mavlink: remove default device and consolidate serial vs UDP init handling

Increase allowed rtk injections to 8 for moving base. Update GPS submodule.
Fix CANNODE_SUB_MBD typo
2026-06-03 11:50:05 +08:00 · 2022-11-18 11:53:56 -05:00 · 2022-11-18 11:04:17 -05:00 · 2022-11-18 11:04:17 -05:00 · 2022-11-18 07:10:27 +01:00 · 2022-11-18 07:10:27 +01:00
1134 changed files with 45263 additions and 32669 deletions
@@ -42,6 +42,8 @@ pipeline {
                     "ark_can-gps_default",
                     "ark_can-rtk-gps_canbootloader",
                     "ark_can-rtk-gps_default",
+                     "ark_fmu-v6x_bootloader",
+                     "ark_fmu-v6x_default",
                     "atl_mantis-edu_default",
                     "av_x-v1_default",
                     "bitcraze_crazyflie_default",
@@ -67,23 +69,18 @@ pipeline {
                     "matek_h743-slim_default",
                     "matek_h743_default",
                     "modalai_fc-v1_default",
-                     "modalai_fc-v1_rtps",
                     "modalai_fc-v2_default",
+                     "modalai_voxl2-io_default",
                     "mro_ctrl-zero-f7_default",
                     "mro_ctrl-zero-f7-oem_default",
                     "mro_ctrl-zero-h7-oem_default",
-                     "mro_ctrl-zero-h7-oem_rtps",
                     "mro_ctrl-zero-h7_default",
-                     "mro_ctrl-zero-h7_rtps",
                     "mro_pixracerpro_default",
-                     "mro_pixracerpro_rtps",
                     "mro_x21-777_default",
                     "mro_x21_default",
                     "nxp_fmuk66-e_default",
-                     "nxp_fmuk66-e_rtps",
                     "nxp_fmuk66-e_socketcan",
                     "nxp_fmuk66-v3_default",
-                     "nxp_fmuk66-v3_rtps",
                     "nxp_fmuk66-v3_socketcan",
                     "nxp_fmurt1062-v1_default",
                     "nxp_ucans32k146_canbootloader",
@@ -101,7 +98,6 @@ pipeline {
                     "px4_fmu-v5_debug",
                     "px4_fmu-v5_default",
                     "px4_fmu-v5_lto",
-                     "px4_fmu-v5_rtps",
                     "px4_fmu-v5_stackcheck",
                     "px4_fmu-v5_uavcanv0periph",
                     "px4_fmu-v5x_default",
@@ -920,7 +920,6 @@ void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener tune_control" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_acceleration" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude_setpoint" || true'
@@ -937,7 +936,7 @@ void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_odometry" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_rates_setpoint" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status_flags" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener failsafe_flags" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vtol_vehicle_status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener yaw_estimator_status" || true'
 }
@@ -5,7 +5,7 @@ labels: feature-request

 ---

-For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Slack (you can find an invite link on this project README).
+For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Discord (you can find an invite link on this project README).

 ## Describe problem solved by the proposed feature
 A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
@@ -1,17 +1,29 @@
-Please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.
+<!--

-## Describe problem solved by this pull request
-A clear and concise description of the problem this proposed change will solve. Or, what it will improve.
-E.g. For this use case I ran into...
+Thank you for your contribution!

-## Describe your solution
-A clear and concise description of what you have implemented.
+Get early feedback through
+- Dronecode Discord: https://discord.gg/dronecode
+- PX4 Discuss: http://discuss.px4.io/
+- opening a draft pr and sharing the link

-## Describe possible alternatives
-A clear and concise description of alternative solutions or features you've considered.
+-->

-## Test data / coverage
-How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.
+### Solved Problem
+When ... I found that ...

-## Additional context
-Add any other related context or media.
+Fixes #{Github issue ID}
+
+### Solution
+- Add ... for ...
+- Refactor ...
+
+### Alternatives
+We could also ...
+
+### Test coverage
+- Unit/integration test: ...
+- Simulation/hardware testing logs: https://review.px4.io/
+
+### Context
+Related links, screenshot before/after, video
@@ -23,7 +23,6 @@ jobs:
          "shellcheck_all",
          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
          "NO_NINJA_BUILD=1 px4_sitl_default",
-          "BUILD_MICRORTPS_AGENT=1 px4_sitl_rtps",
          "airframe_metadata",
          "module_documentation",
          "parameters_metadata",
@@ -21,6 +21,7 @@ jobs:
          ark_can-gps,
          ark_can-rtk-gps,
          ark_cannode,
+          ark_fmu-v6x,
          atl_mantis-edu,
          av_x-v1,
          bitcraze_crazyflie,
@@ -0,0 +1,44 @@
+name: Failsafe Simulator Build
+
+on:
+  push:
+    branches:
+    - 'main'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    defaults:
+      run:
+        shell: bash
+    strategy:
+      fail-fast: false
+      matrix:
+        check: [
+          "failsafe_web",
+        ]
+    container:
+      image: px4io/px4-dev-nuttx-focal:2021-09-08
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: check environment
+      run: |
+          export
+          ulimit -a
+    - name: install emscripten
+      run: |
+        git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
+        cd _emscripten_sdk
+        ./emsdk install latest
+        ./emsdk activate latest
+    - name: ${{matrix.check}}
+      run: |
+        . ./_emscripten_sdk/emsdk_env.sh
+        make ${{matrix.check}}
@@ -116,7 +116,7 @@ jobs:
        ls -ls *
      # TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/

-  micrortps_agent:
+  ROS2_msgs:
    runs-on: ubuntu-latest
    container: px4io/px4-dev-base-focal:2021-09-08
    steps:
@@ -124,34 +124,8 @@ jobs:
      with:
        token: ${{ secrets.ACCESS_TOKEN }}

-    - name: microRTPS agent
-      run: |
-        make px4_sitl_rtps
-        git clone https://github.com/PX4/micrortps_agent.git
-        cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent
-
-  ROS_msgs:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: PX4 ROS msgs
+    - name: PX4 ROS2 msgs
      run: |
        git clone https://github.com/PX4/px4_msgs.git
-        python3 msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/
-
-  ROS2_bridge:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: PX4 ROS2 bridge
-      run: |
-        git clone https://github.com/PX4/px4_ros_com.git
-        ./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml
+        rm px4_msgs/msg/*.msg
+        cp msg/*.msg px4_msgs/msg/
@@ -9,19 +9,15 @@
 [submodule "Tools/simulation/jmavsim/jMAVSim"]
 	path = Tools/simulation/jmavsim/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
-	branch = master
+	branch = main
 [submodule "Tools/simulation/gazebo/sitl_gazebo"]
 	path = Tools/simulation/gazebo/sitl_gazebo
 	url = https://github.com/PX4/PX4-SITL_gazebo.git
-	branch = master
+	branch = main
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/PX4-GPSDrivers.git
-	branch = master
-[submodule "src/modules/micrortps_bridge/micro-CDR"]
-	path = src/modules/micrortps_bridge/micro-CDR
-	url = https://github.com/PX4/Micro-CDR.git
-	branch = master
+	branch = main
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
@@ -53,6 +49,7 @@
 [submodule "src/lib/events/libevents"]
 	path = src/lib/events/libevents
 	url = https://github.com/mavlink/libevents.git
+	branch = main
 [submodule "src/lib/crypto/libtomcrypt"]
 	path = src/lib/crypto/libtomcrypt
 	url = https://github.com/PX4/libtomcrypt.git
@@ -63,4 +60,5 @@
 	branch = px4
 [submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
 	path = src/modules/microdds_client/Micro-XRCE-DDS-Client
-	url = https://github.com/eProsima/Micro-XRCE-DDS-Client.git
+	url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
+	branch = px4
@@ -6,11 +6,11 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_default
-    px4_sitl_rtps:
-      short: px4_sitl_rtps
+    px4_sitl_nolockstep:
+      short: px4_sitl_nolockstep
      buildType: RelWithDebInfo
      settings:
-        CONFIG: px4_sitl_rtps
+        CONFIG: px4_sitl_nolockstep
    px4_sitl_asan:
      short: px4_sitl (AddressSanitizer)
      buildType: AddressSanitizer
@@ -131,6 +131,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_cannode_canbootloader
+    ark_fmu-v6x_bootloader:
+      short: ark_fmu-v6x_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_fmu-v6x_bootloader
+    ark_fmu-v6x_default:
+      short: ark_fmu-v6x_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_fmu-v6x_default
    atl_mantis-edu_default:
      short: atl_mantis-edu
      buildType: MinSizeRel
@@ -226,6 +236,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: modalai_fc-v2_default
+    modalai_voxl2-io_default:
+      short: modalai_voxl2-io
+      buildType: MinSizeRel
+      settings:
+        CONFIG: modalai_voxl2-io_default
    mro_ctrl-zero-f7_default:
      short: mro_ctrl-zero-f7
      buildType: MinSizeRel
@@ -218,10 +218,10 @@
            "options": {
                "cwd": "${workspaceFolder}",
                "env": {
-                    "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/ignition/models",
+                    "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/gz/models",
                }
            },
-            "command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/ignition/worlds/${input:ignWorld}.sdf",
+            "command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/gz/worlds/${input:gzWorld}.sdf",
            "isBackground": true,
            "presentation": {
                "echo": true,
@@ -342,8 +342,8 @@
    "inputs": [
        {
            "type": "pickString",
-            "id": "ignWorld",
-            "description": "Ignition world",
+            "id": "gzWorld",
+            "description": "gz world",
            "options": [
                "default"
            ],
@@ -829,7 +829,6 @@ RECURSIVE              = YES
 # run.

 EXCLUDE                = @CMAKE_SOURCE_DIR@/src/modules/uavcan/libuavcan \
-                         @CMAKE_SOURCE_DIR@/src/modules/micrortps_bridge/micro-CDR \
                         @CMAKE_SOURCE_DIR@/src/examples \
                         @CMAKE_SOURCE_DIR@/src/templates

@@ -13,76 +13,6 @@ pipeline {
        }
      }
      parallel {
-        // stage('Catkin build on ROS workspace') {
-        //   agent {
-        //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2021-08-18'
-        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-        //     }
-        //   }
-        //   steps {
-        //     sh 'ls -l'
-        //     sh '''#!/bin/bash -l
-        //       echo $0;
-        //       mkdir -p catkin_ws/src;
-        //       cd catkin_ws;
-        //       git -C ${WORKSPACE}/catkin_ws/src/Firmware submodule update --init --recursive --force Tools/simulation/gazebo/sitl_gazebo
-        //       git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/simulation/gazebo/sitl_gazebo src/mavlink_sitl_gazebo;
-        //       git -C ${WORKSPACE}/catkin_ws/src/Firmware fetch --tags;
-        //       source /opt/ros/melodic/setup.bash;
-        //       export PYTHONPATH=/opt/ros/$ROS_DISTRO/lib/python2.7/dist-packages:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages;
-        //       catkin init;
-        //       catkin build -j$(nproc) -l$(nproc);
-        //     '''
-        //     // test if the binary was correctly installed and runs using 'mavros_posix_sitl.launch'
-        //     sh '''#!/bin/bash -l
-        //       echo $0;
-        //       source catkin_ws/devel/setup.bash;
-        //       rostest px4 pub_test.launch;
-        //     '''
-        //   }
-        //   post {
-        //     always {
-        //       sh 'rm -rf catkin_ws'
-        //     }
-        //     failure {
-        //       archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.xml, .ros/**/*.log')
-        //     }
-        //   }
-        //   options {
-        //     checkoutToSubdirectory('catkin_ws/src/Firmware')
-        //   }
-        // }
-
-        stage('Colcon build on ROS2 workspace') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros2-foxy:2021-08-18'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-            }
-          }
-          steps {
-            sh 'ls -l'
-            sh '''#!/bin/bash -l
-              echo $0;
-              unset ROS_DISTRO;
-              mkdir -p colcon_ws/src;
-              cd colcon_ws;
-              git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/simulation/gazebo/sitl_gazebo;
-              git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
-              source /opt/ros/foxy/setup.sh;
-              colcon build --event-handlers console_direct+ --symlink-install;
-            '''
-          }
-          post {
-            always {
-              sh 'rm -rf colcon_ws'
-            }
-          }
-          options {
-            checkoutToSubdirectory('colcon_ws/src/Firmware')
-          }
-        }

        stage('Airframe') {
          agent {
@@ -149,7 +79,7 @@ pipeline {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
-            sh 'mkdir -p build/msg_docs; ./msg/tools/generate_msg_docs.py -d build/msg_docs'
+            sh 'mkdir -p build/msg_docs; ./Tools/msg/generate_msg_docs.py -d build/msg_docs'
            dir('build') {
              archiveArtifacts(artifacts: 'msg_docs/*.md')
              stash includes: 'msg_docs/*.md', name: 'msg_documentation'
@@ -162,6 +92,36 @@ pipeline {
          }
        }

+        stage('failsafe docs') {
+          agent {
+            docker { image 'px4io/px4-dev-nuttx-focal:2021-08-18' }
+          }
+          steps {
+            sh '''#!/bin/bash -l
+            echo $0;
+            git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk;
+            cd _emscripten_sdk;
+            ./emsdk install latest;
+            ./emsdk activate latest;
+            cd ..;
+            . ./_emscripten_sdk/emsdk_env.sh;
+            make failsafe_web;
+            cd build/px4_sitl_default_failsafe_web;
+            mkdir -p failsafe_sim;
+            cp index.* parameters.json failsafe_sim;
+            '''
+            dir('build/px4_sitl_default_failsafe_web') {
+              archiveArtifacts(artifacts: 'failsafe_sim/*')
+              stash includes: 'failsafe_sim/*', name: 'failsafe_sim'
+            }
+          }
+          post {
+            always {
+              sh 'make distclean; git clean -ff -x -d .'
+            }
+          }
+        }
+
        stage('uORB graphs') {
          agent {
            docker {
@@ -203,6 +163,7 @@ pipeline {
            unstash 'metadata_parameters'
            unstash 'metadata_module_documentation'
            unstash 'msg_documentation'
+            unstash 'failsafe_sim'
            unstash 'uorb_graph'
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/PX4-user_guide.git')
@@ -211,6 +172,7 @@ pipeline {
              sh('cp -R modules/*.md PX4-user_guide/en/modules/')
              sh('cp -R graph_*.json PX4-user_guide/.vuepress/public/en/middleware/')
              sh('cp -R msg_docs/*.md PX4-user_guide/en/msg_docs/')
+              sh('cp -R failsafe_sim/* PX4-user_guide/.vuepress/public/en/config/failsafe')
              sh('cd PX4-user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
              sh('cd PX4-user_guide; git push origin main || true')
              sh('rm -rf PX4-user_guide')
@@ -257,37 +219,6 @@ pipeline {
          }
        }

