fixup! Update submodules nuttx, apps

New Branch: px4/pr-fdcan-socketcan-latest Includes IRQ -> work queue updates
mro_ctrl-zero-h7-oem: Update socketcan NuttX config
2026-06-06 12:10:09 +08:00 · 2022-05-04 08:36:02 -07:00 · 2022-04-12 15:57:21 -07:00 · 2022-04-12 15:57:21 -07:00 · 2022-04-12 15:57:21 -07:00 · 2022-04-12 15:57:21 -07:00
812 changed files with 22482 additions and 14003 deletions
@@ -73,10 +73,8 @@ pipeline {
                }
              }
              post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
                }
              }
@@ -145,10 +143,8 @@ pipeline {
                }
              }
              post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
                }
              }
@@ -217,10 +213,8 @@ pipeline {
                }
              }
              post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
                }
              }
@@ -288,10 +282,8 @@ pipeline {
                }
              }
              post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
                }
              }
@@ -360,10 +352,8 @@ pipeline {
                }
              }
              post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
                }
              }
@@ -452,10 +442,8 @@ pipeline {
                }
              }
              post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
                }
              }
@@ -536,10 +524,8 @@ pipeline {
                }
              }
              post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
                }
              }
@@ -608,10 +594,8 @@ pipeline {
                }
              }
              post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
                }
              }
@@ -680,10 +664,8 @@ pipeline {
                }
              }
              post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
                }
              }
@@ -793,7 +775,7 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uavcan status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
  // stop logger
@@ -809,7 +791,7 @@ void resetParameters() {
 void runTests() {

  // test loading a range of airframes
-  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 4018 6001 8001 10016'
+  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 6001 8001 10016'

  resetParameters()

@@ -862,7 +844,7 @@ void runTests() {
 void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'

  // these are for casually inspecting the system, output failure doesn't matter
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_armed" || true'
@@ -879,7 +861,7 @@ void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf_gps_drift" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
@@ -1,154 +0,0 @@
-# build docker images on:
-# * every pull request
-# * push to master
-# * stable release published
-# * tag name is:
-#   - commit sha if pull request
-#   - 'latest' if push to master
-#   - release name if release
-
-# pushes to registry if:
-# * is not a pull request
-# * is master branch
-# * is the result of release
-
-# builds all nuttx targets and deploys metadata
-
-name: Build docker
-
-on:
-  release:
-    types: [released]
-  push:
-    branches:
-      - 'master'
-  pull_request:
-
-jobs:
-  set_docker_tag:
-    name: Set docker tag
-    runs-on: ubuntu-latest
-    env:
-      DOCKER_TAG: "px4io/px4-dev"
-    outputs:
-      docker_tag: ${{ steps.set-outputs.outputs.docker_tag }}
-
-    steps:
-      - name: Set pull request docker tag
-        if: github.event_name == 'pull_request'
-        run: echo "DOCKER_TAG=px4io/px4-dev:${{ github.sha }}" >> $GITHUB_ENV
-
-      - name: Set push docker tag
-        if: github.event_name == 'push'
-        run: echo "DOCKER_TAG=px4io/px4-dev:latest" >> $GITHUB_ENV
-
-      - name: Set release docker tag
-        if: github.event_name == 'release'
-        run: echo "DOCKER_TAG=px4io/px4-dev:${{ github.event.release.name }}" >> $GITHUB_ENV
-
-      - name: Set docker tag outputs
-        id: set-outputs
-        run: echo "::set-output name=docker_tag::$DOCKER_TAG"
-
-  build_docker:
-    name: Build Docker image
-    runs-on: ubuntu-latest
-    needs: set_docker_tag
-
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v2
-
-      - name: Login to Github Registry
-        uses: docker/login-action@v1
-        if: github.event_name == 'push'
-        with:
-          registry: ghrc.io
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Set up image builder
-        uses: docker/setup-buildx-action@v1
-
-      - name: Build image
-        uses: docker/build-push-action@v2
-        id: docker_build
-        with:
-          file: Tools/setup/Dockerfile
-          push: ${{ github.event_name != 'pull_request' }}
-          tags: ${{ needs.set_docker_tag.outputs.docker_tag }}
-          outputs: type=tar,dest=/tmp/px4_docker_image.tar
-
-      - name: Save container to artifacts
-        uses: actions/upload-artifact@v2
-        with:
-          name: px4_docker_image
-          path: /tmp/px4_docker_image.tar
-
-      - name: Push to Github Registry
-        uses: docker/build-push-action@v2
-        if: github.event_name == 'push'
-
-      - name: Image Digest
-        run: echo ${{ steps.docker_build.outputs.digest }}
-
-  list_targets:
-    name: Generate target list
-    runs-on: ubuntu-latest
-    needs: build_docker
-    outputs:
-      matrix: ${{ steps.set-matrix.outputs.matrix }}
-
-    steps:
-      - name: Checkout Code
-        uses: actions/checkout@v2
-
-      - name: Setup Python
-        uses: actions/setup-python@v2
-        with:
-          python-version: 3.9
-
-      #- name: Install Python packages
-        #run: pip install -r Tools/setup/requirements.txt
-        #run: pip install kconfiglib
-
-      - id: set-matrix
-        name: Get all nuttx targets
-        run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py -a)"
-
-  build_px4:
-    name: Build targets with Docker
-    runs-on: ubuntu-latest
-    needs: [list_targets, set_docker_tag]
-    #strategy:
-      #matrix: ${{ fromJson(needs.enumerate_targets.outputs.matrix) }}
-
-    steps:
-      - name: Get container from artifacts
-        uses: actions/download-artifact@v2
-        with:
-          name: px4_docker_image
-          path: /tmp
-
-      - name: Load Docker image
-        run: |
-          docker import /tmp/px4_docker_image.tar ${{ needs.set_docker_tag.outputs.docker_tag }}
-          docker image ls -a
-
-      - name: Checkout Code
-        uses: actions/checkout@v2
-
-      - name: Build targets
-        #run: |
-          #docker run --rm -w "${GITHUB_ACTION_PATH}" \
-            #--env=LOCAL_USER_ID="$(id -u)" \
-            #--volume=/tmp:/tmp:rw \
-            #--volume=${GITHUB_ACTION_PATH}:${GITHUB_ACTION_PATH}:rw \
-            #px4io/px4-dev:${{ needs.set_docker_tag.outputs.docker_tag }} /bin/bash -c "make ${{ matrix.target }}"
-
-        run: |
-          docker run --rm -w ${{ github.workspace }} \
-            --env=LOCAL_USER_ID="$(id -u)" \
-            --volume=/tmp:/tmp:rw \
-            --volume=${{ github.workspace }}:${{ github.workspace }}:rw \
-            ${{ needs.set_docker_tag.outputs.docker_tag }} /bin/bash -c "make px4_fmu-v6x"
@@ -0,0 +1,54 @@
+name: Linux Targets
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-armhf:2021-09-08
+    strategy:
+      matrix:
+        config: [
+          beaglebone_blue_default,
+          emlid_navio2_default,
+          px4_raspberrypi_default,
+          scumaker_pilotpi_default,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: ccache post-run
+      run: ccache -s
@@ -0,0 +1,51 @@
+name: Linux ARM64 Targets
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-aarch64:2021-09-08
+    strategy:
+      matrix:
+        config: [
+          scumaker_pilotpi_arm64,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: ccache post-run
+      run: ccache -s
@@ -0,0 +1,120 @@
+name: Nuttx Targets
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
+    strategy:
+      fail-fast: false
+      matrix:
+        config: [
+          airmind_mindpx-v2,
+          ark_can-flow,
+          ark_can-gps,
+          ark_can-rtk-gps,
+          atl_mantis-edu,
+          av_x-v1,
+          bitcraze_crazyflie,
+          bitcraze_crazyflie21,
+          cuav_can-gps-v1,
+          cuav_nora,
+          cuav_x7pro,
+          cubepilot_cubeorange,
+          cubepilot_cubeyellow,
+          freefly_can-rtk-gps,
+          holybro_can-gps-v1,
+          holybro_durandal-v1,
+          holybro_kakutef7,
+          holybro_kakuteh7,
+          holybro_pix32v5,
+          matek_h743-slim,
+          matek_gnss-m9n-f4,
+          modalai_fc-v1,
+          modalai_fc-v2,
+          mro_ctrl-zero-f7,
+          mro_ctrl-zero-f7-oem,
+          mro_ctrl-zero-h7,
+          mro_ctrl-zero-h7-oem,
+          mro_pixracerpro,
+          mro_x21,
+          mro_x21-777,
+          nxp_fmuk66-e,
+          nxp_fmuk66-v3,
+          nxp_fmurt1062-v1,
+          nxp_ucans32k146,
+          omnibus_f4sd,
+          raspberrypi_pico,
+          px4_fmu-v2,
+          px4_fmu-v3,
+          px4_fmu-v4,
+          px4_fmu-v4pro,
+          px4_fmu-v5,
+          px4_fmu-v5x,
+          px4_fmu-v6u,
+          px4_fmu-v6x,
+          spracing_h7extreme,
+          uvify_core
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 120M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make all_variants_${{matrix.config}}
+      run: make all_variants_${{matrix.config}}
+      timeout-minutes: 45
+    - name: make ${{matrix.config}} bloaty_compileunits
+      run: make ${{matrix.config}} bloaty_compileunits || true
+    - name: make ${{matrix.config}} bloaty_inlines
+      run: make ${{matrix.config}} bloaty_inlines || true
+    - name: make ${{matrix.config}} bloaty_segments
+      run: make ${{matrix.config}} bloaty_segments || true
+    - name: make ${{matrix.config}} bloaty_symbols
+      run: make ${{matrix.config}} bloaty_symbols || true
+    - name: make ${{matrix.config}} bloaty_templates
+      run: make ${{matrix.config}} bloaty_templates || true
+    - name: make ${{matrix.config}} bloaty_ram
+      run: make ${{matrix.config}} bloaty_ram || true
+    - name: make ${{matrix.config}} bloaty_compare_master
+      run: make ${{matrix.config}} bloaty_compare_master || true
+    - name: ccache post-run
+      run: ccache -s
+
+    - name: Upload px4 package
+      uses: actions/upload-artifact@v2
+      with:
+        name: px4_package_${{matrix.config}}
+        path: |
+          build/**/*.px4
+          build/**/*.bin
@@ -1,17 +1,11 @@
-name: Build and deploy all targets with metadata
+name: Deploy metadata for all targets

 on:
-  release:
-    types: [published]
-  create:
-    tags:
-      - 'v*'
  push:
    branches:
    - 'master'
    - 'release/*'
    - 'pr-metadata-test'
-    - 'build_and_deploy_mix'

 jobs:
  enumerate_targets:
@@ -24,8 +18,8 @@ jobs:
      with:
        token: ${{secrets.ACCESS_TOKEN}}
    - id: set-matrix
-      run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py -a)"
-  build_all:
+      run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py)"
+  build:
    runs-on: ubuntu-latest
    needs: enumerate_targets
    strategy:
@@ -40,4 +34,21 @@ jobs:
      run: make ${{matrix.target}}

