Merge branch 'rwanda_sih' into rwanda_base

Signed-off-by: RomanBapst <bapstroman@gmail.com>

.ci/Jenkinsfile-compile

@@ -35,6 +35,7 @@ pipeline {
 
           def nuttx_builds_archive = [
             target: [
+                     "3dr_ctrl-zero-h7-oem-revg_default",
                      "airmind_mindpx-v2_default",
                      "ark_can-flow_canbootloader",
                      "ark_can-flow_default",
@@ -47,7 +48,7 @@ pipeline {
                      "ark_fmu-v6x_bootloader",
                      "ark_fmu-v6x_default",
                      "ark_pi6x_bootloader",
-                     "ark_pi6x_default"
+                     "ark_pi6x_default",
                      "atl_mantis-edu_default",
                      "av_x-v1_default",
                      "bitcraze_crazyflie21_default",
@@ -76,6 +77,7 @@ pipeline {
                      "matek_h743-mini_default",
                      "matek_h743-slim_default",
                      "matek_h743_default",
+                     "micoair_h743_default",
                      "modalai_fc-v1_default",
                      "modalai_fc-v2_default",
                      "mro_ctrl-zero-classic_default",

.editorconfig

@@ -1,7 +1,7 @@
 root = true
 
 [*]
-insert_final_newline = false
+insert_final_newline = true
 
 [{*.{c,cpp,cc,h,hpp},CMakeLists.txt,Kconfig}]
 indent_style = tab
@@ -9,6 +9,6 @@ tab_width = 8
 # Not in the official standard, but supported by many editors
 max_line_length = 120
 
-[*.yaml]
+[*.yaml, *.yml]
 indent_style = space
 indent_size = 2

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -20,14 +20,14 @@ body:
           3. Took off '....'
           4. See error
     validations:
-      required: true
+      required: false
 
   - type: textarea
     attributes:
       label: Expected behavior
       description: A clear and concise description of what you expected to happen.
     validations:
-      required: true
+      required: false
 
   - type: textarea
     attributes:
@@ -45,7 +45,7 @@ body:
       placeholder: |
           # PASTE HERE THE LINK TO THE LOG
     validations:
-      required: true
+      required: false
 
   - type: markdown
     attributes:
@@ -60,14 +60,14 @@ body:
       placeholder: |
           # If you don't know the version, paste the output of `ver all` in the MAVLink Shell of QGC
     validations:
-      required: true
+      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: true
+      required: false
 
   - type: dropdown
     attributes:

.github/workflows/build_all_targets.yml

@@ -0,0 +1,90 @@
+# 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:
+    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 }}"]
+    outputs:
+      matrix: ${{ steps.set-matrix.outputs.matrix }}
+      timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Install Python Dependencies
+        uses: py-actions/py-dependency-install@v4
+        with:
+          path: "./Tools/setup/requirements.txt"
+
+      - id: set-matrix
+        run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py --group)"
+
+      - id: set-timestamp
+        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
+
+  setup:
+    name: ${{ matrix.group }}
+    # runs-on: ubuntu-latest
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
+    needs: group_targets
+    strategy:
+      matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
+    container:
+      image: ${{ matrix.container }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: ownership workaround
+        run: git config --system --add safe.directory '*'
+
+      - name: ccache setup keys
+        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: 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: build target group
+        run: |
+            ./Tools/ci_build_all_runner.sh ${{matrix.targets}}
+
+      - name: Upload px4 package
+        uses: actions/upload-artifact@v4
+        with:
+          name: px4_${{matrix.group}}_build_artifacts
+          path: |
+            build/**/*.px4
+            build/**/*.bin
+          compression-level: 0
+
+      - name: ccache post-run
+        run: ccache -s

.github/workflows/checks.yml

@@ -16,6 +16,7 @@ jobs:
       matrix:
         check: [
           "check_format",
+          "check_newlines",
           "tests",
           "tests_coverage",
           "px4_fmu-v2_default stack_check",
@@ -23,6 +24,7 @@ jobs:
           "shellcheck_all",
           "NO_NINJA_BUILD=1 px4_fmu-v5_default",
           "NO_NINJA_BUILD=1 px4_sitl_default",
+          "px4_sitl_allyes",
           "airframe_metadata",
           "module_documentation",
           "parameters_metadata",

.github/workflows/compile_linux.yml

@@ -1,58 +0,0 @@
-name: Compile Linux Targets
-
-on:
-  push:
-    branches:
-    - 'main'
-    - 'stable'
-    - 'beta'
-    - 'release/*'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2023-06-26
-    strategy:
-      matrix:
-        config: [
-          beaglebone_blue_default,
-          emlid_navio2_default,
-          px4_raspberrypi_default,
-          scumaker_pilotpi_default,
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-    - name: ownership workaround
-      run: git config --system --add safe.directory '*'
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${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

@@ -1,54 +0,0 @@
-name: Compile Linux ARM64 Targets
-
-on:
-  push:
-    branches:
-    - 'main'
-    - 'stable'
-    - 'beta'
-    - 'release/*'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2022-08-12
-    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_nuttx.yml

@@ -1,136 +0,0 @@
-name: Compile Nuttx Targets
-
-on:
-  push:
-    branches:
-    - 'main'
-    - 'stable'
-    - 'beta'
-    - 'release/*'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2022-08-12
-    strategy:
-      fail-fast: false
-      matrix:
-        config: [
-          airmind_mindpx-v2,
-          ark_can-flow,
-          ark_can-gps,
-          ark_can-rtk-gps,
-          ark_cannode,
-          ark_fmu-v6x,
-          ark_pi6x,
-          ark_septentrio-gps,
-          atl_mantis-edu,
-          av_x-v1,
-          bitcraze_crazyflie,
-          bitcraze_crazyflie21,
-          cuav_can-gps-v1,
-          cuav_nora,
-          cuav_x7pro,
-          cubepilot_cubeorange,
-          cubepilot_cubeorangeplus,
-          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-classic,
-          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_mr-canhubk3,
-          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,
-          px4_fmu-v6xrt,
-          raspberrypi_pico,
-          sky-drones_smartap-airlink,
-          spracing_h7extreme,
-          uvify_core,
-          siyi_n7
-          ]
-    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/deploy_all.yml

