FlightTasks: hotfix guard against accessing no task

Safety guard for null pointer exception when accessing the current task when none is running. This could only happen if the running task was changed during the update because of command handling failing. Note: This is fixed on master in a different, better way.
rc/dsm: remove system field check, add new validity checks
2026-05-24 07:47:34 +08:00 · 2021-01-26 20:34:31 +01:00 · 2021-01-01 22:58:47 +01:00 · 2020-11-19 10:01:56 -05:00 · 2020-11-19 11:15:30 +01:00 · 2020-11-18 11:47:06 -05:00
1952 changed files with 37371 additions and 84695 deletions
@@ -0,0 +1,123 @@
+#!/usr/bin/env groovy
+
+pipeline {
+  agent none
+
+  stages {
+
+    stage('Build') {
+      agent {
+        docker {
+          image 'px4io/px4-dev-ros-melodic:2020-04-01'
+          args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+        }
+      }
+      steps {
+        sh 'export'
+        sh 'make distclean'
+        sh 'ccache -s'
+        sh 'git fetch --tags'
+        sh 'make px4_sitl_default'
+        sh 'make px4_sitl_default sitl_gazebo'
+        sh 'make px4_sitl_default package'
+        sh 'ccache -s'
+        stash(name: "px4_sitl_package", includes: "build/px4_sitl_default/*.bz2")
+        archiveArtifacts(artifacts: "build/px4_sitl_default/*.bz2", fingerprint: true, onlyIfSuccessful: true)
+      }
+      post {
+        always {
+            sh 'make distclean'
+        }
+      }
+    } // stage Build
+
+    stage('ROS Tests') {
+      steps {
+        script {
+          def missions = [
+            [
+              name: "MC_avoidance",
+              test: "mavros_posix_test_avoidance.test",
+              mission: "avoidance",
+              vehicle: "iris_obs_avoid",
+              run_script: "rostest_avoidance_run.sh"
+            ],
+            [
+              name: "MC_safe_landing",
+              test: "mavros_posix_test_safe_landing.test",
+              mission: "MC_safe_landing",
+              vehicle: "iris_obs_avoid",
+              run_script: "rostest_avoidance_run.sh"
+            ],
+
+          ]
+
+          def test_nodes = [:]
+          for (def i = 0; i < missions.size(); i++) {
+            test_nodes.put(missions[i].name, createTestNode(missions[i]))
+          }
+
+          parallel test_nodes
+        } // script
+      } // steps
+    } // stage ROS Tests
+
+  } //stages
+
+  environment {
+    CCACHE_DIR = '/tmp/ccache'
+    CI = true
+  }
+
+  options {
+    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
+    timeout(time: 60, unit: 'MINUTES')
+  }
+} // pipeline
+
+def createTestNode(Map test_def) {
+  return {
+    node {
+      cleanWs()
+      docker.image("px4io/px4-dev-ros-melodic:2020-04-01").inside('-e HOME=${WORKSPACE}') {
+        stage(test_def.name) {
+          def run_script = test_def.get('run_script', 'rostest_px4_run.sh')
+          def test_ok = true
+          sh('export')
+
+          unstash('px4_sitl_package')
+          sh('tar -xjpvf build/px4_sitl_default/px4-px4_sitl_default*.bz2')
+
+          // run test
+          try {
+            sh('px4-px4_sitl_default*/px4/test/' + run_script + ' ' + test_def.test + ' mission:=' + test_def.mission + ' vehicle:=' + test_def.vehicle)
+
+          } catch (exc) {
+            // save all test artifacts for debugging
+            archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.ulg, .ros/**/rosunit-*.xml, .ros/**/rostest-*.log')
+            test_ok = false
+          }
+
+          // upload log to flight review (https://logs.px4.io/)
+          sh('px4-px4_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
+
+          // log analysis
+          // process ekf log data
+          try {
+            sh('px4-px4_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
+          } catch (exc) {
+            // save log analysis artifacts for debugging
+            archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
+            // FIXME: don't let the script to fail the build
+            // test_ok = false
+          }
+
+          if (!test_ok) {
+            error('ROS Test failed')
+          }
+        } // stage
+        cleanWs()
+      } // docker.image
+    } // node
+  } // return
+} // createTestNode
@@ -9,25 +9,18 @@ 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:2020-04-01",
+            base: "px4io/px4-dev-base-bionic:2020-04-01",
+            nuttx: "px4io/px4-dev-nuttx-bionic:2020-04-01",
            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: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default"],
            image: docker_images.armhf,
            archive: false
          ]

