Merge remote-tracking branch 'px4/master' into pr-nuttx_sem_holder

repoint nuttx to PRs
px4_fmu-v6x:Add Rev 4 Sensors
2026-08-20 10:50:35 +08:00 · 2022-05-20 16:01:24 -04:00 · 2022-05-20 16:00:11 -04:00 · 2022-05-20 15:52:32 -04:00 · 2022-05-20 15:49:06 -04:00 · 2022-05-20 09:43:32 -04:00
413 changed files with 9680 additions and 2719 deletions
@@ -44,7 +44,7 @@ pipeline {
                     "ark_can-rtk-gps_default",
                     "atl_mantis-edu_default",
                     "av_x-v1_default",
-                     "bitcraze_crazyflie2_default",
+                     "bitcraze_crazyflie_default",
                     "bitcraze_crazyflie21_default",
                     "cuav_can-gps-v1_canbootloader",
                     "cuav_can-gps-v1_default",
@@ -105,6 +105,7 @@ pipeline {
                     "px4_fmu-v5_stackcheck",
                     "px4_fmu-v5_uavcanv0periph",
                     "px4_fmu-v5x_default",
+                     "px4_fmu-v6c_default",
                     "px4_fmu-v6u_default",
                     "px4_fmu-v6x_default",
                     "px4_io-v2_default",
@@ -82,6 +82,77 @@ pipeline {
          }
        }

+        stage("cuav_x7pro_default") {
+          stages {
+            stage("build cuav_x7pro_default") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                checkoutSCM()
+                sh 'make cuav_x7pro_bootloader'
+                sh 'make cuav_x7pro_default'
+                sh 'ccache -s'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'cuav_x7pro_default'
+              }
+              post {
+                always {
+                  sh 'make distclean; git clean -ff -x -d .'
+                }
+              }
+            } // stage build
+            stage("hardware") {
+              agent {
+                label 'cuav_x7pro'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'cuav_x7pro_default'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_bootloader/cuav_x7pro_bootloader.elf'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_default/cuav_x7pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
+                  }
+                }
+                stage("tests") {
+                  steps {
+                    // test loading a range of airframes
+                    sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 6001 8001 10016'
+                  }
+                }
+                stage("status") {
+                  steps {
+                    // configure
+                    resetParameters()
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    checkStatus()
+                    quickCalibrate()
+                  }
+                }
+                stage("print topics") {
+                  steps {
+                    printTopics()
+                  }
+                }
+              }
+              post {
+                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_default/cuav_x7pro_default.elf || true'
+                }
+              }
+            } // stage test
+          }
+        }
+
        stage("cuav_x7pro_test") {
          stages {
            stage("build cuav_x7pro_test") {
@@ -152,6 +223,77 @@ pipeline {
          }
        }

+        stage("px4_fmu-v3_default") {
+          stages {
+            stage("build px4_fmu-v3_default") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                checkoutSCM()
+                sh 'make px4_fmu-v3_default'
+                sh 'make px4_fmu-v3_default bootloader_elf'
+                sh 'ccache -s'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v3_default'
+              }
+              post {
+                always {
+                  sh 'make distclean; git clean -ff -x -d .'
+                }
+              }
+            } // stage build
+            stage("hardware") {
+              agent {
+                label 'px4_fmu-v3'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'px4_fmu-v3_default'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_default/px4_fmu-v3_bootloader.elf'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_default/px4_fmu-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
+                  }
+                }
+                stage("tests") {
+                  steps {
+                    // test loading a range of airframes
+                    sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 6001 8001 10016'
+                  }
+                }
+                stage("status") {
+                  steps {
+                    // configure
+                    resetParameters()
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    checkStatus()
+                    quickCalibrate()
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
+                  }
+                }
+                stage("print topics") {
+                  steps {
+                    printTopics()
+                  }
+                }
+              }
+              post {
+                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_default/px4_fmu-v3_default.elf || true'
+                }
+              }
+            } // stage test
+          }
+        }
+
        stage("px4_fmu-v3_test") {
          stages {
            stage("build px4_fmu-v3_test") {
@@ -222,6 +364,76 @@ pipeline {
          }
        }