    - name: parameter & events metadata
-      run: make ${{matrix.target}} ver_gen events_json actuators_json
+      run: |
+        make ${{matrix.target}} ver_gen events_json actuators_json
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
+        cd build/${{ matrix.target }}
+        mkdir _metadata || true
+        cp parameters.* events/*.xz actuators.json* _metadata
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
+        DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
+
@@ -24,12 +24,12 @@
 	branch = master
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
-	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.1.0+
+	url = https://github.com/JacobCrabill/incubator-nuttx.git
+	branch = dev/stm32h7-socketcan
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
-	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-10.1.0+
+	url = git@github.com:JacobCrabill/incubator-nuttx-apps.git
+	branch = dev/nuttx-10.2.0
 [submodule "Tools/flightgear_bridge"]
 	path = Tools/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
@@ -412,6 +412,7 @@ endif()
 # subdirectories
 #
 add_library(parameters_interface INTERFACE)
+add_library(kernel_parameters_interface INTERFACE)

 include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)
@@ -434,7 +435,13 @@ add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)

 # must be the last module before firmware
 add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
+
+if(${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT)
+target_link_libraries(parameters_interface INTERFACE usr_parameters)
+target_link_libraries(kernel_parameters_interface INTERFACE parameters)
+else()
 target_link_libraries(parameters_interface INTERFACE parameters)
+endif()

 # firmware added last to generate the builtin for included modules
 add_subdirectory(platforms/${PX4_PLATFORM})
@@ -8,8 +8,5 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-set MAV_TYPE 12
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
 set MIXER custom
@@ -8,8 +8,5 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-set MAV_TYPE 12
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
 set MIXER custom
@@ -67,4 +67,3 @@ param set-default PWM_MAIN_FUNC7 107
 param set-default PWM_MAIN_FUNC8 108

 set MIXER skip
-
@@ -44,6 +44,8 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

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

 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
@@ -10,7 +10,7 @@
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 2

-param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR_COUNT 5
 param set-default CA_ROTOR0_PX 0.1515
 param set-default CA_ROTOR0_PY 0.245
 param set-default CA_ROTOR0_KM 0.05
@@ -23,6 +23,9 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.1515
 param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05
+param set-default CA_ROTOR4_AX 1.0
+param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_PX 0.2

 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_CS0_TYPE 1
@@ -77,7 +80,5 @@ param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2

-set MAV_TYPE 22
-
 set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
 set MIXER custom
@@ -7,6 +7,8 @@

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

+param set-default MAV_TYPE 20
+
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 4

@@ -78,7 +80,5 @@ param set-default VT_TYPE 0

 param set-default WV_EN 0

-set MAV_TYPE 20
-
 set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
 set MIXER custom
@@ -7,6 +7,8 @@

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

+param set-default MAV_TYPE 21
+
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 3

@@ -88,7 +90,5 @@ param set-default VT_MOT_ID 1234
 param set-default VT_TILT_TRANS 0.6
 param set-default VT_TYPE 1

-set MAV_TYPE 21
-
 set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
 set MIXER custom
@@ -51,7 +51,5 @@ param set-default RC_MAP_AUX1 8
 param set-default RC_MAP_AUX2 9
 param set-default RC_MAP_AUX3 10

-set MAV_TYPE 22
-
 set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
 set MIXER custom
@@ -37,6 +37,4 @@ param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101

-set MAV_TYPE 10
-
 set MIXER_FILE skip
@@ -37,6 +37,4 @@ param set-default PWM_MAIN_FUNC2 101
 param set-default PWM_MAIN_FUNC6 102
 param set-default PWM_MAIN_FUNC7 102

-set MAV_TYPE 10
-
 set MIXER_FILE skip
@@ -10,6 +10,8 @@

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

+param set-default MAV_TYPE 10
+
 param set-default GND_L1_DIST 5
 param set-default GND_SP_CTRL_MODE 1
 param set-default GND_SPEED_D 3
@@ -33,6 +35,4 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 3.0

-set MAV_TYPE 10
-
 set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
@@ -47,6 +47,4 @@ param set-default CA_R_REV 3
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102

-set MAV_TYPE 11
-
 set MIXER skip
@@ -9,6 +9,8 @@

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

+param set-default MAV_TYPE 13
+
 param set-default MC_PITCHRATE_P 0.1
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCH_P 6.0
@@ -24,6 +26,4 @@ param set-default TRIG_MODE 4
 param set-default MNT_MODE_IN 4
 param set-default MNT_DO_STAB 2

-set MAV_TYPE 13
-
 set MIXER hexa_x
@@ -7,6 +7,8 @@

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

+param set-default MAV_TYPE 13
+
 param set-default MC_PITCHRATE_P 0.0800
 param set-default MC_PITCHRATE_I 0.0400
 param set-default MC_PITCHRATE_D 0.0010
@@ -26,6 +28,4 @@ param set-default MNT_MODE_IN 4
 param set-default MNT_MODE_OUT 2
 param set-default MAV_PROTO_VER 2

-set MAV_TYPE 13
-
 set MIXER hexa_x
@@ -7,6 +7,8 @@

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

+param set-default MAV_TYPE 13
+
 param set-default SYS_CTRL_ALLOC 1

 param set-default MC_PITCHRATE_P 0.0800
@@ -58,7 +60,5 @@ param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 105
 param set-default PWM_MAIN_FUNC6 106

-set MAV_TYPE 13
-
 set MIXER skip
 set MIXER_AUX none
@@ -24,7 +24,6 @@ fi

 # initialize script variables
 set IO_PRESENT                  no
-set MAV_TYPE                    none
 set MIXER                       none
 set MIXER_AUX                   none
 set MIXER_FILE                  none
@@ -234,7 +233,7 @@ fi

 if param greater -s MNT_MODE_IN -1
 then
-	vmount start
+	gimbal start
 fi

 if param greater -s TRIG_MODE 0
@@ -39,6 +39,26 @@ param set-default FW_RR_P 0.3

 param set-default RWTO_TKOFF 1

+param set-default CA_AIRFRAME 1
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+param set-default CA_SV_CS_COUNT 4
+param set-default CA_SV_CS0_TRQ_R 0.5
+param set-default CA_SV_CS0_TYPE 2
+param set-default CA_SV_CS1_TRQ_P 1.0
+param set-default CA_SV_CS1_TYPE 3
+param set-default CA_SV_CS2_TRQ_Y 1.0
+param set-default CA_SV_CS2_TYPE 4
+param set-default CA_SV_CS3_TYPE 10
+
+param set-default HIL_ACT_REV 2
+param set-default HIL_ACT_FUNC1 201
+param set-default HIL_ACT_FUNC2 202
+param set-default HIL_ACT_FUNC3 203
+param set-default HIL_ACT_FUNC4 101
+param set-default HIL_ACT_FUNC5 204
+param set-default HIL_ACT_FUNC6 400
+
 param set SYS_HITL 1

 # disable some checks to allow to fly
@@ -36,4 +36,5 @@ param set-default MC_PITCHRATE_P 0.19
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCHRATE_D 0.004
 param set-default MC_YAW_P 4
+
 set MIXER quad_w
@@ -15,6 +15,23 @@ set MIXER quad_x

 param set SYS_HITL 1

+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_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+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
+
+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
+
 # disable some checks to allow to fly
 # - with usb
 param set-default CBRK_USB_CHK 197848
@@ -61,6 +61,37 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_TYPE 2

+param set-default CA_AIRFRAME 2
+param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.15
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+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
+param set-default CA_ROTOR4_AX 1.0
+param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_PX 0.2
+
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+
+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 105
+param set-default HIL_ACT_FUNC6 201
+param set-default HIL_ACT_FUNC7 202
+param set-default HIL_ACT_FUNC8 203
+

 param set SYS_HITL 1

@@ -73,7 +104,7 @@ param set-default CBRK_SUPPLY_CHK 894281
 param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

-set MAV_TYPE 22
+param set-default MAV_TYPE 22

 set MIXER standard_vtol_hitl

@@ -17,6 +17,23 @@ set PWM_OUT 1234

 param set UAVCAN_ENABLE 0

+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_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+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
+
+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
+
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2

@@ -17,6 +17,26 @@ set PWM_OUT 1234

 param set UAVCAN_ENABLE 0

+param set-default CA_AIRFRAME 1
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+param set-default CA_SV_CS_COUNT 4
+param set-default CA_SV_CS0_TRQ_R 0.5
+param set-default CA_SV_CS0_TYPE 2
+param set-default CA_SV_CS1_TRQ_P 1.0
+param set-default CA_SV_CS1_TYPE 3
+param set-default CA_SV_CS2_TRQ_Y 1.0
+param set-default CA_SV_CS2_TYPE 4
+param set-default CA_SV_CS3_TYPE 10
+
+param set-default HIL_ACT_REV 2
+param set-default HIL_ACT_FUNC1 201
+param set-default HIL_ACT_FUNC2 202
+param set-default HIL_ACT_FUNC3 203
+param set-default HIL_ACT_FUNC4 101
+param set-default HIL_ACT_FUNC5 204
+param set-default HIL_ACT_FUNC6 400
+
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set-default SYS_HITL 2

