WIP: microdds_start if installed

2026-05-30 05:20:05 +08:00 · 2022-08-20 10:43:11 -04:00
798 changed files with 24428 additions and 19252 deletions
@@ -771,6 +771,8 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ps"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output0"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output1" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm_out status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
@@ -792,7 +794,7 @@ void resetParameters() {
 void runTests() {

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

  resetParameters()

@@ -855,6 +857,7 @@ void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_0" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_1" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_2" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_3" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_outputs" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_validated" || true'
@@ -916,6 +919,7 @@ void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener task_stack_info" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener test_motor" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener trajectory_setpoint" || true'
  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'
@@ -19,8 +19,9 @@
 *.jar    binary
 *.xml    text eol=lf

-# PX4 msgs, etc
+# PX4 mixers, msgs, etc
 *.bin    binary
+*.mix    text eol=lf
 *.msg    text eol=lf
 *.config text eol=lf
 *.sdf    text eol=lf
@@ -3,7 +3,7 @@ name: Checks
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: Clang Tidy
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: Linux Targets
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: Linux ARM64 Targets
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: MacOS build
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: Nuttx Targets
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: Deploy metadata for all targets
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
    - 'release/*'
    - 'pr-metadata-test'

@@ -3,7 +3,7 @@ name: MAVROS Mission Tests
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: MAVROS Offboard Tests
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: Metadata
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
    - 'release/*'
    - 'pr-metadata-test'

@@ -3,7 +3,7 @@ name: Python CI Checks
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: SITL Tests
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
  pull_request:
    branches:
    - '*'
@@ -93,6 +93,7 @@ rules.ninja
 /googletest-*/
 /logs
 /mavsdk_tests
+/test_mixer_multirotor
 /unit-*
 /uORB/
 DartConfiguration.tcl
@@ -6,12 +6,12 @@
 	path = src/drivers/uavcan/libuavcan
 	url = https://github.com/dronecan/libuavcan.git
 	branch = main
-[submodule "Tools/simulation/jmavsim/jMAVSim"]
-	path = Tools/simulation/jmavsim/jMAVSim
+[submodule "Tools/jMAVSim"]
+	path = Tools/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
 	branch = master
-[submodule "Tools/simulation/gazebo/sitl_gazebo"]
-	path = Tools/simulation/gazebo/sitl_gazebo
+[submodule "Tools/sitl_gazebo"]
+	path = Tools/sitl_gazebo
 	url = https://github.com/PX4/PX4-SITL_gazebo.git
 	branch = master
 [submodule "src/drivers/gps/devices"]
@@ -31,10 +31,10 @@
 	url = https://github.com/PX4/NuttX-apps.git
 	branch = px4_firmware_nuttx-10.1.0+
 [submodule "Tools/flightgear_bridge"]
-	path = Tools/simulation/flightgear/flightgear_bridge
+	path = Tools/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
-[submodule "Tools/simulation/jsbsim/jsbsim_bridge"]
-	path = Tools/simulation/jsbsim/jsbsim_bridge
+[submodule "Tools/jsbsim_bridge"]
+	path = Tools/jsbsim_bridge
 	url = https://github.com/PX4/px4-jsbsim-bridge.git
 [submodule "src/drivers/cyphal/libcanard"]
 	path = src/drivers/cyphal/libcanard
@@ -53,6 +53,9 @@
 [submodule "src/lib/events/libevents"]
 	path = src/lib/events/libevents
 	url = https://github.com/mavlink/libevents.git
+[submodule "Tools/simulation-ignition"]
+	path = Tools/simulation-ignition
+	url = https://github.com/PX4/px4-simulation-ignition.git
 [submodule "src/lib/crypto/libtomcrypt"]
 	path = src/lib/crypto/libtomcrypt
 	url = https://github.com/PX4/libtomcrypt.git
@@ -11,7 +11,7 @@ matrix:
      dist: xenial
      # In order to stay under the coverity rate limit, we only run this weekly
      # and not on push which is configured in travis-ci settings.
-      if: branch = main
+      if: branch = master

 before_install:
    - echo -n | openssl s_client -connect scan.coverity.com:443 | sed -ne '/-BEGIN CERTIFICATE-/,/-END CERTIFICATE-/p' | sudo tee -a /etc/ssl/certs/ca-
@@ -2,7 +2,7 @@ CONFIG:
  default: px4_sitl_default
  choices:
    px4_sitl_default:
-      short: px4_sitl_default
+      short: px4_sitl
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_default
@@ -54,19 +54,17 @@
            "type": "shell",
            "command": "ant create_run_jar copy_res",
            "options": {
-                "cwd": "${workspaceFolder}/Tools/simulation/jmavsim/jMAVSim"
+                "cwd": "${workspaceFolder}/Tools/jMAVSim"
            },
-            "presentation": {
+            "problemMatcher": [],
+            "presentation":{
                "echo": true,
                "reveal": "never",
-                "revealProblems": "onProblem",
                "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                "showReuseMessage": false,
                "clear": false,
-                "close": true
-            },
-            "problemMatcher": []
+            }
        },
        {
            "label": "jmavsim",
@@ -74,7 +72,7 @@
            "dependsOn": "jmavsim build",
            "command": "java -Djava.ext.dirs= -jar jmavsim_run.jar -r 250 -lockstep -tcp localhost:4560 -qgc",
            "options": {
-                "cwd": "${workspaceFolder}/Tools/simulation/jmavsim/jMAVSim/out/production",
+                "cwd": "${workspaceFolder}/Tools/jMAVSim/out/production",
                "env": {
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
@@ -83,31 +81,42 @@
            "presentation": {
                "echo": true,
                "reveal": "never",
-                "revealProblems": "onProblem",
                "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                "showReuseMessage": false,
-                "clear": false,
-                "close": true
+                "clear": false
            },
-            "problemMatcher": []
+            "problemMatcher": [
+                {
+                    "pattern": [
+                        {
+                            "regexp": ".",
+                            "file": 1,
+                            "location": 2,
+                            "message": 3
+                        }
+                    ],
+                    "background": {
+                        "activeOnStart": true,
+                        "beginsPattern": ".",
+                        "endsPattern": ".",
+                    }
+                }
+            ]
        },
        {
            "label": "jmavsim kill",
            "type": "shell",
-            "command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}') || true",
+            "command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}')",
            "presentation": {
-                "echo": true,
+                "echo": false,
                "reveal": "never",
-                "revealProblems": "onProblem",
                "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                "showReuseMessage": false,
-                "clear": false,
-                "close": true
+                "clear": false
            },
-            "problemMatcher": [],
-            "dependsOn":["px4_sitl_cleanup"]
+            "problemMatcher": []
        },
        {
            "label": "gazebo build",
@@ -116,17 +125,15 @@
            "options": {
                "cwd": "${workspaceFolder}"
            },
-            "presentation": {
+            "problemMatcher": [],
+            "presentation":{
                "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
+                "reveal": "always",
                "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                "showReuseMessage": false,
                "clear": false,
-                "close": true
-            },
-            "problemMatcher": [],
+            }
        },
        {
            "label": "gazebo start",
@@ -136,21 +143,19 @@
                "cwd": "${workspaceFolder}",
                "env": {
                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
-            "command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/worlds/empty.world",
+            "command": "gzserver --verbose ${workspaceFolder}/Tools/sitl_gazebo/worlds/${input:gazeboWorld}.world",
            "isBackground": true,
            "presentation": {
                "echo": true,
                "reveal": "never",
-                "revealProblems": "onProblem",
                "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                "showReuseMessage": false,
-                "clear": false,
-                "close": true
+                "clear": false
            },
            "problemMatcher": [
                {
@@ -178,21 +183,19 @@
                "cwd": "${workspaceFolder}",
                "env": {
                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
-            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models/iris/iris.sdf --model-name=iris -x 1.01 -y 0.98 -z 0.83",
+            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/sitl_gazebo/models/${input:vehicleModel}/${input:vehicleModel}.sdf --model-name=${input:vehicleModel} -x 1.01 -y 0.98 -z 0.83",
            "isBackground": false,
            "presentation": {
                "echo": true,
                "reveal": "never",
-                "revealProblems": "onProblem",
                "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                "showReuseMessage": false,
-                "clear": false,
-                "close": true
+                "clear": false
            },
            "problemMatcher": [
                {
@@ -213,77 +216,71 @@
            ]
        },
        {
-            "label": "ign gazebo",
+            "label": "gazebo client",
            "type": "shell",
+            "dependsOn": "gazebo build",
            "options": {
                "cwd": "${workspaceFolder}",
                "env": {
-                    "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/ignition/models",
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
+                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
-            "command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/ignition/worlds/${input:ignWorld}.sdf",
+            "command": "gzclient --verbose",
            "isBackground": true,
            "presentation": {
                "echo": true,
-                "reveal": "always",
-                "revealProblems": "onProblem",
-                "focus": true,
-                "panel": "dedicated",
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
                "showReuseMessage": false,
-                "clear": false,
-                "close": false
+                "clear": false
            },
-            "problemMatcher": [],
-            "dependsOn":["ign gazebo kill"]
+            "problemMatcher": [
+                {
+                    "pattern": [
+                        {
+                            "regexp": ".",
+                            "file": 1,
+                            "location": 2,
+                            "message": 3
+                        }
+                    ],
+                    "background": {
+                        "activeOnStart": true,
+                        "beginsPattern": ".",
+                        "endsPattern": ".",
+                    }
+                }
+            ]
        },
        {
            "label": "gazebo kill",
            "type": "shell",
-            "command": "pkill -9 -f gzserver || true",
+            "command": "killall gzserver",
            "presentation": {
                "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
+                "reveal": "silent",
                "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                "showReuseMessage": false,
-                "clear": false,
-                "close": true
+                "clear": false
            },
            "problemMatcher": [],
            "dependsOn":["px4_sitl_cleanup"]
        },
-        {
-            "label": "ign gazebo kill",
-            "type": "shell",
-            "command": "pkill -9 -f 'ign gazebo' || true",
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
-                "focus": false,
-                "panel": "dedicated",
-                "showReuseMessage": false,
-                "clear": false,
-                "close": true
-            },
-            "problemMatcher": [],
-            "dependsOn":["px4_sitl_cleanup"]
-        },
-
        {
            "label": "px4_sitl_cleanup",
            "type": "shell",
-            "command": "rm -rfv /tmp/px4* || true",
+            "command": "rm -rfv /tmp/px4*",
            "presentation": {
                "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
+                "reveal": "silent",
                "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                "showReuseMessage": false,
-                "clear": false,
-                "close": true
+                "clear": false
            },
            "problemMatcher": [],
            "dependsOn":["px4_kill"]
@@ -291,16 +288,14 @@
        {
            "label": "px4_kill",
            "type": "shell",
-            "command": "pkill -9 px4 || true",
+            "command": "killall px4 || true",
            "presentation": {
                "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
+                "reveal": "silent",
                "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                "showReuseMessage": false,
-                "clear": false,
-                "close": true
+                "clear": false
            },
            "problemMatcher": []
        },
@@ -342,12 +337,37 @@
    "inputs": [
        {
            "type": "pickString",
-            "id": "ignWorld",
-            "description": "Ignition world",
+            "id": "vehicleModel",
+            "description": "gazebo model",
            "options": [
-                "default"
+              "iris",
+              "typhoon_h480",
+              "plane",
+              "plane_catapult",
+              "plane_lidar",
+              "standard_vtol",
+              "tailsitter",
+              "tiltrotor",
+              "r1_rover",
+              "boat"
            ],
-            "default": "default"
+            "default": "iris"
+        },
+        {
+            "type": "pickString",
+            "id": "gazeboWorld",
+            "description": "gazebo world",
+            "options": [
+                "baylands",
+                "empty",
+                "ksql_airport",
+                "mcmillan_airfield",
+                "sonoma_raceway",
+                "warehouse",
+                "windy",
+                "yosemite"
+            ],
+            "default": "empty"
        }
    ]
 }
@@ -414,6 +414,7 @@ if(BUILD_TESTING)
 			DEPENDS
 				px4
 				examples__dyn_hello
+				test_mixer_multirotor
 			USES_TERMINAL
 			COMMENT "Running tests"
 			WORKING_DIRECTORY ${PX4_BINARY_DIR})
@@ -26,15 +26,15 @@ pipeline {
        //       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 submodule update --init --recursive --force Tools/sitl_gazebo
+        //       git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/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'
+        //     // test if the binary was correctly installed and runs using 'mavros_posix_silt.launch'
        //     sh '''#!/bin/bash -l
        //       echo $0;
        //       source catkin_ws/devel/setup.bash;
@@ -68,7 +68,7 @@ pipeline {
              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 submodule update --init --recursive --force Tools/sitl_gazebo;
              git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
              source /opt/ros/foxy/setup.sh;
              colcon build --event-handlers console_direct+ --symlink-install;
@@ -297,10 +297,10 @@ pipeline {
            sh('make distclean; git clean -ff -x -d .')
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
-              // 'main' branch
+              // 'master' branch
              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 main || true')
+              sh('cd px4_msgs; git push origin master || true')
              // 'ros1' branch
              sh('cd px4_msgs; git checkout ros1')
              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
@@ -129,59 +129,57 @@ else
 	BUILD_DIR_SUFFIX :=
 endif

