Fix heightrate feedforard for fixdwings

2026-05-25 00:27:34 +08:00 · 2023-03-27 13:13:24 +02:00
631 changed files with 20476 additions and 25579 deletions
@@ -18,14 +18,6 @@ Fixes #{Github issue ID}
 - 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 ...

@@ -1,20 +0,0 @@
-name: 'Close stale issues and PRs'
-on:
-  schedule:
-    - cron: '30 1 * * *'
-
-jobs:
-  stale:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/stale@v4.1.1
-        with:
-          stale-issue-message: 'This issue is stale because it has been open 30 days with no activity. Remove stale label or comment or this will be closed in 5 days.'
-          stale-pr-message: 'This PR is stale because it has been open 45 days with no activity. Remove stale label or comment or this will be closed in 10 days.'
-          close-issue-message: 'This issue was closed because it has been stalled for 5 days with no activity.'
-          close-pr-message: 'This PR was closed because it has been stalled for 10 days with no activity.'
-          days-before-issue-stale: 30
-          days-before-pr-stale: 45
-          days-before-issue-close: 5
-          days-before-pr-close: 10
-          debug-only: true
@@ -105,6 +105,3 @@ src/modules/simulator/simulator_config.h
 src/systemcmds/topic_listener/listener_generated.cpp

 !src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
-
-# colcon
-log/
@@ -58,7 +58,7 @@
 	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
+[submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
+	path = src/modules/microdds_client/Micro-XRCE-DDS-Client
 	url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
 	branch = px4
@@ -483,8 +483,7 @@ 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/lib/events/libevents/*" \
+	-not -path "$(SRC_DIR)/src/modules/microdds_client/dds_topics.yaml" \
 	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
 	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml

@@ -104,9 +104,8 @@ These boards fully comply with Pixhawk Standard, and are maintained by the PX4-A
 These boards are maintained to be compatible with PX4-Autopilot by the Manufacturers.

 * [ARK Electronics ARKV6X](https://docs.px4.io/main/en/flight_controller/arkv6x.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)
+* [Hex Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
+* [Hex 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)
@@ -137,6 +137,11 @@ add_custom_command(
 	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)

@@ -203,24 +208,6 @@ 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}")
@@ -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
@@ -17,9 +17,12 @@ param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 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
 # - without safety switch
+param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

 param set-default CA_ROTOR_COUNT 4
@@ -22,6 +22,7 @@ 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
@@ -11,13 +11,10 @@
 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
@@ -28,9 +25,12 @@ param set-default MC_PITCH_P 5
 param set-default MAV_TYPE 19

 # 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
@@ -30,10 +30,10 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

 # EKF2
+param set-default EKF2_AID_MASK 2
 param set-default EKF2_GPS_CTRL 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
@@ -30,3 +30,5 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

 param set-default COM_OBS_AVOID 1
+param set-default MPC_XY_CRUISE 5.0
+
@@ -30,8 +30,8 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

 # EKF2
+param set-default EKF2_AID_MASK 2
 param set-default EKF2_GPS_CTRL 0
-param set-default EKF2_OF_CTRL 1

 # LPE: Flow-only mode
 param set-default LPE_FUSION 242
@@ -5,6 +5,9 @@

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

+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default CA_AIRFRAME 7
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_R_REV 255
@@ -5,6 +5,9 @@

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

+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default CA_AIRFRAME 7

 param set-default CA_ROTOR_COUNT 8
@@ -5,6 +5,9 @@

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

+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
+
 param set-default FW_LND_ANG 8

 param set-default NPFG_PERIOD 12
@@ -5,8 +5,10 @@

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

+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

-
+param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

 param set-default NPFG_PERIOD 12
@@ -5,9 +5,10 @@

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

-param set-default FW_LAUN_DETCN_ON 1
-param set-default FW_THR_IDLE 0.1 # needs to be running before throw as that's how gazebo detects arming
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

+param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

 param set-default NPFG_PERIOD 12
@@ -46,6 +47,8 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

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

 param set-default CA_ROTOR_COUNT 1
@@ -71,3 +74,5 @@ param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256

+param set-default RWTO_TKOFF 0
+
@@ -25,6 +25,7 @@ param set-default FW_W_EN 1

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

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -25,6 +25,7 @@ param set-default FW_W_EN 1

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

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -5,7 +5,8 @@

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

-
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_ANG 8

@@ -25,6 +25,7 @@ param set-default FW_W_EN 1

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

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -5,7 +5,8 @@

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

-
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_ANG 8

@@ -25,6 +26,7 @@ param set-default FW_THR_TRIM 0.25

 param set-default FW_T_ALT_TC 2
 param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
 param set-default FW_T_TAS_TC 2
@@ -5,8 +5,10 @@

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

+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

-
+param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

 param set-default NPFG_PERIOD 12
@@ -45,6 +47,8 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

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

 param set-default CA_ROTOR_COUNT 1
@@ -71,3 +75,4 @@ param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256

 param set-default FW_THR_TRIM 0.0
+param set-default RWTO_TKOFF 0
@@ -5,6 +5,7 @@

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

+param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
@@ -26,6 +27,7 @@ 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 MIS_DIST_WPS 10000

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -5,7 +5,8 @@

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

-
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_ANG 8
 param set-default FW_THR_LND_MAX 0
@@ -67,6 +67,7 @@ param set-default MC_YAW_P 1.6

 param set-default MIS_TAKEOFF_ALT 10

+param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_XY_P 0.8
 param set-default MPC_XY_VEL_P_ACC 3
 param set-default MPC_XY_VEL_I_ACC 4
@@ -76,5 +77,6 @@ param set-default NAV_ACC_RAD 5

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

@@ -9,8 +9,6 @@

 param set-default MAV_TYPE 20

-param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
-
 param set-default CA_AIRFRAME 4

 param set-default CA_ROTOR_COUNT 4
@@ -44,36 +42,37 @@ param set-default PWM_MAIN_FUNC6 201
 param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_REV 96 # invert both elevons

-# Single-EKF (for replay)
-param set-default EKF2_MULTI_IMU 0
-param set-default SENS_IMU_MODE 1
-
-param set-default FW_P_TC 0.6
-
-param set-default FW_PR_FF 0.1
+param set-default NPFG_PERIOD 12
+param set-default FW_PR_I 0.2
+param set-default FW_PR_P 0.2
 param set-default FW_PSP_OFF 2
-param set-default FW_RR_FF 0.1
-param set-default FW_RR_I 0.2
-param set-default FW_RR_P 0.3
-param set-default FW_THR_TRIM 0.35
-param set-default FW_THR_MAX 0.8
+param set-default FW_P_LIM_MIN -15
+param set-default FW_RR_P 0.2
+param set-default FW_THR_TRIM 0.33
+param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
-param set-default FW_T_CLMB_MAX 6
+param set-default FW_T_ALT_TC 2
+param set-default FW_T_CLMB_MAX 8
 param set-default FW_T_HRATE_FF 0.5
-param set-default FW_T_SINK_MAX 3
-param set-default FW_T_SINK_MIN 1.6
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_TAS_TC 2

 param set-default MC_AIRMODE 1
-param set-default MC_ROLL_P 3
-param set-default MC_PITCH_P 3
 param set-default MC_ROLLRATE_P 0.3
-param set-default MC_PITCHRATE_P 0.3

