boards: sync

This PR fixes the yaw rate ignore case handling for offboard control using the SET_ATTITUDE_TARGET message

.ci/Jenkinsfile-compile

@@ -9,15 +9,15 @@ pipeline {
         script {
           def build_nodes = [:]
           def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2020-11-18",
-            arm64: "px4io/px4-dev-aarch64:2020-11-18",
-            base: "px4io/px4-dev-base-bionic:2020-11-18",
-            nuttx: "px4io/px4-dev-nuttx-focal:2020-11-18",
+            armhf: "px4io/px4-dev-armhf:2021-02-04",
+            arm64: "px4io/px4-dev-aarch64:2021-02-04",
+            base: "px4io/px4-dev-base-bionic:2021-02-04",
+            nuttx: "px4io/px4-dev-nuttx-focal:2021-02-04",
             snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
           ]
 
           def armhf_builds = [
-            target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
+            target: ["beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
             image: docker_images.armhf,
             archive: false
           ]
@@ -37,6 +37,7 @@ pipeline {
           def nuttx_builds_archive = [
             target: [
                      "airmind_mindpx-v2_default",
+                     "ark_can-flow_canbootloader",
                      "ark_can-flow_default",
                      "av_x-v1_default",
                      "bitcraze_crazyflie_default",
@@ -49,34 +50,36 @@ pipeline {
                      "cubepilot_cubeorange_default",
                      "cubepilot_cubeyellow_console",
                      "cubepilot_cubeyellow_default",
+                     "holybro_can-gps-v1_canbootloader",
+                     "holybro_can-gps-v1_default",
                      "holybro_durandal-v1_default",
                      "holybro_kakutef7_default",
                      "holybro_pix32v5_default",
-                     "intel_aerofc-v1_default",
                      "modalai_fc-v1_default",
                      "mro_ctrl-zero-f7_default",
+                     "mro_ctrl-zero-f7-oem_default",
+                     "mro_ctrl-zero-h7_default",
+                     "mro_ctrl-zero-h7-oem_default",
                      "mro_pixracerpro_default",
                      "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_fmuk66-e_default",
                      "nxp_fmurt1062-v1_default",
                      "nxp_ucans32k146_default",
                      "omnibus_f4sd_default",
                      "px4_fmu-v2_default",
                      "px4_fmu-v2_fixedwing",
-                     "px4_fmu-v2_lpe",
                      "px4_fmu-v2_multicopter",
                      "px4_fmu-v2_rover",
                      "px4_fmu-v2_test",
-                     "px4_fmu-v3_ctrlalloc",
                      "px4_fmu-v3_default",
                      "px4_fmu-v4_cannode",
-                     "px4_fmu-v4_ctrlalloc",
                      "px4_fmu-v4_default",
-                     "px4_fmu-v4_optimized",
                      "px4_fmu-v4pro_default",
                      "px4_fmu-v5_ctrlalloc",
                      "px4_fmu-v5_debug",
@@ -87,8 +90,11 @@ pipeline {
                      "px4_fmu-v5_rover",
                      "px4_fmu-v5_rtps",
                      "px4_fmu-v5_stackcheck",
+                     "px4_fmu-v5_uavcanv0periph",
+                     "px4_fmu-v5_uavcanv1",
                      "px4_fmu-v5x_base_phy_DP83848C",
                      "px4_fmu-v5x_default",
+                     "px4_fmu-v6u_default",
                      "px4_fmu-v6x_default",
                      "px4_io-v2_default",
                      "spracing_h7extreme_default",
@@ -125,7 +131,7 @@ pipeline {
     // TODO: actually upload artifacts to S3
     // stage('S3 Upload') {
     //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+    //     docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
     //   }
     //   options {
     //         skipDefaultCheckout()

.ci/Jenkinsfile-hardware

@@ -17,6 +17,7 @@ pipeline {
                 }
               }
               steps {
+                checkout scm
                 sh 'export'
                 sh 'make distclean'
                 sh 'ccache -s'
@@ -24,7 +25,7 @@ pipeline {
                 sh 'make cubepilot_cubeorange_console'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/cubepilot_cubeorange_console/cubepilot_cubeorange_console.elf', name: 'cubepilot_cubeorange_console'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cubepilot_cubeorange_console'
               }
               post {
                 always {
@@ -93,6 +94,7 @@ pipeline {
                 }
               }
               steps {
+                checkout scm
                 sh 'export'
                 sh 'make distclean'
                 sh 'ccache -s'
@@ -100,7 +102,7 @@ pipeline {
                 sh 'make cuav_x7pro_default'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/cuav_x7pro_default/cuav_x7pro_default.elf', name: 'cuav_x7pro_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cuav_x7pro_default'
               }
               post {
                 always {
@@ -220,6 +222,7 @@ pipeline {
                 }
               }
               steps {
+                checkout scm
                 sh 'export'
                 sh 'make distclean'
                 sh 'ccache -s'
@@ -227,7 +230,7 @@ pipeline {
                 sh 'make px4_fmu-v3_default'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/px4_fmu-v3_default/px4_fmu-v3_default.elf', name: 'px4_fmu-v3_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v3_default'
               }
               post {
                 always {
@@ -255,6 +258,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
@@ -294,6 +298,7 @@ pipeline {
                 }
               }
               steps {
+                checkout scm
                 sh 'export'
                 sh 'make distclean'
                 sh 'ccache -s'
@@ -301,7 +306,7 @@ pipeline {
                 sh 'make px4_fmu-v4_default'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/px4_fmu-v4_default/px4_fmu-v4_default.elf', name: 'px4_fmu-v4_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4_default'
               }
               post {
                 always {
@@ -329,6 +334,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                   }
@@ -367,6 +373,7 @@ pipeline {
                 }
               }
               steps {
+                checkout scm
                 sh 'export'
                 sh 'make distclean'
                 sh 'ccache -s'
@@ -374,7 +381,7 @@ pipeline {
                 sh 'make px4_fmu-v4pro_default'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf', name: 'px4_fmu-v4pro_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4pro_default'
               }
               post {
                 always {
@@ -402,6 +409,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
@@ -441,6 +449,7 @@ pipeline {
                 }
               }
               steps {
+                checkout scm
                 sh 'export'
                 sh 'make distclean'
                 sh 'ccache -s'
@@ -448,7 +457,7 @@ pipeline {
                 sh 'make px4_fmu-v5_default'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/px4_fmu-v5_default/px4_fmu-v5_default.elf', name: 'px4_fmu-v5_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_default'
               }
               post {
                 always {
@@ -475,8 +484,8 @@ pipeline {
                     // configure
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
@@ -516,6 +525,7 @@ pipeline {
                 }
               }
               steps {
+                checkout scm
                 sh 'export'
                 sh 'make distclean'
                 sh 'ccache -s'
@@ -523,7 +533,7 @@ pipeline {
                 sh 'make px4_fmu-v5_debug'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf', name: 'px4_fmu-v5_debug'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_debug'
               }
               post {
                 always {
@@ -554,6 +564,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'   // disable buzzer
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'   // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                 // reboot to apply
@@ -593,6 +604,7 @@ pipeline {
                 }
               }
               steps {
+                checkout scm
                 sh 'export'
                 sh 'make distclean'
                 sh 'ccache -s'
@@ -600,7 +612,7 @@ pipeline {
                 sh 'make px4_fmu-v5_optimized'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/px4_fmu-v5_optimized/px4_fmu-v5_optimized.elf', name: 'px4_fmu-v5_optimized'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_optimized'
               }
               post {
                 always {
@@ -627,7 +639,8 @@ pipeline {
                     // configure
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                   }
@@ -666,6 +679,7 @@ pipeline {
                 }
               }
               steps {
+                checkout scm
                 sh 'export'
                 sh 'make distclean'
                 sh 'ccache -s'
@@ -673,7 +687,7 @@ pipeline {
                 sh 'make px4_fmu-v5_stackcheck'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf', name: 'px4_fmu-v5_stackcheck'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_stackcheck'
               }
               post {
                 always {
@@ -705,6 +719,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0"'       // limit cpu usage
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'   // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                 // reboot to apply
                   }
@@ -743,6 +758,7 @@ pipeline {
                 }
               }
               steps {
+                checkout scm
                 sh 'export'
                 sh 'make distclean'
                 sh 'ccache -s'
@@ -750,7 +766,7 @@ pipeline {
                 sh 'make modalai_fc-v1_default'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/modalai_fc-v1_default/modalai_fc-v1_default.elf', name: 'modalai_fc-v1_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_default'
               }
               post {
                 always {
@@ -778,6 +794,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'  // generic vtol standardulticopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                   }
@@ -816,6 +833,7 @@ pipeline {
                 }
               }
               steps {
+                checkout scm
                 sh 'export'
                 sh 'make distclean'
                 sh 'ccache -s'
@@ -823,7 +841,7 @@ pipeline {
                 sh 'make holybro_durandal-v1_default'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf', name: 'holybro_durandal-v1_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'holybro_durandal-v1_default'
               }
               post {
                 always {
@@ -895,6 +913,7 @@ pipeline {
                 }
               }
               steps {
+                checkout scm
                 sh 'export'
                 sh 'make distclean'
                 sh 'ccache -s'
@@ -902,7 +921,7 @@ pipeline {
                 sh 'make nxp_fmuk66-v3_default'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf', name: 'nxp_fmuk66-v3_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_default'
               }
               post {
                 always {
@@ -930,6 +949,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                   }
@@ -968,6 +988,7 @@ pipeline {
   options {
     buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '40'))
     timeout(time: 90, unit: 'MINUTES')
+    skipDefaultCheckout()
   }
 }
 
@@ -992,12 +1013,15 @@ void statusFTDI() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_local_position"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_selector_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_sensor_bias"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status_flags"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener logger_status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener parameter_update"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener px4io_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro"'
@@ -1005,8 +1029,8 @@ void statusFTDI() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_selection"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener px4io_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data"'
@@ -1017,6 +1041,8 @@ void statusFTDI() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_magnetometer"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status_flags"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'

.devcontainer/devcontainer.json

@@ -2,7 +2,7 @@
 // https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
 {
 	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2020-11-18",
+	"image": "px4io/px4-dev-nuttx-focal:2021-02-04",
 
 	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
 

.github/workflows/checks.yml

@@ -28,7 +28,7 @@ jobs:
           "parameters_metadata",
         ]
     container:
-      image: px4io/px4-dev-nuttx-focal:2020-11-18
+      image: px4io/px4-dev-nuttx-focal:2021-02-04
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1
@@ -52,8 +52,8 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
     - name: check environment

.github/workflows/clang-tidy.yml

@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2020-11-18
+    container: px4io/px4-dev-clang:2021-02-04
     steps:
     - uses: actions/checkout@v1
       with:
@@ -34,8 +34,8 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 

.github/workflows/compile_linux.yml

@@ -11,11 +11,10 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2020-11-18
+    container: px4io/px4-dev-armhf:2021-02-04
     strategy:
       matrix:
         config: [
-          aerotenna_ocpoc_default,
           beaglebone_blue_default,
           emlid_navio2_default,
           px4_raspberrypi_default,
@@ -43,8 +42,8 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 

.github/workflows/compile_linux_arm64.yml

@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2020-11-18
+    container: px4io/px4-dev-aarch64:2021-02-04
     strategy:
       matrix:
         config: [
@@ -39,8 +39,8 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 

.github/workflows/compile_macos.yml

@@ -43,8 +43,8 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 

.github/workflows/compile_nuttx.yml

@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2020-11-18
+    container: px4io/px4-dev-nuttx-focal:2021-02-04
     strategy:
       matrix:
         config: [
@@ -19,8 +19,8 @@ jobs:
           ark_can-flow_canbootloader,
           ark_can-flow_default,
           av_x-v1_default,
-          bitcraze_crazyflie_default,
           bitcraze_crazyflie21_default,
+          bitcraze_crazyflie_default,
           cuav_can-gps-v1_canbootloader,
           cuav_can-gps-v1_default,
           cuav_nora_default,
@@ -29,16 +29,22 @@ jobs:
           cubepilot_cubeorange_default,
           cubepilot_cubeyellow_console,
           cubepilot_cubeyellow_default,
+          holybro_can-gps-v1_canbootloader,
+          holybro_can-gps-v1_default,
           holybro_durandal-v1_default,
           holybro_kakutef7_default,
           holybro_pix32v5_default,
-          intel_aerofc-v1_default,
           modalai_fc-v1_default,
           mro_ctrl-zero-f7_default,
+          mro_ctrl-zero-f7-oem_default,
+          mro_ctrl-zero-h7_default,
+          mro_ctrl-zero-h7-oem_default,
           mro_pixracerpro_default,
           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,
@@ -47,16 +53,12 @@ jobs:
           omnibus_f4sd_default,
           px4_fmu-v2_default,
           px4_fmu-v2_fixedwing,
-          px4_fmu-v2_lpe,
           px4_fmu-v2_multicopter,
           px4_fmu-v2_rover,
           px4_fmu-v2_test,
-          px4_fmu-v3_ctrlalloc,
           px4_fmu-v3_default,
           px4_fmu-v4_cannode,
-          px4_fmu-v4_ctrlalloc,
           px4_fmu-v4_default,
-          px4_fmu-v4_optimized,
           px4_fmu-v4pro_default,
           px4_fmu-v5_ctrlalloc,
           px4_fmu-v5_default,
@@ -65,9 +67,11 @@ jobs:
           px4_fmu-v5_optimized,
           px4_fmu-v5_rover,
           px4_fmu-v5_rtps,
-          px4_fmu-v5_stackcheck,
+          px4_fmu-v5_uavcanv0periph,
+          px4_fmu-v5_uavcanv1,
           px4_fmu-v5x_base_phy_DP83848C,
           px4_fmu-v5x_default,
+          px4_fmu-v6u_default,
           px4_fmu-v6x_default,
           px4_io-v2_default,
           spracing_h7extreme_default,
@@ -95,8 +99,8 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 

.github/workflows/compile_nuttx_cannode.yml

@@ -11,12 +11,13 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2020-11-18
+    container: px4io/px4-dev-nuttx-focal:2021-02-04
     strategy:
       matrix:
         config: [
           ark_can-flow_default,
           cuav_can-gps-v1_default,
+          holybro_can-gps-v1_default,
           #nxp_ucans32k146_default,
           px4_fmu-v4_cannode
           ]
@@ -42,8 +43,8 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 

.github/workflows/mavros_avoidance_tests.yml

@@ -19,7 +19,7 @@ jobs:
           - {test_file: "mavros_posix_test_safe_landing.test", vehicle: "iris_obs_avoid", mission: "MC_safe_landing", build_type: "RelWithDebInfo"}
 
     container:
-      image: px4io/px4-dev-ros-melodic:2020-11-18
+      image: px4io/px4-dev-ros-melodic:2021-02-04
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1
@@ -43,8 +43,8 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 

.github/workflows/mavros_mission_tests.yml

@@ -25,7 +25,7 @@ jobs:
           #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
 
     container:
-      image: px4io/px4-dev-ros-melodic:2020-11-18
+      image: px4io/px4-dev-ros-melodic:2021-02-04
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1
@@ -49,8 +49,8 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 

.github/workflows/mavros_offboard_tests.yml

@@ -20,7 +20,7 @@ jobs:
           #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
 
     container:
-      image: px4io/px4-dev-ros-melodic:2020-11-18
+      image: px4io/px4-dev-ros-melodic:2021-02-04
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1
@@ -44,8 +44,8 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 

.github/workflows/metadata.yml

@@ -12,7 +12,7 @@ jobs:
 
   airframe:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-focal:2021-02-04
     steps:
     - uses: actions/checkout@v1
       with:
@@ -27,7 +27,7 @@ jobs:
 
   module:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-focal:2021-02-04
     steps:
     - uses: actions/checkout@v1
       with:
@@ -42,7 +42,7 @@ jobs:
 
   parameter:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-focal:2021-02-04
     steps:
     - uses: actions/checkout@v1
       with:
@@ -57,7 +57,7 @@ jobs:
 
   uorb_graph:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2020-11-18
+    container: px4io/px4-dev-nuttx-focal:2021-02-04
     steps:
     - uses: actions/checkout@v1
       with:
@@ -72,7 +72,7 @@ jobs:
 
   micrortps_agent:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-focal:2021-02-04
     steps:
     - uses: actions/checkout@v1
       with:
@@ -86,7 +86,7 @@ jobs:
 
   ROS_msgs:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-focal:2021-02-04
     steps:
     - uses: actions/checkout@v1
       with:
@@ -99,7 +99,7 @@ jobs:
 
   ROS2_bridge:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-focal:2021-02-04
     steps:
     - uses: actions/checkout@v1
       with:

.github/workflows/sitl_tests.yml

@@ -20,7 +20,7 @@ jobs:
           - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo", model: "tailsitter"    } # Florida
           - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",       model: "standard_vtol" } # Zurich
     container:
-      image: px4io/px4-dev-simulation-focal:2020-11-18
+      image: px4io/px4-dev-simulation-focal:2021-02-04
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1
@@ -28,9 +28,9 @@ jobs:
         token: ${{ secrets.ACCESS_TOKEN }}
 
     - name: Download MAVSDK
-      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.33.1/mavsdk_0.33.1_ubuntu20.04_amd64.deb
+      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.36.0/mavsdk_0.36.0_ubuntu20.04_amd64.deb
     - name: Install MAVSDK
-      run: dpkg -i mavsdk_0.33.1_ubuntu20.04_amd64.deb
+      run: dpkg -i mavsdk_0.36.0_ubuntu20.04_amd64.deb
 
     - name: Prepare ccache timestamp
       id: ccache_cache_timestamp
@@ -49,8 +49,8 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 
@@ -94,7 +94,7 @@ jobs:
         PX4_HOME_LON: ${{matrix.config.longitude}}
         PX4_HOME_ALT: ${{matrix.config.altitude}}
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json
+      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json
 
     - name: Look at core files
       if: failure()
@@ -106,10 +106,6 @@ jobs:
         name: coredump
         path: px4.core
 
-    - name: Upload logs to flight review
-      if: failure()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ${GITHUB_WORKSPACE}/build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/*/*.ulg
-
     - name: Upload px4 binary
       if: failure()
       uses: actions/upload-artifact@v2-preview

.gitignore

@@ -101,9 +101,6 @@ msg/tmp/
 msg/topics_sources/
 platforms/posix/apps.cpp
 platforms/posix/apps.h
-src/lib/parameters/px4_parameters.c
-src/lib/parameters/px4_parameters.h
-src/lib/parameters/px4_parameters_public.h
 src/lib/version/build_git_version.h
 src/modules/simulator/simulator_config.h
 src/systemcmds/topic_listener/listener_generated.cpp

