parameters: add boolean support (PARAM_DEFINE_BOOL)

- real boolean parameter support saves a bit of space in export (bson) and in mavlink sync
2026-05-24 05:17:35 +08:00 · 2021-12-23 17:08:12 -05:00
789 changed files with 20552 additions and 31469 deletions
@@ -60,8 +60,6 @@ pipeline {
                     "holybro_kakutef7_default",
                     "holybro_pix32v5_default",
                     "matek_h743-slim",
-                     "matek_gnss-m9n-f4_canbootloader",
-                     "matek_gnss-m9n-f4_default",
                     "modalai_fc-v1_default",
                     "modalai_fc-v1_rtps",
                     "modalai_fc-v2_default",
@@ -172,7 +170,7 @@ def createBuildNode(Boolean archive, String docker_image, String target) {
            try {
              sh('export')
              checkout(scm)
-              sh('make distclean; git clean -ff -x -d .')
+              sh('make distclean')
              sh('git fetch --tags')
              sh('ccache -s')
              sh('make ' + target)
@@ -189,7 +187,7 @@ def createBuildNode(Boolean archive, String docker_image, String target) {
              throw (exc)
            }
            finally {
-              sh('make distclean; git clean -ff -x -d .')
+              sh('make distclean')
            }
          }
        }
@@ -25,7 +25,7 @@ pipeline {
              }
              post {
                always {
-                  sh 'make distclean; git clean -ff -x -d .'
+                    sh 'make distclean'
                }
              }
            } // stage build
@@ -73,11 +73,8 @@ pipeline {
                }
              }
              post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                always {
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
                }
              }
            } // stage test
@@ -102,7 +99,7 @@ pipeline {
              }
              post {
                always {
-                  sh 'make distclean; git clean -ff -x -d .'
+                    sh 'make distclean'
                }
              }
            } // stage build
@@ -145,11 +142,8 @@ pipeline {
                }
              }
              post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                always {
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
                }
              }
            } // stage test
@@ -174,7 +168,7 @@ pipeline {
              }
              post {
                always {
-                  sh 'make distclean; git clean -ff -x -d .'
+                    sh 'make distclean'
                }
              }
            } // stage build
@@ -217,11 +211,8 @@ pipeline {
                }
              }
              post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                always {
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
                }
              }
            } // stage test
@@ -246,7 +237,7 @@ pipeline {
              }
              post {
                always {
-                  sh 'make distclean; git clean -ff -x -d .'
+                    sh 'make distclean'
                }
              }
            } // stage build
@@ -288,11 +279,8 @@ pipeline {
                }
              }
              post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                always {
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
                }
              }
            } // stage test
@@ -317,7 +305,7 @@ pipeline {
              }
              post {
                always {
-                  sh 'make distclean; git clean -ff -x -d .'
+                    sh 'make distclean'
                }
              }
            } // stage build
@@ -360,11 +348,8 @@ pipeline {
                }
              }
              post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                always {
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
                }
              }
            } // stage test
@@ -389,7 +374,7 @@ pipeline {
              }
              post {
                always {
-                  sh 'make distclean; git clean -ff -x -d .'
+                    sh 'make distclean'
                }
              }
            } // stage build
@@ -422,7 +407,7 @@ pipeline {

                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'

                    // test dataman
@@ -441,6 +426,7 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true'        // limit cpu usage
                    checkStatus()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
                  }
@@ -452,11 +438,8 @@ pipeline {
                }
              }
              post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                always {
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
                }
              }
            } // stage test
@@ -481,7 +464,7 @@ pipeline {
              }
              post {
                always {
-                  sh 'make distclean; git clean -ff -x -d .'
+                    sh 'make distclean'
                }
              }
            } // stage build
@@ -525,6 +508,7 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true'        // limit cpu usage
                    checkStatus()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
                  }
@@ -536,11 +520,8 @@ pipeline {
                }
              }
              post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                always {
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
                }
              }
            } // stage test
@@ -565,7 +546,7 @@ pipeline {
              }
              post {
                always {
-                  sh 'make distclean; git clean -ff -x -d .'
+                    sh 'make distclean'
                }
              }
            } // stage build
@@ -608,11 +589,8 @@ pipeline {
                }
              }
              post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                always {
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
                }
              }
            } // stage test
@@ -637,7 +615,7 @@ pipeline {
              }
              post {
                always {
-                  sh 'make distclean; git clean -ff -x -d .'
+                    sh 'make distclean'
                }
              }
            } // stage build
@@ -680,11 +658,8 @@ pipeline {
                }
              }
              post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                always {
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
                }
              }
            } // stage test
@@ -710,7 +685,7 @@ void checkoutSCM() {
  retry(3) {
    checkout scm
    sh 'export'
-    sh 'make distclean; git clean -ff -x -d .'
+    sh 'make distclean'
    sh 'git fetch --tags'
    sh 'ccache -z'
  }
@@ -743,44 +718,34 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'

  // run logger
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sleep 1"' // sleep before continuing
  // status commands
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/meminfo"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/uptime"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander check" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload; top once; listener cpuload"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /bin"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
@@ -792,12 +757,12 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uavcan status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb 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 "ver all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
  // stop logger
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off" || true'
 }

 void resetParameters() {
@@ -809,14 +774,12 @@ 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()

  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_CAL_EN" --value "0" || true' // disable during testing
  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_FFT_EN" --value "0" || true' // disable during testing
-  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_IMU_AUTOCAL" --value "0" || true' // disable during testing
-  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_MAG_AUTOCAL" --value "0" || true' // disable during testing

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
@@ -856,7 +819,24 @@ void runTests() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'

-  //sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "calib_udelay"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "calib_udelay"'
+
+  // test rebooting multiple times
+  resetParameters()
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/microsd/parameters_backup.bson" || true'
 }

 void printTopics() {
@@ -956,6 +936,10 @@ void printTopics() {
 }

 void resetBoard() {
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
+
  resetParameters()

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
@@ -965,4 +949,29 @@ void resetBoard() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true'        // limit cpu usage
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "echo > /fs/microsd/.format" || true'
  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
+
+  // check SD card
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
+  // format
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman stop" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "umount /fs/microsd" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mkfatfs -F 32 /dev/mmcsd0" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once" || true'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount -t vfat /dev/mmcsd0 /fs/microsd" || true'
+  // check SD card
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
+
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
 }
@@ -1,7 +0,0 @@
-FROM gcr.io/oss-fuzz-base/base-builder:v1
-COPY . $SRC/PX4-Autopilot
-RUN apt-get install -y libjpeg8-dev zlib1g-dev
-RUN pip3 install --upgrade pip
-RUN python3 -m pip install -r $SRC/PX4-Autopilot/Tools/setup/requirements.txt
-WORKDIR $SRC/PX4-Autopilot
-COPY ./.clusterfuzzlite/build.sh $SRC/
@@ -1,4 +0,0 @@
-#!/usr/bin/env bash -eu
-
-PX4_FUZZ=1 make px4_sitl
-cp build/px4_sitl_default/bin/px4 $OUT/px4
@@ -1 +0,0 @@
-language: c++
@@ -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 \
-            ${{ needs.set_docker_tag.outputs.docker_tag }} /bin/bash -c "make px4_fmu-v6x"
@@ -1,34 +0,0 @@
-name: ClusterFuzzLite batch fuzzing
-on:
-  schedule:
-    - cron: '0 6 * * *'  # UTC 6am every day.
-permissions: read-all
-jobs:
-  BatchFuzzing:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        sanitizer:
-        - address
-        - undefined
-        - memory
-    steps:
-    - name: Build Fuzzers (${{ matrix.sanitizer }})
-      id: build
-      uses: google/clusterfuzzlite/actions/build_fuzzers@v1
-      with:
-        sanitizer: ${{ matrix.sanitizer }}
-    - name: Run Fuzzers (${{ matrix.sanitizer }})
-      id: run
-      uses: google/clusterfuzzlite/actions/run_fuzzers@v1
-      with:
-        github-token: ${{ secrets.GITHUB_TOKEN }}
-        fuzz-seconds: 1800 # 30 mins
-        mode: 'batch'
-        sanitizer: ${{ matrix.sanitizer }}
-        # Optional but recommended: For storing certain artifacts from fuzzing.
-        # See later section on "Git repo for storage".
-        # storage-repo: https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/OWNER/STORAGE-REPO-NAME.git
-        # storage-repo-branch: main   # Optional. Defaults to "main"
-        # storage-repo-branch-coverage: gh-pages  # Optional. Defaults to "gh-pages".
@@ -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 +1,118 @@
+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_pix32v5,
+          matek_h743-slim,
+          modalai_fc-v1,
+          modalai_fc-v2,
+          mro_ctrl-zero-f7,
+          mro_ctrl-zero-f7-oem,
+          mro_ctrl-zero-h7,
+          mro_ctrl-zero-h7-oem,
+          mro_pixracerpro,
+          mro_x21,
+          mro_x21-777,
+          nxp_fmuk66-e,
+          nxp_fmuk66-v3,
+          nxp_fmurt1062-v1,
+          nxp_ucans32k146,
+          omnibus_f4sd,
+          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 }}/'
+
@@ -196,16 +196,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: matek_h743-slim_default
-    matek_gnss-m9n-f4_canbootloader:
-      short: matek_gnss-m9n-f4_canbootloader
-      buildType: MiniSizeRel
-      settings:
-        CONFIG: matek_m9nf4can_canbootloader
-    matek_gnss-m9n-f4_default:
-      short: matek_gnss-m9n-f4_default
-      buildType: MiniSizeRel
-      settings:
-        CONFIG: matek_gnss-m9n-f4_default
    modalai_fc-v1_default:
      short: modalai_fc-v1
      buildType: MinSizeRel
@@ -125,11 +125,6 @@ define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                 FULL_DOCS "List of all PX4 module libraries"
                 )

-define_property(GLOBAL PROPERTY PX4_KERNEL_MODULE_LIBRARIES
-                 BRIEF_DOCS "PX4 kernel side module libs"
-                 FULL_DOCS "List of all PX4 kernel module libraries"
-                 )
-
 define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
                 BRIEF_DOCS "PX4 module paths"
                 FULL_DOCS "List of paths to all PX4 modules"
@@ -147,7 +142,6 @@ set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")

 include(px4_add_module)
 set(config_module_list)
-set(config_kernel_list)

 # Find Python
 # If using catkin, Python 2 is found since it points
@@ -88,7 +88,7 @@ pipeline {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
-            sh 'make distclean; git clean -ff -x -d .'
+            sh 'make distclean'
            sh 'git fetch --all --tags'
            sh 'make airframe_metadata'
            dir('build/px4_sitl_default/docs') {
@@ -98,7 +98,7 @@ pipeline {
          }
          post {
            always {
-              sh 'make distclean; git clean -ff -x -d .'
+              sh 'make distclean'
            }
          }
        }
@@ -108,7 +108,7 @@ pipeline {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
-            sh 'make distclean; git clean -ff -x -d .'
+            sh 'make distclean'
            sh 'git fetch --all --tags'
            sh 'make parameters_metadata'
            dir('build/px4_sitl_default/docs') {
@@ -118,7 +118,7 @@ pipeline {
          }
          post {
            always {
-              sh 'make distclean; git clean -ff -x -d .'
+              sh 'make distclean'
            }
          }
        }
@@ -128,7 +128,7 @@ pipeline {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
-            sh 'make distclean; git clean -ff -x -d .'
+            sh 'make distclean'
            sh 'git fetch --all --tags'
            sh 'make module_documentation'
            dir('build/px4_sitl_default/docs') {
@@ -138,7 +138,7 @@ pipeline {
          }
          post {
            always {
-              sh 'make distclean; git clean -ff -x -d .'
+              sh 'make distclean'
            }
          }
        }
@@ -156,7 +156,7 @@ pipeline {
          }
          post {
            always {
-              sh 'make distclean; git clean -ff -x -d .'
+              sh 'make distclean'
            }
          }
        }
@@ -170,7 +170,7 @@ pipeline {
          }
          steps {
            sh 'export'
-            sh 'make distclean; git clean -ff -x -d .'
+            sh 'make distclean'
            sh 'git fetch --all --tags'
            sh 'make uorb_graphs'
            dir('Tools/uorb_graph') {
@@ -180,7 +180,7 @@ pipeline {
          }
          post {
            always {
-              sh 'make distclean; git clean -ff -x -d .'
+              sh 'make distclean'
            }
          }
        }
@@ -261,7 +261,7 @@ pipeline {
          steps {
            sh('export')
            sh('git fetch --all --tags')
-            sh('make distclean; git clean -ff -x -d .')
+            sh('make distclean')
            sh('make px4_sitl_rtps')
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/micrortps_agent.git -b ${BRANCH_NAME}")
@@ -290,7 +290,7 @@ pipeline {
          }
          steps {
            sh('export')
-            sh('make distclean; git clean -ff -x -d .')
+            sh('make distclean')
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
              // 'master' branch
@@ -319,7 +319,7 @@ pipeline {
          }
          steps {
            sh('export')
-            sh('make distclean; git clean -ff -x -d .')
+            sh('make distclean')
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
              // deploy uORB RTPS ID map
@@ -118,11 +118,6 @@ config BOARD_CRYPTO
    help
        Enable PX4 Crypto Support. Select the implementation under drivers

