WIP: icm20602 skip reset if already configured (quick start)

- adds new ulog message & compatibility flag
- separately add airframe and system-wide defaults
- log only non-volatile defaults that are different from the current value
- additional size is ~3KB for 100 params

.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 \

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

ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision

@@ -19,121 +19,119 @@
 set MIXER quad_x
 set PWM_OUT 1234
 
-if [ $AUTOCNF = yes ]
-then
-	# System parameters
-	# use FMU motor outputs for less delay in the rate control loop
-	param set SYS_USE_IO 0
 
-	# Commander Parameters
-	param set COM_OBS_AVOID 1
-	param set COM_DISARM_LAND 0.5
+# System parameters
+# use FMU motor outputs for less delay in the rate control loop
+param set-default SYS_USE_IO 0
 
-	# EKF2 parameters
-	param set EKF2_AID_MASK 35
-	param set EKF2_IMU_POS_X 0.02
-	param set EKF2_GPS_POS_X 0.055
-	param set EKF2_GPS_POS_Z -0.15
-	param set EKF2_HGT_MODE 0
-	param set EKF2_MIN_RNG 0.03
-	param set EKF2_OF_POS_X 0.055
-	param set EKF2_OF_POS_Y 0.02
-	param set EKF2_OF_POS_Z 0.065
-	param set EKF2_REQ_HDRIFT 0.3
-	param set EKF2_REQ_SACC 1
-	param set EKF2_REQ_VDRIFT 0.3
-	param set EKF2_RNG_AID 1
-	param set EKF2_RNG_A_HMAX 8
-	param set EKF2_RNG_A_VMAX 2
-	param set EKF2_RNG_POS_X 0.055
-	param set EKF2_RNG_POS_Y -0.01
-	param set EKF2_RNG_POS_Z 0.065
-	param set EKF2_PCOEF_XP -0.25
-	param set EKF2_PCOEF_YN -0.55
-	param set EKF2_PCOEF_YP -0.55
+# Commander Parameters
+param set-default COM_OBS_AVOID 1
+param set-default COM_DISARM_LAND 0.5
 
-	# MAVLink parameters
-	param set MAV_0_CONFIG 101
-	param set MAV_1_CONFIG 102
-	param set MAV_1_RATE 80000
-	param set MAV_1_MODE 9
-	param set SER_TEL1_BAUD 921600
+# EKF2 parameters
+param set-default EKF2_AID_MASK 35
+param set-default EKF2_IMU_POS_X 0.02
+param set-default EKF2_GPS_POS_X 0.055
+param set-default EKF2_GPS_POS_Z -0.15
+param set-default EKF2_HGT_MODE 0
+param set-default EKF2_MIN_RNG 0.03
+param set-default EKF2_OF_POS_X 0.055
+param set-default EKF2_OF_POS_Y 0.02
+param set-default EKF2_OF_POS_Z 0.065
+param set-default EKF2_REQ_HDRIFT 0.3
+param set-default EKF2_REQ_SACC 1
+param set-default EKF2_REQ_VDRIFT 0.3
+param set-default EKF2_RNG_AID 1
+param set-default EKF2_RNG_A_HMAX 8
+param set-default EKF2_RNG_A_VMAX 2
+param set-default EKF2_RNG_POS_X 0.055
+param set-default EKF2_RNG_POS_Y -0.01
+param set-default EKF2_RNG_POS_Z 0.065
+param set-default EKF2_PCOEF_XP -0.25
+param set-default EKF2_PCOEF_YN -0.55
+param set-default EKF2_PCOEF_YP -0.55
 
-	# Vehicle attitude PID tuning
-	param set MC_ACRO_EXPO 0
-	param set MC_ACRO_EXPO_Y 0
-	param set MC_ACRO_P_MAX 200
-	param set MC_ACRO_R_MAX 200
-	param set MC_ACRO_SUPEXPO 0
-	param set MC_ACRO_SUPEXPOY 0
-	param set MC_ACRO_Y_MAX 150
-	param set IMU_DGYRO_CUTOFF 30
-	param set MC_PITCHRATE_D 0.0015
-	param set MC_PITCHRATE_I 0.2
-	param set MC_PITCHRATE_K 1
-	param set MC_PITCHRATE_P 0.15
-	param set MC_ROLLRATE_D 0.0015
-	param set MC_ROLLRATE_I 0.2
-	param set MC_ROLLRATE_K 1
-	param set MC_ROLLRATE_P 0.15
-	param set MC_YAWRATE_P 0.3
+# MAVLink parameters
+param set-default MAV_0_CONFIG 101
+param set-default MAV_1_CONFIG 102
+param set-default MAV_1_RATE 80000
+param set-default MAV_1_MODE 9
+param set-default SER_TEL1_BAUD 921600
 