@@ -54,4 +54,3 @@ jobs:
         AWS_REGION: 'us-west-1'
         SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
         DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
-

.github/workflows/mavros_mission_tests.yml

@@ -11,6 +11,8 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
+    env:
+      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
     strategy:
       fail-fast: false
       matrix:
@@ -86,7 +88,7 @@ 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@v2-preview
+      uses: actions/upload-artifact@v4
       with:
         name: coredump
         path: px4.core
@@ -101,21 +103,21 @@ jobs:
 
     - name: Upload px4 binary
       if: failure()
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v4
       with:
         name: binary
         path: build/px4_sitl_default/bin/px4
 
     - name: Store PX4 log
       if: failure()
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v4
       with:
         name: px4_log
         path: ~/.ros/log/*/*.ulg
 
     - name: Store ROS log
       if: failure()
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v4
       with:
         name: ros_log
         path: ~/.ros/**/rostest-*.log

.github/workflows/mavros_offboard_tests.yml

@@ -11,6 +11,8 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
+    env:
+      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
     strategy:
       fail-fast: false
       matrix:
@@ -81,7 +83,7 @@ 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@v2-preview
+      uses: actions/upload-artifact@v4
       with:
         name: coredump
         path: px4.core
@@ -96,21 +98,21 @@ jobs:
 
     - name: Upload px4 binary
       if: failure()
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v4
       with:
         name: binary
         path: build/px4_sitl_default/bin/px4
 
     - name: Store PX4 log
       if: failure()
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v4
       with:
         name: px4_log
         path: ~/.ros/log/*/*.ulg
 
     - name: Store ROS log
       if: failure()
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v4
       with:
         name: ros_log
         path: ~/.ros/**/rostest-*.log

.github/workflows/sitl_tests.yml

@@ -1,3 +1,8 @@
+# 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:
@@ -10,126 +15,139 @@ on:
 
 jobs:
   build:
-    runs-on: ubuntu-latest
+    name: Testing PX4 ${{ matrix.config.model }}
+    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
+    container:
+      image: px4io/px4-dev-simulation-focal:2021-09-08
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     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@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
 
-    - 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: Git Ownership Workaround
+        run: git config --system --add safe.directory '*'
 
-    - 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 = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
+      - id: set-timestamp
+        name: Set timestamp for cache
+        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
 
-    - 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-classic
-    - name: ccache post-run sitl_gazebo-classic
-      run: ccache -s
-    - name: Build MAVSDK tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        DONT_RUN: 1
-      run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
-    - name: ccache post-run mavsdk_tests
-      run: ccache -s
+      - name: Cache Key Config
+        uses: actions/cache@v4
+        with:
+          path: ~/.ccache
+          key: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
+          restore-keys: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
 
-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+      - 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: 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: Build PX4
+        env:
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        run: make px4_sitl_default
 
-    - 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: Cache Post-Run [px4_sitl_default]
+        run: ccache -s
 
-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
+      - name: Build SITL Gazebo
+        env:
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        run: make px4_sitl_default sitl_gazebo-classic
 
-    # 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: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavsdk
-        file: coverage/lcov.info
+      - name: Cache Post-Run [sitl_gazebo-classic]
+        run: ccache -s
+
+      - name: Download MAVSDK
+        run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(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

.gitmodules

@@ -71,7 +71,7 @@
 [submodule "src/modules/zenoh/zenoh-pico"]
 	path = src/modules/zenoh/zenoh-pico
 	url = https://github.com/px4/zenoh-pico
-	branch = pr-zubf-werror-fix
+	branch = dev/1.0.0-px4
 [submodule "src/lib/heatshrink/heatshrink"]
 	path = src/lib/heatshrink/heatshrink
 	url = https://github.com/PX4/heatshrink.git

.vscode/cmake-kits.json

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

.vscode/cmake-variants.yaml

@@ -111,6 +111,11 @@ CONFIG:
       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
@@ -151,16 +156,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_can-rtk-gps_canbootloader
-    ark_septentrio_gps_default:
-      short: ark_septentrio_gps_default
+    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
+        CONFIG: ark_septentrio-gps_default
+    ark_septentrio-gps_canbootloader:
+      short: ark_septentrio-gps_canbootloader
       buildType: MinSizeRel
       settings:
-        CONFIG: ark_septentrio_gps_canbootloader
+        CONFIG: ark_septentrio-gps_canbootloader
     ark_cannode_default:
       short: ark_cannode_default
       buildType: MinSizeRel
@@ -281,6 +286,11 @@ CONFIG:
       buildType: MiniSizeRel
       settings:
         CONFIG: matek_gnss-m9n-f4_default
+    micoair_h743_default:
+      short: micoair_h743
+      buildType: MinSizeRel
+      settings:
+        CONFIG: micoair_h743_default
     modalai_fc-v1_default:
       short: modalai_fc-v1
       buildType: MinSizeRel

.vscode/settings.json

@@ -15,6 +15,7 @@
         "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,

CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2017 - 2022 PX4 Development Team. All rights reserved.
+# Copyright (c) 2017 - 2024 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
@@ -113,12 +113,20 @@ include(px4_parse_function_args)
 include(px4_git)
 
 execute_process(
-	COMMAND git describe --exclude ext/* --always --tags
+	COMMAND git describe --exclude ext/* --tags --match "v[0-9]*"
 	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})
 
@@ -132,7 +140,9 @@ 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)
 
-message(STATUS "PX4 version: ${PX4_GIT_TAG} (${PX4_VERSION_MAJOR}.${PX4_VERSION_MINOR}.${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})
 
 define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                  BRIEF_DOCS "PX4 module libs"

Kconfig

@@ -185,6 +185,17 @@ menu "Serial ports"
         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"
+endmenu
+
 menu "drivers"
 source "src/drivers/Kconfig"
 endmenu

Makefile

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 - 2020 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 - 2024 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
@@ -323,7 +323,34 @@ 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: ark_fmu-v6x_bootloader 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
+bootloaders_update: \
+	3dr_ctrl-zero-h7-oem-revg_bootloader \
+	ark_fmu-v6x_bootloader \
+	ark_pi6x_bootloader \
+	cuav_nora_bootloader \
+	cuav_x7pro_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 \
+	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
 	git status
 
 .PHONY: coverity_scan
@@ -354,9 +381,9 @@ doxygen:
 	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
 	@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll
 
-# Astyle
+# Style
 # --------------------------------------------------------------------
-.PHONY: check_format format
+.PHONY: check_format format check_newlines
 
 check_format:
 	$(call colorecho,'Checking formatting with astyle')
@@ -367,6 +394,10 @@ 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
+
 # Testing
 # --------------------------------------------------------------------
 .PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance
@@ -520,14 +551,14 @@ 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) help|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) 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: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
+		awk -v RS= -F: '/(^|\n)# Files(\n|$$)/,/(^|\n)# Finished Make data base/ {if ($$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)>]"

ROMFS/CMakeLists.txt

@@ -120,6 +120,7 @@ add_custom_command(
 		${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}
@@ -131,6 +132,9 @@ add_custom_command(
 		--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}
@@ -320,6 +324,7 @@ add_custom_target(romfs_gen_files_target
 	DEPENDS
 		${romfs_copy_stamp}
 		${romfs_gen_root_dir}/init.d/rc.serial
+		${romfs_gen_root_dir}/init.d/rc.filepaths
 		romfs_extras.stamp
 	)
 

ROMFS/cannode/init.d/rcS

@@ -21,25 +21,14 @@ set R /
 #
 ver all
 
-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
-
-if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/qspi/params
-then
-	set PARAM_FILE /mnt/qspi/params
-fi
+# Load param file location from kconfig
+. ${R}etc/init.d/rc.filepaths
 
 #
 # Load parameters.
 #
 param select $PARAM_FILE
+
 if ! param load
 then
 	param reset_all

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

@@ -29,4 +29,3 @@ 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

@@ -30,4 +30,3 @@ 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/10019_gazebo-classic_omnicopter

@@ -94,4 +94,3 @@ 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/10030_gazebo-classic_px4vision

@@ -12,4 +12,3 @@ 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/10041_sihsim_airplane

@@ -24,8 +24,6 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027
 
-param set-default BAT_N_CELLS 3
-
 param set-default SIH_T_MAX 6
 param set-default SIH_MASS 0.3
 param set-default SIH_IXX 0.00402

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

@@ -33,8 +33,6 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027
 
-param set-default BAT_N_CELLS 3
-
 param set-default SIH_T_MAX 2
 param set-default SIH_Q_MAX 0.0165
 param set-default SIH_MASS 0.2

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

@@ -47,5 +47,5 @@ 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
+param set-default SENS_FLOW_MAXHGT 15
 param set-default SENS_FLOW_MAXR 2.5

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

@@ -30,4 +30,3 @@ 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/1013_gazebo-classic_iris_vision

@@ -18,4 +18,3 @@ 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/1021_gazebo-classic_uuv_hippocampus

@@ -41,4 +41,3 @@ 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/1022_gazebo-classic_uuv_bluerov2_heavy

@@ -61,4 +61,3 @@ 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
-

ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane

@@ -68,5 +68,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-
-

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

@@ -39,7 +39,6 @@ param set-default FW_T_SINK_MIN 2.2
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15

ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult

@@ -41,7 +41,6 @@ param set-default FW_T_SINK_MIN 2.2
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15
@@ -71,4 +70,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-

ROMFS/px4fmu_common/init.d-posix/airframes/1033_jsbsim_rascal

@@ -24,7 +24,6 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1
 
 param set-default MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -56,4 +55,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-

ROMFS/px4fmu_common/init.d-posix/airframes/1034_flightgear_rascal-electric

@@ -24,7 +24,6 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1
 
 param set-default MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo-classic_techpod

@@ -54,4 +54,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-

ROMFS/px4fmu_common/init.d-posix/airframes/1036_jsbsim_malolo

@@ -24,7 +24,6 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1
 
 param set-default MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -56,4 +55,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-

ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer

@@ -62,4 +62,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-

ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider

@@ -39,7 +39,6 @@ param set-default FW_T_SINK_MIN 2.2
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15

ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal

@@ -23,9 +23,7 @@ param set-default FW_RR_P 0.085
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol

@@ -78,4 +78,3 @@ param set-default VT_FWD_THRUST_EN 4
 param set-default VT_FWD_THRUST_SC 1
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_TYPE 2
-

ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo-classic_tailsitter

@@ -75,4 +75,3 @@ param set-default VT_F_TRANS_DUR 1.5
 param set-default VT_TYPE 0
 
 param set-default WV_EN 0
-

ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo-classic_standard_vtol_drop