+        stage("px4_fmu-v4_default") {
+          stages {
+            stage("build px4_fmu-v4_default") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                checkoutSCM()
+                sh 'make px4_fmu-v4_default'
+                sh 'make px4_fmu-v4_default bootloader_elf'
+                sh 'ccache -s'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4_default'
+              }
+              post {
+                always {
+                  sh 'make distclean; git clean -ff -x -d .'
+                }
+              }
+            } // stage build
+            stage("hardware") {
+              agent {
+                label 'px4_fmu-v4'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'px4_fmu-v4_default'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_default/px4_fmu-v4_bootloader.elf'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_default/px4_fmu-v4_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
+                  }
+                }
+                stage("tests") {
+                  steps {
+                    // test loading a range of airframes
+                    sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 6001 8001 10016'
+                  }
+                }
+                stage("status") {
+                  steps {
+                    // configure
+                    resetParameters()
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    checkStatus()
+                    quickCalibrate()
+                  }
+                }
+                stage("print topics") {
+                  steps {
+                    printTopics()
+                  }
+                }
+              }
+              post {
+                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_default/px4_fmu-v4_default.elf || true'
+                }
+              }
+            } // stage test
+          }
+        }
+
        stage("px4_fmu-v4_test") {
          stages {
            stage("build px4_fmu-v4_test") {
@@ -291,6 +503,77 @@ pipeline {
          }
        }

+        stage("px4_fmu-v4pro_default") {
+          stages {
+            stage("build px4_fmu-v4pro_default") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                checkoutSCM()
+                sh 'make px4_fmu-v4pro_default'
+                sh 'make px4_fmu-v4pro_default bootloader_elf'
+                sh 'ccache -s'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4pro_default'
+              }
+              post {
+                always {
+                  sh 'make distclean; git clean -ff -x -d .'
+                }
+              }
+            } // stage build
+            stage("hardware") {
+              agent {
+                label 'px4_fmu-v4pro'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'px4_fmu-v4pro_default'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_default/px4_fmu-v4pro_bootloader.elf'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
+                  }
+                }
+                stage("tests") {
+                  steps {
+                    // test loading a range of airframes
+                    sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 6001 8001 10016'
+                  }
+                }
+                stage("status") {
+                  steps {
+                    // configure
+                    resetParameters()
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    checkStatus()
+                    quickCalibrate()
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
+                  }
+                }
+                stage("print topics") {
+                  steps {
+                    printTopics()
+                  }
+                }
+              }
+              post {
+                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf || true'
+                }
+              }
+            } // stage test
+          }
+        }
+
        stage("px4_fmu-v4pro_test") {
          stages {
            stage("build px4_fmu-v4pro_test") {
@@ -410,6 +693,8 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'

+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ostest"'
+
                    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'
@@ -451,6 +736,77 @@ pipeline {
          }
        }

+        stage("px4_fmu-v5_default") {
+          stages {
+            stage("build px4_fmu-v5_default") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                checkoutSCM()
+                sh 'make px4_fmu-v5_default'
+                sh 'make px4_fmu-v5_default bootloader_elf'
+                sh 'ccache -s'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_default'
+              }
+              post {
+                always {
+                  sh 'make distclean; git clean -ff -x -d .'
+                }
+              }
+            } // stage build
+            stage("hardware") {
+              agent {
+                label 'px4_fmu-v5'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'px4_fmu-v5_default'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_default/px4_fmu-v5_bootloader.elf'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_default/px4_fmu-v5_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
+                  }
+                }
+                stage("tests") {
+                  steps {
+                    // test loading a range of airframes
+                    sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 6001 8001 10016'
+                  }
+                }
+                stage("status") {
+                  steps {
+                    // configure
+                    resetParameters()
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    checkStatus()
+                    quickCalibrate()
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
+                  }
+                }
+                stage("print topics") {
+                  steps {
+                    printTopics()
+                  }
+                }
+              }
+              post {
+                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
+                }
+              }
+            } // stage test
+          }
+        }
+
        stage("px4_fmu-v5_stackcheck") {
          stages {
            stage("build px4_fmu-v5_stackcheck") {
@@ -603,6 +959,77 @@ pipeline {
          }
        }

