P 0
-param set-default FD_FAIL_R 0

ROMFS/px4fmu_common/init.d-posix/airframes/10019_omnicopter

@@ -0,0 +1,101 @@
+#!/bin/sh
+#
+# @name 6DoF Omnicopter SITL
+#
+# @type Quadrotor Wide
+#
+# @maintainer Jaeyoung Lim <jalim@ethz.ch>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default SYS_CTRL_ALLOC 1
+
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 8
+param set-default CA_R_REV 255
+
+param set-default CA_ROTOR0_PX 0.14435
+param set-default CA_ROTOR0_PY -0.14435
+param set-default CA_ROTOR0_PZ -0.14435
+param set-default CA_ROTOR0_KM 0.05 # CCW
+param set-default CA_ROTOR0_AX -0.788675
+param set-default CA_ROTOR0_AY -0.211325
+param set-default CA_ROTOR0_AZ -0.57735
+
+param set-default CA_ROTOR1_PX -0.14435
+param set-default CA_ROTOR1_PY -0.14435
+param set-default CA_ROTOR1_PZ -0.14435
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR1_AX 0.211325
+param set-default CA_ROTOR1_AY -0.788675
+param set-default CA_ROTOR1_AZ 0.57735
+
+param set-default CA_ROTOR2_PX 0.14435
+param set-default CA_ROTOR2_PY 0.14435
+param set-default CA_ROTOR2_PZ -0.14435
+param set-default CA_ROTOR2_KM 0.05
+param set-default CA_ROTOR2_AX -0.211325
+param set-default CA_ROTOR2_AY 0.788675
+param set-default CA_ROTOR2_AZ 0.57735
+
+param set-default CA_ROTOR3_PX -0.14435
+param set-default CA_ROTOR3_PY 0.14435
+param set-default CA_ROTOR3_PZ -0.14435
+param set-default CA_ROTOR3_KM 0.05
+param set-default CA_ROTOR3_AX 0.788675
+param set-default CA_ROTOR3_AY 0.211325
+param set-default CA_ROTOR3_AZ -0.57735
+
+param set-default CA_ROTOR4_PX 0.14435
+param set-default CA_ROTOR4_PY -0.14435
+param set-default CA_ROTOR4_PZ 0.14435
+param set-default CA_ROTOR4_KM 0.05
+param set-default CA_ROTOR4_AX 0.788675
+param set-default CA_ROTOR4_AY 0.211325
+param set-default CA_ROTOR4_AZ -0.57735
+
+param set-default CA_ROTOR5_PX -0.14435
+param set-default CA_ROTOR5_PY -0.14435
+param set-default CA_ROTOR5_PZ 0.14435
+param set-default CA_ROTOR5_KM 0.05
+param set-default CA_ROTOR5_AX -0.211325
+param set-default CA_ROTOR5_AY 0.788675
+param set-default CA_ROTOR5_AZ 0.57735
+
+param set-default CA_ROTOR6_PX 0.14435
+param set-default CA_ROTOR6_PY 0.14435
+param set-default CA_ROTOR6_PZ 0.14435
+param set-default CA_ROTOR6_KM 0.05
+param set-default CA_ROTOR6_AX 0.211325
+param set-default CA_ROTOR6_AY -0.788675
+param set-default CA_ROTOR6_AZ 0.57735
+
+param set-default CA_ROTOR7_PX -0.14435
+param set-default CA_ROTOR7_PY 0.14435
+param set-default CA_ROTOR7_PZ 0.14435
+param set-default CA_ROTOR7_KM 0.05
+param set-default CA_ROTOR7_AX -0.788675
+param set-default CA_ROTOR7_AY -0.211325
+param set-default CA_ROTOR7_AZ -0.57735
+
+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
+
+# disable MC desaturation which improves attitude tracking
+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 MIXER skip
+set MIXER_AUX none