-config BOARD_PROTECTED
-    bool "Memory protection"
-    help
-        Enable memory protection via MPU/MMU
-
 menu "Serial ports"

    config BOARD_SERIAL_URT6
@@ -1,6 +1,6 @@
 BSD 3-Clause License

-Copyright (c) 2012 - 2022, PX4 Development Team
+Copyright (c) 2012 - 2021, PX4 Development Team
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
@@ -158,11 +158,6 @@ else
 		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
 	endif

-	# Fuzz Testing
-	ifdef PX4_FUZZ
-		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
-	endif
-
 endif

 # Pick up specific Python path if set
@@ -487,9 +482,7 @@ shellcheck_all:
 	@make px4_fmu-v5_default shellcheck

 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 "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
-	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
+	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -not -path "$(SRC_DIR)/src/lib/mixer_module/*" -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml

 # Cleanup
 # --------------------------------------------------------------------
@@ -14,19 +14,19 @@ param set-default SYS_CTRL_ALLOC 1

 param set-default CA_AIRFRAME 0

-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
+param set-default CA_MC_R_COUNT 4
+param set-default CA_MC_R0_PX 0.1515
+param set-default CA_MC_R0_PY 0.245
+param set-default CA_MC_R0_KM 0.05
+param set-default CA_MC_R1_PX -0.1515
+param set-default CA_MC_R1_PY -0.1875
+param set-default CA_MC_R1_KM 0.05
+param set-default CA_MC_R2_PX 0.1515
+param set-default CA_MC_R2_PY -0.245
+param set-default CA_MC_R2_KM -0.05
+param set-default CA_MC_R3_PX -0.1515
+param set-default CA_MC_R3_PY 0.1875
+param set-default CA_MC_R3_KM -0.05

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
@@ -8,63 +8,6 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-param set-default SYS_CTRL_ALLOC 1
-param set-default CA_AIRFRAME 7
-
-param set-default CA_ROTOR_COUNT 8
-param set-default CA_R_REV 255
-param set-default CA_ROTOR0_AX 1.0000
-param set-default CA_ROTOR0_AY -1.0000
-param set-default CA_ROTOR0_AZ 0.0000
-param set-default CA_ROTOR0_KM 0.0000
-param set-default CA_ROTOR0_PX 0.5000
-param set-default CA_ROTOR0_PY 0.3000
-param set-default CA_ROTOR0_PZ 0.2000
-param set-default CA_ROTOR1_AX 1.0000
-param set-default CA_ROTOR1_AY 1.0000
-param set-default CA_ROTOR1_AZ 0.0000
-param set-default CA_ROTOR1_KM 0.0000
-param set-default CA_ROTOR1_PX 0.5000
-param set-default CA_ROTOR1_PY -0.3000
-param set-default CA_ROTOR1_PZ 0.2000
-param set-default CA_ROTOR2_AX 1.0000
-param set-default CA_ROTOR2_AY 1.0000
-param set-default CA_ROTOR2_AZ 0.0000
-param set-default CA_ROTOR2_KM 0.0000
-param set-default CA_ROTOR2_PX -0.5000
-param set-default CA_ROTOR2_PY 0.3000
-param set-default CA_ROTOR2_PZ 0.2000
-param set-default CA_ROTOR3_AX 1.0000
-param set-default CA_ROTOR3_AY -1.0000
-param set-default CA_ROTOR3_AZ 0.0000
-param set-default CA_ROTOR3_KM 0.0000
-param set-default CA_ROTOR3_PX -0.5000
-param set-default CA_ROTOR3_PY -0.3000
-param set-default CA_ROTOR3_PZ 0.2000
-param set-default CA_ROTOR4_AZ -1.0000
-param set-default CA_ROTOR4_KM 0.0000
-param set-default CA_ROTOR4_PX 0.5000
-param set-default CA_ROTOR4_PY 0.5000
-param set-default CA_ROTOR5_AZ 1.0000
-param set-default CA_ROTOR5_KM 0.0000
-param set-default CA_ROTOR5_PX 0.5000
-param set-default CA_ROTOR5_PY -0.5000
-param set-default CA_ROTOR6_AZ 1.0000
-param set-default CA_ROTOR6_KM 0.0000
-param set-default CA_ROTOR6_PX -0.5000
-param set-default CA_ROTOR6_PY 0.5000
-param set-default CA_ROTOR7_KM 0.0000
-param set-default CA_ROTOR7_PX -0.5000
-param set-default CA_ROTOR7_PY -0.5000
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 105
-param set-default PWM_MAIN_FUNC6 106
-param set-default PWM_MAIN_FUNC7 107
-param set-default PWM_MAIN_FUNC8 108
-
-set MIXER skip
-
+set PWM_OUT 12345678
+set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
+set MIXER custom
@@ -43,32 +43,5 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

-#param set-default SYS_CTRL_ALLOC 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 6
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-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_CS4_TYPE 9
-param set-default CA_SV_CS5_TYPE 10
-param set-default PWM_MAIN_FUNC3 204
-param set-default PWM_MAIN_FUNC4 205
-param set-default PWM_MAIN_FUNC5 101
-param set-default PWM_MAIN_FUNC6 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_FUNC8 203
-param set-default PWM_MAIN_FUNC9 206
-param set-default PWM_MAIN_REV 256
-
-
 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom
@@ -7,39 +7,6 @@

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

-# param set-default SYS_CTRL_ALLOC 1
-param set-default CA_AIRFRAME 2
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default CA_SV_CS_COUNT 3
-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 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 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_FUNC8 203
-
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
@@ -7,48 +7,14 @@

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

-# param set-default SYS_CTRL_ALLOC 1
-param set-default CA_AIRFRAME 4
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 1
-param set-default CA_ROTOR0_PY 2
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -1
-param set-default CA_ROTOR1_PY -1
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 1
-param set-default CA_ROTOR2_PY -1
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -1
-param set-default CA_ROTOR3_PY 1
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default CA_SV_CS_COUNT 2
-param set-default CA_SV_CS0_TYPE 5
-param set-default CA_SV_CS0_TRQ_P 0.5
-param set-default CA_SV_CS0_TRQ_Y -0.5
-param set-default CA_SV_CS1_TYPE 6
-param set-default CA_SV_CS1_TRQ_P 0.5
-param set-default CA_SV_CS1_TRQ_Y 0.5
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 0
-param set-default PWM_MAIN_FUNC6 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_REV 96 # invert both elevons
-
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_I 0.2
-param set-default FW_PR_P 0.2
+param set-default FW_PR_P 0.3
 param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
-param set-default FW_RR_P 0.2
+param set-default FW_RR_P 0.3
 param set-default FW_THR_CRUISE 0.33
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
@@ -70,8 +36,6 @@ param set-default MPC_XY_VEL_D_ACC 0.1
 param set-default NAV_ACC_RAD 5
 param set-default NAV_LOITER_RAD 80

-param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_SC 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
@@ -7,52 +7,6 @@

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

-# param set-default SYS_CTRL_ALLOC 1
-param set-default CA_AIRFRAME 3
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default CA_ROTOR0_TILT 1
-param set-default CA_ROTOR1_TILT 2
-param set-default CA_ROTOR2_TILT 3
-param set-default CA_ROTOR3_TILT 4
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_TL0_CT 0
-param set-default CA_SV_TL1_CT 0
-param set-default CA_SV_TL2_CT 0
-param set-default CA_SV_TL3_CT 0
-param set-default CA_SV_TL_COUNT 4
-
-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 204
-param set-default PWM_MAIN_FUNC6 205
-param set-default PWM_MAIN_FUNC7 206
-param set-default PWM_MAIN_FUNC8 207
-param set-default PWM_MAIN_FUNC9 201
-param set-default PWM_MAIN_FUNC10 202
-param set-default PWM_MAIN_FUNC11 203
-
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
@@ -28,15 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

-param set-default SYS_CTRL_ALLOC 1
-param set-default CA_AIRFRAME 5
-
-param set-default CA_R_REV 1
-param set-default PWM_MAIN_FUNC1 201
-param set-default PWM_MAIN_FUNC2 201
-param set-default PWM_MAIN_FUNC6 101
-param set-default PWM_MAIN_FUNC7 101
-
 set MAV_TYPE 10

-set MIXER_FILE skip
+set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
@@ -28,15 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

-param set-default SYS_CTRL_ALLOC 1
-param set-default CA_AIRFRAME 6
-
-param set-default CA_R_REV 3
-param set-default PWM_MAIN_FUNC1 101
-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
+set MIXER_FILE etc/mixers-sitl/rover_diff_sitl.main.mix
@@ -28,25 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

-param set-default SYS_CTRL_ALLOC 1
-param set-default CA_AIRFRAME 9
-
-param set-default CA_ROTOR_COUNT 2
-param set-default CA_ROTOR0_AX 1
-param set-default CA_ROTOR0_AZ 0
-param set-default CA_ROTOR0_KM 0
-param set-default CA_ROTOR0_PX -2
-param set-default CA_ROTOR0_PY -1
-param set-default CA_ROTOR1_AX 1
-param set-default CA_ROTOR1_AZ 0
-param set-default CA_ROTOR1_KM 0
-param set-default CA_ROTOR1_PX -2
-param set-default CA_ROTOR1_PY 1
-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
+set MIXER_FILE etc/mixers-sitl/boat_sitl.main.mix
@@ -11,31 +11,5 @@

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

-param set-default SYS_CTRL_ALLOC 1
-param set-default CA_AIRFRAME 9
-
-param set-default CA_ROTOR_COUNT 3
-param set-default CA_ROTOR0_AX 1.0000
-param set-default CA_ROTOR0_AZ 0.0000
-param set-default CA_ROTOR0_KM 0.0000
-param set-default CA_ROTOR0_PY 2.0000
-param set-default CA_ROTOR1_AX 1.0000
-param set-default CA_ROTOR1_AZ 0.0000
-param set-default CA_ROTOR1_KM 0.0000
-param set-default CA_ROTOR1_PY -2.0000
-param set-default CA_ROTOR2_AY -1.0000
-param set-default CA_ROTOR2_AZ 0.0000
-param set-default CA_ROTOR2_KM 0.0000
-param set-default CA_ROTOR2_PX -10.0000
-
-param set-default CA_SV_CS_COUNT 1
-param set-default CA_SV_CS0_TRQ_P 1.0000
-
-param set-default CA_R_REV 7
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 201
-param set-default PWM_MAIN_FUNC4 103
-
-set MIXER skip
+set MIXER cloudship
+set PWM_OUT 1234
@@ -30,26 +30,26 @@ param set-default MNT_MODE_IN 0
 param set-default MAV_PROTO_VER 2

 param set-default CA_AIRFRAME 0
-param set-default CA_ROTOR_COUNT 6
+param set-default CA_MC_R_COUNT 6