@@ -26,8 +26,28 @@ param set-default VT_FW_DIFTHR_SC 0.3
 param set-default MPC_MAN_Y_MAX 60
 param set-default MC_PITCH_P 5

+param set-default CA_AIRFRAME 4
+param set-default CA_ROTOR_COUNT 2
+param set-default CA_ROTOR0_KM -0.05
+param set-default CA_ROTOR0_PY 0.2
+param set-default CA_ROTOR1_KM -0.05
+param set-default CA_ROTOR1_PY -0.2
+param set-default CA_SV_CS_COUNT 2
+param set-default CA_SV_CS0_TRQ_P 0.3
+param set-default CA_SV_CS0_TRQ_Y 0.3
+param set-default CA_SV_CS0_TYPE 5
+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 HIL_ACT_FUNC1 101
+param set-default HIL_ACT_FUNC2 102
+param set-default HIL_ACT_FUNC5 202
+param set-default HIL_ACT_FUNC6 201
+param set-default HIL_ACT_REV 32
+
 param set-default MAV_TYPE 19
-set MAV_TYPE 19
+
 set MIXER vtol_tailsitter_duo_sat

 set PWM_OUT 1234
@@ -24,13 +24,38 @@

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

+param set-default CA_AIRFRAME 2
+param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.15
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+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
+param set-default CA_ROTOR4_AX 1.0
+param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_PX 0.2
+param set-default CA_SV_CS_COUNT 4
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4

 param set-default PWM_AUX_DIS5 950

 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
-set MAV_TYPE 22
+
+param set-default MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAERT
@@ -19,7 +19,6 @@

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

-
 param set-default MAV_TYPE 19

 param set-default MC_ROLL_P 6
@@ -38,7 +37,6 @@ param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_ID 12
 param set-default VT_TYPE 0
-set MAV_TYPE 19

 set MIXER vtol_tailsitter_duo

@@ -23,6 +23,7 @@

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

+param set-default MAV_TYPE 21

 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.19
@@ -45,7 +46,6 @@ param set-default VT_TILT_TRANS 0.5
 param set-default VT_TILT_FW 0.9
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
-set MAV_TYPE 21

 set MIXER firefly6
 set MIXER_AUX firefly6
@@ -13,13 +13,33 @@

 . ${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 0.15
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+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
+param set-default CA_SV_CS_COUNT 2
+param set-default CA_SV_CS0_TRQ_P 0.5
+param set-default CA_SV_CS0_TRQ_Y 0.5
+param set-default CA_SV_CS0_TYPE 5
+param set-default CA_SV_CS1_TRQ_P 0.5
+param set-default CA_SV_CS1_TRQ_Y -0.5
+param set-default CA_SV_CS1_TYPE 6

 param set-default PWM_MAIN_MAX 2000

 param set-default VT_MOT_ID 1234
 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0
-set MAV_TYPE 20

 set MIXER quad_x_vtol

@@ -22,13 +22,13 @@

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

+param set-default MAV_TYPE 20
+
 param set-default PWM_MAIN_MAX 2000

 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0

-set MAV_TYPE 20
-
 set MIXER quad_+_vtol

 set PWM_OUT 1234
@@ -52,7 +52,6 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
-set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAERT
@@ -41,7 +41,6 @@ param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
-set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_delta
@@ -33,7 +33,6 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
-set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAVVT
@@ -46,7 +46,6 @@ param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_TYPE 2
-set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAERT
@@ -77,8 +77,6 @@ param set-default VT_TRANS_MIN_TM 5
 param set-default VT_TRANS_TIMEOUT    30
 param set-default VT_TYPE 2

-set MAV_TYPE 22
-
 set MIXER quad_x
 set MIXER_AUX vtol_AAERT

@@ -13,6 +13,8 @@

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

+param set-defualt MAV_TYPE 21
+
 param set-default PWM_AUX_DISARM 1000
 param set-default PWM_AUX_MAX 2000
 param set-default PWM_AUX_MIN 1000
@@ -28,7 +30,6 @@ param set-default VT_TILT_MC 0.08
 param set-default VT_TILT_TRANS 0.5
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
-set MAV_TYPE 21

 set MIXER claire
 set MIXER_AUX claire
@@ -22,6 +22,8 @@

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

+param set-defualt MAV_TYPE 21
+
 param set-default CBRK_AIRSPD_CHK 162128

 param set-default FW_ARSP_MODE 1
@@ -64,7 +66,6 @@ param set-default VT_TRANS_MIN_TM 1.2
 param set-default VT_TRANS_P2_DUR 1.3
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
-set MAV_TYPE 21

 set MIXER vtol_convergence

@@ -22,6 +22,8 @@

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

+param set-default MAV_TYPE 22
+
 param set-default BAT1_CAPACITY 23000
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_R_INTERNAL 0.0025
@@ -134,7 +136,6 @@ param set-default VT_TRANS_TIMEOUT 22
 param set-default VT_F_TRANS_RAMP 4

 param set-default COM_RC_OVERRIDE 0
-set MAV_TYPE 22

 set MIXER deltaquad
 set MIXER_AUX pass
@@ -23,6 +23,8 @@

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

+param set-default MAV_TYPE 22
+
 param set-default BAT1_N_CELLS 6

 param set-default FW_AIRSPD_MAX 30
@@ -94,8 +96,6 @@ param set-default VT_PSHER_RMP_DT 2
 param set-default VT_TRANS_MIN_TM 4
 param set-default VT_TYPE 2

-set MAV_TYPE 22
-
 set MIXER babyshark
 set MIXER_AUX pass

@@ -27,11 +27,37 @@

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

+param set-default MAV_TYPE 21
+
 param set-default VT_IDLE_PWM_MC 1100
 param set-default VT_TYPE 1
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 24
-set MAV_TYPE 21
+
+param set-default CA_AIRFRAME 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_TILT 1
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+param set-default CA_ROTOR1_TILT 2
+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_ROTOR2_TILT 3
+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 CA_ROTOR3_TILT 4
+param set-default CA_SV_CS_COUNT 4
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_TL_COUNT 4

 set MIXER quad_x
 set MIXER_AUX vtol_TTTTAAER
@@ -31,7 +31,6 @@ param set-default PWM_AUX_DIS5 950
 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 12345678
 param set-default VT_FW_MOT_OFFID 12345678
-set MAV_TYPE 22

 set MIXER octo_cox
 set MIXER_AUX vtol_AAERT
@@ -19,12 +19,26 @@

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

+param set-default MAV_TYPE 19
+
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0

-param set-default MAV_TYPE 19
-set MAV_TYPE 19
+param set-default CA_AIRFRAME 4
+param set-default CA_ROTOR_COUNT 2
+param set-default CA_ROTOR0_KM -0.05
+param set-default CA_ROTOR0_PY 0.2
+param set-default CA_ROTOR1_KM -0.05
+param set-default CA_ROTOR1_PY -0.2
+param set-default CA_SV_CS_COUNT 2
+param set-default CA_SV_CS0_TRQ_P 0.5
+param set-default CA_SV_CS0_TRQ_Y 0.5
+param set-default CA_SV_CS0_TYPE 5
+param set-default CA_SV_CS1_TRQ_P 0.5
+param set-default CA_SV_CS1_TRQ_Y -0.5
+param set-default CA_SV_CS1_TYPE 6
+
 set MIXER vtol_tailsitter_duo

 set PWM_OUT 1234
@@ -18,4 +18,7 @@

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

+# MAV_TYPE_TRICOPTER 15
+param set-default MAV_TYPE 15
+
 set MIXER tri_y_yaw+
@@ -18,4 +18,7 @@

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

+# MAV_TYPE_TRICOPTER 15
+param set-default MAV_TYPE 15
+
 set MIXER tri_y_yaw-
@@ -17,7 +17,9 @@
 #

 . ${R}etc/init.d/rc.mc_defaults
-set MIXER coax
+
+# MAV_TYPE_COAXIAL 3
+param set-default MAV_TYPE 3

 param set-default MC_ROLLRATE_P 0.17
 param set-default MC_ROLLRATE_I 0.05
@@ -36,6 +38,9 @@ param set-default PWM_MAIN_RATE 400

 param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10
+
+set MIXER coax
+
 # This is the gimbal pass mixer
 set MIXER_AUX pass

@@ -20,7 +20,7 @@
 . ${R}etc/init.d/rc.mc_defaults

 # Configure as helicopter (number 4 defined in commander_helper.cpp)
-set MAV_TYPE 4
+param set-default MAV_TYPE 4

 set MIXER blade130

@@ -41,5 +41,6 @@ param set-default FW_R_LIM 40
 param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
+
 set MIXER TF-G2
 set MIXER_AUX pass
@@ -24,8 +24,5 @@ param set-default MAV_0_CONFIG 102
 param set-default GPS_UBX_DYNMODEL 8
 param set-default SER_TEL2_BAUD 9600

-set MAV_TYPE 8
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER IO_pass
 set MIXER_AUX pass
@@ -23,6 +23,18 @@

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

+param set-default CA_AIRFRAME 1
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+param set-default CA_SV_CS_COUNT 4
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+
 param set-default PWM_AUX_RATE 50
 param set-default PWM_MAIN_RATE 50

