uavcan: cleanup reset CLI and document

drivers/imu/invensense: new IAM-20680HP IMU driver (#21025 )
platforms/nuttx: cmake debug pass GDB path and set RTOS plugin file extension
2026-05-25 23:27:35 +08:00 · 2023-01-31 14:30:48 -05:00 · 2023-01-31 09:33:26 -05:00 · 2023-01-30 20:19:38 -05:00 · 2023-01-30 12:03:40 -05:00 · 2023-01-30 10:46:14 -05:00
687 changed files with 55611 additions and 8227 deletions
@@ -9,10 +9,10 @@ pipeline {
        script {
          def build_nodes = [:]
          def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2021-09-08",
-            arm64: "px4io/px4-dev-aarch64:2021-09-08",
-            base: "px4io/px4-dev-base-bionic:2021-09-08",
-            nuttx: "px4io/px4-dev-nuttx-focal:2021-09-08",
+            armhf: "px4io/px4-dev-armhf:2022-08-12",
+            arm64: "px4io/px4-dev-aarch64:2022-08-12",
+            base: "px4io/px4-dev-ros2-foxy:2022-08-12",
+            nuttx: "px4io/px4-dev-nuttx-focal:2022-08-12",
          ]

          def armhf_builds = [
@@ -755,9 +755,11 @@ 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 "sensors stop"' // ignore irrelevant sensor timeouts during test
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ostest"'
  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot after ostest

+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during test
  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"'
@@ -59,13 +59,13 @@ jobs:
      run: |
          export
          ulimit -a
-    - name: Build PX4 and sitl_gazebo
+    - name: Build PX4 and sitl_gazebo-classic
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
      run: |
        ccache -z
        make px4_sitl_default
-        make px4_sitl_default sitl_gazebo
+        make px4_sitl_default sitl_gazebo-classic
        ccache -s

    - name: Core dump settings
@@ -54,13 +54,13 @@ jobs:
      run: |
          export
          ulimit -a
-    - name: Build PX4 and sitl_gazebo
+    - name: Build PX4 and sitl_gazebo-classic
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
      run: |
        ccache -z
        make px4_sitl_default
-        make px4_sitl_default sitl_gazebo
+        make px4_sitl_default sitl_gazebo-classic
        ccache -s

    - name: Core dump settings
@@ -74,14 +74,14 @@ jobs:
    - name: Build SITL Gazebo
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: make px4_sitl_default sitl_gazebo
-    - name: ccache post-run sitl_gazebo
+      run: make px4_sitl_default sitl_gazebo-classic
+    - name: ccache post-run sitl_gazebo-classic
      run: ccache -s
    - name: Build MAVSDK tests
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
        DONT_RUN: 1
-      run: make px4_sitl_default sitl_gazebo mavsdk_tests
+      run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
    - name: ccache post-run mavsdk_tests
      run: ccache -s

@@ -47,8 +47,6 @@ GTAGS
 *.files
 *.includes

-Tools/jlink-nuttx.so
-
 # CLion ignores
 .idea
 cmake-build-*/
@@ -10,9 +10,9 @@
 	path = Tools/simulation/jmavsim/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
 	branch = main
-[submodule "Tools/simulation/gazebo/sitl_gazebo"]
-	path = Tools/simulation/gazebo/sitl_gazebo
-	url = https://github.com/PX4/PX4-SITL_gazebo.git
+[submodule "Tools/simulation/gazebo-classic/sitl_gazebo-classic"]
+	path = Tools/simulation/gazebo-classic/sitl_gazebo-classic
+	url = https://github.com/PX4/PX4-SITL_gazebo-classic.git
 	branch = main
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
@@ -4,6 +4,7 @@ compile_commands.json

 # generated by cmake
 launch.json
+c_cpp_properties.json

 # C/C++ extension does some local caching in this folder
 ipch/
@@ -266,6 +266,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: nxp_fmuk66-v3_default
+    nxp_mr-canhubk3_default:
+      short: nxp_mr-canhubk3_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: nxp_mr-canhubk3_default
+    nxp_mr-canhubk3_fmu:
+      short: nxp_mr-canhubk3_fmu
+      buildType: MinSizeRel
+      settings:
+        CONFIG: nxp_mr-canhubk3_fmu
    raspberrypi_pico_default:
      short: raspberrypi_pico
      buildType: MinSizeRel
@@ -67,9 +67,9 @@
            "dependsOn":["px4_sitl_cleanup"]
        },
        {
-            "label": "gazebo build",
+            "label": "gazebo-classic build",
            "type": "shell",
-            "command": "make px4_sitl_default sitl_gazebo",
+            "command": "make px4_sitl_default sitl_gazebo-classic",
            "options": {
                "cwd": "${workspaceFolder}"
            },
@@ -86,18 +86,18 @@
            "problemMatcher": [],
        },
        {
-            "label": "gazebo start",
+            "label": "gazebo-classic start",
            "type": "shell",
-            "dependsOn": "gazebo build",
+            "dependsOn": "gazebo-classic build",
            "options": {
                "cwd": "${workspaceFolder}",
                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models",
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo-classic",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models",
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
-            "command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/worlds/empty.world",
+            "command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/empty.world",
            "isBackground": true,
            "presentation": {
                "echo": true,
@@ -128,18 +128,18 @@
            ]
        },
        {
-            "label": "gazebo",
+            "label": "gazebo-classic",
            "type": "shell",
-            "dependsOn": "gazebo start",
+            "dependsOn": "gazebo-classic start",
            "options": {
                "cwd": "${workspaceFolder}",
                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models",
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo-classic",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models",
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
-            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models/iris/iris.sdf --model-name=iris -x 1.01 -y 0.98 -z 0.83",
+            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris/iris.sdf --model-name=iris -x 1.01 -y 0.98 -z 0.83",
            "isBackground": false,
            "presentation": {
                "echo": true,
@@ -194,7 +194,7 @@
            "dependsOn":["ign gazebo kill"]
        },
        {
-            "label": "gazebo kill",
+            "label": "gazebo-classic kill",
            "type": "shell",
            "command": "pkill -9 -f gzserver || true",
            "presentation": {
@@ -118,7 +118,21 @@ execute_process(
 	OUTPUT_STRIP_TRAILING_WHITESPACE
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
-message(STATUS "PX4 version: ${PX4_GIT_TAG}")
+
+# git describe to X.Y.Z version
+string(REPLACE "." ";" VERSION_LIST ${PX4_GIT_TAG})
+
+# major version
+list(GET VERSION_LIST 0 PX4_VERSION_MAJOR)
+string(REPLACE "v" "" PX4_VERSION_MAJOR ${PX4_VERSION_MAJOR})
+# minor version
+list(GET VERSION_LIST 1 PX4_VERSION_MINOR)
+# patch version
+list(GET VERSION_LIST 2 PX4_VERSION_PATCH)
+string(REPLACE "-" ";" PX4_VERSION_PATCH ${PX4_VERSION_PATCH})
+list(GET PX4_VERSION_PATCH 0 PX4_VERSION_PATCH)
+
+message(STATUS "PX4 version: ${PX4_GIT_TAG} (${PX4_VERSION_MAJOR}.${PX4_VERSION_MINOR}.${PX4_VERSION_PATCH})")

 define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                 BRIEF_DOCS "PX4 module libs"
@@ -456,6 +470,9 @@ add_custom_command(OUTPUT ${uorb_graph_config}
 add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})


+include(bloaty)
+
+
 include(doxygen)
 include(metadata)
 include(package)
@@ -73,6 +73,13 @@ menu "Toolchain"
        help
            relative path to the ROMFS root directory

+    config BOARD_ROOTFSDIR
+        string "Root directory"
+        depends on PLATFORM_POSIX
+        default "."
+        help
+            Configure the root directory in the file system for PX4 files
+
    config BOARD_IO
        string "IO board name"
        default "px4_io-v2_default"
@@ -1,6 +1,6 @@
 BSD 3-Clause License

-Copyright (c) 2012 - 2022, PX4 Development Team
+Copyright (c) 2012 - 2023, PX4 Development Team
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
@@ -324,10 +324,6 @@ px4io_update:
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status

-jlink-nuttx:
-	$(CC) -shared -fPIC platforms/nuttx/NuttX/nuttx/tools/jlink-nuttx.c -o Tools/jlink-nuttx.so
-
-
 bootloaders_update: ark_fmu-v6x_bootloader cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
 	git status

@@ -392,17 +388,17 @@ tests_coverage:


 rostest: px4_sitl_default
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic

 tests_integration: px4_sitl_default
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
 	@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
 	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json

 tests_integration_coverage:
 	@$(MAKE) clean
 	@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
 	@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
 	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
 	@mkdir -p coverage
@@ -412,13 +408,13 @@ tests_mission: rostest
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_missions.test

 rostest_run: px4_sitl_default
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh $(TEST_FILE) mission:=$(TEST_MISSION) vehicle:=$(TEST_VEHICLE)

 tests_mission_coverage:
 	@$(MAKE) clean
 	@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic PX4_CMAKE_BUILD_TYPE=Coverage
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=VTOL_mission_1 vehicle:=standard_vtol
 	@$(MAKE) --no-print-directory px4_sitl_default generate_coverage

@@ -493,7 +489,7 @@ validate_module_configs:

 # Cleanup
 # --------------------------------------------------------------------
-.PHONY: clean submodulesclean submodulesupdate gazeboclean distclean
+.PHONY: clean submodulesclean submodulesupdate distclean

 clean:
 	@[ ! -d "$(SRC_DIR)/build" ] || find "$(SRC_DIR)/build" -mindepth 1 -maxdepth 1 -type d -exec sh -c "echo {}; cmake --build {} -- clean || rm -rf {}" \; # use generated build system to clean, wipe build directory if it fails
@@ -511,10 +507,7 @@ submodulesupdate:
 	@git submodule update --init --recursive --jobs 4
 	@git fetch --all --tags --recurse-submodules=yes --jobs=4

-gazeboclean:
-	@rm -rf ~/.gazebo/*
-
-distclean: gazeboclean
+distclean:
 	@git submodule deinit --force $(SRC_DIR)
 	@rm -rf "$(SRC_DIR)/build"
 	@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"
@@ -11,6 +11,8 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}

+param set-default SIM_GZ_EN 1
+
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 4

@@ -30,19 +32,19 @@ param set-default CA_ROTOR3_PX -0.13
 param set-default CA_ROTOR3_PY 0.20
 param set-default CA_ROTOR3_KM -0.05

-param set-default SIM_GZ_FUNC1 101
-param set-default SIM_GZ_FUNC2 102
-param set-default SIM_GZ_FUNC3 103
-param set-default SIM_GZ_FUNC4 104
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_EC_FUNC3 103
+param set-default SIM_GZ_EC_FUNC4 104

-param set-default SIM_GZ_MIN1 150
-param set-default SIM_GZ_MIN2 150
-param set-default SIM_GZ_MIN3 150
-param set-default SIM_GZ_MIN4 150
+param set-default SIM_GZ_EC_MIN1 150
+param set-default SIM_GZ_EC_MIN2 150
+param set-default SIM_GZ_EC_MIN3 150
+param set-default SIM_GZ_EC_MIN4 150

-param set-default SIM_GZ_MAX1 1000
-param set-default SIM_GZ_MAX2 1000
-param set-default SIM_GZ_MAX3 1000
-param set-default SIM_GZ_MAX4 1000
+param set-default SIM_GZ_EC_MAX1 1000
+param set-default SIM_GZ_EC_MAX2 1000
+param set-default SIM_GZ_EC_MAX3 1000
+param set-default SIM_GZ_EC_MAX4 1000

 param set-default MPC_THR_HOVER 0.60
@@ -11,6 +11,8 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_depth}

+param set-default SIM_GZ_EN 1
+
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 4

@@ -30,19 +32,19 @@ param set-default CA_ROTOR3_PX -0.13
 param set-default CA_ROTOR3_PY 0.20
 param set-default CA_ROTOR3_KM -0.05