ROMFS/px4fmu_common/init.d-posix/airframes/10020_if750a

@@ -0,0 +1,19 @@
+#!/bin/sh
+#
+# @name IF750A SITL
+# InspiredFlight 750 Auterion edition. Gazebo Only.
+#
+# @type Quadrotor
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+# EKF2: Multi GPS blending (as the model has 2 GPS's)
+param set-default SENS_GPS_MASK 7
+param set-default TRIG_INTERFACE 3
+param set-default TRIG_MODE 4
+param set-default MNT_MODE_IN 4
+param set-default MNT_MODE_OUT 2
+param set-default MNT_DO_STAB 2
+
+set MIXER quad_x

ROMFS/px4fmu_common/init.d-posix/airframes/10030_gazebo-classic_px4vision

@@ -1,14 +0,0 @@
-#!/bin/sh
-#
-# @name PX4Vision SITL
-# Holybro px4vision. Gazebo Only.
-#
-# @type Quadrotor
-#
-
-. ${R}etc/init.d/airframes/4016_holybro_px4vision
-
-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

ROMFS/px4fmu_common/init.d-posix/airframes/10030_px4vision

@@ -0,0 +1,11 @@
+#!/bin/sh
+#
+# @name PX4Vision SITL
+# Holybro px4vision. Gazebo Only.
+#
+# @type Quadrotor
+#
+
+. ${R}etc/init.d/airframes/4016_holybro_px4vision
+
+set MIXER quad_x

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

@@ -0,0 +1,23 @@
+#!/bin/sh
+#
+# @name QuadrotorX SITL for SIH
+#
+# @type Quadrotor
+#
+# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER quad_x
+
+# disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default COM_PREARM_MODE 0
+param set-default CBRK_IO_SAFETY 22027
+
+param set SIH_VEHICLE_TYPE 0

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

@@ -1,41 +0,0 @@
-#!/bin/sh
-#
-# @name QuadrotorX SITL for SIH
-#
-# @type Quadrotor
-#
-# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadx}
-
-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
-param set-default CA_ROTOR0_PY 1
-param set-default CA_ROTOR1_PX -1
-param set-default CA_ROTOR1_PY -1
-param set-default CA_ROTOR2_PX 1
-param set-default CA_ROTOR2_PY -1
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -1
-param set-default CA_ROTOR3_PY 1
-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 SIH_VEHICLE_TYPE 0

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

@@ -0,0 +1,33 @@
+#!/bin/sh
+#
+# @name Plane SITL for SIH
+#
+# @type Plane
+#
+# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
+
+. ${R}etc/init.d/rc.fw_defaults
+
+set MIXER AERT
+
+# disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default COM_PREARM_MODE 0
+param set-default CBRK_IO_SAFETY 22027
+
+param set-default BAT_N_CELLS 3
+
+param set SIH_T_MAX 6.0
+param set SIH_MASS 0.3
+param set SIH_IXX 0.00402
+param set SIH_IYY 0.0144
+param set SIH_IZZ 0.0177
+param set SIH_IXZ 0.00046
+param set SIH_KDV 0.2
+
+param set SIH_VEHICLE_TYPE 1 	# sih as fixed wing
+param set RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)

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

@@ -1,51 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL for SIH
-#
-# @type Plane
-#
-# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
-
-. ${R}etc/init.d/rc.fw_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=airplane}
-
-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
-
-# 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
-param set-default SIH_IYY 0.0144
-param set-default SIH_IZZ 0.0177
-param set-default SIH_IXZ 0.00046
-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_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_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 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