@@ -26,7 +26,7 @@
 # @board px4_fmu-v2 exclude
 #

-set VEHICLE_TYPE mc
+. ${R}etc/init.d/rc.mc_defaults

 param set-default NAV_ACC_RAD 2

@@ -39,6 +39,7 @@ param set-default PWM_MAIN_RATE 400

 param set-default RTL_DESCEND_ALT 10
 param set-default RTL_RETURN_ALT 30
+
 set MIXER dodeca_top_cox
 set MIXER_AUX dodeca_bottom_cox

@@ -41,9 +41,6 @@ param set-default FW_RR_P 0.04

 param set-default PWM_MAIN_DISARM 1000

-# Configure this as plane.
-set MAV_TYPE 1
-
 # Set mixer.
 set MIXER fw_generic_wing

@@ -21,3 +21,16 @@
 #

 . ${R}etc/init.d/rc.mc_defaults
+
+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_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+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
+
@@ -1,39 +0,0 @@
-#!/bin/sh
-#
-# @name S500 with control allocation
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @maintainer Silvan Fuhrer
-#
-# @board px4_fmu-v2 exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER skip
-set MIXER_AUX none
-
-param set-default SYS_CTRL_ALLOC 1
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.177
-param set-default CA_ROTOR0_PY 0.177
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.177
-param set-default CA_ROTOR1_PY -0.177
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.177
-param set-default CA_ROTOR2_PY -0.177
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.177
-param set-default CA_ROTOR3_PY 0.177
-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
@@ -24,8 +24,6 @@

 set MIXER quad_s250aq

-set MAV_TYPE 2
-
 param set-default ATT_BIAS_MAX 0

 param set-default CBRK_IO_SAFETY 22027
@@ -46,7 +46,7 @@ param set-default COM_RC_LOSS_T 3


 # ekf2
-param set-default EKF2_AID_MASK 35
+param set-default EKF2_AID_MASK 33
 param set-default EKF2_BARO_DELAY 0
 param set-default EKF2_BARO_NOISE 2.0

@@ -147,7 +147,7 @@ param set-default MPC_Z_VEL_P 0.27


 # gimbal configuration
-param set-default MNT_MODE_IN 1
+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
@@ -164,6 +164,8 @@ param set-default RC_MAP_AUX2       5
 param set-default RC_MAP_AUX3       10
 param set-default RC_MAP_AUX4       8
 param set-default RC_MAP_FLTMODE    6
+param set-default RC_MAP_RETURN_SW  7
+
 param set-default RC1_TRIM          1000


@@ -21,10 +21,7 @@
 # @board cuav_x7pro exclude
 #

-set VEHICLE_TYPE mc
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_defaults

 # Attitude & rate gains
 param set-default MC_ROLLRATE_D 0.0013
@@ -21,10 +21,7 @@
 # @maintainer Hyon Lim <lim@uvify.com>
 #

-set VEHICLE_TYPE mc
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_defaults

 # Attitude & rate gains
 param set-default MC_ROLLRATE_D 0.0013
@@ -24,10 +24,6 @@

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

-
-# Configure this as Quadrotor
-# set MAV_TYPE 14
-
 # Set mixer
 set MIXER tilt_quad
 set MIXER_AUX tilt_quad
@@ -48,8 +48,6 @@ param set-default NAV_ACC_RAD 0.5
 param set-default PWM_MAIN_DISARM 1500
 param set-default PWM_MAIN_MAX 2000
 param set-default PWM_MAIN_MIN 1000
-# Configure this as rover
-set MAV_TYPE 10

 # Set mixer
 set MIXER rover_generic
@@ -76,9 +76,6 @@ param set-default RBCLW_SER_CFG 104
 # Start this driver after setting parameters, because the driver uses some of those parameters.
 # roboclaw start /dev/ttyS3

-# Configure this as rover
-set MAV_TYPE 10
-
 # Set mixer
 set MIXER generic_diff_rover

@@ -65,9 +65,6 @@ param set-default PWM_MAIN_MIN4 970
 # Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-# Configure this as rover
-set MAV_TYPE 10
-
 # Set mixer
 set MIXER rover_diff_and_servo

@@ -16,7 +16,4 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-set MAV_TYPE 12
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER uuv_x
@@ -16,7 +16,4 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-set MAV_TYPE 12
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER uuv_x
@@ -23,6 +23,26 @@

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

+# MAV_TYPE_HEXAROTOR 13
+param set-default MAV_TYPE 13
+
+param set-default CA_ROTOR_COUNT 6
+param set-default CA_ROTOR0_PX 0.0
+param set-default CA_ROTOR0_PY 0.5
+param set-default CA_ROTOR0_KM -0.05
+param set-default CA_ROTOR1_PX 0.0
+param set-default CA_ROTOR1_PY -0.5
+param set-default CA_ROTOR2_PX 0.43
+param set-default CA_ROTOR2_PY -0.25
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.43
+param set-default CA_ROTOR3_PY 0.25
+param set-default CA_ROTOR4_PX 0.43
+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
+
 set MIXER hexa_x

 # Need to set all 8 channels
@@ -27,9 +27,8 @@

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

-set MIXER hexa_x
-set PWM_OUT 12345678
-
+# MAV_TYPE_HEXAROTOR 13
+param set-default MAV_TYPE 13

 ###############################################
 # Attitude & rate gains
@@ -120,3 +119,7 @@ param set-default MAV_1_MODE 2
 param set-default MAV_1_FORWARD 1
 param set-default MAV_1_RATE 800000
 param set-default SER_TEL2_BAUD 921600
+
+
+set MIXER hexa_x
+set PWM_OUT 12345678
@@ -1,52 +0,0 @@
-#!/bin/sh
-#
-# @name Hex X with control allocation
-#
-# @type Hexarotor x
-# @class Copter
-#
-# @maintainer Silvan Fuhrer
-#
-# @board px4_fmu-v2 exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default SYS_CTRL_ALLOC 1
-
-param set-default CA_AIRFRAME 0
-param set-default CA_ROTOR_COUNT 6
-
-param set-default CA_ROTOR0_PX 0.0
-param set-default CA_ROTOR0_PY 0.275
-param set-default CA_ROTOR0_KM -0.05
-
-param set-default CA_ROTOR1_PX 0.0
-param set-default CA_ROTOR1_PY -0.275
-param set-default CA_ROTOR1_KM 0.05
-
-param set-default CA_ROTOR2_PX 0.238
-param set-default CA_ROTOR2_PY -0.1375
-param set-default CA_ROTOR2_KM -0.05
-
-param set-default CA_ROTOR3_PX -0.238
-param set-default CA_ROTOR3_PY 0.1375
-param set-default CA_ROTOR3_KM 0.05
-
-param set-default CA_ROTOR4_PX 0.238
-param set-default CA_ROTOR4_PY 0.1375
-param set-default CA_ROTOR4_KM 0.05
-
-param set-default CA_ROTOR5_PX -0.238
-param set-default CA_ROTOR5_PY -0.1375
-param set-default CA_ROTOR5_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 105
-param set-default PWM_MAIN_FUNC6 106
-
-set MIXER skip
-set MIXER_AUX none
@@ -23,6 +23,26 @@

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

+# MAV_TYPE_HEXAROTOR 13
+param set-default MAV_TYPE 13
+
+param set-default CA_ROTOR_COUNT 6
+param set-default CA_ROTOR0_PX 0.5
+param set-default CA_ROTOR0_PY 0.0
+param set-default CA_ROTOR0_KM -0.05
+param set-default CA_ROTOR1_PX -0.5
+param set-default CA_ROTOR1_PY 0.0
+param set-default CA_ROTOR2_PX -0.25
+param set-default CA_ROTOR2_PY -0.43
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX 0.25
+param set-default CA_ROTOR3_PY 0.43
+param set-default CA_ROTOR4_PX 0.25
+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
+
 set MIXER hexa_+

 # Need to set all 8 channels
@@ -25,6 +25,31 @@

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

+# MAV_TYPE_OCTOROTOR 14
+param set-default MAV_TYPE 14
+
+param set-default CA_ROTOR_COUNT 8
+param set-default CA_ROTOR0_KM -0.05
+param set-default CA_ROTOR0_PX 0.46
+param set-default CA_ROTOR0_PY 0.19
+param set-default CA_ROTOR1_KM -0.05
+param set-default CA_ROTOR1_PX -0.46
+param set-default CA_ROTOR1_PY -0.19
+param set-default CA_ROTOR2_PX 0.19
+param set-default CA_ROTOR2_PY 0.46
+param set-default CA_ROTOR3_PX -0.46
+param set-default CA_ROTOR3_PY 0.19
+param set-default CA_ROTOR4_PX 0.46
+param set-default CA_ROTOR4_PY -0.19
+param set-default CA_ROTOR5_PX -0.19
+param set-default CA_ROTOR5_PY -0.46
+param set-default CA_ROTOR6_KM -0.05
+param set-default CA_ROTOR6_PX 0.19
+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
+
 set MIXER octo_x

 set PWM_OUT 12345678
@@ -25,6 +25,9 @@

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

+# MAV_TYPE_OCTOROTOR 14
+param set-default MAV_TYPE 14
+
 set MIXER octo_+

 set PWM_OUT 12345678
@@ -72,7 +72,6 @@ px4_add_romfs_files(
 	4015_holybro_s500
 	4016_holybro_px4vision
 	4017_nxp_hovergames
-	4018_s500_ctrlalloc
 	4019_x500_v2
 	4030_3dr_solo
 	4031_3dr_quad
@@ -100,7 +99,6 @@ px4_add_romfs_files(
 	# [6000, 6999] Hexarotor x"
 	6001_hexa_x
 	6002_draco_r
-	6003_hexa_x_ctrlalloc