-          def arm64_builds = [
-            target: ["scumaker_pilotpi_arm64"],
-            image: docker_images.arm64,
-            archive: false
-          ]
-
          def base_builds = [
            target: ["px4_sitl_rtps"],
            image: docker_images.base,
@@ -37,12 +30,8 @@ pipeline {
          def nuttx_builds_archive = [
            target: [
                     "airmind_mindpx-v2_default",
-                     "ark_can-flow_default",
                     "av_x-v1_default",
                     "bitcraze_crazyflie_default",
-                     "bitcraze_crazyflie21_default",
-                     "cuav_can-gps-v1_canbootloader",
-                     "cuav_can-gps-v1_default",
                     "cuav_nora_default",
                     "cuav_x7pro_default",
                     "cubepilot_cubeorange_console",
@@ -50,20 +39,18 @@ pipeline {
                     "cubepilot_cubeyellow_console",
                     "cubepilot_cubeyellow_default",
                     "holybro_durandal-v1_default",
+                     "holybro_durandal-v1_stackcheck",
                     "holybro_kakutef7_default",
                     "holybro_pix32v5_default",
                     "intel_aerofc-v1_default",
                     "modalai_fc-v1_default",
                     "mro_ctrl-zero-f7_default",
-                     "mro_pixracerpro_default",
                     "mro_x21-777_default",
                     "mro_x21_default",
                     "nxp_fmuk66-v3_default",
-                     "nxp_fmuk66-v3_rtps",
                     "nxp_fmuk66-v3_socketcan",
-                     "nxp_fmuk66-e_default",
                     "nxp_fmurt1062-v1_default",
-                     "nxp_ucans32k146_default",
+                     "nxp_rddrone-uavcan146_default",
                     "omnibus_f4sd_default",
                     "px4_fmu-v2_default",
                     "px4_fmu-v2_fixedwing",
@@ -71,16 +58,13 @@ pipeline {
                     "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",
                     "px4_fmu-v5_default",
+                     "px4_fmu-v5_debug",
                     "px4_fmu-v5_fixedwing",
                     "px4_fmu-v5_multicopter",
                     "px4_fmu-v5_optimized",
@@ -125,7 +109,7 @@ 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-bionic:2020-04-01' }
    //   }
    //   options {
    //         skipDefaultCheckout()
@@ -0,0 +1,90 @@
+#!/usr/bin/env groovy
+
+pipeline {
+  agent none
+  stages {
+
+    stage('Build') {
+
+      parallel {
+
+        stage('px4_sitl_default (OSX)') {
+          agent {
+            label 'mac'
+          }
+          environment {
+            CCACHE_BASEDIR = "${env.WORKSPACE}"
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'git fetch --tags'
+            sh 'ccache -s'
+            sh 'make px4_sitl_default'
+            sh 'ccache -s'
+          }
+          post {
+            always {
+              sh 'make distclean'
+            }
+          }
+        } // stage px4_sitl_default
+
+        stage('px4_fmu-v5_default (OSX)') {
+          agent {
+            label 'mac'
+          }
+          environment {
+            CCACHE_BASEDIR = "${env.WORKSPACE}"
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'git fetch --tags'
+            sh 'ccache -s'
+            sh 'make px4_fmu-v5_default'
+            sh 'ccache -s'
+          }
+          post {
+            always {
+              sh 'make distclean'
+            }
+          }
+        } // stage px4_fmu-v5_default
+
+        stage('sitl tests (OSX)') {
+          agent {
+            label 'mac'
+          }
+          environment {
+            CCACHE_BASEDIR = "${env.WORKSPACE}"
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'git fetch --tags'
+            sh 'ccache -s'
+            sh 'make tests'
+            sh 'ccache -s'
+          }
+          post {
+            always {
+              sh 'make distclean'
+            }
+          }
+        } // stage sitl tests
+
+      } // parallel
+    } // stage Build
+
+  } // stages
+  environment {
+    CCACHE_CPP2 = '1'
+    CCACHE_DIR = '/tmp/ccache'
+    CI = true
+  }
+  options {
+    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
+    timeout(time: 120, unit: 'MINUTES')
+  }
+}
@@ -1,42 +0,0 @@
-// For format details, see https://aka.ms/vscode-remote/devcontainer.json or this file's README at:
-// https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
-{
-	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2020-11-18",
-
-	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
-
-	// Set *default* container specific settings.json values on container create.
-	"settings": {
-		"terminal.integrated.shell.linux": "/bin/bash"
-	},
-
-	// Add the IDs of extensions you want installed when the container is created.
-	"extensions": [
-		"chiehyu.vscode-astyle",
-		"dan-c-underwood.arm",
-		"fredericbonnet.cmake-test-adapter",
-		"github.vscode-pull-request-github",
-		"marus25.cortex-debug",
-		"ms-azuretools.vscode-docker",
-		"ms-iot.vscode-ros",
-		"ms-python.python",
-		"ms-vscode.cmake-tools",
-		"ms-vscode.cpptools",
-		"ms-vscode.cpptools-extension-pack",
-		"redhat.vscode-yaml",
-		"streetsidesoftware.code-spell-checker",
-		"twxs.cmake",
-		"uavcan.dsdl",
-		"wholroyd.jinja",
-		"zixuanwang.linkerscript"
-	],
-
-	"containerUser": "user",
-	"containerEnv": {
-		"LOCAL_USER_ID": "${localEnv:UID}"
-	},
-
-	// Use 'forwardPorts' to make a list of ports inside the container available locally.
-	"forwardPorts": [14556],
-}
@@ -17,7 +17,6 @@ jobs:
        check: [
          "check_format",
          "tests",
-          "tests_coverage",
          "px4_fmu-v2_default stack_check",
          "validate_module_configs",
          "shellcheck_all",
@@ -27,9 +26,11 @@ jobs:
          "module_documentation",
          "parameters_metadata",
        ]
-    container:
-      image: px4io/px4-dev-nuttx-focal:2020-11-18
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+        ubuntu_release: [
+          #bionic,
+          focal
+          ]
+    container: px4io/px4-dev-nuttx-${{ matrix.ubuntu_release }}:2020-04-01
    steps:
    - uses: actions/checkout@v1
      with:
@@ -56,16 +57,6 @@ jobs:
          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z
-    - name: check environment
-      run: |
-          export
-          ulimit -a
+
    - name: ${{matrix.check}}
      run: make ${{matrix.check}}
-    - name: upload coverage
-      if: contains(matrix.check, 'coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: unittests
-        file: coverage/lcov.info
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2020-11-18
+    container: px4io/px4-dev-clang:2020-04-01
    steps:
    - uses: actions/checkout@v1
      with:
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2020-11-18
+    container: px4io/px4-dev-armhf:2020-04-01
    strategy:
      matrix:
        config: [
@@ -19,7 +19,6 @@ jobs:
          beaglebone_blue_default,
          emlid_navio2_default,
          px4_raspberrypi_default,
-          scumaker_pilotpi_default,
          ]
    steps:
    - uses: actions/checkout@v1
@@ -1,50 +0,0 @@
-name: Linux ARM64 Targets
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2020-11-18
-    strategy:
-      matrix:
-        config: [
-          scumaker_pilotpi_arm64,
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          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
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
-    - name: ccache post-run
-      run: ccache -s
@@ -15,7 +15,7 @@ jobs:
      matrix:
        config: [
          px4_fmu-v5_default,
-          px4_sitl
+          px4_sitl_default,
          #tests, # includes px4_sitl
          ]
    steps:
@@ -24,7 +24,7 @@ jobs:
        token: ${{secrets.ACCESS_TOKEN}}