-param set-default VT_ARSP_TRANS 10
-param set-default VT_B_TRANS_DUR 5
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_XY_P 0.8
+param set-default MPC_XY_VEL_P_ACC 3
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_D_ACC 0.1
+
+param set-default NAV_ACC_RAD 5
+
 param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_S_Y 1
+param set-default VT_FW_DIFTHR_S_Y 0.5
 param set-default VT_F_TRANS_DUR 1.5
+param set-default VT_F_TRANS_THR 0.7
 param set-default VT_TYPE 0

 param set-default WV_EN 0
@@ -70,6 +70,7 @@ param set-default MPC_XY_VEL_D_ACC 0.1

 param set-default MIS_TAKEOFF_ALT 10

+param set-default VT_B_TRANS_DUR 8
 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_FWD_THRUST_SC 0.6
 param set-default VT_TILT_TRANS 0.6
@@ -66,6 +66,7 @@ param set-default MC_YAW_P 1.6

 param set-default MIS_TAKEOFF_ALT 10

+param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_XY_P 0.8
 param set-default MPC_XY_VEL_P_ACC 3
 param set-default MPC_XY_VEL_I_ACC 4
@@ -77,6 +78,7 @@ param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
+param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2


@@ -5,8 +5,10 @@

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

+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

-
+param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

 param set-default NPFG_PERIOD 12
@@ -1,74 +0,0 @@
-#!/bin/sh
-#
-# @name Quadrotor + Tailsitter
-#
-# @type VTOL Quad Tailsitter
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default MAV_TYPE 20
-
-param set-default CA_AIRFRAME 4
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.23
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.23
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.23
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.23
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default CA_SV_CS_COUNT 0
-
-param set-default 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 0
-
-parm set-default FD_FAIL_R 70
-
-param set-default FW_P_TC 0.6
-
-param set-default FW_PR_I 0.3
-param set-default FW_PR_P 0.5
-param set-default FW_PSP_OFF 2
-param set-default FW_RR_FF 0.1
-param set-default FW_RR_I 0.1
-param set-default FW_RR_P 0.2
-param set-default FW_YR_FF 0 # make yaw rate controller very weak, only keep default P
-param set-default FW_YR_I 0
-param set-default FW_THR_TRIM 0.35
-param set-default FW_THR_MAX 0.8
-param set-default FW_THR_MIN 0.05
-param set-default FW_T_CLMB_MAX 6
-param set-default FW_T_HRATE_FF 0.5
-param set-default FW_T_SINK_MAX 3
-param set-default FW_T_SINK_MIN 1.6
-param set-default FW_AIRSPD_STALL 10
-param set-default FW_AIRSPD_MIN 14
-param set-default FW_AIRSPD_TRIM 18
-param set-default FW_AIRSPD_MAX 22
-
-param set-default MC_AIRMODE 2
-param set-default MAN_ARM_GESTURE 0 # required for yaw airmode
-param set-default MC_ROLL_P 3
-param set-default MC_PITCH_P 3
-param set-default MC_ROLLRATE_P 0.3
-param set-default MC_PITCHRATE_P 0.3
-
-param set-default VT_ARSP_TRANS 15
-param set-default VT_B_TRANS_DUR 5
-param set-default VT_FW_DIFTHR_EN 7
-param set-default VT_FW_DIFTHR_S_Y 1
-param set-default VT_F_TRANS_DUR 1.5
-param set-default VT_TYPE 0
-
-param set-default WV_EN 0
@@ -18,9 +18,12 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

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

+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

@@ -18,9 +18,12 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

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

+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

@@ -25,9 +25,12 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

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

+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 3.0

@@ -18,9 +18,12 @@ param set-default GND_THR_CRUISE 0.85
 param set-default GND_THR_MAX 1
 param set-default GND_THR_MIN 0

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

+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

@@ -26,6 +26,7 @@ param set-default NAV_ACC_RAD 20
 param set-default NAV_DLL_ACT 2
 param set-default NAV_LOITER_RAD 50

+param set-default RWTO_TKOFF 0
 # Parameters related to autogyro takeoff PR
 #param set-default AG_TKOFF 1
 #param set-default AG_PROT_TYPE 1
@@ -5,6 +5,50 @@
 # @type Quadrotor
 #

+. ${R}etc/init.d/rc.mc_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_depth}

-. ${R}etc/init.d-posix/airframes/4001_gz_x500
+param set-default SIM_GZ_EN 1
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+
+param set-default CA_AIRFRAME 0
+param set-default CA_ROTOR_COUNT 4
+
+param set-default CA_ROTOR0_PX 0.13
+param set-default CA_ROTOR0_PY 0.22
+param set-default CA_ROTOR0_KM  0.05
+
+param set-default CA_ROTOR1_PX -0.13
+param set-default CA_ROTOR1_PY -0.20
+param set-default CA_ROTOR1_KM  0.05
+
+param set-default CA_ROTOR2_PX 0.13
+param set-default CA_ROTOR2_PY -0.22
+param set-default CA_ROTOR2_KM -0.05
+
+param set-default CA_ROTOR3_PX -0.13
+param set-default CA_ROTOR3_PY 0.20
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_EC_FUNC3 103
+param set-default SIM_GZ_EC_FUNC4 104
+
+param set-default SIM_GZ_EC_MIN1 150
+param set-default SIM_GZ_EC_MIN2 150
+param set-default SIM_GZ_EC_MIN3 150
+param set-default SIM_GZ_EC_MIN4 150
+
+param set-default SIM_GZ_EC_MAX1 1000
+param set-default SIM_GZ_EC_MAX2 1000
+param set-default SIM_GZ_EC_MAX3 1000
+param set-default SIM_GZ_EC_MAX4 1000
+
+param set-default MPC_THR_HOVER 0.60
@@ -10,14 +10,13 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}

-param set-default SIM_GZ_EN 1
-
 param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 0
 param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1

-
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_ANG 8

@@ -11,8 +11,6 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}

-param set-default SIM_GZ_EN 1
-
 param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 0
 param set-default SENS_EN_MAGSIM 1
@@ -96,6 +94,7 @@ param set-default MC_YAW_P 1.6

 param set-default MIS_TAKEOFF_ALT 10

+param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_XY_P 0.8
 param set-default MPC_XY_VEL_P_ACC 3
 param set-default MPC_XY_VEL_I_ACC 4
@@ -105,5 +104,6 @@ param set-default NAV_ACC_RAD 5

 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75
+param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2
 param set-default FD_ESCS_EN 0
@@ -5,6 +5,8 @@
 # @type Quadrotor
 #

-PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_vision}
-
 . ${R}etc/init.d-posix/airframes/4001_gz_x500
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_vision}
@@ -1,152 +0,0 @@
-#!/bin/sh
-#
-# @name PX4Vision SITL
-# Holybro px4vision. Gazebo Only.
-#
-# @type Quadrotor
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=px4vision}
-
-param set-default SIM_GZ_EN 1
-
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-
-# Commander Parameters
-param set-default COM_OBS_AVOID 0
-param set-default COM_DISARM_LAND 0.5
-
-# EKF2 parameters
-param set-default EKF2_DRAG_CTRL 1
-param set-default EKF2_IMU_POS_X 0.02
-param set-default EKF2_GPS_POS_X 0.055
-param set-default EKF2_GPS_POS_Z -0.15
-param set-default EKF2_MIN_RNG 0.03
-param set-default EKF2_OF_CTRL 1
-param set-default EKF2_OF_POS_X 0.055
-param set-default EKF2_OF_POS_Y 0.02
-param set-default EKF2_OF_POS_Z 0.065
-param set-default EKF2_REQ_HDRIFT 0.3
-param set-default EKF2_REQ_SACC 1
-param set-default EKF2_REQ_VDRIFT 0.3
-param set-default EKF2_RNG_A_HMAX 8
-param set-default EKF2_RNG_A_VMAX 2
-param set-default EKF2_RNG_POS_X 0.055
-param set-default EKF2_RNG_POS_Y -0.01
-param set-default EKF2_RNG_POS_Z 0.065
-param set-default EKF2_PCOEF_XP -0.25
-param set-default EKF2_PCOEF_YN -0.55
-param set-default EKF2_PCOEF_YP -0.55
-
-# MAVLink parameters
-# param set-default MAV_0_CONFIG 101		Not found
-# param set-default MAV_1_CONFIG 102		Not found
-param set-default MAV_1_RATE 80000
-param set-default MAV_1_MODE 9
-# param set-default SER_TEL1_BAUD 921600	Not found
-
-# Vehicle attitude PID tuning
-param set-default MC_ACRO_EXPO 0
-param set-default MC_ACRO_EXPO_Y 0
-param set-default MC_ACRO_P_MAX 200
-param set-default MC_ACRO_R_MAX 200
-param set-default MC_ACRO_SUPEXPO 0
-param set-default MC_ACRO_SUPEXPOY 0
-param set-default MC_ACRO_Y_MAX 150
-param set-default MC_PITCHRATE_D 0.0015
-param set-default MC_ROLLRATE_D 0.0015
-param set-default MC_YAWRATE_P 0.3
-
-# Position Control Tuning
-param set-default CP_DIST 6
-param set-default MPC_ACC_DOWN_MAX 5
-param set-default MPC_ACC_HOR_MAX 10
-param set-default MPC_MANTHR_MIN 0
-param set-default MPC_MAN_Y_MAX 120
-param set-default MPC_THR_HOVER 0.3
-param set-default MPC_VEL_MANUAL 5
-param set-default MPC_XY_VEL_MAX 5
-param set-default MPC_XY_VEL_P_ACC 1.58
-param set-default MPC_XY_TRAJ_P 0.3
-# param set-default MPC_Z_TRAJ_P 0.3		Not found
-param set-default MPC_Z_VEL_P_ACC 5
-param set-default MPC_Z_VEL_I_ACC 3
-param set-default MPC_LAND_ALT1 3
-param set-default MPC_LAND_ALT2 1
-param set-default MPC_POS_MODE 3
-param set-default CP_GO_NO_DATA 1
-
-# Navigator Parameters
-param set-default NAV_ACC_RAD 2
-
-# RTL Parameters
-param set-default RTL_DESCEND_ALT 5
-param set-default RTL_RETURN_ALT 5
-
-# Logging Parameters
-param set-default SDLOG_PROFILE 131
-
-# Sensors Parameters
-# param set-default SENS_CM8JL65_CFG 202 	Not found
-param set-default SENS_FLOW_MAXHGT 25
-param set-default SENS_FLOW_MINHGT 0.5
-param set-default IMU_GYRO_CUTOFF 100
-# param set-default SENS_TFLOW_CFG 103		Not found
-
-# Power Parameters
-param set-default BAT1_N_CELLS 4
-# param set-default BAT1_A_PER_V 36.364		Not found
-# param set-default BAT1_V_DIV 18.182		Not found
-
-# Circuit breakers
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default THR_MDL_FAC 0.3
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-
-# Outputs
-# param set-default PWM_AUX_FUNC1 101
-# param set-default PWM_AUX_FUNC2 102
-# param set-default PWM_AUX_FUNC3 103
-# param set-default PWM_AUX_FUNC4 104
-
-# param set-default PWM_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 SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_FUNC4 104
-
-param set-default SIM_GZ_EC_MIN1 150
-param set-default SIM_GZ_EC_MIN2 150
-param set-default SIM_GZ_EC_MIN3 150
-param set-default SIM_GZ_EC_MIN4 150
-
-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
-
-
@@ -60,7 +60,6 @@ px4_add_romfs_files(
 	1042_gazebo-classic_tiltrotor
 	1043_gazebo-classic_standard_vtol_drop
 	1044_gazebo-classic_plane_lidar
-	1045_gazebo-classic_quadtailsitter
 	1060_gazebo-classic_rover
 	1061_gazebo-classic_r1_rover
 	1062_flightgear_tf-r1
@@ -76,13 +75,11 @@ px4_add_romfs_files(
 	4003_gz_rc_cessna
 	4004_gz_standard_vtol
 	4005_gz_x500_vision
-	4006_gz_px4vision

 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post

-	10015_gazebo-classic_iris
-	10016_none_iris
+	10016_gazebo-classic_iris
 	10017_jmavsim_iris
 	10018_gazebo-classic_iris_foggy_lidar
 	10019_gazebo-classic_omnicopter
@@ -129,7 +129,6 @@ fi
 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
-param set UXRCE_DDS_KEY $((px4_instance+1))

 if [ $AUTOCNF = yes ]
 then
@@ -168,6 +167,8 @@ param set-default EKF2_REQ_GPS_H 0.5
 # Multi-EKF
 param set-default EKF2_MULTI_IMU 3
 param set-default SENS_IMU_MODE 0
+param set-default EKF2_MULTI_MAG 2
+param set-default SENS_MAG_MODE 0

 param set-default IMU_GYRO_FFT_EN 1
 param set-default MAV_PROTO_VER 2 # Ensures QGC does not drop the first few packets after a SITL restart due to MAVLINK 1 packets
@@ -263,33 +264,20 @@ fi

 navigator start

-# Try to start the UXRCE-DDS Client with UDP transport if module exists
-uxrce_dds_ns=""
+# Try to start the microdds_client with UDP transport if module exists
+microdds_ns=""
 if [ "$px4_instance" -ne "0" ]
 then
-	# for multi intances setup, add namespace prefix
-	uxrce_dds_ns="-n px4_$px4_instance"
+	# Assign new xrce dds key based on instance number and set default namespace
+	param set XRCE_DDS_KEY ${px4_instance}
+	microdds_ns="-n px4_$px4_instance"
 fi
-if [ -n "$PX4_UXRCE_DDS_NS" ]
+if [ -n "$PX4_MICRODDS_NS" ]
 then
 	# Override namespace if environment variable is defined
-	uxrce_dds_ns="-n $PX4_UXRCE_DDS_NS"
+	microdds_ns="-n $PX4_MICRODDS_NS"
 fi
-if [ -n "$ROS_DOMAIN_ID" ]
-then
-	# Match UXRCE_DDS_DOM_ID with ROS_DOMAIN_ID, if defined
-	param set UXRCE_DDS_DOM_ID $ROS_DOMAIN_ID
-else
-	param set UXRCE_DDS_DOM_ID 0
-fi
-uxrce_dds_port=8888
-if [ -n "$PX4_UXRCE_DDS_PORT" ]
-then
-	# Override port if environment variable is defined
-	uxrce_dds_port="$PX4_UXRCE_DDS_PORT"
-fi
-
-uxrce_dds_client start -t udp -h 127.0.0.1 -p $uxrce_dds_port $uxrce_dds_ns
+microdds_client start -t udp -p 8888 $microdds_ns

 if param greater -s MNT_MODE_IN -1
 then
@@ -34,7 +34,10 @@ param set-default HIL_ACT_FUNC3 103
 param set-default HIL_ACT_FUNC4 104