 	# [7000, 7999] Hexarotor +"
 	7001_hexa_+
@@ -7,6 +7,9 @@

 set VEHICLE_TYPE airship

+# MAV_TYPE_AIRSHIP 7
+param set-default MAV_TYPE 7
+
 #
 # This is the gimbal pass mixer.
 #
@@ -7,6 +7,9 @@

 set VEHICLE_TYPE fw

+# MAV_TYPE_FREE_BALLOON 8
+param set-default MAV_TYPE 8
+
 #
 # Default parameters for balloon UAVs.
 #
@@ -7,6 +7,9 @@

 set VEHICLE_TYPE rover

+# MAV_TYPE_SURFACE_BOAT 11
+param set-default MAV_TYPE 11
+
 #
 # Default parameters for UGVs.
 #
@@ -7,6 +7,9 @@

 set VEHICLE_TYPE fw

+# MAV_TYPE_FIXED_WING 1
+param set-default MAV_TYPE 1
+
 #
 # Default parameters for fixed wing UAVs.
 #
@@ -7,6 +7,9 @@

 set VEHICLE_TYPE mc

+# MAV_TYPE_QUADROTOR 2
+param set-default MAV_TYPE 2
+
 if param compare IMU_GYRO_RATEMAX 400
 then
 	param set-default IMU_GYRO_RATEMAX 800
@@ -7,6 +7,9 @@

 set VEHICLE_TYPE rover

+# MAV_TYPE_GROUND_ROVER 10
+param set-default MAV_TYPE 10
+
 #
 # Default parameters for UGVs.
 #
@@ -149,6 +149,26 @@ then
 	ms5525_airspeed start -X
 fi

+# IR-LOCK sensor external I2C
+if param compare -s SENS_EN_IRLOCK 1
+then
+	irlock start -X
+fi
+
+# SPL06 sensor external I2C
+if param compare -s SENS_EN_SPL06 1
+then
+	spl06 -X start
+	spl06 -X -a 0x77 start
+fi
+
+# PCF8583 counter (RPM sensor)
+if param compare -s SENS_EN_PCF8583 1
+then
+	pcf8583 start -X
+	pcf8583 start -X -a 0x51
+fi
+
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
@@ -7,6 +7,9 @@

 set VEHICLE_TYPE uuv

+# MAV_TYPE_SUBMARINE 12
+param set-default MAV_TYPE 12
+
 param set-default PWM_MAIN_MAX 1950
 param set-default PWM_MAIN_MIN 1050
 param set-default PWM_MAIN_DISARM 1500
@@ -12,19 +12,9 @@ if [ $VEHICLE_TYPE = fw ]
 then
 	if [ $MIXER = none ]
 	then
-		# Set default mixer for fixed wing if not defined.
-		set MIXER AERT
+		echo "FW mixer undefined"
 	fi

-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 1 if not defined.
-		set MAV_TYPE 1
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -42,41 +32,6 @@ then
 		echo "MC mixer undefined"
 	fi

-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 2 if not defined.
-		set MAV_TYPE 2
-
-		# Use mixer to detect vehicle type
-		if [ $MIXER = coax ]
-		then
-			set MAV_TYPE 3
-		fi
-		if [ $MIXER = hexa_x -o $MIXER = hexa_+ ]
-		then
-			set MAV_TYPE 13
-		fi
-		if [ $MIXER = hexa_cox ]
-		then
-			set MAV_TYPE 13
-		fi
-		if [ $MIXER = octo_x -o $MIXER = octo_+ ]
-		then
-			set MAV_TYPE 14
-		fi
-		if [ $MIXER = octo_cox -o $MIXER = octo_cox_w ]
-		then
-			set MAV_TYPE 14
-		fi
-		if [ $MIXER = tri_y_yaw- -o $MIXER = tri_y_yaw+ ]
-		then
-			set MAV_TYPE 15
-		fi
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -91,19 +46,9 @@ if [ $VEHICLE_TYPE = rover ]
 then
 	if [ $MIXER = none ]
 	then
-		# Set default mixer for UGV if not defined.
-		set MIXER rover_generic
+		echo "rover mixer undefined"
 	fi

-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 10 if not defined.
-		set MAV_TYPE 10
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -121,25 +66,6 @@ then
 		echo "VTOL mixer undefined"
 	fi

-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 19 if not defined.
-		set MAV_TYPE 19
-
-		# Use mixer to detect vehicle type.
-		if [ $MIXER = firefly6 ]
-		then
-			set MAV_TYPE 21
-		fi
-		if [ $MIXER = quad_x_pusher_vtol ]
-		then
-			set MAV_TYPE 22
-		fi
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -157,15 +83,6 @@ then
 		echo "Airship mixer undefined"
 	fi

-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 7 if not defined.
-		set MAV_TYPE 7
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -183,19 +100,11 @@ then
 		echo "UUV mixer undefined"
 	fi

-	if [ $MAV_TYPE = none ]
-	then
-		# Set default MAV_TYPE to submarine if not defined
-		set MAV_TYPE 12
-	fi
-
-	param set MAV_TYPE ${MAV_TYPE}
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

 	# Start standard vtol apps.
 	. ${R}etc/init.d/rc.uuv_apps
-
 fi


@@ -7,6 +7,9 @@

 set VEHICLE_TYPE vtol

+# MAV_TYPE_VTOL_RESERVED2 22
+param set-default MAV_TYPE 22
+
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_YAW_TMT 10

@@ -29,7 +29,6 @@ set IOFW "/etc/extras/px4_io-v2_default.bin"
 set IO_PRESENT no
 set LOGGER_ARGS ""
 set LOGGER_BUF 8
-set MAV_TYPE none
 set MIXER none
 set MIXER_AUX none
 set MIXER_FILE none
@@ -486,11 +485,11 @@ else
 	. ${R}etc/init.d/rc.thermal_cal

 	#
-	# Start vmount to control mounts such as gimbals, disabled by default.
+	# Start gimbal to control mounts such as gimbals, disabled by default.
 	#
 	if param greater -s MNT_MODE_IN -1
 	then
-		vmount start
+		gimbal start
 	fi

 	# Check for flow sensor
@@ -573,7 +572,6 @@ unset IO_PRESENT
 unset IOFW
 unset LOGGER_ARGS
 unset LOGGER_BUF
-unset MAV_TYPE
 unset MIXER
 unset MIXER_AUX
 unset MIXER_FILE
@@ -1,5 +1,7 @@
 Mixer for Tailsitter with x motor configuration and elevons
 ===========================================================
+# @board px4_fmu-v2 exclude
+# @board omnibus_f4sd exclude

 This file defines a single mixer for tailsitter with motors in X configuration.  All controls
 are mixed 100%.
@@ -35,7 +35,6 @@ do
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_0_CONFIG 101' || true
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_1_CONFIG 102' || true
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_2_CONFIG 103' || true
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_3_CONFIG 104' || true

 	# enable all GPS
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set GPS_1_CONFIG 201' || true
@@ -1,5 +1,35 @@
 #! /bin/bash

+if [ -z ${PX4_DOCKER_REPO+x} ]; then
+	echo "guessing PX4_DOCKER_REPO based on input";
+	if [[ $@ =~ .*px4_fmu.* ]]; then
+		# nuttx-px4fmu-v{1,2,3,4,5}
+		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08"
+	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
+		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
+	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
+		# scumaker_pilotpi_arm64
+		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest"
+	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
+		# posix_rpi_cross, posix_bebop_default
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
+	elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
+		# clang tools
+		PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
+	elif [[ $@ =~ .*tests* ]]; then
+		# run all tests with simulation
+		PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-12-11"
+	fi
+else
+	echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";
+fi
+
+# otherwise default to nuttx
+if [ -z ${PX4_DOCKER_REPO+x} ]; then
+	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08"
+fi
+
 # docker hygiene

 #Delete all stopped containers (including data-only containers)
@@ -8,23 +38,30 @@
 #Delete all 'untagged/dangling' (<none>) images
 #docker rmi $(docker images -q -f dangling=true)

-if [[ -z "${DOCKER_TAG}" ]]; then
-  TAG_NAME=""
-else
-  TAG_NAME=":${DOCKER_TAG}"
-fi
-
-PX4_DOCKER_REPO="px4io/px4-dev$TAG_NAME"
-
-echo $PX4_DOCKER_REPO
+echo "PX4_DOCKER_REPO: $PX4_DOCKER_REPO";

 PWD=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
 SRC_DIR=$PWD/../

+CCACHE_DIR=${HOME}/.ccache
+mkdir -p "${CCACHE_DIR}"
+
 docker run -it --rm -w "${SRC_DIR}" \
-  --env=LOCAL_USER_ID="$(id -u)" \
-  --publish 14556:14556/udp \
-  --volume=/tmp/.X11-unix:/tmp/.X11-unix \
-  --volume=/tmp:/tmp:rw \
-  --volume=${SRC_DIR}:${SRC_DIR}:rw \
-  ${PX4_DOCKER_REPO} /bin/bash -c "$1 $2 $3"
+	--env=AWS_ACCESS_KEY_ID \
+	--env=AWS_SECRET_ACCESS_KEY \
+	--env=BRANCH_NAME \
+	--env=CCACHE_DIR="${CCACHE_DIR}" \
+	--env=CI \
+	--env=CODECOV_TOKEN \
+	--env=COVERALLS_REPO_TOKEN \
+	--env=LOCAL_USER_ID="$(id -u)" \
+	--env=PX4_ASAN \
+	--env=PX4_MSAN \
+	--env=PX4_TSAN \
+	--env=PX4_UBSAN \
+	--env=TRAVIS_BRANCH \
+	--env=TRAVIS_BUILD_ID \
+	--publish 14556:14556/udp \
+	--volume=${CCACHE_DIR}:${CCACHE_DIR}:rw \
+	--volume=${SRC_DIR}:${SRC_DIR}:rw \
+	${PX4_DOCKER_REPO} /bin/bash -c "$1 $2 $3"
@@ -6,14 +6,14 @@ import os
 import sys
 import json
 import re
-# from kconfiglib import Kconfig
+from kconfiglib import Kconfig

-# kconf = Kconfig()
+kconf = Kconfig()

 # Supress warning output
-# kconf.warn_assign_undef = False
-# kconf.warn_assign_override = False
-# kconf.warn_assign_redun = False
+kconf.warn_assign_undef = False
+kconf.warn_assign_override = False
+kconf.warn_assign_redun = False

 source_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), '..')