+        stage("nxp_fmuk66-v3_default") {
+          stages {
+            stage("build nxp_fmuk66-v3_default") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                checkoutSCM()
+                sh 'make nxp_fmuk66-v3_default'
+                //sh 'make nxp_fmuk66-v3_default bootloader_elf'
+                sh 'ccache -s'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'nxp_fmuk66-v3_default'
+              }
+              post {
+                always {
+                  sh 'make distclean; git clean -ff -x -d .'
+                }
+              }
+            } // stage build
+            stage("hardware") {
+              agent {
+                label 'nxp_fmuk66-v3'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'nxp_fmuk66-v3_default'
+                    //sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_bootloader.elf'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
+                  }
+                }
+                stage("tests") {
+                  steps {
+                    // test loading a range of airframes
+                    sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 6001 8001 10016'
+                  }
+                }
+                stage("status") {
+                  steps {
+                    // configure
+                    resetParameters()
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "400"'
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    checkStatus()
+                    quickCalibrate()
+                  }
+                }
+                stage("print topics") {
+                  steps {
+                    printTopics()
+                  }
+                }
+              }
+              post {
+                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf || true'
+                }
+              }
+            } // stage test
+          }
+        }
+
        stage("nxp_fmuk66-v3_test") {
          stages {
            stage("build nxp_fmuk66-v3_test") {
@@ -809,6 +1236,8 @@ void runTests() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'

+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ostest"'
+
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'
@@ -23,7 +23,7 @@ jobs:
          ark_cannode,
          atl_mantis-edu,
          av_x-v1,
-          bitcraze_crazyflie2,
+          bitcraze_crazyflie,
          bitcraze_crazyflie21,
          cuav_can-gps-v1,
          cuav_nora,
@@ -61,6 +61,7 @@ jobs:
          px4_fmu-v4pro,
          px4_fmu-v5,
          px4_fmu-v5x,
+          px4_fmu-v6c,
          px4_fmu-v6u,
          px4_fmu-v6x,
          raspberrypi_pico,
@@ -141,16 +141,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: av_x-v1_default
-    bitcraze_crazyflie2_default:
-      short: bitcraze_crazyflie2
+    bitcraze_crazyflie_default:
+      short: bitcraze_crazyflie
      buildType: MinSizeRel
      settings:
-        CONFIG: bitcraze_crazyflie2_default
-    bitcraze_crazyflie21_default:
-      short: bitcraze_crazyflie21
-      buildType: MinSizeRel
-      settings:
-        CONFIG: bitcraze_crazyflie21_default
+        CONFIG: bitcraze_crazyflie_default
    cuav_can-gps-v1_default:
      short: cuav_can-gps-v1_default
      buildType: MinSizeRel
@@ -271,7 +271,7 @@ misc_qgc_extra_firmware: \
 	check_nxp_fmuk66-v3_default \
 	check_nxp_fmurt1062-v1_default \
 	check_mro_x21_default \
-	check_bitcraze_crazyflie2_default \
+	check_bitcraze_crazyflie_default \
 	check_bitcraze_crazyflie21_default \
 	check_airmind_mindpx-v2_default \
 	sizes
@@ -325,6 +325,7 @@ px4io_update: px4_io-v2_default cubepilot_io-v2_default
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5x/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6x/extras/px4_io-v2_default.bin
+	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6c/extras/px4_io-v2_default.bin
 	# cubepilot_io-v2_default
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
@@ -7,6 +7,11 @@

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

+# TODO: Enable motor failure detection when the
+# VTOL no longer reports 0A for all ESCs in SITL
+param set-default FD_ACT_EN 0
+param set-default FD_ACT_MOT_TOUT 500
+
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 2

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

 param set-default MAV_TYPE 21

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

 param set-default CA_ROTOR_COUNT 4
@@ -27,9 +27,7 @@ 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
@@ -1,6 +1,4 @@

-mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
-
 mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p

 # shellcheck disable=SC2154
@@ -20,6 +20,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -18,6 +18,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -20,6 +20,7 @@
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -8,6 +8,7 @@
 # @maintainer Roman Bapst <roman@auterion.com>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 # @board holybro_kakutef7 exclude
 #

@@ -18,6 +18,7 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board bitcraze_crazyflie exclude
 # @board px4_fmu-v2 exclude
 #

@@ -16,6 +16,7 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -18,6 +18,7 @@
 # @output AUX5 Throttle
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 # @board holybro_kakutef7 exclude
 #

@@ -13,6 +13,7 @@
 # @maintainer Roman Bapst <roman@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 # @board holybro_kakutef7 exclude
 #