 # 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
@@ -34,6 +34,8 @@ param set-default MC_ROLLRATE_P 0.3
 param set-default MIS_TAKEOFF_ALT 10
 param set-default MIS_YAW_TMT 10

+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_THR_MIN 0.1
 param set-default MPC_XY_P 0.8
 param set-default MPC_XY_VEL_D_ACC 0.1
@@ -92,9 +94,12 @@ param set SYS_HITL 1
 param set UAVCAN_ENABLE 0

 # 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 MAV_TYPE 22
@@ -36,9 +36,12 @@ param set-default HIL_ACT_FUNC4 104
 param set SYS_HITL 2

 # 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
@@ -39,9 +39,12 @@ param set-default HIL_ACT_FUNC6 400
 param set-default SYS_HITL 2

 # 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
@@ -17,10 +17,7 @@

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

-param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
-
 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_MOT_COUNT 2
 param set-default VT_TYPE 0
@@ -57,9 +54,12 @@ param set-default MAV_TYPE 19
 param set-default SYS_HITL 2

 # 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
@@ -33,6 +33,9 @@ param set-default CBRK_IO_SAFETY 22027

 param set-default EKF2_GPS_POS_X -0.12
 param set-default EKF2_IMU_POS_X -0.12
+param set-default EKF2_TAU_VEL 0.5
+param set-default EKF2_GPS_P_GATE 10
+param set-default EKF2_GPS_V_GATE 10

 param set-default FW_ARSP_MODE 1
 param set-default NPFG_PERIOD 25
@@ -45,9 +48,11 @@ param set-default FW_R_LIM 35
 param set-default FW_RR_FF 0.9
 param set-default FW_RR_I 0.08
 param set-default FW_RR_P 0.18
+param set-default FW_T_HRATE_FF 0.5
 param set-default FW_T_CLMB_MAX 3
 param set-default FW_T_SINK_MAX 3
 param set-default FW_T_SINK_MIN 1
+param set-default FW_T_VERT_ACC 6
 param set-default FW_THR_TRIM 0.70
 param set-default FW_THR_SLEW_MAX 1
 param set-default FW_P_LIM_MAX 15
@@ -57,24 +62,37 @@ param set-default FW_P_RMAX_POS 45
 param set-default FW_R_RMAX 50
 param set-default FW_THR_MIN 0.55
 param set-default FW_BAT_SCALE_EN 1
+param set-default FW_THR_ALT_SCL 2.7
 param set-default FW_T_RLL2THR 20

+param set-default LNDMC_XY_VEL_MAX 1
+param set-default LNDMC_Z_VEL_MAX 0.7
+
 param set-default MC_ROLLRATE_P 0.16
 param set-default MC_ROLLRATE_I 0.01
+param set-default MC_ROLLRATE_MAX 80
 param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCHRATE_MAX 80
+param set-default MC_YAW_P 3.5

 param set-default MC_YAWRATE_MAX 20
 param set-default MC_AIRMODE 1

 param set-default MIS_DIST_1WP 100
+param set-default MIS_DIST_WPS 100000
 param set-default MIS_TAKEOFF_ALT 15

 param set-default MPC_XY_P 0.8
+param set-default MPC_XY_VEL_P_ACC 2
 param set-default MPC_XY_VEL_MAX 5
+param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_LAND_SPEED 1.2
 param set-default MPC_TILTMAX_LND 35
 param set-default MPC_Z_VEL_MAX_UP 1.5
+param set-default MPC_HOLD_MAX_XY 0.5
+param set-default MPC_HOLD_MAX_Z 0.5
 param set-default MPC_TKO_RAMP_T 0.8
+param set-default MPC_XY_CRUISE 5
 param set-default MPC_TILTMAX_AIR 25
 param set-default MPC_TILTMAX_LND 25
 param set-default MPC_YAWRAUTO_MAX 20
@@ -96,12 +114,17 @@ param set-default MAV_1_FORWARD 1
 param set-default SER_TEL2_BAUD 57600

 param set-default VT_TYPE 2
+param set-default VT_F_TRANS_THR 1
 param set-default VT_PITCH_MIN 8
 param set-default VT_FW_QC_P 55
 param set-default VT_FW_QC_R 55
 param set-default VT_TRANS_MIN_TM 15
+param set-default VT_B_TRANS_DUR 8
 param set-default VT_FWD_THRUST_SC 4
+param set-default VT_F_TRANS_DUR 1
+param set-default VT_B_TRANS_THR 0.7
 param set-default VT_TRANS_TIMEOUT 22
+param set-default VT_F_TRANS_RAMP 4

 param set-default COM_RC_OVERRIDE 0

@@ -41,6 +41,7 @@ param set-default FW_R_RMAX 50
 param set-default FW_THR_TRIM 0.65
 param set-default FW_THR_MIN 0.3
 param set-default FW_THR_SLEW_MAX 0.6
+param set-default FW_T_HRATE_FF 0
 param set-default FW_T_SINK_MAX 15
 param set-default FW_T_SINK_MIN 3
 param set-default FW_YR_P 0.15
@@ -52,12 +53,21 @@ param set-default MC_YAWRATE_I 0.15
 param set-default MC_YAWRATE_MAX 40
 param set-default MC_YAWRATE_P 0.3

+param set-default MPC_ACC_DOWN_MAX 2
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_ACC_UP_MAX 3
 param set-default MC_AIRMODE 1
+param set-default MPC_JERK_AUTO 4
 param set-default MPC_LAND_SPEED 1
 param set-default MPC_MAN_TILT_MAX 25
 param set-default MPC_MAN_Y_MAX 40
+param set-default COM_SPOOLUP_TIME 1.5
 param set-default MPC_THR_HOVER 0.45
 param set-default MPC_TILTMAX_AIR 25
+param set-default MPC_TKO_RAMP_T 1.8
+param set-default MPC_VEL_MANUAL 3
+param set-default MPC_XY_CRUISE 3
+param set-default MPC_XY_VEL_MAX 3.5
 param set-default MPC_YAWRAUTO_MAX 40
 param set-default MPC_Z_VEL_MAX_UP 2