-param set-default SIM_GZ_FUNC1 101
-param set-default SIM_GZ_FUNC2 102
-param set-default SIM_GZ_FUNC3 103
-param set-default SIM_GZ_FUNC4 104
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_EC_FUNC3 103
+param set-default SIM_GZ_EC_FUNC4 104

-param set-default SIM_GZ_MIN1 150
-param set-default SIM_GZ_MIN2 150
-param set-default SIM_GZ_MIN3 150
-param set-default SIM_GZ_MIN4 150
+param set-default SIM_GZ_EC_MIN1 150
+param set-default SIM_GZ_EC_MIN2 150
+param set-default SIM_GZ_EC_MIN3 150
+param set-default SIM_GZ_EC_MIN4 150

-param set-default SIM_GZ_MAX1 1000
-param set-default SIM_GZ_MAX2 1000
-param set-default SIM_GZ_MAX3 1000
-param set-default SIM_GZ_MAX4 1000
+param set-default SIM_GZ_EC_MAX1 1000
+param set-default SIM_GZ_EC_MAX2 1000
+param set-default SIM_GZ_EC_MAX3 1000
+param set-default SIM_GZ_EC_MAX4 1000

 param set-default MPC_THR_HOVER 0.60
@@ -0,0 +1,81 @@
+#!/bin/sh
+#
+# @name Gazebo rc_cessna
+# @type Fixedwing
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}
+
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
+
+param set-default FW_LND_ANG 8
+
+param set-default FW_L1_PERIOD 12
+
+param set-default FW_PR_P 0.9
+param set-default FW_PR_FF 0.5
+param set-default FW_PR_I 0.5
+param set-default TRIM_PITCH -0.15
+
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MIN -15
+
+param set-default FW_RR_FF 0.5
+param set-default FW_RR_P 0.3
+param set-default FW_RR_I 0.5
+
+param set-default FW_YR_FF 0.5
+param set-default FW_YR_P 0.6
+param set-default FW_YR_I 0.5
+
+param set-default FW_SPOILERS_LND 0.4
+
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_THR_TRIM 0.25
+
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+
+param set-default FW_W_EN 1
+
+param set-default MIS_TAKEOFF_ALT 30
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+
+param set-default RWTO_TKOFF 1
+
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+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 SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_MIN1 0
+param set-default SIM_GZ_EC_MAX1 1000
+
+param set-default SIM_GZ_SV_FUNC1 201
+param set-default SIM_GZ_SV_FUNC2 202
+param set-default SIM_GZ_SV_FUNC3 203
+param set-default SIM_GZ_SV_FUNC4 204
+param set-default SIM_GZ_SV_FUNC5 205
+param set-default SIM_GZ_SV_FUNC6 206
@@ -33,54 +33,55 @@

 px4_add_romfs_files(

-	1010_gazebo_iris_opt_flow
-	1010_gazebo_iris_opt_flow.post
-	1011_gazebo_iris_irlock
-	1012_gazebo_iris_rplidar
-	1013_gazebo_iris_vision
-	1013_gazebo_iris_vision.post
-	1015_gazebo_iris_obs_avoid
-	1015_gazebo_iris_obs_avoid.post
-	1017_gazebo_iris_opt_flow_mockup
-	1019_gazebo_iris_dual_gps
-	1021_gazebo_uuv_hippocampus
-	1022_gazebo_uuv_bluerov2_heavy
-	1030_gazebo_plane
-	1031_gazebo_plane_cam
-	1032_gazebo_plane_catapult
+	1010_gazebo-classic_iris_opt_flow
+	1010_gazebo-classic_iris_opt_flow.post
+	1011_gazebo-classic_iris_irlock
+	1012_gazebo-classic_iris_rplidar
+	1013_gazebo-classic_iris_vision
+	1013_gazebo-classic_iris_vision.post
+	1015_gazebo-classic_iris_obs_avoid
+	1015_gazebo-classic_iris_obs_avoid.post
+	1017_gazebo-classic_iris_opt_flow_mockup
+	1019_gazebo-classic_iris_dual_gps
+	1021_gazebo-classic_uuv_hippocampus
+	1022_gazebo-classic_uuv_bluerov2_heavy
+	1030_gazebo-classic_plane
+	1031_gazebo-classic_plane_cam
+	1032_gazebo-classic_plane_catapult
 	1033_jsbsim_rascal
 	1034_flightgear_rascal-electric
-	1035_gazebo_techpod
+	1035_gazebo-classic_techpod
 	1036_jsbsim_malolo
-	1037_gazebo_believer
-	1038_gazebo_glider
-	1039_gazebo_advanced_plane
-	1040_gazebo_standard_vtol
-	1041_gazebo_tailsitter
-	1042_gazebo_tiltrotor
-	1043_gazebo_standard_vtol_drop
-	1044_gazebo_plane_lidar
-	1060_gazebo_rover
-	1061_gazebo_r1_rover
+	1037_gazebo-classic_believer
+	1038_gazebo-classic_glider
+	1039_gazebo-classic_advanced_plane
+	1040_gazebo-classic_standard_vtol
+	1041_gazebo-classic_tailsitter
+	1042_gazebo-classic_tiltrotor
+	1043_gazebo-classic_standard_vtol_drop
+	1044_gazebo-classic_plane_lidar
+	1060_gazebo-classic_rover
+	1061_gazebo-classic_r1_rover
 	1062_flightgear_tf-r1
-	1070_gazebo_boat
+	1070_gazebo-classic_boat

-	2507_gazebo_cloudship
+	2507_gazebo-classic_cloudship

 	3010_jsbsim_quadrotor_x
 	3011_jsbsim_hexarotor_x

 	4001_gz_x500
 	4002_gz_x500_depth
+	4003_gz_rc_cessna

-	6011_gazebo_typhoon_h480
-	6011_gazebo_typhoon_h480.post
+	6011_gazebo-classic_typhoon_h480
+	6011_gazebo-classic_typhoon_h480.post

-	10016_gazebo_iris
+	10016_gazebo-classic_iris
 	10017_jmavsim_iris
-	10018_gazebo_iris_foggy_lidar
-	10019_gazebo_omnicopter
-	10030_gazebo_px4vision
+	10018_gazebo-classic_iris_foggy_lidar
+	10019_gazebo-classic_omnicopter
+	10030_gazebo-classic_px4vision

 	10040_sihsim_quadx
 	10041_sihsim_airplane
@@ -19,9 +19,9 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 		exit 1
 	fi

-elif [ "$PX4_SIMULATOR" = "gz" ]; then
+elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; then

-	# source generated gz_env.sh for IGN_GAZEBO_RESOURCE_PATH
+	# source generated gz_env.sh for GZ_SIM_RESOURCE_PATH
 	if [ -f ./gz_env.sh ]; then
 		. ./gz_env.sh

@@ -37,16 +37,8 @@ elif [ "$PX4_SIMULATOR" = "gz" ]; then
 		gz_command="gz"
 		gz_sub_command="sim"
 	else
-		IGN_GAZEBO_VERSIONS=$(ign gazebo --versions 2>&1)
-		if [ $? -eq 0 ] && [ "${IGN_GAZEBO_VERSIONS}" != "" ]
-		then
-			# "ign gazebo" for Fortress and earlier
-			gz_command="ign"
-			gz_sub_command="gazebo"
-		else
-			echo "ERROR [init] Gazebo gz and ign commands unavailable"
-			exit 1
-		fi
+		echo "ERROR [init] Gazebo gz please install gz-garden"
+		exit 1
 	fi

 	# look for running ${gz_command} gazebo world
@@ -23,6 +23,12 @@ then
 	set LOGGER_ARGS "${LOGGER_ARGS} -x"
 fi

+if param compare SDLOG_MODE 4
+then
+	set LOGGER_ARGS "${LOGGER_ARGS} -a"
+fi
+
+
 if ! param compare SDLOG_MODE -1
 then
 	logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
@@ -101,12 +101,24 @@ then
 	pmw3901 -S start
 fi

+# vl53l0x i2c distance sensor
+if param compare -s SENS_EN_VL53L0X 1
+then
+	vl53l0x start -X
+fi
+
 # vl53l1x i2c distance sensor
 if param compare -s SENS_EN_VL53L1X 1
 then
 	vl53l1x start -X
 fi

+# tf02 pro i2c distance sensor
+if param compare -s SENS_EN_TF02PRO 1
+then
+	tf02pro start -X
+fi
+
 # ADIS16448 spi external IMU
 if param compare -s SENS_EN_ADIS164X 1
 then
@@ -54,7 +54,10 @@ do
 	${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 'mavlink status' || true
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'mavlink stop-all'
+
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'gps status' || true
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'gps stop'

 done
@@ -10,6 +10,7 @@ fi
 exec find boards msg src platforms test \
    -path platforms/nuttx/NuttX -prune -o \
    -path platforms/qurt/dspal -prune -o \
+    -path src/drivers/ins/vectornav/libvnc -prune -o \
    -path src/drivers/uavcan/libuavcan -prune -o \
    -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
    -path src/drivers/cyphal/libcanard -prune -o \
@@ -15,7 +15,7 @@ class ModuleDocumentation(object):
    # TOC in https://github.com/PX4/PX4-user_guide/blob/main/en/SUMMARY.md
    valid_categories = ['driver', 'estimator', 'controller', 'system',
                        'communication', 'command', 'template', 'simulation', 'autotune']
-    valid_subcategories = ['', 'distance_sensor', 'imu', 'airspeed_sensor',
+    valid_subcategories = ['', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
                           'magnetometer', 'baro', 'optical_flow', 'rpm_sensor', 'transponder']

    max_line_length = 80 # wrap lines that are longer than this
@@ -16,9 +16,9 @@ SRC_DIR=$1
 BUILD_DIR=$2

 # setup Gazebo env and update package path
-export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:${BUILD_DIR}/build_gazebo
-export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${SRC_DIR}/Tools/simulation/gazebo/sitl_gazebo/models
-export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${BUILD_DIR}/build_gazebo
+export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:${BUILD_DIR}/build_gazebo-classic
+export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${SRC_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${BUILD_DIR}/build_gazebo-classic

 echo -e "GAZEBO_PLUGIN_PATH $GAZEBO_PLUGIN_PATH"
 echo -e "GAZEBO_MODEL_PATH $GAZEBO_MODEL_PATH"
@@ -1,10 +1,10 @@
 #!/bin/bash
 # run multiple instances of the 'px4' binary, with the gazebo SITL simulation
-# It assumes px4 is already built, with 'make px4_sitl_default sitl_gazebo'
+# It assumes px4 is already built, with 'make px4_sitl_default sitl_gazebo-classic'

 # The simulator is expected to send to TCP port 4560+i for i in [0, N-1]
 # For example gazebo can be run like this:
-#./Tools/simulation/gazebo/sitl_multiple_run.sh -n 10 -m iris
+#./Tools/simulation/gazebo-classic/sitl_multiple_run.sh -n 10 -m iris

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

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

@@ -69,7 +69,7 @@ num_vehicles=${NUM_VEHICLES:=3}
 world=${WORLD:=empty}
 target=${TARGET:=px4_sitl_default}
 vehicle_model=${VEHICLE_MODEL:="iris"}
-export PX4_SIM_MODEL=gazebo_${vehicle_model}
+export PX4_SIM_MODEL=gazebo-classic_${vehicle_model}

 echo ${SCRIPT}
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
@@ -84,7 +84,7 @@ pkill -x px4 || true

 sleep 1

-source ${src_path}/Tools/simulation/gazebo/setup_gazebo.bash ${src_path} ${src_path}/build/${target}
+source ${src_path}/Tools/simulation/gazebo-classic/setup_gazebo.bash ${src_path} ${src_path}/build/${target}