-        stage('microRTPS agent') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
-          }
-          steps {
-            sh('export')
-            sh('git fetch --all --tags')
-            sh('make distclean; git clean -ff -x -d .')
-            sh('make px4_sitl_rtps')
-            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/micrortps_agent.git -b ${BRANCH_NAME}")
-              sh("rm -rf micrortps_agent/src micrortps_agent/idl")
-              sh('cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent')
-              sh('cd micrortps_agent; git status; git add src; git commit -a -m "Update microRTPS agent source code `date`" || true')
-              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
-              sh('cd micrortps_agent; git status; git add idl; git commit -a -m "Update IDL definitions `date`" || true')
-              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
-              sh('cd micrortps_agent; git status; git add CMakeLists.txt; git commit -a -m "Update CMakeLists.txt `date`" || true')
-              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
-              sh('rm -rf micrortps_agent')
-            }
-          }
-          when {
-            anyOf {
-              branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
-              branch 'pr-jenkins' // for testing
-            }
-          }
-        }
-
        stage('PX4 ROS msgs') {
          agent {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
@@ -298,66 +229,16 @@ pipeline {
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
              // 'main' branch
-              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
+              sh('rm -f px4_msgs/msg/*.msg')
+              sh('cp msg/*.msg px4_msgs/msg/')
              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
              sh('cd px4_msgs; git push origin main || true')
-              // 'ros1' branch
-              sh('cd px4_msgs; git checkout ros1')
-              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
-              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
-              sh('cd px4_msgs; git push origin ros1 || true')
              sh('rm -rf px4_msgs')
            }
          }
          when {
            anyOf {
              branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
-              branch 'pr-jenkins' // for testing
-            }
-          }
-        }
-
-        stage('PX4 ROS2 bridge') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
-          }
-          steps {
-            sh('export')
-            sh('make distclean; git clean -ff -x -d .')
-            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
-              // deploy uORB RTPS ID map
-              sh('./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml')
-              sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
-              sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
-              // deploy uORB RTPS required tools
-              sh('cp msg/tools/uorb_rtps_classifier.py px4_ros_com/scripts/uorb_rtps_classifier.py')
-              sh('cp msg/tools/generate_microRTPS_bridge.py px4_ros_com/scripts/generate_microRTPS_bridge.py')
-              sh('cp msg/tools/px_generate_uorb_topic_files.py px4_ros_com/scripts/px_generate_uorb_topic_files.py')
-              sh('cp msg/tools/px_generate_uorb_topic_helper.py px4_ros_com/scripts/px_generate_uorb_topic_helper.py')
-              // deploy templates
-              sh('cp msg/templates/urtps/microRTPS_agent.cpp.em px4_ros_com/templates/microRTPS_agent.cpp.em')
-              sh('cp msg/templates/urtps/microRTPS_timesync.cpp.em px4_ros_com/templates/microRTPS_timesync.cpp.em')
-              sh('cp msg/templates/urtps/microRTPS_timesync.h.em px4_ros_com/templates/microRTPS_timesync.h.em')
-              sh('cp msg/templates/urtps/microRTPS_transport.cpp px4_ros_com/templates/microRTPS_transport.cpp')
-              sh('cp msg/templates/urtps/microRTPS_transport.h px4_ros_com/templates/microRTPS_transport.h')
-              sh('cp msg/templates/urtps/Publisher.cpp.em px4_ros_com/templates/Publisher.cpp.em')
-              sh('cp msg/templates/urtps/Publisher.h.em px4_ros_com/templates/Publisher.h.em')
-              sh('cp msg/templates/urtps/Subscriber.cpp.em px4_ros_com/templates/Subscriber.cpp.em')
-              sh('cp msg/templates/urtps/Subscriber.h.em px4_ros_com/templates/Subscriber.h.em')
-              sh('cp msg/templates/urtps/RtpsTopics.cpp.em px4_ros_com/templates/RtpsTopics.cpp.em')
-              sh('cp msg/templates/urtps/RtpsTopics.h.em px4_ros_com/templates/RtpsTopics.h.em')
-              sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS script tools `date`" || true')
-              sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
-              sh('rm -rf px4_msgs')
-            }
-          }
-          when {
-            anyOf {
-              branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
-              branch 'pr-jenkins' // for testing
            }
          }
        }
@@ -190,3 +190,7 @@ endmenu
 menu "examples"
 source "src/examples/Kconfig"
 endmenu
+
+menu "platforms"
+source "platforms/common/Kconfig"
+endmenu
@@ -172,11 +172,6 @@ ifdef PYTHON_EXECUTABLE
 	override CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
 endif

-# Check if the microRTPS agent is to be built
-ifdef BUILD_MICRORTPS_AGENT
-  override CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
-endif
-
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
@@ -253,7 +248,7 @@ endef
 # Other targets
 # --------------------------------------------------------------------

-.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware check_rtps
+.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware

 # QGroundControl flashable NuttX firmware
 qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
@@ -278,15 +273,7 @@ misc_qgc_extra_firmware: \
 	check_airmind_mindpx-v2_default \
 	sizes

-# builds with RTPS
-check_rtps: \
-	check_px4_fmu-v3_rtps \
-	check_px4_fmu-v4_rtps \
-	check_px4_fmu-v4pro_rtps \
-	check_px4_sitl_rtps \
-	sizes
-
-.PHONY: sizes check quick_check check_rtps uorb_graphs
+.PHONY: sizes check quick_check uorb_graphs

 sizes:
 	@-find build -name *.elf -type f | xargs size 2> /dev/null || :
@@ -320,6 +307,7 @@ px4io_update:
 	@$(MAKE) --no-print-directory px4_io-v2_default
 	@$(MAKE) --no-print-directory cubepilot_io-v2_default
 	# px4_io-v2_default
+	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/ark/fmu-v6x/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/pix32v5/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21/extras/px4_io-v2_default.bin
@@ -336,7 +324,7 @@ px4io_update:
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status

-bootloaders_update: 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
+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

 .PHONY: coverity_scan
@@ -494,7 +482,9 @@ shellcheck_all:

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

 # Cleanup
@@ -560,17 +550,12 @@ check_px4: $(call make_list,nuttx,"px4") \
 check_nxp: $(call make_list,nuttx,"nxp") \
 	sizes

-ifneq ($(ROS2_WS_DIR),)
-  ROS2_WS_DIR := $(basename ${ROS2_WS_DIR})
-else
-  ROS2_WS_DIR := ~/colcon_ws
-endif
-
-update_ros2_bridge:
-	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --all
-
-update_px4_ros_com:
-	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_ros_com
-
-update_px4_msgs:
-	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_msgs
+.PHONY: failsafe_web run_failsafe_web_server
+failsafe_web:
+	@if ! command -v emcc; then echo -e "Install emscripten first: https://emscripten.org/docs/getting_started/downloads.html\nAnd source the env: source <path>/emsdk_env.sh"; exit 1; fi
+	@$(MAKE) --no-print-directory px4_sitl_default failsafe_test parameters_xml \
+		PX4_CMAKE_BUILD_TYPE=Release BUILD_DIR_SUFFIX=_failsafe_web \
+		CMAKE_ARGS="-DCMAKE_CXX_COMPILER=em++ -DCMAKE_C_COMPILER=emcc"
+run_failsafe_web_server: failsafe_web
+	@cd build/px4_sitl_default_failsafe_web && \
+		python3 -m http.server
@@ -4,7 +4,7 @@

 [![Nuttx Targets](https://github.com/PX4/PX4-Autopilot/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)

-[![Slack](/.github/slack.svg)](https://join.slack.com/t/px4/shared_invite/zt-si4xo5qs-R4baYFmMjlrT4rQK5yUnaA)
+[![Discord Shield](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.gg/dronecode)

 This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.

@@ -75,7 +75,7 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/con
    * [Paul Riseborough](https://github.com/priseborough)
  * Vision based navigation and Obstacle Avoidance
    * [Markus Achtelik](https://github.com/markusachtelik)
-  * RTPS/ROS2 Interface
+  * DDS/ROS2 Interface
    * [Nuno Marques](https://github.com/TSC21)

 See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github).
@@ -36,7 +36,6 @@ add_subdirectory(airframes)
 px4_add_romfs_files(
 	px4-rc.mavlink
 	px4-rc.params
-	px4-rc.rtps
 	px4-rc.simulator
 	rc.replay
 	rcS
@@ -14,7 +14,7 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 0
 param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_SC 0.3
+param set-default VT_FW_DIFTHR_S_Y 0.3
 param set-default MPC_MAN_Y_MAX 60
 param set-default MC_PITCH_P 5

@@ -10,6 +10,7 @@
 # EKF2: Vision position and heading
 param set-default EKF2_AID_MASK 24
 param set-default EKF2_EV_DELAY 5
+param set-default EKF2_EV_CTRL 15
 param set-default EKF2_GPS_CTRL 0

 # LPE: Vision + baro
@@ -0,0 +1,70 @@
+#!/bin/sh
+#
+# @name Advanced Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
+
+param set-default FW_LND_AIRSPD_SC 1
+param set-default FW_LND_ANG 8
+param set-default FW_THR_LND_MAX 0
+
+param set-default FW_L1_PERIOD 12
+
+param set-default FW_MAN_P_MAX 30
+
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
+param set-default FW_P_LIM_MIN -15
+
+param set-default FW_SPOILERS_LND 0.4
+
+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_LTRMIN_ALT 30
+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 SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256
+
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom
@@ -61,6 +61,7 @@ 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 MC_AIRMODE 1
 param set-default MC_ROLLRATE_P 0.3
 param set-default MC_YAW_P 1.6

@@ -58,6 +58,7 @@ param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
 param set-default FW_T_TAS_TC 2

+param set-default MC_AIRMODE 1
 param set-default MC_ROLLRATE_P 0.3

 param set-default MPC_ACC_HOR_MAX 2
@@ -69,7 +70,7 @@ param set-default MPC_XY_VEL_D_ACC 0.1
 param set-default NAV_ACC_RAD 5

 param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_SC 0.5
+param set-default VT_FW_DIFTHR_S_Y 0.5
 param set-default VT_F_TRANS_DUR 1.5
 param set-default VT_F_TRANS_THR 0.7
 param set-default VT_TYPE 0
@@ -34,8 +34,6 @@ param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default CA_SV_CS2_TYPE 3
 param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_TL0_CT 0
-param set-default CA_SV_TL1_CT 0
 param set-default CA_SV_TL_COUNT 2

 param set-default PWM_MAIN_FUNC1 101
@@ -62,6 +60,7 @@ 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 MC_AIRMODE 1
 param set-default MC_YAWRATE_P 0.3
 param set-default MC_YAWRATE_I 0.3

@@ -1,15 +1,15 @@
 #!/bin/sh
 #
-# @name Ignition Gazebo X3
+# @name Gazebo x500
 #
 # @type Quadrotor
 #

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

-PX4_SIMULATOR=${PX4_SIMULATOR:=ignition}
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}
-PX4_SIM_WORLD=${PX4_SIM_WORLD:=default}

 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 4
@@ -30,19 +30,19 @@ 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_IGN_FUNC1 101
-param set-default SIM_IGN_FUNC2 102
-param set-default SIM_IGN_FUNC3 103
-param set-default SIM_IGN_FUNC4 104
+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_IGN_MIN1 150
-param set-default SIM_IGN_MIN2 150
-param set-default SIM_IGN_MIN3 150
-param set-default SIM_IGN_MIN4 150
+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_IGN_MAX1 1000
-param set-default SIM_IGN_MAX2 1000
-param set-default SIM_IGN_MAX3 1000
-param set-default SIM_IGN_MAX4 1000
+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 MPC_THR_HOVER 0.60
@@ -61,6 +61,7 @@ px4_add_romfs_files(
 	1036_malolo
 	1037_believer
 	1038_glider
+	1039_advanced_plane
 	1040_standard_vtol
 	1041_tailsitter
 	1042_tiltrotor
@@ -1,4 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
@@ -17,7 +17,7 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 		exit 1
 	fi

-elif [ "$PX4_SIMULATOR" = "ignition" ]; then
+elif [ "$PX4_SIMULATOR" = "gz" ]; then

 	# source generated gazebo_env.sh for IGN_GAZEBO_RESOURCE_PATH
 	if [ -f gazebo_env.sh ]; then
@@ -26,28 +26,66 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
 		. ../gazebo_env.sh
 	fi

-	ign_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+# shellcheck disable=SC2236
+	if [ ! -z $PX4_GZ_VERBOSE ]; then
+		if [ "$PX4_GZ_VERBOSE" -le "4" ] && [ "$PX4_GZ_VERBOSE" -ge "1" ]; then
+			gz_verbose=$PX4_GZ_VERBOSE
+		else
+			gz_verbose=4
+			echo "WARN  [init] PX4_GZ_VERBOSE was passed: $PX4_GZ_VERBOSE, not in range [1,4], defaulting to: $gz_verbose."
+		fi
+		echo "INFO  [init] PX4_GZ_VERBOSE set to $gz_verbose."
+	else
+		gz_verbose=1
+		echo "INFO  [init] PX4_GZ_VERBOSE not explicitly set, defaulting to: $gz_verbose."
+	fi

-	if [ -z $ign_world ]; then
+	gz_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+	
+	gz_version_major=$( ign gazebo --versions | sed 's/\..*//g' )
+	gz_version_minor=$( ign gazebo --versions | sed 's/'"${gz_version_major}"\.'//; s/\..*//g' )
+	gz_version_point=$( ign gazebo --versions | sed 's/'"${gz_version_major}"\.'//; s/'"${gz_version_minor}"\.'//')