-CMAKE_ARGS ?=
-
 # additional config parameters passed to cmake
 ifdef EXTERNAL_MODULES_LOCATION
-	override CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
+	CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
 endif

 ifdef PX4_CMAKE_BUILD_TYPE
-	override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
+	CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
 else

 	# Address Sanitizer
 	ifdef PX4_ASAN
-		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=AddressSanitizer
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=AddressSanitizer
 	endif

 	# Memory Sanitizer
 	ifdef PX4_MSAN
-		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=MemorySanitizer
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=MemorySanitizer
 	endif

 	# Thread Sanitizer
 	ifdef PX4_TSAN
-		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=ThreadSanitizer
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=ThreadSanitizer
 	endif

 	# Undefined Behavior Sanitizer
 	ifdef PX4_UBSAN
-		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
 	endif

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

 endif

 # Pick up specific Python path if set
 ifdef PYTHON_EXECUTABLE
-	override CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
+	CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
 endif

 # Check if the microRTPS agent is to be built
 ifdef BUILD_MICRORTPS_AGENT
-  override CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
+  CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
 endif

 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-	$(eval override CMAKE_ARGS += -DCONFIG=$(1))
+	$(eval CMAKE_ARGS += -DCONFIG=$(1))
 	@$(eval BUILD_DIR = "$(SRC_DIR)/build/$(1)")
 	@# check if the desired cmake configuration matches the cache then CMAKE_CACHE_CHECK stays empty
 	@$(call cmake-cache-check)
@@ -316,13 +314,10 @@ uorb_graphs:
 	@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
 	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph

-px4io_update:
-	@$(MAKE) --no-print-directory px4_io-v2_default
-	@$(MAKE) --no-print-directory cubepilot_io-v2_default
+px4io_update: px4_io-v2_default cubepilot_io-v2_default
 	# px4_io-v2_default
 	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
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21-777/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v2/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v3/extras/px4_io-v2_default.bin
@@ -386,7 +381,7 @@ format:
 .PHONY: rostest python_coverage

 tests:
-	$(eval override CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
+	$(eval CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
 	$(eval ARGS += test_results)
 	$(eval ASAN_OPTIONS += color=always:check_initialization_order=1:detect_stack_use_after_return=1)
 	$(eval UBSAN_OPTIONS += color=always)
@@ -32,6 +32,7 @@
 ############################################################################

 add_subdirectory(init.d)
+add_subdirectory(mixers)
 # TODO: make this configurable from the board config, or better combine
 if("${PX4_BOARD}" MATCHES "sitl")
 	add_subdirectory(init.d-posix)
@@ -30,3 +30,4 @@ param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
+
@@ -9,8 +9,6 @@

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

-PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadx}

 # disable some checks to allow to fly:
 # - with usb
@@ -8,8 +8,6 @@

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

-PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=airplane}

 # disable some checks to allow to fly:
 # - with usb
@@ -8,9 +8,6 @@

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

-PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
-PX4_SIM_MODEL=${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
@@ -9,7 +9,6 @@

 # EKF2
 param set-default EKF2_AID_MASK 2
-param set-default EKF2_GPS_CTRL 0
 param set-default EKF2_EVP_NOISE 0.05
 param set-default EKF2_EVA_NOISE 0.05

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

 # LPE: Vision + baro
 param set-default LPE_FUSION 132
@@ -9,7 +9,6 @@

 # EKF2
 param set-default EKF2_AID_MASK 2
-param set-default EKF2_GPS_CTRL 0

 # LPE: Flow-only mode
 param set-default LPE_FUSION 242
@@ -10,4 +10,3 @@
 # EKF2: Vision velocity and heading
 param set-default EKF2_AID_MASK 272
 param set-default EKF2_EV_DELAY 5
-param set-default EKF2_GPS_CTRL 0
@@ -76,6 +76,8 @@ param set-default NAV_ACC_RAD 5

 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2

@@ -1,48 +0,0 @@
-#!/bin/sh
-#
-# @name Ignition Gazebo X3
-#
-# @type Quadrotor
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=ignition}
-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
-
-param set-default CA_ROTOR0_PX 0.13
-param set-default CA_ROTOR0_PY 0.22
-param set-default CA_ROTOR0_KM  0.05
-
-param set-default CA_ROTOR1_PX -0.13
-param set-default CA_ROTOR1_PY -0.20
-param set-default CA_ROTOR1_KM  0.05
-
-param set-default CA_ROTOR2_PX 0.13
-param set-default CA_ROTOR2_PY -0.22
-param set-default CA_ROTOR2_KM -0.05
-
-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_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_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 MPC_THR_HOVER 0.60
@@ -72,13 +72,9 @@ px4_add_romfs_files(
 	1070_boat
 	3010_quadrotor_x
 	3011_hexarotor_x
-
-	4001_x500
-
 	17001_tf-g1
 	17002_tf-g2
 	2507_cloudship
-
 	6011_typhoon_h480
 	6011_typhoon_h480.post
 )
@@ -32,7 +32,7 @@ mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $ud
 mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote

 # To display for SIH sitl
-if [ "$PX4_SIMULATOR" = "sihsim" ]; then
+if [ "$SIM_MODE" = "sihsim" ]; then
 	udp_sihsim_port_local=$((19450+px4_instance))
 	udp_sihsim_port_remote=$((19410+px4_instance))
 	mavlink start -x -u $udp_sihsim_port_local -r 400000 -m custom -o $udp_sihsim_port_remote
@@ -1,4 +1,5 @@
 #!/bin/sh
 # shellcheck disable=SC2154

-micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
+#micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
+microdds_client start -t udp -p 15555
@@ -1,98 +1,20 @@
 #!/bin/sh
 # shellcheck disable=SC2154

-# Simulator IMU data provided at 250 Hz
-param set-default IMU_INTEG_RATE 250
-
-if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then
-
-	if simulator_sih start; then
-
-		sensor_baro_sim start
-		sensor_gps_sim start
-		sensor_mag_sim start
-
-	else
-		echo "ERROR  [init] simulator_sih failed to start"
-		exit 1
-	fi
-
-elif [ "$PX4_SIMULATOR" = "ignition" ]; then
-
-	# source generated gazebo_env.sh for IGN_GAZEBO_RESOURCE_PATH
-	if [ -f gazebo_env.sh ]; then
-		. ./gazebo_env.sh
-	elif [ -f ../gazebo_env.sh ]; then
-		. ../gazebo_env.sh
-	fi
-
-	ign_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
-
-	if [ -z $ign_world ]; then
-
-		# starting ign gazebo with ${PX4_SIM_WORLD} world
-		echo "INFO  [init] starting ign gazebo"
-
-		ign gazebo --verbose=1 -r -s "${PX4_IGN_GAZEBO_WORLDS}/${PX4_SIM_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
-	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 "${PX4_SIM_WORLD}"; then
-			sensor_baro_sim start
-			sensor_gps_sim start
-			sensor_mag_sim start
-		else
-			echo "ERROR  [init] ign gazebo failed to start"
-			exit 1
-		fi
-	else
-
-		# Clean potential input line formatting.
-		model_pose="$( 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
-
-	fi
+simulator_tcp_port=$((4560+px4_instance))