-param set-default CA_ROTOR0_PX 0.0
-param set-default CA_ROTOR0_PY 1.0
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0.0
-param set-default CA_ROTOR1_PY -1.0
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.866025
-param set-default CA_ROTOR2_PY -0.5
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.866025
-param set-default CA_ROTOR3_PY 0.5
-param set-default CA_ROTOR3_KM 0.05
-param set-default CA_ROTOR4_PX 0.866025
-param set-default CA_ROTOR4_PY 0.5
-param set-default CA_ROTOR4_KM 0.05
-param set-default CA_ROTOR5_PX -0.866025
-param set-default CA_ROTOR5_PY -0.5
-param set-default CA_ROTOR5_KM -0.05
+param set-default CA_MC_R0_PX 0.0
+param set-default CA_MC_R0_PY 1.0
+param set-default CA_MC_R0_KM -0.05
+param set-default CA_MC_R1_PX 0.0
+param set-default CA_MC_R1_PY -1.0
+param set-default CA_MC_R1_KM 0.05
+param set-default CA_MC_R2_PX 0.866025
+param set-default CA_MC_R2_PY -0.5
+param set-default CA_MC_R2_KM -0.05
+param set-default CA_MC_R3_PX -0.866025
+param set-default CA_MC_R3_PY 0.5
+param set-default CA_MC_R3_KM 0.05
+param set-default CA_MC_R4_PX 0.866025
+param set-default CA_MC_R4_PY 0.5
+param set-default CA_MC_R4_KM 0.05
+param set-default CA_MC_R5_PX -0.866025
+param set-default CA_MC_R5_PY -0.5
+param set-default CA_MC_R5_KM -0.05

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
@@ -10,7 +10,7 @@ fi

 if [ ! -f replay_params.txt ]; then
 	echo "Creating $(pwd)/replay_params.txt"
-	ulog_params -i "${replay}" -l ' ' | grep -e '^EKF2' > replay_params.txt
+	ulog_params -i "${replay}" -d ' ' | grep -e '^EKF2' > replay_params.txt
 fi

 publisher_rules_file="orb_publisher.rules"
@@ -21,7 +21,6 @@ ignore_others: false
 EOF

 param set SDLOG_DIRS_MAX 7
-param set SDLOG_PROFILE 3

 # apply all params before ekf starts, as some params cannot be changed after startup
 replay tryapplyparams
@@ -35,6 +35,6 @@ param set-default MC_YAWRATE_P 0.25
 param set-default MC_YAWRATE_I 0.25

 param set-default BAT1_V_DIV 12.27559
-param set-default BAT1_A_PER_V 15.391030303103
+param set-default BAT1_A_PER_V 15.39103

 set MIXER quad_w
@@ -15,8 +15,6 @@
 set MIXER quad_x
 set PWM_OUT 1234

-param set UAVCAN_ENABLE 0
-
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2

@@ -15,8 +15,6 @@
 set MIXER AERT
 set PWM_OUT 1234

-param set UAVCAN_ENABLE 0
-
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set-default SYS_HITL 2

@@ -40,4 +38,3 @@ param set SIH_IXZ 0.00046
 param set SIH_KDV 0.2

 param set SIH_VEHICLE_TYPE 1 	# sih as fixed wing
-param set RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)
@@ -1,61 +0,0 @@
-#!/bin/sh
-#
-# @name SIH Tailsitter Duo
-#
-# @type Simulation
-# @class VTOL
-#
-# @output MAIN1 motor right
-# @output MAIN2 motor left
-# @output MAIN5 elevon right
-# @output MAIN6 elevon left
-#
-# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
-#
-# @board px4_fmu-v2 exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set UAVCAN_ENABLE 0
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_MOT_COUNT 2
-param set-default VT_TYPE 0
-param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_SC 0.3
-param set-default MPC_MAN_Y_MAX 60
-param set-default MC_PITCH_P 5
-
-param set-default MAV_TYPE 19
-set MAV_TYPE 19
-set MIXER vtol_tailsitter_duo_sat
-
-set PWM_OUT 1234
-
-# set SYS_HITL to 2 to start the SIH and avoid sensors startup
-param set-default SYS_HITL 2
-
-# disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default BAT_N_CELLS 3
-
-param set SIH_T_MAX 2.0
-param set SIH_Q_MAX 0.0165
-param set SIH_MASS 0.2
-# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
-param set SIH_IXX 0.00354
-param set SIH_IYY 0.000625
-param set SIH_IZZ 0.00300
-param set SIH_IXZ 0.0
-param set SIH_KDV 0.2
-param set SIH_L_ROLL 0.145
-
-# sih as tailsitter
-param set SIH_VEHICLE_TYPE 2
@@ -64,6 +64,7 @@ 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_ALT_MAX 9999
 param set-default LNDMC_XY_VEL_MAX 1
 param set-default LNDMC_Z_VEL_MAX 0.7

@@ -19,19 +19,19 @@ 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 CA_MC_R_COUNT 4
+param set-default CA_MC_R0_PX 0.177
+param set-default CA_MC_R0_PY 0.177
+param set-default CA_MC_R0_KM 0.05
+param set-default CA_MC_R1_PX -0.177
+param set-default CA_MC_R1_PY -0.177
+param set-default CA_MC_R1_KM 0.05
+param set-default CA_MC_R2_PX 0.177
+param set-default CA_MC_R2_PY -0.177
+param set-default CA_MC_R2_KM -0.05
+param set-default CA_MC_R3_PX -0.177
+param set-default CA_MC_R3_PY 0.177
+param set-default CA_MC_R3_KM -0.05

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
@@ -1,23 +0,0 @@
-#!/bin/sh
-#
-# @name Holybro X500 V2
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @maintainer Farhang Naderi <farhang.nba@gmail.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default IMU_GYRO_CUTOFF 30
-
-param set-default MC_ROLLRATE_P 0.14
-param set-default MC_PITCHRATE_P 0.14
-param set-default MC_ROLLRATE_I 0.3
-param set-default MC_PITCHRATE_I 0.3
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_PITCHRATE_D 0.004
@@ -16,10 +16,8 @@

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

-# We set the mixer and ESC manually.
-set MIXER skip
-set MIXER_AUX skip
-set MIXER_FILE ""
+set MIXER none
+set MIXER_AUX none

 # Battery settings
 param set-default BAT_CRIT_THR 0.20
@@ -35,13 +33,12 @@ param set-default CBRK_SUPPLY_CHK 894281

 param set-default COM_DISARM_LAND 0.1
 param set-default COM_DISARM_PRFLT 3
-param set-default COM_DL_LOSS_T 10
-param set-default COM_FLTMODE1  2
+param set-default COM_FLTMODE1 -1
 param set-default COM_FLTMODE2 -1
 param set-default COM_FLTMODE3 -1
-param set-default COM_FLTMODE4 -1
+param set-default COM_FLTMODE4  2
 param set-default COM_FLTMODE5 -1
-param set-default COM_FLTMODE6  1
+param set-default COM_FLTMODE6  6
 param set-default COM_RC_LOSS_T 3


@@ -71,9 +68,6 @@ 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
-param set-default EKF2_OF_QMIN 30

 param set-default EKF2_PCOEF_XN -0.3
 param set-default EKF2_PCOEF_XP -0.4
@@ -148,30 +142,57 @@ param set-default MPC_Z_VEL_P 0.27

 # gimbal configuration
 param set-default MNT_MODE_IN 1
-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
+param set-default MNT_MODE_OUT 2
+param set-default MNT_MAN_PITCH 1
+

 # RC
 param set-default RC_CHAN_CNT       12

 param set-default RC_MAP_THROTTLE   1
-param set-default RC_MAP_YAW        2
+param set-default RC_MAP_ROLL       2
 param set-default RC_MAP_PITCH      3
-param set-default RC_MAP_ROLL       4
-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 RC1_TRIM          1000
+param set-default RC_MAP_YAW        4
+param set-default RC_MAP_FLTMODE    5
+param set-default RC_MAP_AUX1       7
+
+param set-default RC1_DZ            10
+param set-default RC1_MAX           3413
+param set-default RC1_MIN           683
+param set-default RC1_REV           1
+param set-default RC1_TRIM          683
+param set-default RC2_DZ            10
+param set-default RC2_MAX           3413
+param set-default RC2_MIN           683
+param set-default RC2_REV           -1
+param set-default RC2_TRIM          2048
+param set-default RC3_DZ            10
+param set-default RC3_MAX           3413
+param set-default RC3_MIN           683
+param set-default RC3_REV           1
+param set-default RC3_TRIM          2048
+param set-default RC4_DZ            10
+param set-default RC4_MAX           3413
+param set-default RC4_MIN           683
+param set-default RC4_REV           -1
+param set-default RC4_TRIM          2048
+param set-default RC5_DZ            10
+param set-default RC5_MAX           3414
+param set-default RC5_MIN           2048
+param set-default RC5_REV           1
+param set-default RC5_TRIM          2048
+param set-default RC7_DZ            10
+param set-default RC7_MAX           3413
+param set-default RC7_MIN           683
+param set-default RC7_REV           1
+param set-default RC7_TRIM          2048


 # optical flow
 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
+param set-default SENS_FLOW_ROT    4

-# ignore the SD card errors and use normal startup sound
-set STARTUP_TUNE "1"
+
+mixer load /dev/tap_esc /etc/mixers/quad_x.main.mix
@@ -15,31 +15,31 @@
 param set-default SYS_CTRL_ALLOC 1

 param set-default CA_AIRFRAME 0
-param set-default CA_ROTOR_COUNT 6
+param set-default CA_MC_R_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_MC_R0_PX 0.0
+param set-default CA_MC_R0_PY 0.275
+param set-default CA_MC_R0_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_MC_R1_PX 0.0
+param set-default CA_MC_R1_PY -0.275
+param set-default CA_MC_R1_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_MC_R2_PX 0.238
+param set-default CA_MC_R2_PY -0.1375
+param set-default CA_MC_R2_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_MC_R3_PX -0.238
+param set-default CA_MC_R3_PY 0.1375
+param set-default CA_MC_R3_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_MC_R4_PX 0.238
+param set-default CA_MC_R4_PY 0.1375
+param set-default CA_MC_R4_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 CA_MC_R5_PX -0.238
+param set-default CA_MC_R5_PY -0.1375
+param set-default CA_MC_R5_KM -0.05

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
@@ -40,7 +40,6 @@ px4_add_romfs_files(
 	1002_standard_vtol.hil
 	1100_rc_quad_x_sih.hil
 	1101_rc_plane_sih.hil
-	1102_tailsitter_duo_sih.hil

 	# [2000, 2999] Standard planes"
 	2100_standard_plane
@@ -73,7 +72,6 @@ px4_add_romfs_files(
 	4016_holybro_px4vision
 	4017_nxp_hovergames
 	4018_s500_ctrlalloc
-	4019_x500_v2
 	4030_3dr_solo
 	4031_3dr_quad
 	4040_reaper
@@ -48,14 +48,6 @@ fi
 #                        End Estimator Group Selection                        #
 ###############################################################################

-if param compare SYS_CTRL_ALLOC 1
-then
-	#
-	# Start Control Allocator
-	#
-	control_allocator start
-fi
-
 #
 # Start Airship Attitude Controller.
 #
@@ -10,14 +10,6 @@
 #
 ekf2 start &