-		# starting ign gazebo with ${PX4_SIM_WORLD} world
+	if [ "$gz_version_major" -gt "6" ] || { [ "$gz_version_major" -eq "6" ] && [ "$gz_version_minor" -gt "12" ]; } || { [ "$gz_version_major" -eq "6" ] && [ "$gz_version_minor" -eq "12" ] && [ "$gz_version_point" -gt "0" ]; }; then
+		echo "INFO  [init] using latest version of MultiCopterMotor plugin."
+	else
+		echo "WARN  [init] using older version of MultiCopterMotor plugin, please update to latest gazebo > 6.12.0."
+		if [ "$PX4_SIM_MODEL" = "x500" ]; then
+			PX4_SIM_MODEL="x500-Legacy"
+			echo "WARN  [init] setting PX4_SIM_MODEL -> $PX4_SIM_MODEL from x500 till gazebo > 6.12.0"
+		fi
+	fi
+
+	if [ -z $gz_world ]; then
+
+		# starting ign gazebo with ${PX4_GZ_WORLD} world
 		echo "INFO  [init] starting ign gazebo"
-
-		ign gazebo --verbose=1 -r -s "${PX4_IGN_GAZEBO_WORLDS}/${PX4_SIM_WORLD}.sdf" &
+# shellcheck disable=SC2153
+		ign gazebo --verbose=$gz_verbose -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &

 		if [ -z $HEADLESS ]; then
 			# HEADLESS not set, starting ign gazebo gui
 			ign gazebo -g &
 		fi
 	else
-		echo "INFO  [init] ign gazebo already running world: $ign_world"
-		PX4_SIM_WORLD=$ign_world
+		echo "INFO  [init] ign gazebo already running world: $gz_world"
+		PX4_GZ_WORLD=$gz_world
 	fi

-	if [ -z $PX4_IGN_MODEL_POSE ]; then
-		# start ignition bridge without pose arg.
-		echo "WARN  [init] PX4_IGN_MODEL_POSE not set, spawning at origin."
-		if simulator_ignition_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
+# shellcheck disable=SC2236
+	if [ ! -z $PX4_GZ_MODEL ] && [ -z $PX4_GZ_MODEL_NAME ]; then
+
+# shellcheck disable=SC2236
+		if [ ! -z $PX4_GZ_MODEL_POSE ]; then
+			# Clean potential input line formatting.
+			model_pose="$( echo ${PX4_GZ_MODEL_POSE} | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
+			echo "INFO  [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
+		else
+			echo "WARN  [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
+			model_pose="0,0,0,0,0,0"
+		fi
+		# start gz bridge with pose arg.
+		if gz_bridge start -p "${model_pose}"  -m "${PX4_GZ_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
 			sensor_baro_sim start
 			sensor_gps_sim start
 			sensor_mag_sim start
@@ -55,22 +93,29 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
 			echo "ERROR  [init] ign gazebo failed to start"
 			exit 1
 		fi
+	elif [ ! -z $PX4_GZ_MODEL_NAME ] && [ -z $PX4_GZ_MODEL ]; then
+		if gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
+			sensor_baro_sim start
+			sensor_gps_sim start
+			sensor_mag_sim start
+		else
+			echo "ERROR  [init] ign gazebo failed to start"
+			exit 1
+		fi
+	elif [ ! -z $PX4_SIM_MODEL ] && [ -z $PX4_GZ_MODEL_NAME ] && [ -z $PX4_GZ_MODEL ]; then
+		echo "WARN  [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."
+		if gz_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
+			sensor_baro_sim start
+			sensor_gps_sim start
+			sensor_mag_sim start
+		else
+			echo "ERROR  [init] ign gazebo failed to start"
+			exit 1
+		fi
+
 	else
-
-		# Clean potential input line formatting.
-		model_pose="$( echo ${PX4_IGN_MODEL_POSE} | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
-		echo "INFO  [init] PX4_IGN_MODEL_POSE set, spawning at: ${model_pose}"
-
-		# start ignition bridge with pose arg.
-		if simulator_ignition_bridge start -p "${model_pose}"  -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
-			sensor_baro_sim start
-			sensor_gps_sim start
-			sensor_mag_sim start
-		else
-			echo "ERROR  [init] ign gazebo failed to start"
-			exit 1
-		fi
-
+		echo "ERROR  [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
+		exit 1
 	fi

 else
@@ -259,11 +259,8 @@ fi

 navigator start

-# Try to start the micrortps_client with UDP transport if module exists
-if px4-micrortps_client status > /dev/null 2>&1
-then
-	. px4-rc.rtps
-fi
+# Try to start the microdds_client with UDP transport if module exists
+microdds_client start -t udp -p 8888

 if param greater -s MNT_MODE_IN -1
 then
@@ -38,7 +38,6 @@ param set-default MIS_YAW_TMT 10
 param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_THR_MIN 0.1
-param set-default MPC_TKO_SPEED 1
 param set-default MPC_XY_P 0.8
 param set-default MPC_XY_VEL_D_ACC 0.1
 param set-default MPC_XY_VEL_I_ACC 4
@@ -22,7 +22,7 @@ param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0
 param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_SC 0.3
+param set-default VT_FW_DIFTHR_S_Y 0.3
 param set-default MPC_MAN_Y_MAX 60
 param set-default MC_PITCH_P 5

@@ -65,7 +65,6 @@ param set-default COM_SPOOLUP_TIME 1.5
 param set-default MPC_THR_HOVER 0.45
 param set-default MPC_TILTMAX_AIR 25
 param set-default MPC_TKO_RAMP_T 1.8
-param set-default MPC_TKO_SPEED 1
 param set-default MPC_VEL_MANUAL 3
 param set-default MPC_XY_CRUISE 3
 param set-default MPC_XY_VEL_MAX 3.5
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# @name PX4 Vision DevKit Platform
+# @name PX4 Vision Dev Kit v1
 #
 # @type Quadrotor x
 # @class Copter
@@ -63,7 +63,6 @@ param set-default MPC_ACC_UP_MAX 4
 param set-default MPC_MAN_Y_MAX 120
 param set-default MPC_TILTMAX_AIR 45
 param set-default MPC_THR_HOVER 0.3
-param set-default MPC_TKO_SPEED 1
 param set-default MPC_VEL_MANUAL 5
 param set-default MPC_XY_CRUISE 5
 param set-default MPC_XY_VEL_MAX 5
@@ -0,0 +1,126 @@
+#!/bin/sh
+#
+# @name PX4 Vision Dev Kit v1.5
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+# Commander Parameters
+param set-default COM_OBS_AVOID 1
+param set-default COM_DISARM_LAND 0.5
+
+# EKF2 parameters
+param set-default EKF2_AID_MASK 35
+param set-default EKF2_IMU_POS_X 0.02
+param set-default EKF2_GPS_POS_X 0.055
+param set-default EKF2_GPS_POS_Z -0.15
+param set-default EKF2_MIN_RNG 0.03
+param set-default EKF2_OF_POS_X 0.055
+param set-default EKF2_OF_POS_Y 0.02
+param set-default EKF2_OF_POS_Z 0.065
+param set-default EKF2_REQ_HDRIFT 0.3
+param set-default EKF2_REQ_SACC 1
+param set-default EKF2_REQ_VDRIFT 0.3
+param set-default EKF2_RNG_A_HMAX 8
+param set-default EKF2_RNG_A_VMAX 2
+param set-default EKF2_RNG_POS_X 0.055
+param set-default EKF2_RNG_POS_Y -0.01
+param set-default EKF2_RNG_POS_Z 0.065
+param set-default EKF2_PCOEF_XP -0.25
+param set-default EKF2_PCOEF_YN -0.55
+param set-default EKF2_PCOEF_YP -0.55
+
+# MAVLink parameters
+param set-default MAV_0_CONFIG 101
+param set-default MAV_1_CONFIG 102
+param set-default MAV_1_RATE 80000
+param set-default MAV_1_MODE 9
+param set-default SER_TEL1_BAUD 921600
+
+# Vehicle attitude PID tuning
+param set-default MC_ACRO_EXPO 0
+param set-default MC_ACRO_EXPO_Y 0
+param set-default MC_ACRO_P_MAX 200
+param set-default MC_ACRO_R_MAX 200
+param set-default MC_ACRO_SUPEXPO 0
+param set-default MC_ACRO_SUPEXPOY 0
+param set-default MC_ACRO_Y_MAX 150
+param set-default MC_PITCHRATE_D 0.0015
+param set-default MC_ROLLRATE_D 0.0015
+param set-default MC_YAWRATE_P 0.3
+
+# Position Control Tuning
+param set-default CP_DIST 6
+param set-default MPC_ACC_DOWN_MAX 5
+param set-default MPC_ACC_HOR_MAX 10
+param set-default MPC_ACC_UP_MAX 4
+param set-default MPC_MANTHR_MIN 0
+param set-default MPC_MAN_Y_MAX 120
+param set-default MPC_TILTMAX_AIR 45
+param set-default MPC_THR_HOVER 0.3
+param set-default MPC_VEL_MANUAL 5
+param set-default MPC_XY_CRUISE 5
+param set-default MPC_XY_VEL_MAX 5
+param set-default MPC_XY_VEL_P_ACC 1.58
+param set-default MPC_XY_TRAJ_P 0.3
+param set-default MPC_Z_TRAJ_P 0.3
+param set-default MPC_Z_VEL_P_ACC 5
+param set-default MPC_Z_VEL_I_ACC 3
+param set-default MPC_LAND_ALT1 3
+param set-default MPC_LAND_ALT2 1
+param set-default MPC_POS_MODE 3
+param set-default CP_GO_NO_DATA 1
+
+# Navigator Parameters
+param set-default NAV_ACC_RAD 2
+
+# RTL Parameters
+param set-default RTL_DESCEND_ALT 5
+param set-default RTL_RETURN_ALT 5
+
+# Logging Parameters
+param set-default SDLOG_PROFILE 131
+
+# Sensors Parameters
+param set-default SENS_CM8JL65_CFG 202
+param set-default SENS_FLOW_MAXHGT 25
+param set-default SENS_FLOW_MINHGT 0.5
+param set-default IMU_GYRO_CUTOFF 100
+param set-default SENS_TFLOW_CFG 103
+
+# Power Parameters
+param set-default BAT1_N_CELLS 4
+param set-default BAT1_A_PER_V 36.364
+param set-default BAT1_V_DIV 18.182
+
+# Circuit breakers
+param set-default CBRK_IO_SAFETY 22027
+
+param set-default THR_MDL_FAC 0.3
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.15
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_KM -0.05
+
+# Outputs
+param set-default PWM_AUX_FUNC1 101
+param set-default PWM_AUX_FUNC2 102
+param set-default PWM_AUX_FUNC3 103
+param set-default PWM_AUX_FUNC4 104
+
@@ -53,7 +53,6 @@ param set-default MPC_XY_VEL_P_ACC 2.6
 param set-default MPC_XY_VEL_I_ACC 1.2
 param set-default MPC_XY_VEL_D_ACC 0.2
 param set-default MPC_TKO_RAMP_T 1
-param set-default MPC_TKO_SPEED 1.1
 param set-default MPC_VEL_MANUAL 3

 param set-default BAT1_SOURCE 0
@@ -62,7 +62,6 @@ param set-default MPC_XY_VEL_P_ACC 2.6
 param set-default MPC_XY_VEL_I_ACC 1.2
 param set-default MPC_XY_VEL_D_ACC 0.2
 param set-default MPC_TKO_RAMP_T 1
-param set-default MPC_TKO_SPEED 1.1
 param set-default MPC_VEL_MANUAL 3

 param set-default BAT1_SOURCE 0
@@ -0,0 +1,75 @@
+#!/bin/sh
+#
+# @name Aion Robotics R1 UGV
+#
+# @url https://www.aionrobotics.com/r1
+#
+# @type Rover
+# @class Rover
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.rover_defaults
+
+param set-default BAT1_N_CELLS 4
+
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_ANGERR_INIT 0.01
+param set-default EKF2_MAG_TYPE 1
+
+param set-default FW_AIRSPD_MIN 0
+param set-default FW_AIRSPD_TRIM 1
+param set-default FW_AIRSPD_MAX 3
+
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_L1_DIST 5
+param set-default GND_L1_PERIOD 3
+param set-default GND_THR_CRUISE 0.7
+param set-default GND_THR_MAX 0.5
+
+# Because this is differential drive, it can make a turn with radius 0.
+# This corresponds to a turn angle of pi radians.
+# If a special case is made for differential-drive, this will need to change.
+param set-default GND_MAX_ANG 3.142
+param set-default GND_WHEEL_BASE 0.3
+
+# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
+# to support negative throttle.
+param set-default GND_THR_MIN 0
+param set-default GND_SPEED_P 0.25
+param set-default GND_SPEED_I 3
+param set-default GND_SPEED_D 0.001
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_THR_SC 1
+
+param set-default MIS_LTRMIN_ALT 0.01
+param set-default MIS_TAKEOFF_ALT 0.01
+
+param set-default NAV_ACC_RAD 0.5
+
+# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
+# Differential drive acts like ackermann steering with a maximum turn angle of 180 degrees, or pi radians
+param set-default GND_MAX_ANG 3.1415
+
+param set-default RBCLW_BAUD 8
+param set-default RBCLW_COUNTS_REV 1200
+param set-default RBCLW_ADDRESS 128
+# 104 corresponds to Telem 4
+param set-default RBCLW_SER_CFG 104
+# Start this driver after setting parameters, because the driver uses some of those parameters.
+# roboclaw start /dev/ttyS3
+
+# Set geometry & output configration
+param set-default CA_AIRFRAME 6
+param set-default CA_R_REV 3
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_DIS1 1500
+param set-default PWM_MAIN_DIS2 1500
+param set-default PWM_MAIN_TIM0 50
+param set-default PWM_MAIN_TIM1 50
+
@@ -57,6 +57,7 @@ px4_add_romfs_files(
 	4016_holybro_px4vision
 	4017_nxp_hovergames
 	4019_x500_v2
+	4020_holybro_px4vision_v1_5
 	4040_reaper
 	4041_beta75x
 	4050_generic_250
@@ -117,6 +118,7 @@ px4_add_romfs_files(

 	50000_generic_ground_vehicle
 	50004_nxpcup_car_dfrobot_gpx
+	50003_aion_robotics_r1_rover