@@ -71,9 +81,11 @@ param set-default SENS_BOARD_ROT 4
 param set-default VT_ARSP_BLEND 10
 param set-default VT_ARSP_TRANS 21
 param set-default VT_B_DEC_MSS 1.5
+param set-default VT_B_TRANS_DUR 12
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_FWD_THRUST_SC 1.2
 param set-default VT_F_TR_OL_TM 8
+param set-default VT_PSHER_RMP_DT 2
 param set-default VT_TRANS_MIN_TM 4
 param set-default VT_TYPE 2

@@ -12,8 +12,6 @@

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

-param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
-
 param set-default CA_AIRFRAME 4
 param set-default CA_ROTOR_COUNT 2
 param set-default CA_ROTOR0_KM -0.05
@@ -31,4 +29,3 @@ param set-default CA_SV_CS1_TYPE 6
 param set-default MAV_TYPE 19
 param set-default VT_TYPE 0
 param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_B_TRANS_DUR 5
@@ -26,6 +26,7 @@ param set-default BAT1_N_CELLS 3

 param set-default SENS_BOARD_ROT 4

+param set-default FW_AIRSPD_MAX 20
 param set-default FW_AIRSPD_MIN 7
 param set-default FW_AIRSPD_TRIM 13
 param set-default FW_THR_TRIM 0.8
@@ -16,12 +16,11 @@ param set-default COM_OBS_AVOID 1
 param set-default COM_DISARM_LAND 0.5

 # EKF2 parameters
-param set-default EKF2_DRAG_CTRL 1
+param set-default EKF2_AID_MASK 35
 param set-default EKF2_IMU_POS_X 0.02
 param set-default EKF2_GPS_POS_X 0.055
 param set-default EKF2_GPS_POS_Z -0.15
 param set-default EKF2_MIN_RNG 0.03
-param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_POS_X 0.055
 param set-default EKF2_OF_POS_Y 0.02
 param set-default EKF2_OF_POS_Z 0.065
@@ -60,9 +59,12 @@ param set-default MC_YAWRATE_P 0.3
 param set-default CP_DIST 6
 param set-default MPC_ACC_DOWN_MAX 5
 param set-default MPC_ACC_HOR_MAX 10
+param set-default MPC_ACC_UP_MAX 4
 param set-default MPC_MAN_Y_MAX 120
+param set-default MPC_TILTMAX_AIR 45
 param set-default MPC_THR_HOVER 0.3
 param set-default MPC_VEL_MANUAL 5
+param set-default MPC_XY_CRUISE 5
 param set-default MPC_XY_VEL_MAX 5
 param set-default MPC_XY_VEL_P_ACC 1.58
 param set-default MPC_XY_TRAJ_P 0.3
@@ -33,10 +33,3 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.25
 param set-default CA_ROTOR3_PY 0.25
 param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_AUX_FUNC1 101
-param set-default PWM_AUX_FUNC2 102
-param set-default PWM_AUX_FUNC3 103
-param set-default PWM_AUX_FUNC4 104
-param set-default PWM_AUX_TIM0 -4
-
@@ -16,12 +16,11 @@ param set-default COM_OBS_AVOID 1
 param set-default COM_DISARM_LAND 0.5

 # EKF2 parameters
-param set-default EKF2_DRAG_CTRL 1
+param set-default EKF2_AID_MASK 35
 param set-default EKF2_IMU_POS_X 0.02
 param set-default EKF2_GPS_POS_X 0.055
 param set-default EKF2_GPS_POS_Z -0.15
 param set-default EKF2_MIN_RNG 0.03
-param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_POS_X 0.055
 param set-default EKF2_OF_POS_Y 0.02
 param set-default EKF2_OF_POS_Z 0.065
@@ -60,10 +59,13 @@ param set-default MC_YAWRATE_P 0.3
 param set-default CP_DIST 6
 param set-default MPC_ACC_DOWN_MAX 5
 param set-default MPC_ACC_HOR_MAX 10
+param set-default MPC_ACC_UP_MAX 4
 param set-default MPC_MANTHR_MIN 0
 param set-default MPC_MAN_Y_MAX 120
+param set-default MPC_TILTMAX_AIR 45
 param set-default MPC_THR_HOVER 0.3
 param set-default MPC_VEL_MANUAL 5
+param set-default MPC_XY_CRUISE 5
 param set-default MPC_XY_VEL_MAX 5
 param set-default MPC_XY_VEL_P_ACC 1.58
 param set-default MPC_XY_TRAJ_P 0.3
@@ -19,6 +19,7 @@
 . ${R}etc/init.d/rc.mc_defaults

 param set-default CBRK_SUPPLY_CHK 894281
+param set-default CBRK_USB_CHK 197848

 param set-default IMU_GYRO_CUTOFF 100
 param set-default IMU_DGYRO_CUTOFF 60
@@ -58,6 +58,8 @@ param set-default CA_ROTOR3_PX -0.15
 param set-default CA_ROTOR3_PY 0.15
 param set-default CA_ROTOR3_KM -0.05

+param set-default PWM_MAIN_TIM0 0
+
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
@@ -37,20 +37,23 @@ param set-default COM_RC_LOSS_T 3


 # ekf2
+param set-default EKF2_AID_MASK 33
 param set-default EKF2_TERR_MASK 1
+param set-default EKF2_BARO_DELAY 0
 param set-default EKF2_BARO_NOISE 2.0

 param set-default EKF2_BCOEF_X 31.5
 param set-default EKF2_BCOEF_Y 25.5

-param set-default EKF2_DRAG_CTRL 1
-
 param set-default EKF2_GPS_DELAY 100
 param set-default EKF2_GPS_POS_X 0.06
+param set-default EKF2_GPS_POS_Y 0.0
+param set-default EKF2_GPS_POS_Z 0.0
 param set-default EKF2_GPS_V_NOISE 0.5

 param set-default EKF2_IMU_POS_X 0.06

+param set-default EKF2_MAG_DELAY 0
 param set-default EKF2_MAG_NOISE 0.1

 param set-default EKF2_MIN_RNG 0.15
@@ -58,6 +61,7 @@ param set-default EKF2_MIN_RNG 0.15
 param set-default EKF2_OF_DELAY 38
 param set-default EKF2_OF_GATE 2.0
 param set-default EKF2_OF_POS_X -0.035
+param set-default EKF2_OF_POS_Y 0.0
 param set-default EKF2_OF_POS_Z 0.033
 param set-default EKF2_OF_MIN_RNG 0.01
 param set-default EKF2_OF_A_HMAX 7.0
@@ -115,20 +119,30 @@ param set-default MPC_ACC_HOR_MAX 10.0
 param set-default MPC_ACC_UP_MAX 3.0
 param set-default MPC_ALT_MODE 0
 param set-default MPC_LAND_SPEED 0.5
+param set-default MPC_LAND_VEL_XY 10
 param set-default MPC_MAN_TILT_MAX 20
 param set-default MPC_YAWRAUTO_MAX 80.0
+param set-default MPC_POS_MODE 4
 param set-default MPC_THR_HOVER 0.54
 param set-default MPC_THR_MAX 0.9
 param set-default MPC_THR_MIN 0.06
 param set-default MPC_TILTMAX_AIR 30
 param set-default MPC_XY_P 1.0
+param set-default MPC_XY_VEL_D 0.005
+param set-default MPC_XY_VEL_I 0.02
+param set-default MPC_XY_VEL_P 0.15
 param set-default MPC_Z_P 2.0
+param set-default MPC_Z_VEL_D 0.0
+param set-default MPC_Z_VEL_I 0.02
 param set-default MPC_Z_VEL_MAX_DN 2.0
+param set-default MPC_Z_VEL_P 0.27
+