.gitmodules

@@ -51,6 +51,15 @@
 [submodule "Tools/jsbsim_bridge"]
 	path = Tools/jsbsim_bridge
 	url = https://github.com/PX4/px4-jsbsim-bridge.git
-[submodule "src/examples/gyro_fft/CMSIS_5"]
-	path = src/examples/gyro_fft/CMSIS_5
-	url = https://github.com/ARM-software/CMSIS_5.git
+[submodule "src/drivers/uavcan_v1/libcanard"]
+	path = src/drivers/uavcan_v1/libcanard
+	url = https://github.com/UAVCAN/libcanard.git
+[submodule "src/drivers/uavcan_v1/public_regulated_data_types"]
+	path = src/drivers/uavcan_v1/public_regulated_data_types
+	url = https://github.com/UAVCAN/public_regulated_data_types.git
+[submodule "src/drivers/uavcannode_gps_demo/public_regulated_data_types"]
+	path = src/drivers/uavcannode_gps_demo/public_regulated_data_types
+	url = https://github.com/UAVCAN/public_regulated_data_types
+[submodule "src/drivers/uavcannode_gps_demo/libcanard"]
+	path = src/drivers/uavcannode_gps_demo/libcanard
+	url = https://github.com/UAVCAN/libcanard

.vscode/cmake-variants.yaml

@@ -6,16 +6,6 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_default
-    px4_sitl_asan:
-      short: px4_sitl (AddressSanitizer)
-      buildType: AddressSanitizer
-      settings:
-        CONFIG: px4_sitl_default
-    px4_sitl_ubsan:
-      short: px4_sitl (UndefinedBehaviorSanitizer)
-      buildType: UndefinedBehaviorSanitizer
-      settings:
-        CONFIG: px4_sitl_default
     px4_sitl_replay:
       short: px4_sitl_replay
       buildType: RelWithDebInfo
@@ -126,11 +116,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: holybro_durandal-v1_default
-    intel_aerofc-v1_default:
-      short: intel_aerofc-v1
-      buildType: MinSizeRel
-      settings:
-        CONFIG: intel_aerofc-v1_default
     modalai_fc-v1_default:
       short: modalai_fc-v1
       buildType: MinSizeRel
@@ -141,6 +126,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: mro_ctrl-zero-f7_default
+    mro_pixracerpro_bootloader:
+      short: mro_pixracerpro_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: mro_pixracerpro_bootloader
+    mro_pixracerpro_default:
+      short: mro_pixracerpro_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: mro_pixracerpro_default
     mro_x21-777_default:
       short: mro_x2.1-777
       buildType: MinSizeRel

.vscode/settings.json

@@ -27,7 +27,6 @@
         "cSpell.showStatus": false,
         "cSpell.words": [
                 "acro",
-                "rattitude",
                 "nuttx",
                 "esc"
         ],

CMakeLists.txt

@@ -406,7 +406,6 @@ add_subdirectory(src/lib EXCLUDE_FROM_ALL)
 
 add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
 add_subdirectory(platforms EXCLUDE_FROM_ALL)
-add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer
 
 if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
 	add_subdirectory(${PX4_BOARD_DIR})

Jenkinsfile

@@ -15,7 +15,7 @@ pipeline {
         // stage('Catkin build on ROS workspace') {
         //   agent {
         //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2020-11-18'
+        //       image 'px4io/px4-dev-ros-melodic:2021-02-04'
         //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
         //     }
         //   }
@@ -56,7 +56,7 @@ pipeline {
         stage('Colcon build on ROS2 workspace') {
           agent {
             docker {
-              image 'px4io/px4-dev-ros2-foxy:2020-11-18'
+              image 'px4io/px4-dev-ros2-foxy:2021-02-04'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
             }
           }
@@ -67,11 +67,9 @@ 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/sitl_gazebo
-              git clone --recursive ${WORKSPACE}/colcon_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_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/bouncy/setup.sh;
-              source /opt/ros/melodic/setup.sh;
+              source /opt/ros/foxy/setup.sh;
               colcon build --event-handlers console_direct+ --symlink-install;
             '''
           }
@@ -87,7 +85,7 @@ pipeline {
 
         stage('Airframe') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
           }
           steps {
             sh 'make distclean'
@@ -106,14 +104,14 @@ pipeline {
 
         stage('Parameter') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
           }
           steps {
             sh 'make distclean'
             sh 'make parameters_metadata'
             dir('build/px4_sitl_default/docs') {
-              archiveArtifacts(artifacts: 'parameters.md, parameters.xml')
-              stash includes: 'parameters.md, parameters.xml', name: 'metadata_parameters'
+              archiveArtifacts(artifacts: 'parameters.md, parameters.xml, params.json.xz')
+              stash includes: 'parameters.md, parameters.xml, params.json.xz', name: 'metadata_parameters'
             }
           }
           post {
@@ -125,7 +123,7 @@ pipeline {
 
         stage('Module') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
           }
           steps {
             sh 'make distclean'
@@ -145,7 +143,7 @@ pipeline {
         stage('uORB graphs') {
           agent {
             docker {
-              image 'px4io/px4-dev-nuttx-focal:2020-11-18'
+              image 'px4io/px4-dev-nuttx-focal:2021-02-04'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
@@ -174,7 +172,7 @@ pipeline {
 
         stage('Userguide') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
           }
           steps {
             sh('export')
@@ -204,7 +202,7 @@ pipeline {
 
         stage('QGroundControl') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
           }
           steps {
             sh('export')
@@ -232,7 +230,7 @@ pipeline {
 
         stage('microRTPS agent') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
           }
           steps {
             sh('export')
@@ -262,7 +260,7 @@ pipeline {
 
         stage('PX4 ROS msgs') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
           }
           steps {
             sh('export')
@@ -291,7 +289,7 @@ pipeline {
 
         stage('PX4 ROS2 bridge') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
           }
           steps {
             sh('export')
@@ -334,7 +332,7 @@ pipeline {
 
         stage('S3') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
           }
           steps {
             sh('export')
@@ -344,6 +342,7 @@ pipeline {
             withAWS(credentials: 'px4_aws_s3_key', region: 'us-east-1') {
               s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'airframes.xml', path: 'Firmware/master/')
               s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.xml', path: 'Firmware/master/')
+              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'params.json.xz', path: 'Firmware/master/')
             }
           }
           when {

LICENSE

@@ -1,6 +1,6 @@
 BSD 3-Clause License
 
-Copyright (c) 2012 - 2020, PX4 Development Team
+Copyright (c) 2012 - 2021, PX4 Development Team
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

Makefile

@@ -174,6 +174,8 @@ define cmake-build
 	@$(call cmake-cache-check)
 	@# make sure to start from scratch when switching from GNU Make to Ninja
 	@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
+	@# make sure to start from scratch if ninja build file is missing
+	@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ ! -f $(BUILD_DIR)/build.ninja ]; then rm -rf $(BUILD_DIR); fi
 	@# only excplicitly configure the first build, if cache file already exists the makefile will rerun cmake automatically if necessary
 	@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ] || [ $(CMAKE_CACHE_CHECK) ]; then \
 		mkdir -p $(BUILD_DIR) \
@@ -268,7 +270,6 @@ px4fmu_firmware: \
 misc_qgc_extra_firmware: \
 	check_nxp_fmuk66-v3_default \
 	check_nxp_fmurt1062-v1_default \
-	check_intel_aerofc-v1_default \
 	check_mro_x21_default \
 	check_bitcraze_crazyflie_default \
 	check_bitcraze_crazyflie21_default \

README.md

@@ -8,26 +8,30 @@
 
 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/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
 
+PX4 is highly portable, OS-independent and supports Linux, NuttX and QuRT out of the box.
+
 * Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
 * [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
-  * [Multicopters](https://docs.px4.io/master/en/airframes/airframe_reference.html#copter)
-  * [Fixed wing](https://docs.px4.io/master/en/airframes/airframe_reference.html#plane)
-  * [VTOL](https://docs.px4.io/master/en/airframes/airframe_reference.html#vtol)
-  * many more experimental types (Rovers, Blimps, Boats, Submarines, Autogyros, etc)
+  * [Multicopters](https://docs.px4.io/master/en/frames_multicopter/)
+  * [Fixed wing](https://docs.px4.io/master/en/frames_plane/)
+  * [VTOL](https://docs.px4.io/master/en/frames_vtol/)
+  * [Autogyro](https://docs.px4.io/master/en/frames_autogyro/)
+  * [Rover](https://docs.px4.io/master/en/frames_rover/)
+  * many more experimental types (Blimps, Boats, Submarines, Autogyros, etc)
 * Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
 
 
-## PX4 Users
+## Building a PX4 based drone, rover, boat or robot
 
 The [PX4 User Guide](https://docs.px4.io/master/en/) explains how to assemble [supported vehicles](https://docs.px4.io/master/en/airframes/airframe_reference.html) and fly drones with PX4.
 See the [forum and chat](https://docs.px4.io/master/en/#support) if you need help!
 
 
-## PX4 Developers
+## Changing code and contributing
 
-This [Developer Guide](https://dev.px4.io/) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
+This [Developer Guide](https://docs.px4.io/master/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
 
-Developers should read the [Guide for Contributions](https://dev.px4.io/master/en/contribute/).
+Developers should read the [Guide for Contributions](https://docs.px4.io/master/en/contribute/).
 See the [forum and chat](https://dev.px4.io/master/en/#support) if you need help!
 
 
@@ -69,10 +73,8 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co
     * [Daniel Agar](https://github.com/dagar)
   * [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
     * [Paul Riseborough](https://github.com/priseborough)
-  * Vision based navigation
-    * [Julian Kent](https://github.com/jkflying)
-  * Obstacle Avoidance
-    * [Martina Rivizzigno](https://github.com/mrivi)
+  * Vision based navigation and Obstacle Avoidance
+    * [Markus Achtelik](https://github.com/markusachtelik)
   * RTPS/ROS2 Interface
     * [Nuno Marques](https://github.com/TSC21)
 
@@ -80,7 +82,9 @@ See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and
 
 ## Supported Hardware
 
-This repository contains code supporting these boards:
+This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.
+
+### Pixhawk Standard Boards
   * FMUv2
     * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
     * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
@@ -88,19 +92,25 @@ This repository contains code supporting these boards:
     * [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
     * [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
     * [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
-  * FMUv4
+  * FMUv4 (STM32F4)
     * [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
     * [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
-  * FMUv5 (ARM Cortex M7)
+  * FMUv5 (STM32F7)
     * [Pixhawk 4](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
     * [Pixhawk 4 mini](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
     * [CUAV V5+](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
     * [CUAV V5 nano](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
+  * FMUv6X and FMUv6U (STM32H7)
+    * Various vendors will provide FMUv6X and FMUv6U based designs Q2/2021
+
+### Manufacturer and Community supported
+  * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
+  * [Hex Cube Orange](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_orange.html)
+  * [Hex Cube Yellow](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_yellow.html)
   * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
   * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
   * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/flight_controller/crazyflie2.html)
   * [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
-  * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
   * [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
   * [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)
 

ROMFS/CMakeLists.txt

@@ -31,11 +31,12 @@
 #
 ############################################################################
 
-message(STATUS "ROMFS: ${config_romfs_root}")
-
 set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
 set(romfs_gen_root_dir ${PX4_BINARY_DIR}/etc)
 
+file(RELATIVE_PATH romfs_path_relative ${PX4_SOURCE_DIR} ${romfs_src_dir})
+message(STATUS "ROMFS: ${romfs_path_relative}")
+
 set_property(GLOBAL PROPERTY PX4_ROMFS_FILES)
 set_property(GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
 
@@ -81,6 +82,9 @@ file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
 if (px4_constrained_flash_build)
 	set(added_arguments --constrained-flash)
 endif()
+if(PX4_ETHERNET)
+	set(added_arguments ${added_arguments} --ethernet)
+endif()
 # create list of relative romfs file names
 set(romfs_copy_files_relative)
 foreach(romfs_file IN LISTS romfs_copy_files)
@@ -146,15 +150,53 @@ if(config_io_board)
 		copy_px4io_bin
 		${fw_io_bin}
 	)
+	file(RELATIVE_PATH iofw_file_relative ${PX4_SOURCE_DIR} ${fw_io_bin})
+	message(STATUS "ROMFS:  Adding ${iofw_file_relative} -> /etc/extras/${config_io_board}.bin")
 endif()
 
-if(config_build_bootloader)
+
+# board bootloader (built or included)
+if(TARGET copy_bootloader_bin)
+
+	if(board_bootloader_firmware)
+		file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${board_bootloader_firmware})
+		message(STATUS "ROMFS:  Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
+	else()
+		file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${bootloader_bin})
+		message(STATUS "ROMFS:  Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
+	endif()
+
 	list(APPEND extras_dependencies
 		copy_bootloader_bin
 		${bootloader_bin}
 	)
 endif()
 
+
+# optional board architecture defaults
+set(board_arch_rc_file "rc.board_arch_defaults")
+if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}")
+	file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file})
+	message(STATUS "ROMFS:  Adding ${rc_file_relative} -> /etc/init.d/${board_arch_rc_file}")
+
+	add_custom_command(
+		OUTPUT
+			${romfs_gen_root_dir}/init.d/${board_arch_rc_file}
+			${board_arch_rc_file}.stamp
+		COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file} ${romfs_gen_root_dir}/init.d/${board_arch_rc_file}
+		COMMAND ${CMAKE_COMMAND} -E touch ${board_arch_rc_file}.stamp
+		DEPENDS
+			${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}
+			romfs_copy.stamp
+		COMMENT "ROMFS: copying ${board_arch_rc_file}"
+	)
+
+	list(APPEND extras_dependencies
+		${board_arch_rc_file}.stamp
+	)
+endif()
+
+
 set(OPTIONAL_BOARD_RC)
 list(APPEND OPTIONAL_BOARD_RC
 	rc.board_defaults
@@ -166,7 +208,8 @@ list(APPEND OPTIONAL_BOARD_RC
 foreach(board_rc_file ${OPTIONAL_BOARD_RC})
 
 	if(EXISTS "${PX4_BOARD_DIR}/init/${board_rc_file}")
-		message(STATUS "ROMFS: Adding ${board_rc_file}")
+		file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_BOARD_DIR}/init/${board_rc_file})
+		message(STATUS "ROMFS:  Adding ${rc_file_relative} -> /etc/init.d/${board_rc_file}")
 
 		add_custom_command(
 			OUTPUT
@@ -187,6 +230,46 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})
 
 endforeach()
 
+
+if(config_uavcan_peripheral_firmware)
+
+	include(ExternalProject)
+
+	foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
+		# include the px4io binary in ROMFS
+		message(STATUS "ROMFS:  Adding UAVCAN peripheral ${uavcan_peripheral_config} -> /etc/uavcan/fw/")
+		ExternalProject_Add(build_${uavcan_peripheral_config}
+			SOURCE_DIR ${CMAKE_SOURCE_DIR}
+			DOWNLOAD_COMMAND ""
+			UPDATE_COMMAND ""
+			CMAKE_ARGS -DCONFIG=${uavcan_peripheral_config}
+			INSTALL_COMMAND ""
+			USES_TERMINAL_BUILD true
+			DEPENDS git_nuttx git_nuttx_apps
+			BUILD_ALWAYS 1
+		)
+
+		ExternalProject_Get_Property(build_${uavcan_peripheral_config} BINARY_DIR)
+
+		add_custom_command(
+			OUTPUT
+				${romfs_gen_root_dir}/uavcan/fw/_${uavcan_board_id}.bin
+				${uavcan_peripheral_config}.stamp
+			COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/uavcan/fw/
+			COMMAND ${CMAKE_COMMAND} -E copy ${BINARY_DIR}/deploy/*.bin ${romfs_gen_root_dir}/uavcan/fw/
+			COMMAND ls -lsa ${romfs_gen_root_dir}/uavcan/fw/
+			COMMAND ${CMAKE_COMMAND} -E touch ${uavcan_peripheral_config}.stamp
+			DEPENDS
+				build_${uavcan_peripheral_config}
+			COMMENT "ROMFS: copying ${uavcan_peripheral_config}"
+		)
+
+		list(APPEND extras_dependencies
+			${uavcan_peripheral_config}.stamp
+		)
+	endforeach()
+endif()
+
 list(APPEND extras_dependencies
 	${config_romfs_extra_dependencies}
 	)

ROMFS/cannode/init.d/rcS

@@ -30,21 +30,16 @@ sercon
 #
 ver all
 
-#
-# Start the ORB (first app to start)
-# tone_alarm and tune_control
-# is dependent.
-#
-uorb start
-
-#
-# Set the parameter file if mtd starts successfully.
-#
-if mtd start
+if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
 then
 	set PARAM_FILE /fs/mtd_params
 fi
 
+if mft query -q -k MTD -s MTD_PARAMETERS -v /dev/eeeprom0
+then
+	set PARAM_FILE /dev/eeeprom0
+fi
+
 #
 # Load parameters.
 #
@@ -54,6 +49,17 @@ then
 	param reset_all
 fi
 
+#
+# Optional board architecture defaults: rc.board_arch_defaults
+#
+set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults
+if [ -f $BOARD_ARCH_RC_DEFAULTS ]
+then
+	echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
+	. $BOARD_ARCH_RC_DEFAULTS
+fi
+unset BOARD_ARCH_RC_DEFAULTS
+
 #
 # Optional board defaults: rc.board_defaults
 #

ROMFS/px4fmu_common/extras/README.txt

@@ -1,5 +0,0 @@
-px4fmuv3_bl.bin: Bootloader binary of the PX4 Bootloader
-  (https://github.com/PX4/Bootloader)
-  based on commit 184b813699a9cfd6f43a5a21556a06b4372baf5f
-  for the target px4fmuv3_bl
-

ROMFS/px4fmu_common/init.d-posix/airframes/10018_iris_foggy_lidar

@@ -0,0 +1,14 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (foggy_lidar)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_RNG_AID 1
+	param set EKF2_RNG_A_HMAX 10
+fi

ROMFS/px4fmu_common/init.d-posix/airframes/10020_if750a

@@ -12,6 +12,11 @@ if [ $AUTOCNF = yes ]
 then
 	# EKF2: Multi GPS blending (as the model has 2 GPS's)
 	param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
+	param set TRIG_INTERFACE 3
+	param set TRIG_MODE 4
+	param set MNT_MODE_IN 4
+	param set MNT_MODE_OUT 2
+	param set MNT_DO_STAB 2
 fi
 
 set MIXER quad_x

ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid.post

@@ -1,2 +1,2 @@
 # shellcheck disable=SC2154
-mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 # add mavlink stream for SDK
+mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 -p # add mavlink stream for SDK

ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop

@@ -0,0 +1,61 @@
+#!/bin/sh
+#
+# @name Standard VTOL
+#
+# @type Standard VTOL
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set FW_L1_PERIOD 12
+	param set FW_MAN_P_MAX 30
+	param set FW_PR_FF 0.2
+	param set FW_PR_I 0.4
+	param set FW_PR_P 0.9
+	param set FW_PSP_OFF 2
+	param set FW_P_LIM_MAX 32
+	param set FW_P_LIM_MIN -15
+	param set FW_RR_FF 0.1
+	param set FW_RR_P 0.3
+	param set FW_THR_CRUISE 0.25
+	param set FW_THR_MAX 0.6
+	param set FW_THR_MIN 0.05
+	param set FW_T_ALT_TC 2
+	param set FW_T_CLMB_MAX 8
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MIN 2.2
+	param set FW_T_TAS_TC 2
+
+	param set MC_ROLLRATE_P 0.3
+	param set MC_YAW_P 1.6
+
+	param set MIS_TAKEOFF_ALT 10
+
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_P_ACC 3
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_D_ACC 0.1
+
+	param set NAV_ACC_RAD 5
+	param set NAV_LOITER_RAD 80
+
+	param set VT_FWD_THRUST_EN 4
+	param set VT_F_TRANS_THR 0.75
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
+	param set VT_B_TRANS_DUR 8
+	param set VT_TYPE 2
+
+	param set RC_MAP_AUX1 8
+	param set RC_MAP_AUX2 9
+	param set RC_MAP_AUX3 10
+fi
+
+set MAV_TYPE 22
+
+set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop.post

@@ -0,0 +1 @@
+mixer append /dev/pwm_output0 etc/mixers-sitl/package_drop.aux.mix

ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover

@@ -8,6 +8,7 @@
 if [ $AUTOCNF = yes ]
 then
 	param set GND_L1_DIST 5
+	param set GND_L1_PERIOD 10
 	param set GND_SP_CTRL_MODE 1
 	param set GND_SPEED_D 0.001
 	param set GND_SPEED_I 3
@@ -16,7 +17,6 @@ then
 	param set GND_SPEED_THR_SC 1
 	param set GND_SPEED_TRIM 4
 	param set GND_THR_CRUISE 0.3
-	param set GND_THR_IDLE 0
 	param set GND_THR_MAX 0.5
 	param set GND_THR_MIN 0
 

ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover

@@ -17,7 +17,6 @@ then
 	param set GND_SPEED_THR_SC 1
 	param set GND_SPEED_TRIM 4
 	param set GND_THR_CRUISE 0.3
-	param set GND_THR_IDLE 0
 	param set GND_THR_MAX 0.5
 	param set GND_THR_MIN 0
 

ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1

@@ -22,7 +22,6 @@ then
 	param set GND_SPEED_TRIM 15
 	param set GND_SPEED_MAX 25
 	param set GND_THR_CRUISE 0.3
-	param set GND_THR_IDLE 0
 	param set GND_THR_MAX 0.5
 	param set GND_THR_MIN 0
 

ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat

@@ -8,16 +8,16 @@
 if [ $AUTOCNF = yes ]
 then
 	param set GND_L1_DIST 5
+	param set GND_L1_PERIOD 100
 	param set GND_SP_CTRL_MODE 1
 	param set GND_SPEED_D 0.001
-	param set GND_SPEED_I 3
+	param set GND_SPEED_I 8
 	param set GND_SPEED_IMAX 0.125
-	param set GND_SPEED_P 0.25
+	param set GND_SPEED_P 2
 	param set GND_SPEED_THR_SC 1
-	param set GND_SPEED_TRIM 4
-	param set GND_THR_CRUISE 0.3
-	param set GND_THR_IDLE 0
-	param set GND_THR_MAX 0.5
+	param set GND_SPEED_TRIM 1
+	param set GND_THR_CRUISE 0.85
+	param set GND_THR_MAX 1
 	param set GND_THR_MIN 0
 
 	param set MIS_LTRMIN_ALT 0.01

ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1

@@ -38,7 +38,6 @@ then
 	param set NAV_LOITER_RAD 100
 
 	param set RWTO_TKOFF 1
-	param set MAV_BROADCAST 1
 
 	param set FW_ARSP_SCALE_EN 0
 

ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x

@@ -26,7 +26,6 @@ then
 	param set TRIG_MODE 4
 	param set MNT_MODE_IN 4
 	param set MNT_DO_STAB 2
-	param set MAV_PROTO_VER 2
 fi
 
 set MAV_TYPE 13

ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480

@@ -9,11 +9,11 @@
 
 if [ $AUTOCNF = yes ]
 then
-	param set MC_PITCHRATE_P 0.1000
+	param set MC_PITCHRATE_P 0.0800
 	param set MC_PITCHRATE_I 0.0400
 	param set MC_PITCHRATE_D 0.0010
 	param set MC_PITCH_P 9.0
-	param set MC_ROLLRATE_P 0.1000
+	param set MC_ROLLRATE_P 0.0800
 	param set MC_ROLLRATE_I 0.0400
 	param set MC_ROLLRATE_D 0.0010
 	param set MC_ROLL_P 9.0
@@ -24,7 +24,8 @@ then
 
 	param set TRIG_INTERFACE 3
 	param set TRIG_MODE 4
-	param set MNT_MODE_IN 0
+	param set MNT_MODE_IN 4
+	param set MNT_MODE_OUT 2
 	param set MAV_PROTO_VER 2
 fi
 

ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480.post

@@ -1,7 +1,7 @@
 
 mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
 
-mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
+mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
 
 # shellcheck disable=SC2154
 mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local

ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_ctrlalloc.post

@@ -1,7 +1,7 @@
 
 mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
 
-mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
+mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
 
 # shellcheck disable=SC2154
 mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -34,6 +34,7 @@
 px4_add_romfs_files(
 	10016_iris
 	10017_iris_ctrlalloc
+	10018_iris_foggy_lidar
 	10020_if750a
 	10030_px4vision
 	1010_iris_opt_flow
@@ -64,6 +65,8 @@ px4_add_romfs_files(
 	1040_standard_vtol
 	1041_tailsitter
 	1042_tiltrotor
+	1043_standard_vtol_drop
+	1043_standard_vtol_drop.post
 	1060_rover
 	1061_r1_rover
 	1062_tf-r1

ROMFS/px4fmu_common/init.d-posix/rc.replay

@@ -20,7 +20,6 @@ module: replay
 ignore_others: false
 EOF
 
-uorb start
 param set SDLOG_DIRS_MAX 7
 
 # apply all params before ekf starts, as some params cannot be changed after startup

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -46,15 +46,13 @@ else
 	# shellcheck disable=SC2012
 	REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR/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 $SCRIPT_DIR/airframes)"
+		echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on $SCRIPT_DIR/airframes)"
 		exit 1
 	else
-		echo "INFO  [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
+		echo "Info: found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
 	fi
 fi
 
-uorb start
-
 # Load parameters
 set PARAM_FILE eeprom/parameters_"$REQUESTED_AUTOSTART"
 param select $PARAM_FILE
@@ -63,12 +61,12 @@ if [ -f $PARAM_FILE ]
 then
 	if param load
 	then
-		echo "INFO  [init] Loaded: $PARAM_FILE"
+		echo "[param] Loaded: $PARAM_FILE"
 	else
-		echo "ERROR  [init] FAILED loading $PARAM_FILE"
+		echo "[param] FAILED loading $PARAM_FILE"
 	fi
 else
-	echo "INFO  [init] parameter file not found, creating $PARAM_FILE"
+	echo "[param] parameter file not found, creating $PARAM_FILE"
 fi
 
 # exit early when the minimal shell is requested
@@ -111,55 +109,57 @@ udp_offboard_port_remote=$((14540+px4_instance))
 [ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
 udp_onboard_payload_port_local=$((14280+px4_instance))
 udp_onboard_payload_port_remote=$((14030+px4_instance))
+udp_onboard_gimbal_port_local=$((13030+px4_instance))
+udp_onboard_gimbal_port_remote=$((13280+px4_instance))
 udp_gcs_port_local=$((18570+px4_instance))
 
 if [ $AUTOCNF = yes ]
 then
 	param set SYS_AUTOSTART $REQUESTED_AUTOSTART
 
-	param set BAT_N_CELLS 4
-
-	param set CAL_ACC0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
-	param set CAL_ACC1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
-	param set CAL_ACC2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
+	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
+	param set CAL_ACC1_ID  1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
 	param set CAL_GYRO1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
+	param set CAL_ACC2_ID  1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
 	param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
+
 	param set CAL_MAG0_ID 197388
 	param set CAL_MAG1_ID 197644
 
-	param set CBRK_AIRSPD_CHK 0
-	param set CBRK_SUPPLY_CHK 894281
-
-	# Don't require RC calibration and configuration
-	param set COM_RC_IN_MODE 1
-
-	# Speedup SITL startup
-	param set EKF2_REQ_GPS_H 0.5
-
-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
-	param set EKF2_MULTI_MAG 2
-	param set SENS_MAG_MODE 0
-
-	# By default log from boot until first disarm.
-	param set SDLOG_MODE 1
-	# enable default, estimator replay and vision/avoidance logging profiles
-	param set SDLOG_PROFILE 131
-	param set SDLOG_DIRS_MAX 7
-	param set SENS_BOARD_ROT 0
 	param set SENS_BOARD_X_OFF 0.000001
 	param set SENS_DPRES_OFF 0.001
-	param set SYS_RESTART_TYPE 2
 
-	param set TRIG_INTERFACE 3
+	param set SYS_RESTART_TYPE 2
 fi
 
-param set COM_CPU_MAX -1 # disable check, no CPU load reported on posix yet
+param set-default BAT_N_CELLS 4
 
-# Simulator IMU data provided at 250 Hz
-param set IMU_INTEG_RATE 250
+param set-default CBRK_AIRSPD_CHK 0
+param set-default CBRK_SUPPLY_CHK 894281
+
+# disable check, no CPU load reported on posix yet
+param set-default COM_CPU_MAX -1
+
+# Don't require RC calibration and configuration
+param set-default COM_RC_IN_MODE 1
+
+# Speedup SITL startup
+param set-default EKF2_REQ_GPS_H 0.5
+
+# Multi-EKF
+param set-default EKF2_MULTI_IMU 3
+param set-default SENS_IMU_MODE 0
+param set-default EKF2_MULTI_MAG 2
+param set-default SENS_MAG_MODE 0
+
+# By default log from boot until first disarm.
+param set-default SDLOG_MODE 1
+# enable default, estimator replay and vision/avoidance logging profiles
+param set-default SDLOG_PROFILE 131
+param set-default SDLOG_DIRS_MAX 7
+
+param set-default TRIG_INTERFACE 3
 
 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
@@ -192,7 +192,7 @@ do
 	esac
 done
 if [ ! -e "$autostart_file" ]; then
-	echo "ERROR  [init] no autostart file found ($autostart_file)"
+	echo "Error: no autostart file found ($autostart_file)"
 	exit 1
 fi
 
@@ -206,6 +206,9 @@ then
 	param set SYS_AUTOCONFIG 0
 fi
 
+# Simulator IMU data provided at 250 Hz
+param set IMU_INTEG_RATE 250
+
 dataman start
 # only start the simulator if not in replay mode, as both control the lockstep time
 if ! replay tryapplyparams
@@ -244,7 +247,7 @@ then
 	sh etc/init.d-posix/rc.mavlink_override
 else
 	# GCS link
-	mavlink start -x -u $udp_gcs_port_local -r 4000000
+	mavlink start -x -u $udp_gcs_port_local -r 4000000 -f -p
 	mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
 	mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
 	mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
@@ -256,12 +259,15 @@ else
 	mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
 
 	# API/Offboard link
-	mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offboard_port_remote
+	mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote -p
 
 	# Onboard link to camera
-	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
+	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote -p
 
+	# Onboard link to gimbal
+	mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote -p
 fi
+
 # execute autostart post script if any
 [ -e "$autostart_file".post ] && . "$autostart_file".post
 

ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil

@@ -17,35 +17,43 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set BAT_N_CELLS 3
 
-	param set FW_AIRSPD_MAX 20
-	param set FW_AIRSPD_MIN 12
-	param set FW_AIRSPD_TRIM 14
-	param set FW_R_TC 0.3
-	param set FW_P_TC 0.3
-	param set FW_L1_DAMPING 0.74
-	param set FW_L1_PERIOD 16
-	param set FW_LND_ANG 15
-	param set FW_LND_FLALT 5
-	param set FW_LND_HHDIST 15
-	param set FW_LND_HVIRT 13
-	param set FW_LND_TLALT 5
-	param set FW_THR_LND_MAX 0
-	param set FW_PR_FF 0.35
-	param set FW_PR_I 0.1
-	param set FW_PR_IMAX 0.4
-	param set FW_PR_P 0.2
-	param set FW_RR_FF 0.6
-	param set FW_RR_I 0.1
-	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.3
+param set-default BAT_N_CELLS 3
+
+param set-default FW_AIRSPD_MAX 20
+param set-default FW_AIRSPD_MIN 12
+param set-default FW_AIRSPD_TRIM 14
+param set-default FW_R_TC 0.3
+param set-default FW_P_TC 0.3
+param set-default FW_L1_DAMPING 0.74
+param set-default FW_L1_PERIOD 16
+param set-default FW_LND_ANG 15
+param set-default FW_LND_FLALT 5
+param set-default FW_LND_HHDIST 15
+param set-default FW_LND_HVIRT 13
+param set-default FW_LND_TLALT 5
+param set-default FW_THR_LND_MAX 0
+param set-default FW_PR_FF 0.35
+param set-default FW_PR_I 0.1
+param set-default FW_PR_IMAX 0.4
+param set-default FW_PR_P 0.2
+param set-default FW_RR_FF 0.6
+param set-default FW_RR_I 0.1
+param set-default FW_RR_IMAX 0.2
+param set-default FW_RR_P 0.3
+
+param set-default RWTO_TKOFF 1
 
-	param set RWTO_TKOFF 1
-fi
 
 param set SYS_HITL 1
 
+# disable some checks to allow to fly
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default COM_PREARM_MODE 0
+param set-default CBRK_IO_SAFETY 22027
+
 set MIXER AERT

ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery

@@ -20,28 +20,24 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set MC_ROLL_P 6.5
-	param set MC_ROLLRATE_P 0.1
-	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_D 0.0017
-	param set MC_PITCH_P 6.5
-	param set MC_PITCHRATE_P 0.14
-	param set MC_PITCHRATE_I 0.1
-	param set MC_PITCHRATE_D 0.0025
-	param set MC_YAW_P 2.8
-	param set MC_YAWRATE_P 0.28
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0
-fi
 
+param set-default MC_ROLL_P 6.5
+param set-default MC_ROLLRATE_P 0.1
+param set-default MC_ROLLRATE_I 0.05
+param set-default MC_ROLLRATE_D 0.0017
+param set-default MC_PITCH_P 6.5
+param set-default MC_PITCHRATE_P 0.14
+param set-default MC_PITCHRATE_I 0.1
+param set-default MC_PITCHRATE_D 0.0025
+param set-default MC_YAW_P 2.8
+param set-default MC_YAWRATE_P 0.28
+param set-default MC_YAWRATE_I 0.1
+param set-default MC_YAWRATE_D 0
 set MIXER quad_w
 
 set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris

@@ -18,32 +18,28 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	# TODO tune roll/pitch separately
-	param set MC_ROLL_P 7
-	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_D 0.004
-	param set MC_PITCH_P 7
-	param set MC_PITCHRATE_P 0.15
-	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCHRATE_D 0.004
-	param set MC_YAW_P 2.5
-	param set MC_YAWRATE_P 0.25
-	param set MC_YAWRATE_I 0.25
-	param set MC_YAWRATE_D 0
 
-	param set BAT_V_DIV 12.27559
-	param set BAT_A_PER_V 15.39103
-fi
+# TODO tune roll/pitch separately
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_P 0.15
+param set-default MC_ROLLRATE_I 0.05
+param set-default MC_ROLLRATE_D 0.004
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_P 0.15
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCHRATE_D 0.004
+param set-default MC_YAW_P 2.5
+param set-default MC_YAWRATE_P 0.25
+param set-default MC_YAWRATE_I 0.25
+param set-default MC_YAWRATE_D 0
 
+param set-default BAT_V_DIV 12.27559
+param set-default BAT_A_PER_V 15.39103
 set MIXER quad_w
 
 set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d

@@ -20,30 +20,26 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set BAT_N_CELLS 4
 
-	param set MC_ROLL_P 7
-	param set MC_ROLLRATE_P 0.13
-	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_D 0.004
-	param set MC_PITCH_P 7
-	param set MC_PITCHRATE_P 0.19
-	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCHRATE_D 0.004
-	param set MC_YAW_P 4
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0
-fi
+param set-default BAT_N_CELLS 4
 
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_P 0.13
+param set-default MC_ROLLRATE_I 0.05
+param set-default MC_ROLLRATE_D 0.004
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_P 0.19
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCHRATE_D 0.004
+param set-default MC_YAW_P 4
+param set-default MC_YAWRATE_P 0.2
+param set-default MC_YAWRATE_I 0.1
+param set-default MC_YAWRATE_D 0
 set MIXER quad_w
 
 set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance

@@ -20,35 +20,31 @@
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set BAT_N_CELLS 6
-	param set BAT_V_EMPTY 3.5
 
-	param set MC_ROLL_P 7
-	param set MC_ROLLRATE_P 0.08
-	param set MC_ROLLRATE_I 0.02
-	param set MC_ROLLRATE_D 0.003
-	param set MC_PITCH_P 7
-	param set MC_PITCHRATE_P 0.13
-	param set MC_PITCHRATE_I 0.02
-	param set MC_PITCHRATE_D 0.005
-	param set MC_YAW_P 2.8
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0
+param set-default BAT_N_CELLS 6
+param set-default BAT_V_EMPTY 3.5
 
-	param set MPC_XY_VEL_MAX 2
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_P 0.08
+param set-default MC_ROLLRATE_I 0.02
+param set-default MC_ROLLRATE_D 0.003
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_P 0.13
+param set-default MC_PITCHRATE_I 0.02
+param set-default MC_PITCHRATE_D 0.005
+param set-default MC_YAW_P 2.8
+param set-default MC_YAWRATE_P 0.2
+param set-default MC_YAWRATE_I 0.1
+param set-default MC_YAWRATE_D 0
 
-	param set PWM_MAIN_MIN 1080
-fi
+param set-default MPC_XY_VEL_MAX 2
 
+param set-default PWM_MAIN_MIN 1080
 set MIXER quad_w
 
 set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil

@@ -14,3 +14,12 @@ set MIXER quad_x
 set PWM_OUT 1234
 
 param set SYS_HITL 1
+
+# disable some checks to allow to fly
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default COM_PREARM_MODE 0
+param set-default CBRK_IO_SAFETY 22027

ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil

@@ -8,66 +8,73 @@
 # @maintainer Roman Bapst <roman@auterion.com>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set BAT_N_CELLS 3
 
-	param set COM_RC_IN_MODE 1
+param set-default BAT_N_CELLS 3
 
-	param set EKF2_AID_MASK 1
-	param set EKF2_ANGERR_INIT 0.01
-	param set EKF2_GBIAS_INIT 0.01
-	param set EKF2_HGT_MODE 0
-	param set EKF2_MAG_TYPE 1
+param set-default COM_RC_IN_MODE 1
 
-	param set FW_AIRSPD_MAX 25
-	param set FW_AIRSPD_MIN 14
-	param set FW_AIRSPD_TRIM 16
+param set-default EKF2_AID_MASK 1
+param set-default EKF2_ANGERR_INIT 0.01
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_HGT_MODE 0
+param set-default EKF2_MAG_TYPE 1
 
-	param set MC_PITCH_P 6
-	param set MC_PITCHRATE_P 0.2
-	param set MC_ROLL_P 6
-	param set MC_ROLLRATE_P 0.3
-	param set MIS_LTRMIN_ALT 10
-	param set MIS_TAKEOFF_ALT 10
-	param set MIS_YAW_TMT 10
+param set-default FW_AIRSPD_MAX 25
+param set-default FW_AIRSPD_MIN 14
+param set-default FW_AIRSPD_TRIM 16
 
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_THR_MIN 0.1
-	param set MPC_TKO_SPEED 1
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_D_ACC 0.1
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_P_ACC 3
-	param set MPC_Z_VEL_P_ACC 12
-	param set MPC_Z_VEL_I_ACC 3
-	param set MPC_Z_VEL_MAX_DN 1.5
+param set-default MC_PITCH_P 6
+param set-default MC_PITCHRATE_P 0.2
+param set-default MC_ROLL_P 6
+param set-default MC_ROLLRATE_P 0.3
+param set-default MIS_LTRMIN_ALT 10
+param set-default MIS_TAKEOFF_ALT 10
+param set-default MIS_YAW_TMT 10
 
-	param set NAV_ACC_RAD 5
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 80
+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
+param set-default MPC_XY_VEL_P_ACC 3
+param set-default MPC_Z_VEL_P_ACC 12
+param set-default MPC_Z_VEL_I_ACC 3
+param set-default MPC_Z_VEL_MAX_DN 1.5
 
-	param set RTL_DESCEND_ALT 10
-	param set RTL_RETURN_ALT 30
+param set-default NAV_ACC_RAD 5
+param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 80
 
-	param set SDLOG_DIRS_MAX 7
-	param set SYS_RESTART_TYPE 2
+param set-default RTL_DESCEND_ALT 10
+param set-default RTL_RETURN_ALT 30
+
+param set-default SDLOG_DIRS_MAX 7
+param set-default SYS_RESTART_TYPE 2
+
+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 VT_F_TRANS_THR 0.75
-	param set VT_MOT_ID 1234
-	param set VT_FW_MOT_OFFID 1234
-	param set VT_TYPE 2
-fi
 
 param set SYS_HITL 1
 
+# disable some checks to allow to fly
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default COM_PREARM_MODE 0
+param set-default CBRK_IO_SAFETY 22027
+
 set MAV_TYPE 22
 
 set MIXER standard_vtol_hitl

ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox

@@ -18,7 +18,6 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil

@@ -7,6 +7,8 @@
 #
 # @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
 #
+# @board px4_fmu-v2 exclude
+#
 
 . ${R}etc/init.d/rc.mc_defaults
 
@@ -15,3 +17,12 @@ set PWM_OUT 1234
 
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2
+
+# disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default COM_PREARM_MODE 0
+param set-default CBRK_IO_SAFETY 22027

ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox

@@ -16,7 +16,6 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik

@@ -17,38 +17,34 @@
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set MC_PITCH_P 4
-	param set MC_PITCHRATE_P 0.24
-	param set MC_PITCHRATE_I 0.09
-	param set MC_PITCHRATE_D 0.013
-	param set MC_PITCHRATE_MAX 180
 
-	param set MC_ROLL_P 4
-	param set MC_ROLLRATE_P 0.16
-	param set MC_ROLLRATE_I 0.07
-	param set MC_ROLLRATE_D 0.009
-	param set MC_ROLLRATE_MAX 180
+param set-default MC_PITCH_P 4
+param set-default MC_PITCHRATE_P 0.24
+param set-default MC_PITCHRATE_I 0.09
+param set-default MC_PITCHRATE_D 0.013
+param set-default MC_PITCHRATE_MAX 180
 
-	param set MC_YAW_P 3
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0
+param set-default MC_ROLL_P 4
+param set-default MC_ROLLRATE_P 0.16
+param set-default MC_ROLLRATE_I 0.07
+param set-default MC_ROLLRATE_D 0.009
+param set-default MC_ROLLRATE_MAX 180
 
-	param set MPC_HOLD_MAX_XY 0.25
-	param set MPC_THR_MIN 0.15
-	param set MPC_Z_VEL_MAX_DN 2
+param set-default MC_YAW_P 3
+param set-default MC_YAWRATE_P 0.2
+param set-default MC_YAWRATE_I 0.1
+param set-default MC_YAWRATE_D 0
 
-	param set BAT_N_CELLS 4
-fi
+param set-default MPC_HOLD_MAX_XY 0.25
+param set-default MPC_THR_MIN 0.15
+param set-default MPC_Z_VEL_MAX_DN 2
 
+param set-default BAT_N_CELLS 4
 set MIXER octo_cox_w
 
 set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard

@@ -18,22 +18,18 @@
 # @output AUX5 Throttle
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set PWM_AUX_DIS5 950
-	param set PWM_MAIN_RATE 400
 
-	param set VT_TYPE 2
-	param set VT_MOT_ID 1234
-	param set VT_FW_MOT_OFFID 1234
-fi
+param set-default PWM_AUX_DIS5 950
+param set-default PWM_MAIN_RATE 400
 
+param set-default VT_TYPE 2
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
 set MAV_TYPE 22
 
 set MIXER quad_x

ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol

@@ -13,40 +13,36 @@
 # @maintainer Roman Bapst <roman@px4.io>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set MAV_TYPE 19
 
-	param set MC_ROLL_P 6
-	param set MC_ROLLRATE_P 0.12
-	param set MC_ROLLRATE_I 0.002
-	param set MC_ROLLRATE_D 0.003
-	param set MC_ROLLRATE_FF 0
+param set-default MAV_TYPE 19
 
-	param set MC_PITCH_P 4.5
-	param set MC_PITCHRATE_P 0.3
-	param set MC_PITCHRATE_I 0.002
-	param set MC_PITCHRATE_D 0.003
-	param set MC_PITCHRATE_FF 0
+param set-default MC_ROLL_P 6
+param set-default MC_ROLLRATE_P 0.12
+param set-default MC_ROLLRATE_I 0.002
+param set-default MC_ROLLRATE_D 0.003
+param set-default MC_ROLLRATE_FF 0
 
-	param set MC_YAW_P 3.8
-	param set MC_YAWRATE_P 0.22
-	param set MC_YAWRATE_I 0.02
-	param set MC_YAWRATE_D 0
-	param set MC_YAWRATE_FF 0
+param set-default MC_PITCH_P 4.5
+param set-default MC_PITCHRATE_P 0.3
+param set-default MC_PITCHRATE_I 0.002
+param set-default MC_PITCHRATE_D 0.003
+param set-default MC_PITCHRATE_FF 0
 
-	param set VT_IDLE_PWM_MC  1080
-	param set VT_ELEV_MC_LOCK 0
-	param set VT_MOT_ID 12
-	param set VT_TYPE 0
-fi
+param set-default MC_YAW_P 3.8
+param set-default MC_YAWRATE_P 0.22
+param set-default MC_YAWRATE_I 0.02
+param set-default MC_YAWRATE_D 0
+param set-default MC_YAWRATE_FF 0
 
+param set-default VT_IDLE_PWM_MC  1080
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_MOT_ID 12
+param set-default VT_TYPE 0
 set MAV_TYPE 19
 
 set MIXER vtol_tailsitter_duo

ROMFS/px4fmu_common/init.d/airframes/13002_firefly6

@@ -18,43 +18,39 @@
 # @output AUX4 Gear
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set MC_ROLL_P 7
-	param set MC_ROLLRATE_P 0.19
-	param set MC_ROLLRATE_I 0.002
-	param set MC_ROLLRATE_D 0.005
-	param set MC_ROLLRATE_FF 0
-	param set MC_PITCH_P 7
-	param set MC_PITCHRATE_P 0.14
-	param set MC_PITCHRATE_I 0.002
-	param set MC_PITCHRATE_D 0.004
-	param set MC_PITCHRATE_FF 0
-	param set MC_YAW_P 4
-	param set MC_YAWRATE_P 0.22
-	param set MC_YAWRATE_I 0.02
-	param set MC_YAWRATE_D 0
-	param set MC_YAWRATE_FF 0
 
-	param set PWM_MAIN_RATE 400
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_P 0.19
+param set-default MC_ROLLRATE_I 0.002
+param set-default MC_ROLLRATE_D 0.005
+param set-default MC_ROLLRATE_FF 0
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_P 0.14
+param set-default MC_PITCHRATE_I 0.002
+param set-default MC_PITCHRATE_D 0.004
+param set-default MC_PITCHRATE_FF 0
+param set-default MC_YAW_P 4
+param set-default MC_YAWRATE_P 0.22
+param set-default MC_YAWRATE_I 0.02
+param set-default MC_YAWRATE_D 0
+param set-default MC_YAWRATE_FF 0
 
-	param set VT_FW_MOT_OFFID 34
-	param set VT_IDLE_PWM_MC 1080
-	param set VT_MOT_ID 123456
-	param set VT_FW_MOT_OFFID 56
-	param set VT_TILT_MC 0.08
-	param set VT_TILT_TRANS 0.5
-	param set VT_TILT_FW 0.9
-	param set VT_ELEV_MC_LOCK 0
-	param set VT_TYPE 1
-fi
+param set-default PWM_MAIN_RATE 400
 
+param set-default VT_FW_MOT_OFFID 34
+param set-default VT_IDLE_PWM_MC 1080
+param set-default VT_MOT_ID 123456
+param set-default VT_FW_MOT_OFFID 56
+param set-default VT_TILT_MC 0.08
+param set-default VT_TILT_TRANS 0.5
+param set-default VT_TILT_FW 0.9
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_TYPE 1
 set MAV_TYPE 21
 
 set MIXER firefly6

ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter

@@ -8,23 +8,19 @@
 # @maintainer Roman Bapst <roman@px4.io>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set PWM_MAIN_MAX 2000
-	param set PWM_MAIN_RATE 400
 
-	param set VT_MOT_ID 1234
-	param set VT_IDLE_PWM_MC  1080
-	param set VT_TYPE 0
-	param set VT_ELEV_MC_LOCK 1
-fi
+param set-default PWM_MAIN_MAX 2000
+param set-default PWM_MAIN_RATE 400
 
+param set-default VT_MOT_ID 1234
+param set-default VT_IDLE_PWM_MC  1080
+param set-default VT_TYPE 0
+param set-default VT_ELEV_MC_LOCK 1
 set MAV_TYPE 20
 
 set MIXER quad_x_vtol

ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter

@@ -17,22 +17,18 @@
 # @maintainer Roman Bapst <roman@px4.io>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set PWM_MAIN_MAX 2000
-	param set PWM_MAIN_RATE 400
 
-	param set VT_IDLE_PWM_MC  1080
-	param set VT_TYPE 0
-	param set VT_ELEV_MC_LOCK 1
-fi
+param set-default PWM_MAIN_MAX 2000
+param set-default PWM_MAIN_RATE 400
 
+param set-default VT_IDLE_PWM_MC  1080
+param set-default VT_TYPE 0
+param set-default VT_ELEV_MC_LOCK 1
 set MAV_TYPE 20
 
 set MIXER quad_+_vtol

ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad

@@ -18,56 +18,52 @@
 # @output AUX5 Throttle
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set PWM_AUX_DIS5 950
 
-	param set PWM_MAIN_RATE 400
+param set-default PWM_AUX_DIS5 950
 
-	param set MC_ROLL_P 6
-	param set MC_ROLLRATE_P 0.17
-	param set MC_ROLLRATE_I 0.002
-	param set MC_ROLLRATE_D 0.004
-	param set MC_ROLLRATE_FF 0
-	param set MC_PITCH_P 6
-	param set MC_PITCHRATE_P 0.19
-	param set MC_PITCHRATE_I 0.002
-	param set MC_PITCHRATE_D 0.004
-	param set MC_PITCHRATE_FF 0
-	param set MC_YAW_P 2.8
-	param set MC_YAWRATE_P 0.22
-	param set MC_YAWRATE_I 0.02
-	param set MC_YAWRATE_D 0
-	param set MC_YAWRATE_FF 0
-	param set MC_YAWRATE_MAX 40
+param set-default PWM_MAIN_RATE 400
 
-	param set MPC_YAWRAUTO_MAX 40
+param set-default MC_ROLL_P 6
+param set-default MC_ROLLRATE_P 0.17
+param set-default MC_ROLLRATE_I 0.002
+param set-default MC_ROLLRATE_D 0.004
+param set-default MC_ROLLRATE_FF 0
+param set-default MC_PITCH_P 6
+param set-default MC_PITCHRATE_P 0.19
+param set-default MC_PITCHRATE_I 0.002
+param set-default MC_PITCHRATE_D 0.004
+param set-default MC_PITCHRATE_FF 0
+param set-default MC_YAW_P 2.8
+param set-default MC_YAWRATE_P 0.22
+param set-default MC_YAWRATE_I 0.02
+param set-default MC_YAWRATE_D 0
+param set-default MC_YAWRATE_FF 0
+param set-default MC_YAWRATE_MAX 40
 
-	param set FW_PR_FF 0.5
-	param set FW_PR_I 0.02
-	param set FW_PR_IMAX 0.4
-	param set FW_PR_P 0.08
-	param set FW_RR_FF 0.6
-	param set FW_RR_I 0.01
-	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.05
-	param set FW_THR_CRUISE 0.75
+param set-default MPC_YAWRAUTO_MAX 40
 
-	param set VT_ARSP_BLEND 6
-	param set VT_ARSP_TRANS 12
-	param set VT_F_TRANS_THR 0.75
-	param set VT_MOT_ID 1234
-	param set VT_FW_MOT_OFFID 1234
-	param set VT_IDLE_PWM_MC 1080
-	param set VT_TYPE 2
-fi
+param set-default FW_PR_FF 0.5
+param set-default FW_PR_I 0.02
+param set-default FW_PR_IMAX 0.4
+param set-default FW_PR_P 0.08
+param set-default FW_RR_FF 0.6
+param set-default FW_RR_I 0.01
+param set-default FW_RR_IMAX 0.2
+param set-default FW_RR_P 0.05
+param set-default FW_THR_CRUISE 0.75
 
+param set-default VT_ARSP_BLEND 6
+param set-default VT_ARSP_TRANS 12
+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_IDLE_PWM_MC 1080
+param set-default VT_TYPE 2
 set MAV_TYPE 22
 
 set MIXER quad_x

ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta

@@ -16,46 +16,42 @@
 # @output AUX3 Motor
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set MC_ROLL_P 6.5
-	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.01
-	param set MC_ROLLRATE_D 0.003
-	param set MC_ROLLRATE_FF 0
-	param set MC_PITCH_P 6.5
-	param set MC_PITCHRATE_P 0.15
-	param set MC_PITCHRATE_I 0.01
-	param set MC_PITCHRATE_D 0.003
-	param set MC_PITCHRATE_FF 0
-	param set MC_YAW_P 3.5
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0
-	param set MC_YAWRATE_FF 0
-	param set MC_YAWRATE_MAX 50
 
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P_ACC 2
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_YAWRAUTO_MAX 20
+param set-default MC_ROLL_P 6.5
+param set-default MC_ROLLRATE_P 0.15
+param set-default MC_ROLLRATE_I 0.01
+param set-default MC_ROLLRATE_D 0.003
+param set-default MC_ROLLRATE_FF 0
+param set-default MC_PITCH_P 6.5
+param set-default MC_PITCHRATE_P 0.15
+param set-default MC_PITCHRATE_I 0.01
+param set-default MC_PITCHRATE_D 0.003
+param set-default MC_PITCHRATE_FF 0
+param set-default MC_YAW_P 3.5
+param set-default MC_YAWRATE_P 0.2
+param set-default MC_YAWRATE_I 0.1
+param set-default MC_YAWRATE_D 0
+param set-default MC_YAWRATE_FF 0
+param set-default MC_YAWRATE_MAX 50
 
-	param set PWM_AUX_DIS3 950
-	param set PWM_MAIN_RATE 400
+param set-default MPC_XY_P 0.8
+param set-default MPC_XY_VEL_P_ACC 2
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_YAWRAUTO_MAX 20
 
-	param set VT_MOT_ID 1234
-	param set VT_FW_MOT_OFFID 1234
-	param set VT_F_TRANS_THR 0.75
-	param set VT_IDLE_PWM_MC 1080
-	param set VT_TYPE 2
-fi
+param set-default PWM_AUX_DIS3 950
+param set-default PWM_MAIN_RATE 400
 
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
+param set-default VT_F_TRANS_THR 0.75
+param set-default VT_IDLE_PWM_MC 1080
+param set-default VT_TYPE 2
 set MAV_TYPE 22
 
 set MIXER quad_x

ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad

@@ -8,43 +8,39 @@
 # @maintainer Sander Smeets <sander@droneslab.com>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set MC_ROLL_P 7
-	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.002
-	param set MC_ROLLRATE_D 0.003
-	param set MC_ROLLRATE_FF 0
-	param set MC_PITCH_P 7
-	param set MC_PITCHRATE_P 0.12
-	param set MC_PITCHRATE_I 0.002
-	param set MC_PITCHRATE_D 0.003
-	param set MC_PITCHRATE_FF 0
-	param set MC_YAW_P 2.8
-	param set MC_YAWRATE_P 0.22
-	param set MC_YAWRATE_I 0.02
-	param set MC_YAWRATE_D 0
-	param set MC_YAWRATE_FF 0
-	param set MC_YAWRATE_MAX 40
 
-	param set MPC_YAWRAUTO_MAX 40
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_P 0.15
+param set-default MC_ROLLRATE_I 0.002
+param set-default MC_ROLLRATE_D 0.003
+param set-default MC_ROLLRATE_FF 0
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_P 0.12
+param set-default MC_PITCHRATE_I 0.002
+param set-default MC_PITCHRATE_D 0.003
+param set-default MC_PITCHRATE_FF 0
+param set-default MC_YAW_P 2.8
+param set-default MC_YAWRATE_P 0.22
+param set-default MC_YAWRATE_I 0.02
+param set-default MC_YAWRATE_D 0
+param set-default MC_YAWRATE_FF 0
+param set-default MC_YAWRATE_MAX 40
 