@@ -88,4 +88,3 @@ param set-default PWM_MAIN_FUNC11 422
 param set-default RC_MAP_AUX1 8
 param set-default RC_MAP_AUX2 9
 param set-default RC_MAP_AUX3 10
-

ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar

@@ -39,7 +39,6 @@ param set-default FW_T_SINK_MIN 2.2
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15

ROMFS/px4fmu_common/init.d-posix/airframes/1045_gazebo-classic_quadtailsitter

@@ -33,7 +33,7 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 0
 
-parm set-default FD_FAIL_R 70
+param set-default FD_FAIL_R 70
 
 param set-default FW_P_TC 0.6
 

ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover

@@ -31,4 +31,3 @@ param set-default PWM_MAIN_FUNC1 201
 param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101
-

ROMFS/px4fmu_common/init.d-posix/airframes/1062_flightgear_tf-r1

@@ -38,4 +38,3 @@ param set-default PWM_MAIN_FUNC1 201
 param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101
-

ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo-classic_boat

@@ -41,4 +41,3 @@ param set-default CA_R_REV 3
 
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
-

ROMFS/px4fmu_common/init.d-posix/airframes/17001_flightgear_tf-g1

@@ -64,4 +64,3 @@ param set-default PWM_MAIN_FUNC4 203
 param set-default PWM_MAIN_FUNC5 407
 param set-default PWM_MAIN_FUNC6 408
 param set-default PWM_MAIN_FUNC7 409
-

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

@@ -69,4 +69,3 @@ param set-default PWM_MAIN_FUNC4 203
 param set-default PWM_MAIN_FUNC5 407
 param set-default PWM_MAIN_FUNC6 408
 param set-default PWM_MAIN_FUNC7 409
-

ROMFS/px4fmu_common/init.d-posix/airframes/2507_gazebo-classic_cloudship

@@ -36,4 +36,3 @@ param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 201
 param set-default PWM_MAIN_FUNC4 103
-

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

@@ -52,3 +52,4 @@ param set-default SIM_GZ_EC_MAX3 1000
 param set-default SIM_GZ_EC_MAX4 1000
 
 param set-default MPC_THR_HOVER 0.60
+param set-default NAV_DLL_ACT 2

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

@@ -101,8 +101,9 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1
 
 param set-default NAV_ACC_RAD 5
+param set-default NAV_DLL_ACT 2
 
 param set-default VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 0.75
+param set-default VT_F_TRANS_THR 0.3
 param set-default VT_TYPE 2
 param set-default FD_ESCS_EN 0

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

@@ -132,3 +132,5 @@ param set-default SIM_GZ_EC_MAX1 1100
 param set-default SIM_GZ_EC_MAX2 1100
 param set-default SIM_GZ_EC_MAX3 1100
 param set-default SIM_GZ_EC_MAX4 1100
+
+param set-default NAV_DLL_ACT 2

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

@@ -6,16 +6,40 @@
 . ${R}etc/init.d/rc.rover_differential_defaults
 
 PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
+# Rover parameters
+param set-default RD_WHEEL_TRACK 0.3
+param set-default RD_MAN_YAW_SCALE 0.1
+param set-default RD_MAX_ACCEL 6
+param set-default RD_MAX_JERK 30
+param set-default RD_MAX_THR_YAW_R 5
+param set-default RD_YAW_RATE_P 0.1
+param set-default RD_YAW_RATE_I 0
+param set-default RD_YAW_P 5
+param set-default RD_YAW_I 0
+param set-default RD_MAX_SPEED 5
+param set-default RD_MAX_THR_SPD 7
+param set-default RD_SPEED_P 1
+param set-default RD_SPEED_I 0
+param set-default RD_MAX_YAW_RATE 180
+param set-default RD_MISS_SPD_DEF 5
+param set-default RD_TRANS_DRV_TRN 0.349066
+param set-default RD_TRANS_TRN_DRV 0.174533
+
+# Pure pursuit parameters
+param set-default PP_LOOKAHD_MAX 30
+param set-default PP_LOOKAHD_MIN 2
+param set-default PP_LOOKAHD_GAIN 1
+
 # Simulated sensors
 param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 0
 param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 1
+param set-default SENS_EN_ARSPDSIM 0
 
 # Actuator mapping
 param set-default SIM_GZ_WH_FUNC1 101 # right wheel

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

@@ -15,14 +15,29 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
 param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 0
 param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 1
+param set-default SENS_EN_ARSPDSIM 0
 # We can arm and drive in manual mode when it slides and GPS check fails:
 param set-default COM_ARM_WO_GPS 1
 
-# Set Differential Drive Kinematics Library parameters:
-param set RDD_WHEEL_BASE 0.9
-param set RDD_WHEEL_RADIUS 0.22
-param set RDD_WHEEL_SPEED 10.0	# Maximum wheel speed rad/s, approx 8 km/h
+# Rover parameters
+param set-default RD_WHEEL_TRACK 0.9
+param set-default RD_MAN_YAW_SCALE 0.1
+param set-default RD_YAW_RATE_I 0.1
+param set-default RD_YAW_RATE_P 5
+param set-default RD_MAX_ACCEL 1
+param set-default RD_MAX_JERK 3
+param set-default RD_MAX_SPEED 8
+param set-default RD_YAW_P 5
+param set-default RD_YAW_I 0.1
+param set-default RD_MAX_YAW_RATE 30
+param set-default RD_MISS_SPD_DEF 8
+param set-default RD_TRANS_DRV_TRN 0.349066
+param set-default RD_TRANS_TRN_DRV 0.174533
+
+# Pure pursuit parameters
+param set-default PP_LOOKAHD_MAX 30
+param set-default PP_LOOKAHD_MIN 2
+param set-default PP_LOOKAHD_GAIN 1
 