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

@@ -1,69 +0,0 @@
-#!/bin/sh
-#
-# @name SIH Tailsitter Duo
-#
-# @type VTOL
-#
-# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}
-
-param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
-
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 1
-param set-default SENS_EN_MAGSIM 1
-
-param set-default VT_B_TRANS_DUR 5
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_TYPE 0
-param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_S_Y 0.3
-param set-default MPC_MAN_Y_MAX 60
-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
-# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
-param set-default SIH_IXX 0.00354
-param set-default SIH_IYY 0.000625
-param set-default SIH_IZZ 0.00300
-param set-default SIH_IXZ 0
-param set-default SIH_KDV 0.2
-param set-default SIH_L_ROLL 0.145
-
-# sih as tailsitter
-param set-default SIH_VEHICLE_TYPE 2
-
-param set-default CA_AIRFRAME 4
-
-param set-default CA_ROTOR_COUNT 2
-param set-default CA_ROTOR0_PX 0
-param set-default CA_ROTOR0_PY 1
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX 0
-param set-default CA_ROTOR1_PY -1
-param set-default CA_ROTOR1_KM 0.05
-
-param set-default CA_SV_CS_COUNT 2
-param set-default CA_SV_CS0_TYPE 5
-param set-default CA_SV_CS0_TRQ_P 0.5
-param set-default CA_SV_CS0_TRQ_Y -0.5
-param set-default CA_SV_CS1_TYPE 6
-param set-default CA_SV_CS1_TRQ_P 0.5
-param set-default CA_SV_CS1_TRQ_Y 0.5
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC5 201
-param set-default PWM_MAIN_FUNC6 202

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

@@ -0,0 +1,45 @@
+#!/bin/sh
+#
+# @name SIH Tailsitter Duo
+#
+# @type VTOL
+#
+# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_TYPE 0
+param set-default VT_FW_DIFTHR_EN 1
+param set-default VT_FW_DIFTHR_SC 0.3
+param set-default MPC_MAN_Y_MAX 60
+param set-default MC_PITCH_P 5
+
+param set-default MAV_TYPE 19
+set MAV_TYPE 19
+set MIXER vtol_tailsitter_duo_sat
+
+# disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default COM_PREARM_MODE 0
+param set-default CBRK_IO_SAFETY 22027
+
+param set-default BAT_N_CELLS 3
+
+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 0.0
+param set SIH_KDV 0.2
+param set SIH_L_ROLL 0.145
+
+# sih as tailsitter
+param set SIH_VEHICLE_TYPE 2

ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo-classic_iris_opt_flow

@@ -1,51 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Optical Flow)
-#
-# @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
-
-# EKF2
-param set-default EKF2_GPS_CTRL 0
-param set-default EKF2_HGT_REF 0
-param set-default EKF2_EVP_NOISE 0.05
-param set-default EKF2_EVA_NOISE 0.05
-param set-default EKF2_OF_CTRL 1
-
-# LPE: Flow-only mode
-param set-default LPE_FUSION 242
-param set-default LPE_FAKE_ORIGIN 1
-
-# Commander
-# param set-default COM_HOME_EN 0 # Disable setting of home position
-
-param set-default MPC_ALT_MODE 2
-
-param set-default SENS_FLOW_ROT 6
-param set-default SENS_FLOW_MINHGT 0.7
-param set-default SENS_FLOW_MAXHGT 15
-param set-default SENS_FLOW_MAXR 2.5

ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow

@@ -0,0 +1,24 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Optical Flow)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+# EKF2
+param set-default EKF2_AID_MASK 2
+param set-default EKF2_EVP_NOISE 0.05
+param set-default EKF2_EVA_NOISE 0.05
+
+# LPE: Flow-only mode
+param set-default LPE_FUSION 242
+param set-default LPE_FAKE_ORIGIN 1
+
+param set-default MPC_ALT_MODE 2
+
+param set-default SENS_FLOW_ROT 6
+param set-default SENS_FLOW_MINHGT 0.7
+param set-default SENS_FLOW_MAXHGT 3.0
+param set-default SENS_FLOW_MAXR 2.5

ROMFS/px4fmu_common/init.d-posix/airframes/1011_gazebo-classic_iris_irlock

@@ -1,38 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (irlock)
-#
-# @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
-
-# enable fusion of landing target velocity
-param set-default LTEST_MODE 1
-param set-default PLD_HACC_RAD 0.1
-param set-default RTL_PLD_MD 2
-
-# Start up Landing Target Estimator module
-landing_target_estimator start