+# Check if PX4_SIM_HOSTNAME environment variable is empty
+# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
+# If both are empty use localhost for simulator
+if [ -z "${PX4_SIM_HOSTNAME}" ]; then
+  if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
+    echo "PX4 SIM HOST: localhost"
+    simulator start -c $simulator_tcp_port
+  else
+    echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
+    simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
+  fi
 else
-	# otherwise start simulator (mavlink) module
-	simulator_tcp_port=$((4560+px4_instance))
-
-	# Check if PX4_SIM_HOSTNAME environment variable is empty
-	# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
-	# If both are empty use localhost for simulator
-	if [ -z "${PX4_SIM_HOSTNAME}" ]; then
-
-		if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
-			echo "PX4 SIM HOST: localhost"
-			simulator_mavlink start -c $simulator_tcp_port
-		else
-			echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
-			simulator_mavlink start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
-		fi
-
-	else
-		echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
-		simulator_mavlink start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
-	fi
-
+  echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
+  simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
 fi
@@ -1,9 +1,6 @@
 #!/bin/sh

-# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
-set +e
-# Un comment the line below to help debug scripts by printing a trace of the script commands
-#set -x
+set -e

 # PX4 commands need the 'px4-' prefix in bash.
 # (px4-alias.sh is expected to be in the PATH)
@@ -26,92 +23,69 @@ then
 fi

 # initialize script variables
+set IO_PRESENT                  no
+set MIXER                       skip
+set MIXER_AUX                   none
+set MIXER_FILE                  none
+set OUTPUT_MODE                 sim
+set EXTRA_MIXER_MODE            none
+set PWM_OUT                     none
+set SDCARD_MIXERS_PATH          etc/mixers
+set USE_IO                      no
 set VEHICLE_TYPE                none
 set LOGGER_ARGS                 ""
 set LOGGER_BUF                  1000

 set RUN_MINIMAL_SHELL           no

-set SYS_AUTOSTART=0
-
-if [ "$PX4_SIM_MODEL" = "shell" ]
-then
+# Use the variable set by sitl_run.sh to choose the model settings.
+if [ "$PX4_SIM_MODEL" = "shell" ]; then
 	set RUN_MINIMAL_SHELL yes
-
-elif [ -n "$PX4_SYS_AUTOSTART" ]
-then
-	echo "env SYS_AUTOSTART: ${PX4_SYS_AUTOSTART}"
-	SYS_AUTOSTART=${PX4_SYS_AUTOSTART}
-
-elif [ "$PX4_SIM_MODEL" = "none" ] || [ -z $PX4_SIM_MODEL ]
-then
-	# no airframe selected
-	SYS_AUTOSTART=0
-
-elif [ -n "$PX4_SIM_MODEL" ]
-then
+else
 	# Find the matching Autostart ID (file name has the form: [0-9]+_${PX4_SIM_MODEL})
 	# TODO: unify with rc.autostart generation
 	# shellcheck disable=SC2012
 	REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
 	if [ -z "$REQUESTED_AUTOSTART" ]; then
-		echo "ERROR [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
+		echo "ERROR  [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
 		exit 1
 	else
-		SYS_AUTOSTART=$REQUESTED_AUTOSTART
 		echo "INFO  [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
 	fi
 fi

 # Load parameters
-set PARAM_FILE parameters.bson
-set PARAM_BACKUP_FILE parameters_backup.bson
-
+set PARAM_FILE eeprom/parameters_"$REQUESTED_AUTOSTART"
 param select $PARAM_FILE
-if [ -f $PARAM_FILE ]; then

-	if ! param import
+if [ -f $PARAM_FILE ]
+then
+	if param load
 	then
-		echo "ERROR [init] param import failed"
-
-		param dump $PARAM_FILE
-
-		# try to make a backup copy
-		cp $PARAM_FILE param_import_fail.bson
-
-		# try importing from backup file
-		if [ -f $PARAM_BACKUP_FILE ]
-		then
-			echo "[init] importing from parameter backup"
-
-			# dump current backup file contents for comparison
-			param dump $PARAM_BACKUP_FILE
-
-			param import $PARAM_BACKUP_FILE
-
-			# overwrite invalid $PARAM_FILE with backup
-			cp $PARAM_BACKUP_FILE $PARAM_FILE
-		fi
-
-		param status
+		echo "[param] Loaded: $PARAM_FILE"
+	else
+		echo "[param] FAILED loading $PARAM_FILE"
 	fi
-
-elif [ -f $PARAM_BACKUP_FILE ]; then
-	echo "ERROR [init] primary param file $PARAM_FILE unavailable, using backup $PARAM_BACKUP_FILE"
-	param import $PARAM_BACKUP_FILE
+else
+	echo "[param] parameter file not found, creating $PARAM_FILE"
 fi

-param select-backup $PARAM_BACKUP_FILE
-
-
 # exit early when the minimal shell is requested
 [ $RUN_MINIMAL_SHELL = yes ] && exit 0

-if param compare SYS_AUTOSTART $SYS_AUTOSTART
-then
-	set AUTOCNF no

-elif [ "$SYS_AUTOSTART" -eq 0 ]
+# Use environment variable PX4_ESTIMATOR to choose estimator.
+if [ "$PX4_ESTIMATOR" = "q" ]; then
+	param set SYS_MC_EST_GROUP 3
+elif [ "$PX4_ESTIMATOR" = "ekf2" ]; then
+	param set SYS_MC_EST_GROUP 2
+elif [ "$PX4_ESTIMATOR" = "lpe" ]; then
+	param set SYS_MC_EST_GROUP 1
+elif [ "$PX4_ESTIMATOR" = "inav" ]; then
+	param set SYS_MC_EST_GROUP 0
+fi
+
+if param compare SYS_AUTOSTART $REQUESTED_AUTOSTART
 then
 	set AUTOCNF no
 else
@@ -132,7 +106,7 @@ param set MAV_SYS_ID $((px4_instance+1))

 if [ $AUTOCNF = yes ]
 then
-	param set SYS_AUTOSTART $SYS_AUTOSTART
+	param set SYS_AUTOSTART $REQUESTED_AUTOSTART

 	param set CAL_ACC0_ID  1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
 	param set CAL_GYRO0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
@@ -169,7 +143,6 @@ param set-default EKF2_MULTI_MAG 2
 param set-default SENS_MAG_MODE 0

 param set-default IMU_GYRO_FFT_EN 1
-param set-default MAV_PROTO_VER 2 # Ensures QGC does not drop the first few packets after a SITL restart due to MAVLINK 1 packets

 param set-default -s MC_AT_EN 1

@@ -217,28 +190,28 @@ do
 			;;
 	esac
 done
-
-if [ -e "$autostart_file" ]
-then
-	. "$autostart_file"
-
-elif [ ! -e "$autostart_file" ] && [ "$SYS_AUTOSTART" -ne "0" ]
-then
+if [ ! -e "$autostart_file" ]; then
 	echo "Error: no autostart file found ($autostart_file)"
 	exit 1
 fi

+. "$autostart_file"
+
+# Simulator IMU data provided at 250 Hz
+param set IMU_INTEG_RATE 250
+
 #user defined params for instances can be in PATH
 . px4-rc.params

 dataman start
-
+# start sih in sih_sim mode, otherwise simulator module
+if [ "$SIM_MODE" = "sihsim" ]; then
+	sih start
 # only start the simulator if not in replay mode, as both control the lockstep time
-if ! replay tryapplyparams
+elif ! replay tryapplyparams
 then
-	. px4-rc.simulator
+  . px4-rc.simulator
 fi
-
 load_mon start
 battery_simulator start
 tone_alarm start
@@ -247,18 +220,20 @@ manual_control start
 sensors start
 commander start

-if ! pwm_out_sim start -m sim
-then
-	tune_control play error
-fi
-
-#
 # Configure vehicle type specific parameters.
-# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.
+# Note: rc.vehicle_setup is the entry point for rc.interface,
+#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
+#
 . ${R}etc/init.d/rc.vehicle_setup

 navigator start

+# Try to start the microdds_client with UDP transport if module exists
+if px4-microdds_client status > /dev/null 2>&1
+then
+	microdds_client start -t udp -p 15555
+fi
+
 # Try to start the micrortps_client with UDP transport if module exists
 if px4-micrortps_client status > /dev/null 2>&1
 then
@@ -286,12 +261,6 @@ then
 	gyro_calibration start
 fi

-# Payload deliverer module if gripper is enabled
-if param compare -s PD_GRIPPER_EN 1
-then
-	payload_deliverer start
-fi
-
 #user defined mavlink streams for instances can be in PATH
 . px4-rc.mavlink