 # Actuator mapping - set SITL motors/servos output parameters:
 
@@ -36,14 +51,14 @@ param set-default SIM_GZ_WH_FUNC1 101 # right wheel
 param set-default SIM_GZ_WH_FUNC2 102 # left wheel
 #param set-default SIM_GZ_WH_MIN2 0
 #param set-default SIM_GZ_WH_MAX2 200
-#aram set-default SIM_GZ_WH_DIS2 100
+#param set-default SIM_GZ_WH_DIS2 100
 #param set-default SIM_GZ_WH_FAIL2 100
 
 param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels
 
-# Note: The servo configurations ( SIM_GZ_SV_FUNC*) outlined below are intended for educational purposes in this simulation. 
-# They do not have physical effects in the simulated environment, except for actuating the joints. Their definitions are meant to demonstrate 
-# how actuators could be mapped and configured in a real-world application, providing a foundation for understanding and implementing actuator 
+# Note: The servo configurations ( SIM_GZ_SV_FUNC*) outlined below are intended for educational purposes in this simulation.
+# They do not have physical effects in the simulated environment, except for actuating the joints. Their definitions are meant to demonstrate
+# how actuators could be mapped and configured in a real-world application, providing a foundation for understanding and implementing actuator
 # controls in practical scenarios.
 
 # Cutter deck blades clutch, PCA9685 servo channel 3,  "RC FLAPS" (406) - leftmost switch, or "Servo 3" (203):

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

@@ -0,0 +1,49 @@
+#!/bin/sh
+# @name Rover Ackermann
+# @type Rover
+# @class Rover
+
+. ${R}etc/init.d/rc.rover_ackermann_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
+
+param set-default SIM_GZ_EN 1 # Gazebo bridge
+
+# Rover parameters
+param set-default NAV_ACC_RAD 0.5
+param set-default RA_ACC_RAD_GAIN 2
+param set-default RA_ACC_RAD_MAX 3
+param set-default RA_MAX_ACCEL 1.5
+param set-default RA_MAX_JERK 15
+param set-default RA_MAX_SPEED 3
+param set-default RA_MAX_STR_ANG 0.5236
+param set-default RA_MAX_STR_RATE 360
+param set-default RA_MISS_VEL_DEF 3
+param set-default RA_MISS_VEL_GAIN 5
+param set-default RA_MISS_VEL_MIN 1
+param set-default RA_SPEED_I 0.01
+param set-default RA_SPEED_P 2
+param set-default RA_WHEEL_BASE 0.321
+
+# Pure Pursuit parameters
+param set-default PP_LOOKAHD_GAIN 1
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1
+
+# Simulated sensors
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 0
+
+# Wheels
+param set-default SIM_GZ_WH_FUNC1 101
+param set-default SIM_GZ_WH_MIN1 0
+param set-default SIM_GZ_WH_MAX1 200
+param set-default SIM_GZ_WH_DIS1 100
+
+# Steering
+param set-default SIM_GZ_SV_FUNC1 201
+param set-default SIM_GZ_SV_REV 1

ROMFS/px4fmu_common/init.d-posix/airframes/4013_gz_x500_lidar

@@ -0,0 +1,10 @@
+#!/bin/sh
+#
+# @name Gazebo x500 lidar
+#
+# @type Quadrotor
+#
+
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_lidar}
+
+. ${R}etc/init.d-posix/airframes/4001_gz_x500

ROMFS/px4fmu_common/init.d-posix/airframes/4014_gz_x500_mono_cam_down

@@ -0,0 +1,10 @@
+#!/bin/sh
+#
+# @name Gazebo x500 mono cam
+#
+# @type Quadrotor
+#
+
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_mono_cam_down}
+
+. ${R}etc/init.d-posix/airframes/4001_gz_x500

ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480

@@ -63,4 +63,3 @@ param set-default PWM_MAIN_FUNC9 422
 # Landing gear
 param set-default PWM_MAIN_FUNC10 400
 param set-default PWM_MAIN_FUNC11 400
-

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

@@ -119,4 +119,3 @@ 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/CMakeLists.txt

@@ -83,6 +83,9 @@ px4_add_romfs_files(
 	4009_gz_r1_rover
 	4010_gz_x500_mono_cam
 	4011_gz_lawnmower
+	4012_gz_rover_ackermann
+	4013_gz_x500_lidar
+	4014_gz_x500_mono_cam_down
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post

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

@@ -15,6 +15,9 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 	if [ -n "${PX4_HOME_LON}" ]; then
 		param set SIH_LOC_LON0 ${PX4_HOME_LON}
 	fi
+	if [ -n "${PX4_HOME_ALT}" ]; then
+		param set SIH_LOC_H0 ${PX4_HOME_ALT}
+	fi
 
 	if simulator_sih start; then
 

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -157,6 +157,7 @@ param set-default CBRK_SUPPLY_CHK 894281
 
 # disable check, no CPU load reported on posix yet
 param set-default COM_CPU_MAX -1
+param set-default COM_RAM_MAX -1
 
 # Don't require RC calibration and configuration
 param set-default COM_RC_IN_MODE 1

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -44,6 +44,7 @@ px4_add_romfs_files(
 	# TODO
 	rc.balloon_apps
 	rc.balloon_defaults
+	rc.sysinit
 )
 
 if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL)
@@ -77,13 +78,20 @@ if(CONFIG_MODULES_ROVER_POS_CONTROL)
 	)
 endif()
 
-if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
+if(CONFIG_MODULES_ROVER_DIFFERENTIAL)
 	px4_add_romfs_files(
 		rc.rover_differential_apps
 		rc.rover_differential_defaults
 	)
 endif()
 