 # To use gazebo_ros ROS2 plugins
 if [[ -n "$ROS_VERSION" ]] && [ "$ROS_VERSION" == "2" ]; then
@@ -94,7 +94,7 @@ else
 fi

 echo "Starting gazebo"
-gzserver ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${world}.world --verbose $ros_args &
+gzserver ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${world}.world --verbose $ros_args &
 sleep 5

 n=0
@@ -126,7 +126,7 @@ else

 		m=0
 		while [ $m -lt ${target_number} ]; do
-			export PX4_SIM_MODEL=gazebo_${target_vehicle}
+			export PX4_SIM_MODEL=gazebo-classic_${target_vehicle}
 			spawn_model ${target_vehicle}${LABEL} $n $target_x $target_y
 			m=$(($m + 1))
 			n=$(($n + 1))
@@ -67,7 +67,7 @@ fi
 # be running from last time
 pkill -x gazebo || true

-export PX4_SIM_MODEL=gazebo_${model}
+export PX4_SIM_MODEL=gazebo-classic_${model}
 export PX4_SIM_WORLD=${world}

 SIM_PID=0
@@ -77,25 +77,25 @@ if [ -x "$(command -v gazebo)" ]; then
 	model_name="${model}"

 	# Set the plugin path so Gazebo finds our model and sim
-	source "$src_path/Tools/simulation/gazebo/setup_gazebo.bash" "${src_path}" "${build_path}"
+	source "$src_path/Tools/simulation/gazebo-classic/setup_gazebo.bash" "${src_path}" "${build_path}"
 	if [ -z $PX4_SITL_WORLD ]; then
 		#Spawn predefined world
 		if [ "$world" == "none" ]; then
-			if [ -f ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${model}.world ]; then
+			if [ -f ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${model}.world ]; then
 				echo "empty world, default world ${model}.world for model found"
-				world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${model}.world"
+				world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${model}.world"
 			else
 				echo "empty world, setting empty.world as default"
-				world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/empty.world"
+				world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/empty.world"
 			fi
 		else
 			#Spawn empty world if world with model name doesn't exist
-			world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${world}.world"
+			world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${world}.world"
 		fi
 	else
-		if [ -f ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world ]; then
+		if [ -f ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${PX4_SITL_WORLD}.world ]; then
 			# Spawn world by name if exists in the worlds directory from environment variable
-			world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world"
+			world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${PX4_SITL_WORLD}.world"
 		else
 			# Spawn world from environment variable with absolute path
 			world_path="$PX4_SITL_WORLD"
@@ -0,0 +1,165 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <authoring_tool>SketchUp 15.3.331</authoring_tool>
+        </contributor>
+        <created>2015-05-26T23:41:25Z</created>
+        <modified>2015-05-26T23:41:25Z</modified>
+        <unit meter="0.0254" name="inch" />
+        <up_axis>Z_UP</up_axis>
+    </asset>
+    <library_visual_scenes>
+        <visual_scene id="ID1">
+            <node name="SketchUp">
+                <node id="ID2" name="instance_0">
+                    <matrix>0.001745328 -0.9999985 0 70.84882 0.9999985 0.001745328 0 -0.03157813 -0 0 1 -19.50896 0 0 0 1</matrix>
+                    <instance_node url="#ID3" />
+                </node>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <library_nodes>
+        <node id="ID3" name="ske2A3">
+            <node id="ID4" name="group_0">
+                <matrix>1.963935 -3.469447e-018 0 1.237124 3.469447e-018 1.963935 0 258.791 0 0 1.963935 40.4385 0 0 0 1</matrix>
+                <instance_geometry url="#ID5">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID6">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material3" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+            <node id="ID15" name="group_1">
+                <matrix>1.963935 -4.336809e-018 0 -68.35112 4.336809e-018 1.963935 0 258.791 0 0 1.963935 40.4385 0 0 0 1</matrix>
+                <instance_geometry url="#ID16">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID6">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material3" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </node>
+    </library_nodes>
+    <library_geometries>
+        <geometry id="ID5">
+            <mesh>
+                <source id="ID8">
+                    <float_array id="ID13" count="126">29.29134 15.47244 1.496063 -2.220446e-016 15.47244 0.2362205 29.29134 15.47244 0.1574803 29.29134 15.47244 0.1574803 -2.220446e-016 15.47244 0.2362205 29.29134 15.47244 1.496063 0.07874016 15.55118 1.574803 -2.220446e-016 15.47244 0.2362205 29.29134 15.47244 1.496063 29.29134 15.47244 1.496063 -2.220446e-016 15.47244 0.2362205 0.07874016 15.55118 1.574803 29.29134 15.47244 0.1574803 -2.220446e-016 15.47244 0.2362205 0.2362205 17.71654 0.2362205 0.2362205 17.71654 0.2362205 -2.220446e-016 15.47244 0.2362205 29.29134 15.47244 0.1574803 0.2362205 17.71654 0.2362205 -2.220446e-016 15.47244 0.2362205 0.07874016 15.55118 1.574803 0.07874016 15.55118 1.574803 -2.220446e-016 15.47244 0.2362205 0.2362205 17.71654 0.2362205 29.29134 15.47244 1.496063 0.2362205 17.71654 1.574803 0.07874016 15.55118 1.574803 0.07874016 15.55118 1.574803 0.2362205 17.71654 1.574803 29.29134 15.47244 1.496063 29.33071 23.14961 1.220472 29.33071 23.14961 1.220472 0.2362205 17.71654 1.574803 0.2362205 17.71654 1.574803 3.779528 26.81102 1.220472 3.779528 26.81102 1.220472 3.779528 26.81102 1.220472 3.779528 26.81102 1.220472 3.779528 26.81102 1.220472 3.779528 26.81102 1.220472 29.33071 23.14961 1.220472 29.33071 23.14961 1.220472</float_array>
+                    <technique_common>
+                        <accessor count="42" source="#ID13" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <source id="ID9">
+                    <float_array id="ID14" count="126">8.832897e-019 -1 0 8.832897e-019 -1 0 8.832897e-019 -1 0 -8.832897e-019 1 -0 -8.832897e-019 1 -0 -8.832897e-019 1 -0 -0.002532054 -0.9982624 0.05887026 -0.002532054 -0.9982624 0.05887026 -0.002532054 -0.9982624 0.05887026 0.002532054 0.9982624 -0.05887026 0.002532054 0.9982624 -0.05887026 0.002532054 0.9982624 -0.05887026 0.007390569 0.1304752 -0.991424 -0.002688162 0.0002829644 -0.9999963 0.004389455 0.04876336 -0.9988007 -0.004389455 -0.04876336 0.9988007 0.002688162 -0.0002829644 0.9999963 -0.007390569 -0.1304752 0.991424 -0.9752032 0.2211027 0.009609949 -0.9931459 0.1045417 0.05227084 -0.9949927 0.093762 0.03461586 0.9949927 -0.093762 -0.03461586 0.9931459 -0.1045417 -0.05227084 0.9752032 -0.2211027 -0.009609949 0.005110827 0.03434514 0.999397 0.003976796 0.01640632 0.9998575 0.00269488 -0.0001959912 0.9999963 -0.00269488 0.0001959912 -0.9999963 -0.003976796 -0.01640632 -0.9998575 -0.005110827 -0.03434514 -0.999397 0.009196932 0.1303557 -0.9914246 -0.009196932 -0.1303557 0.9914246 -0.9758321 0.2185214 -5.056631e-018 0.9758321 -0.2185214 5.056631e-018 0.00548519 0.03663055 0.9993138 -0.00548519 -0.03663055 -0.9993138 0.0146102 0.1019572 -0.9946815 -0.0146102 -0.1019572 0.9946815 -0.9317774 0.3630302 0 0.9317774 -0.3630302 -0 0.00513686 0.03584755 0.9993441 -0.00513686 -0.03584755 -0.9993441</float_array>
+                    <technique_common>
+                        <accessor count="42" source="#ID14" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="ID10">
+                    <input semantic="POSITION" source="#ID8" />
+                    <input semantic="NORMAL" source="#ID9" />
+                </vertices>
+                <triangles count="13" material="Material2">
+                    <input offset="0" semantic="VERTEX" source="#ID10" />
+                    <p>0 1 2 6 7 8 6 7 8 12 13 14 18 19 20 0 1 2 24 25 26 30 12 14 18 20 32 24 34 25 30 14 36 38 18 32 40 34 24</p>
+                </triangles>
+                <triangles count="13" material="Material3">
+                    <input offset="0" semantic="VERTEX" source="#ID10" />
+                    <p>3 4 5 9 10 11 9 10 11 15 16 17 21 22 23 3 4 5 27 28 29 15 17 31 33 21 23 28 35 29 37 15 31 33 23 39 29 35 41</p>
+                </triangles>
+            </mesh>
+        </geometry>
+        <geometry id="ID16">
+            <mesh>
+                <source id="ID17">
+                    <float_array id="ID20" count="144">34.13386 15.47244 0.2362205 4.80315 15.47244 0.1574803 33.89764 17.6378 0.2362205 33.89764 17.6378 0.2362205 4.80315 15.47244 0.1574803 34.13386 15.47244 0.2362205 30.31496 26.73228 1.220472 30.31496 26.73228 1.220472 33.89764 17.6378 1.574803 34.13386 15.47244 0.2362205 33.89764 17.6378 0.2362205 33.89764 17.6378 0.2362205 34.13386 15.47244 0.2362205 33.89764 17.6378 1.574803 34.05512 15.55118 1.574803 4.80315 15.47244 0.1574803 34.13386 15.47244 0.2362205 34.13386 15.47244 0.2362205 4.80315 15.47244 0.1574803 34.05512 15.55118 1.574803 34.05512 15.55118 1.574803 4.80315 15.47244 0.1574803 34.13386 15.47244 0.2362205 34.13386 15.47244 0.2362205 4.80315 15.47244 0.1574803 34.05512 15.55118 1.574803 30.31496 26.73228 1.220472 30.31496 26.73228 1.220472 4.88189 23.22835 1.220472 4.88189 23.22835 1.220472 34.05512 15.55118 1.574803 34.05512 15.55118 1.574803 34.05512 15.55118 1.574803 4.80315 15.47244 1.496063 4.80315 15.47244 0.1574803 4.80315 15.47244 0.1574803 4.80315 15.47244 1.496063 34.05512 15.55118 1.574803 33.89764 17.6378 1.574803 30.31496 26.73228 1.220472 4.88189 23.22835 1.220472 4.88189 23.22835 1.220472 30.31496 26.73228 1.220472 33.89764 17.6378 1.574803 34.05512 15.55118 1.574803 4.80315 15.47244 1.496063 4.80315 15.47244 1.496063 34.05512 15.55118 1.574803</float_array>
+                    <technique_common>
+                        <accessor count="48" source="#ID20" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <source id="ID18">
+                    <float_array id="ID21" count="144">0.002684554 0.0002928604 -0.9999964 -0.01473734 0.12288 -0.9923121 -0.000787119 0.04689963 -0.9988993 0.000787119 -0.04689963 0.9988993 0.01473734 -0.12288 0.9923121 -0.002684554 -0.0002928604 0.9999964 -0.007277174 0.110315 -0.99387 0.007277174 -0.110315 0.99387 0.9725871 0.2323356 0.009718386 0.9955834 0.08736469 0.03436596 0.9719196 0.2353134 -1.202976e-016 -0.9719196 -0.2353134 1.202976e-016 -0.9955834 -0.08736469 -0.03436596 -0.9725871 -0.2323356 -0.009718386 -0.0001576182 -0.9982749 0.05871278 -0.0001576182 -0.9982749 0.05871278 -0.0001576182 -0.9982749 0.05871278 0.0001576182 0.9982749 -0.05871278 0.0001576182 0.9982749 -0.05871278 0.0001576182 0.9982749 -0.05871278 -0.0001576182 -0.9982749 0.05871278 -0.0001576182 -0.9982749 0.05871278 -0.0001576182 -0.9982749 0.05871278 0.0001576182 0.9982749 -0.05871278 0.0001576182 0.9982749 -0.05871278 0.0001576182 0.9982749 -0.05871278 0.9304084 0.3665245 -2.676506e-016 -0.9304084 -0.3665245 2.676506e-016 -0.01872985 0.1359493 -0.9905387 0.01872985 -0.1359493 0.9905387 0.9957011 0.07514725 0.05415023 -0.9957011 -0.07514725 -0.05415023 0.00269178 -0.9999964 0 0.00269178 -0.9999964 0 0.00269178 -0.9999964 0 -0.00269178 0.9999964 -0 -0.00269178 0.9999964 -0 -0.00269178 0.9999964 -0 -0.003787425 0.01626622 0.9998605 -0.005087832 0.03692966 0.9993049 -0.005301222 0.03582462 0.999344 0.005301222 -0.03582462 -0.999344 0.005087832 -0.03692966 -0.9993049 0.003787425 -0.01626622 -0.9998605 -0.002691234 -0.000203112 0.9999964 -0.005229389 0.03392175 0.9994108 0.005229389 -0.03392175 -0.9994108 0.002691234 0.000203112 -0.9999964</float_array>
+                    <technique_common>
+                        <accessor count="48" source="#ID21" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="ID19">
+                    <input semantic="POSITION" source="#ID17" />
+                    <input semantic="NORMAL" source="#ID18" />
+                </vertices>
+                <triangles count="13" material="Material2">
+                    <input offset="0" semantic="VERTEX" source="#ID19" />
+                    <p>0 1 2 2 1 6 8 9 10 14 15 16 20 21 22 26 8 10 6 1 28 8 30 9 32 33 34 32 33 34 38 39 40 44 38 45 38 40 45</p>
+                </triangles>
+                <triangles count="13" material="Material3">