@@ -41,7 +41,7 @@ px4_add_romfs_files(
 	rc.boat_defaults
 	rc.fw_apps
 	rc.fw_defaults
-	rc.heli_defaults
+	rc.interface
 	rc.logging
 	rc.mc_apps
 	rc.mc_defaults
@@ -55,6 +55,8 @@ param set-default RTL_RETURN_ALT 30
 param set-default SDLOG_DIRS_MAX 7

 param set-default VT_F_TRANS_THR 0.75
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_TYPE 2

 param set-default CA_AIRFRAME 2
@@ -99,6 +99,8 @@ param set-default MPC_YAWRAUTO_MAX 20

 param set-default NAV_LOITER_RAD 100

+param set-default PWM_AUX_DISARM 950
+
 param set-default PWM_MAIN_DIS5 1500
 param set-default PWM_MAIN_DIS6 1500
 param set-default PWM_MAIN_DIS7 900
@@ -114,6 +116,8 @@ param set-default MAV_1_FORWARD 1
 param set-default SER_TEL2_BAUD 57600

 param set-default VT_TYPE 2
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_F_TRANS_THR 1
 param set-default VT_PITCH_MIN 8
 param set-default VT_FW_QC_P 55
@@ -122,6 +126,7 @@ param set-default VT_TRANS_MIN_TM 15
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_FWD_THRUST_SC 4
 param set-default VT_F_TRANS_DUR 1
+param set-default VT_IDLE_PWM_MC 1025
 param set-default VT_B_REV_OUT 0.5
 param set-default VT_B_TRANS_THR 0.7
 param set-default VT_TRANS_TIMEOUT 22
@@ -76,6 +76,7 @@ param set-default NAV_ACC_RAD 3

 param set-default PWM_MAIN_DIS3 1000
 param set-default PWM_MAIN_MIN3 1120
+param set-default PWM_MAIN_MIN 950

 param set-default SENS_BOARD_ROT 4

@@ -85,7 +86,10 @@ param set-default VT_B_DEC_MSS 1.5
 param set-default VT_B_TRANS_DUR 12
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_FWD_THRUST_SC 1.2
+param set-default VT_FW_MOT_OFFID 5678
 param set-default VT_F_TR_OL_TM 8
+param set-default VT_IDLE_PWM_MC 1000
+param set-default VT_MOT_ID 5678
 param set-default VT_PSHER_RMP_DT 2
 param set-default VT_TRANS_MIN_TM 4
 param set-default VT_TYPE 2
@@ -16,7 +16,10 @@

 param set-default MAV_TYPE 21

+param set-default VT_IDLE_PWM_MC 1100
 param set-default VT_TYPE 1
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 24

 param set-default CA_AIRFRAME 3
 param set-default CA_ROTOR_COUNT 4
@@ -1,27 +1,55 @@
 #!/bin/sh
 #
-# @name Generic Helicopter (Tail ESC)
+# @name Blade 130X
 #
 # @type Helicopter
 # @class Copter
 #
+# @maintainer Bart Slinger <bartslinger@gmail.com>
+#
+# @output Motor1 main motor
+# @output Servo1 front swashplate servo
+# @output Servo2 right swashplate servo
+# @output Servo3 left swashplate servo
+# @output Servo4 tail-rotor servo
+#
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.heli_defaults
+. ${R}etc/init.d/rc.mc_defaults
+
+# Configure as helicopter
+param set-default MAV_TYPE 4


-# Disable PID gains for initial setup. These should be enabled after setting the FF gain.
-# P is expected to be lower than FF.
+
+param set-default ATT_BIAS_MAX 0
+
+param set-default CBRK_IO_SAFETY 22027
+
+param set-default MC_ROLL_P 5
 param set-default MC_ROLLRATE_P 0
 param set-default MC_ROLLRATE_I 0
 param set-default MC_ROLLRATE_D 0
-param set-default MC_ROLLRATE_FF 0.1
+param set-default MC_ROLLRATE_FF 0.15
 param set-default MC_PITCHRATE_P 0
 param set-default MC_PITCHRATE_I 0
 param set-default MC_PITCHRATE_D 0
-param set-default MC_PITCHRATE_FF 0.1
+param set-default MC_PITCHRATE_FF 0.15
+param set-default MC_YAW_P 3
+param set-default MC_YAWRATE_P 0.1
+param set-default MC_YAWRATE_I 0
+param set-default MC_ROLLRATE_MAX 720
+param set-default MC_PITCHRATE_MAX 720
+param set-default MC_YAWRATE_MAX 400
+param set-default MC_ACRO_R_MAX 360
+param set-default MC_ACRO_P_MAX 360
+
+param set-default MPC_THR_MIN 0.06
+param set-default MPC_MANTHR_MIN 0.06
+
+param set-default PWM_MAIN_MIN 1075

 param set-default CA_AIRFRAME 10

@@ -24,6 +24,9 @@
 param set-default BAT1_CAPACITY 3300
 param set-default BAT1_N_CELLS 3

+param set-default PWM_AUX_RATE 50
+param set-default PWM_MAIN_RATE 50
+
 param set-default SENS_BOARD_ROT 4

 param set-default FW_AIRSPD_MAX 20
@@ -60,6 +60,7 @@ 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
@@ -80,6 +81,9 @@ param set-default CP_GO_NO_DATA 1
 # Navigator Parameters
 param set-default NAV_ACC_RAD 2

+# use oneshot motor output protocol
+param set-default PWM_MAIN_RATE 0
+
 # RTL Parameters
 param set-default RTL_DESCEND_ALT 5
 param set-default RTL_RETURN_ALT 5
@@ -1,35 +0,0 @@
-#!/bin/sh
-#
-# @name Holybro X500 V2
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @maintainer Farhang Naderi <farhang.nba@gmail.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default IMU_GYRO_CUTOFF 30
-
-param set-default MC_ROLLRATE_P 0.14
-param set-default MC_PITCHRATE_P 0.14
-param set-default MC_ROLLRATE_I 0.3
-param set-default MC_PITCHRATE_I 0.3
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_PITCHRATE_D 0.004
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.25
-param set-default CA_ROTOR0_PY 0.25
-param set-default CA_ROTOR1_PX -0.25
-param set-default CA_ROTOR1_PY -0.25
-param set-default CA_ROTOR2_PX 0.25
-param set-default CA_ROTOR2_PY -0.25
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.25
-param set-default CA_ROTOR3_PY 0.25
-param set-default CA_ROTOR3_KM -0.05
@@ -42,6 +42,8 @@ param set-default MC_YAW_P 4
 param set-default MPC_MANTHR_MIN 0
 param set-default MPC_MAN_TILT_MAX 60

+param set-default DSHOT_CONFIG 600
+
 param set-default SYS_HAS_BARO 0
 param set-default SYS_HAS_MAG 0

@@ -26,6 +26,7 @@ param set-default MC_ROLLRATE_MAX 1600
 param set-default MC_PITCHRATE_MAX 1600
 param set-default MC_YAWRATE_MAX 1000

+param set-default MPC_MANTHR_MIN 0
 param set-default MPC_MAN_TILT_MAX 60

 param set-default THR_MDL_FAC 0.3
@@ -44,6 +44,8 @@ param set-default MPC_THR_HOVER 0.25
 param set-default MPC_THR_MIN 0.05
 param set-default MPC_Z_VEL_I_ACC 1.7

+param set-default PWM_MAIN_MIN 1050
+
 param set-default THR_MDL_FAC 0.3

 param set-default CA_ROTOR_COUNT 4
@@ -73,7 +73,7 @@ param set-default EKF2_PCOEF_YN -0.4
 param set-default EKF2_PCOEF_YP -0.4

 param set-default EKF2_RNG_A_VMAX 1.0
-param set-default EKF2_RNG_CTRL 0
+param set-default EKF2_RNG_AID 0
 param set-default EKF2_RNG_DELAY 55
 param set-default EKF2_RNG_POS_X -0.035
 param set-default EKF2_RNG_POS_Y 0.0
@@ -32,12 +32,13 @@ param set-default IMU_DGYRO_CUTOFF 90
 param set-default IMU_GYRO_CUTOFF 100

 # System
+param set-default PWM_MAIN_MIN 1100

 param set-default SENS_BOARD_ROT 10

 # EKF2
 param set-default EKF2_GND_EFF_DZ 6
-param set-default EKF2_HGT_REF 1
+param set-default EKF2_HGT_MODE 1

 # Position control
 param set-default MPC_Z_P 1
@@ -42,7 +42,7 @@ param set-default SENS_EN_BATT 1
 # EKF2
 param set-default EKF2_AID_MASK 3
 param set-default EKF2_GND_EFF_DZ 6
-param set-default EKF2_HGT_REF 1
+param set-default EKF2_HGT_MODE 1
 param set-default EKF2_MIN_RNG 0.3

 # Flow
@@ -26,8 +26,7 @@ param set-default COM_RC_IN_MODE 1

 param set-default EKF2_ABL_LIM 2
 param set-default EKF2_AID_MASK 3
-param set-default EKF2_HGT_REF 2
-param set-default EKF2_RNG_CTRL 2
+param set-default EKF2_HGT_MODE 2
 param set-default EKF2_MAG_TYPE 1
 param set-default EKF2_OF_DELAY 10

@@ -20,7 +20,6 @@
 param set-default SYS_MC_EST_GROUP 2
 param set-default SYS_HAS_MAG 0
 param set-default EKF2_AID_MASK 2
-param set-default EKF2_GPS_CTRL 0
 param set-default EKF2_MAG_TYPE 5

 param set-default BAT1_N_CELLS 1
@@ -61,6 +61,7 @@ param set-default IMU_GYRO_CUTOFF 100
 param set-default THR_MDL_FAC 0.25

 # System
+param set-default PWM_MAIN_MIN 1100
 param set-default PWM_MAIN_DIS5 980
 param set-default PWM_MAIN_DIS6 980

@@ -70,7 +71,7 @@ param set-default MIS_TAKEOFF_ALT 1.1
 # EKF
 #####################################
 # Height mode as GPS
-param set-default EKF2_HGT_REF 1
+param set-default EKF2_HGT_MODE 1
 # Enable optical flow and GPS
 param set-default EKF2_MAG_TYPE 1
 param set-default EKF2_OF_QMIN 80
@@ -56,7 +56,6 @@ px4_add_romfs_files(
 	4015_holybro_s500
 	4016_holybro_px4vision
 	4017_nxp_hovergames
-	4019_x500_v2
 	4040_reaper
 	4041_beta75x
 	4050_generic_250
@@ -48,10 +48,13 @@ fi
 #                        End Estimator Group Selection                        #
 ###############################################################################

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

 #
 # Start Airship Attitude Controller.
@@ -9,3 +9,9 @@ set VEHICLE_TYPE airship

 # MAV_TYPE_AIRSHIP 7
 param set-default MAV_TYPE 7
+
+#
+# This is the gimbal pass mixer.
+#
+set MIXER_AUX pass
+set PWM_AUX_OUT 1234
@@ -2,6 +2,7 @@
 #
 # External airframe startup script (on SD card)
 #
+set SDCARD_MIXERS_PATH ${SDCARD_EXT_PATH}/mixers

 if [ -e ${SDCARD_EXT_PATH}/rc.autostart ]
 then
@@ -20,3 +20,22 @@ param set-default NAV_ACC_RAD 2