+if(CONFIG_MODULES_ROVER_ACKERMANN)
+	px4_add_romfs_files(
+		rc.rover_ackermann_apps
+		rc.rover_ackermann_defaults
+	)
+endif()
+
 if(CONFIG_MODULES_UUV_ATT_CONTROL)
 	px4_add_romfs_files(
 		rc.uuv_apps

ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox

@@ -44,4 +44,3 @@ param set-default CA_ROTOR4_KM -0.05
 param set-default CA_ROTOR5_PX 0.25
 param set-default CA_ROTOR5_PY -0.433
 param set-default CA_ROTOR5_PZ 0.05
-

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

@@ -44,8 +44,6 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027
 
-param set-default BAT_N_CELLS 3
-
 param set SIH_T_MAX 6
 param set SIH_MASS 0.3
 param set SIH_IXX 0.00402

ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil

@@ -43,6 +43,10 @@ param set-default CA_SV_CS1_TRQ_P 0.3
 param set-default CA_SV_CS1_TRQ_Y -0.3
 param set-default CA_SV_CS1_TYPE 6
 
+param set-default FW_AIRSPD_MAX 12
+param set-default FW_AIRSPD_MIN 7
+param set-default FW_AIRSPD_TRIM 10
+
 param set-default HIL_ACT_FUNC1 101
 param set-default HIL_ACT_FUNC2 102
 param set-default HIL_ACT_FUNC5 202
@@ -62,7 +66,7 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027
 
-param set-default BAT_N_CELLS 3
+param set-default SENS_DPRES_OFF 0.001
 
 param set SIH_T_MAX 2.0
 param set SIH_Q_MAX 0.0165
@@ -77,3 +81,5 @@ param set SIH_L_ROLL 0.145
 
 # sih as tailsitter
 param set SIH_VEHICLE_TYPE 2
+
+param set-default VT_ARSP_TRANS 6

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

@@ -0,0 +1,99 @@
+#!/bin/sh
+#
+# @name SIH Tailsitter Duo
+#
+# @type Simulation
+# @class VTOL
+#
+# @output Motor1 motor right
+# @output Motor2 motor left
+# @output Servo1 elevon right
+# @output Servo2 elevon left
+#
+# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set UAVCAN_ENABLE 0
+param set-default VT_B_TRANS_DUR 5
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_TYPE 2
+param set-default MPC_MAN_Y_MAX 60
+param set-default MC_PITCH_P 5
+
+param set-default CA_AIRFRAME 2
+param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR0_PX 0.2
+param set-default CA_ROTOR0_PY 0.2
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR1_PX -0.2
+param set-default CA_ROTOR1_PY -0.2
+param set-default CA_ROTOR2_PX 0.2
+param set-default CA_ROTOR2_PY -0.2
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.2
+param set-default CA_ROTOR3_PY 0.2
+param set-default CA_ROTOR3_KM -0.05
+
+
+param set-default CA_ROTOR4_PX -0.3
+param set-default CA_ROTOR4_KM 0.05
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
+
+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 2
+param set-default CA_SV_CS1_TRQ_P 1
+param set-default CA_SV_CS1_TYPE 3
+param set-default CA_SV_CS2_TRQ_Y 1
+
+param set HIL_ACT_REV 32
+
+param set-default FW_AIRSPD_MAX 12
+param set-default FW_AIRSPD_MIN 7
+param set-default FW_AIRSPD_TRIM 10
+
+param set-default HIL_ACT_FUNC1 101
+param set-default HIL_ACT_FUNC2 102
+param set-default HIL_ACT_FUNC3 103
+param set-default HIL_ACT_FUNC4 104
+param set-default HIL_ACT_FUNC5 201
+param set-default HIL_ACT_FUNC6 202
+param set-default HIL_ACT_FUNC7 203
+param set-default HIL_ACT_FUNC8 105
+
+param set-default MAV_TYPE 22
+
+
+
+# set SYS_HITL to 2 to start the SIH and avoid sensors startup
+param set-default SYS_HITL 2
+
+# disable some checks to allow to fly:
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027
+
+param set-default SENS_DPRES_OFF 0.001
+
+param set SIH_T_MAX 2.0
+param set SIH_Q_MAX 0.0165
+param set SIH_MASS 0.2
+# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
+param set SIH_IXX 0.00354
+param set SIH_IYY 0.000625
+param set SIH_IZZ 0.00300
+param set SIH_IXZ 0
+param set SIH_KDV 0.2
+param set SIH_L_ROLL 0.145
+
+# sih as tailsitter
+param set SIH_VEHICLE_TYPE 3
+
+param set-default VT_ARSP_TRANS 6

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

@@ -66,7 +66,6 @@ param set-default MC_PITCHRATE_I 0.05
 param set-default MC_YAWRATE_MAX 20
 param set-default MC_AIRMODE 1
 
-param set-default MIS_DIST_1WP 100
 param set-default MIS_TAKEOFF_ALT 15
 
 param set-default MPC_XY_P 0.8

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

@@ -119,5 +119,3 @@ param set-default PWM_MAIN_TIM0 50
 param set-default PWM_MAIN_DIS1 1500
 param set-default PWM_MAIN_DIS2 1500
 param set-default PWM_MAIN_DIS4 1500
-
-

ROMFS/px4fmu_common/init.d/airframes/14001_generic_mc_with_tilt

@@ -32,4 +32,3 @@ param set-default CA_SV_TL0_MAXA 45
 param set-default CA_SV_TL0_MINA -45
 param set-default CA_SV_TL0_TD 90
 param set-default CA_SV_TL_COUNT 1
-