 	# [60000, 61000] (Unmanned) Underwater Robots
 	60000_uuv_generic
@@ -191,7 +191,10 @@ then
 	ist8308 -X -q start
 	ist8310 -X -q start
 	lis2mdl -X -q start
-	lis3mdl -X -q start
+	if ! lis3mdl -X -q start
+	then
+		lis3mdl -X -q -a 0x1c start
+	fi
 	qmc5883l -X -q start
 	rm3100 -X -q start

@@ -264,23 +264,6 @@ else
 		. $FCONFIG
 	fi

-	#
-	# Check if UAVCAN is enabled, default to it for ESCs.
-	#
-	if param greater -s UAVCAN_ENABLE 0
-	then
-		# Start core UAVCAN module.
-		if ! uavcan start
-		then
-			tune_control play error
-		fi
-	else
-		if param greater -s CYPHAL_ENABLE 0
-		then
-			cyphal start
-		fi
-	fi
-
 	#
 	# Start IO for PWM output or RC input if enabled
 	#
@@ -324,6 +307,27 @@ else
 	rc_update start
 	manual_control start

+	# Start camera trigger, capture and PPS before pwm_out as they might access
+	# pwm pins
+	if param greater -s TRIG_MODE 0
+	then
+		camera_trigger start
+		camera_feedback start
+	fi
+	# PPS capture driver
+	if param greater -s PPS_CAP_ENABLE 0
+	then
+		pps_capture start
+	fi
+	# Camera capture driver
+	if param greater -s CAM_CAP_FBACK 0
+	then
+		if camera_capture start
+		then
+			camera_capture on
+		fi
+	fi
+
 	#
 	# Sensors System (start before Commander so Preflight checks are properly run).
 	# Commander needs to be this early for in-air-restarts.
@@ -390,12 +394,6 @@ else
 		mag_bias_estimator start
 	fi

-	if param greater -s TRIG_MODE 0
-	then
-		camera_trigger start
-		camera_feedback start
-	fi
-
 	#
 	# Optional board mavlink streams: rc.board_mavlink
 	#
@@ -416,21 +414,6 @@ else
 	# Must be started after the serial config is read
 	rc_input start $RC_INPUT_ARGS

-	# PPS capture driver (before pwm_out)
-	if param greater -s PPS_CAP_ENABLE 0
-	then
-		pps_capture start
-	fi
-
-	# Camera capture driver (before pwm_out)
-	if param greater -s CAM_CAP_FBACK 0
-	then
-		if camera_capture start
-		then
-			camera_capture on
-		fi
-	fi
-
 	#
 	# Play the startup tune (if not disabled or there is an error)
 	#
@@ -527,6 +510,23 @@ else
 	fi
 	unset BOARD_BOOTLOADER_UPGRADE

+	#
+	# Check if UAVCAN is enabled, default to it for ESCs.
+	#
+	if param greater -s UAVCAN_ENABLE 0
+	then
+		# Start core UAVCAN module.
+		if ! uavcan start
+		then
+			tune_control play error
+		fi
+	else
+		if param greater -s CYPHAL_ENABLE 0
+		then
+			cyphal start
+		fi
+	fi
+
 #
 # End of autostart.
 #
@@ -8,7 +8,6 @@ if [ $# -gt 0 ]; then
 fi

 exec find boards msg src platforms test \
-    -path msg/templates/urtps -prune -o \
    -path platforms/nuttx/NuttX -prune -o \
    -path platforms/qurt/dspal -prune -o \
    -path src/drivers/uavcan/libuavcan -prune -o \
@@ -21,8 +20,6 @@ exec find boards msg src platforms test \
    -path src/modules/ekf2/EKF -prune -o \
    -path src/modules/gyro_fft/CMSIS_5 -prune -o \
    -path src/modules/mavlink/mavlink -prune -o \
-    -path src/modules/micrortps_bridge/micro-CDR -prune -o \
-    -path src/modules/micrortps_bridge/microRTPS_client -prune -o \
    -path test/mavsdk_tests/catch2 -prune -o \
    -path src/lib/crypto/monocypher -prune -o \
    -path src/lib/crypto/libtomcrypt -prune -o \
@@ -1,15 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-SCRIPT_DIR=$0
-if [[ ${SCRIPT_DIR:0:1} != '/' ]]; then
-  SCRIPT_DIR=$(dirname $(realpath -s "$PWD/$0"))
-fi
-
-PX4_DIR=$(cd "$(dirname $(dirname $SCRIPT_DIR))" && pwd)
-
-if [ -d $PX4_DIR/build/*_rtps ]; then
-  cd $PX4_DIR/build/*_rtps/src/modules/micrortps_bridge/micrortps_agent/
-  cmake -Bbuild
-  cmake --build build -j$(nproc --all)
-fi
@@ -28,12 +28,13 @@ args = parser.parse_args()
 verbose = args.verbose

 build_configs = []
+excluded_boards = ['modalai_voxl2']  # TODO: fix and enable
 excluded_manufacturers = ['atlflight']
 excluded_platforms = ['qurt']
 excluded_labels = [
    'stackcheck',
    'nolockstep', 'replay', 'test',
-    'uavcanv1' # TODO: fix and enable
+    'uavcanv1', # TODO: fix and enable
    ]

 def process_target(px4board_file, target_name):
@@ -87,10 +88,18 @@ for manufacturer in os.scandir(os.path.join(source_dir, 'boards')):
    for board in os.scandir(manufacturer.path):
        if not board.is_dir():
            continue
+
        for files in os.scandir(board.path):
            if files.is_file() and files.name.endswith('.px4board'):
+
+                board_name = manufacturer.name + '_' + board.name
                label = files.name[:-9]
                target_name = manufacturer.name + '_' + board.name + '_' + label
+
+                if board_name in excluded_boards:
+                    if verbose: print(f'excluding board {board_name} ({target_name})')
+                    continue
+
                if label in excluded_labels:
                    if verbose: print(f'excluding label {label} ({target_name})')
                    continue
@@ -489,7 +489,7 @@ actuators = {

 with open(output_file, 'w') as outfile:
    indent = 2 if verbose else None
-    json.dump(actuators, outfile, indent=indent)
+    json.dump(actuators, outfile, indent=indent, sort_keys=True)

 if compress:
    save_compressed(output_file)
@@ -32,16 +32,16 @@ def extract_timer(line):
    # Try format: initIOTimer(Timer::Timer5, DMA{DMA::Index1, DMA::Stream0, DMA::Channel6}),
    search = re.search('Timer::([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
    if search:
-        return search.group(1)
+        return search.group(1), 'generic'

    # nxp rt1062 format: initIOPWM(PWM::FlexPWM2),
    search = re.search('PWM::Flex([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
    if search:
-        return search.group(1)
+        return search.group(1), 'imxrt'

-    return None
+    return None, 'unknown'

-def extract_timer_from_channel(line):
+def extract_timer_from_channel(line, num_channels_already_found):
    # Try format: initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
    search = re.search('Timer::([0-9a-zA-Z_]+), ', line, re.IGNORECASE)
    if search:
@@ -50,7 +50,8 @@ def extract_timer_from_channel(line):
    # nxp rt1062 format: initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_B0_06),
    search = re.search('PWM::(PWM[0-9]+)[_,\)]', line, re.IGNORECASE)
    if search:
-        return search.group(1)
+        # imxrt uses a 1:1 timer group to channel association
+        return str(num_channels_already_found)

    return None

@@ -72,7 +73,14 @@ def get_timer_groups(timer_config_file, verbose=False):
        line = line.strip()
        if len(line) == 0 or line.startswith('//'):
            continue
-        timer = extract_timer(line)
+        timer, timer_type = extract_timer(line)
+
+        if timer_type == 'imxrt':
+            if verbose: print('imxrt timer found')
+            max_num_channels = 16 # Just add a fixed number of timers
+            timers = [str(i) for i in range(max_num_channels)]
+            dshot_support = {str(i): False for i in range(max_num_channels)}
+            break

        if timer:
            if verbose: print('found timer def: {:}'.format(timer))
@@ -101,7 +109,7 @@ def get_timer_groups(timer_config_file, verbose=False):
            continue

        if verbose: print('--'+line+'--')
-        timer = extract_timer_from_channel(line)
+        timer = extract_timer_from_channel(line, len(channel_timers))

        if timer:
            if verbose: print('Found timer: {:} in channel line {:}'.format(timer, line))
@@ -66,7 +66,7 @@ if __name__ == "__main__":
        with open(msg_filename, 'r') as source_file:
            msg_contents = source_file.read()

-        #Format markdown using msg name, comment, url, contents.  
+        #Format markdown using msg name, comment, url, contents.
        markdown_output="""# %s (UORB message)

 %s
@@ -90,7 +90,7 @@ if __name__ == "__main__":
    readme_text="""# uORB Message Reference

 :::note
-This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/msg/tools/generate_msg_docs.py) from the source code.
+This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
 :::

 This topic lists the UORB messages available in PX4 (some of which may be may be shared by the [PX4-ROS 2 Bridge](../ros/ros2_comm.md)).
@@ -0,0 +1,253 @@
+#!/usr/bin/env python3
+#############################################################################
+#
+#   Copyright (C) 2013-2022 PX4 Pro Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+#############################################################################
+
+"""
+px_generate_uorb_topic_files.py
+Generates c/cpp header/source files for uorb topics from .msg
+message files
+"""
+
+import os
+import argparse
+import re
+import sys
+
+try:
+    import em
+except ImportError as e:
+    print("Failed to import em: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user empy")
+    print("")
+    sys.exit(1)
+
+try:
+    import genmsg.template_tools
+except ImportError as e:
+    print("Failed to import genmsg: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user pyros-genmsg")
+    print("")
+    sys.exit(1)
+
+
+__author__ = "Sergey Belash, Thomas Gubler, Beat Kueng"
+__copyright__ = "Copyright (C) 2013-2022 PX4 Development Team."
+__license__ = "BSD"
+__email__ = "thomasgubler@gmail.com"
+
+
+TEMPLATE_FILE = ['msg.h.em', 'msg.cpp.em']
+TOPICS_LIST_TEMPLATE_FILE = ['uORBTopics.hpp.em', 'uORBTopics.cpp.em']
+OUTPUT_FILE_EXT = ['.h', '.cpp']
+INCL_DEFAULT = ['std_msgs:./msg/std_msgs']
+PACKAGE = 'px4'
+TOPICS_TOKEN = '# TOPICS '
+
+
+def get_topics(filename):
+    """
+    Get TOPICS names from a "# TOPICS" line
+    """
+    ofile = open(filename, 'r')
+    text = ofile.read()
+    result = []
+    for each_line in text.split('\n'):
+        if each_line.startswith(TOPICS_TOKEN):
+            topic_names_str = each_line.strip()
+            topic_names_str = topic_names_str.replace(TOPICS_TOKEN, "")
+            topic_names_list = topic_names_str.split(" ")
+            for topic in topic_names_list:
+                # topic name PascalCase (file name) to snake_case (topic name)
+                topic_name = re.sub(r'(?<!^)(?=[A-Z])', '_', topic).lower()
+                result.append(topic_name)
+    ofile.close()
+
+    if len(result) == 0:
+        # topic name PascalCase (file name) to snake_case (topic name)
+        file_base_name = os.path.basename(filename).replace(".msg", "")
+        topic_name = re.sub(r'(?<!^)(?=[A-Z])', '_', file_base_name).lower()
+        result.append(topic_name)
+
+    return result
+
+
+def generate_output_from_file(format_idx, filename, outputdir, package, templatedir, includepath):
+    """
+    Converts a single .msg file to an uorb header/source file
+    """
+    msg_context = genmsg.msg_loader.MsgContext.create_default()
+    full_type_name = genmsg.gentools.compute_full_type_name(package, os.path.basename(filename))
+
+    file_base_name = os.path.basename(filename).replace(".msg", "")
+
+    full_type_name_snake = re.sub(r'(?<!^)(?=[A-Z])', '_', file_base_name).lower()
+
+    spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename, full_type_name)
+
+    field_name_and_type = {}
+    for field in spec.parsed_fields():
+        field_name_and_type.update({field.name: field.type})
+
+    # assert if the timestamp field exists
+    try:
+        assert 'timestamp' in field_name_and_type
+    except AssertionError:
+        print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\tNo 'timestamp' field found in " +
+              spec.short_name + " msg definition!")
+        exit(1)
+
+    # assert if the timestamp field is of type uint64
+    try:
+        assert field_name_and_type.get('timestamp') == 'uint64'
+    except AssertionError:
+        print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\t'timestamp' field in " + spec.short_name +
+              " msg definition is not of type uint64 but rather of type " + field_name_and_type.get('timestamp') + "!")
+        exit(1)
+
+    topics = get_topics(filename)
+
+    if includepath:
+        search_path = genmsg.command_line.includepath_to_dict(includepath)
+    else:
+        search_path = {}
+
+    genmsg.msg_loader.load_depends(msg_context, spec, search_path)
+
+    em_globals = {
+        "name_snake_case": full_type_name_snake,
+        "file_name_in": filename,
+        "search_path": search_path,
+        "msg_context": msg_context,
+        "spec": spec,
+        "topics": topics,
+    }
+
+    # Make sure output directory exists:
+    if not os.path.isdir(outputdir):
+        os.makedirs(outputdir)
+
+    template_file = os.path.join(templatedir, TEMPLATE_FILE[format_idx])
+    output_file = os.path.join(outputdir, full_type_name_snake + OUTPUT_FILE_EXT[format_idx])
+
+    return generate_by_template(output_file, template_file, em_globals)
+
+
+def generate_by_template(output_file, template_file, em_globals):
+    """
+    Invokes empy intepreter to geneate output_file by the
+    given template_file and predefined em_globals dict
+    """
+    # check if folder exists:
+    folder_name = os.path.dirname(output_file)
+    if not os.path.exists(folder_name):
+        os.makedirs(folder_name)
+
+    ofile = open(output_file, 'w')
+    # todo, reuse interpreter
+    interpreter = em.Interpreter(output=ofile, globals=em_globals, options={
+                                 em.RAW_OPT: True, em.BUFFERED_OPT: True})
+    try:
+        interpreter.file(open(template_file))
+    except OSError as e:
+        ofile.close()
+        os.remove(output_file)
+        raise
+    interpreter.shutdown()
+    ofile.close()
+    return True
+
+
+def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir):
+    # generate cpp file with topics list
+    filenames = []
+    for filename in [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]:
+        filenames.append(re.sub(r'(?<!^)(?=[A-Z])', '_', filename).lower())
+
+    topics = []
+    for msg_filename in files:
+        topics.extend(get_topics(msg_filename))
+
+    tl_globals = {"msgs": filenames, "topics": topics}
+    tl_template_file = os.path.join(templatedir, template_filename)
+    tl_out_file = os.path.join(outputdir, template_filename.replace(".em", ""))
+
+    generate_by_template(tl_out_file, tl_template_file, tl_globals)
+
+
+def append_to_include_path(path_to_append, curr_include, package):
+    for p in path_to_append:
+        curr_include.append('%s:%s' % (package, p))
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description='Convert msg files to uorb headers/sources')
+    parser.add_argument('--headers', help='Generate header files', action='store_true')
+    parser.add_argument('--sources', help='Generate source files', action='store_true')
+    parser.add_argument('-f', dest='file',
+                        help="files to convert (use only without -d)",
+                        nargs="+")
+    parser.add_argument('-i', dest="include_paths",
+                        help='Additional Include Paths', nargs="*",
+                        default=None)
+    parser.add_argument('-e', dest='templatedir',
+                        help='directory with template files',)
+    parser.add_argument('-k', dest='package', default=PACKAGE,
+                        help='package name')
+    parser.add_argument('-o', dest='outputdir',
+                        help='output directory for header files')
+    parser.add_argument('-p', dest='prefix', default='',
+                        help='string added as prefix to the output file '
+                        ' name when converting directories')
+    args = parser.parse_args()
+
+    if args.include_paths:
+        append_to_include_path(args.include_paths, INCL_DEFAULT, args.package)
+
+    if args.headers:
+        generate_idx = 0
+    elif args.sources:
+        generate_idx = 1
+    else:
+        print('Error: either --headers or --sources must be specified')
+        exit(-1)
+    if args.file is not None:
+        for f in args.file:
+            generate_output_from_file(generate_idx, f, args.outputdir, args.package, args.templatedir, INCL_DEFAULT)
+
+        # Generate topics list header and source file
+        if os.path.isfile(os.path.join(args.templatedir, TOPICS_LIST_TEMPLATE_FILE[generate_idx])):
+            generate_topics_list_file_from_files(args.file, args.outputdir, TOPICS_LIST_TEMPLATE_FILE[generate_idx], args.templatedir)
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 #############################################################################
 #
-#   Copyright (C) 2013-2021 PX4 Pro Development Team. All rights reserved.
+#   Copyright (C) 2013-2022 PX4 Pro Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -41,6 +41,7 @@ precompiled and thus message generation will be much faster