 # Temporary.
 param set-default NAV_FW_ALT_RAD 1000
+
+#
+# Enable servo output on pins 3 and 4 (steering and thrust)
+# but also include 1+2 as they form together one output group
+# and need to be set together.
+#
+set PWM_OUT 1234
+
+#
+# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
+# may damage analog servos.
+#
+set PWM_MAIN_RATE 50
+
+#
+# This is the gimbal pass mixer.
+#
+set MIXER_AUX pass
+set PWM_AUX_OUT 1234
@@ -10,10 +10,13 @@
 #
 ekf2 start &

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

 #
 # Start attitude controller.
@@ -46,7 +46,17 @@ param set-default MIS_DIST_WPS 5000
 param set-default MIS_LTRMIN_ALT 25
 param set-default MIS_TAKEOFF_ALT 25

+param set-default PWM_MAIN_RATE 50
+
 #
 # FW takeoff acceleration can easily exceed ublox GPS 2G default.
 #
 param set-default GPS_UBX_DYNMODEL 8
+
+#
+# This is the gimbal pass mixer.
+#
+set MIXER_AUX pass
+
+set PWM_AUX_RATE 50
+set PWM_AUX_OUT 1234
@@ -1,17 +0,0 @@
-#!/bin/sh
-#
-# Helicopter default parameters.
-#
-# NOTE: Script variables are declared/initialized/unset in the rcS script.
-#
-
-# Inherit from mc
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default MAV_TYPE 4
-
-param set-default COM_PREARM_MODE 2
-param set-default COM_SPOOLUP_TIME 10
-
-# No need for minimum collective pitch (or airmode) to keep torque authority
-param set-default MPC_MANTHR_MIN 0
@@ -0,0 +1,284 @@
+#!/bin/sh
+#
+# Script to configure control interfaces.
+#
+#
+# NOTE: environment variable references:
+#  If the dollar sign ('$') is followed by a left bracket ('{') then the
+#  variable name is terminated with the right bracket character ('}').
+#  Otherwise, the variable name goes to the end of the argument.
+#
+
+set OUTPUT_CMD pwm_out
+set MIXER_AUX_FILE none
+set MIXER_EXTRA_FILE none
+
+set OUTPUT_DEV none
+set OUTPUT_AUX_DEV /dev/pwm_output1
+set OUTPUT_EXTRA_DEV /dev/pwm_output0
+
+# set these before starting the modules
+if [ $PWM_AUX_OUT != none ]
+then
+
+	param set PWM_AUX_OUT ${PWM_AUX_OUT}
+fi
+
+
+if [ $PWM_OUT != none ]
+then
+	param set PWM_MAIN_OUT ${PWM_OUT}
+fi
+
+#
+# If mount (gimbal) control is enabled and output mode is AUX, set the aux
+# mixer to mount (override the airframe-specific MIXER_AUX setting).
+#
+if param greater -s MNT_MODE_IN -1
+then
+        if param compare -s MNT_MODE_OUT 0
+        then
+                set MIXER_AUX mount
+        fi
+fi
+
+#
+# Set the default output mode if none was set.
+#
+if [ $OUTPUT_MODE = none -a $OUTPUT_MODE != skip ]
+then
+	if [ $USE_IO = yes ]
+	then
+		# Enable IO output only if IO is present.
+		if [ $IO_PRESENT = yes ]
+		then
+			set OUTPUT_MODE io
+			if param greater -s DSHOT_CONFIG 0
+			then
+				set OUTPUT_CMD dshot
+			fi
+		fi
+	else
+		if param greater -s DSHOT_CONFIG 0
+		then
+			set OUTPUT_MODE dshot
+			set OUTPUT_CMD dshot
+		else
+			set OUTPUT_MODE pwm_out
+		fi
+	fi
+fi
+
+#
+# If OUTPUT_MODE = none then something is wrong with setup and we shouldn't try to enable output.
+#
+if [ $OUTPUT_MODE != none -a $OUTPUT_MODE != skip ]
+then
+
+	if [ $OUTPUT_MODE = hil -o $OUTPUT_MODE = sim ]
+	then
+		if ! pwm_out_sim start -m $OUTPUT_MODE
+		then
+			tune_control play error
+		fi
+	fi
+
+	if [ $OUTPUT_MODE = uavcan_esc ]
+	then
+		if param compare UAVCAN_ENABLE 0
+		then
+			param set UAVCAN_ENABLE 3
+		fi
+	fi
+
+	#
+	# Start IO for PWM output or RC input if needed.
+	#
+	if [ $IO_PRESENT = yes ]
+	then
+		if ! px4io start
+		then
+			echo "PX4IO start failed"
+			tune_control play -t 18 # PROG_PX4IO_ERR
+		fi
+	fi
+
+	if [ $OUTPUT_MODE = $OUTPUT_CMD -o $OUTPUT_MODE = io ]
+	then
+		if param compare SYS_CTRL_ALLOC 1
+		then
+			pwm_out start
+			dshot start
+		else
+			if ! $OUTPUT_CMD start
+			then
+				echo "$OUTPUT_CMD start failed"
+				tune_control play error
+			fi
+		fi
+	fi
+fi
+
+if [ $MIXER != none -a $MIXER != skip ]
+then
+	#
+	# Load main mixer.
+	#
+	if [ $MIXER_AUX = none -a $USE_IO = yes ]
+	then
+		set MIXER_AUX ${MIXER}
+	fi
+
+	if [ "$MIXER_FILE" = none ]
+	then
+		if [ -f ${SDCARD_MIXERS_PATH}/${MIXER}.main.mix ]
+		then
+			# Use the mixer file from the SD-card if it exists.
+			set MIXER_FILE ${SDCARD_MIXERS_PATH}/${MIXER}.main.mix
+		else
+			# Try out the old convention, for backward compatibility.
+			if [ -f ${SDCARD_MIXERS_PATH}/${MIXER}.mix ]
+			then
+				set MIXER_FILE ${SDCARD_MIXERS_PATH}/${MIXER}.mix
+			else
+				set MIXER_FILE /etc/mixers/${MIXER}.main.mix
+			fi
+		fi
+	fi
+
+	set OUTPUT_DEV /dev/pwm_output0
+
+	if [ $OUTPUT_MODE = uavcan_esc ]
+	then
+		set OUTPUT_DEV /dev/uavcan/esc
+	fi
+
+	if mixer load ${OUTPUT_DEV} ${MIXER_FILE}
+	then
+		echo "INFO  [init] Mixer: ${MIXER_FILE} on ${OUTPUT_DEV}"
+
+	else
+		echo "ERROR  [init] Failed loading mixer: ${MIXER_FILE}"
+		tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
+	fi
+
+else
+	if [ $MIXER != skip ]
+	then
+		echo "ERROR  [init] Mixer undefined"
+		tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
+	fi
+fi
+
+if [ $MIXER_AUX != none ]
+then
+	#
+	# Load aux mixer.
+	#
+	if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix ]
+	then
+		set MIXER_AUX_FILE ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix
+	else
+
+		if [ -f /etc/mixers/${MIXER_AUX}.aux.mix ]
+		then
+			set MIXER_AUX_FILE /etc/mixers/${MIXER_AUX}.aux.mix
+		fi
+	fi
+
+	if [ $MIXER_AUX_FILE != none ]
+	then
+		# Append aux mixer to main device.
+		if param greater SYS_HITL 0
+		then
+			if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
+			then
+				echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
+			else
+				echo "ERROR  [init] Failed appending mixer: ${MIXER_AUX_FILE}"
+			fi
+		fi
+		if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
+		then
+			if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
+			then
+				echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
+			else
+				echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
+			fi
+		else
+			echo "INFO  [init] setting PWM_AUX_OUT none"
+			set PWM_AUX_OUT none
+		fi
+
+		# for DShot do not configure pwm values
+		if [ $OUTPUT_CMD != dshot ]
+		then
+			# Set min / max for aux out and rates.
+			if [ $PWM_AUX_OUT != none ]
+			then
+				# Set PWM_AUX output frequency.
+				if [ $PWM_AUX_RATE != none ]
+				then
+					pwm rate -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
+				fi
+			fi
+		fi
+	fi
+fi
+
+if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
+then
+	if [ $PWM_OUT != none -a $PWM_MAIN_RATE != none ]
+	then
+		# Set PWM output frequency.
+		if ! param compare SYS_CTRL_ALLOC 1
+		then
+			pwm rate -c ${PWM_OUT} -r ${PWM_MAIN_RATE}
+		fi
+	fi
+fi
+
+if [ $EXTRA_MIXER_MODE != none ]
+then
+
+	if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.aux.mix ]
+	then
+		# Use the mixer file from the SD-card if it exists.
+		set MIXER_EXTRA_FILE ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.aux.mix
+	else
+		# Try out the old convention, for backward compatibility.
+		if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.mix ]
+		then
+			set MIXER_EXTRA_FILE ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.mix
+		else
+			set MIXER_EXTRA_FILE /etc/mixers/${MIXER_EXTRA}.aux.mix
+		fi
+	fi
+
+
+	if mixer load ${OUTPUT_EXTRA_DEV} ${MIXER_EXTRA_FILE}
+	then
+		echo "INFO  [init] Mixer: ${MIXER_EXTRA_FILE} on ${OUTPUT_EXTRA_DEV}"
+	else
+		echo "ERROR  [init] Failed loading mixer: ${MIXER_EXTRA_FILE}"
+		tune_control play -t 20
+	fi
+
+	if [ $PWM_EXTRA_OUT != none ]
+	then
+		# Set PWM output frequency.
+		if [ $PWM_EXTRA_RATE != none ]
+		then
+			pwm rate -c ${PWM_EXTRA_OUT} -r ${PWM_EXTRA_RATE}
+		fi
+	fi
+fi
+
+unset OUTPUT_CMD
+unset MIXER_AUX_FILE
+unset MIXER_EXTRA_FILE
+
+unset OUTPUT_DEV
+unset OUTPUT_AUX_DEV
+unset OUTPUT_EXTRA_DEV
@@ -48,10 +48,13 @@ fi
 #                        End Estimator Group Selection                        #
 ###############################################################################

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

 #
 # Start Multicopter Rate Controller.
@@ -20,4 +20,19 @@ param set-default NAV_ACC_RAD 2
 param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10