@@ -23,10 +23,6 @@ parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
                    help='Verbose Output')
 parser.add_argument('-p', '--pretty', dest='pretty', action='store_true',
                    help='Pretty output instead of a single line')
-parser.add_argument('-a', '--all_variants', dest='all_variants', action='store_true',
-                    help='Prints targets into a single all_variants_* target')
-parser.add_argument('-b', '--bloaty', dest='bloaty', action='store_true',
-                    help='Includes all bloaty targets')

 args = parser.parse_args()
 verbose = args.verbose
@@ -39,66 +35,48 @@ excluded_labels = [
    'nolockstep', 'replay', 'test',
    'uavcanv1' # TODO: fix and enable
    ]
-bloaty_helpers = [
-    'bloaty_compileunits',
-    'bloaty_inlines',
-    'bloaty_segments',
-    'bloaty_symbols',
-    'bloaty_templates',
-    'bloaty_ram',
-    'bloaty_compare_master',
-    ]

-# def process_target(px4board_file, target_name):
-    # ret = None
-    # platform = None
-    # toolchain = None
+def process_target(px4board_file, target_name):
+    ret = None
+    platform = None
+    toolchain = None

-    # if px4board_file.endswith("default.px4board") or \
-        # px4board_file.endswith("recovery.px4board") or \
-        # px4board_file.endswith("bootloader.px4board"):
-        # kconf.load_config(px4board_file, replace=True)
-    # else: # Merge config with default.px4board
-        # default_kconfig = re.sub(r'[a-zA-Z\d_]+\.px4board', 'default.px4board', px4board_file)
-        # kconf.load_config(default_kconfig, replace=True)
-        # kconf.load_config(px4board_file, replace=False)
+    if px4board_file.endswith("default.px4board") or \
+        px4board_file.endswith("recovery.px4board") or \
+        px4board_file.endswith("bootloader.px4board"):
+        kconf.load_config(px4board_file, replace=True)
+    else: # Merge config with default.px4board
+        default_kconfig = re.sub(r'[a-zA-Z\d_]+\.px4board', 'default.px4board', px4board_file)
+        kconf.load_config(default_kconfig, replace=True)
+        kconf.load_config(px4board_file, replace=False)

-    # if "BOARD_TOOLCHAIN" in kconf.syms:
-        # toolchain = kconf.syms["BOARD_TOOLCHAIN"].str_value
+    if "BOARD_TOOLCHAIN" in kconf.syms:
+        toolchain = kconf.syms["BOARD_TOOLCHAIN"].str_value

-    # if "BOARD_PLATFORM" in kconf.syms:
-        # platform = kconf.syms["BOARD_PLATFORM"].str_value
+    if "BOARD_PLATFORM" in kconf.syms:
+        platform = kconf.syms["BOARD_PLATFORM"].str_value

-    # assert platform, f"PLATFORM not found in {px4board_file}"
+    assert platform, f"PLATFORM not found in {px4board_file}"

-    # if platform not in excluded_platforms:
-        # # get the container based on the platform and toolchain
-        # container = platform
-        # if platform == 'posix':
-            # container = 'base-focal'
-            # if toolchain:
-                # if toolchain.startswith('aarch64'):
-                    # container = 'aarch64'
-                # elif toolchain == 'arm-linux-gnueabihf':
-                    # container = 'armhf'
-                # else:
-                    # if verbose: print(f'possibly unmatched toolchain: {toolchain}')
-        # elif platform == 'nuttx':
-            # container = 'nuttx-focal'
+    if platform not in excluded_platforms:
+        # get the container based on the platform and toolchain
+        container = platform
+        if platform == 'posix':
+            container = 'base-focal'
+            if toolchain:
+                if toolchain.startswith('aarch64'):
+                    container = 'aarch64'
+                elif toolchain == 'arm-linux-gnueabihf':
+                    container = 'armhf'
+                else:
+                    if verbose: print(f'possibly unmatched toolchain: {toolchain}')
+        elif platform == 'nuttx':
+            container = 'nuttx-focal'

-        # ret = {'target': target_name, 'container': container}
+        ret = {'target': target_name, 'container': container}

-    # return ret
+    return ret

-def process_bloaty(target_path, target_name):
-    response = []
-    for bloat in bloaty_helpers:
-        bloaty_name = target_name + ' ' + bloat + ' || true'
-        processed_target = process_target(target_path, bloaty_name)
-        response.append(processed_target)
-    return response
-
-# Look up boards from each manufacturer
 for manufacturer in os.scandir(os.path.join(source_dir, 'boards')):
    if not manufacturer.is_dir():
        continue
@@ -107,37 +85,18 @@ for manufacturer in os.scandir(os.path.join(source_dir, 'boards')):
        continue

    for board in os.scandir(manufacturer.path):
-        # Only boards are directories don't proceed if otherwise
        if not board.is_dir():
            continue
-
-        if args.all_variants:
-            # The all_variants target makes all targets for a board
-            target_name = 'all_variants_' + manufacturer.name + '_' + board.name
-            default_target_path = f'{board.path}/default.px4board'
-            # target = process_target(default_target_path, target_name)
-            target = {'target': target_name}
-            if target is not None:
-                build_configs.append(target)
-            if args.bloaty and target is not None:
-                # bloaty targets
-                bloat_target_name = manufacturer.name + '_' + board.name
-                # bloaty_targets = process_bloaty(default_target_path, bloat_target_name)
-                bloaty_targets = {'target': bloat_target_name}
-                build_configs += bloaty_targets
-        else:
-            # Each board can have multiple variant targets
-            for files in os.scandir(board.path):
-                if files.is_file() and files.name.endswith('.px4board'):
-                    label = files.name[:-9]
-                    target_name = manufacturer.name + '_' + board.name + '_' + label
-                    if label in excluded_labels:
-                        if verbose: print(f'excluding label {label} ({target_name})')
-                        continue
-                    # target = process_target(files.path, target_name)
-                    target = {'target': target_name}
-                    if target is not None:
-                        build_configs.append(target)
+        for files in os.scandir(board.path):
+            if files.is_file() and files.name.endswith('.px4board'):
+                label = files.name[:-9]
+                target_name = manufacturer.name + '_' + board.name + '_' + label
+                if label in excluded_labels:
+                    if verbose: print(f'excluding label {label} ({target_name})')
+                    continue
+                target = process_target(files.path, target_name)
+                if target is not None:
+                    build_configs.append(target)


 github_action_config = { 'include': build_configs }
@@ -150,7 +150,7 @@ simulator,CONFIG_MODULES_SIMULATOR=y
 temperature_compensation,CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 uuv_att_control,CONFIG_MODULES_UUV_ATT_CONTROL=y
 uuv_pos_control,CONFIG_MODULES_UUV_POS_CONTROL=y
-vmount,CONFIG_MODULES_VMOUNT=y
+gimbal,CONFIG_MODULES_GIMBAL=y
 vtol_att_control,CONFIG_MODULES_VTOL_ATT_CONTROL=y
 bl_update,CONFIG_SYSTEMCMDS_BL_UPDATE=y
 dmesg,CONFIG_SYSTEMCMDS_DMESG=y
@@ -330,9 +330,11 @@ def get_mixers(yaml_config, output_functions, verbose):
        option = select_param + '==' + str(type_index)
        mixer_config = {
                'option': option,
+                'help-url': 'https://docs.px4.io/master/en/config/actuators.html',
            }
-        if 'type' in current_type:
-            mixer_config['type'] = current_type['type']
+        for optional in ['type', 'title']:
+            if optional in current_type:
+                mixer_config[optional] = current_type[optional]
        actuators = []
        for actuator_conf in current_type['actuators']:
            actuator = {
@@ -7,7 +7,8 @@ import os
 import math
 import matplotlib.pyplot as plt
 import numpy as np
-import scipy as sp
+
+from scipy.signal import medfilt

 from pyulog import *

@@ -65,7 +66,7 @@ def resampleWithDeltaX(x,y):
    return resampledX,resampledY

 def median_filter(data):
-    return sp.signal.medfilt(data, 31)
+    return medfilt(data, 31)

 parser = argparse.ArgumentParser(description='Reads in IMU data from a static thermal calibration test and performs a curve fit of gyro, accel and baro bias vs temperature')
 parser.add_argument('filename', metavar='file.ulg', help='ULog input file')
@@ -16,7 +16,7 @@ class ModuleDocumentation(object):
    valid_categories = ['driver', 'estimator', 'controller', 'system',
                        'communication', 'command', 'template', 'simulation', 'autotune']
    valid_subcategories = ['', 'distance_sensor', 'imu', 'airspeed_sensor',
-                           'magnetometer', 'baro', 'optical_flow']
+                           'magnetometer', 'baro', 'optical_flow', 'rpm_sensor']

    max_line_length = 80 # wrap lines that are longer than this

@@ -268,10 +268,14 @@ for serial_command in serial_commands:
                default_port_str = port_config['default'][i]
            else:
                default_port_str = port_config['default']
+
            if default_port_str != "":
                if default_port_str not in serial_ports:
                    raise Exception("Default Port {:} not found for {:}".format(default_port_str, serial_command['label']))
-                default_port = serial_ports[default_port_str]['index']
+
+                if default_port_str in dict(board_ports).keys():
+                    default_port = serial_ports[default_port_str]['index']
+