-if param compare SYS_CTRL_ALLOC 1
-then
-	#
-	# Start Control Allocator
-	#
-	control_allocator start
-fi
-
 #
 # Start attitude controller.
 #
@@ -45,7 +45,7 @@ fi
 #
 # Set the default output mode if none was set.
 #
-if [ $OUTPUT_MODE = none -a $OUTPUT_MODE != skip ]
+if [ $OUTPUT_MODE = none ]
 then
 	if [ $USE_IO = yes ]
 	then
@@ -72,7 +72,7 @@ fi
 #
 # If OUTPUT_MODE = none then something is wrong with setup and we shouldn't try to enable output.
 #
-if [ $OUTPUT_MODE != none -a $OUTPUT_MODE != skip ]
+if [ $OUTPUT_MODE != none ]
 then

 	if [ $OUTPUT_MODE = hil -o $OUTPUT_MODE = sim ]
@@ -7,10 +7,7 @@

 set VEHICLE_TYPE mc

-if param compare IMU_GYRO_RATEMAX 400
-then
-	param set-default IMU_GYRO_RATEMAX 800
-fi
+param set-default IMU_GYRO_RATEMAX 800

 param set-default NAV_ACC_RAD 2

@@ -12,13 +12,6 @@ ekf2 start &
 #attitude_estimator_q start
 #local_position_estimator start

-if param compare SYS_CTRL_ALLOC 1
-then
-	#
-	# Start Control Allocator
-	#
-	control_allocator start
-fi

 #
 # Start attitude controllers.
@@ -4,6 +4,19 @@
 #
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
+
+if ! ver hwcmp OMNIBUS_F4SD
+then
+	if ! ver hwcmp BITCRAZE_CRAZYFLIE
+	then
+		# Configure all I2C buses to 100 KHz as they
+		# are all external or slow
+		# TODO: move this
+		pwm_out i2c 1 100000
+		pwm_out i2c 2 100000
+	fi
+fi
+
 ###############################################################################
 #                           Begin Optional drivers                            #
 ###############################################################################
@@ -130,13 +143,6 @@ then
 	fi
 fi

-# SHT3x temperature and hygrometer sensor, external I2C
-if param compare -s SENS_EN_SHT3X 1
-then
-	sht3x start -X
-	sht3x start -X -a 0x45
-fi
-
 # TE MS4525 differential pressure sensor external I2C
 if param compare -s SENS_EN_MS4525 1
 then
@@ -15,14 +15,6 @@ ekf2 start &
 #                        End Estimator Group Selection                        #
 ###############################################################################

-if param compare SYS_CTRL_ALLOC 1
-then
-	#
-	# Start Control Allocator
-	#
-	control_allocator start
-fi
-
 #
 # Start UUV Attitude Controller.
 #
@@ -15,14 +15,6 @@ ekf2 start &
 #                        End Estimator group selection                        #
 ###############################################################################

-if param compare SYS_CTRL_ALLOC 1
-then
-	#
-	# Start Control Allocator
-	#
-	control_allocator start
-fi
-
 airspeed_selector start

 vtol_att_control start
@@ -72,7 +72,28 @@ then
 			umount /fs/microsd

 		else
-			set SDCARD_AVAILABLE yes
+			# very basic I/O test
+			set PX4_INIT_TEST_FILE "/fs/microsd/.px4_init_test_file"
+			date >> $PX4_INIT_TEST_FILE
+
+			if [ $? -eq 0 -a -f $PX4_INIT_TEST_FILE ]
+			then
+				cat $PX4_INIT_TEST_FILE
+				rm $PX4_INIT_TEST_FILE
+
+				if [ $? -eq 0 -a ! -f $PX4_INIT_TEST_FILE ]
+				then
+					set SDCARD_AVAILABLE yes
+				fi
+			fi
+			unset PX4_INIT_TEST_FILE
+
+			if [ $SDCARD_AVAILABLE = no ]
+			then
+				echo "ERROR [init] card I/O failure, formatting"
+				set SDCARD_FORMAT yes
+				umount /fs/microsd
+			fi
 		fi
 	fi

@@ -158,11 +179,6 @@ else
 		# try importing from backup file
 		if [ -f "/fs/microsd/parameters_backup.bson" ]
 		then
-			echo "[init] importing from parameter backup"
-
-			# dump current backup file contents for comparison
-			param dump /fs/microsd/parameters_backup.bson
-
 			param import /fs/microsd/parameters_backup.bson
 		fi
 	fi
@@ -291,9 +307,15 @@ else
 		# Start core UAVCAN module.
 		if uavcan start
 		then
-			if param greater UAVCAN_ENABLE 2
+			if param greater UAVCAN_ENABLE 1
 			then
-				set OUTPUT_MODE uavcan_esc
+				# Start UAVCAN firmware update server and dynamic node ID allocation server.
+				uavcan start fw
+
+				if param greater UAVCAN_ENABLE 2
+				then
+					set OUTPUT_MODE uavcan_esc
+				fi
 			fi
 		else
 			tune_control play error
@@ -409,6 +431,17 @@ else
 		commander start
 	fi

+
+	#
+	# Play the startup tune (if not disabled or there is an error)
+	#
+	param compare CBRK_BUZZER 782090
+	if [ $? != 0 -o $STARTUP_TUNE != 1 ]
+	then
+		tune_control play -t $STARTUP_TUNE
+	fi
+
+
 	# Pre-takeoff continuous magnetometer calibration
 	if param compare -s MBE_ENABLE 1
 	then
@@ -427,7 +460,7 @@ else
 	set BOARD_RC_MAVLINK ${R}etc/init.d/rc.board_mavlink
 	if [ -f $BOARD_RC_MAVLINK ]
 	then
-		echo "Board mavlink: ${BOARD_RC_MAVLINK}"
+		echo "Board extras: ${BOARD_RC_MAVLINK}"
 		. $BOARD_RC_MAVLINK
 	fi
 	unset BOARD_RC_MAVLINK
@@ -466,15 +499,6 @@ else
 	#
 	. ${R}etc/init.d/rc.vehicle_setup

-	#
-	# Play the startup tune (if not disabled or there is an error)
-	#
-	param compare CBRK_BUZZER 782090
-	if [ "$?" != "0" -o "$STARTUP_TUNE" != "1" ]
-	then
-		tune_control play -t $STARTUP_TUNE
-	fi
-
 	#
 	# Start the navigator.
 	#
@@ -33,11 +33,15 @@

 px4_add_romfs_files(
 	autogyro_sitl.main.mix
+	boat_sitl.main.mix
 	delta_wing_sitl.main.mix
 	package_drop.aux.mix
 	plane_sitl.main.mix
 	quad_x_vtol.main.mix
+	rover_ackermann_sitl.main.mix
+	rover_diff_sitl.main.mix
 	standard_vtol_sitl.main.mix
 	tiltrotor_sitl.main.mix
 	uuv_x_sitl.main.mix
+	vectored6dof_sitl.main.mix
 )
@@ -0,0 +1,15 @@
+Mixer for SITL boat
+=========================================================
+
+Throttle of left propeller of boat on Output 0
+---------------------------------------
+M: 2
+S: 0 2    10000   10000      0  -10000  10000
+S: 0 3    10000   10000      0  -10000  10000
+
+
+Throttle of right propeller of boat on Output 1
+---------------------------------------
+M: 2
+S: 0 2   -10000  -10000      0  -10000  10000
+S: 0 3    10000   10000      0  -10000  10000
@@ -0,0 +1,46 @@
+Mixer for SITL rover
+=========================================================
+
+Output 0
+---------------------------------------
+M: 1
+O:       10000   10000      0 -10000  10000
+S: 0 2   10000   10000      0 -10000  10000
+
+Output 1
+---------------------------------------
+M: 1
+O:       10000   10000      0 -10000  10000
+S: 0 2   10000   10000      0 -10000  10000
+
+Output 2
+---------------------------------------
+Z:
+
+Output 3
+---------------------------------------
+Z:
+
+Output 4
+---------------------------------------
+Z:
+
+Output 5
+---------------------------------------
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3  10000  10000      0 -10000  10000
+
+Output 6
+---------------------------------------
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3  10000  10000      0 -10000  10000
+
+Output 7
+---------------------------------------
+Z:
+
+Output 8
+---------------------------------------
+Z:
@@ -0,0 +1,46 @@
+Mixer for SITL rover
+=========================================================
+
+Output 0
+---------------------------------------
+M: 2
+S: 0 2  10000   10000      0 -10000  10000
+S: 0 3  10000   10000      0 -10000  10000
+
+Output 1
+---------------------------------------
+M: 2
+S: 0 2  10000   10000      0 -10000  10000
+S: 0 3  10000   10000      0 -10000  10000
+
+Output 2
+---------------------------------------
+Z:
+
+Output 3
+---------------------------------------
+Z:
+
+Output 4
+---------------------------------------
+Z:
+
+Output 5
+---------------------------------------
+M: 2
+S: 0 2  -10000  -10000      0 -10000  10000
+S: 0 3   10000   10000      0 -10000  10000
+
+Output 6
+---------------------------------------
+M: 2
+S: 0 2  -10000  -10000      0 -10000  10000
+S: 0 3   10000   10000      0 -10000  10000
+
+Output 7
+---------------------------------------
+Z:
+
+Output 8
+---------------------------------------
+Z:
@@ -0,0 +1,40 @@
+# Motor 1
+M: 3
+S: 0 2  -4000  -4000  0   -4000  +4000
+S: 0 3  +4000  +4000  0   -4000  +4000
+S: 0 4  -4000  -4000  0   -4000  +4000
+# Motor 2
+M: 3
+S: 0 2  +4000  +4000  0   -4000  +4000
+S: 0 3  +4000  +4000  0   -4000  +4000
+S: 0 4  +4000  +4000  0   -4000  +4000
+# Motor 3
+M: 3
+S: 0 2  -4000  -4000  0   -4000  +4000
+S: 0 3  +4000  +4000  0   -4000  +4000
+S: 0 4  +4000  +4000  0   -4000  +4000
+# Motor 4
+M: 3
+S: 0 2  +4000  +4000  0   -4000  +4000
+S: 0 3  +4000  +4000  0   -4000  +4000
+S: 0 4  -4000  -4000  0   -4000  +4000
+# Motor 5
+M: 3
+S: 0 0  -4000  -4000  0   -4000  +4000
+S: 0 1  +4000  +4000  0   -4000  +4000
+S: 0 5  -4000  -4000  0   -4000  +4000
+# Motor 6
+M: 3
+S: 0 0  -4000  -4000  0   -4000  +4000
+S: 0 1  -4000  -4000  0   -4000  +4000
+S: 0 5  +4000  +4000  0   -4000  +4000
+# Motor 7
+M: 3
+S: 0 0  +4000  +4000  0   -4000  +4000
+S: 0 1  +4000  +4000  0   -4000  +4000
+S: 0 5  +4000  +4000  0   -4000  +4000
+# Motor 8
+M: 3
+S: 0 0  +4000  +4000  0   -4000  +4000
+S: 0 1  -4000  -4000  0   -4000  +4000
+S: 0 5  -4000  -4000  0   -4000  +4000
@@ -90,5 +90,4 @@ px4_add_romfs_files(
 	vtol_convergence.main.mix
 	vtol_delta.aux.mix
 	vtol_tailsitter_duo.main.mix
-	vtol_tailsitter_duo_sat.main.mix
 )
@@ -1,39 +0,0 @@
-Tailsitter duo mixer
-============================
-
-This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
-has two motors in total, one attached to each wing. It also has two elevons which
-are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
-on the main PWM ouput port, two at 400Hz for the motors, and two at 50Hz for the
-elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
-at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used.
-
-Motor mixer
------------
-Channel 1 connects to the right (starboard) motor.
-Channel 2 connects to the left (port) motor.
-
-R: 2-
-
-Zero mixer (2x)
---------------
-Channels 3,4 are unused.
-
-Z:
-
-Z:
-
-Elevons mixer
--------------
-Channel 5 connects to the right (starboard) elevon.
-Channel 6 connects to the left (port) elevon.
-Here we saturate the elevons before their full range
-to avoid roll-pitch-yaw coupling during faster maneuvers
-
-M: 2
-S: 1 0   10000   10000    0 -6000  6000
-S: 1 1   10000   10000    0 -6000  6000
-
-M: 2
-S: 1 0   10000   10000    0 -6000  6000
-S: 1 1  -10000  -10000    0 -6000  6000
@@ -7,8 +7,6 @@ from argparse import ArgumentParser
 import re
 import sys
 import datetime
-import serial.tools.list_ports as list_ports
-import tempfile