@@ -18,6 +18,7 @@
 # @output AUX4 Gear
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -8,6 +8,7 @@
 # @maintainer Roman Bapst <roman@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -17,6 +17,7 @@
 # @maintainer Roman Bapst <roman@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -18,6 +18,7 @@
 # @output AUX5 Throttle
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 # @board holybro_kakutef7 exclude
 #

@@ -16,6 +16,7 @@
 # @output AUX3 Motor
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 # @board holybro_kakutef7 exclude
 #

@@ -8,6 +8,7 @@
 # @maintainer Sander Smeets <sander@droneslab.com>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 # @board holybro_kakutef7 exclude
 #

@@ -8,6 +8,7 @@
 # @maintainer Sander Smeets <sander@droneslab.com>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -8,6 +8,7 @@
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 # @board holybro_kakutef7 exclude
 #

@@ -17,6 +17,7 @@
 # @output MAIN8 Elevon left
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -73,4 +74,4 @@ then
 	set PWM_OUT 1234
 else
 	set PWM_OUT 3456
-fi
+fi	
@@ -17,6 +17,7 @@
 # @output MAIN8 Pusher reverse channel
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -130,7 +131,6 @@ param set-default VT_F_TRANS_DUR 1
 param set-default VT_IDLE_PWM_MC 1025
 param set-default VT_B_REV_OUT 0.5
 param set-default VT_B_TRANS_THR 0.7
-param set-default VT_FW_PERM_STAB 1
 param set-default VT_TRANS_TIMEOUT 22
 param set-default VT_F_TRANS_RAMP 4

@@ -17,6 +17,7 @@
 # @output MAIN8 motor 4
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 # @board holybro_kakutef7 exclude
 #

@@ -21,6 +21,7 @@
 # @output AUX8 Rudder
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 # @board holybro_kakutef7 exclude
 #

@@ -20,6 +20,7 @@
 # @output AUX5 Throttle
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 # @board holybro_kakutef7 exclude
 #

@@ -13,6 +13,7 @@
 # @maintainer Roman Bapst <roman@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 # @board holybro_kakutef7 exclude
 #

@@ -12,6 +12,7 @@
 #
 # @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
 #
+# @board bitcraze_crazyflie exclude
 # @board px4_fmu-v2 exclude
 #

@@ -12,6 +12,7 @@
 #
 # @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
 #
+# @board bitcraze_crazyflie exclude
 # @board px4_fmu-v2 exclude
 #

@@ -13,6 +13,7 @@
 # @maintainer Emmanuel Roussel
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -14,6 +14,7 @@
 # @output MAIN5 tail-rotor servo
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -20,6 +20,7 @@
 # @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.fw_defaults
@@ -15,6 +15,7 @@
 # @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.fw_defaults
@@ -10,6 +10,7 @@
 # @maintainer ThunderFly s.r.o.
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.balloon_defaults
@@ -18,6 +18,7 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.fw_defaults
@@ -20,6 +20,7 @@
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.fw_defaults
@@ -20,6 +20,7 @@
 #
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.fw_defaults
@@ -21,6 +21,7 @@
 # @maintainer Friedrich Beckmann <friedrich.beckmann@hs-augsburg.de>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.fw_defaults
@@ -22,6 +22,7 @@
 # @maintainer Ian McNanie <ianmcnanie@gmail.com>
 # @maintainer William Peale <develop707@gmail.com>
 #
+# @board bitcraze_crazyflie exclude
 # @board px4_fmu-v2 exclude
 #

@@ -10,6 +10,7 @@
 # @output MAIN4 tail thruster
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.airship_defaults
@@ -15,6 +15,7 @@
 #
 # @maintainer
 #
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.fw_defaults
@@ -18,6 +18,7 @@
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.fw_defaults
@@ -16,6 +16,7 @@
 # @maintainer Julian Oes <julian@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.fw_defaults
@@ -18,6 +18,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.fw_defaults
@@ -18,6 +18,7 @@
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.fw_defaults
@@ -16,6 +16,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.fw_defaults
@@ -8,6 +8,7 @@
 # @maintainer James Goppert <james.goppert@gmail.com>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -8,6 +8,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -8,6 +8,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -8,6 +8,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -11,6 +11,7 @@
 # @output MAIN4 motor 4
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -11,6 +11,7 @@
 # @output MAIN4 motor 4
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #
 # @maintainer Iain Galloway <iain.galloway@nxp.com>
 #
@@ -8,6 +8,7 @@
 # @maintainer Farhang Naderi <farhang.nba@gmail.com>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