-	# Position Control Tuning
-	param set CP_DIST 6
-	param set MPC_ACC_DOWN_MAX 5
-	param set MPC_ACC_HOR_MAX 10
-	param set MPC_ACC_UP_MAX 4
-	param set MPC_MANTHR_MIN 0
-	param set MPC_MAN_Y_MAX 120
-	param set MPC_TILTMAX_AIR 45
-	param set MPC_THR_HOVER 0.3
-	param set MPC_THR_MIN 0.12
-	param set MPC_TKO_SPEED 1
-	param set MPC_VEL_MANUAL 5
-	param set MPC_XY_CRUISE 5
-	param set MPC_XY_VEL_MAX 5
-	param set MPC_XY_VEL_P_ACC 1.58
-	param set MPC_XY_TRAJ_P 0.3
-	param set MPC_Z_TRAJ_P 0.3
-	param set MPC_Z_VEL_P_ACC 5
-	param set MPC_Z_VEL_I_ACC 3
-	param set MPC_LAND_ALT1 3
-	param set MPC_LAND_ALT2 1
+# Vehicle attitude PID tuning
+param set-default MC_ACRO_EXPO 0
+param set-default MC_ACRO_EXPO_Y 0
+param set-default MC_ACRO_P_MAX 200
+param set-default MC_ACRO_R_MAX 200
+param set-default MC_ACRO_SUPEXPO 0
+param set-default MC_ACRO_SUPEXPOY 0
+param set-default MC_ACRO_Y_MAX 150
+param set-default IMU_DGYRO_CUTOFF 30
+param set-default MC_PITCHRATE_D 0.0015
+param set-default MC_PITCHRATE_I 0.2
+param set-default MC_PITCHRATE_K 1
+param set-default MC_PITCHRATE_P 0.15
+param set-default MC_ROLLRATE_D 0.0015
+param set-default MC_ROLLRATE_I 0.2
+param set-default MC_ROLLRATE_K 1
+param set-default MC_ROLLRATE_P 0.15
+param set-default MC_YAWRATE_P 0.3
 
-	# Navigator Parameters
-	param set NAV_ACC_RAD 2
+# Position Control Tuning
+param set-default CP_DIST 6
+param set-default MPC_ACC_DOWN_MAX 5
+param set-default MPC_ACC_HOR_MAX 10
+param set-default MPC_ACC_UP_MAX 4
+param set-default MPC_MANTHR_MIN 0
+param set-default MPC_MAN_Y_MAX 120
+param set-default MPC_TILTMAX_AIR 45
+param set-default MPC_THR_HOVER 0.3
+param set-default MPC_THR_MIN 0.12
+param set-default MPC_TKO_SPEED 1
+param set-default MPC_VEL_MANUAL 5
+param set-default MPC_XY_CRUISE 5
+param set-default MPC_XY_VEL_MAX 5
+param set-default MPC_XY_VEL_P_ACC 1.58
+param set-default MPC_XY_TRAJ_P 0.3
+param set-default MPC_Z_TRAJ_P 0.3
+param set-default MPC_Z_VEL_P_ACC 5
+param set-default MPC_Z_VEL_I_ACC 3
+param set-default MPC_LAND_ALT1 3
+param set-default MPC_LAND_ALT2 1
 
-	# PWM and RC Parameters
-	param set PWM_MAIN_MAX 1950
-	param set PWM_MAIN_MIN 1075
+# Navigator Parameters
+param set-default NAV_ACC_RAD 2
 
-	# use oneshot motor output protocol
-	param set PWM_MAIN_RATE 0
+# PWM and RC Parameters
+param set-default PWM_MAIN_MAX 1950
+param set-default PWM_MAIN_MIN 1075
 
-	# RTL Parameters
-	param set RTL_DESCEND_ALT 5
-	param set RTL_RETURN_ALT 5
-	param set RTL_CONE_ANG 45
+# use oneshot motor output protocol
+param set-default PWM_MAIN_RATE 0
 
-	# Logging Parameters
-	param set SDLOG_PROFILE 131
+# RTL Parameters
+param set-default RTL_DESCEND_ALT 5
+param set-default RTL_RETURN_ALT 5
+param set-default RTL_CONE_ANG 45
 
-	# Sensors Parameters
-	param set SENS_BOARD_ROT 0
-	param set SENS_CM8JL65_CFG 104
-	param set SENS_FLOW_MAXHGT 25
-	param set SENS_FLOW_MINHGT 0.5
-	param set SENS_FLOW_ROT 0
-	param set IMU_GYRO_CUTOFF 100
-	param set SENS_EN_PMW3901 1
+# Logging Parameters
+param set-default SDLOG_PROFILE 131
 
-	# Power Parameters
-	param set BAT_N_CELLS 4
-	param set BAT_A_PER_V 36.364
-	param set BAT_V_DIV 18.182
+# Sensors Parameters
+param set-default SENS_BOARD_ROT 0
+param set-default SENS_CM8JL65_CFG 104
+param set-default SENS_FLOW_MAXHGT 25
+param set-default SENS_FLOW_MINHGT 0.5
+param set-default SENS_FLOW_ROT 0
+param set-default IMU_GYRO_CUTOFF 100
+param set-default SENS_EN_PMW3901 1
 
-	# Circuit breakers
-	param set CBRK_IO_SAFETY 22027
+# Power Parameters
+param set-default BAT_N_CELLS 4
+param set-default BAT_A_PER_V 36.364
+param set-default BAT_V_DIV 18.182
 
-	param set THR_MDL_FAC 0.3
-fi
+# Circuit breakers
+param set-default CBRK_IO_SAFETY 22027
+
+param set-default THR_MDL_FAC 0.3