+                    <input offset="0" semantic="VERTEX" source="#ID19" />
+                    <p>3 4 5 7 4 3 11 12 13 17 18 19 23 24 25 11 13 27 29 4 7 12 31 13 35 36 37 35 36 37 41 42 43 46 43 47 46 41 43</p>
+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_materials>
+        <material id="ID6" name="Color_003">
+            <instance_effect url="#ID7" />
+        </material>
+        <material id="ID11" name="__White_">
+            <instance_effect url="#ID12" />
+        </material>
+    </library_materials>
+    <library_effects>
+        <effect id="ID7">
+            <profile_COMMON>
+                <technique sid="COMMON">
+                    <lambert>
+                        <diffuse>
+                            <color>0.6666667 0.6666667 0.6666667 1</color>
+                        </diffuse>
+                    </lambert>
+                </technique>
+            </profile_COMMON>
+        </effect>
+        <effect id="ID12">
+            <profile_COMMON>
+                <technique sid="COMMON">
+                    <lambert>
+                        <diffuse>
+                            <color>1 1 1 1</color>
+                        </diffuse>
+                    </lambert>
+                </technique>
+            </profile_COMMON>
+        </effect>
+    </library_effects>
+    <scene>
+        <instance_visual_scene url="#ID1" />
+    </scene>
+</COLLADA>
@@ -0,0 +1,114 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <authoring_tool>SketchUp 15.3.331</authoring_tool>
+        </contributor>
+        <created>2015-05-26T23:42:29Z</created>
+        <modified>2015-05-26T23:42:29Z</modified>
+        <unit meter="0.0254" name="inch" />
+        <up_axis>Z_UP</up_axis>
+    </asset>
+    <library_visual_scenes>
+        <visual_scene id="ID1">
+            <node name="SketchUp">
+                <node id="ID2" name="instance_0">
+                    <matrix>0.001745328 -0.9999985 0 70.84882 0.9999985 0.001745328 0 -0.03157813 -0 0 1 -19.50896 0 0 0 1</matrix>
+                    <instance_node url="#ID3" />
+                </node>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <library_nodes>
+        <node id="ID3" name="ske2A3">
+            <node id="ID4" name="group_0">
+                <matrix>1.963935 -1.149254e-016 0 -217.1153 1.149254e-016 1.963935 0 16.85582 0 0 1.963935 19.40739 0 0 0 1</matrix>
+                <instance_geometry url="#ID5">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID6">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material3" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </node>
+    </library_nodes>
+    <library_geometries>
+        <geometry id="ID5">
+            <mesh>
+                <source id="ID8">
+                    <float_array id="ID13" count="120">173.5827 65.35433 28.34646 173.5433 59.72441 29.01575 162.197 60.69059 28.48352 162.197 60.69059 28.48352 173.5433 59.72441 29.01575 173.5827 65.35433 28.34646 162.1654 66.5748 27.75591 162.1654 66.5748 27.75591 182.126 64.29134 28.77953 182.126 64.29134 28.77953 173.5827 65.35433 28.34646 162.1654 66.5748 27.75591 173.5433 59.76378 30.43307 173.5433 59.76378 30.43307 162.1654 66.5748 27.75591 173.5827 65.35433 28.34646 182.1654 58.62205 31.06299 182.126 64.29134 28.77953 182.126 64.29134 28.77953 182.1654 58.62205 31.06299 182.1654 58.62205 29.44882 182.1654 58.62205 29.44882 162.1654 60.7874 29.93396 162.1654 60.7874 29.93396 191.0236 57.48031 31.22047 191.0236 57.48031 31.22047 191.063 63.07087 29.29134 191.063 63.07087 29.29134 191.063 63.07087 29.29134 191.063 63.07087 29.29134 191.0236 57.48031 29.96063 191.0236 57.48031 29.96063 207.0079 55.62992 31.77165 207.0079 55.62992 31.77165 207.0472 60.90551 30.11811 207.0472 60.90551 30.11811 207.0472 60.90551 30.11811 207.0472 60.90551 30.11811 207.0079 55.62992 30.55118 207.0079 55.62992 30.55118</float_array>
+                    <technique_common>
+                        <accessor count="40" source="#ID13" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <source id="ID9">
+                    <float_array id="ID14" count="120">0.03634531 -0.1188937 -0.9922416 0.03587327 -0.1179703 -0.9923689 0.03771441 -0.121225 -0.9919083 -0.03771441 0.121225 0.9919083 -0.03587327 0.1179703 0.9923689 -0.03634531 0.1188937 0.9922416 0.0382097 -0.1224293 -0.9917414 -0.0382097 0.1224293 0.9917414 0.03775177 -0.1171551 -0.9923958 -0.03775177 0.1171551 0.9923958 -0.01224891 0.3540955 0.9351291 -0.00989876 0.3514344 0.9361602 -0.01674714 0.3501002 0.9365625 0.01674714 -0.3501002 -0.9365625 0.00989876 -0.3514344 -0.9361602 0.01224891 -0.3540955 -0.9351291 0.01322657 0.3694758 0.9291462 0.006999627 0.365608 0.9307426 -0.006999627 -0.365608 -0.9307426 -0.01322657 -0.3694758 -0.9291462 0.03836032 -0.1173106 -0.9923541 -0.03836032 0.1173106 0.9923541 -0.009366748 0.3522106 0.9358739 0.009366748 -0.3522106 -0.9358739 0.005662451 0.3347006 0.9423075 -0.005662451 -0.3347006 -0.9423075 0.03866059 -0.1186285 -0.9921858 -0.03866059 0.1186285 0.9921858 -0.004253652 0.3235305 0.9462082 0.004253652 -0.3235305 -0.9462082 0.03750441 -0.1151827 -0.9926361 -0.03750441 0.1151827 0.9926361 -0.005596535 0.305409 0.9522048 0.005596535 -0.305409 -0.9522048 0.02892951 -0.08956398 -0.9955608 -0.02892951 0.08956398 0.9955608 -0.008830529 0.2991342 0.9541702 0.008830529 -0.2991342 -0.9541702 0.02731657 -0.08198631 -0.996259 -0.02731657 0.08198631 0.996259</float_array>
+                    <technique_common>
+                        <accessor count="40" source="#ID14" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="ID10">
+                    <input semantic="POSITION" source="#ID8" />
+                    <input semantic="NORMAL" source="#ID9" />
+                </vertices>
+                <triangles count="16" material="Material2">
+                    <input offset="0" semantic="VERTEX" source="#ID10" />
+                    <p>0 1 2 0 2 6 8 1 0 10 11 12 16 17 10 20 1 8 12 11 22 16 10 12 24 17 16 26 20 8 28 17 24 26 30 20 32 28 24 34 30 26 36 28 32 34 38 30</p>
+                </triangles>
+                <triangles count="16" material="Material3">
+                    <input offset="0" semantic="VERTEX" source="#ID10" />
+                    <p>3 4 5 7 3 5 5 4 9 13 14 15 15 18 19 9 4 21 23 14 13 13 15 19 19 18 25 9 21 27 25 18 29 21 31 27 25 29 33 27 31 35 33 29 37 31 39 35</p>
+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_materials>
+        <material id="ID6" name="__White_">
+            <instance_effect url="#ID7" />
+        </material>
+        <material id="ID11" name="__Gray_">
+            <instance_effect url="#ID12" />
+        </material>
+    </library_materials>
+    <library_effects>
+        <effect id="ID7">
+            <profile_COMMON>
+                <technique sid="COMMON">
+                    <lambert>
+                        <diffuse>
+                            <color>1 1 1 1</color>
+                        </diffuse>
+                    </lambert>
+                </technique>
+            </profile_COMMON>
+        </effect>
+        <effect id="ID12">
+            <profile_COMMON>
+                <technique sid="COMMON">
+                    <lambert>
+                        <diffuse>
+                            <color>0.5019608 0.5019608 0.5019608 1</color>
+                        </diffuse>
+                    </lambert>
+                </technique>
+            </profile_COMMON>
+        </effect>
+    </library_effects>
+    <scene>
+        <instance_visual_scene url="#ID1" />
+    </scene>
+</COLLADA>
@@ -0,0 +1,114 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <authoring_tool>SketchUp 15.3.331</authoring_tool>
+        </contributor>
+        <created>2015-05-26T23:42:19Z</created>
+        <modified>2015-05-26T23:42:19Z</modified>
+        <unit meter="0.0254" name="inch" />
+        <up_axis>Z_UP</up_axis>
+    </asset>
+    <library_visual_scenes>
+        <visual_scene id="ID1">
+            <node name="SketchUp">
+                <node id="ID2" name="instance_0">
+                    <matrix>0.001745328 -0.9999985 0 70.84882 0.9999985 0.001745328 0 -0.03157813 -0 0 1 -19.50896 0 0 0 1</matrix>
+                    <instance_node url="#ID3" />
+                </node>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <library_nodes>
+        <node id="ID3" name="ske2A3">
+            <node id="ID4" name="group_0">
+                <matrix>1.963935 -1.144917e-016 0 -217.1153 1.144917e-016 1.963935 0 16.85582 0 0 1.963935 19.40739 0 0 0 1</matrix>
+                <instance_geometry url="#ID5">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID6">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material3" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </node>
+    </library_nodes>
+    <library_geometries>
+        <geometry id="ID5">
+            <mesh>
+                <source id="ID8">
+                    <float_array id="ID13" count="96">137.2835 66.92913 26.77165 121.9291 59.25197 27.79528 121.9291 66.92913 26.25984 121.9291 66.92913 26.25984 121.9291 59.25197 27.79528 137.2835 66.92913 26.77165 137.2835 59.25197 29.96063 137.2835 66.92913 26.77165 121.9291 66.92913 26.25984 121.9291 66.92913 26.25984 137.2835 66.92913 26.77165 137.2835 59.25197 29.96063 137.2835 59.25197 27.79528 137.2835 59.25197 27.79528 121.9291 59.25197 29.33071 121.9291 59.25197 29.33071 152.3228 59.25197 30.23622 152.3228 59.25197 30.23622 152.3622 66.92913 27.44094 152.3622 66.92913 27.44094 152.3622 66.92913 27.44094 152.3622 66.92913 27.44094 152.3228 59.25197 28.4252 152.3228 59.25197 28.4252 162.1654 59.25197 30.51181 162.1654 59.25197 30.51181 162.1654 66.5748 27.75591 162.1654 66.5748 27.75591 162.1654 66.5748 27.75591 162.1654 66.5748 27.75591 162.2047 59.25197 28.66142 162.2047 59.25197 28.66142</float_array>
+                    <technique_common>
+                        <accessor count="32" source="#ID13" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <source id="ID9">
+                    <float_array id="ID14" count="96">0.02682621 -0.1417739 -0.9895355 0.02297159 -0.1771324 -0.9839189 0.03266858 -0.1960115 -0.9800573 -0.03266858 0.1960115 0.9800573 -0.02297159 0.1771324 0.9839189 -0.02682621 0.1417739 0.9895355 -0.02493687 0.3815814 0.9239988 -0.02780814 0.3770153 0.9257895 -0.03575652 0.3750234 0.9263255 0.03575652 -0.3750234 -0.9263255 0.02780814 -0.3770153 -0.9257895 0.02493687 -0.3815814 -0.9239988 0.02165175 -0.1314105 -0.9910916 -0.02165175 0.1314105 0.9910916 -0.03806375 0.3711215 0.9278038 0.03806375 -0.3711215 -0.9278038 -0.03001613 0.3487806 0.9367236 0.03001613 -0.3487806 -0.9367236 0.03483823 -0.1279932 -0.991163 -0.03483823 0.1279932 0.991163 -0.03222275 0.344211 0.9383392 0.03222275 -0.344211 -0.9383392 0.03366092 -0.1263005 -0.9914208 -0.03366092 0.1263005 0.9914208 -0.02130276 0.3477379 0.9373497 0.02130276 -0.3477379 -0.9373497 0.02520877 -0.1245398 -0.9918943 -0.02520877 0.1245398 0.9918943 -0.01733589 0.3521731 0.9357743 0.01733589 -0.3521731 -0.9357743 0.02371739 -0.1225611 -0.9921775 -0.02371739 0.1225611 0.9921775</float_array>
+                    <technique_common>
+                        <accessor count="32" source="#ID14" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="ID10">
+                    <input semantic="POSITION" source="#ID8" />
+                    <input semantic="NORMAL" source="#ID9" />
+                </vertices>
+                <triangles count="12" material="Material2">
+                    <input offset="0" semantic="VERTEX" source="#ID10" />
+                    <p>0 1 2 6 7 8 12 1 0 6 8 14 16 7 6 18 12 0 20 7 16 18 22 12 24 20 16 26 22 18 24 28 20 30 22 26</p>
+                </triangles>
+                <triangles count="12" material="Material3">
+                    <input offset="0" semantic="VERTEX" source="#ID10" />
+                    <p>3 4 5 9 10 11 5 4 13 15 9 11 11 10 17 5 13 19 17 10 21 13 23 19 17 21 25 19 23 27 21 29 25 27 23 31</p>
+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_materials>
+        <material id="ID6" name="__White_">
+            <instance_effect url="#ID7" />
+        </material>