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

 . ${R}etc/init.d/rc.mc_defaults
@@ -8,6 +8,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -15,6 +15,7 @@
 # @maintainer Blankered
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -18,6 +18,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -7,6 +7,7 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -17,6 +17,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -10,6 +10,7 @@
 # @maintainer Beat Kueng <beat-kueng@gmx.net>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -8,6 +8,7 @@
 # @maintainer Beat Kueng <beat@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -17,6 +17,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude
 #

@@ -17,6 +17,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -15,6 +15,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude
 #
 # @maintainer Hyon Lim <lim@uvify.com>
@@ -8,6 +8,7 @@
 # @maintainer Anton Matosov <anton.matosov@gmail.com>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -12,6 +12,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -19,6 +19,7 @@
 # @maintainer Ricardo Marques <marques.ricardo17@gmail.com>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -8,6 +8,7 @@
 # @maintainer Oleg Kalachev <okalachev@gmail.com>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -10,6 +10,7 @@
 #
 # @maintainer
 #
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.rover_defaults
@@ -13,6 +13,7 @@
 # @maintainer Timothy Scott
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.rover_defaults
@@ -15,6 +15,7 @@
 # @maintainer Katrin Moritz
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.rover_defaults
@@ -19,6 +19,7 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board bitcraze_crazyflie exclude
 # @board px4_fmu-v2 exclude
 #

@@ -8,6 +8,7 @@
 # @maintainer
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.uuv_defaults
@@ -8,6 +8,7 @@
 # @maintainer Daniel Duecker <daniel.duecker@tuhh.de>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.uuv_defaults
@@ -17,6 +17,7 @@
 # @maintainer Thies Lennart Alff <thies.lennart.alff@tuhh.de>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.uuv_defaults
@@ -18,6 +18,7 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -22,6 +22,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -18,6 +18,7 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -20,6 +20,7 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -20,6 +20,7 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -95,7 +95,7 @@ def do_nsh_cmd(port_url, baudrate, cmd):


    timeout_start = time.monotonic()
-    timeout = 240 # 4 minutes
+    timeout = 600 # 10 minutes

    return_code = 0

@@ -200,13 +200,12 @@ if [[ $INSTALL_SIM == "true" ]]; then

 	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
 		java_version=11
-		gazebo_version=9
 	elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
 		java_version=13
-		gazebo_version=11
+	elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
+		java_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 \
@@ -220,20 +219,30 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")

 	# Gazebo
+	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
+		gazebo_version=9
+		gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
+	elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
+		gazebo_packages="gazebo libgazebo-dev"
+	else
+		# default and Ubuntu 20.04
+		gazebo_version=11
+		gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
+	fi
+
 	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 \
+		$gazebo_packages \
 		gstreamer1.0-plugins-bad \
 		gstreamer1.0-plugins-base \
 		gstreamer1.0-plugins-good \
 		gstreamer1.0-plugins-ugly \
 		gstreamer1.0-libav \
 		libeigen3-dev \
-		libgazebo$gazebo_version-dev \
 		libgstreamer-plugins-base1.0-dev \
 		libimage-exiftool-perl \
 		libopencv-dev \
@@ -130,8 +130,7 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDIO_BLOCKSETUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -105,8 +105,7 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -107,8 +107,7 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -107,8 +107,7 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -107,8 +107,7 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -140,8 +140,7 @@ CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -162,8 +162,7 @@ CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -1,10 +1,10 @@
 {
    "board_id": 12,
-    "magic": "Crazyflie2",
+    "magic": "Crazyflie",
    "description": "Firmware for the Crazyflie 2.0",
    "image": "",
    "build_time": 0,
-    "summary": "CRAZYFLIE 2.0",
+    "summary": "CRAZYFLIE",
    "version": "0.1",
    "image_size": 0,
    "image_maxsize": 1032192,
@@ -3,9 +3,6 @@
 # board specific defaults
 #------------------------------------------------------------------------------