    - name: setup
-      run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
+      run: ./Tools/setup/macos.sh

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@@ -11,18 +11,13 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2020-11-18
+    container: px4io/px4-dev-nuttx-bionic:2020-04-01
    strategy:
      matrix:
        config: [
          airmind_mindpx-v2_default,
-          ark_can-flow_canbootloader,
-          ark_can-flow_default,
          av_x-v1_default,
          bitcraze_crazyflie_default,
-          bitcraze_crazyflie21_default,
-          cuav_can-gps-v1_canbootloader,
-          cuav_can-gps-v1_default,
          cuav_nora_default,
          cuav_x7pro_default,
          cubepilot_cubeorange_console,
@@ -30,20 +25,19 @@ jobs:
          cubepilot_cubeyellow_console,
          cubepilot_cubeyellow_default,
          holybro_durandal-v1_default,
+          holybro_durandal-v1_stackcheck,
          holybro_kakutef7_default,
          holybro_pix32v5_default,
          intel_aerofc-v1_default,
          modalai_fc-v1_default,
          mro_ctrl-zero-f7_default,
-          mro_pixracerpro_default,
          mro_x21-777_default,
          mro_x21_default,
-          nxp_fmuk66-e_default,
          nxp_fmuk66-v3_default,
-          nxp_fmuk66-v3_rtps,
+          nxp_fmuk66-e_default,
          nxp_fmuk66-v3_socketcan,
          nxp_fmurt1062-v1_default,
-          nxp_ucans32k146_default,
+          nxp_rddrone-uavcan146_default,
          omnibus_f4sd_default,
          px4_fmu-v2_default,
          px4_fmu-v2_fixedwing,
@@ -51,14 +45,11 @@ jobs:
          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,
          px4_fmu-v5_fixedwing,
          px4_fmu-v5_multicopter,
@@ -1,60 +0,0 @@
-name: NuttX UAVCAN firmware
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2020-11-18
-    strategy:
-      matrix:
-        config: [
-          ark_can-flow_default,
-          cuav_can-gps-v1_default,
-          #nxp_ucans32k146_default,
-          px4_fmu-v4_cannode
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          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
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
-
-    - name: ccache post-run
-      run: ccache -s
-
-    - name: Upload px4 package
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_cannode_${{matrix.config}}
-        path: build/${{matrix.config}}/*.uavcan.bin
@@ -0,0 +1,67 @@
+name: Coverage
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2020-04-01
+    strategy:
+      matrix:
+        config: [
+          tests,
+          #python_coverage,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: coverage_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: coverage_${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          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 = 100M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      env:
+        PX4_CMAKE_BUILD_TYPE: "Coverage"
+      run: make ${{matrix.config}}
+
+    # Report test coverage
+    - name: Upload coverage
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+          mkdir -p coverage
+          lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
+    - name: Upload coverage information to Codecov
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: ${{matrix.config}}
+        file: coverage/lcov.info
@@ -0,0 +1,29 @@
+name: Hardware Linux
+
+on:
+  push:
+    branches:
+    - 'master'
+
+jobs:
+  build:
+    runs-on: [emlid_navio2]
+    steps:
+    - uses: actions/checkout@v1
+
+    - name: Build
+      env:
+        CCACHE_BASEDIR: ${GITHUB_WORKSPACE}
+      run: |
+          make distclean
+          ccache -z
+          make emlid_navio2_default
+          ccache -s
+
+    # sanity check
+    - name: Sanity check
+      run: cd build/emlid_navio2_default/ && ./bin/px4 -s ../../posix-configs/rpi/px4_test.config
+
+    - name: Upload log to flight review
+      run: find . -name *.ulg
+      #run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ./build/px4_sitl_default/tmp/rootfs/log/*/*.ulg
@@ -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:2020-04-01
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -49,9 +49,7 @@ jobs:
          ccache -z