+        <material id="ID11" name="__Gray_">
+            <instance_effect url="#ID12" />
+        </material>
+    </library_materials>
+    <library_effects>
+        <effect id="ID7">
+            <profile_COMMON>
+                <technique sid="COMMON">
+                    <lambert>
+                        <diffuse>
+                            <color>1 1 1 1</color>
+                        </diffuse>
+                    </lambert>
+                </technique>
+            </profile_COMMON>
+        </effect>
+        <effect id="ID12">
+            <profile_COMMON>
+                <technique sid="COMMON">
+                    <lambert>
+                        <diffuse>
+                            <color>0.5019608 0.5019608 0.5019608 1</color>
+                        </diffuse>
+                    </lambert>
+                </technique>
+            </profile_COMMON>
+        </effect>
+    </library_effects>
+    <scene>
+        <instance_visual_scene url="#ID1" />
+    </scene>
+</COLLADA>
@@ -0,0 +1,114 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <authoring_tool>SketchUp 15.3.331</authoring_tool>
+        </contributor>
+        <created>2015-05-26T23:41:47Z</created>
+        <modified>2015-05-26T23:41:47Z</modified>
+        <unit meter="0.0254" name="inch" />
+        <up_axis>Z_UP</up_axis>
+    </asset>
+    <library_visual_scenes>
+        <visual_scene id="ID1">
+            <node name="SketchUp">
+                <node id="ID2" name="instance_0">
+                    <matrix>0.001745328 -0.9999985 0 70.84882 0.9999985 0.001745328 0 -0.03157813 -0 0 1 -19.50896 0 0 0 1</matrix>
+                    <instance_node url="#ID3" />
+                </node>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <library_nodes>
+        <node id="ID3" name="ske2A3">
+            <node id="ID4" name="group_0">
+                <matrix>1.963935 -1.140581e-016 0 -217.1153 1.140581e-016 1.963935 0 16.85582 0 0 1.963935 19.40739 0 0 0 1</matrix>
+                <instance_geometry url="#ID5">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID6">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material3" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </node>
+    </library_nodes>
+    <library_geometries>
+        <geometry id="ID5">
+            <mesh>
+                <source id="ID8">
+                    <float_array id="ID13" count="120">58.93701 66.5748 27.75591 47.55906 59.6063 29.13386 47.59843 65.15748 28.30709 47.59843 65.15748 28.30709 47.55906 59.6063 29.13386 58.93701 66.5748 27.75591 39.33071 58.62205 29.56693 39.33071 58.62205 29.56693 58.97638 60.95635 29.96063 58.93701 66.5748 27.75591 47.59843 65.15748 28.30709 47.59843 65.15748 28.30709 58.93701 66.5748 27.75591 58.97638 60.95635 29.96063 58.97638 60.7874 28.50244 58.97638 60.7874 28.50244 39.29134 64.13386 28.74016 39.29134 64.13386 28.74016 47.59843 59.64567 30.43307 47.59843 59.64567 30.43307 30.11811 57.59843 29.96063 30.11811 57.59843 29.96063 39.29134 64.13386 28.74016 39.29134 64.13386 28.74016 30.07874 63.0315 29.25197 30.07874 63.0315 29.25197 39.33071 58.62205 30.7874 39.33071 58.62205 30.7874 14.13386 55.62992 30.55118 14.13386 55.62992 30.55118 30.07874 63.0315 29.25197 30.07874 63.0315 29.25197 14.05512 60.94488 30.07874 14.05512 60.94488 30.07874 30.11811 57.59843 31.1811 30.11811 57.59843 31.1811 14.05512 60.94488 30.07874 14.05512 60.94488 30.07874 14.13386 55.62992 31.77165 14.13386 55.62992 31.77165</float_array>
+                    <technique_common>
+                        <accessor count="40" source="#ID13" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <source id="ID9">
+                    <float_array id="ID14" count="120">-0.03804767 -0.1336973 -0.9902916 -0.03393509 -0.1443297 -0.9889476 -0.03164446 -0.1472782 -0.9885888 0.03164446 0.1472782 0.9885888 0.03393509 0.1443297 0.9889476 0.03804767 0.1336973 0.9902916 -0.0294332 -0.1482161 -0.9885169 0.0294332 0.1482161 0.9885169 -0.001092279 0.3636841 0.9315217 -0.000409118 0.3652875 0.9308947 0.0008682838 0.3607536 0.9326607 -0.0008682838 -0.3607536 -0.9326607 0.000409118 -0.3652875 -0.9308947 0.001092279 -0.3636841 -0.9315217 -0.04154783 -0.1281008 -0.9908905 0.04154783 0.1281008 0.9908905 -0.03197393 -0.1454677 -0.9888462 0.03197393 0.1454677 0.9888462 -0.0004293308 0.3574471 0.9339333 0.0004293308 -0.3574471 -0.9339333 -0.0272016 -0.1325668 -0.9908007 0.0272016 0.1325668 0.9908007 0.004716089 0.3506517 0.9364941 -0.004716089 -0.3506517 -0.9364941 -0.03271636 -0.125567 -0.9915455 0.03271636 0.125567 0.9915455 0.002870077 0.3456667 0.938353 -0.002870077 -0.3456667 -0.938353 -0.03566361 -0.09775055 -0.9945717 0.03566361 0.09775055 0.9945717 0.00538455 0.3372325 0.941406 -0.00538455 -0.3372325 -0.941406 -0.03975437 -0.08905412 -0.9952331 0.03975437 0.08905412 0.9952331 0.003353341 0.3312469 0.9435382 -0.003353341 -0.3312469 -0.9435382 -0.0006590497 0.3100183 0.9507304 0.0006590497 -0.3100183 -0.9507304 -0.002169095 0.3034651 0.9528401 0.002169095 -0.3034651 -0.9528401</float_array>
+                    <technique_common>
+                        <accessor count="40" source="#ID14" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="ID10">
+                    <input semantic="POSITION" source="#ID8" />
+                    <input semantic="NORMAL" source="#ID9" />
+                </vertices>
+                <triangles count="16" material="Material2">
+                    <input offset="0" semantic="VERTEX" source="#ID10" />
+                    <p>0 1 2 2 1 6 8 9 10 14 1 0 2 6 16 8 10 18 6 20 16 18 10 22 16 20 24 18 22 26 20 28 24 26 22 30 24 28 32 26 30 34 34 30 36 34 36 38</p>
+                </triangles>
+                <triangles count="16" material="Material3">
+                    <input offset="0" semantic="VERTEX" source="#ID10" />
+                    <p>3 4 5 7 4 3 11 12 13 5 4 15 17 7 3 19 11 13 17 21 7 23 11 19 25 21 17 27 23 19 25 29 21 31 23 27 33 29 25 35 31 27 37 31 35 39 37 35</p>
+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_materials>
+        <material id="ID6" name="__White_">
+            <instance_effect url="#ID7" />
+        </material>
+        <material id="ID11" name="__Gray_">
+            <instance_effect url="#ID12" />
+        </material>
+    </library_materials>
+    <library_effects>
+        <effect id="ID7">
+            <profile_COMMON>
+                <technique sid="COMMON">
+                    <lambert>
+                        <diffuse>
+                            <color>1 1 1 1</color>
+                        </diffuse>
+                    </lambert>
+                </technique>
+            </profile_COMMON>
+        </effect>
+        <effect id="ID12">
+            <profile_COMMON>
+                <technique sid="COMMON">
+                    <lambert>
+                        <diffuse>
+                            <color>0.5019608 0.5019608 0.5019608 1</color>
+                        </diffuse>
+                    </lambert>
+                </technique>
+            </profile_COMMON>
+        </effect>
+    </library_effects>
+    <scene>
+        <instance_visual_scene url="#ID1" />
+    </scene>
+</COLLADA>
@@ -0,0 +1,161 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <authoring_tool>SketchUp 15.3.331</authoring_tool>
+        </contributor>
+        <created>2015-05-26T23:42:08Z</created>
+        <modified>2015-05-26T23:42:08Z</modified>
+        <unit meter="0.0254" name="inch" />
+        <up_axis>Z_UP</up_axis>
+    </asset>
+    <library_visual_scenes>
+        <visual_scene id="ID1">
+            <node name="SketchUp">
+                <node id="ID2" name="instance_0">
+                    <matrix>0.001745328 -0.9999985 0 70.84882 0.9999985 0.001745328 0 -0.03157813 -0 0 1 -19.50896 0 0 0 1</matrix>
+                    <instance_node url="#ID3" />
+                </node>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <library_nodes>
+        <node id="ID3" name="ske2A3">
+            <node id="ID4" name="group_0">
+                <matrix>1.963935 -1.140581e-016 0 -217.1153 1.140581e-016 1.963935 0 16.85582 0 0 1.963935 19.40739 0 0 0 1</matrix>
+                <instance_geometry url="#ID5">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID6">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                            <instance_material symbol="Material3" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID15">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID16">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </node>
+    </library_nodes>
+    <library_geometries>
+        <geometry id="ID5">
+            <mesh>
+                <source id="ID8">
+                    <float_array id="ID13" count="102">99.2126 66.9685 26.29921 83.85827 66.92913 26.81102 99.2126 59.25197 29.33071 99.2126 59.25197 29.33071 83.85827 66.92913 26.81102 99.2126 66.9685 26.29921 83.85827 59.25197 29.96063 83.85827 59.25197 29.96063 99.2126 66.9685 26.29921 83.85827 59.25197 27.79528 83.85827 66.92913 26.81102 83.85827 66.92913 26.81102 83.85827 59.25197 27.79528 99.2126 66.9685 26.29921 68.77953 66.92913 27.44094 68.77953 66.92913 27.44094 68.8189 59.25197 28.4252 68.77953 66.92913 27.44094 76.33858 59.25197 28.11024 76.33858 59.25197 28.11024 68.8189 59.25197 28.4252 68.77953 66.92913 27.44094 99.2126 59.25197 27.79528 99.2126 59.25197 27.79528 68.8189 59.25197 30.23622 68.8189 59.25197 30.23622 58.97638 59.25197 28.70079 58.97638 59.25197 28.70079 58.93701 66.5748 27.75591 58.93701 66.5748 27.75591 58.93701 66.5748 27.75591 58.93701 66.5748 27.75591 58.97638 59.25197 30.62992 58.97638 59.25197 30.62992</float_array>
+                    <technique_common>
+                        <accessor count="34" source="#ID13" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <source id="ID9">
+                    <float_array id="ID14" count="102">0.03007387 0.365487 0.9303305 0.03702604 0.3770976 0.9254331 0.03254441 0.3698361 0.9285269 -0.03254441 -0.3698361 -0.9285269 -0.03702604 -0.3770976 -0.9254331 -0.03007387 -0.365487 -0.9303305 0.0348804 0.3734313 0.9270018 -0.0348804 -0.3734313 -0.9270018 -0.009746117 -0.1715996 -0.9851186 -0.03218648 -0.1366818 -0.990092 -0.03707021 -0.127129 -0.9911932 0.03707021 0.127129 0.9911932 0.03218648 0.1366818 0.990092 0.009746117 0.1715996 0.9851186 0.02096268 0.3482456 0.9371689 -0.02096268 -0.3482456 -0.9371689 -0.03461144 -0.1272104 -0.9912717 -0.03455417 -0.1273749 -0.9912526 -0.04145418 -0.1271596 -0.9910156 0.04145418 0.1271596 0.9910156 0.03461144 0.1272104 0.9912717 0.03455417 0.1273749 0.9912526 6.679878e-018 -0.1903334 -0.9817195 -6.679878e-018 0.1903334 0.9817195 0.02167083 0.3471584 0.9375561 -0.02167083 -0.3471584 -0.9375561 -0.02738866 -0.1277233 -0.9914316 0.02738866 0.1277233 0.9914316 0.02865303 0.3551468 0.9343713 -0.02865303 -0.3551468 -0.9343713 -0.02711419 -0.1280677 -0.9913947 0.02711419 0.1280677 0.9913947 0.03720642 0.365263 0.9301605 -0.03720642 -0.365263 -0.9301605</float_array>
+                    <technique_common>
+                        <accessor count="34" source="#ID14" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="ID10">
+                    <input semantic="POSITION" source="#ID8" />
+                    <input semantic="NORMAL" source="#ID9" />
+                </vertices>
+                <triangles count="13" material="Material2">
+                    <input offset="0" semantic="VERTEX" source="#ID10" />
+                    <p>0 1 2 2 1 6 8 9 10 1 14 6 10 16 17 16 10 18 18 10 9 8 22 9 6 14 24 16 26 17 24 14 28 17 26 30 24 28 32</p>
+                </triangles>
+                <triangles count="13" material="Material3">
+                    <input offset="0" semantic="VERTEX" source="#ID10" />
+                    <p>3 4 5 7 4 3 11 12 13 7 15 4 12 11 19 19 11 20 21 20 11 12 23 13 25 15 7 21 27 20 29 15 25 31 27 21 33 29 25</p>
+                </triangles>
+            </mesh>
+        </geometry>
+        <geometry id="ID15">
+            <mesh>
+                <source id="ID18">
+                    <float_array id="ID20" count="9">58.97638 60.7874 28.50244 58.93701 66.5748 27.75591 58.97638 60.95635 29.96063</float_array>