-# start CDCACM as soon as possible
-sercon
-
 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# board specific sensors init
+# Bitcraze Crazyflie specific board sensors init
 #------------------------------------------------------------------------------

 board_adc start
@@ -25,7 +25,7 @@
 # CONFIG_STM32_CCMEXCLUDE is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/bitcraze/crazyflie2/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/bitcraze/crazyflie/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"
@@ -126,8 +126,7 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -176,7 +175,6 @@ CONFIG_USART2_RXBUFSIZE=300
 CONFIG_USART2_RXDMA=y
 CONFIG_USART2_TXBUFSIZE=300
 CONFIG_USART3_BAUD=57600
-CONFIG_USART3_RXDMA=y
 CONFIG_USART3_SERIAL_CONSOLE=y
 CONFIG_USART6_BAUD=57600
 CONFIG_USART6_RXBUFSIZE=128
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Daniel Agar	c6c956f382	Merge remote-tracking branch 'px4/master' into pr-nuttx_sem_holder	2022-05-20 16:01:24 -04:00
Daniel Agar	26d3077912	repoint nuttx to PRs	2022-05-20 16:00:11 -04:00
David Sidrane	2bdeb36ea3	px4_fmu-v6x:Add Rev 4 Sensors	2022-05-20 15:52:32 -04:00
David Sidrane	9d0e57230a	boards: new px4_fmu-v6c board support (#19544 )	2022-05-20 15:49:06 -04:00
Julian Oes	33a77c225c	commander: lockdown is not termination We use lockdown to prevent outputs like motors and servos from being active in HITL simulation. This means that we can't treat the lockdown flag as a flight_terminated, otherwise we can't arm in HITL at all.	2022-05-20 09:43:32 -04:00
Nicolas MARTIN	a0cb7f6258	HITL: undefined time_remaining_s should be NAN	2022-05-20 09:38:43 -04:00
Nico van Duijn	04071b9456	Commander: ignore MAV_CMD_REQUEST_MSG This commit adds the MAV_CMD_REQUEST_MESSAGE to the list of vehicle commands which are ignored without generating a warning sound.	2022-05-20 15:36:42 +02:00
Matthias Grob	38e027ee45	ArmStateMachine: remove dependency on armed.armed To have the internal state as single source of truth for the arming state within Commander.	2022-05-20 13:51:51 +02:00
Matthias Grob	37c485ce89	ArmStateMachine: move arm state into the class	2022-05-20 13:51:51 +02:00
Matthias Grob	47532ca07b	ArmStateMachine: replace state name array with method	2022-05-20 13:51:51 +02:00
alessandro	c5bbf4553b	ubuntu.sh: fix gazebo and openjdk for 22.04	2022-05-20 06:38:09 +02:00
Matthias Grob	887fe7dba2	commander_params: shorten low battery action delay I got multiple times the feedback now that a consistent delay is helpful and makes sense but the default delay is too long for low battery action where you're trying to come back in time and possibly the emergency reaction kicks in while the critical action is executing which leads to a longer accumulated delay.	2022-05-19 21:54:09 +02:00
Daniel Agar	fd4b62032e	commander: publish actuator_armed first on any change	2022-05-19 12:47:50 -04:00
PX4 BuildBot	9518b65f93	Update submodule mavlink to latest Thu May 19 00:38:59 UTC 2022 - mavlink in PX4/Firmware (87c73145b36a835b1635de0498a5613a7af5cafc): https://github.com/mavlink/mavlink/commit/a1cb2c0e71f191f04da3d92d92db8702a7e91ff6 - mavlink current upstream: https://github.com/mavlink/mavlink/commit/99e82cad70494903a23a67de08ff9cbb5918d8f3 - Changes: https://github.com/mavlink/mavlink/compare/a1cb2c0e71f191f04da3d92d92db8702a7e91ff6...99e82cad70494903a23a67de08ff9cbb5918d8f3 99e82cad 2022-05-19 Hamish Willee - Deprecated GPS_INJECT_DATA (#1842) bf3df03d 2022-05-16 Hamish Willee - WIND_COV - accuracy units are m/s (#1844) a73d4864 2022-05-11 Hamish Willee - development.xml FIGURE_EIGHT_EXECUTION_STATUS - add a note about it being set at lower rate (#1841)	2022-05-18 21:41:08 -04:00
mcsauder	e8da98fd14	Add gyro clipping to mirror accel clipping monitoring instances.	2022-05-18 21:16:05 -04:00
Daniel Agar	96f5ecff7c	Jenkins test rack add ostest to test builds	2022-05-18 16:24:29 -04:00
Daniel Agar	c0a7b72c36	NuttX sem holder fixes	2022-05-18 13:10:27 -04:00