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

@@ -24,5 +24,3 @@ param set-default MC_PITCHRATE_D 0
 param set-default MC_PITCHRATE_FF 0.1
 
 param set-default CA_AIRFRAME 10
-
-

ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1

@@ -23,4 +23,3 @@ param set-default MAV_0_MODE 1
 param set-default MAV_0_CONFIG 102
 param set-default GPS_UBX_DYNMODEL 8
 param set-default SER_TEL2_BAUD 9600
-

ROMFS/px4fmu_common/init.d/airframes/2106_albatross

@@ -72,5 +72,3 @@ param set-default PWM_MAIN_DIS5 1000
 param set-default PWM_MAIN_DIS6 1500
 param set-default PWM_MAIN_DIS7 1500
 param set-default PWM_MAIN_DIS8 1500
-
-

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

@@ -66,4 +66,3 @@ param set-default CA_ROTOR11_PX -0.344
 param set-default CA_ROTOR11_PY -0.25
 param set-default CA_ROTOR11_PZ -0.05
 param set-default CA_ROTOR11_KM -0.05
-

ROMFS/px4fmu_common/init.d/airframes/2507_cloudship

@@ -38,4 +38,3 @@ param set-default CA_SV_CS_COUNT 1
 param set-default CA_SV_CS0_TRQ_P 1
 
 param set-default CA_R_REV 7
-

ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames

@@ -6,6 +6,7 @@
 # @class Copter
 #
 # @board px4_fmu-v2 exclude
+# @board px4_fmu-v5x exclude
 # @board bitcraze_crazyflie exclude
 #
 # @maintainer Iain Galloway <iain.galloway@nxp.com>

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

@@ -7,6 +7,10 @@
 #
 # @maintainer
 # @board px4_fmu-v2 exclude
+# @board cuav_x7pro exclude
+# @board px4_fmu-v4pro exclude
+# @board px4_fmu-v5x exclude
+# @board px4_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults
@@ -36,7 +40,6 @@ param set-default COM_RC_LOSS_T 3
 
 
 # ekf2
-param set-default EKF2_TERR_MASK 1
 param set-default EKF2_BARO_NOISE 2
 
 param set-default EKF2_BCOEF_X 31.5

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

@@ -12,6 +12,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude
 #

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

@@ -10,6 +10,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude
 #

ROMFS/px4fmu_common/init.d/airframes/4500_clover4

@@ -8,6 +8,7 @@
 # @maintainer Oleg Kalachev <okalachev@gmail.com>
 #
 # @board px4_fmu-v2 exclude
+# @board px4_fmu-v4pro exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/4601_droneblocks_dexi_5

@@ -25,7 +25,6 @@
 param set-default BAT1_CAPACITY 4000
 param set-default BAT1_N_CELLS 6
 param set-default BAT1_V_EMPTY 3.3
-param set-default BAT1_V_LOAD_DROP 0.5
 param set-default BAT_AVRG_CURRENT 13
 
 # Square quadrotor X PX4 numbering
@@ -69,6 +68,9 @@ param set-default MPC_THR_MIN 0.025
 param set-default MPC_VEL_MANUAL 5.0
 param set-default MPC_XY_VEL_MAX 8.0
 
+param set-default RC_CRSF_PRT_CFG 300
+param set-default RC_CRSF_TEL_EN 1
+
 param set-default RTL_RETURN_ALT 15
 
 param set-default SENS_FLOW_MINHGT 0.0

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

@@ -13,6 +13,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board px4_fmu-v6x exclude
 # @board diatone_mamba-f405-mk2 exclude
 #
 . ${R}etc/init.d/rc.mc_defaults

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

@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Generic Rover Differential
+#
+# @type Rover
+# @class Rover
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.rover_differential_defaults

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

@@ -0,0 +1,46 @@
+#!/bin/sh
+#
+# @name Aion Robotics R1 UGV
+#
+# @url https://www.aionrobotics.com/r1
+#
+# @type Rover
+# @class Rover
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.rover_differential_defaults
+
+param set-default BAT1_N_CELLS 4
+
+# Set geometry & output configration
+param set-default RBCLW_ADDRESS 128
+param set-default RBCLW_FUNC1 101
+param set-default RBCLW_FUNC2 102
+param set-default RBCLW_REV 1 # reverse right wheels
+
+# Rover parameters
+param set-default RD_WHEEL_TRACK 0.3
+param set-default RD_MAN_YAW_SCALE 1
+param set-default RD_MAX_ACCEL 5
+param set-default RD_MAX_JERK 10
+param set-default RD_MAX_THR_YAW_R 4
+param set-default RD_YAW_RATE_P 0.1
+param set-default RD_YAW_RATE_I 0
+param set-default RD_YAW_P 5
+param set-default RD_YAW_I 0
+param set-default RD_MAX_SPEED 1.8
+param set-default RD_MAX_THR_SPD 2
+param set-default RD_SPEED_P 0.5
+param set-default RD_SPEED_I 0.1
+param set-default RD_MAX_YAW_RATE 300
+param set-default RD_MISS_SPD_DEF 1.8
+param set-default RD_TRANS_DRV_TRN 0.349066
+param set-default RD_TRANS_TRN_DRV 0.174533
+
+# Pure pursuit parameters
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1
+param set-default PP_LOOKAHD_GAIN 1

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

@@ -1,25 +0,0 @@
-#!/bin/sh
-#
-# @name Aion Robotics R1 UGV
-#
-# @url https://www.aionrobotics.com/r1
-#
-# @type Rover
-# @class Rover
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.rover_differential_defaults
-
-param set-default BAT1_N_CELLS 4
-
-param set-default EKF2_GBIAS_INIT 0.01
-param set-default EKF2_ANGERR_INIT 0.01
-
-# Set geometry & output configration
-param set-default RBCLW_ADDRESS 128
-param set-default RBCLW_FUNC1 101
-param set-default RBCLW_FUNC2 102
-param set-default RBCLW_REV 1 # reverse right wheels