ROMFS/px4fmu_common/init.d-posix/airframes/1011_iris_irlock

@@ -0,0 +1,16 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (irlock)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+# enable fusion of landing target velocity
+param set-default LTEST_MODE 1
+param set-default PLD_HACC_RAD 0.1
+param set-default RTL_PLD_MD 2
+
+# Start up Landing Target Estimator module
+landing_target_estimator start

ROMFS/px4fmu_common/init.d-posix/airframes/1012_gazebo-classic_iris_rplidar

@@ -1,32 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (rplidar)
-#
-# @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 LPE_FUSION 242

ROMFS/px4fmu_common/init.d-posix/airframes/1012_iris_rplidar

@@ -0,0 +1,11 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (rplidar)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+param set-default LPE_FUSION 242
+

ROMFS/px4fmu_common/init.d-posix/airframes/1013_gazebo-classic_iris_vision

@@ -1,20 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Vision)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10015_gazebo-classic_iris
-
-# EKF2: Vision position and heading, no GPS
-param set-default EKF2_EV_DELAY 5
-param set-default EKF2_EV_CTRL 15
-param set-default EKF2_HGT_REF 3
-param set-default EKF2_GPS_CTRL 0
-
-# LPE: Vision + baro
-param set-default LPE_FUSION 132
-
-# AEQ: External heading set to use vision input
-param set-default ATT_EXT_HDG_M 1

ROMFS/px4fmu_common/init.d-posix/airframes/1013_iris_vision

@@ -0,0 +1,19 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Vision)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+# EKF2: Vision position and heading
+param set-default EKF2_AID_MASK 24
+param set-default EKF2_EV_DELAY 5
+
+# LPE: Vision + baro
+param set-default LPE_FUSION 132
+
+# AEQ: External heading set to use vision input
+param set-default ATT_EXT_HDG_M 1
+

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_solo

@@ -0,0 +1,13 @@
+#!/bin/sh
+#
+# @name Solo
+#
+# @type Quadrotor
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default MC_PITCHRATE_P 0.1
+param set-default MC_ROLLRATE_P 0.05
+
+set MIXER quad_x

ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_depth_camera

@@ -1,8 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor with a depth camera (forward-facing)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10015_gazebo-classic_iris

ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid

@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+param set-default COM_OBS_AVOID 1
+param set-default MPC_XY_CRUISE 5.0
+

ROMFS/px4fmu_common/init.d-posix/airframes/1016_gazebo-classic_iris_downward_depth_camera

@@ -1,8 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor with a depth camera (downward-facing)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10015_gazebo-classic_iris

ROMFS/px4fmu_common/init.d-posix/airframes/1017_gazebo-classic_iris_opt_flow_mockup

@@ -1,40 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Optical Flow)
-#
-# @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
-
-# EKF2
-param set-default EKF2_GPS_CTRL 0
-param set-default EKF2_OF_CTRL 1
-
-# LPE: Flow-only mode
-param set-default LPE_FUSION 242
-param set-default LPE_FAKE_ORIGIN 1
-
-param set-default MPC_ALT_MODE 2

ROMFS/px4fmu_common/init.d-posix/airframes/1017_iris_opt_flow_mockup

@@ -0,0 +1,17 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Optical Flow)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+# EKF2
+param set-default EKF2_AID_MASK 2
+
+# LPE: Flow-only mode
+param set-default LPE_FUSION 242
+param set-default LPE_FAKE_ORIGIN 1
+
+param set-default MPC_ALT_MODE 2

ROMFS/px4fmu_common/init.d-posix/airframes/1018_iris_vision_velocity

@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Vision Velocity)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+# EKF2: Vision velocity and heading
+param set-default EKF2_AID_MASK 272
+param set-default EKF2_EV_DELAY 5

ROMFS/px4fmu_common/init.d-posix/airframes/1019_gazebo-classic_iris_dual_gps

@@ -1,33 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Dual GPS)
-#
-# @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
-
-# EKF2: Multi GPS blending
-param set-default SENS_GPS_MASK 7