mcsauder	ea10eacb99	Replace EKF/common.h #defines with enums.	2022-05-18 09:25:19 -04:00
Silvan Fuhrer	8f2c84d36f	VTOL paras: add min of 0.1 to transition times Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-18 10:01:04 +02:00
Silvan Fuhrer	c29ca6c959	tailsitter: guard against division by 0 Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-18 10:01:04 +02:00
Silvan Fuhrer	3cf07e1be5	VTOL: rename params _PTCH to _PITCH Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-18 10:01:04 +02:00
Silvan Fuhrer	7c5f0121a5	VTOL: remove some unsued variables Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-18 10:01:04 +02:00
Silvan Fuhrer	2b7efeacca	vtol_vehicle_status: replace several status bools by single vehicle_vtol_state Replace vtol_in_rw_mode, vtol_in_trans_mode, in_transition_to_fw by vehicle_vtol_state. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-18 10:01:04 +02:00
Silvan Fuhrer	635f64a2e5	Commander: remove permanent stabilization option for fixed-wing flight Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-18 10:01:04 +02:00
Silvan Fuhrer	d8444df11c	Set tailsitter flag via vehicle status Removes the necessity of including vtol_type.h in other modules. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-18 10:01:04 +02:00
Silvan Fuhrer	7292ce483c	VTOL: move to cpp params API Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-18 10:01:04 +02:00
Daniel Agar	ff16131874	icm42670p run at full speed	2022-05-17 08:14:22 -07:00
Daniel Agar	83daf648ef	drivers/imu/invensense/icm42670p: cleanup and small fixes	2022-05-17 08:14:22 -07:00
Peter van der Perk	3ea492b7a2	UCANS32K146 Fix CAN1 STB pin	2022-05-17 03:13:05 -07:00
Matthias Grob	02e11eddce	mavlink_mission: add more specific information to the error message	2022-05-17 07:49:00 +02:00
Junwoo Hwang	146f0cafe0	Add get*Expo() functions to the Sticks library To return Exponential Values, which is helpful for reducing the sensitivity of the stick around the centered value (0), since it's exponential curve. Useful for user adjustment implementations, where accidentally touching the stick wouldn't have so much effect when using the Exponential value, compared to using the raw position value.	2022-05-16 23:55:05 +02:00
Matthias Grob	4bd2d4cf35	rc_update: add unit tests for mode slot To verify RC mode switch and mode button functionality works as expected.	2022-05-16 14:37:29 +02:00
achim	3fe4c6e3f5	boards: matek h743-mini specify drivers to still fit to flash - the code has become a bit bigger again that now the drivers have to be specified a bit more precisely to still fit into the flash.	2022-05-13 14:05:04 -04:00
Beat Küng	32df76ca8a	dshot: handle DSHOT_MIN for reversible outputs Also ensures there's no deadband if dead_l == dead_h (the default).	2022-05-13 14:04:01 -04:00
Matthias Grob	57a0289627	trajectory_setpoint: correct comment typo "kinematically" Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>	2022-05-12 17:19:48 +02:00
Matthias Grob	4017f4bb0b	vehicle_local_position_setpoint: reorder fields for clarity	2022-05-12 17:19:48 +02:00
Matthias Grob	b67fbac296	uuv_pos_control: siplify passing on trajectory position setpoint	2022-05-12 17:19:48 +02:00
Matthias Grob	200124f094	mavlink_receiver: check entire Vectors for NAN Note: Behavioral change Inf also results in the flag being true.	2022-05-12 17:19:48 +02:00
Matthias Grob	8ca28f3796	Separate message for trajectory setpoint	2022-05-12 17:19:48 +02:00
Beat Küng	9166b6953d	output drivers: init SmartLock after exit_and_cleanup This fixes an invalid memory access when exiting the module: exit_and_cleanup destroys the object, but lock_guard is destructed after and accesses the lock.	2022-05-12 08:16:35 -04:00
Beat Küng	0a9378e0f6	mavsdk_tests: ensure motor is stopped for motor failure test	2022-05-12 07:58:56 +02:00