+param set-default PWM_MAIN_MAX 1950
+param set-default PWM_MAIN_MIN 1075
+param set-default PWM_MAIN_RATE 400
+
 param set-default GPS_UBX_DYNMODEL 6
+
+#
+# This is the gimbal pass mixer.
+#
+set MIXER_AUX pass
+
+set MIXER quad_x
+
+set PWM_OUT 1234
+
+set PWM_AUX_OUT 1234
@@ -12,10 +12,13 @@ ekf2 start &
 #attitude_estimator_q start
 #local_position_estimator start

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

 #
 # Start attitude controllers.
@@ -21,3 +21,22 @@ param set-default NAV_LOITER_RAD 2

 # Temporary.
 param set-default NAV_FW_ALT_RAD 1000
+
+#
+# Enable servo output on pins 3 and 4 (steering and thrust)
+# but also include 1+2 as they form together one output group
+# and need to be set together.
+#
+set PWM_OUT 1234
+
+#
+# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
+# may damage analog servos.
+#
+set PWM_MAIN_RATE 50
+
+#
+# This is the gimbal pass mixer.
+#
+set MIXER_AUX pass
+set PWM_AUX_OUT 1234
@@ -15,10 +15,13 @@ ekf2 start &
 #                        End Estimator Group Selection                        #
 ###############################################################################

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

 #
 # Start UUV Attitude Controller.
@@ -9,3 +9,24 @@ set VEHICLE_TYPE uuv

 # MAV_TYPE_SUBMARINE 12
 param set-default MAV_TYPE 12
+
+param set-default PWM_MAIN_MAX 1950
+param set-default PWM_MAIN_MIN 1050
+param set-default PWM_MAIN_DISARM 1500
+
+#
+# PWM Hz - 50 Hz is the normal rate in RC cars, boats etc,
+# higher rates may damage analog servos.
+#
+set PWM_MAIN_RATE 50
+
+#
+# Enable servo output on pins 1-4
+set PWM_OUT 1234
+
+#
+# This is the gimbal pass mixer.
+#
+set MIXER_AUX pass
+set PWM_AUX_OUT 1234
+set PWM_AUX_RATE 50
@@ -10,6 +10,14 @@
 #
 if [ $VEHICLE_TYPE = fw ]
 then
+	if [ $MIXER = none ]
+	then
+		echo "FW mixer undefined"
+	fi
+
+	# Load mixer and configure outputs.
+	. ${R}etc/init.d/rc.interface
+
 	# Start standard fixedwing apps.
 	. ${R}etc/init.d/rc.fw_apps
 fi
@@ -19,6 +27,14 @@ fi
 #
 if [ $VEHICLE_TYPE = mc ]
 then
+	if [ $MIXER = none ]
+	then
+		echo "MC mixer undefined"
+	fi
+
+	# Load mixer and configure outputs.
+	. ${R}etc/init.d/rc.interface
+
 	# Start standard multicopter apps.
 	. ${R}etc/init.d/rc.mc_apps
 fi
@@ -28,6 +44,14 @@ fi
 #
 if [ $VEHICLE_TYPE = rover ]
 then
+	if [ $MIXER = none ]
+	then
+		echo "rover mixer undefined"
+	fi
+
+	# Load mixer and configure outputs.
+	. ${R}etc/init.d/rc.interface
+
 	# Start standard UGV apps.
 	. ${R}etc/init.d/rc.rover_apps
 fi
@@ -37,6 +61,14 @@ fi
 #
 if [ $VEHICLE_TYPE = vtol ]
 then
+	if [ $MIXER = none ]
+	then
+		echo "VTOL mixer undefined"
+	fi
+
+	# Load mixer and configure outputs.
+	. ${R}etc/init.d/rc.interface
+
 	# Start standard vtol apps.
 	. ${R}etc/init.d/rc.vtol_apps
 fi
@@ -46,6 +78,14 @@ fi
 #
 if [ $VEHICLE_TYPE = airship ]
 then
+	if [ $MIXER = none ]
+	then
+		echo "Airship mixer undefined"
+	fi
+
+	# Load mixer and configure outputs.
+	. ${R}etc/init.d/rc.interface
+
 	# Start airship apps.
 	. ${R}etc/init.d/rc.airship_apps
 fi
@@ -55,6 +95,14 @@ fi
 #
 if [ $VEHICLE_TYPE = uuv ]
 then
+	if [ $MIXER = none ]
+	then
+		echo "UUV mixer undefined"
+	fi
+
+	# Load mixer and configure outputs.
+	. ${R}etc/init.d/rc.interface
+
 	# Start standard vtol apps.
 	. ${R}etc/init.d/rc.uuv_apps
 fi
@@ -15,10 +15,13 @@ ekf2 start &
 #                        End Estimator group selection                        #
 ###############################################################################

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

 airspeed_selector start

@@ -36,6 +36,9 @@ param set-default MC_YAW_P 2
 param set-default MC_YAWRATE_MAX 120
 param set-default MPC_MAN_Y_MAX 90

+param set-default PWM_AUX_RATE 50
+param set-default PWM_MAIN_RATE 400
+
 param set-default RTL_TYPE 1

 param set-default WV_EN 1
@@ -25,15 +25,29 @@ set FCONFIG /fs/microsd/etc/config.txt
 set FEXTRAS /fs/microsd/etc/extras.txt
 set FRC /fs/microsd/etc/rc.txt
 set IOFW "/etc/extras/px4_io-v2_default.bin"
+set IO_PRESENT no
 set LOGGER_ARGS ""
 set LOGGER_BUF 8
+set MIXER skip
+set MIXER_AUX none
+set MIXER_FILE none
+set MIXER_EXTRA none
+set OUTPUT_MODE none
 set PARAM_FILE ""
-set PARAM_BACKUP_FILE ""
+set PWM_OUT none
+set PWM_MAIN_RATE p:PWM_MAIN_RATE
+set PWM_AUX_OUT none
+set PWM_AUX_RATE p:PWM_AUX_RATE
+set PWM_EXTRA_OUT none
+set PWM_EXTRA_RATE p:PWM_EXTRA_RATE
+set EXTRA_MIXER_MODE none
 set RC_INPUT_ARGS ""
 set SDCARD_AVAILABLE no
 set SDCARD_EXT_PATH /fs/microsd/ext_autostart
 set SDCARD_FORMAT no
+set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
 set STARTUP_TUNE 1
+set USE_IO no
 set VEHICLE_TYPE none

 #
@@ -94,7 +108,6 @@ then
 	fi

 	set PARAM_FILE /fs/microsd/params
-	set PARAM_BACKUP_FILE "/fs/microsd/parameters_backup.bson"
 fi

 #
@@ -134,32 +147,27 @@ else

 		if [ -d "/fs/microsd" ]
 		then
-			# try to make a backup copy
-			cp $PARAM_FILE /fs/microsd/param_import_fail.bson
-
-			# try importing from backup file
-			if [ -f $PARAM_BACKUP_FILE ]
-			then
-				echo "[init] importing from parameter backup"
-
-				# dump current backup file contents for comparison
-				param dump $PARAM_BACKUP_FILE
-
-				param import $PARAM_BACKUP_FILE
-
-				# overwrite invalid $PARAM_FILE with backup
-				cp $PARAM_BACKUP_FILE $PARAM_FILE
-			fi
-
-			param status
-
 			dmesg >> /fs/microsd/param_import_fail.txt &
+
+			# try to make a backup copy
+			cp $PARAM_FILE /fs/microsd/param_import_fail.bson &
+		fi
+
+		# try importing from backup file
+		if [ -f "/fs/microsd/parameters_backup.bson" ]
+		then
+			echo "[init] importing from parameter backup"
+
+			# dump current backup file contents for comparison
+			param dump /fs/microsd/parameters_backup.bson
+
+			param import /fs/microsd/parameters_backup.bson
 		fi
 	fi

 	if [ $SDCARD_AVAILABLE = yes ]
 	then
-		param select-backup $PARAM_BACKUP_FILE
+		param select-backup /fs/microsd/parameters_backup.bson
 	fi

 	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X
@@ -228,7 +236,7 @@ else
 	# Waypoint storage.
 	# REBOOTWORK this needs to start in parallel.
 	#
-	if param compare -s SYS_DM_BACKEND 1
+	if param compare SYS_DM_BACKEND 1
 	then
 		dataman start -r
 	else
@@ -270,8 +278,13 @@ else
 	if param greater -s UAVCAN_ENABLE 0
 	then
 		# Start core UAVCAN module.
-		if ! uavcan start
+		if uavcan start
 		then
+			if param greater UAVCAN_ENABLE 2
+			then
+				set OUTPUT_MODE uavcan_esc
+			fi
+		else
 			tune_control play error
 		fi
 	else
@@ -282,15 +295,22 @@ else
 	fi

 	#
-	# Start IO for PWM output or RC input if enabled
+	# Check if PX4IO present and update firmware if needed.
+	# Assumption IOFW set to firmware file and IO_PRESENT = no
 	#
-	if param compare -s SYS_USE_IO 1
+
+	if [ -f $IOFW ]
 	then
-		# Check if PX4IO present and update firmware if needed.
-		if [ -f $IOFW ]
+		# Check for the mini using build with px4io fw file
+		# but not a px4IO
+		if ver hwtypecmp V5004000 V5006000
 		then
-			if ! px4io checkcrc ${IOFW}
+			param set SYS_USE_IO 0
+		else
+			if px4io checkcrc ${IOFW}
 			then
+				set IO_PRESENT yes
+			else
 				# tune Program PX4IO
 				tune_control play -t 16 # tune 16 = PROG_PX4IO

@@ -301,6 +321,7 @@ else
 					if px4io checkcrc ${IOFW}
 					then
 						tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
+						set IO_PRESENT yes
 					else
 						tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 					fi
@@ -309,12 +330,20 @@ else
 				fi
 			fi
 		fi
+	fi

-		if ! px4io start
-		then
-			echo "PX4IO start failed"
-			set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
-		fi
+	#
+	# Set USE_IO flag.
+	#
+	if param compare -s SYS_USE_IO 1
+	then
+		set USE_IO yes
+	fi
+
+	if [ $USE_IO = yes -a $IO_PRESENT = no ]
+	then
+		echo "PX4IO not found"
+		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
 	fi