-	param set PWM_AUX_DIS5 950
-	param set PWM_MAIN_RATE 400
+param set-default MPC_YAWRAUTO_MAX 40
 
-	param set VT_F_TRANS_THR 0.75
-	param set VT_MOT_ID 1234
-	param set VT_FW_MOT_OFFID 1234
-	param set VT_IDLE_PWM_MC 1080
-	param set VT_TYPE 2
-fi
+param set-default PWM_AUX_DIS5 950
+param set-default PWM_MAIN_RATE 400
 
+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_IDLE_PWM_MC 1080
+param set-default VT_TYPE 2
 set MAV_TYPE 22
 
 set MIXER quad_x

ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger

@@ -8,60 +8,56 @@
 # @maintainer Sander Smeets <sander@droneslab.com>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set FW_THR_CRUISE 65
-	param set FW_PR_P 0.08
-	param set FW_PR_FF 0.5
-	param set FW_RR_P 0.05
-	param set FW_RR_FF 0.6
 
-	param set MIS_YAW_TMT 10
+param set-default FW_THR_CRUISE 65
+param set-default FW_PR_P 0.08
+param set-default FW_PR_FF 0.5
+param set-default FW_RR_P 0.05
+param set-default FW_RR_FF 0.6
 
-	param set MC_ROLL_P 7
-	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.1
-	param set MC_ROLLRATE_D 0.004
-	param set MC_ROLLRATE_FF 0
-	param set MC_PITCH_P 7
-	param set MC_PITCHRATE_P 0.15
-	param set MC_PITCHRATE_I 0.1
-	param set MC_PITCHRATE_D 0.004
-	param set MC_PITCHRATE_FF 0
-	param set MC_YAW_P 3.5
-	param set MC_YAWRATE_P 0.6
-	param set MC_YAWRATE_I 0.04
-	param set MC_YAWRATE_D 0
-	param set MC_YAWRATE_FF 0
-	param set MC_YAWRATE_MAX 40
+param set-default MIS_YAW_TMT 10
 
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_Z_VEL_MAX_DN 1.5
-	param set MPC_TKO_SPEED 1.5
-	param set MPC_LAND_SPEED 0.8
-	param set MPC_YAWRAUTO_MAX 40
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_P 0.15
+param set-default MC_ROLLRATE_I 0.1
+param set-default MC_ROLLRATE_D 0.004
+param set-default MC_ROLLRATE_FF 0
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_P 0.15
+param set-default MC_PITCHRATE_I 0.1
+param set-default MC_PITCHRATE_D 0.004
+param set-default MC_PITCHRATE_FF 0
+param set-default MC_YAW_P 3.5
+param set-default MC_YAWRATE_P 0.6
+param set-default MC_YAWRATE_I 0.04
+param set-default MC_YAWRATE_D 0
+param set-default MC_YAWRATE_FF 0
+param set-default MC_YAWRATE_MAX 40
 
-	param set PWM_AUX_DIS5 950
-	param set PWM_AUX_REV1 1
-	param set PWM_AUX_REV2 1
-	param set PWM_MAIN_RATE 400
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_Z_VEL_MAX_DN 1.5
+param set-default MPC_TKO_SPEED 1.5
+param set-default MPC_LAND_SPEED 0.8
+param set-default MPC_YAWRAUTO_MAX 40
 
-	param set VT_ARSP_TRANS 15
-	param set VT_ARSP_BLEND 8
-	param set VT_B_TRANS_DUR 4
-	param set VT_F_TRANS_THR 0.75
-	param set VT_IDLE_PWM_MC 1080
-	param set VT_MOT_ID 1234
-	param set VT_FW_MOT_OFFID 1234
-	param set VT_TYPE 2
-fi
+param set-default PWM_AUX_DIS5 950
+param set-default PWM_AUX_REV1 1
+param set-default PWM_AUX_REV2 1
+param set-default PWM_MAIN_RATE 400
 
+param set-default VT_ARSP_TRANS 15
+param set-default VT_ARSP_BLEND 8
+param set-default VT_B_TRANS_DUR 4
+param set-default VT_F_TRANS_THR 0.75
+param set-default VT_IDLE_PWM_MC 1080
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
+param set-default VT_TYPE 2
 set MAV_TYPE 22
 
 set MIXER quad_x

ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger

@@ -8,81 +8,77 @@
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set FW_AIRSPD_MAX   22
-	param set FW_AIRSPD_MIN   14
-	param set FW_AIRSPD_TRIM  16
-	param set FW_L1_PERIOD    25
-	param set FW_PR_P 0.060
-	param set FW_P_RMAX_NEG   40
-	param set FW_P_RMAX_POS   40
-	param set FW_RR_FF    0.4
-	param set FW_RR_P 0.04
-	param set FW_R_RMAX   40
 
-	param set MC_PITCHRATE_D 0.004
-	param set MC_PITCHRATE_I 0
-	param set MC_PITCHRATE_MAX 60
-	param set MC_PITCHRATE_P 0.21
-	param set MC_PITCH_P 4
-	param set MC_ROLLRATE_D 0.004
-	param set MC_ROLLRATE_I 0.002
-	param set MC_ROLLRATE_MAX 60
-	param set MC_ROLLRATE_P 0.24
-	param set MC_ROLL_P 4
-	param set MC_YAWRATE_I 0.02
-	param set MC_YAWRATE_MAX 40
-	param set MC_YAWRATE_P 0.18
+param set-default FW_AIRSPD_MAX   22
+param set-default FW_AIRSPD_MIN   14
+param set-default FW_AIRSPD_TRIM  16
+param set-default FW_L1_PERIOD    25
+param set-default FW_PR_P 0.060
+param set-default FW_P_RMAX_NEG   40
+param set-default FW_P_RMAX_POS   40
+param set-default FW_RR_FF    0.4
+param set-default FW_RR_P 0.04
+param set-default FW_R_RMAX   40
 
-	param set MIS_TAKEOFF_ALT 2.5
-	param set MIS_YAW_TMT 20
+param set-default MC_PITCHRATE_D 0.004
+param set-default MC_PITCHRATE_I 0
+param set-default MC_PITCHRATE_MAX 60
+param set-default MC_PITCHRATE_P 0.21
+param set-default MC_PITCH_P 4
+param set-default MC_ROLLRATE_D 0.004
+param set-default MC_ROLLRATE_I 0.002
+param set-default MC_ROLLRATE_MAX 60
+param set-default MC_ROLLRATE_P 0.24
+param set-default MC_ROLL_P 4
+param set-default MC_YAWRATE_I 0.02
+param set-default MC_YAWRATE_MAX 40
+param set-default MC_YAWRATE_P 0.18
 
-	param set MPC_ACC_HOR_MAX 1
-	param set MPC_HOLD_MAX_XY 0.5
-	param set MPC_HOLD_MAX_Z  0.5
-	param set MPC_LAND_SPEED  1
-	param set MPC_MANTHR_MIN  0.05
-	param set MPC_MAN_Y_MAX   120
-	param set MPC_THR_MIN 0.07
-	param set MPC_TILTMAX_AIR 35
-	param set MPC_TILTMAX_LND 20
-	param set MPC_TKO_SPEED   1
-	param set MPC_XY_P    0.3
-	param set MPC_XY_VEL_MAX  3
-	param set MPC_XY_VEL_P_ACC 1
-	param set MPC_Z_P 0.5
-	param set MPC_Z_VEL_P_ACC 2
-	param set MPC_YAWRAUTO_MAX 40
+param set-default MIS_TAKEOFF_ALT 2.5
+param set-default MIS_YAW_TMT 20
 
-	param set NAV_ACC_RAD 3
+param set-default MPC_ACC_HOR_MAX 1
+param set-default MPC_HOLD_MAX_XY 0.5
+param set-default MPC_HOLD_MAX_Z  0.5
+param set-default MPC_LAND_SPEED  1
+param set-default MPC_MANTHR_MIN  0.05
+param set-default MPC_MAN_Y_MAX   120
+param set-default MPC_THR_MIN 0.07
+param set-default MPC_TILTMAX_AIR 35
+param set-default MPC_TILTMAX_LND 20
+param set-default MPC_TKO_SPEED   1
+param set-default MPC_XY_P    0.3
+param set-default MPC_XY_VEL_MAX  3
+param set-default MPC_XY_VEL_P_ACC 1
+param set-default MPC_Z_P 0.5
+param set-default MPC_Z_VEL_P_ACC 2
+param set-default MPC_YAWRAUTO_MAX 40
 
-	param set PWM_AUX_REV1    1
-	param set PWM_AUX_REV2    1
-	param set PWM_AUX_REV3    1
-	param set PWM_AUX_REV4    1
+param set-default NAV_ACC_RAD 3
 
-	param set PWM_AUX_DIS5 950
+param set-default PWM_AUX_REV1    1
+param set-default PWM_AUX_REV2    1
+param set-default PWM_AUX_REV3    1
+param set-default PWM_AUX_REV4    1
 
-	param set PWM_MAIN_RATE 400
+param set-default PWM_AUX_DIS5 950
 
-	param set VT_ARSP_TRANS   15
-	param set VT_B_TRANS_DUR  4
-	param set VT_F_TRANS_THR    0.6
-	param set VT_IDLE_PWM_MC 1180
-	param set VT_MOT_ID 1234
-	param set VT_FW_MOT_OFFID 1234
-	param set VT_TRANS_MIN_TM 5
-	param set VT_TRANS_TIMEOUT    30
-	param set VT_TYPE 2
+param set-default PWM_MAIN_RATE 400
 
-fi
+param set-default VT_ARSP_TRANS   15
+param set-default VT_B_TRANS_DUR  4
+param set-default VT_F_TRANS_THR    0.6
+param set-default VT_IDLE_PWM_MC 1180
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
+param set-default VT_TRANS_MIN_TM 5
+param set-default VT_TRANS_TIMEOUT    30
+param set-default VT_TYPE 2
 
 set MAV_TYPE 22
 

ROMFS/px4fmu_common/init.d/airframes/13010_claire

@@ -8,32 +8,28 @@
 # @maintainer Samay Siga <samay_s@icloud.com>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set PWM_AUX_DISARMED 1000
-	param set PWM_AUX_MAX 2000
-	param set PWM_AUX_MIN 1000
-	param set PWM_AUX_RATE 50
 
-	param set PWM_MAIN_MAX 2000
-	param set PWM_MAIN_RATE 400
+param set-default PWM_AUX_DISARMED 1000
+param set-default PWM_AUX_MAX 2000
+param set-default PWM_AUX_MIN 1000
+param set-default PWM_AUX_RATE 50
 
-	param set VT_MOT_ID 1234
-	param set VT_FW_MOT_OFFID 13
-	param set VT_IDLE_PWM_MC 1080
-	param set VT_TILT_FW 0.9
-	param set VT_TILT_MC 0.08
-	param set VT_TILT_TRANS 0.5
-	param set VT_ELEV_MC_LOCK 0
-	param set VT_TYPE 1
-fi
+param set-default PWM_MAIN_MAX 2000
+param set-default PWM_MAIN_RATE 400
 
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 13
+param set-default VT_IDLE_PWM_MC 1080
+param set-default VT_TILT_FW 0.9
+param set-default VT_TILT_MC 0.08
+param set-default VT_TILT_TRANS 0.5
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_TYPE 1
 set MAV_TYPE 21
 
 set MIXER claire

ROMFS/px4fmu_common/init.d/airframes/13012_convergence

@@ -17,72 +17,68 @@
 # @output MAIN8 Elevon left
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set CBRK_AIRSPD_CHK 162128
 
-	param set FW_ARSP_MODE 1
+param set-default CBRK_AIRSPD_CHK 162128
 
-	param set FW_L1_PERIOD 17
-	param set FW_MAN_R_MAX 50
-	param set FW_ACRO_X_MAX   270
-	param set FW_ACRO_Y_MAX   270
-	param set FW_ACRO_Z_MAX   180
-	param set FW_PR_FF    0.5
-	param set FW_PR_P 0.08
-	param set FW_PSP_OFF  5
-	param set FW_P_LIM_MAX    30
-	param set FW_P_LIM_MIN    -30
-	param set FW_P_RMAX_NEG   60
-	param set FW_P_RMAX_POS   60
-	param set FW_RR_FF    0.33
-	param set FW_RR_P 0.11
-	param set FW_YR_FF    0.3
-	param set FW_YR_P 0.05
+param set-default FW_ARSP_MODE 1
 
-	param set MC_PITCHRATE_D  0.003
-	param set MC_PITCHRATE_P  0.15
-	param set MC_PITCH_P  6
-	param set MC_ROLLRATE_D   0.003
-	param set MC_ROLLRATE_P   0.15
-	param set MC_ROLL_P   6
-	param set MC_YAWRATE_MAX  120
-	param set MC_YAWRATE_P    0.27
-	param set MC_YAW_P    2.5
+param set-default FW_L1_PERIOD 17
+param set-default FW_MAN_R_MAX 50
+param set-default FW_ACRO_X_MAX   270
+param set-default FW_ACRO_Y_MAX   270
+param set-default FW_ACRO_Z_MAX   180
+param set-default FW_PR_FF    0.5
+param set-default FW_PR_P 0.08
+param set-default FW_PSP_OFF  5
+param set-default FW_P_LIM_MAX    30
+param set-default FW_P_LIM_MIN    -30
+param set-default FW_P_RMAX_NEG   60
+param set-default FW_P_RMAX_POS   60
+param set-default FW_RR_FF    0.33
+param set-default FW_RR_P 0.11
+param set-default FW_YR_FF    0.3
+param set-default FW_YR_P 0.05
 
-	param set MC_YAWRATE_P 0.3
-	param set MPC_LAND_SPEED 1.2
-	param set MPC_TKO_SPEED 2.5
-	param set MPC_Z_VEL_MAX_UP 3
+param set-default MC_PITCHRATE_D  0.003
+param set-default MC_PITCHRATE_P  0.15
+param set-default MC_PITCH_P  6
+param set-default MC_ROLLRATE_D   0.003
+param set-default MC_ROLLRATE_P   0.15
+param set-default MC_ROLL_P   6
+param set-default MC_YAWRATE_MAX  120
+param set-default MC_YAWRATE_P    0.27
+param set-default MC_YAW_P    2.5
 
-	param set PWM_MAIN_RATE 400
+param set-default MC_YAWRATE_P 0.3
+param set-default MPC_LAND_SPEED 1.2
+param set-default MPC_TKO_SPEED 2.5
+param set-default MPC_Z_VEL_MAX_UP 3
 
-	param set SENS_BOARD_ROT 8
+param set-default PWM_MAIN_RATE 400
 
-	param set VT_B_TRANS_DUR  1
-	param set VT_F_TRANS_DUR  1.2
-	param set VT_F_TR_OL_TM   4
-	param set VT_FW_DIFTHR_EN 1
-	param set VT_FW_DIFTHR_SC 0.17
-	param set VT_FW_MOT_OFFID 3
-	param set VT_FW_PERM_STAB 0
-	param set VT_IDLE_PWM_MC 1200
-	param set VT_MOT_ID 123
-	param set VT_TILT_FW  1
-	param set VT_TILT_MC  0
-	param set VT_TILT_TRANS   0.45
-	param set VT_TRANS_MIN_TM 1.2
-	param set VT_TRANS_P2_DUR 1.3
-	param set VT_ELEV_MC_LOCK 0
-	param set VT_TYPE 1
-fi
+param set-default SENS_BOARD_ROT 8
 
+param set-default VT_B_TRANS_DUR  1
+param set-default VT_F_TRANS_DUR  1.2
+param set-default VT_F_TR_OL_TM   4
+param set-default VT_FW_DIFTHR_EN 1
+param set-default VT_FW_DIFTHR_SC 0.17
+param set-default VT_FW_MOT_OFFID 3
+param set-default VT_FW_PERM_STAB 0
+param set-default VT_IDLE_PWM_MC 1200
+param set-default VT_MOT_ID 123
+param set-default VT_TILT_FW  1
+param set-default VT_TILT_MC  0
+param set-default VT_TILT_TRANS   0.45
+param set-default VT_TRANS_MIN_TM 1.2
+param set-default VT_TRANS_P2_DUR 1.3
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_TYPE 1
 set MAV_TYPE 21
 
 set MIXER vtol_convergence

ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad

@@ -17,144 +17,139 @@
 # @output MAIN8 Pusher reverse channel
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set BAT_CAPACITY 23000
-	param set BAT_N_CELLS 4
-	param set BAT_R_INTERNAL 0.0025
 
-	param set CBRK_AIRSPD_CHK 162128
-	param set CBRK_IO_SAFETY 22027
+param set-default BAT_CAPACITY 23000
+param set-default BAT_N_CELLS 4
+param set-default BAT_R_INTERNAL 0.0025
 
-	param set EKF2_GPS_POS_X -0.12
-	param set EKF2_IMU_POS_X -0.12
-	param set EKF2_TAU_VEL 0.5
-	param set EKF2_GPS_P_GATE 10
-	param set EKF2_GPS_V_GATE 10
+param set-default CBRK_AIRSPD_CHK 162128
+param set-default CBRK_IO_SAFETY 22027
 
-	param set FW_ARSP_MODE 1
-	param set FW_L1_PERIOD 25
-	param set FW_PR_FF 0.7
-	param set FW_PR_I 0.18
-	param set FW_PR_P 0.15
-	param set FW_P_TC 0.5
-	param set FW_PSP_OFF 5
-	param set FW_R_LIM 35
-	param set FW_RR_FF 0.9
-	param set FW_RR_I 0.08
-	param set FW_RR_P 0.18
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_CLMB_MAX 3
-	param set FW_T_SINK_MAX 3
-	param set FW_T_SINK_MIN 1
-	param set FW_T_VERT_ACC 6
-	param set FW_THR_CRUISE 0.70
-	param set FW_THR_SLEW_MAX 1
-	param set FW_MAN_P_MAX 30
-	param set FW_P_LIM_MAX 15
-	param set FW_P_LIM_MIN -25
-	param set FW_P_RMAX_NEG 45
-	param set FW_P_RMAX_POS 45
-	param set FW_R_RMAX 50
-	param set FW_THR_MIN 0.55
-	param set FW_BAT_SCALE_EN 1
-	param set FW_THR_ALT_SCL 2.7
-	param set FW_T_RLL2THR 20
+param set-default EKF2_GPS_POS_X -0.12
+param set-default EKF2_IMU_POS_X -0.12
+param set-default EKF2_TAU_VEL 0.5
+param set-default EKF2_GPS_P_GATE 10
+param set-default EKF2_GPS_V_GATE 10
 