    - name: check environment
-      run: |
-          export
-          ulimit -a
+      run: export
    - name: Build PX4 and sitl_gazebo
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
@@ -17,15 +17,15 @@ jobs:
        config:
          - {vehicle: "iris",          mission: "MC_mission_box",  build_type: "RelWithDebInfo"}
          - {vehicle: "rover",         mission: "rover_mission_1", build_type: "RelWithDebInfo"}
-          #- {vehicle: "plane",         mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
-          #- {vehicle: "plane_catapult",mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
-          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "Coverage"}
-          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "AddressSanitizer"}
+          - {vehicle: "plane",         mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
+          - {vehicle: "plane_catapult",mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
+          - {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "Coverage"}
+          - {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "AddressSanitizer"}
          #- {vehicle: "tailsitter",    mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
-          #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
+          - {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:2020-04-01
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -55,9 +55,7 @@ jobs:
          ccache -z

    - name: check environment
-      run: |
-          export
-          ulimit -a
+      run: export
    - name: Build PX4 and sitl_gazebo
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
@@ -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:2020-04-01
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -50,9 +50,7 @@ jobs:
          ccache -z

    - name: check environment
-      run: |
-          export
-          ulimit -a
+      run: export
    - name: Build PX4 and sitl_gazebo
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
@@ -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:2020-04-01
    steps:
    - uses: actions/checkout@v1
      with:
@@ -23,11 +23,11 @@ jobs:
        make airframe_metadata
        cd build/px4_sitl_default/docs
        ls -ls *
-      # TODO: deploy to userguide gitbook and s3
+      # TODO: deploy to devguide gitbook and s3

  module:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-focal:2020-04-01
    steps:
    - uses: actions/checkout@v1
      with:
@@ -38,11 +38,11 @@ jobs:
        make module_documentation
        cd build/px4_sitl_default/docs
        ls -ls *
-      # TODO: deploy to userguide gitbook and s3
+      # TODO: deploy to devguide gitbook and s3

  parameter:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-focal:2020-04-01
    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:2020-04-01
    steps:
    - uses: actions/checkout@v1
      with:
@@ -70,23 +70,9 @@ jobs:
        ls -ls *
      # TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/

-  micrortps_agent:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: microRTPS agent
-      run: |
-        make px4_sitl_rtps
-        git clone https://github.com/PX4/micrortps_agent.git
-        cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent
-
  ROS_msgs:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-bionic:2020-04-01
    steps:
    - uses: actions/checkout@v1
      with:
@@ -99,7 +85,7 @@ jobs:

  ROS2_bridge:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-bionic:2020-04-01
    steps:
    - uses: actions/checkout@v1
      with:
@@ -15,12 +15,12 @@ jobs:
      fail-fast: false
      matrix:
        config:
-          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo", model: "iris"          } # Alaska
-          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "RelWithDebInfo", model: "standard_vtol" } # Australia
-          - {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
+          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo"} # Alaska
+          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "RelWithDebInfo"} # Australia
+          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo"} # Florida
+          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage"} # Zurich
    container:
-      image: px4io/px4-dev-simulation-focal:2020-11-18
+      image: px4io/px4-dev-simulation-focal:2020-04-01
      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/v0.27.0/mavsdk_0.27.0_ubuntu18.04_amd64.deb
    - name: Install MAVSDK
-      run: dpkg -i mavsdk_0.33.1_ubuntu20.04_amd64.deb
+      run: dpkg -i mavsdk_0.27.0_ubuntu18.04_amd64.deb

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@@ -60,9 +60,7 @@ jobs:
        PX4_HOME_LON: ${{matrix.config.longitude}}
        PX4_HOME_ALT: ${{matrix.config.altitude}}
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-          export
-          ulimit -a
+      run: export
    - name: Build PX4
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
@@ -94,7 +92,7 @@ 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 test/mavsdk_tests/configs/sitl.json

    - name: Look at core files
      if: failure()
@@ -108,7 +106,7 @@ jobs:

    - 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 ${GITHUB_WORKSPACE}/build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/*/*.ulg
+      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ./build/px4_sitl_default/tmp/rootfs/log/*/*.ulg