 	#
@@ -330,11 +359,7 @@ else
 	#
 	if param greater SYS_HITL 0
 	then
-		if ! pwm_out_sim start -m hil
-		then
-			tune_control play error
-		fi
-
+		set OUTPUT_MODE hil
 		sensors start -h
 		commander start -h
 		# disable GPS
@@ -343,9 +368,7 @@ else
 		# start the simulator in hardware if needed
 		if param compare SYS_HITL 2
 		then
-			simulator_sih start
-			sensor_baro_sim start
-			sensor_mag_sim start
+			sih start
 		fi

 	else
@@ -374,14 +397,13 @@ else

 		sensors start
 		commander start
-
-		dshot start
-		pwm_out start
 	fi

 	#
 	# Configure vehicle type specific parameters.
-	# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.
+	# Note: rc.vehicle_setup is the entry point for rc.interface,
+	#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
+	#
 	. ${R}etc/init.d/rc.vehicle_setup

 	# Pre-takeoff continuous magnetometer calibration
@@ -413,8 +435,11 @@ else
 	#
 	. ${R}etc/init.d/rc.serial

-	# Must be started after the serial config is read
-	rc_input start $RC_INPUT_ARGS
+	if [ $IO_PRESENT = no ]
+	then
+		# Must be started after the serial config is read
+		rc_input start $RC_INPUT_ARGS
+	fi

 	# PPS capture driver (before pwm_out)
 	if param greater -s PPS_CAP_ENABLE 0
@@ -480,12 +505,6 @@ else
 		px4flow start -X &
 	fi

-	# Payload deliverer module if gripper is enabled
-	if param compare -s PD_GRIPPER_EN 1
-	then
-		payload_deliverer start
-	fi
-
 	#
 	# Optional board supplied extras: rc.board_extras
 	#
@@ -539,16 +558,28 @@ unset R
 unset FCONFIG
 unset FEXTRAS
 unset FRC
+unset IO_PRESENT
 unset IOFW
 unset LOGGER_ARGS
 unset LOGGER_BUF
+unset MIXER
+unset MIXER_AUX
+unset MIXER_FILE
+unset OUTPUT_MODE
 unset PARAM_FILE
-unset PARAM_BACKUP_FILE
+unset PWM_AUX_OUT
+unset PWM_AUX_RATE
+unset PWM_MAIN_RATE
+unset PWM_OUT
+unset PWM_EXTRA_OUT
+unset PWM_EXTRA_RATE
 unset RC_INPUT_ARGS
 unset SDCARD_AVAILABLE
 unset SDCARD_EXT_PATH
 unset SDCARD_FORMAT
+unset SDCARD_MIXERS_PATH
 unset STARTUP_TUNE
+unset USE_IO
 unset VEHICLE_TYPE