 import os
 import errno
+import re

 import genmsg.msgs

@@ -236,8 +237,12 @@ def convert_type(spec_type, use_short_type=False):
        c_type = type_map_short[msg_type]
    elif msg_type in type_map:
        c_type = type_map[msg_type]
+    else:
+        c_type = re.sub(r'(?<!^)(?=[A-Z])', '_', c_type).lower() # PascalCase to snake_case
+
    if is_array:
        return c_type + "[" + str(array_length) + "]"
+
    return c_type


@@ -257,6 +262,7 @@ def print_field_def(field):
    type_prefix = ''
    if (sl_pos >= 0):
        type_name = type_name[sl_pos + 1:]
+        type_name = re.sub(r'(?<!^)(?=[A-Z])', '_', type_name).lower() # PascalCase to snake_case
        type_prefix = 'struct '
        type_appendix = '_s'

@@ -6,15 +6,51 @@
@# generates CDR serialization & deserialization methods
@#
@# Context:
+@#  - file_name_in (String) Source file
@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
-@#  - search_path (str) Path to .msg files
+@#  - search_path (dict) search paths for genmsg
+@#  - topics (List of String) topic names
@###############################################
+/****************************************************************************
+ *
+ *   Copyright (C) 2013-2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
@{
 import genmsg.msgs
+import re
 from px_generate_uorb_topic_helper import * # this is in Tools/

-topic = spec.short_name
-uorb_struct = '%s_s'%spec.short_name
+topic = name_snake_case
+uorb_struct = '%s_s'%name_snake_case

 # get fields, struct size and paddings
 def add_fields(msg_fields, name_prefix='', offset=0):
@@ -79,7 +115,8 @@ for field in spec.parsed_fields():
        if not field.is_header:
            (package, name) = genmsg.names.package_resource_name(field.base_type)
            package = package or spec.package # convert '' to package
-            print('#include <uORB/ucdr/%s.h>'%(name))
+            name_snake = re.sub(r'(?<!^)(?=[A-Z])', '_', name).lower()
+            print('#include <uORB/ucdr/%s.h>'%(name_snake))
 }@

 static inline constexpr int ucdr_topic_size_@(topic)()
@@ -87,11 +124,8 @@ static inline constexpr int ucdr_topic_size_@(topic)()
 	return @(struct_size);
 }

-bool ucdr_serialize_@(topic)(const @(uorb_struct)& topic, ucdrBuffer& buf)
+bool ucdr_serialize_@(topic)(const @(uorb_struct)& topic, ucdrBuffer& buf, int64_t time_offset = 0)
 {
-	if (ucdr_buffer_remaining(&buf) < @(struct_size)) {
-		return false;
-	}
@{
 for field_type, field_name, field_size, padding in fields:
 	if padding > 0:
@@ -99,7 +133,18 @@ for field_type, field_name, field_size, padding in fields:
 		print('\tbuf.offset += {:}; // padding'.format(padding))

 	print('\tstatic_assert(sizeof(topic.{0}) == {1}, "size mismatch");'.format(field_name, field_size))
-	print('\tmemcpy(buf.iterator, &topic.{0}, sizeof(topic.{0}));'.format(field_name))
+
+	if field_type == 'uint64' and field_name == 'timestamp':
+		print('\tconst uint64_t timestamp_adjusted = topic.timestamp + time_offset;')
+		print('\tmemcpy(buf.iterator, &timestamp_adjusted, sizeof(topic.{0}));'.format(field_name))
+
+	elif field_type == 'uint64' and field_name == 'timestamp_sample':
+		print('\tconst uint64_t timestamp_sample_adjusted = topic.timestamp_sample + time_offset;')
+		print('\tmemcpy(buf.iterator, &timestamp_sample_adjusted, sizeof(topic.{0}));'.format(field_name))
+
+	else:
+		print('\tmemcpy(buf.iterator, &topic.{0}, sizeof(topic.{0}));'.format(field_name))
+
 	print('\tbuf.iterator += sizeof(topic.{:});'.format(field_name))
 	print('\tbuf.offset += sizeof(topic.{:});'.format(field_name))

@@ -107,11 +152,8 @@ for field_type, field_name, field_size, padding in fields:
 	return true;
 }

-bool ucdr_deserialize_@(topic)(ucdrBuffer& buf, @(uorb_struct)& topic)
+bool ucdr_deserialize_@(topic)(ucdrBuffer& buf, @(uorb_struct)& topic, int64_t time_offset = 0)
 {
-	if (ucdr_buffer_remaining(&buf) < @(struct_size)) {
-		return false;
-	}
@{
 for field_type, field_name, field_size, padding in fields:
 	if padding > 0:
@@ -120,6 +162,10 @@ for field_type, field_name, field_size, padding in fields:

 	print('\tstatic_assert(sizeof(topic.{0}) == {1}, "size mismatch");'.format(field_name, field_size))
 	print('\tmemcpy(&topic.{0}, buf.iterator, sizeof(topic.{0}));'.format(field_name))
+
+	if field_type == 'uint64' and (field_name == 'timestamp' or field_name == 'timestamp_sample'):
+		print('\ttopic.{0} -= time_offset;'.format(field_name))
+
 	print('\tbuf.iterator += sizeof(topic.{:});'.format(field_name))
 	print('\tbuf.offset += sizeof(topic.{:});'.format(field_name))

@@ -13,12 +13,11 @@
@#  - file_name_in (String) Source file
@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
@#  - search_path (dict) search paths for genmsg
-@#  - topics (List of String) multi-topic names
-@#  - constrained_flash set to true if flash is constrained
+@#  - topics (List of String) topic names
@###############################################
 /****************************************************************************
 *
- *   Copyright (C) 2013-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2013-2022 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -56,8 +55,7 @@ import genmsg.msgs

 from px_generate_uorb_topic_helper import * # this is in Tools/

-uorb_struct = '%s_s'%spec.short_name
-topic_name = spec.short_name
+uorb_struct = '%s_s'%name_snake_case

 sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
 struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
@@ -67,7 +65,7 @@ topic_fields = ["%s %s" % (convert_type(field.type, True), field.name) for field
 #include <inttypes.h>
 #include <px4_platform_common/log.h>
 #include <px4_platform_common/defines.h>
-#include <uORB/topics/@(topic_name).h>
+#include <uORB/topics/@(name_snake_case).h>
 #include <uORB/topics/uORBTopics.hpp>
 #include <drivers/drv_hrt.h>
 #include <lib/drivers/device/Device.hpp>
@@ -76,10 +74,10 @@ topic_fields = ["%s %s" % (convert_type(field.type, True), field.name) for field

@# join all msg files in one line e.g: "float[3] position;float[3] velocity;bool armed"
@# This is used for the logger
-constexpr char __orb_@(topic_name)_fields[] = "@( ";".join(topic_fields) );";
+constexpr char __orb_@(name_snake_case)_fields[] = "@( ";".join(topic_fields) );";

-@[for multi_topic in topics]@
-ORB_DEFINE(@multi_topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(topic_name)_fields, static_cast<uint8_t>(ORB_ID::@multi_topic));
+@[for topic in topics]@
+ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(name_snake_case)_fields, static_cast<uint8_t>(ORB_ID::@topic));
@[end for]

 void print_message(const orb_metadata *meta, const @uorb_struct& message)
@@ -13,11 +13,11 @@
@#  - file_name_in (String) Source file
@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
@#  - search_path (dict) search paths for genmsg
-@#  - topics (List of String) multi-topic names
+@#  - topics (List of String) topic names
@###############################################
 /****************************************************************************
 *
- *   Copyright (C) 2013-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2013-2022 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -52,12 +52,12 @@

@{
 import genmsg.msgs
+import re

 from px_generate_uorb_topic_helper import * # this is in Tools/

-uorb_struct = '%s_s'%spec.short_name
-uorb_struct_upper = spec.short_name.upper()
-topic_name = spec.short_name
+uorb_struct = '%s_s'%name_snake_case
+uorb_struct_upper = name_snake_case.upper()
 }@

 #pragma once
@@ -77,6 +77,8 @@ for field in spec.parsed_fields():
        if (not field.is_header):
            (package, name) = genmsg.names.package_resource_name(field.base_type)
            package = package or spec.package # convert '' to package
+
+            name = re.sub(r'(?<!^)(?=[A-Z])', '_', name).lower()
            print('#include <uORB/topics/%s.h>'%(name))
 }@

@@ -127,9 +129,17 @@ for constant in spec.constants:
 #endif
 };

+#ifdef __cplusplus
+namespace px4 {
+	namespace msg {
+		using @(spec.short_name) = @(uorb_struct);
+	} // namespace msg
+} // namespace px4
+#endif
+
 /* register this as object request broker structure */
-@[for multi_topic in topics]@
-ORB_DECLARE(@multi_topic);
+@[for topic in topics]@
+ORB_DECLARE(@topic);
@[end for]

 #ifdef __cplusplus
@@ -8,11 +8,11 @@
@#
@# Context:
@#  - msgs (List) list of all msg files
-@#  - topics (List) list of all topic names
+@#  - multi_topics (List) list of all multi-topic names
@###############################################
 /****************************************************************************
 *
- *   Copyright (C) 2013-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2013-2022 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -46,19 +46,22 @@
 #include <uORB/topics/uORBTopics.hpp>
 #include <uORB/uORB.h>
@{
-msg_names = [mn.replace(".msg", "") for mn in msgs]
+msg_names = list(set([mn.replace(".msg", "") for mn in msgs])) # set() filters duplicates
+msg_names.sort()
 msgs_count = len(msg_names)
-topics_all = topics
-topics_all.sort()
-topics_count_all = len(topics_all)
+
+topic_names = list(set(topics)) # set() filters duplicates
+topic_names.sort()
+topics_count = len(topics)
+
 }@
@[for msg_name in msg_names]@
 #include <uORB/topics/@(msg_name).h>
@[end for]

 const constexpr struct orb_metadata *const uorb_topics_list[ORB_TOPICS_COUNT] = {
-@[for idx, topic_name in enumerate(topics_all, 1)]@
-	ORB_ID(@(topic_name))@[if idx != topics_count_all], @[end if]
+@[for idx, topic_name in enumerate(topic_names, 1)]@
+	ORB_ID(@(topic_name))@[if idx != topic_names], @[end if]
@[end for]
 };

@@ -7,12 +7,11 @@
@# Start of Template
@#
@# Context:
-@#  - msgs (List) list of all msg files
@#  - topics (List) list of all topic names
@###############################################
 /****************************************************************************
 *
- *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2021-2022 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -44,11 +43,9 @@
 ****************************************************************************/

@{
-msg_names = [mn.replace(".msg", "") for mn in msgs]
-msgs_count = len(msg_names)
-topics_all = topics
-topics_all.sort()
-topics_count_all = len(topics_all)
+topics_count = len(topics)
+topic_names_all = list(set(topics)) # set() filters duplicates
+topic_names_all.sort()
 }@

 #pragma once
@@ -57,7 +54,7 @@ topics_count_all = len(topics_all)

 #include <uORB/uORB.h>

-static constexpr size_t ORB_TOPICS_COUNT{@(topics_count_all)};
+static constexpr size_t ORB_TOPICS_COUNT{@(topics_count)};
 static constexpr size_t orb_topics_count() { return ORB_TOPICS_COUNT; }