 # gimbal configuration
 param set-default MNT_MODE_IN 0
 param set-default MNT_MODE_OUT 1
 param set-default MNT_MAN_PITCH 2
+param set-default MNT_RC_IN_MODE 1
 param set-default MNT_RATE_PITCH 30

 # RC
@@ -151,6 +165,7 @@ param set-default RC1_TRIM          1000
 param set-default SENS_FLOW_MAXR   7.4
 param set-default SENS_FLOW_MINHGT 0.15
 param set-default SENS_FLOW_MAXHGT 5.0
+param set-default SENS_FLOW_ROT 0

 # ignore the SD card errors and use normal startup sound
 set STARTUP_TUNE "1"
@@ -22,7 +22,10 @@
 param set-default MC_ROLLRATE_D 0.0013
 param set-default MC_PITCHRATE_D 0.0016

+param set-default MC_YAW_FF 0.5
+
 param set-default MPC_MANTHR_MAX 0.9
+param set-default MPC_MANTHR_MIN 0.08

 # Filter settings
 param set-default IMU_DGYRO_CUTOFF 90
@@ -34,8 +37,11 @@ param set-default SENS_BOARD_ROT 10

 # EKF2
 param set-default EKF2_GND_EFF_DZ 6
+param set-default EKF2_HGT_REF 1

 # Position control
+param set-default MPC_Z_P 1
+param set-default MPC_Z_VEL_P_ACC 4
 param set-default MPC_Z_VEL_I_ACC 0.4

 param set-default MPC_THR_MIN 0.06
@@ -45,6 +51,7 @@ param set-default MIS_TAKEOFF_ALT 1.1
 param set-default MPC_XY_P 1.7
 param set-default MPC_XY_VEL_P_ACC 2.6
 param set-default MPC_XY_VEL_I_ACC 1.2
+param set-default MPC_XY_VEL_D_ACC 0.2
 param set-default MPC_TKO_RAMP_T 1
 param set-default MPC_VEL_MANUAL 3

@@ -52,6 +59,7 @@ param set-default BAT1_SOURCE 0
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_V_DIV 10.14
 param set-default BAT1_A_PER_V 18.18
+param set-default COM_DISARM_LAND 2

 # Filter settings
 param set-default IMU_GYRO_CUTOFF 90
@@ -23,6 +23,9 @@ param set-default MC_ROLLRATE_D 0.0013

 param set-default MC_PITCHRATE_D 0.0016

+
+param set-default MPC_MANTHR_MIN 0.08
+
 # Filter settings
 param set-default IMU_GYRO_CUTOFF 100

@@ -37,11 +40,12 @@ param set-default SENS_TFMINI_CFG 103
 param set-default SENS_EN_BATT 1

 # EKF2
+param set-default EKF2_AID_MASK 3
 param set-default EKF2_GND_EFF_DZ 6
+param set-default EKF2_HGT_REF 1
 param set-default EKF2_MIN_RNG 0.3

 # Flow
-param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_QMIN 70

 # Position control
@@ -56,6 +60,7 @@ param set-default MIS_TAKEOFF_ALT 1.1
 param set-default MPC_XY_P 1.7
 param set-default MPC_XY_VEL_P_ACC 2.6
 param set-default MPC_XY_VEL_I_ACC 1.2
+param set-default MPC_XY_VEL_D_ACC 0.2
 param set-default MPC_TKO_RAMP_T 1
 param set-default MPC_VEL_MANUAL 3

@@ -63,6 +68,7 @@ param set-default BAT1_SOURCE 0
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_V_DIV 10.14
 param set-default BAT1_A_PER_V 18.18
+param set-default COM_DISARM_LAND 2

 # Filter settings
 param set-default IMU_GYRO_CUTOFF 90
@@ -21,13 +21,14 @@ param set-default BAT1_CAPACITY 240
 param set-default BAT1_SOURCE 1

 param set-default CBRK_SUPPLY_CHK 894281
+param set-default CBRK_USB_CHK 197848
 param set-default COM_RC_IN_MODE 1

 param set-default EKF2_ABL_LIM 2
+param set-default EKF2_AID_MASK 3
 param set-default EKF2_HGT_REF 2
 param set-default EKF2_RNG_CTRL 2
 param set-default EKF2_MAG_TYPE 1
-param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_DELAY 10

 param set-default IMU_GYRO_CUTOFF 100
@@ -19,7 +19,7 @@

 param set-default SYS_MC_EST_GROUP 2
 param set-default SYS_HAS_MAG 0
-param set-default EKF2_OF_CTRL 1
+param set-default EKF2_AID_MASK 2
 param set-default EKF2_GPS_CTRL 0
 param set-default EKF2_MAG_TYPE 5

@@ -27,6 +27,7 @@ param set-default BAT1_N_CELLS 1
 param set-default BAT1_SOURCE 1

 param set-default CBRK_SUPPLY_CHK 894281
+param set-default CBRK_USB_CHK 197848
 param set-default COM_RC_IN_MODE 1

 param set-default IMU_GYRO_CUTOFF 100
@@ -39,6 +39,8 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

+param set-default MIS_TAKEOFF_ALT 0.01
+
 param set-default NAV_ACC_RAD 0.5

 param set-default CA_AIRFRAME 5
@@ -44,8 +44,13 @@ param set-default GND_SPEED_D 0.001
 param set-default GND_SPEED_IMAX 0.125
 param set-default GND_SPEED_THR_SC 1

+param set-default MIS_TAKEOFF_ALT 0.01
+
 param set-default NAV_ACC_RAD 0.5

+# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
 # Differential drive acts like ackermann steering with a maximum turn angle of 180 degrees, or pi radians
 param set-default GND_MAX_ANG 3.1415

@@ -45,8 +45,13 @@ param set-default GND_SPEED_D 0.001
 param set-default GND_SPEED_IMAX 0.125
 param set-default GND_SPEED_THR_SC 1

+param set-default MIS_TAKEOFF_ALT 0.01
+
 param set-default NAV_ACC_RAD 0.5

+# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default CA_AIRFRAME 5

 param set-default CA_R_REV 1
@@ -13,6 +13,10 @@

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

+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
+
 param set-default CA_AIRFRAME 7
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_R_REV 255
@@ -13,6 +13,9 @@

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

+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default CA_AIRFRAME 7
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_R_REV 255
@@ -23,9 +23,14 @@
 . ${R}etc/init.d/rc.uuv_defaults


+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
 # companion computer is connected via USB permanently
+param set-default CBRK_USB_CHK 197848
 param set-default CBRK_IO_SAFETY 22027