 #
@@ -0,0 +1,87 @@
+Aileron/rudder/elevator/throttle/wheel/flaps mixer for PX4FMU
+=======================================================
+
+This file defines mixers suitable for controlling a fixed wing aircraft with
+aileron, rudder, elevator, throttle and steerable wheel controls using PX4FMU.
+The configuration assumes the aileron servo(s) are connected to PX4FMU servo
+output 0 and 1, the elevator to output 2, the rudder to output 3, the throttle
+to output 4 and the wheel to output 5.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps).
+
+Aileron mixer (roll + spoiler)
+---------------------------------
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 2
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 2
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 5 -10000 -10000      0 -10000  10000
+
+Elevator mixer
+------------
+Two scalers total (output, roll).
+
+This mixer assumes that the elevator servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+S: 0 1  -10000  -10000      0 -10000  10000
+
+Rudder mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the rudder servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+S: 0 2  10000  10000      0 -10000  10000
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000
+
+Wheel mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the wheel servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+S: 0 2  10000  10000      0 -10000  10000
+
+
+Flaps / gimbal / payload mixer for last three channels,
+using the payload control group
+-----------------------------------------------------
+
+M: 1
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+S: 2 0  10000  10000      0 -10000  10000
+
+M: 1
+S: 2 2  10000  10000      0 -10000  10000
@@ -0,0 +1,76 @@
+Aileron/v-tail/throttle/wheel/flaps mixer for PX4FMU
+=======================================================
+
+This file defines mixers suitable for controlling a fixed wing aircraft with
+aileron, v-tail (rudder, elevator), throttle, steerable wheel and flaps
+using PX4FMU.
+The configuration assumes the aileron servos are connected to PX4FMU servo
+output 0 and 1, the tail servos to output 2 and 3, the throttle
+to output 4, the wheel to output 5 and the flaps to output 6 and 7.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
+
+Aileron mixer (roll + spoiler)
+---------------------------------
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 2
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 2
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 5 -10000 -10000      0 -10000  10000
+
+V-tail mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two tail servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+M: 2
+S: 0 2  -7000  -7000      0 -10000  10000
+S: 0 1  -8000  -8000      0 -10000  10000
+
+M: 2
+S: 0 2  -7000  -7000      0 -10000  10000
+S: 0 1   8000   8000      0 -10000  10000
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000
+
+Wheel mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the wheel servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+S: 0 2 -10000 -10000      0 -10000  10000
+
+Flaps mixer
+------------
+Flap servos are physically reversed.
+
+M: 1
+S: 0 4      0   5000 -10000 -10000  10000
+
+M: 1
+S: 0 4      0  -5000  10000 -10000  10000
+
@@ -0,0 +1,70 @@
+Aileron/v-tail/throttle/wheel/flaps mixer for PX4FMU
+=======================================================
+
+This file defines mixers suitable for controlling a fixed wing aircraft with
+aileron, v-tail (rudder, elevator), throttle, steerable wheel and flaps
+using PX4FMU.
+The configuration assumes the aileron servos are connected to PX4FMU servo
+output 0 and 1, the tail servos to output 2 and 3, the throttle
+to output 4, the wheel to output 5 and the flaps to output 6 and 7.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch), 2 (yaw), 3 (thrust) 4 (flaps), 5 (spoiler).
+
+Aileron mixer (roll + spoiler)
+---------------------------------
+
+This mixer assumes that the aileron servos are set up mechanically reversed.
+
+M: 2
+S: 0 0 -10000 -10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 2
+S: 0 0 -10000 -10000      0 -10000  10000
+S: 0 5 -10000 -10000      0 -10000  10000
+
+V-tail mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+M: 2
+S: 0 2   7000   7000      0 -10000  10000
+S: 0 1  -8000  -8000      0 -10000  10000
+
+M: 2
+S: 0 2   7000   7000      0 -10000  10000
+S: 0 1   8000   8000      0 -10000  10000
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000
+
+Wheel mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the wheel servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+S: 0 2 -10000 -10000      0 -10000  10000
+
+Flaps mixer
+------------
+Flap servos are physically reversed.
+
+M: 1
+S: 0 4      0   5000 -10000 -10000  10000
+
+M: 1
+S: 0 4      0  -5000  10000 -10000  10000
+
@@ -0,0 +1,76 @@
+Aileron/rudder/elevator/throttle mixer for PX4FMU
+==================================================
+
+This file defines mixers suitable for controlling a fixed wing aircraft with
+aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
+assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
+elevator to output 1, the rudder to output 2 and the throttle to output 3.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+CH1: Aileron mixer
+-------------
+Two scalers total (output, roll).
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+As there is only one output, if using two servos adjustments to compensate for
+differences between the servos must be made mechanically.  To obtain the correct
+motion using a Y  cable, the servos can be positioned reversed from one another.
+
+M: 1
+S: 0 0  10000  10000      0 -10000  10000
+
+CH2: Elevator mixer
+------------
+Two scalers total (output, roll).
+
+This mixer assumes that the elevator servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+S: 0 1  -10000  -10000      0 -10000  10000
+
+CH3: Rudder mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the rudder servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+S: 0 2  10000  10000      0 -10000  10000
+
+CH4: Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000
+
+CH5: Flaps mixer
+------------
+Flaps are controlled automatically in position control and auto
+but can also be controlled manually
+
+M: 1
+O: 5000 10000 0 -10000 10000
+S: 0 4 10000 10000 0 -10000 10000
+
+Ch6: Landing gear mixer
+------------
+By default pass-through of gear switch
+
+M: 1
+S: 3 5 10000 10000 0 -10000 10000
@@ -0,0 +1,76 @@
+Aileron/Elevator/Throttle/Rudder/Gear/Flaps mixer
+==================================================
+
+This file defines mixers suitable for controlling a fixed wing aircraft with
+aileron, rudder, elevator, throttle, gear, flaps controls. The configuration
+assumes the aileron servo(s) are connected to output 0, the elevator to
+output 1, the throttle to output 2 and the rudder to output 3.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch), 2 (thrust), 3 (yaw), 4 (flaps), 7 (landing gear)
+
+CH1: Aileron mixer
+-------------
+Two scalers total (output, roll).
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+As there is only one output, if using two servos adjustments to compensate for
+differences between the servos must be made mechanically.  To obtain the correct
+motion using a Y  cable, the servos can be positioned reversed from one another.
+
+M: 1
+S: 0 0   10000   10000      0  -10000  10000
+
+CH2: Elevator mixer
+------------
+Two scalers total (output, roll).
+
+This mixer assumes that the elevator servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+S: 0 1  -10000  -10000      0  -10000  10000
+
+CH3: Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+S: 0 3       0  20000  -10000  -10000  10000
+
+CH4: Rudder mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the rudder servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+S: 0 2   10000  10000       0  -10000  10000
+
+CH5: Flaps mixer
+------------
+Flaps are controlled automatically in position control and auto
+but can also be controlled manually
+
+M: 1
+O:        5000  10000       0  -10000  10000
+S: 0 4   10000  10000       0  -10000  10000
+
+CH6: Landing gear mixer
+------------
+By default pass-through of gear switch
+
+M: 1
+S: 3 5    10000 10000       0  -10000  10000
@@ -0,0 +1,48 @@
+Helicopter 120 degree Cyclic-Collective-Pitch Mixing (CCPM) for PX4FMU
+==================================================
+
+
+Output 0 - Rear Servo Mixer
+----------------
+
+Rear Servo = Collective (Thrust - 3) + Elevator (Pitch - 1)
+
+M: 2
+S: 0 3  10000  10000      0 -10000  10000
+S: 0 1  10000  10000      0 -10000  10000
+
+
+Output 1 - Left Servo Mixer
+-----------------
+Left Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) + 0.866 * Aileron (Roll - 0)
+
+M: 3
+S: 0 3  -10000  -10000      0 -10000  10000
+S: 0 1   -5000   -5000      0 -10000  10000
+S: 0 0    8660    8660      0 -10000  10000
+
+
+Output 2 - Right Servo Mixer
+----------------
+Right Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) - 0.866 * Aileron (Roll - 0)
+
+
+M: 3
+S: 0 3  -10000  -10000      0 -10000  10000
+S: 0 1   -5000   -5000      0 -10000  10000
+S: 0 0   -8660   -8660      0 -10000  10000
+
+Output 3 - Tail Servo Mixer
+----------------
+Tail Servo = Yaw (control index = 2)
+
+M: 1
+S: 0 2  10000  10000      0 -10000  10000
+
+
+Output 4 - Motor speed mixer
+-----------------
+This would be the motor speed control output from governor power demand- not sure what index to use here?
+
+M: 1
+S: 0 4      0  20000 -10000 -10000  10000
@@ -0,0 +1,80 @@
+############################################################################
+#
+#   Copyright (c) 2018 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.
+#
+############################################################################
+
+px4_add_romfs_files(
+	AAERTWF.main.mix
+	AAVVTWFF.main.mix
+	AAVVTWFF_vtail.main.mix
+	AERT.main.mix
+	AETRFG.main.mix
+	CCPM.main.mix
+	cloudship.main.mix
+	coax.main.mix
+	dodeca_bottom_cox.aux.mix
+	dodeca_top_cox.main.mix
+	fw_generic_wing.main.mix
+	generic_diff_rover.main.mix
+	hexa_cox.main.mix
+	hexa_+.main.mix
+	hexa_x.main.mix
+	IO_pass.main.mix
+	mount.aux.mix
+	mount_legs.aux.mix
+	octo_cox.main.mix
+	octo_cox_w.main.mix
+	octo_+.main.mix
+	octo_x.main.mix
+	pass.aux.mix
+	quad_dc.main.mix
+	quad_h.main.mix
+	quad_+.main.mix
+	quad_+_vtol.main.mix
+	quad_w.main.mix
+	quad_x_cw.main.mix
+	quad_x.main.mix
+	quad_x_vtol.main.mix
+	quad_x_vtol_AAERT.main.mix
+	rover_diff_and_servo.main.mix
+	rover_generic.main.mix
+	standard_vtol_hitl.main.mix
+	tilt_quad.aux.mix
+	tilt_quad.main.mix
+	tri_y_yaw+.main.mix
+	tri_y_yaw-.main.mix
+	vtol_AAERT.aux.mix
+	vtol_AAVVT.aux.mix
+	vtol_TTTTAAER.aux.mix
+	vtol_delta.aux.mix
+	vtol_tailsitter_duo.main.mix
+	vtol_tailsitter_duo_sat.main.mix
+)
@@ -0,0 +1,30 @@
+Passthrough mixer for PX4IO
+============================
+
+This file defines passthrough mixers suitable for testing.
+
+Channel group 0, channels 0-7 are passed directly through to the outputs.
+
+M: 1
+S: 0 0  10000  10000      0 -10000  10000
+
+M: 1
+S: 0 1  10000  10000      0 -10000  10000
+
+M: 1
+S: 0 2  10000  10000      0 -10000  10000
+
+M: 1
+S: 0 3  10000  10000      0 -10000  10000
+
+M: 1
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+S: 0 7  10000  10000      0 -10000  10000
@@ -0,0 +1,49 @@
+Thrust tilt/ Starboard Thrust / Port Thrust / Tail Thrust mixer for PX4FMU
+=======================================================
+
+# @board px4_fmu-v2 exclude
+
+This file defines mixers suitable for controlling an airship with
+a thrust tilt, starboard and port thruster and a tail thruster using PX4FMU.
+The configuration assumes the starboard thruster is connected to PX4FMU
+output 1, port thruster to output 2, tilt servo to output 3, and the
+tail thruster to output 4.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude),
+channels 0 (roll), 1 (pitch), 2 (yaw) and 3 (thrust).
+
+Starboard and port thruster mixer
+-----------------
+Two scalers total (output, thrust).
+
+By default mixer output is normalized. The input is in the (0 - 1) range.
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000
+
+Servo controlling tilt mixer
+------------
+Two scalers total (output, tilt angle).
+
+This mixer assumes that the tilt servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+S: 0 1  10000  10000      0 -10000  10000
+
+Tail thruster mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the tail thruster is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the motor movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+S: 0 2  10000  10000   0      -10000  10000
@@ -0,0 +1,29 @@
+Coaxial helicopter mixer
+- Two servomotors act on the swashplate (90 degree angle on the swashplate, decoupled effect on roll and pitch).
+- No collective pitch.
+- One motor per rotor.
+===========================
+
+Left swashplate servomotor, pitch axis
+-------------
+M: 1
+S: 0 1  -10000  -10000      0 -10000  10000
+
+Right swashplate servomotor, roll axis
+-------------
+M: 1
+S: 0 0  10000  10000      0 -10000  10000
+
+Upper rotor (CCW)
+Mixing between yaw and thrust
+-------------
+M: 2
+S: 0 2  10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+Lower rotor (CW)
+Mixing between yaw and thrust
+-------------
+M: 2
+S: 0 2  -10000  -10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
@@ -0,0 +1,4 @@
+# Dodeca Cox
+# @board px4_fmu-v2 exclude
+
+R: 6a
@@ -0,0 +1,4 @@
+# Dodeca Cox
+# @board px4_fmu-v2 exclude
+
+R: 6m
@@ -0,0 +1,46 @@
+Generic wing mixer
+===========================
+
+This file defines mixers suitable for controlling a delta wing aircraft.
+The configuration assumes the elevon servos are connected to servo
+outputs 0 and 1 and the motor speed control to output 3. Output 2 is
+assumed to be unused.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+Elevon mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two elevon servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+The scaling factor for roll inputs is adjusted to implement differential travel
+for the elevons.
+
+M: 2
+S: 0 0  -8000  -8000      0 -10000  10000
+S: 0 1   6000   6000      0 -10000  10000
+
+M: 2
+S: 0 0  -8000  -8000      0 -10000  10000
+S: 0 1  -6000  -6000      0 -10000  10000
+
+Output 2
+--------
+This mixer is empty.
+
+Z:
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000
@@ -0,0 +1,25 @@
+Generic differential-drive rover
+===========================
+
+This mixer is suitable for controlling any differential-drive rover. That is,
+a rover where the left wheels and right wheels are driven independently,
+allowing turning in place. It outputs to channels 0 (left wheels) and
+1 (right wheels)
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 2 (yaw), and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+
+Throttle of left wheels of rover on Output 0
+---------------------------------------
+M: 2
+S: 0 2    10000   10000      0  -10000  10000
+S: 0 3    10000   10000      0  -10000  10000
+
+
+Throttle of right wheels of rover on Output 1
+---------------------------------------
+M: 2
+S: 0 2   -10000  -10000      0  -10000  10000
+S: 0 3    10000   10000      0  -10000  10000
@@ -0,0 +1,3 @@
+# Hexa +
+
+R: 6+
@@ -0,0 +1,3 @@
+# Hexa coaxial
+
+R: 6c
@@ -0,0 +1,4 @@
+# Hexa X
+
+R: 6x
+
@@ -0,0 +1,19 @@
+# Mount Mixer (e.g. Gimbal, servo-controlled gimbal, etc...)
+
+
+# pitch
+M: 1
+S: 2 1  10000  10000      0 -10000  10000
+
+# roll
+M: 1
+S: 2 0  10000  10000      0 -10000  10000
+
+# yaw
+M: 1
+S: 2 2  10000  10000      0 -10000  10000
+
+# Shutter/retract
+M: 1
+S: 2 3  10000  10000      0 -10000  10000
+
@@ -0,0 +1,23 @@
+# @board px4_fmu-v2 exclude
+
+# Roll channel for mount
+M: 1
+S: 2 0  10000  10000      0 -10000  10000
+
+# Pitch channel for mount
+M: 1
+S: 2 1  10000  10000      0 -10000  10000
+
+# Yaw channel for mount
+M: 1
+S: 2 2  10000  10000      0 -10000  10000
+
+
+# mixer for left leg
+M: 1
+S: 0 7      0  20000 -10000 -10000  10000
+
+# mixer for right leg
+M: 1
+S: 0 7      0  20000 -10000 -10000  10000
+
@@ -0,0 +1,3 @@
+# Octo +
+
+R: 8+
@@ -0,0 +1,3 @@
+# Octo coaxial
+
+R: 8c
@@ -0,0 +1,4 @@
+# Octo coaxial with wide arms
+# @board px4_fmu-v2 exclude
+
+R: 8cw
@@ -0,0 +1,3 @@
+# Octo X
+
+R: 8x
@@ -0,0 +1,17 @@
+# Manual pass through mixer for servo outputs 1-4
+
+# AUX1 channel (select RC channel with RC_MAP_AUX1 param)
+M: 1
+S: 3 5  10000  10000      0 -10000  10000
+
+# AUX2 channel (select RC channel with RC_MAP_AUX2 param)
+M: 1
+S: 3 6  10000  10000      0 -10000  10000
+
+# AUX3 channel (select RC channel with RC_MAP_AUX3 param)
+M: 1
+S: 3 7  10000  10000      0 -10000  10000
+
+# FLAPS channel (select RC channel with RC_MAP_FLAPS param)
+M: 1
+S: 3 4  10000  10000      0 -10000  10000
@@ -0,0 +1,16 @@
+Multirotor mixer for PX4FMU
+===========================
+
+This file defines a single mixer for a quadrotor in the + configuration. All controls
+are mixed 100%.
+
+R: 4+
+
+Gimbal / payload mixer for last two channels
+-----------------------------------------------------
+
+M: 1
+S: 3 5  10000  10000      0 -10000  10000
+
+M: 1
+S: 3 6  10000  10000      0 -10000  10000
--- a/Show More
+++ b/Show More