 /*
@@ -66,8 +63,8 @@ static constexpr size_t orb_topics_count() { return ORB_TOPICS_COUNT; }
 extern const struct orb_metadata *const *orb_get_topics() __EXPORT;

 enum class ORB_ID : uint8_t {
-@[for idx, msg_name in enumerate(topics_all)]@
-	@(msg_name) = @(idx),
+@[for idx, topic_name in enumerate(topic_names_all)]@
+	@(topic_name) = @(idx),
@[end for]
 	INVALID
 };
@@ -51,9 +51,9 @@ div.frame_variant td, div.frame_variant th {
  text-align : left;
 }
 </style>\n\n"""
- 
+
        type_set = set()
-        
+
        if len(image_path) > 0 and image_path[-1] != '/':
            image_path = image_path + '/'

@@ -62,7 +62,7 @@ div.frame_variant td, div.frame_variant th {
               result += '## %s\n\n' % group.GetClass()
               type_set.add(group.GetClass())

-            result += '### %s\n\n' % group.GetName()
+            result += '### %s\n\n' % group.GetType()

            # Display an image of the frame
            image_name = group.GetImageName()
@@ -73,11 +73,11 @@ div.frame_variant td, div.frame_variant th {
            # check if all outputs are equal for the group: if so, show them
            # only once
            all_outputs = {}
-            num_configs = len(group.GetParams())
-            for param in group.GetParams():
-                if not self.IsExcluded(param, board):
-                    for output_name in param.GetOutputCodes():
-                        value = param.GetOutputValue(output_name)
+            num_configs = len(group.GetAirframes())
+            for airframe in group.GetAirframes():
+                if not self.IsExcluded(airframe, board):
+                    for output_name in airframe.GetOutputCodes():
+                        value = airframe.GetOutputValue(output_name)
                        key_value_pair = (output_name, value)
                        if key_value_pair not in all_outputs:
                            all_outputs[key_value_pair] = 0
@@ -104,18 +104,17 @@ div.frame_variant td, div.frame_variant th {
            result += ' </thead>\n'
            result += '<tbody>\n'

-            for param in group.GetParams():
-                if not self.IsExcluded(param, board):
-                    #print("generating: {0} {1}".format(param.GetName(), excluded))
-                    name = param.GetName()
-                    airframe_id = param.GetId()
+            for airframe in group.GetAirframes():
+                if not self.IsExcluded(airframe, board):
+                    name = airframe.GetName()
+                    airframe_id = airframe.GetId()
                    airframe_id_entry = '<p><code>SYS_AUTOSTART</code> = %s</p>' % (airframe_id)
-                    maintainer = param.GetMaintainer()
+                    maintainer = airframe.GetMaintainer()
                    maintainer_entry = ''
                    if maintainer != '':
                        maintainer_entry = 'Maintainer: %s' % (html.escape(maintainer))
-                    url = param.GetFieldValue('url')
-                    name_anchor='%s_%s_%s' % (group.GetClass(),group.GetName(),name)
+                    url = airframe.GetFieldValue('url')
+                    name_anchor='%s_%s_%s' % (group.GetClass(),group.GetType(),name)
                    name_anchor=name_anchor.replace(' ','_').lower()
                    name_anchor=name_anchor.replace('"','_').lower()
                    name_anchor='id="%s"' % name_anchor
@@ -124,8 +123,8 @@ div.frame_variant td, div.frame_variant th {
                        name_entry = '<a href="%s">%s</a>' % (url, name)
                    outputs = '<ul>'
                    has_outputs = False
-                    for output_name in param.GetOutputCodes():
-                        value = param.GetOutputValue(output_name)
+                    for output_name in airframe.GetOutputCodes():
+                        value = airframe.GetOutputValue(output_name)
                        valstrs = value.split(";")
                        key_value_pair = (output_name, value)
                        if all_outputs[key_value_pair] < num_configs:
@@ -152,9 +151,9 @@ div.frame_variant td, div.frame_variant th {

        self.output = result

-    def IsExcluded(self, param, board):
-        for code in param.GetArchCodes():
-            if "CONFIG_ARCH_BOARD_{0}".format(code) == board and param.GetArchValue(code) == "exclude":
+    def IsExcluded(self, airframe, board):
+        for code in airframe.GetArchCodes():
+            if "CONFIG_ARCH_BOARD_{0}".format(code) == board and airframe.GetArchValue(code) == "exclude":
                return True
        return False

@@ -3,6 +3,9 @@ import codecs
 import os

 class RCOutput():
+    """
+        Generates RC scripts for the airframes
+    """
    def __init__(self, groups, board, post_start=False):

        result = (  "#\n"
@@ -34,33 +37,33 @@ class RCOutput():
        result += "set AIRFRAME none\n"
        result += "\n"
        for group in groups:
-            result += "# GROUP: %s\n\n" % group.GetName()
-            for param in group.GetParams():
+            result += "# GROUP: %s\n\n" % group.GetType()
+            for airframe in group.GetAirframes():
                excluded = False
-                for code in param.GetArchCodes():
-                    if "{0}".format(code) == board and param.GetArchValue(code) == "exclude":
+                for code in airframe.GetArchCodes():
+                    if "{0}".format(code) == board and airframe.GetArchValue(code) == "exclude":
                        excluded = True
                if excluded:
                    continue

                if post_start:
                    # Path to post-start sript
-                    path = param.GetPostPath()
+                    path = airframe.GetPostPath()
                else:
                    # Path to start script
-                    path = param.GetPath()
+                    path = airframe.GetPath()

                if not path:
                    continue

                path = os.path.split(path)[1]

-                id_val = param.GetId()
-                name = param.GetFieldValue("short_desc")
-                long_desc = param.GetFieldValue("long_desc")
+                id_val = airframe.GetId()
+                name = airframe.GetFieldValue("short_desc")
+                long_desc = airframe.GetFieldValue("long_desc")

                result +=   "#\n"
-                result +=   "# %s\n" % param.GetName()
+                result +=   "# %s\n" % airframe.GetName()
                result +=   "if param compare SYS_AUTOSTART %s\n" % id_val
                result +=   "then\n"
                result +=   "\tset AIRFRAME %s\n" % path
@@ -2,31 +2,38 @@ import sys
 import re
 import os

-class ParameterGroup(object):
+class AirframeGroup(object):
    """
-    Single parameter group
+    Airframe group
+
+    type: specific vehicle type (e.g. VTOL Tiltrotor, VTOL Quadrotor, etc.)
+    class: vehicle class (e.g. Multicopter, Fixed Wing, etc.)
    """
-    def __init__(self, name, af_class):
-        self.name = name
+    def __init__(self, type, af_class):
+        self.type = type
        self.af_class = af_class
-        self.params = []
+        self.airframes = []


-    def AddParameter(self, param):
+    def AddAirframe(self, airframe):
        """
-        Add parameter to the group
+        Add airframe to the airframe group
        """
-        self.params.append(param)
+        self.airframes.append(airframe)

-    def GetName(self):
+    def GetType(self):
        """
-        Get parameter group name
+        Get airframe group's vehicle type
+
+        e.g. VTOL Tiltrotor, VTOL Quadrotor, etc.
        """
-        return self.name
+        return self.type

    def GetClass(self):
        """
-        Get parameter group vehicle type.
+        Get airframe group's vehicle class
+
+        e.g. Multicopter, Fixed Wing, etc.
        """
        return self.af_class

@@ -34,86 +41,84 @@ class ParameterGroup(object):
        """
        Get parameter group image base name (w/o extension)
        """
-        if (self.name == "Standard Plane"):
+        if (self.type == "Standard Plane"):
            return "Plane"
-        elif (self.name == "Flying Wing"):
+        elif (self.type == "Flying Wing"):
            return "FlyingWing"
-        elif (self.name == "Quadrotor x"):
+        elif (self.type == "Quadrotor x"):
            return "QuadRotorX"
-        elif (self.name == "Quadrotor +"):
+        elif (self.type == "Quadrotor +"):
            return "QuadRotorPlus"
-        elif (self.name == "Hexarotor x"):
+        elif (self.type == "Hexarotor x"):
            return "HexaRotorX"
-        elif (self.name == "Hexarotor +"):
+        elif (self.type == "Hexarotor +"):
            return "HexaRotorPlus"
-        elif (self.name == "Octorotor +"):
+        elif (self.type == "Octorotor +"):
            return "OctoRotorPlus"
-        elif (self.name == "Octorotor x"):
+        elif (self.type == "Octorotor x"):
            return "OctoRotorX"
-        elif (self.name == "Octorotor Coaxial"):
+        elif (self.type == "Octorotor Coaxial"):
            return "OctoRotorXCoaxial"
-        elif (self.name == "Octo Coax Wide"):
+        elif (self.type == "Octo Coax Wide"):
            return "OctoRotorXCoaxial"
-        elif (self.name == "Quadrotor Wide"):
+        elif (self.type == "Quadrotor Wide"):
            return "QuadRotorWide"
-        elif (self.name == "Quadrotor H"):
+        elif (self.type == "Quadrotor H"):
            return "QuadRotorH"
-        elif (self.name == "Dodecarotor cox"):
+        elif (self.type == "Dodecarotor cox"):
            return "DodecaRotorXCoaxial"
-        elif (self.name == "Simulation"):
+        elif (self.type == "Simulation"):
            return "AirframeSimulation"
-        elif (self.name == "Plane A-Tail"):
+        elif (self.type == "Plane A-Tail"):
            return "PlaneATail"
-        elif (self.name == "Plane V-Tail"):
+        elif (self.type == "Plane V-Tail"):
            return "PlaneVTail"
-        elif (self.name == "VTOL Duo Tailsitter"):
+        elif (self.type == "VTOL Duo Tailsitter"):
            return "VTOLDuoRotorTailSitter"
-        elif (self.name == "Standard VTOL"):
+        elif (self.type == "Standard VTOL"):
            return "VTOLPlane"
-        elif (self.name == "VTOL Quad Tailsitter"):
+        elif (self.type == "VTOL Quad Tailsitter"):
            return "VTOLQuadRotorTailSitter"
-        elif (self.name == "VTOL Tiltrotor"):
+        elif (self.type == "VTOL Tiltrotor"):
            return "VTOLTiltRotor"
-        elif (self.name == "VTOL Octoplane"):
+        elif (self.type == "VTOL Octoplane"):
            return "VTOLPlaneOcto"
-        elif (self.name == "Coaxial Helicopter"):
+        elif (self.type == "Coaxial Helicopter"):
            return "HelicopterCoaxial"
-        elif (self.name == "Helicopter"):
+        elif (self.type == "Helicopter"):
            return "Helicopter"
-        elif (self.name == "Hexarotor Coaxial"):
+        elif (self.type == "Hexarotor Coaxial"):
            return "Y6B"
-        elif (self.name == "Y6A"):
+        elif (self.type == "Y6A"):
            return "Y6A"
-        elif (self.name == "Tricopter Y-"):
+        elif (self.type == "Tricopter Y-"):
            return "YMinus"
-        elif (self.name == "Tricopter Y+"):
+        elif (self.type == "Tricopter Y+"):
            return "YPlus"
-        elif (self.name == "Autogyro"):
+        elif (self.type == "Autogyro"):
            return "Autogyro"
-        elif (self.name == "Airship"):
+        elif (self.type == "Airship"):
            return "Airship"
-        elif (self.name == "Rover"):
+        elif (self.type == "Rover"):
            return "Rover"
-        elif (self.name == "Boat"):
+        elif (self.type == "Boat"):
            return "Boat"
-        elif (self.name == "Balloon"):
+        elif (self.type == "Balloon"):
            return "Balloon"
-        elif (self.name == "Vectored 6 DOF UUV"):
+        elif (self.type == "Vectored 6 DOF UUV"):
            return "Vectored6DofUUV"
        return "AirframeUnknown"

-    def GetParams(self):
+    def GetAirframes(self):
        """
-        Returns the parsed list of parameters. Every parameter is a Parameter
-        object. Note that returned object is not a copy. Modifications affect
-        state of the parser.
+        Returns the parsed list of airframes objects. Note that returned
+        object is not a copy. Modifications affect state of the parser.
        """
+        return sorted(self.airframes, key=lambda x: x.GetId())

-        return sorted(self.params, key=lambda x: x.GetId())
-
-class Parameter(object):
+class Airframe(object):
    """
-    Single parameter
+    Single Airframe definition
    """

    # Define sorting order of the fields
@@ -288,7 +293,7 @@ class SourceParser(object):
    }

    def __init__(self):
-        self.param_groups = {}
+        self.airframe_groups = {}

    def GetSupportedExtensions(self):
        """
@@ -347,10 +352,10 @@ class SourceParser(object):
                            tag, desc = m.group(1, 2)
                            if (tag == "output"):
                                key, text = desc.split(' ', 1)
-                                outputs[key] = text;
+                                outputs[key] = text
                            elif (tag == "board"):
                                key, text = desc.split(' ', 1)
-                                archs[key] = text;
+                                archs[key] = text
                            else:
                                tags[tag] = desc
                            current_tag = tag
@@ -427,7 +432,7 @@ class SourceParser(object):
            post_path = None

        # We already know this is an airframe config, so add it
-        param = Parameter(path, post_path, airframe_name, airframe_type, airframe_class, airframe_id, maintainer)
+        airframe = Airframe(path, post_path, airframe_name, airframe_type, airframe_class, airframe_id, maintainer)

        # Done with file, store
        for tag in tags:
@@ -440,24 +445,24 @@ class SourceParser(object):
            if tag == "name":
                airframe_name = tags[tag]
            else:
-                param.SetField(tag, tags[tag])
+                airframe.SetField(tag, tags[tag])

        # Store outputs
        for output in outputs:
-            param.SetOutput(output, outputs[output])
+            airframe.SetOutput(output, outputs[output])

        # Store outputs
        for arch in archs:
-            param.SetArch(arch, archs[arch])
+            airframe.SetArch(arch, archs[arch])