        commands.append({
            'command': serial_command['command'],
@@ -1,55 +0,0 @@
-#
-# PX4 base development environment
-#
-
-FROM ubuntu:20.04
-LABEL maintainer="Daniel Agar <daniel@agar.ca>, Ramon Roche <mrpollo@gmail.com>"
-
-ENV DEBIAN_FRONTEND noninteractive
-ENV LANG C.UTF-8
-ENV LC_ALL C.UTF-8
-
-# Installing required utilities
-RUN apt-get update && apt-get -y --quiet --no-install-recommends install \
-  ca-certificates \
-  gnupg \
-  lsb-core \
-  lsb-release \
-  sudo \
-  software-properties-common \
-  wget \
-  gosu \
-  ;
-
-# Install PX4 Requirements
-COPY Tools/setup/requirements.txt /tmp/requirements.txt
-COPY Tools/setup/ubuntu.sh /tmp/ubuntu.sh
-# We support pre-downloading the gcc arm none eabi compiler
-# to speed up build times, if the file is not present when
-# building, the ubuntu.sh script will download it from source
-COPY *gcc-arm-none-eabi-9-2020-q2-update-linux.tar.bz2 /tmp/gcc-arm-none-eabi-9-2020-q2-update-linux.tar.bz2
-# The PATH env is set within ubuntu.sh, but given how we
-# are running the image using `gosu` to avoid read-only problems
-# with the filesystem the env variable does not persist
-ENV PATH="/opt/gcc-arm-none-eabi-9-2020-q2-update/bin:$PATH"
-ENV PATH="/opt/jdk-14.0.2+12/bin:$PATH"
-RUN bash /tmp/ubuntu.sh --from-docker --with-java --with-rtps --no-sim-tools
-
-ENV DISPLAY :99
-
-ENV FASTRTPSGEN_DIR="/usr/local/bin/"
-ENV TERM=xterm
-ENV TZ=UTC
-
-# SITL UDP PORTS
-EXPOSE 14556/udp
-EXPOSE 14557/udp
-
-# create user with id 1001 (jenkins docker workflow default)
-RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout user
-
-# create and start as LOCAL_USER_ID
-COPY Tools/setup/docker-entrypoint.sh /usr/local/bin/entrypoint.sh
-ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
-
-CMD ["/bin/bash"]
@@ -1,28 +0,0 @@
-#!/bin/bash
-
-# Start virtual X server in the background
-# - DISPLAY default is :99, set in dockerfile
-# - Users can override with `-e DISPLAY=` in `docker run` command to avoid
-#   running Xvfb and attach their screen
-if [[ -x "$(command -v Xvfb)" && "$DISPLAY" == ":99" ]]; then
-	echo "Starting Xvfb"
-	Xvfb :99 -screen 0 1600x1200x24+32 &
-fi
-
-# Check if the ROS_DISTRO is passed and use it
-# to source the ROS environment
-if [ -n "${ROS_DISTRO}" ]; then
-	source "/opt/ros/$ROS_DISTRO/setup.bash"
-fi
-
-# Use the LOCAL_USER_ID if passed in at runtime
-if [ -n "${LOCAL_USER_ID}" ]; then
-	echo "Starting with UID : $LOCAL_USER_ID"
-	# modify existing user's id
-	usermod -u $LOCAL_USER_ID user
-
-	# run as user
-  exec gosu user "$@"
-else
-	exec "$@"
-fi
@@ -2,22 +2,20 @@

 set -e

-## Bash script to setup PX4 development environment on Ubuntu LTS (20.04, 18.04).
+## Bash script to setup PX4 development environment on Ubuntu LTS (20.04, 18.04, 16.04).
 ## Can also be used in docker.
 ##
 ## Installs:
-## - Common dependencies and tools for NuttX, jMAVSim, Gazebo
+## - Common dependencies and tools for nuttx, jMAVSim, Gazebo
 ## - NuttX toolchain (omit with arg: --no-nuttx)
-## - jMAVSim and Gazebo simulator (omit with arg: --no-sim-tools)
-## Optional:
-## - FastRTPS and FastCDR (with args: --with-rtps)
+## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools)
+##
+## Not Installs:
+## - FastRTPS and FastCDR

 INSTALL_NUTTX="true"
 INSTALL_SIM="true"
 INSTALL_ARCH=`uname -m`
-INSTALL_RTPS="false"
-INSTALL_JAVA="false"
-INSIDE_DOCKER="false"

 # Parse arguments
 for arg in "$@"
@@ -30,20 +28,20 @@ do
 		INSTALL_SIM="false"
 	fi

-	if [[ $arg == "--with-rtps" ]]; then
-		INSTALL_RTPS="true"
-	fi
-
-	if [[ $arg == "--with-java" ]]; then
-		INSTALL_JAVA="true"
-	fi
-
-	if [[ $arg == "--from-docker" ]]; then
-		INSIDE_DOCKER="true"
-	fi
-
 done

+# detect if running in docker
+if [ -f /.dockerenv ]; then
+	echo "Running within docker, installing initial dependencies";
+	apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
+		ca-certificates \
+		gnupg \
+		lsb-core \
+		sudo \
+		wget \
+		;
+fi
+
 # script directory
 DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )

@@ -71,119 +69,88 @@ elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
 	echo "Ubuntu 20.04"
 fi

-VERBOSE_BAR="####################"
-echo
-echo $VERBOSE_BAR
-echo "#⚡️ Starting PX4 Dependency Installer for Ubuntu ${UBUNTU_RELEASE} (${INSTALL_ARCH})"
-echo "# Options:
-#
-#  - Install NuttX = ${INSTALL_NUTTX}
-#  - Install Java = ${INSTALL_JAVA}
-#  - Install Simulation = ${INSTALL_SIM}
-#  - Install RTPS = ${INSTALL_RTPS}"
-echo $VERBOSE_BAR
-echo

 echo
-echo $VERBOSE_BAR
-echo "🍻 Installing System Dependencies"
-echo $VERBOSE_BAR
-echo
+echo "Installing PX4 general dependencies"

 sudo apt-get update -y --quiet
 sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+	astyle \
 	build-essential \
-  g++ \
-  gcc \
-  gdb \
-  astyle \
-  cmake \
-  cppcheck \
-  file \
-  git \
-  lcov \
-  libxml2-dev \
-  libxml2-utils \
-  make \
-  ninja-build \
-  python3 \
-  python3-dev \
-  python3-pip \
-  python3-setuptools \
-  python3-wheel \
-  rsync \
-  shellcheck \
-  unzip \
-  zip \
-  libssl-dev \
-  ;
+	cmake \
+	cppcheck \
+	file \
+	g++ \
+	gcc \
+	gdb \
+	git \
+	lcov \
+	libxml2-dev \
+	libxml2-utils \
+	make \
+	ninja-build \
+	python3 \
+	python3-dev \
+	python3-pip \
+	python3-setuptools \
+	python3-wheel \
+	rsync \
+	shellcheck \
+	unzip \
+	zip \
+	;

-# Python 3 dependencies
+# Python3 dependencies
 echo
-echo $VERBOSE_BAR
-echo "🍻 Installing Python dependencies"
-echo $VERBOSE_BAR
-echo
-
+echo "Installing PX4 Python3 dependencies"
 if [ -n "$VIRTUAL_ENV" ]; then
 	# virtual envrionments don't allow --user option
-  python -m pip install -r ${DIR}/requirements.txt
+	python -m pip install -r ${DIR}/requirements.txt
 else
 	# older versions of Ubuntu require --user option
-  if [[ $INSIDE_DOCKER == "true" ]]; then
-    # when running inside a docker container we don't need to install
-    # under --user since the installer user is root
-    # its best to install packages globaly for any user to find
-    python3 -m pip install -r /tmp/requirements.txt
-  else
-    python3 -m pip install --user -r ${DIR}/requirements.txt
-  fi
+	python3 -m pip install --user -r ${DIR}/requirements.txt
 fi

 # NuttX toolchain (arm-none-eabi-gcc)
 if [[ $INSTALL_NUTTX == "true" ]]; then

 	echo
-  echo $VERBOSE_BAR
-	echo "🍻 Installing NuttX dependencies"
-  echo $VERBOSE_BAR
-	echo
+	echo "Installing NuttX dependencies"

 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-    automake \
-    binutils-dev \
-    bison \
-    flex \
-    genromfs \
-    gettext \
-    gperf \
-    libelf-dev \
-    libexpat-dev \
-    libgmp-dev \
-    libisl-dev \
-    libmpc-dev \
-    libmpfr-dev \
-    libncurses5 \
-    libncurses5-dev \
-    libncursesw5-dev \
-    libtool \
-    pkg-config \
-    screen \
-    texinfo \
-    u-boot-tools \
-    util-linux \
-    vim-common \
-    g++-arm-linux-gnueabihf \
-    gcc-arm-linux-gnueabihf \
-    g++-aarch64-linux-gnu \
-    gcc-aarch64-linux-gnu \
-    ;
-
-  if [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
-    sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-    kconfig-frontends \
-    ;
-  fi
+		automake \
+		binutils-dev \
+		bison \
+		build-essential \
+		flex \
+		g++-multilib \
+		gcc-multilib \
+		gdb-multiarch \
+		genromfs \
+		gettext \
+		gperf \
+		libelf-dev \
+		libexpat-dev \
+		libgmp-dev \
+		libisl-dev \
+		libmpc-dev \
+		libmpfr-dev \
+		libncurses5 \
+		libncurses5-dev \
+		libncursesw5-dev \
+		libtool \
+		pkg-config \
+		screen \
+		texinfo \
+		u-boot-tools \
+		util-linux \
+		vim-common \
+		;
+	if [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
+		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+		kconfig-frontends \
+		;
+	fi


 	if [ -n "$USER" ]; then
@@ -191,186 +158,97 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		sudo usermod -a -G dialout $USER
 	fi

-  NUTTX_GCC_VERSION="9-2020-q2-update"
-  NUTTX_GCC_VERSION_SHORT="9-2020q2"
-  echo
-  echo $VERBOSE_BAR
-  echo "🍻 Verifying proper gcc version (${NUTTX_GCC_VERSION}), and installing if not found"
-  echo
+	# arm-none-eabi-gcc
+	NUTTX_GCC_VERSION="9-2020-q2-update"
+	NUTTX_GCC_VERSION_SHORT="9-2020q2"