    - name: Upload px4 binary
      if: failure()
@@ -101,6 +101,8 @@ msg/tmp/
 msg/topics_sources/
 platforms/posix/apps.cpp
 platforms/posix/apps.h
+src/lib/flight_tasks/FlightTasks_generated.cpp
+src/lib/flight_tasks/FlightTasks_generated.hpp
 src/lib/parameters/px4_parameters.c
 src/lib/parameters/px4_parameters.h
 src/lib/parameters/px4_parameters_public.h
@@ -4,7 +4,7 @@
 	branch = master
 [submodule "src/drivers/uavcan/libuavcan"]
 	path = src/drivers/uavcan/libuavcan
-	url = https://github.com/PX4/libuavcan.git
+	url = https://github.com/PX4/uavcan.git
 	branch = px4
 [submodule "Tools/jMAVSim"]
 	path = Tools/jMAVSim
@@ -12,15 +12,15 @@
 	branch = master
 [submodule "Tools/sitl_gazebo"]
 	path = Tools/sitl_gazebo
-	url = https://github.com/PX4/PX4-SITL_gazebo.git
+	url = https://github.com/PX4/sitl_gazebo.git
 	branch = master
 [submodule "src/lib/matrix"]
 	path = src/lib/matrix
-	url = https://github.com/PX4/PX4-Matrix.git
+	url = https://github.com/PX4/Matrix.git
 	branch = master
 [submodule "src/lib/ecl"]
 	path = src/lib/ecl
-	url = https://github.com/PX4/PX4-ECL.git
+	url = https://github.com/PX4/ecl.git
 	branch = master
 [submodule "boards/atlflight/cmake_hexagon"]
 	path = boards/atlflight/cmake_hexagon
@@ -28,29 +28,23 @@
 	branch = px4
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
-	url = https://github.com/PX4/PX4-GPSDrivers.git
+	url = https://github.com/PX4/GpsDrivers.git
 	branch = master
 [submodule "src/modules/micrortps_bridge/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
-	url = https://github.com/PX4/Micro-CDR.git
+	url = https://github.com/PX4/micro-CDR.git
 	branch = px4
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.0.0+
+	branch = px4_firmware_nuttx-8.2
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-10.0.0+
+	branch = px4_firmware_nuttx-8.2
 [submodule "platforms/qurt/dspal"]
 	path = platforms/qurt/dspal
 	url = https://github.com/ATLFlight/dspal.git
 [submodule "Tools/flightgear_bridge"]
 	path = Tools/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
-[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
@@ -1,16 +1,75 @@
 {
    "configurations": [
        {
-            "name": "PX4",
-            "includePath": [
-                "${workspaceFolder}/**"
-            ],
-            "defines": [],
-            "macFrameworkPath": [],
+            "name": "Linux",
+            "browse": {
+                "limitSymbolsToIncludedHeaders": true,
+                "databaseFilename": "${workspaceFolder}/.vscode/browse.vc.db"
+            },
+            "compileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
+            "compilerPath": "/usr/bin/g++",
            "configurationProvider": "ms-vscode.cmake-tools",
            "cppStandard": "c++14",
-            "cStandard": "c11"
+            "cStandard": "c11",
+            "defines": [
+                "__PX4_LINUX",
+                "__PX4_POSIX"
+            ],
+            "forcedInclude": [
+                "${workspaceFolder}/src/include/visibility.h"
+            ],
+            "includePath": [
+                "${workspaceFolder}/boards/px4/sitl/src",
+                "${workspaceFolder}/build/px4_sitl_default",
+                "${workspaceFolder}/platforms/common/include",
+                "${workspaceFolder}/platforms/posix/include",
+                "${workspaceFolder}/platforms/posix/src/px4/common/include",
+                "${workspaceFolder}/platforms/posix/src/px4/common/include",
+                "${workspaceFolder}/platforms/posix/src/px4/generic/generic/include",
+                "${workspaceFolder}/src",
+                "${workspaceFolder}/src/include",
+                "${workspaceFolder}/src/lib",
+                "${workspaceFolder}/src/lib",
+                "${workspaceFolder}/src/lib/matrix",
+                "${workspaceFolder}/src/modules"
+            ],
+            "intelliSenseMode": "${default}"
+        },
+        {
+            "name": "Mac",
+            "browse": {
+                "limitSymbolsToIncludedHeaders": true,
+                "databaseFilename": "${workspaceFolder}/.vscode/browse.vc.db"
+            },
+            "compileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
+            "compilerPath": "/usr/bin/clang++",
+            "configurationProvider": "ms-vscode.cmake-tools",
+            "cppStandard": "c++14",
+            "cStandard": "c11",
+            "defines": [
+                "__PX4_DARWIN",
+                "__PX4_POSIX"
+            ],
+            "forcedInclude": [
+                "${workspaceFolder}/src/include/visibility.h"
+            ],
+            "includePath": [
+                "${workspaceFolder}/boards/px4/sitl/src",
+                "${workspaceFolder}/build/px4_sitl_default",
+                "${workspaceFolder}/platforms/common/include",
+                "${workspaceFolder}/platforms/posix/include",
+                "${workspaceFolder}/platforms/posix/src/px4/common/include",
+                "${workspaceFolder}/platforms/posix/src/px4/common/include",
+                "${workspaceFolder}/platforms/posix/src/px4/generic/generic/include",
+                "${workspaceFolder}/src",
+                "${workspaceFolder}/src/include",
+                "${workspaceFolder}/src/lib",
+                "${workspaceFolder}/src/lib",
+                "${workspaceFolder}/src/lib/matrix",
+                "${workspaceFolder}/src/modules"
+            ],
+            "intelliSenseMode": "${default}"
        }
    ],
    "version": 4
-}
+}
@@ -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
@@ -66,36 +56,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: airmind_mindpx-v2_default
-    ark_can-flow_default:
-      short: ark_can-flow_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-flow_default
-    ark_can-flow_canbootloader:
-      short: ark_can-flow_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-flow_canbootloader
    av_x-v1_default:
      short: av_x-v1
      buildType: MinSizeRel
      settings:
        CONFIG: av_x-v1_default
-    bitcraze_crazyflie_default:
-      short: bitcraze_crazyflie
-      buildType: MinSizeRel
-      settings:
-        CONFIG: bitcraze_crazyflie_default
-    cuav_can-gps-v1_default:
-      short: cuav_can-gps-v1_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_can-gps-v1_default
-    cuav_can-gps-v1_canbootloader:
-      short: cuav_can-gps-v1_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_can-gps-v1_canbootloader
    cuav_nora_default:
      short: cuav_nora
      buildType: MinSizeRel
@@ -116,11 +81,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: cubepilot_cubeyellow_default