        # Store the parameter

        # Create a class-specific airframe group. This is needed to catch cases where an airframe type might cross classes (e.g. simulation)
-        class_group_identifier=airframe_type+airframe_class
-        if class_group_identifier not in self.param_groups:
-            #self.param_groups[airframe_type] = ParameterGroup(airframe_type)  #HW TEST REMOVE
-            self.param_groups[class_group_identifier] = ParameterGroup(airframe_type, airframe_class)
-        self.param_groups[class_group_identifier].AddParameter(param)
+        class_group_identifier=airframe_type + airframe_class
+        if class_group_identifier not in self.airframe_groups:
+            #self.airframe_groups[airframe_type] = ParameterGroup(airframe_type)  #HW TEST REMOVE
+            self.airframe_groups[class_group_identifier] = AirframeGroup(airframe_type, airframe_class)
+        self.airframe_groups[class_group_identifier].AddAirframe(airframe)

        return True

@@ -473,8 +478,8 @@ class SourceParser(object):
        Validates the airframe meta data.
        """
        seenParamNames = []
-        for group in self.GetParamGroups():
-            for param in group.GetParams():
+        for group in self.GetAirframeGroups():
+            for param in group.GetAirframes():
                name  = param.GetName()
                board = param.GetFieldValue("board")
                # Check for duplicates
@@ -487,27 +492,27 @@ class SourceParser(object):

        return True

-    def GetParamGroups(self):
+    def GetAirframeGroups(self):
        """
-        Returns the parsed list of parameters. Every parameter is a Parameter
+        Returns the parsed list of Airframe groups. Every Airframe is an Airframe
        object. Note that returned object is not a copy. Modifications affect
        state of the parser.
        """
-        groups = self.param_groups.values()
-        groups = sorted(groups, key=lambda x: x.GetName())
+        groups = self.airframe_groups.values()
+        groups = sorted(groups, key=lambda x: x.GetType())
        groups = sorted(groups, key=lambda x: x.GetClass())
-        groups = sorted(groups, key=lambda x: self.priority.get(x.GetName(), 0), reverse=True)
+        groups = sorted(groups, key=lambda x: self.priority.get(x.GetType(), 0), reverse=True)

        #Rename duplicate groups to include the class (creating unique headings in page TOC)
        duplicate_test=set()
        duplicate_set=set()
        for group in groups:
-            if group.GetName() in duplicate_test:
-                duplicate_set.add(group.GetName())
+            if group.GetType() in duplicate_test:
+                duplicate_set.add(group.GetType())
            else:
-                duplicate_test.add(group.GetName() )
+                duplicate_test.add(group.GetType() )
        for group in groups:
-            if group.GetName() in duplicate_set:
-                group.name=group.GetName()+' (%s)' % group.GetClass()
+            if group.GetType() in duplicate_set:
+                group.name=group.GetType()+' (%s)' % group.GetClass()

        return groups
@@ -28,28 +28,28 @@ class XMLOutput():
        xml_version.text = "1"
        for group in groups:
            xml_group = ET.SubElement(xml_parameters, "airframe_group")
-            xml_group.attrib["name"] = group.GetName()
+            xml_group.attrib["name"] = group.GetType()
            xml_group.attrib["image"] = group.GetImageName()
-            for param in group.GetParams():
+            for airframe in group.GetAirframes():

                # check if there is an exclude tag for this airframe
                excluded = False
-                for code in param.GetArchCodes():
-                    if "CONFIG_ARCH_BOARD_{0}".format(code) == board and param.GetArchValue(code) == "exclude":
+                for code in airframe.GetArchCodes():
+                    if "CONFIG_ARCH_BOARD_{0}".format(code) == board and airframe.GetArchValue(code) == "exclude":
                        excluded = True

                if not excluded:
-                    #print("generating: {0} {1}".format(param.GetName(), excluded))
+                    #print("generating: {0} {1}".format(airframe.GetName(), excluded))
                    xml_param = ET.SubElement(xml_group, "airframe")
-                    xml_param.attrib["name"] = param.GetName()
-                    xml_param.attrib["id"] = param.GetId()
-                    xml_param.attrib["maintainer"] = param.GetMaintainer()
-                    for code in param.GetFieldCodes():
-                        value = param.GetFieldValue(code)
+                    xml_param.attrib["name"] = airframe.GetName()
+                    xml_param.attrib["id"] = airframe.GetId()
+                    xml_param.attrib["maintainer"] = airframe.GetMaintainer()
+                    for code in airframe.GetFieldCodes():
+                        value = airframe.GetFieldValue(code)
                        xml_field = ET.SubElement(xml_param, code)
                        xml_field.text = value
-                    for code in param.GetOutputCodes():
-                        value = param.GetOutputValue(code)
+                    for code in airframe.GetOutputCodes():
+                        value = airframe.GetOutputValue(code)
                        valstrs = value.split(";")
                        xml_field = ET.SubElement(xml_param, "output")
                        xml_field.attrib["name"] = code
@@ -92,7 +92,7 @@ class SourceParser(object):
    re_comment_start = re.compile(r'^\/\*\s*EVENT$')
    re_events_send = re.compile(r'^events::send[<\(]')
    re_comment_content = re.compile(r'^\*\s*(.*)')
-    re_comment_tag = re.compile(r'^@([a-zA-Z][a-zA-Z0-9_]*):?\s*(.*)')
+    re_comment_tag = re.compile(r'^@([a-zA-Z][a-zA-Z0-9_-]*):?\s*(.*)')
    re_comment_end = re.compile(r'(.*?)\s*\*\/$')
    re_code_end = re.compile(r'(.*?)\s*;$')
    re_template_args = re.compile(r'([a-zA-Z0-9_:\.]+)\s*<([a-zA-Z0-9_,\s:]+)\s*>\s*\((.*)\);$')
@@ -107,7 +107,7 @@ class SourceParser(object):
        """ dict of 'group': [Event] list """
        return self._events

-    def Parse(self, contents):
+    def Parse(self, contents, path):
        """
        Incrementally parse program contents and append all found events
        to the list.
@@ -117,7 +117,7 @@ class SourceParser(object):
        # names.
        state = None
        def finalize_current_tag(event, tag, value):
-            if tag is None: return
+            if tag is None: return True
            if tag == "description":
                descr = value.strip()
                # merge continued lines (but not e.g. enumerations)
@@ -133,6 +133,9 @@ class SourceParser(object):
                        "If this is not a typo, add the new group to the script".format(event.group, known_groups))
            elif tag == "type":
                event.type = value.strip()
+            elif tag == "skip-file":
+                print("Skipping file: {:}".format(path))
+                return False
            elif tag.startswith("arg"):
                arg_index = int(tag[3:])-1
                arg_name = value.strip()
@@ -140,6 +143,7 @@ class SourceParser(object):
                event.add_argument(None, arg_name)
            else:
                raise Exception("Invalid tag: {}\nvalue: {}".format(tag, value))
+            return True

        for line in self.re_split_lines.split(contents):
            line = line.strip()
@@ -207,6 +211,11 @@ class SourceParser(object):

                    ignore_event = False

+                    def parse_message(s):
+                        assert s[0] == '"', "Argument must be a string literal: {:}".format(s)
+                        # unescape \x, to treat the string the same as the C++ compiler
+                        return s[1:-1].encode("utf-8").decode('unicode_escape')
+
                    # extract function arguments
                    args_split = self._parse_arguments(args)
                    if call == "events::send" or call == "send":
@@ -224,8 +233,7 @@ class SourceParser(object):
                            else:
                                raise Exception("Could not extract event ID from {:}".format(args_split[0]))
                            event.name = event_name
-                            # unescape \x, to treat the string the same as the C++ compiler
-                            event.message = args_split[2][1:-1].encode("utf-8").decode('unicode_escape')
+                            event.message = parse_message(args_split[2])
                    elif call in ['reporter.healthFailure', 'reporter.armingCheckFailure']:
                        assert len(args_split) == num_args + 5, \
                            "Unexpected Number of arguments for: {:}, {:}".format(args_split, num_args)
@@ -235,7 +243,7 @@ class SourceParser(object):
                        else:
                            raise Exception("Could not extract event ID from {:}".format(args_split[2]))
                        event.name = event_name
-                        event.message = args_split[4][1:-1]
+                        event.message = parse_message(args_split[4])
                        if 'health' in call:
                            event.group = "health"
                        else:
@@ -267,7 +275,8 @@ class SourceParser(object):
                    comment_content = m.group(1)
                    m = self.re_comment_tag.match(comment_content)
                    if m:
-                        finalize_current_tag(event, current_tag, current_value)
+                        if not finalize_current_tag(event, current_tag, current_value):
+                            return True # skip file
                        current_tag, current_value = m.group(1, 2)
                    elif current_tag is not None:
                        current_value += "\n"+comment_content
@@ -277,7 +286,8 @@ class SourceParser(object):
                    # "*" or "*/".
                    raise Exception("Excpected a comment, got '{}'".format(line))
                if last_comment_line:
-                    finalize_current_tag(event, current_tag, current_value)
+                    if not finalize_current_tag(event, current_tag, current_value):
+                        return True # skip file
                    state = "parse-command"
        return True

@@ -46,7 +46,7 @@ class SourceScanner(object):
                print('Failed reading file: %s, skipping content.' % path)
                pass
        try:
-            return parser.Parse(contents)
+            return parser.Parse(contents, path)
        except Exception as e:
            print("Exception while parsing file {}".format(path))
            raise
@@ -35,12 +35,11 @@
 #
 # PX4 airframe config processor (main executable file)
 #
-# This tool scans the PX4 ROMFS code for declarations of airframes
-#
-# Currently supported formats are:
-#   * XML for the parametric UI generator
-#   * Markdown for the PX4 dev guide (https://github.com/PX4/Devguide)
+# This tool scans the PX4 ROMFS directory for declarations of airframes
 #
+# Currently supported output formats are:
+#   * XML for the parametric UI generator (Used in QGC)
+#   * Markdown for the PX4 User guide (https://github.com/PX4/PX4-user_guide)
 #

 from __future__ import print_function
@@ -104,31 +103,31 @@ def main():
    # We can't validate yet
    # if not parser.Validate():
    #     sys.exit(1)
-    param_groups = parser.GetParamGroups()
+    airframe_groups = parser.GetAirframeGroups()

    # Output to XML file
    if args.xml:
        if args.verbose: print("Creating XML file " + args.xml)
-        out = xmlout.XMLOutput(param_groups, args.board)
+        out = xmlout.XMLOutput(airframe_groups, args.board)
        out.Save(args.xml)

    # Output to markdown file
    if args.markdown:
        if args.verbose: print("Creating markdown file " + args.markdown)
-        out = markdownout.MarkdownTablesOutput(param_groups, args.board, args.image_path)
+        out = markdownout.MarkdownTablesOutput(airframe_groups, args.board, args.image_path)
        out.Save(args.markdown)

    # Output to start scripts
    if args.start_script:
        # Airframe start script
        if args.verbose: print("Creating start script " + args.start_script)
-        out = rcout.RCOutput(param_groups, args.board)
+        out = rcout.RCOutput(airframe_groups, args.board)
        out.Save(args.start_script)

        # Airframe post-start script
        post_start_script = args.start_script + '.post'
        if args.verbose: print("Creating post-start script " + post_start_script)
-        out_post = rcout.RCOutput(param_groups, args.board, post_start=True)
+        out_post = rcout.RCOutput(airframe_groups, args.board, post_start=True)
        out_post.Save(post_start_script)

    if (args.verbose): print("All done!")
@@ -77,11 +77,23 @@ except ImportError as e:
    print("")
    sys.exit(1)

+
+# Define time to use time.time() by default
+def _time():
+    return time.time()
+
 # Detect python version
 if sys.version_info[0] < 3:
    runningPython3 = False
 else:
    runningPython3 = True
+    if sys.version_info[1] >=3:
+        # redefine to use monotonic time when available
+        def _time():
+            try:
+                return time.monotonic()
+            except Exception:
+                return time.time()

 class FirmwareNotSuitableException(Exception):
    def __init__(self, message):
@@ -230,7 +242,7 @@ class uploader(object):

    def open(self):
        # upload timeout
-        timeout = time.time() + 0.2
+        timeout = _time() + 0.2

        # attempt to open the port while it exists and until timeout occurs
        while self.port is not None:
@@ -240,7 +252,7 @@ class uploader(object):
            except AttributeError:
                portopen = self.port.isOpen()

-            if not portopen and time.time() < timeout:
+            if not portopen and _time() < timeout:
                try:
                    self.port.open()
                except OSError:
@@ -415,16 +427,16 @@ class uploader(object):
                    uploader.EOC)

        # erase is very slow, give it 30s
-        deadline = time.time() + 30.0
-        while time.time() < deadline:
+        deadline = _time() + 30.0
+        while _time() < deadline:

            usualEraseDuration = 15.0
-            estimatedTimeRemaining = deadline-time.time()
+            estimatedTimeRemaining = deadline-_time()
            if estimatedTimeRemaining >= usualEraseDuration:
                self.__drawProgressBar(label, 30.0-estimatedTimeRemaining, usualEraseDuration)
            else:
                self.__drawProgressBar(label, 10.0, 10.0)
-                sys.stdout.write(" (timeout: %d seconds) " % int(deadline-time.time()))
+                sys.stdout.write(" (timeout: %d seconds) " % int(deadline-_time()))
                sys.stdout.flush()

            if self.__trySync():
@@ -570,9 +582,37 @@ class uploader(object):
        self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)

    # upload the firmware
-    def upload(self, fw, force=False, boot_delay=None):
+    def upload(self, fw_list, force=False, boot_delay=None, boot_check=False):
+        # select correct binary
+        found_suitable_firmware = False
+        for file in fw_list:
+            fw = firmware(file)
+            if self.board_type == fw.property('board_id'):
+                if len(fw_list) > 1: print("using firmware binary {}".format(file))
+                found_suitable_firmware = True
+                break
+
+        if not found_suitable_firmware:
+            msg = "Firmware not suitable for this board (Firmware board_type=%u board_id=%u)" % (
+                self.board_type, fw.property('board_id'))
+            print("WARNING: %s" % msg)
+            if force:
+                if len(fw_list) > 1:
+                    raise FirmwareNotSuitableException("force flashing failed, more than one file provided, none suitable")
+                print("FORCED WRITE, FLASHING ANYWAY!")
+            else:
+                raise FirmwareNotSuitableException(msg)
+
+        percent = fw.property('image_size') / fw.property('image_maxsize')
+        binary_size = float(fw.property('image_size'))
+        binary_max_size = float(fw.property('image_maxsize'))
+        percent = (binary_size / binary_max_size) * 100
+
+        print("Loaded firmware for board id: %s,%s size: %d bytes (%.2f%%) " % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'), percent))
+        print()
+
        # Make sure we are doing the right thing
-        start = time.time()
+        start = _time()
        if self.board_type != fw.property('board_id'):
            msg = "Firmware not suitable for this board (Firmware board_type=%u board_id=%u)" % (
                self.board_type, fw.property('board_id'))
@@ -668,7 +708,7 @@ class uploader(object):
        print("\nRebooting.", end='')
        self.__reboot()
        self.port.close()
-        print(" Elapsed Time %3.3f\n" % (time.time() - start))
+        print(" Elapsed Time %3.3f\n" % (_time() - start))

    def __next_baud_flightstack(self):
        if self.baudrate_flightstack_idx + 1 >= len(self.baudrate_flightstack):
@@ -752,7 +792,7 @@ def main():
    parser.add_argument('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading')
    parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
    parser.add_argument('--use-protocol-splitter-format', action='store_true', help='use protocol splitter format for reboot')
-    parser.add_argument('firmware', action="store", help="Firmware file to be uploaded")
+    parser.add_argument('firmware', action="store", nargs='+', help="Firmware file(s)")
    args = parser.parse_args()

    if args.use_protocol_splitter_format:
@@ -764,17 +804,7 @@ def main():
        print("WARNING: You should uninstall ModemManager as it conflicts with any non-modem serial device (like Pixhawk)")
        print("==========================================================================================================")