-  source $HOME/.profile # load changed path for the case the script is reran before relogin
+	source $HOME/.profile # load changed path for the case the script is reran before relogin
 	if [ $(which arm-none-eabi-gcc) ]; then
-    GCC_VER_STR=$(arm-none-eabi-gcc --version)
-    GCC_VER_FOUND=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}")
-  fi
+		GCC_VER_STR=$(arm-none-eabi-gcc --version)
+		GCC_FOUND_VER=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}")
+	fi

-  if [[ $(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}") == "1" ]]; then
-    echo "📌 Skipping installation, the arm cross compiler was found"
-    echo $VERBOSE_BAR
-	  echo
+	if [[ "$GCC_FOUND_VER" == "1" ]]; then
+		echo "arm-none-eabi-gcc-${NUTTX_GCC_VERSION} found, skipping installation"

-  else
-    echo "📌 The arm cross compiler was not found";
-    echo " * Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
-    # The arm cross compiler hosting provider is known to throttle download speeds
-    # for users who reach a certain limit of downloads in a given time frame
-    # for this reason we allow for using a previously downloaded file
-    # this is specially helpful when debugging this installer script
-    # from within a container COMPILER_PATH="/tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2"
-    COMPILER_NAME="gcc-arm-none-eabi-${NUTTX_GCC_VERSION}"
-    COMPILER_PATH="/tmp/$COMPILER_NAME-linux.tar.bz2"
-    if [ ! -f "$COMPILER_PATH" ]; then
-      wget -O $COMPILER_PATH https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/${COMPILER_NAME}-${INSTALL_ARCH}-linux.tar.bz2
-    fi
-    sudo tar -jxf $COMPILER_PATH -C /opt/;
+	else
+		echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
+		wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-linux.tar.bz2 && \
+			sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/;

-    # add arm-none-eabi-gcc to user's PATH
-    exportline="export PATH=\"/opt/${COMPILER_NAME}/bin:\$PATH\""
-    if [[ $INSIDE_DOCKER == "true" ]]; then
-      # when running on a docker container its best to set the environment globally
-      # since we don't know which user is going to be running commands on the container
-      touch /etc/profile.d/px4env.sh
-      echo $exportline >> /etc/profile.d/px4env.sh
-    else
-      if grep -Fxq "$exportline" $HOME/.profile; then
-        echo "${NUTTX_GCC_VERSION} path already set.";
-      else
-        echo $exportline >> $HOME/.profile;
-      fi
-    fi
-    echo " * arm-none-eabi-gcc (${NUTTX_GCC_VERSION}) Installed Succesful to /opt/${COMPILER_NAME}/bin"
-    echo $VERBOSE_BAR
-	  echo
-  fi
-fi
-
-# Install JAVA
-if [[ $INSTALL_JAVA == "true" ]]; then
-  JDK_VERSION="14.0.2_12"
-  echo
-  echo $VERBOSE_BAR
-  echo "🍻 Installing Java JDK
-
-  * Version: $JDK_VERSION
-  * Path: /opt/jdk-14.0.2+12"
-  echo $VERBOSE_BAR
-  echo
-
-  JDK_DOWNLOAD="/tmp/OpenJDK14U-jdk_x64_linux_hotspot_$JDK_VERSION.tar.gz"
-  wget -O $JDK_DOWNLOAD https://github.com/AdoptOpenJDK/openjdk14-binaries/releases/download/jdk-14.0.2%2B12/OpenJDK14U-jdk_x64_linux_hotspot_14.0.2_12.tar.gz
-  sudo tar -xzf $JDK_DOWNLOAD -C /opt/
-  export PATH="/opt/jdk-14.0.2+12/bin:$PATH"
-fi
-
-# Fast-RTPS
-if [[ $INSTALL_RTPS == "true" ]]; then
-  echo
-  echo $VERBOSE_BAR
-  echo "🍻 Installing Fast-RTPS"
-  echo $VERBOSE_BAR
-  echo
-
-  GRADLE_VERSION="6.4.1"
-  wget -O "/tmp/gradle-$GRADLE_VERSION-bin.zip" "https://services.gradle.org/distributions/gradle-$GRADLE_VERSION-bin.zip" \
-    && unzip -d /opt/gradle "/tmp/gradle-$GRADLE_VERSION-bin.zip"
-  export PATH="$PATH:/opt/gradle/gradle-$GRADLE_VERSION/bin"
-
-  # Intall foonathan_memory from source as it is required to Fast-RTPS >= 1.9
-  git clone https://github.com/eProsima/foonathan_memory_vendor.git /tmp/foonathan_memory \
-    && cd /tmp/foonathan_memory \
-    && mkdir build && cd build \
-    && cmake .. \
-    && cmake --build . --target install -- -j $(nproc)
-
-  # Fast-DDS (Fast-RTPS 2.1.1)
-  git clone --recursive https://github.com/eProsima/Fast-DDS.git -b v2.1.1 /tmp/FastRTPS-2.1.1 \
-    && cd /tmp/FastRTPS-2.1.1 \
-    && mkdir build && cd build \
-    && cmake -DTHIRDPARTY=ON -DSECURITY=ON .. \
-    && cmake --build . --target install -- -j $(nproc)
-
-  # Fast-RTPS-Gen 1.0.4
-  git clone --recursive https://github.com/eProsima/Fast-DDS-Gen.git -b v1.0.4 /tmp/Fast-RTPS-Gen-1.0.4 \
-    && cd /tmp/Fast-RTPS-Gen-1.0.4 \
-    && gradle assemble \
-    && gradle install
+		# add arm-none-eabi-gcc to user's PATH
+		exportline="export PATH=/opt/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}/bin:\$PATH"

+		if grep -Fxq "$exportline" $HOME/.profile; then
+			echo "${NUTTX_GCC_VERSION} path already set.";
+		else
+			echo $exportline >> $HOME/.profile;
+		fi
+	fi
 fi

 # Simulation tools
 if [[ $INSTALL_SIM == "true" ]]; then

-  echo
-  echo $VERBOSE_BAR
-  echo "🍻 Installing PX4 Simulation Tools"
-  echo
+	echo
+	echo "Installing PX4 simulation dependencies"

-  if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
-    gazebo_version=9
-  elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
-    gazebo_version=11
-  fi
+	# General simulation dependencies
+	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+		bc \
+		;

-  echo "  * Gazebo Version $gazebo_version"
-  echo $VERBOSE_BAR
+	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
+		java_version=11
+		gazebo_version=9
+	elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
+		java_version=13
+		gazebo_version=11
+	else
+		java_version=14
+		gazebo_version=11
+	fi
+	# Java (jmavsim or fastrtps)
+	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+		ant \
+		openjdk-$java_version-jre \
+		openjdk-$java_version-jdk \
+		libvecmath-java \
+		;

-  # General simulation dependencies
-  sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-    bc \
-    ant \
-    libvecmath-java \
-    ;
+	# Set Java 11 as default
+	sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")

-  # Installing Gazebo and dependencies
-  # Setup OSRF Gazebo repository
-  sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
-  wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
-  # Update list, since new gazebo-stable.list has been added
-  sudo apt-get update -y --quiet
-  sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-    dmidecode \
-    gazebo$gazebo_version \
-    gstreamer1.0-plugins-bad \
-    gstreamer1.0-plugins-base \
-    gstreamer1.0-plugins-good \
-    gstreamer1.0-plugins-ugly \
-    gstreamer1.0-libav \
-    libeigen3-dev \
-    libgazebo$gazebo_version-dev \
-    libgstreamer-plugins-base1.0-dev \
-    libimage-exiftool-perl \
-    libopencv-dev \
-    libxml2-utils \
-    pkg-config \
-    protobuf-compiler \
-    ;
+	# Gazebo
+	sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+	wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
+	# Update list, since new gazebo-stable.list has been added
+	sudo apt-get update -y --quiet
+	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+		dmidecode \
+		gazebo$gazebo_version \
+		gstreamer1.0-plugins-bad \
+		gstreamer1.0-plugins-base \
+		gstreamer1.0-plugins-good \
+		gstreamer1.0-plugins-ugly \
+		gstreamer1.0-libav \
+		libeigen3-dev \
+		libgazebo$gazebo_version-dev \
+		libgstreamer-plugins-base1.0-dev \
+		libimage-exiftool-perl \
+		libopencv-dev \
+		libxml2-utils \
+		pkg-config \
+		protobuf-compiler \
+		;

-  if sudo dmidecode -t system | grep -q "Manufacturer: VMware, Inc." ; then
-    # fix VMWare 3D graphics acceleration for gazebo
-    echo "export SVGA_VGPU10=0" >> ~/.profile
-  fi
+	if sudo dmidecode -t system | grep -q "Manufacturer: VMware, Inc." ; then
+		# fix VMWare 3D graphics acceleration for gazebo
+		echo "export SVGA_VGPU10=0" >> ~/.profile
+	fi
 fi

-if [[ $INSIDE_DOCKER == "true" ]]; then
-  # cleanup installation
-  rm -rf /tmp/
+if [[ $INSTALL_NUTTX == "true" ]]; then
+	echo
+	echo "Relogin or reboot computer before attempting to build NuttX targets"
 fi
-
-if [[ $INSIDE_DOCKER == "false" ]] && [[ $INSTALL_NUTTX == "true" ]]; then
-  echo
-  echo $VERBOSE_BAR
-  echo "💡 We recommend you relogin/reboot before attempting to build NuttX targets"
-  echo $VERBOSE_BAR
-  echo
-fi
-
-echo
-echo
-echo $VERBOSE_BAR
-echo "#⚡️ PX4 Dependency Installer Ended Succesfully
-#
-#  For more information on PX4 Autopilot check out our docs
-#  at docs.px4.io, if you find a bug please file an issue
-#  on GitHub https://github.com/px4/px4-autopilot"
-echo $VERBOSE_BAR
-echo
--- a/Show More
+++ b/Show More