-    emlid_navio2_default:
-      short: emlid_navio2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: emlid_navio2_default
    holybro_durandal-v1_default:
      short: holybro_durandal-v1
      buildType: MinSizeRel
@@ -4,7 +4,6 @@
    "recommendations": [
        "chiehyu.vscode-astyle",
        "dan-c-underwood.arm",
-        "fredericbonnet.cmake-test-adapter",
        "github.vscode-pull-request-github",
        "marus25.cortex-debug",
        "ms-azuretools.vscode-docker",
@@ -12,9 +11,8 @@
        "ms-python.python",
        "ms-vscode.cmake-tools",
        "ms-vscode.cpptools",
-        "ms-vscode.cpptools-extension-pack",
        "redhat.vscode-yaml",
-        "streetsidesoftware.code-spell-checker",
+        "timonwong.shellcheck",
        "twxs.cmake",
        "uavcan.dsdl",
        "wholroyd.jinja",
@@ -3,34 +3,70 @@
        "astyle.c.enable": true,
        "astyle.cpp.enable": true,
        "breadcrumbs.enabled": true,
+        "cmake.autoRestartBuild": true,
+        "cmake.buildBeforeRun": true,
+        "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
+        "cmake.configureOnOpen": true,
+        "cmake.copyCompileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
+        "cmake.debugConfig": {
+                "name": "SITL shell (gdb)",
+                "type": "cppdbg",
+                "request": "launch",
+                "program": "${command:cmake.launchTargetPath}",
+                "args": [
+                        "${workspaceFolder}/ROMFS/px4fmu_common",
+                        "-s",
+                        "etc/init.d-posix/rcS",
+                        "-t",
+                        "${workspaceFolder}/test_data"
+                ],
+                "stopAtEntry": false,
+                "cwd": "${command:cmake.buildDirectory}/tmp",
+                "environment": [
+                        {
+                                "name": "PX4_SIM_MODEL",
+                                "value": "shell"
+                        }
+                ],
+                "externalConsole": false,
+                "linux": {
+                        "MIMode": "gdb",
+                        "setupCommands": [
+                                {
+                                        "description": "Enable pretty-printing for gdb",
+                                        "text": "-enable-pretty-printing",
+                                        "ignoreFailures": true
+                                },
+                                {
+                                        "description": "PX4 ignore wq signals",
+                                        "text": "handle SIGCONT nostop noprint nopass",
+                                        "ignoreFailures": true
+                                }
+                        ]
+                },
+                "osx": {
+                        "MIMode": "lldb",
+                        "setupCommands": [
+                                {
+                                        "text": "pro hand -p true -s false -n false SIGCONT",
+                                }
+                        ]
+                }
+        },
        "C_Cpp.autoAddFileAssociations": false,
        "C_Cpp.clang_format_fallbackStyle": "none",
+        "C_Cpp.default.browse.databaseFilename": "${workspaceRoot}/.vscode/browse.vc.db",
        "C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
        "C_Cpp.default.cppStandard": "c++14",
        "C_Cpp.default.cStandard": "c11",
+        "C_Cpp.default.intelliSenseMode": "gcc-x64",
+        "C_Cpp.default.macFrameworkPath": null,
        "C_Cpp.formatting": "Disabled",
        "C_Cpp.intelliSenseEngine": "Default",
+        "C_Cpp.intelliSenseEngineFallback": "Enabled",
        "C_Cpp.vcpkg.enabled": false,
        "C_Cpp.workspaceParsingPriority": "low",
-        "cmake.buildBeforeRun": true,
-        "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
-        "cmake.buildTask": true,
-        "cmake.configureOnOpen": true,
-        "cmake.ctest.parallelJobs": 1,
-        "cmake.skipConfigureIfCachePresent": true,
-        "cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
-        "cmakeExplorer.parallelJobs": 1,
-        "cmakeExplorer.suiteDelimiter": "-",
        "cortex-debug.enableTelemetry": false,
-        "cSpell.allowCompoundWords": true,
-        "cSpell.diagnosticLevel": "Hint",
-        "cSpell.showStatus": false,
-        "cSpell.words": [
-                "acro",
-                "rattitude",
-                "nuttx",
-                "esc"
-        ],
        "debug.toolBarLocation": "docked",
        "editor.acceptSuggestionOnEnter": "off",
        "editor.defaultFormatter": "chiehyu.vscode-astyle",
@@ -52,6 +88,7 @@
        "git.ignoreLimitWarning": true,
        "githubPullRequests.defaultMergeMethod": "squash",
        "githubPullRequests.telemetry.enabled": false,
+        "gitlens.advanced.telemetry.enabled": false,
        "files.associations": {
                "*.jinja": "jinja",
                "algorithm": "cpp",
@@ -128,15 +165,18 @@
                "${workspaceFolder}/build": true
        },
        "search.showLineNumbers": true,
+        "search.smartCase": true,
+        "shellcheck.exclude": [2154],
        "telemetry.enableTelemetry": false,
        "terminal.integrated.copyOnSelection": true,
-        "terminal.integrated.rightClickBehavior": "paste",
+        "terminal.integrated.rightClickCopyPaste": true,
        "terminal.integrated.scrollback": 5000,
        "window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
        "workbench.editor.highlightModifiedTabs": true,
        "workbench.enableExperiments": false,
        "workbench.settings.enableNaturalLanguageSearch": false,
+        "workbench.statusBar.feedback.visible": false,
        "yaml.schemas": {
-                "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
+                "${workspaceRoot}/validation/module_schema.yaml": "${workspaceRoot}/src/modules/*/module.yaml"
        }
 }
@@ -3,58 +3,12 @@
    // for the documentation about the tasks.json format
    "version": "2.0.0",
    "tasks": [
-        {
-            "label": "build",
-            "type": "shell",
-            "command": "/bin/bash",
-            "args": [
-                "-c",
-                "${command:cmake.tasksBuildCommand}"
-            ],
-            "options": {
-                "cwd": "${command:cmake.buildDirectory}"
-            },
-            "group": {
-                "kind": "build",
-                "isDefault": true,
-            },