-	param set LNDMC_ALT_MAX 9999
-	param set LNDMC_XY_VEL_MAX 1
-	param set LNDMC_Z_VEL_MAX 0.7
+param set-default FW_ARSP_MODE 1
+param set-default FW_L1_PERIOD 25
+param set-default FW_PR_FF 0.7
+param set-default FW_PR_I 0.18
+param set-default FW_PR_P 0.15
+param set-default FW_P_TC 0.5
+param set-default FW_PSP_OFF 5
+param set-default FW_R_LIM 35
+param set-default FW_RR_FF 0.9
+param set-default FW_RR_I 0.08
+param set-default FW_RR_P 0.18
+param set-default FW_T_HRATE_FF 0.5
+param set-default FW_T_CLMB_MAX 3
+param set-default FW_T_SINK_MAX 3
+param set-default FW_T_SINK_MIN 1
+param set-default FW_T_VERT_ACC 6
+param set-default FW_THR_CRUISE 0.70
+param set-default FW_THR_SLEW_MAX 1
+param set-default FW_MAN_P_MAX 30
+param set-default FW_P_LIM_MAX 15
+param set-default FW_P_LIM_MIN -25
+param set-default FW_P_RMAX_NEG 45
+param set-default FW_P_RMAX_POS 45
+param set-default FW_R_RMAX 50
+param set-default FW_THR_MIN 0.55
+param set-default FW_BAT_SCALE_EN 1
+param set-default FW_THR_ALT_SCL 2.7
+param set-default FW_T_RLL2THR 20
 
-	param set MC_ROLL_P 6.5
-	param set MC_ROLLRATE_P 0.16
-	param set MC_ROLLRATE_I 0.01
-	param set MC_ROLLRATE_D 0.003
-	param set MC_ROLLRATE_FF 0
-	param set MC_ROLLRATE_MAX 80
-	param set MC_PITCH_P 6.5
-	param set MC_PITCHRATE_P 0.15
-	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCHRATE_D 0.003
-	param set MC_PITCHRATE_FF 0
-	param set MC_PITCHRATE_MAX 80
-	param set MC_YAW_P 3.5
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0
-	param set MC_YAWRATE_FF 0
-	param set MC_YAWRATE_MAX 20
-	param set MC_AIRMODE 1
+param set-default LNDMC_ALT_MAX 9999
+param set-default LNDMC_XY_VEL_MAX 1
+param set-default LNDMC_Z_VEL_MAX 0.7
 
-	param set MIS_DIST_1WP 100
-	param set MIS_DIST_WPS 100000
-	param set MIS_TAKEOFF_ALT 15
+param set-default MC_ROLL_P 6.5
+param set-default MC_ROLLRATE_P 0.16
+param set-default MC_ROLLRATE_I 0.01
+param set-default MC_ROLLRATE_D 0.003
+param set-default MC_ROLLRATE_FF 0
+param set-default MC_ROLLRATE_MAX 80
+param set-default MC_PITCH_P 6.5
+param set-default MC_PITCHRATE_P 0.15
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCHRATE_D 0.003
+param set-default MC_PITCHRATE_FF 0
+param set-default MC_PITCHRATE_MAX 80
+param set-default MC_YAW_P 3.5
+param set-default MC_YAWRATE_P 0.2
+param set-default MC_YAWRATE_I 0.1
+param set-default MC_YAWRATE_D 0
+param set-default MC_YAWRATE_FF 0
+param set-default MC_YAWRATE_MAX 20
+param set-default MC_AIRMODE 1
 
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P_ACC 2
-	param set MPC_XY_VEL_MAX 5
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_LAND_SPEED 1.2
-	param set MPC_TILTMAX_LND 35
-	param set MPC_Z_VEL_MAX 1.5
-	param set MPC_Z_VEL_MAX_UP 1.5
-	param set MPC_Z_VEL_MAX_DN 1.5
-	param set MPC_HOLD_MAX_XY 0.5
-	param set MPC_HOLD_MAX_Z 0.5
-	param set MPC_TKO_RAMP_T 0.8
-	param set MPC_XY_CRUISE 5
-	param set MPC_TILTMAX_AIR 25
-	param set MPC_TILTMAX_LND 25
-	param set MPC_YAWRAUTO_MAX 20
+param set-default MIS_DIST_1WP 100
+param set-default MIS_DIST_WPS 100000
+param set-default MIS_TAKEOFF_ALT 15
 
-	param set NAV_DLL_ACT 0
-	param set NAV_LOITER_RAD 100
+param set-default MPC_XY_P 0.8
+param set-default MPC_XY_VEL_P_ACC 2
+param set-default MPC_XY_VEL_MAX 5
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_LAND_SPEED 1.2
+param set-default MPC_TILTMAX_LND 35
+param set-default MPC_Z_VEL_MAX_UP 1.5
+param set-default MPC_Z_VEL_MAX_DN 1.5
+param set-default MPC_HOLD_MAX_XY 0.5
+param set-default MPC_HOLD_MAX_Z 0.5
+param set-default MPC_TKO_RAMP_T 0.8
+param set-default MPC_XY_CRUISE 5
+param set-default MPC_TILTMAX_AIR 25
+param set-default MPC_TILTMAX_LND 25
+param set-default MPC_YAWRAUTO_MAX 20
 
-	param set PWM_AUX_DISARMED 950
+param set-default NAV_DLL_ACT 0
+param set-default NAV_LOITER_RAD 100
 
-	param set PWM_MAIN_DIS5 1500
-	param set PWM_MAIN_DIS6 1500
-	param set PWM_MAIN_DIS7 900
-	param set PWM_MAIN_DIS8 900
+param set-default PWM_AUX_DISARMED 950
 
-	param set PWM_MAIN_RATE 400
+param set-default PWM_MAIN_DIS5 1500
+param set-default PWM_MAIN_DIS6 1500
+param set-default PWM_MAIN_DIS7 900
+param set-default PWM_MAIN_DIS8 900
 
-	param set SENS_BOARD_ROT 18
+param set-default PWM_MAIN_RATE 400
 
-	# TELEM2 config
-	param set MAV_1_CONFIG 102
-	param set MAV_1_RATE 5000
-	param set MAV_1_FORWARD 1
-	param set SER_TEL2_BAUD 57600
+param set-default SENS_BOARD_ROT 18
 
-	param set VT_TYPE 2
-	param set VT_MOT_ID 1234
-	param set VT_FW_MOT_OFFID 1234
-	param set VT_F_TRANS_THR 1
-	param set VT_DWN_PITCH_MAX 8
-	param set VT_FW_QC_P 55
-	param set VT_FW_QC_R 55
-	param set VT_TRANS_MIN_TM 15
-	param set VT_B_TRANS_DUR 8
-	param set VT_WV_LND_EN 1
-	param set VT_WV_LTR_EN 1
-	param set VT_FWD_THRUST_SC 4
-	param set VT_F_TRANS_DUR 1
-	param set VT_IDLE_PWM_MC 1025
-	param set VT_B_REV_OUT 0.5
-	param set VT_B_TRANS_THR 0.7
-	param set VT_FW_PERM_STAB 1
-	param set VT_TRANS_TIMEOUT 22
-	param set VT_F_TRANS_RAMP 4
+# TELEM2 config
+param set-default MAV_1_CONFIG 102
+param set-default MAV_1_RATE 5000
+param set-default MAV_1_FORWARD 1
+param set-default SER_TEL2_BAUD 57600
 
-	param set COM_RC_OVERRIDE 0
-fi
+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_DWN_PITCH_MAX 8
+param set-default VT_FW_QC_P 55
+param set-default VT_FW_QC_R 55
+param set-default VT_TRANS_MIN_TM 15
+param set-default VT_B_TRANS_DUR 8
+param set-default VT_WV_LND_EN 1
+param set-default VT_WV_LTR_EN 1
+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_FW_PERM_STAB 1
+param set-default VT_TRANS_TIMEOUT 22
+param set-default VT_F_TRANS_RAMP 4
 
+param set-default COM_RC_OVERRIDE 0
 set MAV_TYPE 22
 
 set MIXER deltaquad

ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark

@@ -17,98 +17,94 @@
 # @output MAIN8 motor 4
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
-then
 
-	param set BAT_N_CELLS 6
 
-	param set FW_AIRSPD_MAX   30
-	param set FW_AIRSPD_MIN   19
-	param set FW_AIRSPD_TRIM  23
-	param set FW_L1_R_SLEW_MAX 40
-	param set FW_LND_EARLYCFG 1
-	param set FW_MAN_P_MAX	30
-	param set FW_PR_I	0.1
-	param set FW_PSP_OFF	3
-	param set FW_P_LIM_MAX 18
-	param set FW_P_LIM_MIN -25
-	param set FW_RLL_TO_YAW_FF	0.1
-	param set FW_RR_I	0.1
-	param set FW_RR_P	0.08
-	param set FW_R_LIM 45
-	param set FW_R_RMAX	50
-	param set FW_THR_CRUISE 0.65
-	param set FW_THR_MIN 0.3
-	param set FW_THR_SLEW_MAX 0.6
-	param set FW_T_HRATE_FF 0
-	param set FW_T_SINK_MAX	15
-	param set FW_T_SINK_MIN	3
-	param set FW_YR_I	0.1
-	param set FW_YR_P	0.15
+param set-default BAT_N_CELLS 6
 
-	param set IMU_GYRO_CUTOFF 40
+param set-default FW_AIRSPD_MAX   30
+param set-default FW_AIRSPD_MIN   19
+param set-default FW_AIRSPD_TRIM  23
+param set-default FW_L1_R_SLEW_MAX 40
+param set-default FW_LND_EARLYCFG 1
+param set-default FW_MAN_P_MAX	30
+param set-default FW_PR_I	0.1
+param set-default FW_PSP_OFF	3
+param set-default FW_P_LIM_MAX 18
+param set-default FW_P_LIM_MIN -25
+param set-default FW_RLL_TO_YAW_FF	0.1
+param set-default FW_RR_I	0.1
+param set-default FW_RR_P	0.08
+param set-default FW_R_LIM 45
+param set-default FW_R_RMAX	50
+param set-default FW_THR_CRUISE 0.65
+param set-default FW_THR_MIN 0.3
+param set-default FW_THR_SLEW_MAX 0.6
+param set-default FW_T_HRATE_FF 0
+param set-default FW_T_SINK_MAX	15
+param set-default FW_T_SINK_MIN	3
+param set-default FW_YR_I	0.1
+param set-default FW_YR_P	0.15
 
-	param set IMU_DGYRO_CUTOFF 15
-	param set MC_PITCHRATE_I	0.2
-	param set MC_PITCHRATE_MAX 60
-	param set MC_ROLLRATE_I	0.2
-	param set MC_ROLLRATE_MAX 60
-	param set MC_YAWRATE_I 0.15
-	param set MC_YAWRATE_MAX 40
-	param set MC_YAWRATE_P 0.3
+param set-default IMU_GYRO_CUTOFF 40
 
-	param set MIS_TAKEOFF_ALT	30
+param set-default IMU_DGYRO_CUTOFF 15
+param set-default MC_PITCHRATE_I	0.2
+param set-default MC_PITCHRATE_MAX 60
+param set-default MC_ROLLRATE_I	0.2
+param set-default MC_ROLLRATE_MAX 60
+param set-default MC_YAWRATE_I 0.15
+param set-default MC_YAWRATE_MAX 40
+param set-default MC_YAWRATE_P 0.3
 
-	param set MPC_ACC_DOWN_MAX	2
-	param set MPC_ACC_HOR_MAX	2
-	param set MPC_ACC_UP_MAX	3
-	param set MC_AIRMODE 1
-	param set MPC_JERK_AUTO	4
-	param set MPC_LAND_SPEED 1
-	param set MPC_MAN_TILT_MAX 25
-	param set MPC_MAN_Y_MAX 40
-	param set MPC_POS_MODE 3
-	param set MPC_SPOOLUP_TIME 1.5
-	param set MPC_THR_HOVER 0.45
-	param set MPC_TILTMAX_AIR 25
-	param set MPC_TKO_RAMP_T 1.8
-	param set MPC_TKO_SPEED	1
-	param set MPC_VEL_MANUAL 3
-	param set MPC_XY_CRUISE 3
-	param set MPC_XY_VEL_MAX 3.5
-	param set MPC_YAWRAUTO_MAX 40
-	param set MPC_Z_VEL_MAX_DN 1.5
-	param set MPC_Z_VEL_MAX_UP 2
+param set-default MIS_TAKEOFF_ALT	30
 
-	param set NAV_ACC_RAD	3
+param set-default MPC_ACC_DOWN_MAX	2
+param set-default MPC_ACC_HOR_MAX	2
+param set-default MPC_ACC_UP_MAX	3
+param set-default MC_AIRMODE 1
+param set-default MPC_JERK_AUTO	4
+param set-default MPC_LAND_SPEED 1
+param set-default MPC_MAN_TILT_MAX 25
+param set-default MPC_MAN_Y_MAX 40
+param set-default MPC_POS_MODE 3
+param set-default MPC_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
+param set-default MPC_YAWRAUTO_MAX 40
+param set-default MPC_Z_VEL_MAX_DN 1.5
+param set-default MPC_Z_VEL_MAX_UP 2
 
-	param set PWM_MAIN_DIS3 1000
-	param set PWM_MAIN_MIN3 1120
-	param set PWM_MAIN_MIN 950
+param set-default NAV_ACC_RAD	3
 
-	param set SENS_BOARD_ROT 4
+param set-default PWM_MAIN_DIS3 1000
+param set-default PWM_MAIN_MIN3 1120
+param set-default PWM_MAIN_MIN 950
 
-	param set VT_ARSP_BLEND 10
-	param set VT_ARSP_TRANS 21
-	param set VT_B_DEC_MSS 1.5
-	param set VT_B_TRANS_DUR 12
-	param set VT_ELEV_MC_LOCK 0
-	param set VT_FWD_THRUST_SC 1.2
-	param set VT_FW_MOT_OFFID 5678
-	param set VT_F_TR_OL_TM 8
-	param set VT_IDLE_PWM_MC 1000
-	param set VT_MOT_ID 5678
-	param set VT_PSHER_RMP_DT 2
-	param set VT_TRANS_MIN_TM 4
-	param set VT_TYPE 2
+param set-default SENS_BOARD_ROT 4
 
-fi
+param set-default VT_ARSP_BLEND 10
+param set-default VT_ARSP_TRANS 21
+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
 
 set MAV_TYPE 22
 

ROMFS/px4fmu_common/init.d/airframes/13015_generic_vtol_standard

@@ -0,0 +1,57 @@
+#!/bin/sh
+#
+# @name Generic Quadplane VTOL (PWM14)
+#
+# @type Standard VTOL
+# @class VTOL
+#
+# @maintainer
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 Aileron 1
+# @output MAIN6 Aileron 2
+# @output MAIN7 Elevator
+# @output MAIN8 Rudder
+# @output MAIN9 Pusher motor
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+
+param set-default PWM_MAIN_RATE 400
+
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+param set-default PWM_MAIN_MIN3 1100
+param set-default PWM_MAIN_MIN4 1100
+
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+param set-default PWM_MAIN_MAX3 1900
+param set-default PWM_MAIN_MAX4 1900
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS3 900
+param set-default PWM_MAIN_DIS4 900
+param set-default PWM_MAIN_DIS5 1500
+param set-default PWM_MAIN_DIS6 1500
+param set-default PWM_MAIN_DIS7 1500
+param set-default PWM_MAIN_DIS8 1500
+param set-default PWM_MAIN_DIS9 900
+
+param set-default VT_TYPE 2
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
+set MAV_TYPE 22
+
+set MIXER quad_x_vtol_AAERT
+set MIXER_AUX none
+
+set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo

@@ -20,22 +20,18 @@
 # @output AUX5 Throttle
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set PWM_AUX_DIS5 950
-	param set PWM_MAIN_RATE 400
 
-	param set VT_TYPE 2
-	param set VT_MOT_ID 12345678
-	param set VT_FW_MOT_OFFID 12345678
-fi
+param set-default PWM_AUX_DIS5 950
+param set-default PWM_MAIN_RATE 400
 
+param set-default VT_TYPE 2
+param set-default VT_MOT_ID 12345678
+param set-default VT_FW_MOT_OFFID 12345678
 set MAV_TYPE 22
 
 set MIXER octo_cox

ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter

@@ -13,21 +13,17 @@
 # @maintainer Roman Bapst <roman@px4.io>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set VT_ELEV_MC_LOCK 0
-	param set VT_MOT_COUNT 2
-	param set VT_TYPE 0
 
-	param set MAV_TYPE 19
-fi
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_MOT_COUNT 2
+param set-default VT_TYPE 0
 
+param set-default MAV_TYPE 19
 set MAV_TYPE 19
 set MIXER vtol_tailsitter_duo
 

ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+

@@ -12,7 +12,6 @@
 #
 # @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
 #
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw-

@@ -12,7 +12,6 @@
 #
 # @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
 #
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli

@@ -13,43 +13,39 @@
 # @maintainer Emmanuel Roussel
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults
 set MIXER coax
 
-if [ $AUTOCNF = yes ]
-then
-	param set MC_ROLL_P 6.5
-	param set MC_ROLLRATE_P 0.17
-	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_D 0.005
-	param set MC_ROLLRATE_FF 0
-	param set MC_PITCH_P 6.5
-	param set MC_PITCHRATE_P 0.17
-	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCHRATE_D 0.005
-	param set MC_PITCHRATE_FF 0
-	param set MC_YAW_P 2
-	param set MC_YAWRATE_P 0.1
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0
-	param set MC_YAWRATE_FF 0
 
-	param set NAV_ACC_RAD 2
+param set-default MC_ROLL_P 6.5
+param set-default MC_ROLLRATE_P 0.17
+param set-default MC_ROLLRATE_I 0.05
+param set-default MC_ROLLRATE_D 0.005
+param set-default MC_ROLLRATE_FF 0
+param set-default MC_PITCH_P 6.5
+param set-default MC_PITCHRATE_P 0.17
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCHRATE_D 0.005
+param set-default MC_PITCHRATE_FF 0
+param set-default MC_YAW_P 2
+param set-default MC_YAWRATE_P 0.1
+param set-default MC_YAWRATE_I 0.1
+param set-default MC_YAWRATE_D 0
+param set-default MC_YAWRATE_FF 0
 
-	param set PWM_AUX_RATE 50
-	param set PWM_MAIN_DISARM 900
-	param set PWM_MAIN_MIN 1075
-	param set PWM_MAIN_MAX 1950
-	param set PWM_MAIN_RATE 400
+param set-default NAV_ACC_RAD 2
 