 COLOR_RED    = "\x1b[31m"
 COLOR_GREEN  = "\x1b[32m"
@@ -38,9 +36,8 @@ def print_line(line):
    else:
        print('{0}'.format(line), end='')

-
-def monitor_firmware_upload(port_url, baudrate):
-    ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
+def monitor_firmware_upload(port, baudrate):
+    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=True, rtscts=False, dsrdtr=False)

    timeout = 180  # 3 minutes
    timeout_start = time.monotonic()
@@ -52,59 +49,33 @@ def monitor_firmware_upload(port_url, baudrate):
        serial_line = ser.readline().decode("ascii", errors='ignore')

        if len(serial_line) > 0:
+            if "ERROR" in serial_line:
+                return_code = -1

            print_line(serial_line)

-            if "NuttShell (NSH)" in serial_line:
-                sys.exit(return_code)
-            elif "nsh>" in serial_line:
-                sys.exit(return_code)
+        if "NuttShell (NSH)" in serial_line:
+            sys.exit(return_code)
+        elif "nsh>" in serial_line:
+            sys.exit(return_code)

-        else:
-            if time.monotonic() > timeout_start + timeout:
-                print("Error, timeout")
-                sys.exit(-1)
-
-            # newline every 10 seconds if still running
-            if (len(serial_line) <= 0) and (time.monotonic() - timeout_newline > 10):
-                timeout_newline = time.monotonic()
-                ser.write("\n".encode("ascii"))
+        if time.monotonic() > timeout_start + timeout:
+            print("Error, timeout")
+            sys.exit(-1)

+        # newline every 10 seconds if still running
+        if time.monotonic() - timeout_newline > 10:
+            timeout_newline = time.monotonic()
+            ser.write("\n".encode("ascii"))
+            ser.flush()

 def main():
-
-    default_device = None
-    device_required = True
-
-    # select USB UART as default if there's only 1
-    ports = list(serial.tools.list_ports.grep('USB UART'))
-
-    if (len(ports) == 1):
-        default_device = ports[0].device
-        device_required = False
-
-        print("Default USB UART port: {0}".format(ports[0].name))
-        print(" device: {0}".format(ports[0].device))
-        print(" description: \"{0}\" ".format(ports[0].description))
-        print(" hwid: {0}".format(ports[0].hwid))
-        #print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
-        #print(" serial_number: {0}".format(ports[0].serial_number))
-        #print(" location: {0}".format(ports[0].location))
-        print(" manufacturer: {0}".format(ports[0].manufacturer))
-        #print(" product: {0}".format(ports[0].product))
-        #print(" interface: {0}".format(ports[0].interface))
-
    parser = ArgumentParser(description=__doc__)
-    parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
-    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
+    parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
+    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
    args = parser.parse_args()

-    tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
-    port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
-
-    print("pyserial url: {0}".format(port_url))
-
-    monitor_firmware_upload(port_url, args.baudrate)
+    monitor_firmware_upload(args.device, args.baudrate)

 if __name__ == "__main__":
   main()
@@ -6,9 +6,6 @@ from subprocess import call, Popen
 from argparse import ArgumentParser
 import re
 import sys
-import datetime
-import serial.tools.list_ports as list_ports
-import tempfile

 COLOR_RED    = "\x1b[31m"
 COLOR_GREEN  = "\x1b[32m"
@@ -32,38 +29,33 @@ def print_line(line):
    if "FAILED" in line:
        line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)

-    if "\n" in line:
-        current_time = datetime.datetime.now()
-        print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
-    else:
-        print('{0}'.format(line), end='')
+    print(line, end='')

-
-def do_param_set_cmd(port_url, baudrate, param_name, param_value):
-    ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
+def do_param_set_cmd(port, baudrate, param_name, param_value):
+    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.1, xonxoff=True, rtscts=False, dsrdtr=False)

    timeout_start = time.monotonic()
    timeout = 30  # 30 seconds

-    ser.write("\n\n\n".encode("ascii"))
-
    # wait for nsh prompt
    while True:
+        ser.write("\n".encode("ascii"))
+        ser.flush()
+
        serial_line = ser.readline().decode("ascii", errors='ignore')

-        if len(serial_line) > 0:
-            if "nsh>" in serial_line:
-                break
+        if "nsh>" in serial_line:
+            break
        else:
-            if time.monotonic() > timeout_start + timeout:
-                print("Error, timeout waiting for prompt")
-                sys.exit(1)
-
-            ser.write("\n".encode("ascii"))
+            if len(serial_line) > 0:
+                print_line(serial_line)

+        if time.monotonic() > timeout_start + timeout:
+            print("Error, timeout waiting for prompt")
+            sys.exit(1)

    # clear
-    ser.reset_input_buffer()
+    ser.readlines()

    # run command
    timeout_start = time.monotonic()
@@ -73,32 +65,28 @@ def do_param_set_cmd(port_url, baudrate, param_name, param_value):

    # write command (param set) and wait for command echo
    print("Running command: \'{0}\'".format(cmd))
-    serial_cmd = '{0}\n'.format(cmd)
-
+    serial_cmd = '{0}\r\n'.format(cmd)
    ser.write(serial_cmd.encode("ascii"))
-
+    ser.flush()
    while True:
        serial_line = ser.readline().decode("ascii", errors='ignore')

-        if len(serial_line) > 0:
-            if cmd in serial_line:
-                break
-
+        if cmd in serial_line:
            print_line(serial_line)
-
+            break
        else:
-            if time.monotonic() > timeout_start + timeout:
-                print("Error, timeout waiting for command echo")
-                break
+            if len(serial_line) > 0:
+                print_line(serial_line)

-    # clear
-    ser.reset_input_buffer()
+        if time.monotonic() > timeout_start + timeout:
+            print("Error, timeout waiting for command echo")
+            break

    # verify param value
    cmd = "param show " + param_name
-    print("Running command: \'{0}\'".format(cmd))
-    serial_cmd = '{0}\n'.format(cmd)
+    serial_cmd = '{0}\r\n'.format(cmd)
    ser.write(serial_cmd.encode("ascii"))
+    ser.flush()

    param_show_response = param_name + " ["

@@ -108,64 +96,44 @@ def do_param_set_cmd(port_url, baudrate, param_name, param_value):
    while True:
        serial_line = ser.readline().decode("ascii", errors='ignore')

-        if len(serial_line) > 0:
+        if param_show_response in serial_line:
            print_line(serial_line)
+            current_param_value = serial_line.split(":")[-1].strip()

-            if param_show_response in serial_line:
-                current_param_value = serial_line.split(":")[-1].strip()
-
-                if (current_param_value == param_value):
-                    sys.exit(0)
-                else:
-                    sys.exit(1)
+            if (current_param_value == param_value):
+                sys.exit(0)
            else:
-                if time.monotonic() > timeout_start + timeout:
-                    if "nsh>" in serial_line:
-                        sys.exit(1) # error, command didn't complete successfully
-                    elif "NuttShell (NSH)" in serial_line:
-                        sys.exit(1) # error, command didn't complete successfully
+                sys.exit(1)
        else:
-            if time.monotonic() > timeout_start + timeout:
-                print("Error, timeout")
-                sys.exit(-1)
+            if len(serial_line) > 0:
+                print_line(serial_line)

+            if time.monotonic() > timeout_start + timeout:
+                if "nsh>" in serial_line:
+                    sys.exit(1) # error, command didn't complete successfully
+                elif "NuttShell (NSH)" in serial_line:
+                    sys.exit(1) # error, command didn't complete successfully
+
+        if time.monotonic() > timeout_start + timeout:
+            print("Error, timeout")
+            sys.exit(-1)
+
+        if len(serial_line) <= 0:
+            ser.write("\r\n".encode("ascii"))
+            ser.flush()
+            time.sleep(0.2)
+
+    ser.close()

 def main():
-
-    default_device = None
-    device_required = True
-
-    # select USB UART as default if there's only 1
-    ports = list(serial.tools.list_ports.grep('USB UART'))
-
-    if (len(ports) == 1):
-        default_device = ports[0].device
-        device_required = False
-
-        print("Default USB UART port: {0}".format(ports[0].name))
-        print(" device: {0}".format(ports[0].device))
-        print(" description: \"{0}\" ".format(ports[0].description))
-        print(" hwid: {0}".format(ports[0].hwid))
-        #print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
-        #print(" serial_number: {0}".format(ports[0].serial_number))
-        #print(" location: {0}".format(ports[0].location))
-        print(" manufacturer: {0}".format(ports[0].manufacturer))
-        #print(" product: {0}".format(ports[0].product))
-        #print(" interface: {0}".format(ports[0].interface))
-
    parser = ArgumentParser(description=__doc__)
-    parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
-    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
+    parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
+    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
    parser.add_argument("--name", "-p", dest="param_name", help="Parameter name")
    parser.add_argument("--value", "-v", dest="param_value", help="Parameter value")
    args = parser.parse_args()

-    tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
-    port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
-
-    print("pyserial url: {0}".format(port_url))
-
-    do_param_set_cmd(port_url, args.baudrate, args.param_name, args.param_value)
+    do_param_set_cmd(args.device, args.baudrate, args.param_name, args.param_value)

 if __name__ == "__main__":
   main()
@@ -7,8 +7,6 @@ from argparse import ArgumentParser
 import re
 import sys
 import datetime
-import serial.tools.list_ports as list_ports
-import tempfile

 COLOR_RED    = "\x1b[31m"
 COLOR_GREEN  = "\x1b[32m"
@@ -38,15 +36,15 @@ def print_line(line):
    else:
        print('{0}'.format(line), end='')

+def reboot(port, baudrate):
+    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=True, rtscts=False, dsrdtr=False)

-def reboot(port_url, baudrate):
-    ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
+    # clear
+    ser.readlines()

    time_start = time.monotonic()
-
-    ser.write("\n\n\n".encode("ascii"))
-
-    ser.write("reboot\n".encode("ascii"))
+    ser.write("\nreboot\n".encode("ascii"))
+    ser.flush()
    time_reboot_cmd = time_start

    timeout_reboot_cmd = 90
@@ -55,53 +53,31 @@ def reboot(port_url, baudrate):
    return_code = 0

    while True:
+        if time.monotonic() > time_reboot_cmd + timeout_reboot_cmd:
+            time_reboot_cmd = time.monotonic()
+            print("sending reboot cmd again")
+            ser.write("reboot\n".encode("ascii"))
+            ser.flush()
+            time.sleep(0.2)
+
        serial_line = ser.readline().decode("ascii", errors='ignore')

        if len(serial_line) > 0:
-            print_line(serial_line)
-
            if "ERROR" in serial_line:
                return_code = -1

-            if "NuttShell (NSH)" in serial_line:
-                sys.exit(return_code)
+            print_line(serial_line)

-        else:
-            if time.monotonic() > time_start + timeout:
-                print("Error, timeout")
-                sys.exit(-1)
-
-            if time.monotonic() > time_reboot_cmd + timeout_reboot_cmd:
-                time_reboot_cmd = time.monotonic()
-                print("sending reboot cmd again")
-                ser.write("reboot\n".encode("ascii"))
+        if "NuttShell (NSH)" in serial_line:
+            sys.exit(return_code)