+param set-default COM_PREARM_MODE 0
+
 param set-default MAV_1_CONFIG 102

 param set-default BAT1_A_PER_V 37.8798
@@ -41,8 +41,14 @@ param set-default MPC_ACC_HOR 8
 param set-default MPC_THR_MIN 0.06
 param set-default MPC_THR_HOVER 0.3
 # altitude control gains
+param set-default MPC_Z_P 1
+param set-default MPC_Z_VEL_P_ACC 4
 param set-default MPC_Z_VEL_I_ACC 0.4
 # position control gains
+param set-default MPC_XY_P 0.9500
+param set-default MPC_XY_VEL_P_ACC 1.8
+param set-default MPC_XY_VEL_I_ACC 0.4
+param set-default MPC_XY_VEL_D_ACC 0.2
 # etc gains
 param set-default MPC_TKO_RAMP_T 0.4
 param set-default MPC_VEL_MANUAL 5
@@ -63,6 +69,8 @@ param set-default MIS_TAKEOFF_ALT 1.1
 #####################################
 # EKF
 #####################################
+# Height mode as GPS
+param set-default EKF2_HGT_REF 1
 # Enable optical flow and GPS
 param set-default EKF2_MAG_TYPE 1
 param set-default EKF2_OF_QMIN 80
@@ -20,7 +20,7 @@ control_allocator start
 #
 fw_rate_control start
 fw_att_control start
-fw_pos_control start
+fw_path_navigation start
 airspeed_selector start

 #
@@ -46,6 +46,7 @@ param set-default RTL_LAND_DELAY -1
 #
 param set-default NAV_ACC_RAD 10

+param set-default MIS_DIST_WPS 5000
 param set-default MIS_TAKEOFF_ALT 25
 param set-default MIS_TKO_LAND_REQ 2

@@ -10,9 +10,9 @@ set VEHICLE_TYPE rover
 # MAV_TYPE_GROUND_ROVER 10
 param set-default MAV_TYPE 10

-# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
-param set-default CBRK_AIRSPD_CHK 162128
-
+#
+# Default parameters for UGVs.
+#
 param set-default MIS_TAKEOFF_ALT 0.01

 param set-default NAV_ACC_RAD 2
@@ -132,12 +132,6 @@ then
 	fi
 fi

-# ADIS16507 spi external IMU
-if param greater -s SENS_EN_ADIS165X 0
-then
-	adis16507 -S start
-fi
-
 # Eagle Tree airspeed sensor external I2C
 if param compare -s SENS_EN_ETSASPD 1
 then
@@ -9,6 +9,3 @@ set VEHICLE_TYPE uuv

 # MAV_TYPE_SUBMARINE 12
 param set-default MAV_TYPE 12
-
-# UUV don't have an airspeed sensor, so disable checks around it
-param set-default CBRK_AIRSPD_CHK 162128
@@ -37,7 +37,7 @@ fi

 fw_rate_control start vtol
 fw_att_control start vtol
-fw_pos_control start vtol
+fw_path_navigation start vtol
 fw_autotune_attitude_control start vtol

 # Start Land Detector
@@ -23,10 +23,12 @@ param set-default EKF2_FUSE_BETA 1

 param set-default HTE_VXY_THR 2.0

+param set-default MIS_DIST_WPS 5000
 param set-default MIS_TKO_LAND_REQ 2

 param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_VEL_MANUAL 5
+param set-default MPC_XY_CRUISE 5
 param set-default MPC_XY_ERR_MAX 5
 param set-default MPC_XY_VEL_MAX 8
 param set-default MPC_JERK_MAX 4.5
@@ -254,7 +254,6 @@ else
 	#
 	rgbled start -X -q
 	rgbled_ncp5623c start -X -q
-	rgbled_lp5562 start -X -q

 	#
 	# Override parameters from user configuration file.
@@ -57,4 +57,7 @@ do
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'mavlink status' || true
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'mavlink stop-all'

+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'gps status' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'gps stop'
+
 done
@@ -25,5 +25,5 @@ exec find boards msg src platforms test \
    -path src/lib/crypto/monocypher -prune -o \
    -path src/lib/crypto/libtomcrypt -prune -o \
    -path src/lib/crypto/libtommath -prune -o \
-    -path src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client -prune -o \
+    -path src/modules/microdds_client/Micro-XRCE-DDS-Client -prune -o \
    -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN
@@ -1,51 +0,0 @@
-#!/usr/bin/env python3
-
-"""
-Converts IP address given in decimal dot notation to int32 to be used in UXRCE_DDS_CFG parameter
-and vice-versa
-
-@author: Beniamino Pozzan (beniamino.pozzan@phd.unipd.it)
-"""
-
-
-import argparse
-
-parser = argparse.ArgumentParser(
-    prog = 'convert_ip',
-    description = 'converts IP to int32 and viceversa'
-    )
-parser.add_argument('input',
-                    type=str,
-                    help='IP address to convert')
-parser.add_argument('-r','--reverse',
-                    action='store_true',
-                    help='converts from int32 to dot decimal')
-
-args = parser.parse_args()
-
-if( args.reverse == False ):
-
-    try:
-        ip_parts = [int(x) for x in args.input.split('.')]
-    except:
-        raise ValueError("Not a valid IP")
-    if( len(ip_parts)!=4 ):
-        raise ValueError("Not a valid IP")
-    if( not all(x>=0 and x<255 for x in ip_parts) ):
-        raise ValueError("Not a valid IP")
-
-    ip = (ip_parts[0]<<24) + (ip_parts[1]<<16) + (ip_parts[2]<<8) + ip_parts[3]
-
-    if(ip & 0x80000000):
-        ip = -0x100000000 + ip
-
-    print(ip)
-
-else:
-    try:
-        ip = int(args.input)
-    except:
-        raise ValueError("Not a valid IP")
-    if(ip < 0):
-        ip = ip + 0x100000000
-    print('{}.{}.{}.{}'.format(ip>>24, (ip>>16)&0xff, (ip>>8)&0xff, ip&0xff))
@@ -264,18 +264,7 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
            }
        per_channel_params.append(param)

-        custom_params = group.get('custom_params', [])
-        for custom_param in custom_params:
-            # Simply pulls all custom params, assuming they are valid ones
-            param = {
-                'name': param_prefix+'_'+custom_param['name'],
-            }
-            # TODO: check and match the custom params in output_groups with module-level parameters
-            del custom_param['name']
-            for param_key in custom_param:
-                # '-' is used in actuators.schema.json, while '_' is used in module_schema.yml
-                param[param_key.replace('_', '-')] = custom_param[param_key]
-            per_channel_params.append(param)
+        # TODO: support non-standard per-channel parameters

        subgroup['per-channel-parameters'] = per_channel_params

@@ -7,7 +7,7 @@ import os
 class JsonOutput():
    def __init__(self, groups):
        all_json = {}
-        all_json['version'] = 2
+        all_json['version'] = 1
        component = {}
        all_json['components'] = {1: component} #1: autopilot component