+                    <technique_common>
+                        <accessor count="3" source="#ID20" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="ID19">
+                    <input semantic="POSITION" source="#ID18" />
+                </vertices>
+                <lines count="2" material="Material2">
+                    <input offset="0" semantic="VERTEX" source="#ID19" />
+                    <p>1 0 2 1</p>
+                </lines>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_materials>
+        <material id="ID6" name="__White_">
+            <instance_effect url="#ID7" />
+        </material>
+        <material id="ID11" name="__Gray_">
+            <instance_effect url="#ID12" />
+        </material>
+        <material id="ID16" name="edge_color477979255">
+            <instance_effect url="#ID17" />
+        </material>
+    </library_materials>
+    <library_effects>
+        <effect id="ID7">
+            <profile_COMMON>
+                <technique sid="COMMON">
+                    <lambert>
+                        <diffuse>
+                            <color>1 1 1 1</color>
+                        </diffuse>
+                    </lambert>
+                </technique>
+            </profile_COMMON>
+        </effect>
+        <effect id="ID12">
+            <profile_COMMON>
+                <technique sid="COMMON">
+                    <lambert>
+                        <diffuse>
+                            <color>0.5019608 0.5019608 0.5019608 1</color>
+                        </diffuse>
+                    </lambert>
+                </technique>
+            </profile_COMMON>
+        </effect>
+        <effect id="ID17">
+            <profile_COMMON>
+                <technique sid="COMMON">
+                    <constant>
+                        <transparent opaque="A_ONE">
+                            <color>0.1843137 0.3098039 0.3098039 1</color>
+                        </transparent>
+                        <transparency>
+                            <float>1</float>
+                        </transparency>
+                    </constant>
+                </technique>
+            </profile_COMMON>
+        </effect>
+    </library_effects>
+    <scene>
+        <instance_visual_scene url="#ID1" />
+    </scene>
+</COLLADA>
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<model>
+  <name>rc_cessna</name>
+  <version>1.0</version>
+  <sdf version='1.9'>model.sdf</sdf>
+
+  <author>
+   <name>Benjamin Perseghetti</name>
+   <email>bperseghetti@rudislabs.com</email>
+  </author>
+
+  <description>
+    This is a model of an RC Cessna 182.
+  </description>
+</model>
@@ -0,0 +1,811 @@
+<?xml version="1.0"?>
+<sdf version='1.9'>
+  <model name='rc_cessna'>
+    <pose>0 0 0.246 0 0 0</pose>
+    <link name='base_link'>
+      <pose>0 0 0 0 0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 0 0</pose>
+        <mass>1.5</mass>
+        <inertia>
+          <ixx>0.197563</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.1458929</iyy>
+          <iyz>0</iyz>
+          <izz>0.1477</izz>
+        </inertia>
+      </inertial>
+      <collision name='fuselodge_collision'>
+        <pose>-.14 0 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.65 .08 0.10</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <max_vel>10</max_vel>
+              <min_depth>0.01</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='wings_collision'>
+        <pose>-0.01 0 0.07 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 1.0 0.01</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <max_vel>10</max_vel>
+              <min_depth>0.01</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+      <!-- <visual name='fuselodge_collision_visual'>
+        <pose>-.14 0 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.65 .08 0.1</size>
+          </box>
+        </geometry>
+      </visual>
+      <visual name='wings_collision_visual'>
+        <pose>-0.01 0 0.07 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.1 1.0 0.01</size>
+          </box>
+        </geometry>
+      </visual> -->
+      <visual name='base_link_visual'>
+        <pose>0.07 0 -0.08 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.1 0.1 0.1</scale>
+            <uri>model://rc_cessna/meshes/body.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>.175 .175 .175 1.0</ambient>
+          <diffuse>.175 .175 .175 1.0</diffuse>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+      <self_collide>0</self_collide>
+      <sensor name="imu_sensor" type="imu">
+        <always_on>1</always_on>
+        <update_rate>250</update_rate>
+      </sensor>
+    </link>
+    <link name="airspeed">
+      <pose>0 0 0 0 0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 0 0</pose>
+        <mass>0.015</mass>
+        <inertia>
+          <ixx>1e-05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1e-05</iyy>
+          <iyz>0</iyz>
+          <izz>1e-05</izz>
+        </inertia>
+      </inertial>
+      <visual name="airspeed_visual">
+        <geometry>
+          <cylinder>
+            <radius>0.01</radius>
+            <length>0.1</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0 1.0</ambient>
+          <diffuse>0 0 0 1.0</diffuse>
+        </material>
+      </visual>
+      <!-- <sensor name="air_speed" type="air_speed">
+        <always_on>1</always_on>
+        <update_rate>5.0</update_rate>
+        <enable_metrics>false</enable_metrics>
+        <air_speed>
+          <airspeed>
+            <noise type="gaussian">
+              <mean>0</mean>
+              <stddev>0.01</stddev>
+            </noise>
+          </airspeed>
+        </air_speed>
+      </sensor> -->
+    </link>
+    <joint name='airspeed_joint' type='fixed'>
+      <child>airspeed</child>
+      <parent>base_link</parent>
+    </joint>
+    <link name='rotor_puller'>
+      <pose>0.22 0 0.0 0 1.57079632679 0</pose>
+      <inertial>
+        <pose>0 0 0 0 0 0</pose>
+        <mass>0.005</mass>
+        <inertia>
+          <ixx>9.75e-07</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000166704</iyy>
+          <iyz>0</iyz>
+          <izz>0.000167604</izz>
+        </inertia>
+      </inertial>
+      <collision name='rotor_puller_collision'>
+        <pose>0 0 0 0 -1.57079632679 0</pose>
+        <geometry>
+          <box>
+            <size>0.005 0.22 0.02</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <!-- <visual name='rotor_puller_collision_visual'>
+        <pose>0 0 0 0 -1.57079632679 0</pose>
+        <geometry>
+          <box>
+            <size>0.005 0.22 0.02</size>
+          </box>
+        </geometry>
+      </visual> -->
+      <visual name='rotor_puller_visual'>
+        <pose>0 0 0 0 0 -1.57079632679</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://rc_cessna/meshes/iris_prop_ccw.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0 0 1 1.0</ambient>
+          <diffuse>0 0 1 1.0</diffuse>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+      <self_collide>0</self_collide>
+    </link>
+    <joint name='rotor_puller_joint' type='revolute'>
+      <child>rotor_puller</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name="left_elevon">
+      <inertial>
+        <mass>0.00000001</mass>
+        <inertia>
+          <ixx>0.000001</ixx>
+          <ixy>0.0</ixy>
+          <iyy>0.000001</iyy>
+          <ixz>0.0</ixz>
+          <iyz>0.0</iyz>
+          <izz>0.000001</izz>
+        </inertia>
+        <pose>0 0.3 0 0.00 0 0.0</pose>
+      </inertial>
+      <visual name='left_elevon_visual'>
+        <pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.1 0.1 0.1</scale>
+            <uri>model://rc_cessna/meshes/left_aileron.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0 0 1 1.0</ambient>
+          <diffuse>0 0 1 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="LeftWheel">
+      <pose relative_to="LeftWheelJoint">0 0 0 0 0 0</pose>
+      <inertial>
+        <mass>.05</mass>
+        <inertia>
+          <ixx>0.00003331</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0000204</iyy>
+          <iyz>0</iyz>
+          <izz>0.0000204</izz>
+        </inertia>
+      </inertial>
+      <gravity>true</gravity>
+      <velocity_decay/>
+      <visual name="LeftWheelVisual">
+        <pose>0 0 0 -1.57079632679 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.01</length>
+            <radius>0.03</radius>
+          </cylinder>
+        </geometry>
+      </visual>
+      <collision name="LeftWheelCollision">
+        <pose>0 0 0 -1.57079632679 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.01</length>
+            <radius>0.03</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1.0</mu>
+              <mu2>0.5</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+    </link>
+    <link name="RightWheel">
+      <pose relative_to="RightWheelJoint">0 0 0 0 0 0</pose>
+      <inertial>
+        <mass>.05</mass>
+        <inertia>
+          <ixx>0.00003331</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0000204</iyy>
+          <iyz>0</iyz>
+          <izz>0.0000204</izz>
+        </inertia>
+      </inertial>
+      <gravity>true</gravity>
+      <velocity_decay/>
+      <visual name="RightWheelVisual">
+        <pose>0 0 0 -1.57079632679 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.01</length>
+            <radius>0.03</radius>
+          </cylinder>
+        </geometry>
+      </visual>
+      <collision name="RightWheelCollision">
+        <pose>0 0 0 -1.57079632679 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.01</length>
+            <radius>0.03</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1.0</mu>
+              <mu2>0.5</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+    </link>
+    <link name="CenterWheel">
+      <pose relative_to="CenterWheelJoint">0 0 0 0 0 0</pose>
+      <inertial>
+        <mass>.05</mass>
+        <inertia>
+          <ixx>0.00003331</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0000204</iyy>
+          <iyz>0</iyz>
+          <izz>0.0000204</izz>
+        </inertia>
+      </inertial>
+      <gravity>true</gravity>
+      <velocity_decay/>
+      <visual name="CenterWheelVisual">
+        <pose>0 0 0 -1.57079632679 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.01</length>
+            <radius>0.025</radius>
+          </cylinder>
+        </geometry>
+      </visual>
+      <collision name="CenterWheelCollision">
+        <pose>0 0 0 -1.57079632679 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.01</length>
+            <radius>0.025</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1.0</mu>
+              <mu2>0.5</mu2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+    </link>
+    <link name="right_elevon">
+      <inertial>
+        <mass>0.00000001</mass>
+        <inertia>
+          <ixx>0.000001</ixx>
+          <ixy>0.0</ixy>
+          <iyy>0.000001</iyy>
+          <ixz>0.0</ixz>
+          <iyz>0.0</iyz>
+          <izz>0.000001</izz>
+        </inertia>
+        <pose>0 -0.3 0 0.00 0 0.0</pose>
+      </inertial>
+      <visual name='right_elevon_visual'>
+        <pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.1 0.1 0.1</scale>
+            <uri>model://rc_cessna/meshes/right_aileron.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0 0 1 1.0</ambient>
+          <diffuse>0 0 1 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="left_flap">
+      <inertial>
+        <mass>0.00000001</mass>
+        <inertia>
+          <ixx>0.000001</ixx>
+          <ixy>0.0</ixy>
+          <iyy>0.000001</iyy>
+          <ixz>0.0</ixz>
+          <iyz>0.0</iyz>
+          <izz>0.000001</izz>
+        </inertia>
+        <pose>0 0.15 0 0.00 0 0.0</pose>
+      </inertial>
+      <visual name='left_flap_visual'>
+        <pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.1 0.1 0.1</scale>
+            <uri>model://rc_cessna/meshes/left_flap.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0 0 1 1.0</ambient>
+          <diffuse>0 0 1 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="right_flap">