+        if time.monotonic() > time_start + timeout:
+            print("Error, timeout")
+            sys.exit(-1)

 def main():
-
-    default_device = None
-    device_required = True
-
-    # select USB UART as default if there's only 1
-    ports = list(serial.tools.list_ports.grep('USB UART'))
-
-    if (len(ports) == 1):
-        default_device = ports[0].device
-        device_required = False
-
-        print("Default USB UART port: {0}".format(ports[0].name))
-        print(" device: {0}".format(ports[0].device))
-        print(" description: \"{0}\" ".format(ports[0].description))
-        print(" hwid: {0}".format(ports[0].hwid))
-        #print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
-        #print(" serial_number: {0}".format(ports[0].serial_number))
-        #print(" location: {0}".format(ports[0].location))
-        print(" manufacturer: {0}".format(ports[0].manufacturer))
-        #print(" product: {0}".format(ports[0].product))
-        #print(" interface: {0}".format(ports[0].interface))
-
    parser = ArgumentParser(description=__doc__)
-    parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
+    parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
    args = parser.parse_args()

@@ -7,8 +7,6 @@ from argparse import ArgumentParser
 import re
 import sys
 import datetime
-import serial.tools.list_ports as list_ports
-import tempfile

 COLOR_RED    = "\x1b[31m"
 COLOR_GREEN  = "\x1b[32m"
@@ -39,59 +37,59 @@ def print_line(line):
        print('{0}'.format(line), end='')


-def do_nsh_cmd(port_url, baudrate, cmd):
-    ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
+def do_nsh_cmd(port, baudrate, cmd):
+    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)

    timeout_start = time.monotonic()
    timeout = 30  # 30 seconds

-    ser.write("\n\n\n".encode("ascii"))
-
    # wait for nsh prompt
    while True:
+        ser.write("\n".encode("ascii"))
+        ser.flush()
+
        serial_line = ser.readline().decode("ascii", errors='ignore')

-        if len(serial_line) > 0:
-            if "nsh>" in serial_line:
-                break
+        if "nsh>" in serial_line:
+            break
        else:
-            if time.monotonic() > timeout_start + timeout:
-                print("Error, timeout waiting for prompt")
-                sys.exit(1)
-
-            ser.write("\n".encode("ascii"))
+            if len(serial_line) > 0:
+                print_line(serial_line)

+        if time.monotonic() > timeout_start + timeout:
+            print("Error, timeout waiting for prompt")
+            sys.exit(1)

    # clear
-    ser.reset_input_buffer()
+    ser.readlines()

    # run command
    timeout_start = time.monotonic()
-    timeout = 5  # 5 seconds
+    timeout = 1  # 1 second

    success_cmd = "cmd succeeded!"

    # wait for command echo
    print("Running command: \'{0}\'".format(cmd))
-    serial_cmd = '{0}; echo "{1}"; echo "{2}";\n'.format(cmd, success_cmd, success_cmd)
+    serial_cmd = '{0}; echo "{1}"; echo "{2}";\r\n'.format(cmd, success_cmd, success_cmd)
    ser.write(serial_cmd.encode("ascii"))
-
+    ser.flush()
    while True:
        serial_line = ser.readline().decode("ascii", errors='ignore')

-        if len(serial_line) > 0:
-            if cmd in serial_line:
-                break
-            elif serial_line.startswith(success_cmd) and len(serial_line) <= len(success_cmd) + 2:
-                print_line(serial_line)
-                # we missed the echo, but command ran and succeeded
-                sys.exit(0)
-            else:
-                print_line(serial_line)
+        if cmd in serial_line:
+            break
+        elif serial_line.startswith(success_cmd) and len(serial_line) <= len(success_cmd) + 2:
+            print_line(serial_line)
+            # we missed the echo, but command ran and succeeded
+            sys.exit(0)
        else:
-            if time.monotonic() > timeout_start + timeout:
-                print("Error, timeout waiting for command echo")
-                break
+            if len(serial_line) > 0:
+                print_line(serial_line)
+
+        if (len(serial_line) <= 0) and (time.monotonic() > timeout_start + timeout):
+            print("Error, timeout waiting for command echo")
+            break


    timeout_start = time.monotonic()
@@ -102,60 +100,40 @@ def do_nsh_cmd(port_url, baudrate, cmd):
    while True:
        serial_line = ser.readline().decode("ascii", errors='ignore')

-        if len(serial_line) > 0:
-            if success_cmd in serial_line:
-                sys.exit(return_code)
-            else:
+        if success_cmd in serial_line:
+            sys.exit(return_code)
+            break
+        else:
+            if len(serial_line) > 0:
                if "ERROR " in serial_line:
                    return_code = -1

                print_line(serial_line)

-                if "nsh>" in serial_line:
-                    sys.exit(1) # error, command didn't complete successfully
-                elif "NuttShell (NSH)" in serial_line:
-                    sys.exit(1) # error, command didn't complete successfully
-        else:
-            if time.monotonic() > timeout_start + timeout:
-                print("Error, timeout")
-                sys.exit(-1)
+            if "nsh>" in serial_line:
+                sys.exit(1) # error, command didn't complete successfully
+            elif "NuttShell (NSH)" in serial_line:
+                sys.exit(1) # error, command didn't complete successfully

+        if (len(serial_line) <= 0) and (time.monotonic() > timeout_start + timeout):
+            print("Error, timeout")
+            sys.exit(-1)
+
+        if len(serial_line) <= 0:
+            ser.write("\r\n".encode("ascii"))
+            ser.flush()
+            time.sleep(0.2)
+
+    ser.close()

 def main():
-
-    default_device = None
-    device_required = True
-
-    # select USB UART as default if there's only 1
-    ports = list(serial.tools.list_ports.grep('USB UART'))
-
-    if (len(ports) == 1):
-        default_device = ports[0].device
-        device_required = False
-
-        print("Default USB UART port: {0}".format(ports[0].name))
-        print(" device: {0}".format(ports[0].device))
-        print(" description: \"{0}\" ".format(ports[0].description))
-        print(" hwid: {0}".format(ports[0].hwid))
-        #print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
-        #print(" serial_number: {0}".format(ports[0].serial_number))
-        #print(" location: {0}".format(ports[0].location))
-        print(" manufacturer: {0}".format(ports[0].manufacturer))
-        #print(" product: {0}".format(ports[0].product))
-        #print(" interface: {0}".format(ports[0].interface))
-
    parser = ArgumentParser(description=__doc__)
-    parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
-    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
+    parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
+    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
    parser.add_argument("--cmd", "-c", dest="cmd", help="Command to run")
    args = parser.parse_args()

-    tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
-    port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
-
-    print("pyserial url: {0}".format(port_url))
-
-    do_nsh_cmd(port_url, args.baudrate, args.cmd)
+    do_nsh_cmd(args.device, args.baudrate, args.cmd)

 if __name__ == "__main__":
   main()
@@ -9,9 +9,6 @@ import unittest
 import os
 import sys
 import datetime
-import serial.tools.list_ports as list_ports
-import tempfile
-import warnings

 COLOR_RED    = "\x1b[31m"
 COLOR_GREEN  = "\x1b[32m"
@@ -41,36 +38,33 @@ def print_line(line):
    else:
        print('{0}'.format(line), end='')

-
-def do_test(port_url, baudrate, test_name):
-
-    # ignore pyserial spy:// resource warnings
-    warnings.filterwarnings(action="ignore", message="unclosed", category=ResourceWarning)
-
-    ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
+def do_test(port, baudrate, test_name):
+    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)

    timeout_start = time.monotonic()
    timeout = 30  # 30 seconds

-    ser.write("\n\n\n".encode("ascii"))
-
    # wait for nsh prompt
    while True:
+        ser.write("\n".encode("ascii"))
+        ser.flush()
+
        serial_line = ser.readline().decode("ascii", errors='ignore')

-        if len(serial_line) > 0:
-            if "nsh>" in serial_line:
-                break
+        if "nsh>" in serial_line:
+            break
        else:
-            if time.monotonic() > timeout_start + timeout:
-                print("Error, timeout waiting for prompt")
-                return False
-
-            ser.write("\n".encode("ascii"))
+            if len(serial_line) > 0:
+                print(serial_line, end='')

+        if time.monotonic() > timeout_start + timeout:
+            print("Error, timeout waiting for prompt")
+            return False

    # clear
-    ser.reset_input_buffer()
+    ser.readlines()
+
+    success = False

    # run test cmd
    print('\n|======================================================================')
@@ -85,17 +79,20 @@ def do_test(port_url, baudrate, test_name):
    print("Running command: \'{0}\'".format(cmd))
    serial_cmd = '{0}\n'.format(cmd)
    ser.write(serial_cmd.encode("ascii"))
-
+    ser.flush()
    while True:
        serial_line = ser.readline().decode("ascii", errors='ignore')

-        if len(serial_line) > 0:
-            if cmd in serial_line:
-                break
+        if cmd in serial_line:
+            break
        else:
-            if time.monotonic() > timeout_start + timeout:
-                print("Error, timeout waiting for command echo")
-                break
+            if len(serial_line) > 0:
+                print_line(serial_line)
+
+        if time.monotonic() > timeout_start + timeout:
+            print("Error, timeout waiting for command echo")
+            break
+

    # print results, wait for final result (PASSED or FAILED)
    timeout = 300  # 5 minutes
@@ -108,26 +105,27 @@ def do_test(port_url, baudrate, test_name):
        if len(serial_line) > 0:
            print_line(serial_line)

-            if test_name + " PASSED" in serial_line:
-                ser.close()
-                return True
-            elif test_name + " FAILED" in serial_line:
-                ser.close()
-                return False
-        else:
-            if time.monotonic() > timeout_start + timeout:
-                print("Error, timeout")
-                print(test_name + f" {COLOR_RED}FAILED{COLOR_RESET}")
-                ser.close()
-                return False
+        if test_name + " PASSED" in serial_line:
+            success = True
+            break
+        elif test_name + " FAILED" in serial_line:
+            success = False
+            break

-            # newline every 30 seconds if still running
-            if time.monotonic() - timeout_newline > 30:
-                ser.write("\n".encode("ascii"))
-                timeout_newline = time.monotonic()
+        if time.monotonic() > timeout_start + timeout:
+            print("Error, timeout")
+            print(test_name + f" {COLOR_RED}FAILED{COLOR_RESET}")
+            success = False
+            break
+
+        # newline every 10 seconds if still running
+        if (len(serial_line) <= 0) and (time.monotonic() - timeout_newline > 10):
+            ser.write("\n".encode("ascii"))
+            timeout_newline = time.monotonic()

    ser.close()
-    return False
+
+    return success

 class TestHardwareMethods(unittest.TestCase):
    TEST_DEVICE = 0
@@ -209,39 +207,12 @@ class TestHardwareMethods(unittest.TestCase):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "versioning"))

 def main():
-
-    default_device = None
-    device_required = True
-
-    # select USB UART as default if there's only 1
-    ports = list(serial.tools.list_ports.grep('USB UART'))
-
-    if (len(ports) == 1):
-        default_device = ports[0].device
-        device_required = False
-
-        print("Default USB UART port: {0}".format(ports[0].name))
-        print(" device: {0}".format(ports[0].device))
-        print(" description: \"{0}\" ".format(ports[0].description))
-        print(" hwid: {0}".format(ports[0].hwid))
-        #print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
-        #print(" serial_number: {0}".format(ports[0].serial_number))
-        #print(" location: {0}".format(ports[0].location))
-        print(" manufacturer: {0}".format(ports[0].manufacturer))
-        #print(" product: {0}".format(ports[0].product))
-        #print(" interface: {0}".format(ports[0].interface))
-
    parser = ArgumentParser(description=__doc__)
-    parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
-    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
+    parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
+    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
    args = parser.parse_args()