-	param set RTL_RETURN_ALT 30
-	param set RTL_DESCEND_ALT 10
-fi
+param set-default PWM_AUX_RATE 50
+param set-default PWM_MAIN_DISARM 900
+param set-default PWM_MAIN_MIN 1075
+param set-default PWM_MAIN_MAX 1950
+param set-default PWM_MAIN_RATE 400
 
+param set-default RTL_RETURN_ALT 30
+param set-default RTL_DESCEND_ALT 10
 # This is the gimbal pass mixer
 set MIXER_AUX pass
 

ROMFS/px4fmu_common/init.d/airframes/16001_helicopter

@@ -14,7 +14,6 @@
 # @output MAIN5 tail-rotor servo
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
@@ -27,34 +26,32 @@ set MIXER blade130
 
 #set PWM_OUT 1234
 
-if [ $AUTOCNF = yes ]
-then
-	param set ATT_BIAS_MAX 0
 
-	param set CBRK_IO_SAFETY 22027
+param set-default ATT_BIAS_MAX 0
 
-	param set MC_ROLL_P 5
-	param set MC_ROLLRATE_P 0
-	param set MC_ROLLRATE_I 0
-	param set MC_ROLLRATE_D 0
-	param set MC_ROLLRATE_FF 0.15
-	param set MC_PITCH_P 6.5
-	param set MC_PITCHRATE_P 0
-	param set MC_PITCHRATE_I 0
-	param set MC_PITCHRATE_D 0
-	param set MC_PITCHRATE_FF 0.15
-	param set MC_YAW_P 3
-	param set MC_YAWRATE_P 0.1
-	param set MC_YAWRATE_I 0
-	param set MC_YAWRATE_D 0
-	param set MC_ROLLRATE_MAX 720
-	param set MC_PITCHRATE_MAX 720
-	param set MC_YAWRATE_MAX 400
-	param set MC_ACRO_R_MAX 360
-	param set MC_ACRO_P_MAX 360
+param set-default CBRK_IO_SAFETY 22027
 
-	param set MPC_THR_MIN 0.06
-	param set MPC_MANTHR_MIN 0.06
+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 0.15
+param set-default MC_PITCH_P 6.5
+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 0.15
+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_YAWRATE_D 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 PWM_MAIN_MIN 1075
-fi
+param set-default MPC_THR_MIN 0.06
+param set-default MPC_MANTHR_MIN 0.06
+
+param set-default PWM_MAIN_MIN 1075

ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2

@@ -20,35 +20,31 @@
 # @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set BAT_CAPACITY 2500
-	param set BAT_N_CELLS 3
 
-	param set PWM_AUX_RATE 50
-	param set PWM_MAIN_RATE 50
+param set-default BAT_CAPACITY 2500
+param set-default BAT_N_CELLS 3
 
-	param set SENS_BOARD_ROT 8
+param set-default PWM_AUX_RATE 50
+param set-default PWM_MAIN_RATE 50
 
-	param set FW_AIRSPD_MAX 20
-	param set FW_AIRSPD_MIN 7
-	param set FW_AIRSPD_TRIM 13
-	param set FW_THR_CRUISE 0.8
+param set-default SENS_BOARD_ROT 8
 
-	param set FW_MAN_P_MAX 25
-	param set FW_MAN_R_MAX 25
-	param set FW_PR_I 0.02
-	param set FW_R_LIM 40
-	param set FW_P_LIM_MAX 25
-	param set FW_P_LIM_MIN -5
-	param set FW_P_RMAX_NEG 20
-fi
+param set-default FW_AIRSPD_MAX 20
+param set-default FW_AIRSPD_MIN 7
+param set-default FW_AIRSPD_TRIM 13
+param set-default FW_THR_CRUISE 0.8
 
+param set-default FW_MAN_P_MAX 25
+param set-default FW_MAN_R_MAX 25
+param set-default FW_PR_I 0.02
+param set-default FW_R_LIM 40
+param set-default FW_P_LIM_MAX 25
+param set-default FW_P_LIM_MIN -5
+param set-default FW_P_RMAX_NEG 20
 set MIXER TF-AutoG2
 set MIXER_AUX pass

ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2

@@ -15,35 +15,31 @@
 # @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set BAT_CAPACITY 3300
-	param set BAT_N_CELLS 3
 
-	param set PWM_AUX_RATE 50
-	param set PWM_MAIN_RATE 50
+param set-default BAT_CAPACITY 3300
+param set-default BAT_N_CELLS 3
 
-	param set SENS_BOARD_ROT 4
+param set-default PWM_AUX_RATE 50
+param set-default PWM_MAIN_RATE 50
 
-	param set FW_AIRSPD_MAX 20
-	param set FW_AIRSPD_MIN 7
-	param set FW_AIRSPD_TRIM 13
-	param set FW_THR_CRUISE 0.8
+param set-default SENS_BOARD_ROT 4
 
-	param set FW_MAN_P_MAX 25
-	param set FW_MAN_R_MAX 25
-	param set FW_PR_I 0.02
-	param set FW_R_LIM 40
-	param set FW_P_LIM_MAX 25
-	param set FW_P_LIM_MIN -5
-	param set FW_P_RMAX_NEG 20
-fi
+param set-default FW_AIRSPD_MAX 20
+param set-default FW_AIRSPD_MIN 7
+param set-default FW_AIRSPD_TRIM 13
+param set-default FW_THR_CRUISE 0.8
 
+param set-default FW_MAN_P_MAX 25
+param set-default FW_MAN_R_MAX 25
+param set-default FW_PR_I 0.02
+param set-default FW_R_LIM 40
+param set-default FW_P_LIM_MAX 25
+param set-default FW_P_LIM_MIN -5
+param set-default FW_P_RMAX_NEG 20
 set MIXER TF-G2
 set MIXER_AUX pass

ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1

@@ -10,28 +10,24 @@
 # @maintainer ThunderFly s.r.o.
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.balloon_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set COM_PREARM_MODE 2  # always in prearm state
-	param set CBRK_IO_SAFETY 22027
-	param set SDLOG_PROFILE 17
-	param set SDLOG_MODE 2
-	param set MAV_0_MODE 1
-	param set MAV_0_CONFIG 102
-	param set GPS_UBX_DYNMODEL 8
-	param set SER_TEL2_BAUD 9600
 
-	param set SENS_BOARD_ROT 0
+param set-default COM_PREARM_MODE 2  # always in prearm state
+param set-default CBRK_IO_SAFETY 22027
+param set-default SDLOG_PROFILE 17
+param set-default SDLOG_MODE 2
+param set-default MAV_0_MODE 1
+param set-default MAV_0_CONFIG 102
+param set-default GPS_UBX_DYNMODEL 8
+param set-default SER_TEL2_BAUD 9600
+
+param set-default SENS_BOARD_ROT 0
         param set MAV_TYPE 8  # MAV_TYPE_FREE_BALLOON
 
-fi
-
 
 set MIXER IO_pass
 set MIXER_AUX pass

ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane

@@ -18,17 +18,13 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set PWM_AUX_RATE 50
-	param set PWM_MAIN_RATE 50
-fi
+param set-default PWM_AUX_RATE 50
+param set-default PWM_MAIN_RATE 50
 
 set MIXER AETRFG
 

ROMFS/px4fmu_common/init.d/airframes/2105_maja

@@ -20,31 +20,28 @@
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set FW_AIRSPD_MIN 10
-	param set FW_AIRSPD_TRIM 15
-	param set FW_AIRSPD_MAX 20
+param set-default FW_AIRSPD_MIN 10
+param set-default FW_AIRSPD_TRIM 15
+param set-default FW_AIRSPD_MAX 20
 
-	param set FW_MAN_P_MAX 55
-	param set FW_MAN_R_MAX 55
-	param set FW_R_LIM 55
+param set-default FW_MAN_P_MAX 55
+param set-default FW_MAN_R_MAX 55
+param set-default FW_R_LIM 55
 
-	param set FW_WR_FF 0.2
-	param set FW_WR_I 0.2
-	param set FW_WR_IMAX 0.8
-	param set FW_WR_P 1
-	param set FW_W_RMAX 0
+param set-default FW_WR_FF 0.2
+param set-default FW_WR_I 0.2
+param set-default FW_WR_IMAX 0.8
+param set-default FW_WR_P 1
+param set-default FW_W_RMAX 0
+
+# set disarmed value for the ESC
+param set-default PWM_MAIN_DISARM 1000
 
-	# set disarmed value for the ESC
-	param set PWM_MAIN_DISARM 1000
-fi
 
 set MIXER AAERTWF
 

ROMFS/px4fmu_common/init.d/airframes/2106_albatross

@@ -20,31 +20,28 @@
 #
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set FW_AIRSPD_MIN 10
-	param set FW_AIRSPD_TRIM 15
-	param set FW_AIRSPD_MAX 20
+param set-default FW_AIRSPD_MIN 10
+param set-default FW_AIRSPD_TRIM 15
+param set-default FW_AIRSPD_MAX 20
 
-	param set FW_MAN_P_MAX 55
-	param set FW_MAN_R_MAX 55
-	param set FW_R_LIM 55
+param set-default FW_MAN_P_MAX 55
+param set-default FW_MAN_R_MAX 55
+param set-default FW_R_LIM 55
 
-	param set FW_WR_FF 0.2
-	param set FW_WR_I 0.2
-	param set FW_WR_IMAX 0.8
-	param set FW_WR_P 1
-	param set FW_W_RMAX 0
+param set-default FW_WR_FF 0.2
+param set-default FW_WR_I 0.2
+param set-default FW_WR_IMAX 0.8
+param set-default FW_WR_P 1
+param set-default FW_W_RMAX 0
+
+# set disarmed value for the ESC
+param set-default PWM_MAIN_DISARM 1000
 
-	# set disarmed value for the ESC
-	param set PWM_MAIN_DISARM 1000
-fi
 
 set MIXER AAVVTWFF
 

ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon

@@ -21,31 +21,27 @@
 # @maintainer Friedrich Beckmann <friedrich.beckmann@hs-augsburg.de>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set FW_AIRSPD_MIN 10
-	param set FW_AIRSPD_TRIM 15
-	param set FW_AIRSPD_MAX 20
+param set-default FW_AIRSPD_MIN 10
+param set-default FW_AIRSPD_TRIM 15
+param set-default FW_AIRSPD_MAX 20
 
-	param set FW_MAN_P_MAX 55
-	param set FW_MAN_R_MAX 55
-	param set FW_R_LIM 55
+param set-default FW_MAN_P_MAX 55
+param set-default FW_MAN_R_MAX 55
+param set-default FW_R_LIM 55
 
-	param set FW_WR_FF 0.2
-	param set FW_WR_I 0.2
-	param set FW_WR_IMAX 0.8
-	param set FW_WR_P 1
-	param set FW_W_RMAX 0
+param set-default FW_WR_FF 0.2
+param set-default FW_WR_I 0.2
+param set-default FW_WR_IMAX 0.8
+param set-default FW_WR_P 1
+param set-default FW_W_RMAX 0
 
-	# set disarmed value for the ESC
-	param set PWM_MAIN_DISARM 1000
-fi
+# set disarmed value for the ESC
+param set-default PWM_MAIN_DISARM 1000
 
 # The Mini Talon does not have a wheel and
 # no flaps. I leave them here because the mixer

ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox

@@ -22,29 +22,25 @@
 # @maintainer Ian McNanie <ianmcnanie@gmail.com>
 # @maintainer William Peale <develop707@gmail.com>
 #
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 set VEHICLE_TYPE mc
 
-if [ $AUTOCNF = yes ]
-then
-	param set NAV_ACC_RAD 2
 
-	param set PWM_AUX_RATE 400
-	param set PWM_AUX_DISARMED 900
-	param set PWM_AUX_MIN 1075
-	param set PWM_AUX_MAX 1950
+param set-default NAV_ACC_RAD 2
 
-	param set PWM_MAIN_MIN 1075
-	param set PWM_MAIN_MAX 1950
-	param set PWM_MAIN_RATE 400
+param set-default PWM_AUX_RATE 400
+param set-default PWM_AUX_DISARMED 900
+param set-default PWM_AUX_MIN 1075
+param set-default PWM_AUX_MAX 1950
 
-	param set RTL_DESCEND_ALT 10
-	param set RTL_RETURN_ALT 30
-fi
+param set-default PWM_MAIN_MIN 1075
+param set-default PWM_MAIN_MAX 1950
+param set-default PWM_MAIN_RATE 400
 
+param set-default RTL_DESCEND_ALT 10
+param set-default RTL_RETURN_ALT 30
 set MIXER dodeca_top_cox
 set MIXER_AUX dodeca_bottom_cox
 

ROMFS/px4fmu_common/init.d/airframes/2507_cloudship

@@ -10,17 +10,14 @@
 # @output MAIN4 tail thruster
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.airship_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set COM_PREARM_MODE 2
-	param set CBRK_IO_SAFETY 22027
-fi
+param set-default COM_PREARM_MODE 2
+param set-default CBRK_IO_SAFETY 22027
+
 
 set MIXER cloudship
 set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing

@@ -15,7 +15,6 @@
 #
 # @maintainer
 #
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer

@@ -16,36 +16,33 @@
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set FW_AIRSPD_MAX 15
-	param set FW_AIRSPD_MIN 10
-	param set FW_AIRSPD_TRIM 13
-	param set FW_R_TC 0.3
-	param set FW_P_TC 0.3
-	param set FW_L1_DAMPING 0.74
-	param set FW_L1_PERIOD 16
-	param set FW_LND_ANG 15
-	param set FW_LND_FLALT 5
-	param set FW_LND_HHDIST 15
-	param set FW_LND_HVIRT 13
-	param set FW_LND_TLALT 5
-	param set FW_THR_LND_MAX 0
-	param set FW_PR_FF 0.35
-	param set FW_PR_IMAX 0.4
-	param set FW_PR_P 0.08
-	param set FW_RR_FF 0.6
-	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.04
+param set-default FW_AIRSPD_MAX 15
+param set-default FW_AIRSPD_MIN 10
+param set-default FW_AIRSPD_TRIM 13
+param set-default FW_R_TC 0.3
+param set-default FW_P_TC 0.3
+param set-default FW_L1_DAMPING 0.74
+param set-default FW_L1_PERIOD 16
+param set-default FW_LND_ANG 15
+param set-default FW_LND_FLALT 5
+param set-default FW_LND_HHDIST 15
+param set-default FW_LND_HVIRT 13
+param set-default FW_LND_TLALT 5
+param set-default FW_THR_LND_MAX 0
+param set-default FW_PR_FF 0.35
+param set-default FW_PR_IMAX 0.4
+param set-default FW_PR_P 0.08
+param set-default FW_RR_FF 0.6
+param set-default FW_RR_IMAX 0.2
+param set-default FW_RR_P 0.04
+
+param set-default PWM_MAIN_DISARM 1000
 
-	param set PWM_MAIN_DISARM 1000
-fi
 
 set MIXER fw_generic_wing
 

ROMFS/px4fmu_common/init.d/airframes/3031_phantom

@@ -18,39 +18,36 @@
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set FW_AIRSPD_MIN 13
-	param set FW_AIRSPD_TRIM 15
-	param set FW_AIRSPD_MAX 25
-	param set FW_R_TC 0.3
-	param set FW_P_TC 0.3
-	param set FW_L1_DAMPING 0.75
-	param set FW_L1_PERIOD 15
-	param set FW_PR_FF 0.2
-	param set FW_PR_IMAX 0.2
-	param set FW_PR_P 0.03
-	param set FW_P_LIM_MAX 50
-	param set FW_P_LIM_MIN -50
-	param set FW_P_ROLLFF 1
-	param set FW_RR_FF 0.5
-	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.08
-	param set FW_R_LIM 50
-	param set FW_R_RMAX 50
+param set-default FW_AIRSPD_MIN 13
+param set-default FW_AIRSPD_TRIM 15
+param set-default FW_AIRSPD_MAX 25
+param set-default FW_R_TC 0.3
+param set-default FW_P_TC 0.3
+param set-default FW_L1_DAMPING 0.75
+param set-default FW_L1_PERIOD 15
+param set-default FW_PR_FF 0.2
+param set-default FW_PR_IMAX 0.2
+param set-default FW_PR_P 0.03
+param set-default FW_P_LIM_MAX 50
+param set-default FW_P_LIM_MIN -50
+param set-default FW_P_ROLLFF 1
+param set-default FW_RR_FF 0.5
+param set-default FW_RR_IMAX 0.2
+param set-default FW_RR_P 0.08
+param set-default FW_R_LIM 50
+param set-default FW_R_RMAX 50
 
-	param set PWM_MAIN_DISARM 1000
+param set-default PWM_MAIN_DISARM 1000
+
+# Bottom of bay and nominal zero-pitch attitude differ
+# the payload bay is pitched up about 7 degrees
+param set-default SENS_BOARD_Y_OFF 7
 
-	# Bottom of bay and nominal zero-pitch attitude differ
-	# the payload bay is pitched up about 7 degrees
-	param set SENS_BOARD_Y_OFF 7
-fi
 
 set MIXER phantom
 

ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5

@@ -16,30 +16,27 @@
 # @maintainer Julian Oes <julian@px4.io>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set FW_AIRSPD_MIN 15
-	param set FW_AIRSPD_TRIM 20
-	param set FW_AIRSPD_MAX 40
-	param set FW_R_TC 0.3
-	param set FW_P_TC 0.3
-	param set FW_L1_DAMPING 0.74
-	param set FW_L1_PERIOD 16
-	param set FW_LND_ANG 15
-	param set FW_LND_FLALT 5
-	param set FW_LND_HHDIST 15
-	param set FW_LND_HVIRT 13
-	param set FW_LND_TLALT 5
-	param set FW_THR_LND_MAX 0
-	param set FW_PR_FF 0.35
-	param set FW_RR_FF 0.6
-	param set FW_RR_P 0.04
-fi
+param set-default FW_AIRSPD_MIN 15
+param set-default FW_AIRSPD_TRIM 20
+param set-default FW_AIRSPD_MAX 40
+param set-default FW_R_TC 0.3
+param set-default FW_P_TC 0.3
+param set-default FW_L1_DAMPING 0.74
+param set-default FW_L1_PERIOD 16
+param set-default FW_LND_ANG 15
+param set-default FW_LND_FLALT 5
+param set-default FW_LND_HHDIST 15
+param set-default FW_LND_HVIRT 13
+param set-default FW_LND_TLALT 5
+param set-default FW_THR_LND_MAX 0
+param set-default FW_PR_FF 0.35
+param set-default FW_RR_FF 0.6
+param set-default FW_RR_P 0.04
+
 
 set MIXER fw_generic_wing

ROMFS/px4fmu_common/init.d/airframes/3033_wingwing

@@ -18,34 +18,31 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set BAT_N_CELLS 2
-	param set FW_AIRSPD_MAX 15
-	param set FW_AIRSPD_MIN 10
-	param set FW_AIRSPD_TRIM 13
-	param set FW_R_TC 0.3
-	param set FW_P_TC 0.3
-	param set FW_L1_DAMPING 0.74
-	param set FW_L1_PERIOD 16
-	param set FW_LND_ANG 15
-	param set FW_LND_FLALT 5
-	param set FW_LND_HHDIST 15
-	param set FW_LND_HVIRT 13
-	param set FW_LND_TLALT 5
-	param set FW_THR_LND_MAX 0
-	param set FW_PR_FF 0.35
-	param set FW_RR_FF 0.6
-	param set FW_RR_P 0.04
+param set-default BAT_N_CELLS 2
+param set-default FW_AIRSPD_MAX 15
+param set-default FW_AIRSPD_MIN 10
+param set-default FW_AIRSPD_TRIM 13
+param set-default FW_R_TC 0.3
+param set-default FW_P_TC 0.3
+param set-default FW_L1_DAMPING 0.74
+param set-default FW_L1_PERIOD 16
+param set-default FW_LND_ANG 15
+param set-default FW_LND_FLALT 5
+param set-default FW_LND_HHDIST 15
+param set-default FW_LND_HVIRT 13
+param set-default FW_LND_TLALT 5
+param set-default FW_THR_LND_MAX 0
+param set-default FW_PR_FF 0.35
+param set-default FW_RR_FF 0.6
+param set-default FW_RR_P 0.04
+
+param set-default PWM_MAIN_DISARM 1000
 