+      <inertial>
+        <mass>0.00000001</mass>
+        <inertia>
+          <ixx>0.000001</ixx>
+          <ixy>0.0</ixy>
+          <iyy>0.000001</iyy>
+          <ixz>0.0</ixz>
+          <iyz>0.0</iyz>
+          <izz>0.000001</izz>
+        </inertia>
+        <pose>0 -0.15 0 0.00 0 0.0</pose>
+      </inertial>
+      <visual name='right_flap_visual'>
+        <pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.1 0.1 0.1</scale>
+            <uri>model://rc_cessna/meshes/right_flap.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0 0 1 1.0</ambient>
+          <diffuse>0 0 1 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="elevator">
+      <inertial>
+        <mass>0.00000001</mass>
+        <inertia>
+          <ixx>0.000001</ixx>
+          <ixy>0.0</ixy>
+          <iyy>0.000001</iyy>
+          <ixz>0.0</ixz>
+          <iyz>0.0</iyz>
+          <izz>0.000001</izz>
+        </inertia>
+        <pose> -0.5 0 0 0.00 0 0.0</pose>
+      </inertial>
+      <visual name='elevator_visual'>
+        <pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.1 0.1 0.1</scale>
+            <uri>model://rc_cessna/meshes/elevators.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0 0 1 1.0</ambient>
+          <diffuse>0 0 1 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="rudder">
+      <inertial>
+        <mass>0.00000001</mass>
+        <inertia>
+          <ixx>0.000001</ixx>
+          <ixy>0.0</ixy>
+          <iyy>0.000001</iyy>
+          <ixz>0.0</ixz>
+          <iyz>0.0</iyz>
+          <izz>0.000001</izz>
+        </inertia>
+        <pose>-0.5 0 0.05 0 0 0 </pose>
+      </inertial>
+      <visual name='rudder_visual'>
+        <pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.1 0.1 0.1</scale>
+            <uri>model://rc_cessna/meshes/rudder.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0 0 1 1.0</ambient>
+          <diffuse>0 0 1 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+    <joint name='servo_0' type='revolute'>
+      <parent>base_link</parent>
+      <child>left_elevon</child>
+      <pose>-0.07 0.4 0.08 0.00 0 0.0</pose>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-0.53</lower>
+          <upper>0.53</upper>
+        </limit>
+        <dynamics>
+          <damping>1.000</damping>
+        </dynamics>
+      </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+        </ode>
+      </physics>
+    </joint>
+    <joint name='servo_1' type='revolute'>
+      <parent>base_link</parent>
+      <child>right_elevon</child>
+      <pose>-0.07 -0.4 0.08 0.00 0 0.0</pose>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-0.53</lower>
+          <upper>0.53</upper>
+        </limit>
+        <dynamics>
+          <damping>1.000</damping>
+        </dynamics>
+      </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+        </ode>
+      </physics>
+    </joint>
+    <joint name='left_flap_joint' type='revolute'>
+      <parent>base_link</parent>
+      <child>left_flap</child>
+      <pose>-0.07 0.2 0.08 0.00 0 0.0</pose>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-0.53</lower>
+          <upper>0.53</upper>
+        </limit>
+        <dynamics>
+          <damping>1.000</damping>
+        </dynamics>
+      </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+        </ode>
+      </physics>
+    </joint>
+    <joint name='right_flap_joint' type='revolute'>
+      <parent>base_link</parent>
+      <child>right_flap</child>
+      <pose>-0.07 -0.2 0.08 0.00 0 0.0</pose>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-0.53</lower>
+          <upper>0.53</upper>
+        </limit>
+        <dynamics>
+          <damping>1.000</damping>
+        </dynamics>
+      </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+        </ode>
+      </physics>
+    </joint>
+    <joint name='servo_2' type='revolute'>
+      <parent>base_link</parent>
+      <child>elevator</child>
+      <pose> -0.5 0 0 0 0 0</pose>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <!-- -30/+30 deg. -->
+          <lower>-0.53</lower>
+          <upper>0.53</upper>
+        </limit>
+        <dynamics>
+          <damping>1.000</damping>
+        </dynamics>
+      </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+        </ode>
+      </physics>
+    </joint>
+    <joint name='rudder_joint' type='revolute'>
+      <parent>base_link</parent>
+      <child>rudder</child>
+      <pose>-0.5 0 0.05 0.00 0 0.0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.53</lower>
+          <upper>0.53</upper>
+        </limit>
+        <dynamics>
+          <damping>1.000</damping>
+        </dynamics>
+      </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+        </ode>
+      </physics>
+    </joint>
+    <joint name="LeftWheelJoint" type="revolute">
+      <parent>base_link</parent>
+      <child>LeftWheel</child>
+      <pose relative_to="base_link">-.035 .13 -0.12 0 0 0</pose>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>1.79769e+308</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+    <joint name="RightWheelJoint" type="revolute">
+      <parent>base_link</parent>
+      <child>RightWheel</child>
+      <pose relative_to="base_link">-.035 -.13 -0.12 0 0 0</pose>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>1.79769e+308</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+    <joint name="CenterWheelJoint" type="revolute">
+      <parent>base_link</parent>
+      <child>CenterWheel</child>
+      <pose relative_to="base_link">.135 0 -0.12 0 0 0</pose>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>1.79769e+308</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+    <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
+      <a0>0.05984281113</a0>
+      <cla>4.752798721</cla>
+      <cda>0.6417112299</cda>
+      <cma>0.0</cma>
+      <alpha_stall>0.3391428111</alpha_stall>
+      <cla_stall>-3.85</cla_stall>
+      <cda_stall>-0.9233984055</cda_stall>
+      <cma_stall>0</cma_stall>
+      <cp>-0.05 0.45 0.05</cp>
+      <area>0.6</area>
+      <air_density>1.2041</air_density>
+      <forward>1 0 0</forward>
+      <upward>0 0 1</upward>
+      <link_name>base_link</link_name>
+      <control_joint_name>servo_0</control_joint_name>
+      <control_joint_rad_to_cl>-0.3</control_joint_rad_to_cl>
+    </plugin>
+    <plugin
+      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
+      <joint_name>servo_0</joint_name>
+      <sub_topic>servo_0</sub_topic>
+    </plugin>
+    <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
+      <a0>0.05984281113</a0>
+      <cla>4.752798721</cla>
+      <cda>0.6417112299</cda>
+      <cma>0.0</cma>
+      <alpha_stall>0.3391428111</alpha_stall>
+      <cla_stall>-3.85</cla_stall>
+      <cda_stall>-0.9233984055</cda_stall>
+      <cma_stall>0</cma_stall>
+      <cp>-0.05 -0.45 0.05</cp>
+      <area>0.6</area>
+      <air_density>1.2041</air_density>
+      <forward>1 0 0</forward>
+      <upward>0 0 1</upward>
+      <link_name>base_link</link_name>
+      <control_joint_name>servo_1</control_joint_name>
+      <control_joint_rad_to_cl>-0.3</control_joint_rad_to_cl>
+    </plugin>
+    <plugin
+      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
+      <joint_name>servo_1</joint_name>
+      <sub_topic>servo_1</sub_topic>
+    </plugin>
+    <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
+      <a0>0.05984281113</a0>
+      <cla>4.752798721</cla>
+      <cda>0.6417112299</cda>
+      <cma>0.0</cma>
+      <alpha_stall>0.3391428111</alpha_stall>
+      <cla_stall>-3.85</cla_stall>
+      <cda_stall>-0.9233984055</cda_stall>
+      <cma_stall>0</cma_stall>
+      <cp>-0.05 0.15 0.05</cp>
+      <area>0.6</area>
+      <air_density>1.2041</air_density>
+      <forward>1 0 0</forward>
+      <upward>0 0 1</upward>
+      <link_name>base_link</link_name>
+      <control_joint_name>left_flap_joint</control_joint_name>
+      <control_joint_rad_to_cl>-0.1</control_joint_rad_to_cl>
+    </plugin>
+    <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
+      <a0>0.05984281113</a0>
+      <cla>4.752798721</cla>
+      <cda>0.6417112299</cda>
+      <cma>0.0</cma>
+      <alpha_stall>0.3391428111</alpha_stall>
+      <cla_stall>-3.85</cla_stall>
+      <cda_stall>-0.9233984055</cda_stall>
+      <cma_stall>0</cma_stall>
+      <cp>-0.05 -0.15 0.05</cp>
+      <area>0.6</area>
+      <air_density>1.2041</air_density>
+      <forward>1 0 0</forward>
+      <upward>0 0 1</upward>
+      <link_name>base_link</link_name>
+      <control_joint_name>right_flap_joint</control_joint_name>
+      <control_joint_rad_to_cl>-0.1</control_joint_rad_to_cl>
+    </plugin>
+    <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
+      <a0>-0.2</a0>
+      <cla>4.752798721</cla>
+      <cda>0.6417112299</cda>
+      <cma>0.0</cma>
+      <alpha_stall>0.3391428111</alpha_stall>
+      <cla_stall>-3.85</cla_stall>
+      <cda_stall>-0.9233984055</cda_stall>
+      <cma_stall>0</cma_stall>
+      <cp>-0.5 0 0</cp>
+      <area>0.01</area>
+      <air_density>1.2041</air_density>
+      <forward>1 0 0</forward>
+      <upward>0 0 1</upward>
+      <link_name>base_link</link_name>
+      <control_joint_name>servo_2</control_joint_name>
+      <control_joint_rad_to_cl>-4.0</control_joint_rad_to_cl>
+    </plugin>
+    <plugin
+      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
+      <joint_name>servo_2</joint_name>
+      <sub_topic>servo_2</sub_topic>
+    </plugin>
+    <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
+      <a0>0.0</a0>
+      <cla>4.752798721</cla>
+      <cda>0.6417112299</cda>
+      <cma>0.0</cma>
+      <alpha_stall>0.3391428111</alpha_stall>
+      <cla_stall>-3.85</cla_stall>
+      <cda_stall>-0.9233984055</cda_stall>
+      <cma_stall>0</cma_stall>
+      <cp>-0.5 0 0.05</cp>
+      <area>0.02</area>
+      <air_density>1.2041</air_density>
+      <forward>1 0 0</forward>
+      <upward>0 1 0</upward>
+      <link_name>base_link</link_name>
+      <control_joint_name>rudder_joint</control_joint_name>
+      <control_joint_rad_to_cl>0.8</control_joint_rad_to_cl>
+    </plugin>
+    <plugin
+      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
+      <joint_name>rudder_joint</joint_name>
+    </plugin>
+    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
+      <jointName>rotor_puller_joint</jointName>
+      <linkName>rotor_puller</linkName>
+      <turningDirection>cw</turningDirection>
+      <timeConstantUp>0.0125</timeConstantUp>
+      <timeConstantDown>0.025</timeConstantDown>
+      <maxRotVelocity>1000</maxRotVelocity>
+      <motorConstant>2.44858e-05</motorConstant>
+      <momentConstant>0.016</momentConstant>
+      <commandSubTopic>command/motor_speed</commandSubTopic>
+      <motorNumber>0</motorNumber>
+      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+      <motorType>velocity</motorType>
+    </plugin>
+    <static>0</static>
+  </model>
+</sdf>
@@ -528,7 +528,7 @@
      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
      <motorType>velocity</motorType>
    </plugin>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+    <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
      <jointName>rotor_1_joint</jointName>
      <linkName>rotor_1</linkName>
      <turningDirection>ccw</turningDirection>
@@ -544,7 +544,7 @@
      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
      <motorType>velocity</motorType>
    </plugin>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+    <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
      <jointName>rotor_2_joint</jointName>
      <linkName>rotor_2</linkName>
      <turningDirection>cw</turningDirection>
@@ -560,7 +560,7 @@
      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
      <motorType>velocity</motorType>
    </plugin>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+    <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
      <jointName>rotor_3_joint</jointName>
      <linkName>rotor_3</linkName>
      <turningDirection>cw</turningDirection>
@@ -37,6 +37,10 @@ else
 	no_pxh=""
 fi