-    tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
-    port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
-
-    print("pyserial url: {0}".format(port_url))
-
-    TestHardwareMethods.TEST_DEVICE = port_url
+    TestHardwareMethods.TEST_DEVICE = args.device
    TestHardwareMethods.TEST_BAUDRATE = args.baudrate

    unittest.main(__name__, failfast=True, verbosity=0, argv=['main'])
@@ -21,43 +21,21 @@ echo "airframes: ${ALL_AIRFRAMES}"
 for airframe in $ALL_AIRFRAMES
 do
 	echo
-	echo
-	echo
-	echo "########################################################################################################################"
+	echo "##########################################################################################"
 	echo " Airframe: $airframe"
-	echo "########################################################################################################################"
+	echo "##########################################################################################"
 	echo

 	${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name SYS_AUTOSTART  --value $airframe
 	${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name CBRK_BUZZER    --value 782097
-
-	# enable all mavlink instances
-	${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
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set GPS_1_CONFIG 202' || true
-
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param reset SYS_HITL'
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param save'
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump'

 	${DIR}/reboot.py --device ${SERIAL_DEVICE}

-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/mtd_params' || true
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/parameters_backup.bson' || true
-
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'ps'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'work_queue status'

 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'pwm info'

-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'mavlink stop-all'
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'gps stop'
-
 done
@@ -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 [[ $@ =~ .*tests* ]]; then
+		# run all tests with simulation
+		PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-02-04"
+	fi
+else
+	echo "PX4_DOCKER_REPO is set to '$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"
@@ -39,7 +39,7 @@ function spawn_model() {

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

-	gz model --spawn-file=/tmp/${MODEL}_${N}.sdf --model-name=${MODEL}_${N} -x ${X} -y ${Y} -z 0.83
+	gz model --spawn-file=/tmp/${MODEL}_${N}.sdf --model-name=${MODEL}_${N} -x ${X} -y ${Y} -z 0.0

 	popd &>/dev/null

@@ -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 }
@@ -10,7 +10,7 @@ extra_args=
 baudrate=921600
 device=
 ip="127.0.0.1"
-while getopts ":b:d:p:qsr:f:i:loat" opt; do
+while getopts ":b:d:p:qsr:f:i:loa" opt; do
 	case $opt in
 		b)
 			baudrate=$OPTARG
@@ -40,10 +40,7 @@ while getopts ":b:d:p:qsr:f:i:loat" opt; do
 			extra_args="$extra_args -disponly"
 			;;
 		a)
-			extra_args="$extra_args -fw" # aircraft model
-			;;
-		t)
-			extra_args="$extra_args -ts" # tailsitter model
+			extra_args="$extra_args -fw" # aircraft
 			;;
 		\?)
 			echo "Invalid option: -$OPTARG" >&2
@@ -156,6 +156,7 @@ bl_update,CONFIG_SYSTEMCMDS_BL_UPDATE=y
 dmesg,CONFIG_SYSTEMCMDS_DMESG=y
 dumpfile,CONFIG_SYSTEMCMDS_DUMPFILE=y
 dyn,CONFIG_SYSTEMCMDS_DYN=y
+esc_calib,CONFIG_SYSTEMCMDS_ESC_CALIB=y
 failure,CONFIG_SYSTEMCMDS_FAILURE=y
 gpio,CONFIG_SYSTEMCMDS_GPIO=y
 hardfault_log,CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -164,6 +165,7 @@ led_control,CONFIG_SYSTEMCMDS_LED_CONTROL=y
 mft,CONFIG_SYSTEMCMDS_MFT=y
 microbench,CONFIG_SYSTEMCMDS_MICROBENCH=y
 mixer,CONFIG_SYSTEMCMDS_MIXER=y
+motor_ramp,CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 motor_test,CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 mtd,CONFIG_SYSTEMCMDS_MTD=y
 netman,CONFIG_SYSTEMCMDS_NETMAN=y
@@ -130,8 +130,7 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
        return None


-    actuator_output_yaml = yaml_config['actuator_output']
-    output_groups = actuator_output_yaml['output_groups']
+    output_groups = yaml_config['actuator_output']['output_groups']
    module_name = process_module_name(yaml_config['module_name'])
    group_idx = 0

@@ -140,8 +139,8 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
    actuator_output = {
            'label': module_name
        }
-    if 'show_subgroups_if' in actuator_output_yaml:
-        actuator_output['show-subgroups-if'] = actuator_output_yaml['show_subgroups_if']
+    if 'show_subgroups_if' in yaml_config['actuator_output']:
+        actuator_output['show-subgroups-if'] = yaml_config['actuator_output']['show_subgroups_if']

    # config parameters
    def get_config_params(param_list):
@@ -160,7 +159,7 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
            parameters.append(param)
        return parameters

-    parameters = get_config_params(actuator_output_yaml.get('config_parameters', []))
+    parameters = get_config_params(yaml_config['actuator_output'].get('config_parameters', []))
    if len(parameters) > 0:
        actuator_output['parameters'] = parameters

@@ -255,15 +254,6 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
                if show_if: param['show-if'] = show_if
                per_channel_params.append(param)

-
-        param = {
-                'label': 'Rev Range\n(for Servos)',
-                'name': param_prefix+'_REV',
-                'index-offset': -1,
-                'show-as': 'bitset',
-            }
-        per_channel_params.append(param)
-
        # TODO: support non-standard per-channel parameters

        subgroup['per-channel-parameters'] = per_channel_params
@@ -356,39 +346,33 @@ def get_mixers(yaml_config, output_functions, verbose):

            if 'count' in actuator_conf: # possibly dynamic size
                actuator['count'] = actuator_conf['count']
-                per_item_params = actuator_conf.get('per_item_parameters', {})
+                per_item_params = actuator_conf['per_item_parameters']
                params = []
                if 'standard' in per_item_params:
                    standard_params = per_item_params['standard']
-                    index_offset = standard_params.get('index_offset', 0)
                    if 'position' in standard_params:
                        params.extend([
                        {
                            'label': 'Position X',
                            'function': 'posx',
                            'name': standard_params['position'][0],
-                            'index-offset': index_offset,
                        },
                        {
                            'label': 'Position Y',
                            'function': 'posy',
                            'name': standard_params['position'][1],
-                            'index-offset': index_offset,
                        },
                        {
                            'label': 'Position Z',
                            'function': 'posz',
                            'name': standard_params['position'][2],
                            'advanced': True,
-                            'index-offset': index_offset,
                        },
                        ])
                if 'extra' in per_item_params:
                    for extra_param in per_item_params['extra']:
                        params.append({k.replace('_','-'): v for k, v in extra_param.items()})
                actuator['per-item-parameters'] = params
-                if 'item_label_prefix' in actuator_conf:
-                    actuator['item-label-prefix'] = actuator_conf['item_label_prefix']
            else: # fixed size
                labels = []
                pos_x = []
@@ -433,18 +417,10 @@ def get_mixers(yaml_config, output_functions, verbose):

    if verbose:
        print('Mixer configs: {}'.format(config))
-
-    rules = []
-    for rule in yaml_config['mixer'].get('rules', []):
-        rules.append({k.replace('_','-'): v for k, v in rule.items()})
-
-    if verbose:
-        print('Mixer rules: {}'.format(rules))
    
    mixers = {
            'actuator-types': actuator_types,
            'config': config,
-            'rules': rules,
        }
    return mixers

@@ -110,15 +110,8 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
                    param_type = 'INT32'
                    for key in param['values']:
                        tags += '\n * @value {:} {:}'.format(key, param['values'][key])
-                elif param['type'] == 'bitmask':
-                    param_type = 'INT32'
-                    for key in param['bit']:
-                        tags += '\n * @bit {:} {:}'.format(key, param['bit'][key])
-                    max_val = max(key for key in param['bit'])
-                    tags += '\n * @min 0'
-                    tags += '\n * @max {:}'.format((1<<(max_val+1)) - 1)
                elif param['type'] == 'boolean':
-                    param_type = 'INT32'
+                    param_type = 'BOOL'
                    tags += '\n * @boolean'
                elif param['type'] == 'int32':
                    param_type = 'INT32'
@@ -127,7 +120,7 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
                else:
                    raise Exception("unknown param type {:}".format(param['type']))

-                for tag in ['decimal', 'increment', 'category', 'volatile',
+                for tag in ['decimal', 'increment', 'category', 'volatile', 'bit',
                            'min', 'max', 'unit', 'reboot_required']:
                    if tag in param:
                        tags += '\n * @{:} {:}'.format(tag, param[tag])
@@ -143,9 +136,6 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
                        else:
                            default_value = param['default']

-                    if type(default_value) == bool:
-                        default_value = int(default_value)
-
                    # output the existing C-style format
                    ret += '''
 /**
@@ -178,8 +168,6 @@ def get_actuator_output_params(yaml_config, output_functions,
    all_params = {}
    group_idx = 0

-    all_param_prefixes = {}
-
    def add_local_param(param_name, param_def):
        nonlocal all_params
        # add as a list, as there can be multiple entries with the same param_name
@@ -261,11 +249,6 @@ def get_actuator_output_params(yaml_config, output_functions,
                    for i in range(count):
                        output_function_values[start+i] = function_name_label+' '+str(i+1)

-        if param_prefix not in all_param_prefixes:
-            all_param_prefixes[param_prefix] = []
-        all_param_prefixes[param_prefix].append((instance_start,
-            instance_start_label, num_channels, channel_label))
-
        # function param
        param = {
            'description': {
@@ -298,9 +281,13 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR
 '''
        minimum_description = \
 '''Minimum output value (when not disarmed).
+
+The output range can be reversed by setting Min > Max.
 '''
        maximum_description = \
 '''Maxmimum output value (when not disarmed).
+
+The output range can be reversed by setting Min > Max.
 '''
        failsafe_description = \
 '''This is the output value that is set when in failsafe mode.
@@ -341,30 +328,6 @@ When set to -1 (default), the value depends on the function (see {:}).
                    }
                add_local_param(param_prefix+'_'+param_suffix+'${i}', param)

-    # add reverse range param
-    for param_prefix in all_param_prefixes:
-        groups = all_param_prefixes[param_prefix]
-        # collect the bits
-        channel_bits = {}
-        for instance_start, instance_start_label, num_instances, label in groups:
-            for instance in range(instance_start, instance_start+num_instances):
-                instance_label = instance - instance_start + instance_start_label
-                channel_bits[instance-1] = label + ' ' + str(instance_label)
-
-        param = {
-            'description': {
-                'short': 'Reverse Output Range for '+module_name,
-                'long':
-'''Allows to reverse the output range for each channel.
-Note: this is only useful for servos.
-'''.format(channel_label),
-                },
-            'type': 'bitmask',
-            'default': 0,
-            'bit': channel_bits
-            }
-        add_local_param(param_prefix+'_REV', param)
-
    if verbose: print('adding actuator params: {:}'.format(all_params))
    return all_params

@@ -72,27 +72,38 @@ div.frame_variant td, div.frame_variant th {

            # check if all outputs are equal for the group: if so, show them
            # only once
-            all_outputs = {}
-            num_configs = len(group.GetParams())
+            outputs_prev = ['', ''] # split into MAINx and others (AUXx)
+            outputs_match = [True, True]
            for param in group.GetParams():
                if not self.IsExcluded(param, board):
+                    outputs_current = ['', '']
                    for output_name in param.GetOutputCodes():
                        value = param.GetOutputValue(output_name)
-                        key_value_pair = (output_name, value)
-                        if key_value_pair not in all_outputs:
-                            all_outputs[key_value_pair] = 0
-                        all_outputs[key_value_pair] += 1
-            has_common_outputs = any(all_outputs[k] == num_configs for k in all_outputs)
+                        if output_name.lower().startswith('main'):
+                            idx = 0
+                        else:
+                            idx = 1
+                        outputs_current[idx] += '<li><b>%s</b>: %s</li>' % (output_name, value)
+                    for i in range(2):
+                        if len(outputs_current[i]) != 0:
+                            if outputs_prev[i] == '':
+                                outputs_prev[i] = outputs_current[i]
+                            elif outputs_current[i] != outputs_prev[i]:
+                                outputs_match[i] = False