Alessandro Simovic	b5a3c58a95	sitl: loosen some timeouts The typhoon_h480 model would not always complete takeoff in 30 seconds or finish the mission within 60 seconds.	2022-05-12 07:58:56 +02:00
Alessandro Simovic	5c1932dcca	disable engine failure detector for SITL VTOL Tried increasing ESC timeout for VTOL first VTOL sitl tests are failing because the ESC telemetry seems to be coming in at 0.3 Hz	2022-05-12 07:58:56 +02:00
Alessandro Simovic	06f69cd469	Add SITL tests for control allocation	2022-05-12 07:58:56 +02:00
Beat Küng	0f860045f7	failure_detector: add failure injector class for motor telemetry This allows to test motor failures via 'failure motor off -i 1' on a real system.	2022-05-12 07:58:56 +02:00
Alessandro Simovic	4640f395d7	simulator_mavlink: Add ESC telemetry	2022-05-12 07:58:56 +02:00
Alessandro Simovic	20ccfbb719	control_allocator: remove failed motor from effectiveness - limit to handling only 1 motor failure - Log which motor failures are handled - Remove motor from effectiveness matrix without recomputing the scale / normalization	2022-05-12 07:58:56 +02:00
Alessandro Simovic	fb71e7587c	failure_detector: add motor/ESC failure detection	2022-05-12 07:58:56 +02:00
Beat Küng	dfd934fbdb	esc_report: add actuator_function	2022-05-12 07:58:56 +02:00
Hamish Willee	aab2feb8f5	pwm.cpp: remove the test example (#19587 )	2022-05-12 07:56:13 +02:00
alexklimaj	0f69f8ced8	Fix uavcan battery causing immediate RTL time remaining low	2022-05-11 21:48:12 -04:00
Daniel Agar	fba7c972d1	drivers/rc_input: ensure RC inversion is disabled initially and latch RC_INPUT_PROTO conservatively - this allows jumping straight to a non-SBUS RC protocol - increased the scan time per protocol 300->500 ms, which the newer DSM parser seems to need in some cases. - only set RC_INPUT_PROTO if we've had a successful RC lock for > 3 seconds	2022-05-11 14:30:41 -04:00
Daniel Agar	c772e5230f	commander: remove compile time dependencies on non-commander parameters - this allows builds with mavlink fully disabled - move commander MAN_ARM_GESTURE, RC_MAP_ARM_SW, MC_AIRMODE checks to manual_control	2022-05-11 10:14:23 -04:00
Beat Küng	8d36ba6727	log_writer_file: fix corner case when mission log is enabled Normally _should_run for mission is only ever true if _should_run for the normal log is. There are exceptions though: - the log buffer fails to allocate - there was a write failure (e.g. due to SD card removal) In that situation, the writer would not wait anymore but busy-loop.	2022-05-11 10:06:35 -04:00
Beat Küng	ebbe08bc86	log_writer_file: protect access to _should_run, use px4::atomicbool for _exit_thread	2022-05-11 10:06:35 -04:00
Peter van der Perk	0053aeec97	Cyphal restore O1Heap statistics	2022-05-11 09:49:18 -04:00
Peter van der Perk	e62e8b58d1	Update UCANS32K146 clocking to use XTAL and support higher pheriphal freq	2022-05-11 06:02:39 -07:00
Silvan Fuhrer	ea2c1095c2	ROMFS: SITL tiltrotor: enable control allocaton and only tilt front motors Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-11 10:19:37 +02:00
Silvan Fuhrer	866f9fa95b	Control Allocation: add option to disable yaw by differential thrust This replaces the propeller_torque_disabled flag to disable yaw by differential thrust for tiltrotor and tailsitter VTOLs, as propeller_torque_disabled is not enough to set effectiveness of an acutator in the yaw axis to 0 in case it's tilted. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-11 10:19:37 +02:00
Silvan Fuhrer	46179586fb	Control Allocation: Tiltrotor: pass only thrust magnitude instead of 3D thrust to allocator Special case tiltrotor: instead of passing a 3D thrust vector (that would mostly have a x-component in FW, and z in MC), pass the vector magnitude as z-component, plus the collective tilt. Passing 3D thrust plus tilt is not feasible as they can't be allocated independently, and with the current controller it's not possible to have collective tilt calculated by the allocator directly. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-11 10:19:37 +02:00