ROMFS/px4fmu_common/init.d/airframes/51000_generic_rover_ackermann

@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Generic Rover Ackermann
+#
+# @type Rover
+# @class Rover
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.rover_ackermann_defaults

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

@@ -0,0 +1,37 @@
+#!/bin/sh
+#
+# @name Axial SCX10 2 Trail Honcho
+#
+# @url https://www.axialadventure.com/product/1-10-scx10-ii-trail-honcho-4wd-rock-crawler-brushed-rtr/AXID9059.html
+#
+# @type Rover
+# @class Rover
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.rover_ackermann_defaults
+
+param set-default BAT1_N_CELLS 3
+
+# Rover parameters
+param set-default NAV_ACC_RAD 0.5
+param set-default RA_ACC_RAD_GAIN 2
+param set-default RA_ACC_RAD_MAX 3
+param set-default RA_MAX_ACCEL 0.5
+param set-default RA_MAX_JERK 10
+param set-default RA_MAX_SPEED 2.7
+param set-default RA_MAX_STR_ANG 0.5236
+param set-default RA_MAX_STR_RATE 270
+param set-default RA_MISS_VEL_DEF 2.7
+param set-default RA_MISS_VEL_GAIN 3.5
+param set-default RA_MISS_VEL_MIN 1
+param set-default RA_SPEED_I 0.1
+param set-default RA_SPEED_P 0.5
+param set-default RA_WHEEL_BASE 0.321
+
+# Pure pursuit parameters
+param set-default PP_LOOKAHD_GAIN 1
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1.5

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

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# @name Generic Ground Vehicle (Ackermann)
+# @name Generic Ground Vehicle (Deprecated)
 #
 # @type Rover
 # @class Rover
@@ -48,5 +48,3 @@ param set-default PWM_MAIN_FUNC1 201
 param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101
-
-

ROMFS/px4fmu_common/init.d/airframes/59001_nxpcup_car_dfrobot_gpx

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# @name NXP Cup car: DF Robot GPX
+# @name NXP Cup car: DF Robot GPX (Deprecated)
 
 #
 # @type Rover

ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic

@@ -42,4 +42,3 @@ param set-default CA_ROTOR3_KM 0
 param set-default CA_ROTOR3_PX 0
 param set-default CA_ROTOR3_PY -0.3
 param set-default CA_ROTOR3_PZ 0.3
-

ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x

@@ -31,5 +31,3 @@ param set-default CA_ROTOR4_PY 0.25
 param set-default CA_ROTOR5_PX -0.43
 param set-default CA_ROTOR5_PY -0.25
 param set-default CA_ROTOR5_KM -0.05
-
-

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

@@ -123,4 +123,3 @@ param set-default PWM_MAIN_FUNC6 106
 param set-default PWM_MAIN_TIM0 -1
 param set-default PWM_MAIN_TIM1 -1
 param set-default PWM_MAIN_TIM2 -1
-

ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+

@@ -31,5 +31,3 @@ param set-default CA_ROTOR4_PY -0.43
 param set-default CA_ROTOR5_PX -0.25
 param set-default CA_ROTOR5_PY 0.43
 param set-default CA_ROTOR5_KM -0.05
-
-

ROMFS/px4fmu_common/init.d/airframes/8001_octo_x

@@ -36,5 +36,3 @@ param set-default CA_ROTOR6_PY -0.46
 param set-default CA_ROTOR7_KM -0.05
 param set-default CA_ROTOR7_PX -0.19
 param set-default CA_ROTOR7_PY 0.46
-
-

ROMFS/px4fmu_common/init.d/airframes/9001_octo_+

@@ -36,4 +36,3 @@ param set-default CA_ROTOR6_PY -0.5
 param set-default CA_ROTOR7_KM -0.05
 param set-default CA_ROTOR7_PX 0
 param set-default CA_ROTOR7_PY 0.5
-

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

@@ -48,6 +48,7 @@ if(CONFIG_MODULES_SIMULATION_PWM_OUT_SIM)
 		1100_rc_quad_x_sih.hil
 		1101_rc_plane_sih.hil
 		1102_tailsitter_duo_sih.hil
+		1103_standard_vtol_sih.hil
 	)
 endif()
 
@@ -136,16 +137,27 @@ if(CONFIG_MODULES_VTOL_ATT_CONTROL)
 	)
 endif()
 
-if(CONFIG_MODULES_ROVER_POS_CONTROL)
+if(CONFIG_MODULES_ROVER_DIFFERENTIAL)
 	px4_add_romfs_files(
-		50000_generic_ground_vehicle
-		50004_nxpcup_car_dfrobot_gpx
+		# [50000, 50999] Differential rovers
+		50000_generic_rover_differential
+		50001_aion_robotics_r1_rover
 	)
 endif()
 
-if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
+if(CONFIG_MODULES_ROVER_ACKERMANN)
 	px4_add_romfs_files(
-		50003_aion_robotics_r1_rover
+		# [51000, 51999] Ackermann rovers
+		51000_generic_rover_ackermann
+		51001_axial_scx10_2_trail_honcho
+	)
+endif()
+
+if(CONFIG_MODULES_ROVER_POS_CONTROL)
+	px4_add_romfs_files(
+		# [59000, 59999] Rover position control (deprecated)
+		59000_generic_ground_vehicle
+		59001_nxpcup_car_dfrobot_gpx
 	)
 endif()