@@ -35,20 +35,7 @@ function spawn_model() {
 	pushd "$working_dir" &>/dev/null
 	echo "starting instance $N in $(pwd)"
 	$build_path/bin/px4 -i $N -d "$build_path/etc" >out.log 2>err.log &
-
-	set --
-	set -- ${@} ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/scripts/jinja_gen.py
-	set -- ${@} ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/${MODEL}/${MODEL}.sdf.jinja
-	set -- ${@} ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic
-	set -- ${@} --mavlink_tcp_port $((4560+${N}))
-	set -- ${@} --mavlink_udp_port $((14560+${N}))
-	set -- ${@} --mavlink_id $((1+${N}))
-	set -- ${@} --gst_udp_port $((5600+${N}))
-	set -- ${@} --video_uri $((5600+${N}))
-	set -- ${@} --mavlink_cam_udp_port $((14530+${N}))
-	set -- ${@} --output-file /tmp/${MODEL}_${N}.sdf
-
-	python3 ${@}
+	python3 ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/scripts/jinja_gen.py ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf

 	echo "Spawning ${MODEL}_${N} at ${X} ${Y}"

@@ -119,7 +106,7 @@ if [ -z ${SCRIPT} ]; then
 	fi

 	while [ $n -lt $num_vehicles ]; do
-		spawn_model ${vehicle_model} $(($n + 1))
+		spawn_model ${vehicle_model} $n
 		n=$(($n + 1))
 	done
 else
@@ -140,7 +127,7 @@ else
 		m=0
 		while [ $m -lt ${target_number} ]; do
 			export PX4_SIM_MODEL=gazebo-classic_${target_vehicle}
-			spawn_model ${target_vehicle}${LABEL} $(($n + 1)) $target_x $target_y
+			spawn_model ${target_vehicle}${LABEL} $n $target_x $target_y
 			m=$(($m + 1))
 			n=$(($n + 1))
 		done
@@ -1,15 +0,0 @@
-<?xml version="1.0"?>
-<model>
-  <name>PX4 Vision</name>
-  <version>1.0</version>
-  <sdf version='1.9'>model.sdf</sdf>
-
-  <author>
-   <name>Jaeyoung Lim</name>
-   <email>jaeyoung@auterion.com</email>
-  </author>
-
-  <description>
-    This is a model of the Holybro PX4 Vision
-  </description>
-</model>
@@ -1,10 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<sdf version='1.9'>
-  <model name='px4vision'>
-  <include>
-    <uri>
-      https://fuel.gazebosim.org/1.0/PX4/models/PX4 Vision
-    </uri>
-  </include>
-  </model>
-</sdf>
@@ -2,7 +2,7 @@
 <sdf version='1.9'>
  <model name='x500-Depth'>
    <include merge='true'>
-      <uri>x500</uri>
+      <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/x500-Base</uri>
    </include>
    <include merge='true'>
      <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/OakD-Lite</uri>
@@ -12,7 +12,7 @@ baudrate=921600
 device=
 ip="127.0.0.1"
 protocol="tcp"
-while getopts "b:d:ui:p:qsr:loat" opt; do
+while getopts ":b:d:u:p:qsr:f:i:loat" opt; do
 	case $opt in
 		b)
 			baudrate=$OPTARG
@@ -10,7 +10,7 @@ sitl_num=2
 [ -n "$1" ] && sitl_num="$1"

 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
-src_path="$SCRIPT_DIR/../../"
+src_path="$SCRIPT_DIR/.."

 build_path=${src_path}/build/px4_sitl_default

@@ -110,6 +110,10 @@ class PubSub(object):

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

+            # # TODO: handle this case... but not sure where, yet
+            # if match == 'ORB_ID_VEHICLE_ATTITUDE_CONTROLS': # special case
+            #     match = orb_id+orb_id_vehicle_attitude_controls_topic
+
            # match has the form: '[ORB_ID(]<topic_name>'
            if route_group:
                if route_group == 'ORB_ID':
@@ -228,6 +232,9 @@ class Graph(object):

        self._topic_blacklist = set(kwargs.get('topic_blacklist',set()))

+        self._orb_id_vehicle_attitude_controls_topic = 'actuator_controls_0'
+        self._orb_id_vehicle_attitude_controls_re = re.compile(r'\#define\s+ORB_ID_VEHICLE_ATTITUDE_CONTROLS\s+([^,)]+)')
+
        self._warnings = [] # list of all ambiguous scan sites

        self._current_scope = [] # stack with current module (they can be nested)
@@ -503,7 +510,18 @@ class Graph(object):
                elif current_scope.name == 'uorb_tests': # skip this
                    return
                elif current_scope.name == 'uorb':
-                    return # skip this
+
+                    # search and validate the ORB_ID_VEHICLE_ATTITUDE_CONTROLS define
+                    matches = self._orb_id_vehicle_attitude_controls_re.findall(content)
+                    for match in matches:
+                        if match != 'ORB_ID('+self._orb_id_vehicle_attitude_controls_topic:
+                            # if we land here, you need to change _orb_id_vehicle_attitude_controls_topic
+                            raise Exception(
+                                'The extracted define for ORB_ID_VEHICLE_ATTITUDE_CONTROLS '
+                                'is '+match+' but expected ORB_ID('+
+                                self._orb_id_vehicle_attitude_controls_topic)
+
+                    return # skip uorb module for the rest

            line_number = 0
            for full_line in content.splitlines():
@@ -27,6 +27,7 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -45,7 +46,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -13,8 +13,6 @@ CONFIG_DRIVERS_OPTICAL_FLOW_PAA3905=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
-CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
@@ -13,13 +13,6 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_UAVCANNODE_BEEP_COMMAND=y
-CONFIG_UAVCANNODE_GNSS_FIX=y
-CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
-CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
-CONFIG_UAVCANNODE_SAFETY_BUTTON=y
-CONFIG_UAVCANNODE_STATIC_PRESSURE=y
-CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y
@@ -13,14 +13,6 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_UAVCANNODE_BEEP_COMMAND=y
-CONFIG_UAVCANNODE_GNSS_FIX=y
-CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
-CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
-CONFIG_UAVCANNODE_RTK_DATA=y
-CONFIG_UAVCANNODE_SAFETY_BUTTON=y
-CONFIG_UAVCANNODE_STATIC_PRESSURE=y
-CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y
@@ -4,13 +4,11 @@ CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_EXTERNAL_METADATA=y
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_COMMON_HYGROMETERS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
@@ -19,28 +17,10 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_UAVCANNODE_ARMING_STATUS=y
-CONFIG_UAVCANNODE_BEEP_COMMAND=y
-CONFIG_UAVCANNODE_ESC_RAW_COMMAND=y
-CONFIG_UAVCANNODE_ESC_STATUS=y
-CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
-CONFIG_UAVCANNODE_GNSS_FIX=y
-CONFIG_UAVCANNODE_HYGROMETER_MEASUREMENT=y
-CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
-CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
-CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
-CONFIG_UAVCANNODE_RAW_AIR_DATA=y
-CONFIG_UAVCANNODE_RTK_DATA=y
-CONFIG_UAVCANNODE_SERVO_ARRAY_COMMAND=y
-CONFIG_UAVCANNODE_STATIC_PRESSURE=y
-CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
-CONFIG_MODULES_SENSORS=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
--- a/Show More
+++ b/Show More