+if [ -n $FG_BINARY ]; then
+    FG_BINARY=fgfs
+fi
+
 export PX4_SIM_MODEL=jsbsim_${model}
 export PX4_SIM_WORLD=${world}

@@ -68,7 +72,7 @@ if [[ -n "$HEADLESS" ]]; then
 else
 	export FG_AIRCRAFT="${SRC_DIR}/Tools/simulation/jsbsim/jsbsim_bridge/models"

-	fgfs --fdm=null \
+	$FG_BINARY --fdm=null \
 		--native-fdm=socket,in,60,,5550,udp \
 		--aircraft=$JSBSIM_AIRCRAFT_MODEL \
 		--airport=${world} \
@@ -19,7 +19,7 @@ pkill -x px4 || true

 sleep 1

-export PX4_SIM_MODEL=gazebo_iris
+export PX4_SIM_MODEL=gazebo-classic_iris

 n=0
 while [ $n -lt $sitl_num ]; do
@@ -80,6 +80,7 @@ CONFIG_CDCACM_VENDORSTR="3D Robotics"
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
@@ -17,10 +17,12 @@ CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 # CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
+# CONFIG_SENSORS_VEHICLE_ACCELERATION is not set
 # CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 # CONFIG_SENSORS_VEHICLE_MAGNETOMETER is not set
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_UORB=y
@@ -21,6 +21,7 @@ CONFIG_BOARDCTL=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DISABLE_MOUNTPOINT=y
 CONFIG_EXPERIMENTAL=y
@@ -64,6 +64,7 @@ CONFIG_BUILTIN=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
@@ -21,6 +21,7 @@ CONFIG_BOARDCTL=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DISABLE_MOUNTPOINT=y
 CONFIG_EXPERIMENTAL=y
@@ -64,6 +64,7 @@ CONFIG_BUILTIN=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
@@ -21,6 +21,7 @@ CONFIG_BOARDCTL=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DISABLE_MOUNTPOINT=y
 CONFIG_EXPERIMENTAL=y
@@ -64,6 +64,7 @@ CONFIG_BUILTIN=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
@@ -29,4 +29,5 @@ CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -21,6 +21,7 @@ CONFIG_BOARDCTL=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DISABLE_MOUNTPOINT=y
 CONFIG_EXPERIMENTAL=y
@@ -42,3 +42,9 @@
 //--------------------------------------------//---------------------------//----------------
 #define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_2   // DMA2, Stream 2, Channel 3
 #define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_2   // DMA2, Stream 5, Channel 3
+
+// Assigned in timer_config.cpp
+
+// Timer 2                                    /* DMA1, Stream 7, Channel 3 DMAMAP_TIM2_UP_2 */
+// Timer 3                                    /* DMA1, Stream 2, Channel 5 DMAMAP_TIM3_UP   */
+// Timer 4                                    /* DMA1, Stream 6, Channel 2 DMAMAP_TIM4_UP   */
@@ -64,6 +64,7 @@ CONFIG_BUILTIN=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
@@ -62,7 +62,8 @@
 #define GPIO_TIM1_CH3         /* PA10 */  (GPIO_TIM1_CH3_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)

 /* PWM Outputs */
-#define DIRECT_PWM_OUTPUT_CHANNELS  6 // Actually 8
+#define BOARD_NUM_IO_TIMERS         3
+#define DIRECT_PWM_OUTPUT_CHANNELS  8

 #define GPIO_TIM2_CH1_RESET   /* PA0  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
 #define GPIO_TIM2_CH2_RESET   /* PA1  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
@@ -34,9 +34,9 @@
 #include <px4_arch/io_timer_hw_description.h>

 constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
-	initIOTimer(Timer::Timer2),
-	initIOTimer(Timer::Timer3),
-	//initIOTimer(Timer::Timer4),
+	initIOTimer(Timer::Timer2, DMA{DMA::Index1, DMA::Stream7, DMA::Channel3}),
+	initIOTimer(Timer::Timer3, DMA{DMA::Index1, DMA::Stream2, DMA::Channel5}),
+	initIOTimer(Timer::Timer4, DMA{DMA::Index1, DMA::Stream6, DMA::Channel2}),
 };

 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
@@ -46,8 +46,8 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel1}, {GPIO::PortB, GPIO::Pin4}),
 	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel2}, {GPIO::PortB, GPIO::Pin5}),
 	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
-	//initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
-	//initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortB, GPIO::Pin7}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortB, GPIO::Pin7}),
 };

 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
@@ -47,14 +47,14 @@ then
 	fi
 fi

-# Internal SPI bus IIM42652
-iim42652 -R 3 -s -b 1 start
+# Internal SPI bus IIM42652 with SPIX measured frequency of 32.051kHz
+iim42652 -R 3 -s -b 1 -C 32051 start

-# Internal SPI bus ICM42688p
-icm42688p -R 9 -s -b 2 start
+# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
+icm42688p -R 9 -s -b 2 -C 32051 start

-# Internal SPI bus ICM42688p
-icm42688p -R 6 -s -b 3 start
+# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
+icm42688p -R 6 -s -b 3 -C 32051 start

 # Internal magnetometer on I2C
 bmm150 -I start
@@ -39,6 +39,7 @@ CONFIG_CDCACM_VENDORID=0x3185
 CONFIG_CDCACM_VENDORSTR="ARK"
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FDCLONE_DISABLE=y
@@ -88,6 +88,7 @@ CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_MEMFAULT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
@@ -31,14 +31,19 @@
 #
 ############################################################################
 if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
+	add_compile_definitions(BOOTLOADER)
 	add_library(drivers_board
 		bootloader_main.c
+		init.c
 		usb.c
+		timer_config.cpp
 	)
 	target_link_libraries(drivers_board
 		PRIVATE
 			nuttx_arch # sdio
 			nuttx_drivers # sdio
+			px4_layer #gpio
+			arch_io_pins # iotimer
 			bootloader
 	)
 	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
@@ -53,6 +58,8 @@ else()
 		manifest.c
 		sdio.c
 		spi.cpp
+		spix_sync.c
+		spix_sync.h
 		timer_config.cpp
 		usb.c
 	)
@@ -125,7 +125,6 @@
 /* SPI */

 #define SPI6_nRESET_EXTERNAL1       /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN10)
-#define GPIO_SYNC                   /* PE9  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_100MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)

 /* I2C busses */

@@ -251,8 +250,20 @@

 /* PWM
 */
-#define DIRECT_PWM_OUTPUT_CHANNELS   9
+#define DIRECT_PWM_OUTPUT_CHANNELS   8
+#define BOARD_PWM_FREQ	             1024000

+#define GPIO_FMU_CH1                    /* PI0  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN0)
+#define GPIO_FMU_CH2                    /* PH12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN12)
+#define GPIO_FMU_CH3                    /* PH11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN11)
+#define GPIO_FMU_CH4                    /* PH10 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN10)
+#define GPIO_FMU_CH5                    /* PD13 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN13)
+#define GPIO_FMU_CH6                    /* PD14 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN14)
+#define GPIO_FMU_CH7                    /* PH6  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN6)
+#define GPIO_FMU_CH8                    /* PH9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN9)
+
+#define GPIO_FMU_CAP                    /* PE11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN11)
+#define GPIO_SPIX_SYNC                  /* PE9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN9)

 /* Power supply control and monitoring GPIOs */

@@ -458,7 +469,6 @@
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \
-		GPIO_SYNC,                        \
 		SPI6_nRESET_EXTERNAL1,            \
 		GPIO_ETH_POWER_EN,                \
 		GPIO_NFC_GPIO,                    \
@@ -466,7 +476,17 @@
 		GPIO_nSAFETY_SWITCH_LED_OUT_INIT, \
 		GPIO_SAFETY_SWITCH_IN,            \
 		GPIO_PG6,                         \
-		GPIO_nARMED_INIT                  \
+		GPIO_nARMED_INIT,                 \
+		GPIO_FMU_CH1,     	          \
+		GPIO_FMU_CH2,     	          \
+		GPIO_FMU_CH3,     	          \
+		GPIO_FMU_CH4,     	          \
+		GPIO_FMU_CH5,     	          \
+		GPIO_FMU_CH6,     	          \
+		GPIO_FMU_CH7,     	          \
+		GPIO_FMU_CH8,     	          \
+		GPIO_FMU_CAP,     	          \
+		GPIO_SPIX_SYNC                    \
 	}

 #define BOARD_ENABLE_CONSOLE_BUFFER
@@ -474,7 +494,8 @@
 #define PX4_I2C_BUS_MTD      4,5


-#define BOARD_NUM_IO_TIMERS 5
+#define BOARD_NUM_IO_TIMERS  3
+#define BOARD_SPIX_SYNC_FREQ 32000

 __BEGIN_DECLS

@@ -46,6 +46,7 @@
 ****************************************************************************/

 #include "board_config.h"
+#include "spix_sync.h"

 #include <stdbool.h>
 #include <stdio.h>
@@ -279,5 +280,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #endif /* CONFIG_MMCSD */

+	/* Configure the SPIX_SYNC output */
+	spix_sync_servo_init(BOARD_SPIX_SYNC_FREQ);
+	spix_sync_servo_set(0, 150);
+
 	return OK;
 }
--- a/Show More
+++ b/Show More