-            if has_common_outputs:
-                outputs_common = ''.join(['<li><b>{:}</b>: {:}</li>'.format(k[0], k[1]) \
-                    for k in all_outputs if all_outputs[k] == num_configs])
+            for i in range(2):
+                if len(outputs_prev[i]) == 0:
+                    outputs_match[i] = False
+                if not outputs_match[i]:
+                    outputs_prev[i] = ''
+
+            if outputs_match[0] or outputs_match[1]:
                result += '<table>\n'
                result += ' <thead>\n'
                result += '   <tr><th>Common Outputs</th></tr>\n'
                result += ' </thead>\n'
                result += ' <tbody>\n'
-                result += '<tr>\n <td><ul>%s</ul></td>\n</tr>\n' % (outputs_common)
+                result += '<tr>\n <td><ul>%s%s</ul></td>\n</tr>\n' % (outputs_prev[0], outputs_prev[1])
                result += '</tbody></table>\n'

            result += '</div>\n\n'
@@ -127,8 +138,11 @@ div.frame_variant td, div.frame_variant th {
                    for output_name in param.GetOutputCodes():
                        value = param.GetOutputValue(output_name)
                        valstrs = value.split(";")
-                        key_value_pair = (output_name, value)
-                        if all_outputs[key_value_pair] < num_configs:
+                        if output_name.lower().startswith('main'):
+                            idx = 0
+                        else:
+                            idx = 1
+                        if not outputs_match[idx]:
                            outputs += '<li><b>%s</b>: %s</li>' % (output_name, value)
                            has_outputs = True

@@ -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"]
@@ -48,6 +48,7 @@ echo "Installing PX4 general dependencies"
 sudo pacman -Sy --noconfirm --needed \
 	astyle \
 	base-devel \
+	ccache \
 	clang \
 	cmake \
 	cppcheck \
@@ -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 +69,95 @@ 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 \
-  ;
+	ccache \
+	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
-echo
-echo $VERBOSE_BAR
-echo "🍻 Installing Python dependencies"
-echo $VERBOSE_BAR
-echo
+if [[ "${UBUNTU_RELEASE}" == "16.04" ]]; then
+	echo "Installing Ubuntu 16.04 PX4-compatible ccache version"
+	wget -O /tmp/ccache_3.4.1-1_amd64.deb http://launchpadlibrarian.net/356662933/ccache_3.4.1-1_amd64.deb
+	sudo dpkg -i /tmp/ccache_3.4.1-1_amd64.deb
+fi

+# Python3 dependencies
+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 +165,97 @@ 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
@@ -56,21 +56,6 @@ def get_N_colors(N, s=0.8, v=0.9):
        hex_out.append("#"+"".join(map(lambda x: format(x, '02x'), rgb)))
    return hex_out

-def topic_filename(topic):
-    MSG_PATH = 'msg/'
-
-    file_list = os.listdir(MSG_PATH)
-    msg_files = [file.replace('.msg', '') for file in file_list if file.endswith(".msg")]
-
-    if topic in msg_files:
-        return topic
-    else:
-        for msg_file in msg_files:
-            with open(f'{MSG_PATH}/{msg_file}.msg') as f:
-                ret = re.findall(f'^# TOPICS.*{topic}.*',f.read(),re.MULTILINE)
-                if len(ret) > 0:
-                    return msg_file
-    return "no_file"

 class PubSub(object):
    """ Collects either publication or subscription information for nodes
@@ -694,7 +679,8 @@ class OutputJSON(object):
            node['type'] = 'topic'
            node['color'] = topic_colors[topic]
            # url is opened when double-clicking on the node
-            node['url'] = 'https://github.com/PX4/PX4-Autopilot/blob/master/msg/'+topic_filename(topic)+'.msg'
+            # TODO: does not work for multi-topics
+            node['url'] = 'https://github.com/PX4/PX4-Autopilot/blob/master/msg/'+topic+'.msg'
            nodes.append(node)

        data['nodes'] = nodes
@@ -79,12 +79,14 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
@@ -1,7 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-param set-default BAT1_V_DIV 10.177939394
-param set-default BAT1_A_PER_V 15.391030303
@@ -72,6 +72,12 @@
 #define ADC_RC_RSSI_CHANNEL		11
 #define ADC_AIRSPEED_VOLTAGE_CHANNEL	15

+/* Define Battery 1 Voltage Divider and A per V
+ */
+
+#define BOARD_BATTERY1_V_DIV   (10.177939394f)
+#define BOARD_BATTERY1_A_PER_V (15.391030303f)
+
 /* Power supply control and monitoring GPIOs */
 // #define GPIO_VDD_5V_PERIPH_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
 // #define GPIO_VDD_BRICK_VALID	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
@@ -61,5 +61,6 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
+			arch_io_pins
 	)
 endif()
@@ -63,5 +63,6 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
+			arch_io_pins
 	)
 endif()
@@ -4,7 +4,6 @@
 #------------------------------------------------------------------------------

 param set-default CBRK_IO_SAFETY 0
-param set-default CANNODE_GPS_RTCM 1

 safety_button start
 tone_alarm start
@@ -63,5 +63,6 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
+			arch_io_pins
 	)
 endif()
@@ -1,46 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2021 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-
-set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.px4)
-
-# The file needs to have that name in order to be updated automatically.
-set(UPLOAD_NAME autopilot.px4)
-
-add_custom_target(upload_wifi
-	COMMAND ${CMAKE_COMMAND} -E copy ${PX4_FW_NAME} ${UPLOAD_NAME}
-	COMMAND ${PX4_SOURCE_DIR}/boards/atl/mantis-edu/upload.sh ${UPLOAD_NAME}
-	DEPENDS ${PX4_FW_NAME}
-	COMMENT "uploading autopilot.px4 file"
-	USES_TERMINAL
-)
@@ -4,8 +4,6 @@ CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
-CONFIG_DRIVERS_BAROMETER_MAIERTEK_MPC2520=y
-CONFIG_DRIVERS_TAP_ESC=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -39,6 +37,7 @@ CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
@@ -5,8 +5,6 @@

 param set-default SYS_AUTOSTART 4061

-param set-default BAT1_V_DIV 9.0
-
 param set-default COM_ARM_SDCARD 0

 param set-default SENS_EXT_I2C_PRB 0
@@ -18,7 +16,7 @@ param set-default SENS_MAG_MODE 0

 param set-default EV_TSK_STAT_DIS 1

-param set-default SYS_DM_BACKEND 1
+set LOGGER_ARGS "-m mavlink"

-# Use MAVLink log streaming
-set LOGGER_ARGS "-m mavlink -c 0.5"
+# Start esc
+tap_esc start -d /dev/ttyS4 -n 4
@@ -1,5 +0,0 @@
-#!/bin/sh
-
-tap_esc start -d /dev/ttyS4 -n 4
-sleep 1
-mixer load /dev/tap_esc /etc/mixers/quad_x.main.mix
@@ -124,8 +124,6 @@ CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
-CONFIG_READLINE_CMD_HISTORY=y
-CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
 CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
@@ -204,7 +202,7 @@ CONFIG_TASK_NAME_SIZE=24
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600
 CONFIG_UART4_RXDMA=y
-CONFIG_UART4_TXBUFSIZE=3000
+CONFIG_UART4_TXBUFSIZE=1500
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_RXBUFSIZE=600
 CONFIG_UART7_TXBUFSIZE=1500
@@ -103,7 +103,7 @@ SECTIONS
 		This signature provides the bootloader with a way to delay booting
 		*/
 		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xb4ecc2925d7d05c5)
+		FILL(0xffecc2925d7d05c5)
 		. += 8;
 		*(.main_toc)
 		*(.text .text.*)
@@ -39,7 +39,7 @@ add_library(drivers_board
 	spi.cpp
 	timer_config.cpp
 	usb.c
-	pwr.cpp
+	pwr.c
 )
 add_dependencies(drivers_board arch_board_hw_info)

@@ -59,13 +59,6 @@
 #define BOARD_ARMED_STATE_LED  LED_BLUE

 #define FLASH_BASED_PARAMS
-#define RAM_BASED_MISSIONS
-
-// Hacks for MAVLink RC button input
-#define ATL_MANTIS_RC_INPUT_HACKS
-
-// Hacks for MAVLink RC button input
-#define ATL_MANTIS_RC_INPUT_HACKS

 /*
 * ADC channels
@@ -105,6 +98,9 @@
 	 (1 << ADC_HW_REV_SENSE_CHANNEL)           | \
 	 (1 << ADC1_SPARE_1_CHANNEL))

+/* Define Battery 1 Voltage Divider and A per V */
+#define BOARD_BATTERY1_V_DIV         (9.0f)     /* measured with the provided PM board */
+
 /* HW has to large of R termination on ADC todo:change when HW value is chosen */
 #define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)

@@ -151,8 +147,9 @@
 #define RC_SERIAL_PORT                     "/dev/ttyS5"
 #define RC_SERIAL_SINGLEWIRE

+#define BOARD_HAS_POWER_CONTROL	1
 /* power on/off */
-#define MS_PWR_BUTTON_DOWN 750
+#define MS_PWR_BUTTON_DOWN 1500
 #define KEY_AD_GPIO    (GPIO_INPUT|GPIO_PULLUP|GPIO_EXTI|GPIO_PORTC|GPIO_PIN4)
 #define POWER_ON_GPIO  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5)
 #define POWER_OFF_GPIO (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN5)
@@ -114,8 +114,6 @@ static void cam_pwr_on_pulse(void)
 	static bool pwr_on_flag = false;

 	if (pwr_on_flag == false) {
-		// This is now done in the bootloader.
-		// However, for transition we can leave it in.
 		up_mdelay(700);
 		stm32_configgpio(GPIO_CAM_PWR_ON_H);
 		up_mdelay(20);
@@ -53,7 +53,8 @@
 #include <nuttx/arch.h>

 #include <uORB/uORB.h>
-#include <uORB/Publication.hpp>
+#include <uORB/topics/led_control.h>
+#include <uORB/topics/tune_control.h>

 #include <arm_arch.h>
 #include "board_config.h"
@@ -1,11 +0,0 @@
-#!/usr/bin/env bash
-
-set -e
-
-PX4_BINARY_FILE="$1"
-
-echo "uploading: $PX4_BINARY_FILE"
-
-PX4_BINARY_FILE_SIZE=$(stat -c%s "$PX4_BINARY_FILE")
-curl -v -F "image=@$PX4_BINARY_FILE" -H "Expect:" -H "File-Size:$PX4_BINARY_FILE_SIZE" http://192.168.42.1/cgi-bin/upload
-
@@ -77,11 +77,13 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_NETMAN=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
@@ -5,5 +5,3 @@

 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281
-
-param set-default BAT1_V_DIV 10.13
@@ -146,8 +146,6 @@ CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
-CONFIG_READLINE_CMD_HISTORY=y
-CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
 CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
@@ -88,6 +88,12 @@
 #define ADC_CHANNELS \
 	((1 << ADC_BATTERY1_VOLTAGE_CHANNEL))

+/* Define Battery 1 Voltage Divider and A per V
+ */
+
+#define BOARD_BATTERY1_V_DIV         (10.133333333f)
+#define BOARD_BATTERY1_A_PER_V       (36.367515152f)
+
 /* HW has to large of R termination on ADC todo:change when HW value is chosen */

 #define BOARD_ADC_OPEN_CIRCUIT_V               (5.6f)
@@ -59,8 +59,10 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_DYN=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
--- a/Show More
+++ b/Show More