-	param set PWM_MAIN_DISARM 1000
-fi
 
 # Configure this as plane.
 set MAV_TYPE 1

ROMFS/px4fmu_common/init.d/airframes/3034_fx79

@@ -21,13 +21,11 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set FW_AIRSPD_MAX 30
-	param set FW_AIRSPD_MIN 13
-	param set FW_AIRSPD_TRIM 15
+param set-default FW_AIRSPD_MAX 30
+param set-default FW_AIRSPD_MIN 13
+param set-default FW_AIRSPD_TRIM 15
+
+param set-default NAV_LOITER_RAD 150
 
-	param set NAV_LOITER_RAD 150
-fi
 
 set MIXER FX79

ROMFS/px4fmu_common/init.d/airframes/3036_pigeon

@@ -23,34 +23,32 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set FW_AIRSPD_MIN 15
-	param set FW_AIRSPD_TRIM 20
-	param set FW_AIRSPD_MAX 27
-	param set FW_ATT_TC 0.3
-	param set FW_L1_DAMPING 0.75
-	param set FW_L1_PERIOD 20
-	param set FW_PR_FF 0.35
-	param set FW_PR_IMAX 0.2
-	param set FW_PR_P 0.05
-	param set FW_P_LIM_MAX 45
-	param set FW_P_LIM_MIN -45
-	param set FW_P_ROLLFF 1
-	param set FW_P_TC 0.3
-	param set FW_RR_FF 0.3
-	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.03
-	param set FW_R_LIM 40
-	param set FW_R_RMAX 50
-	param set FW_R_TC 0.3
+param set-default FW_AIRSPD_MIN 15
+param set-default FW_AIRSPD_TRIM 20
+param set-default FW_AIRSPD_MAX 27
+param set-default FW_ATT_TC 0.3
+param set-default FW_L1_DAMPING 0.75
+param set-default FW_L1_PERIOD 20
+param set-default FW_PR_FF 0.35
+param set-default FW_PR_IMAX 0.2
+param set-default FW_PR_P 0.05
+param set-default FW_P_LIM_MAX 45
+param set-default FW_P_LIM_MIN -45
+param set-default FW_P_ROLLFF 1
+param set-default FW_P_TC 0.3
+param set-default FW_RR_FF 0.3
+param set-default FW_RR_IMAX 0.2
+param set-default FW_RR_P 0.03
+param set-default FW_R_LIM 40
+param set-default FW_R_RMAX 50
+param set-default FW_R_TC 0.3
 
-	param set PWM_MAIN_DISARM 1000
+param set-default PWM_MAIN_DISARM 1000
+
+# Bottom of bay and nominal zero-pitch attitude differ
+# the payload bay is pitched up about 7 degrees
+param set-default SENS_BOARD_Y_OFF 11.9
 
-	# Bottom of bay and nominal zero-pitch attitude differ
-	# the payload bay is pitched up about 7 degrees
-	param set SENS_BOARD_Y_OFF 11.9
-fi
 
 set MIXER phantom
 

ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod

@@ -23,70 +23,65 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
-then
+####################################
+# Airspeed
+####################################
+param set-default FW_AIRSPD_MIN  15 # = 29 knots
+param set-default FW_AIRSPD_TRIM 20 # = 39 knots
+param set-default FW_AIRSPD_MAX  27 # = 52 knots
 
-	####################################
-	# Airspeed
-	####################################
+####################################
+# The Main L1 Controller
+####################################
+param set-default FW_L1_PERIOD 20 #units of meters
 
-	param set FW_AIRSPD_MIN  15 # = 29 knots
-	param set FW_AIRSPD_TRIM 20 # = 39 knots
-	param set FW_AIRSPD_MAX  27 # = 52 knots
+# Damping factor for L1 control (def = 0.75)
+param set-default FW_L1_DAMPING 0.75
 
-	####################################
-	# The Main L1 Controller
-	####################################
+####################################
+# Pitch
+####################################
 
-	param set FW_L1_PERIOD 20 #units of meters
+# Basic limits (def = +/- 45 deg)
+param set-default FW_P_LIM_MAX  45
+param set-default FW_P_LIM_MIN -45
 
-	# Damping factor for L1 control (def = 0.75)
-	param set FW_L1_DAMPING 0.75
+# Time Constant (def = 0.4s)
+param set-default FW_P_TC 0.4
 
-	####################################
-	# Pitch
-	####################################
+# Pitch rate feed forward (def = 0.5 %/rad/sec)
+param set-default FW_PR_FF 0.35
 
-	# Basic limits (def = +/- 45 deg)
-	param set FW_P_LIM_MAX  45
-	param set FW_P_LIM_MIN -45
+# Pitch rate integrator limit (def = 0.4)
+param set-default FW_PR_IMAX 0.4
 
-	# Time Constant (def = 0.4s)
-	param set FW_P_TC 0.4
+# Pitch rate proportional gain (def = 0.08 %/rad/sec)
+param set-default FW_PR_P 0.08
 
-	# Pitch rate feed forward (def = 0.5 %/rad/sec)
-	param set FW_PR_FF 0.35
+####################################
+# Roll
+####################################
 
-	# Pitch rate integrator limit (def = 0.4)
-	param set FW_PR_IMAX 0.4
+# Basic limits (def = 50 deg)
+param set-default FW_R_LIM 40
 
-	# Pitch rate proportional gain (def = 0.08 %/rad/sec)
-	param set FW_PR_P 0.08
+# Roll rate upper limit (def = 70 deg/s)
+param set-default FW_R_RMAX 50
 
-	####################################
-	# Roll
-	####################################
+# Roll Time Constant (def = 0.4 s)
+param set-default FW_R_TC 0.4
 
-	# Basic limits (def = 50 deg)
-	param set FW_R_LIM 40
+# Roll rate feed forward (def = 0.5 %/rad/sec)
+param set-default FW_RR_FF 0.5
 
-	# Roll rate upper limit (def = 70 deg/s)
-	param set FW_R_RMAX 50
+# Roll rate proportional Gain (def = 0.05 %/rad/sec)
+param set-default FW_RR_P 0.05
 
-	# Roll Time Constant (def = 0.4 s)
-	param set FW_R_TC 0.4
+# Roll Integrator Anti-Windup
+param set-default FW_RR_IMAX 0.2
 
-	# Roll rate feed forward (def = 0.5 %/rad/sec)
-	param set FW_RR_FF 0.5
+param set-default PWM_MAIN_DISARM 1000
 
-	# Roll rate proportional Gain (def = 0.05 %/rad/sec)
-	param set FW_RR_P 0.05
-
-	# Roll Integrator Anti-Windup
-	param set FW_RR_IMAX 0.2
-
-	param set PWM_MAIN_DISARM 1000
-fi
 
 set MIXER fw_generic_wing.main.mix
 

ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha

@@ -21,49 +21,48 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set FW_AIRSPD_MAX 25
-	param set FW_AIRSPD_MIN 12.5
-	param set FW_AIRSPD_TRIM 16.5
-	param set FW_L1_DAMPING 0.75
-	param set FW_L1_PERIOD 15
-	param set FW_LND_ANG 15
-	param set FW_LND_FLALT 8
-	param set FW_LND_HHDIST 15
-	param set FW_LND_HVIRT 13
-	param set FW_LND_TLALT 10
-	param set FW_THR_LND_MAX 0
-	param set FW_P_LIM_MAX 20
-	param set FW_P_LIM_MIN -30
-	param set FW_R_LIM 45
-	param set FW_R_TC 0.4
-	param set FW_P_TC 0.4
-	param set FW_PR_FF 0.45
-	param set FW_PR_IMAX 0.4
-	param set FW_PR_P 0.005
-	param set FW_RR_FF 0.45
-	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.013
-	param set FW_P_RMAX_NEG 70
-	param set FW_P_RMAX_POS 70
-	param set FW_R_RMAX 70
-	param set FW_THR_CRUISE 0.55
 
-	param set LNDFW_AIRSPD_MAX 6
-	param set LNDFW_XYACC_MAX 4
-	param set LNDFW_VEL_XY_MAX 3
-	param set LNDFW_VEL_Z_MAX 5
+param set-default FW_AIRSPD_MAX 25
+param set-default FW_AIRSPD_MIN 12.5
+param set-default FW_AIRSPD_TRIM 16.5
+param set-default FW_L1_DAMPING 0.75
+param set-default FW_L1_PERIOD 15
+param set-default FW_LND_ANG 15
+param set-default FW_LND_FLALT 8
+param set-default FW_LND_HHDIST 15
+param set-default FW_LND_HVIRT 13
+param set-default FW_LND_TLALT 10
+param set-default FW_THR_LND_MAX 0
+param set-default FW_P_LIM_MAX 20
+param set-default FW_P_LIM_MIN -30
+param set-default FW_R_LIM 45
+param set-default FW_R_TC 0.4
+param set-default FW_P_TC 0.4
+param set-default FW_PR_FF 0.45
+param set-default FW_PR_IMAX 0.4
+param set-default FW_PR_P 0.005
+param set-default FW_RR_FF 0.45
+param set-default FW_RR_IMAX 0.2
+param set-default FW_RR_P 0.013
+param set-default FW_P_RMAX_NEG 70
+param set-default FW_P_RMAX_POS 70
+param set-default FW_R_RMAX 70
+param set-default FW_THR_CRUISE 0.55
 
-	param set MIS_TAKEOFF_ALT 50
+param set-default LNDFW_AIRSPD_MAX 6
+param set-default LNDFW_XYACC_MAX 4
+param set-default LNDFW_VEL_XY_MAX 3
+param set-default LNDFW_VEL_Z_MAX 5
 
-	param set NAV_LOITER_RAD 30
+param set-default MIS_TAKEOFF_ALT 50
+
+param set-default NAV_LOITER_RAD 30
+
+param set-default PWM_MAIN_REV1 1
+param set-default PWM_MAIN_REV2 1
+param set-default PWM_MAIN_MIN 900
+param set-default PWM_MAIN_MAX 2100
 
-	param set PWM_MAIN_REV1 1
-	param set PWM_MAIN_REV2 1
-	param set PWM_MAIN_MIN 900
-	param set PWM_MAIN_MAX 2100
-fi
 
 set MIXER caipi
 set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/4003_qavr5

@@ -16,23 +16,21 @@
 set MIXER quad_x
 set PWM_OUT 1234
 
-if [ $AUTOCNF = yes ]
-then
-	param set MC_ROLL_P 8
-	param set MC_ROLLRATE_P 0.08
-	param set MC_ROLLRATE_I 0.16
-	param set MC_ROLLRATE_D 0.003
-	param set MC_PITCH_P 8
-	param set MC_PITCHRATE_P 0.1
-	param set MC_PITCHRATE_I 0.2
-	param set MC_PITCHRATE_D 0.003
-	param set MC_YAW_P 2.8
-	param set MC_YAWRATE_P 0.15
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0
 
-	param set MPC_THR_MIN 0.06
-	param set MPC_MANTHR_MIN 0.06
+param set-default MC_ROLL_P 8
+param set-default MC_ROLLRATE_P 0.08
+param set-default MC_ROLLRATE_I 0.16
+param set-default MC_ROLLRATE_D 0.003
+param set-default MC_PITCH_P 8
+param set-default MC_PITCHRATE_P 0.1
+param set-default MC_PITCHRATE_I 0.2
+param set-default MC_PITCHRATE_D 0.003
+param set-default MC_YAW_P 2.8
+param set-default MC_YAWRATE_P 0.15
+param set-default MC_YAWRATE_I 0.1
+param set-default MC_YAWRATE_D 0
 
-	param set PWM_MAIN_MIN 1075
-fi
+param set-default MPC_THR_MIN 0.06
+param set-default MPC_MANTHR_MIN 0.06
+
+param set-default PWM_MAIN_MIN 1075

ROMFS/px4fmu_common/init.d/airframes/4009_qav250

@@ -16,26 +16,24 @@
 set MIXER quad_x
 set PWM_OUT 1234
 
-if [ $AUTOCNF = yes ]
-then
-	param set ATT_BIAS_MAX 0
 
-	param set CBRK_IO_SAFETY 22027
+param set-default ATT_BIAS_MAX 0
 
-	param set MPC_MANTHR_MIN 0.06
-	param set MC_ROLL_P 6
-	param set MC_ROLLRATE_P 0.14
-	param set MC_ROLLRATE_I 0.23
-	param set MC_ROLLRATE_D 0.0025
-	param set MC_PITCH_P 7
-	param set MC_PITCHRATE_P 0.235
-	param set MC_PITCHRATE_I 0.17
-	param set MC_PITCHRATE_D 0.004
-	param set MC_YAW_P 4
-	param set MC_YAWRATE_P 0.3
-	param set MC_YAWRATE_I 0.2
-	param set MC_YAWRATE_D 0
-	param set MPC_THR_MIN 0.06
+param set-default CBRK_IO_SAFETY 22027
 
-	param set PWM_MAIN_MIN 1075
-fi
+param set-default MPC_MANTHR_MIN 0.06
+param set-default MC_ROLL_P 6
+param set-default MC_ROLLRATE_P 0.14
+param set-default MC_ROLLRATE_I 0.23
+param set-default MC_ROLLRATE_D 0.0025
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_P 0.235
+param set-default MC_PITCHRATE_I 0.17
+param set-default MC_PITCHRATE_D 0.004
+param set-default MC_YAW_P 4
+param set-default MC_YAWRATE_P 0.3
+param set-default MC_YAWRATE_I 0.2
+param set-default MC_YAWRATE_D 0
+param set-default MPC_THR_MIN 0.06
+
+param set-default PWM_MAIN_MIN 1075

ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330

@@ -13,21 +13,18 @@
 set MIXER quad_x
 set PWM_OUT 1234
 
-if [ $AUTOCNF = yes ]
-then
-	param set MC_ROLL_P 7
-	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_D 0.003
-	param set MC_PITCH_P 7
-	param set MC_PITCHRATE_P 0.15
-	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCHRATE_D 0.003
-	param set MC_YAW_P 2.8
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_P 0.15
+param set-default MC_ROLLRATE_I 0.05
+param set-default MC_ROLLRATE_D 0.003
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_P 0.15
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCHRATE_D 0.003
+param set-default MC_YAW_P 2.8
+param set-default MC_YAWRATE_P 0.2
+param set-default MC_YAWRATE_I 0.1
+param set-default MC_YAWRATE_D 0
 
-	# DJI ESCs do not support calibration and need a higher min
-	param set PWM_MAIN_MIN 1230
-fi
+# DJI ESCs do not support calibration and need a higher min
+param set-default PWM_MAIN_MIN 1230

ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450

@@ -13,21 +13,18 @@
 set MIXER quad_x
 set PWM_OUT 1234
 
-if [ $AUTOCNF = yes ]
-then
-	param set MC_ROLL_P 7
-	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_D 0.003
-	param set MC_PITCH_P 7
-	param set MC_PITCHRATE_P 0.15
-	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCHRATE_D 0.003
-	param set MC_YAW_P 2.8
-	param set MC_YAWRATE_P 0.3
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_P 0.15
+param set-default MC_ROLLRATE_I 0.05
+param set-default MC_ROLLRATE_D 0.003
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_P 0.15
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCHRATE_D 0.003
+param set-default MC_YAW_P 2.8
+param set-default MC_YAWRATE_P 0.3
+param set-default MC_YAWRATE_I 0.1
+param set-default MC_YAWRATE_D 0
 
-	# DJI ESCs do not support calibration and need a higher min
-	param set PWM_MAIN_MIN 1230
-fi
+# DJI ESCs do not support calibration and need a higher min
+param set-default PWM_MAIN_MIN 1230

ROMFS/px4fmu_common/init.d/airframes/4014_s500

@@ -16,12 +16,10 @@
 set MIXER quad_x
 set PWM_OUT 1234
 
-if [ $AUTOCNF = yes ]
-then
-	param set MC_ROLLRATE_P 0.18
-	param set MC_PITCHRATE_P 0.18
-	param set MC_ROLLRATE_I 0.15
-	param set MC_PITCHRATE_I 0.15
-	param set MC_ROLLRATE_D 0.003
-	param set MC_PITCHRATE_D 0.003
-fi
+
+param set-default MC_ROLLRATE_P 0.18
+param set-default MC_PITCHRATE_P 0.18
+param set-default MC_ROLLRATE_I 0.15
+param set-default MC_PITCHRATE_I 0.15
+param set-default MC_ROLLRATE_D 0.003
+param set-default MC_PITCHRATE_D 0.003

ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500

@@ -16,14 +16,13 @@
 set MIXER quad_x
 set PWM_OUT 1234
 
-if [ $AUTOCNF = yes ]
-then
-	param set IMU_GYRO_CUTOFF 60
-	param set IMU_DGYRO_CUTOFF 30
-	param set MC_ROLLRATE_P 0.14
-	param set MC_PITCHRATE_P 0.14
-	param set MC_ROLLRATE_I 0.3
-	param set MC_PITCHRATE_I 0.3
-	param set MC_ROLLRATE_D 0.004
-	param set MC_PITCHRATE_D 0.004
-fi
+
+param set-default IMU_GYRO_CUTOFF 30
+param set-default IMU_DGYRO_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