-    # Load the firmware file
-    fw = firmware(args.firmware)
-
-    percent = fw.property('image_size') / fw.property('image_maxsize')
-    binary_size = float(fw.property('image_size'))
-    binary_max_size = float(fw.property('image_maxsize'))
-    percent = (binary_size / binary_max_size) * 100
-
-    print("Loaded firmware for board id: %s,%s size: %d bytes (%.2f%%), waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'), percent))
-    print()
-
+    print("Waiting for bootloader...")
    # tell any GCS that might be connected to the autopilot to give up
    # control of the serial port

@@ -877,7 +907,7 @@ def main():

                try:
                    # ok, we have a bootloader, try flashing it
-                    up.upload(fw, force=args.force, boot_delay=args.boot_delay)
+                    up.upload(args.firmware, force=args.force, boot_delay=args.boot_delay)

                    # if we made this far without raising exceptions, the upload was successful
                    successful = True
@@ -9,8 +9,6 @@
 ## - jMAVSim simulator (omit with arg: --no-sim-tools)
 ## - Gazebo simulator (not by default, use --gazebo)
 ##
-## Not Installs:
-## - FastRTPS and FastCDR

 INSTALL_NUTTX="true"
 INSTALL_SIM="true"
@@ -122,7 +120,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	echo
 	echo "Installing PX4 simulation dependencies"

-	# java (jmavsim or fastrtps)
+	# java (jmavsim)
 	sudo pacman -S --noconfirm --needed \
 		ant \
 		jdk-openjdk \
@@ -2,7 +2,7 @@

 set -e

-## Bash script to setup PX4 development environment on Ubuntu LTS (20.04, 18.04, 16.04).
+## Bash script to setup PX4 development environment on Ubuntu LTS (22.04, 20.04, 18.04).
 ## Can also be used in docker.
 ##
 ## Installs:
@@ -10,12 +10,11 @@ set -e
 ## - NuttX toolchain (omit with arg: --no-nuttx)
 ## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools)
 ##
-## Not Installs:
-## - FastRTPS and FastCDR

 INSTALL_NUTTX="true"
 INSTALL_SIM="true"
 INSTALL_ARCH=`uname -m`
+INSTALL_SIM_JAMMY="false"

 # Parse arguments
 for arg in "$@"
@@ -28,6 +27,10 @@ do
 		INSTALL_SIM="false"
 	fi

+	if [[ $arg == "--sim_jammy" ]]; then
+		INSTALL_SIM_JAMMY="true"
+	fi
+
 done

 # detect if running in docker
@@ -67,6 +70,10 @@ elif [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
 	echo "Ubuntu 18.04"
 elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
 	echo "Ubuntu 20.04"
+elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
+	echo "Ubuntu 22.04, simulation build off by default." 
+	echo "Use --sim_jammy to enable simulation build."
+	INSTALL_SIM=$INSTALL_SIM_JAMMY
 fi


@@ -146,7 +153,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		util-linux \
 		vim-common \
 		;
-	if [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
+	if [[ "${UBUNTU_RELEASE}" == "20.04" || "${UBUNTU_RELEASE}" == "22.04" ]]; then
 		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		kconfig-frontends \
 		;
@@ -207,7 +214,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	else
 		java_version=14
 	fi
-	# Java (jmavsim or fastrtps)
+	# Java (jmavsim)
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		ant \
 		openjdk-$java_version-jre \
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version='1.9'>
+  <model name='x500-Depth'>
+    <include merge='true'>
+      <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/x500-Base</uri>
+    </include>
+    <include merge='true'>
+      <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/OakD-Lite</uri>
+      <pose>.12 .03 .242 0 0 0</pose>
+    </include>
+    <joint name="CameraJoint" type="fixed">
+      <parent>base_link</parent>
+      <child>OakD-Lite/base_link</child>
+      <pose relative_to="base_link">.12 .03 .242 0 0 0</pose>
+    </joint>
+  </model>
+</sdf>
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <model>
-  <name>x500-Base</name>
+  <name>x500-Legacy</name>
  <version>1.0</version>
  <sdf version="1.9">model.sdf</sdf>
  <author>
@@ -1,11 +1,11 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <sdf version='1.9'>
-  <model name='x500-Depth'>
+  <model name='x500-Legacy'>
    <include merge='true'>
-      <uri>model://x500-Base</uri>
+      <uri>model://x500-NoPlugin</uri>
    </include>
    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>model/x500-Depth</robotNamespace>
+      <robotNamespace>/x500-Legacy_0</robotNamespace>
      <jointName>rotor_0_joint</jointName>
      <linkName>rotor_0</linkName>
      <turningDirection>ccw</turningDirection>
@@ -22,7 +22,7 @@
      <motorType>velocity</motorType>
    </plugin>
    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>model/x500-Depth</robotNamespace>
+      <robotNamespace>/x500-Legacy_0</robotNamespace>
      <jointName>rotor_1_joint</jointName>
      <linkName>rotor_1</linkName>
      <turningDirection>ccw</turningDirection>
@@ -39,7 +39,7 @@
      <motorType>velocity</motorType>
    </plugin>
    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>model/x500-Depth</robotNamespace>
+      <robotNamespace>/x500-Legacy_0</robotNamespace>
      <jointName>rotor_2_joint</jointName>
      <linkName>rotor_2</linkName>
      <turningDirection>cw</turningDirection>
@@ -56,7 +56,7 @@
      <motorType>velocity</motorType>
    </plugin>
    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>model/x500-Depth</robotNamespace>
+      <robotNamespace>/x500-Legacy_0</robotNamespace>
      <jointName>rotor_3_joint</jointName>
      <linkName>rotor_3</linkName>
      <turningDirection>cw</turningDirection>
@@ -72,14 +72,5 @@
      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
      <motorType>velocity</motorType>
    </plugin>
-    <include merge='true'>
-      <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/OakD-Lite</uri>
-      <pose>.12 .03 .242 0 0 0</pose>
-    </include>
-    <joint name="CameraJoint" type="fixed">
-      <parent>base_link</parent>
-      <child>OakD-Lite/base_link</child>
-      <pose relative_to="base_link">.12 .03 .242 0 0 0</pose>
-    </joint>
  </model>
-</sdf>
+</sdf>
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<model>
+  <name>x500-NoPlugin</name>
+  <version>1.0</version>
+  <sdf version="1.9">model.sdf</sdf>
+  <author>
+    <name>Benjamin Perseghetti</name>
+    <email>bperseghetti@rudislabs.com</email>
+  </author>
+  <description>Model of the NXP HoverGames Drone development kit (KIT-HGDRONEK66). The PX4 software compatible kit provides mechanical, RC remote and other components needed to evaluate the RDDRONE-FMUK66 reference design. The FMU includes 100Base-T1 Automotive Ethernet, dual CAN transceivers, as well as SE050 secure element, and works with add on boards NavQPlus, MR-T1ETH8, MR-T1ADAPT, and CAN-nodes such as UCANS32K1SIC.  Kit may be used with, and contains the components needed for the HoverGames.com coding challenges.</description>
+</model>
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <sdf version='1.9'>
-  <model name='x500-Base'>
+  <model name='x500-NoPlugin'>
    <pose>0 0 .24 0 0 0</pose>
    <self_collide>false</self_collide>
    <static>false</static>
@@ -23,7 +23,7 @@
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
-            <uri>model://x500-Base/meshes/NXP-HGD-CF.dae</uri>
+            <uri>model://x500-NoPlugin/meshes/NXP-HGD-CF.dae</uri>
          </mesh>
        </geometry>
      </visual>
@@ -32,7 +32,7 @@
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
-            <uri>model://x500-Base/meshes/5010Base.dae</uri>
+            <uri>model://x500-NoPlugin/meshes/5010Base.dae</uri>
          </mesh>
        </geometry>
      </visual>
@@ -41,7 +41,7 @@
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
-            <uri>model://x500-Base/meshes/5010Base.dae</uri>
+            <uri>model://x500-NoPlugin/meshes/5010Base.dae</uri>
          </mesh>
        </geometry>
      </visual>
@@ -50,7 +50,7 @@
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
-            <uri>model://x500-Base/meshes/5010Base.dae</uri>
+            <uri>model://x500-NoPlugin/meshes/5010Base.dae</uri>
          </mesh>
        </geometry>
      </visual>
@@ -59,7 +59,7 @@
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
-            <uri>model://x500-Base/meshes/5010Base.dae</uri>
+            <uri>model://x500-NoPlugin/meshes/5010Base.dae</uri>
          </mesh>
        </geometry>
      </visual>
@@ -77,7 +77,7 @@
          <specular>1.0 1.0 1.0</specular>
          <pbr>
            <metal>
-              <albedo_map>model://x500-Base/materials/textures/nxp.png</albedo_map>
+              <albedo_map>model://x500-NoPlugin/materials/textures/nxp.png</albedo_map>
            </metal>
          </pbr>
        </material>
@@ -96,7 +96,7 @@
          <specular>1.0 1.0 1.0</specular>
          <pbr>
            <metal>
-              <albedo_map>model://x500-Base/materials/textures/nxp.png</albedo_map>
+              <albedo_map>model://x500-NoPlugin/materials/textures/nxp.png</albedo_map>
            </metal>
          </pbr>
        </material>
@@ -115,7 +115,7 @@
          <specular>1.0 1.0 1.0</specular>
          <pbr>
            <metal>
-              <albedo_map>model://x500-Base/materials/textures/rd.png</albedo_map>
+              <albedo_map>model://x500-NoPlugin/materials/textures/rd.png</albedo_map>
            </metal>
          </pbr>
        </material>
@@ -238,7 +238,7 @@
        <geometry>
          <mesh>
            <scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
-            <uri>model://x500-Base/meshes/1345_prop_ccw.stl</uri>
+            <uri>model://x500-NoPlugin/meshes/1345_prop_ccw.stl</uri>
          </mesh>
        </geometry>
        <material>
@@ -253,7 +253,7 @@
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
-            <uri>model://x500-Base/meshes/5010Bell.dae</uri>
+            <uri>model://x500-NoPlugin/meshes/5010Bell.dae</uri>
          </mesh>
        </geometry>
      </visual>
@@ -311,7 +311,7 @@
        <geometry>
          <mesh>
            <scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
-            <uri>model://x500-Base/meshes/1345_prop_ccw.stl</uri>
+            <uri>model://x500-NoPlugin/meshes/1345_prop_ccw.stl</uri>
          </mesh>
        </geometry>
        <material>
@@ -326,7 +326,7 @@
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
-            <uri>model://x500-Base/meshes/5010Bell.dae</uri>
+            <uri>model://x500-NoPlugin/meshes/5010Bell.dae</uri>
          </mesh>
        </geometry>
      </visual>
@@ -384,7 +384,7 @@
        <geometry>
          <mesh>
            <scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
-            <uri>model://x500-Base/meshes/1345_prop_cw.stl</uri>
+            <uri>model://x500-NoPlugin/meshes/1345_prop_cw.stl</uri>
          </mesh>
        </geometry>
        <material>
@@ -399,7 +399,7 @@
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
-            <uri>model://x500-Base/meshes/5010Bell.dae</uri>
+            <uri>model://x500-NoPlugin/meshes/5010Bell.dae</uri>
          </mesh>
        </geometry>
      </visual>
@@ -457,7 +457,7 @@
        <geometry>
          <mesh>
            <scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
-            <uri>model://x500-Base/meshes/1345_prop_cw.stl</uri>
+            <uri>model://x500-NoPlugin/meshes/1345_prop_cw.stl</uri>
          </mesh>
        </geometry>
        <material>
@@ -472,7 +472,7 @@
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
-            <uri>model://x500-Base/meshes/5010Bell.dae</uri>
+            <uri>model://x500-NoPlugin/meshes/5010Bell.dae</uri>
          </mesh>
        </geometry>
      </visual>
@@ -2,10 +2,9 @@
 <sdf version='1.9'>
  <model name='x500'>
    <include merge='true'>
-      <uri>model://x500-Base</uri>
+      <uri>model://x500-NoPlugin</uri>
    </include>
    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>model/x500</robotNamespace>
      <jointName>rotor_0_joint</jointName>
      <linkName>rotor_0</linkName>
      <turningDirection>ccw</turningDirection>
@@ -22,7 +21,6 @@
      <motorType>velocity</motorType>
    </plugin>
    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>model/x500</robotNamespace>
      <jointName>rotor_1_joint</jointName>
      <linkName>rotor_1</linkName>
      <turningDirection>ccw</turningDirection>
@@ -39,7 +37,6 @@
      <motorType>velocity</motorType>
    </plugin>
    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>model/x500</robotNamespace>
      <jointName>rotor_2_joint</jointName>
      <linkName>rotor_2</linkName>
      <turningDirection>cw</turningDirection>
@@ -56,7 +53,6 @@
      <motorType>velocity</motorType>
    </plugin>
    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>model/x500</robotNamespace>
      <jointName>rotor_3_joint</jointName>
      <linkName>rotor_3</linkName>
      <turningDirection>cw</turningDirection>
--- a/Show More
+++ b/Show More