-            "problemMatcher": {
-                "base": "$gcc",
-                "fileLocation": ["relative", "${command:cmake.buildDirectory}"]
-            },
-            "presentation":{
-                "echo": false,
-                "showReuseMessage": false,
-                "clear": true,
-                "panel": "shared",
-                "group": "build"
-            }
-        },
-        {
-            "label": "test",
-            "type": "shell",
-            "command": "make tests",
-            "options": {
-                "cwd": "${workspaceFolder}"
-            },
-            "group": {
-                "kind": "test",
-                "isDefault": true,
-            },
-            "presentation":{
-                "echo": true,
-                "showReuseMessage": false,
-                "clear": false,
-                "panel": "shared",
-                "group": "test"
-            }
-        },
        {
            "label": "jmavsim build",
            "type": "shell",
            "command": "ant create_run_jar copy_res",
            "options": {
-                "cwd": "${workspaceFolder}/Tools/jMAVSim"
+                "cwd": "${workspaceRoot}/Tools/jMAVSim"
            },
            "problemMatcher": [],
            "presentation":{
@@ -63,7 +17,7 @@
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
-                "clear": false,
+                "clear": true
            }
        },
        {
@@ -72,7 +26,7 @@
            "dependsOn": "jmavsim build",
            "command": "java -Djava.ext.dirs= -jar jmavsim_run.jar -r 250 -lockstep -tcp localhost:4560 -qgc",
            "options": {
-                "cwd": "${workspaceFolder}/Tools/jMAVSim/out/production",
+                "cwd": "${workspaceRoot}/Tools/jMAVSim/out/production",
                "env": {
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
@@ -84,7 +38,7 @@
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
-                "clear": false
+                "clear": true
            },
            "problemMatcher": [
                {
@@ -114,7 +68,7 @@
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
-                "clear": false
+                "clear": true
            },
            "problemMatcher": []
        },
@@ -123,31 +77,31 @@
            "type": "shell",
            "command": "make px4_sitl_default sitl_gazebo",
            "options": {
-                "cwd": "${workspaceFolder}"
+                "cwd": "${workspaceRoot}"
            },
            "problemMatcher": [],
            "presentation":{
                "echo": true,
-                "reveal": "always",
+                "reveal": "never",
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
-                "clear": false,
+                "clear": true
            }
        },
        {
-            "label": "gazebo start",
+            "label": "gazebo iris",
            "type": "shell",
            "dependsOn": "gazebo build",
            "options": {
-                "cwd": "${workspaceFolder}",
+                "cwd": "${workspaceRoot}",
                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
+                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
-            "command": "gzserver --verbose ${workspaceFolder}/Tools/sitl_gazebo/worlds/${input:gazeboWorld}.world",
+            "command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/iris.world",
            "isBackground": true,
            "presentation": {
                "echo": true,
@@ -155,7 +109,7 @@
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
-                "clear": false
+                "clear": true
            },
            "problemMatcher": [
                {
@@ -176,26 +130,106 @@
            ]
        },
        {
-            "label": "gazebo",
+            "label": "gazebo plane",
            "type": "shell",
-            "dependsOn": "gazebo start",
+            "dependsOn": "gazebo build",
            "options": {
-                "cwd": "${workspaceFolder}",
+                "cwd": "${workspaceRoot}",
                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
+                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
-            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/sitl_gazebo/models/${input:vehicleModel}/${input:vehicleModel}.sdf --model-name=${input:vehicleModel} -x 1.01 -y 0.98 -z 0.83",
-            "isBackground": false,
+            "command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/plane.world",
+            "isBackground": true,
            "presentation": {
                "echo": true,
                "reveal": "never",
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
-                "clear": false
+                "clear": true
+            },
+            "problemMatcher": [
+                {
+                    "pattern": [
+                        {
+                            "regexp": ".",
+                            "file": 1,
+                            "location": 2,
+                            "message": 3
+                        }
+                    ],
+                    "background": {
+                        "activeOnStart": true,
+                        "beginsPattern": ".",
+                        "endsPattern": ".",
+                    }
+                }
+            ]
+        },
+        {
+            "label": "gazebo standard_vtol",
+            "type": "shell",
+            "dependsOn": "gazebo build",
+            "options": {
+                "cwd": "${workspaceRoot}",
+                "env": {
+                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
+                    "PX4_SIM_SPEED_FACTOR": "1"
+                }
+            },
+            "command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/standard_vtol.world",
+            "isBackground": true,
+            "presentation": {
+                "echo": true,
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": true
+            },
+            "problemMatcher": [
+                {
+                    "pattern": [
+                        {
+                            "regexp": ".",
+                            "file": 1,
+                            "location": 2,
+                            "message": 3
+                        }
+                    ],
+                    "background": {
+                        "activeOnStart": true,
+                        "beginsPattern": ".",
+                        "endsPattern": ".",
+                    }
+                }
+            ]
+        },
+        {
+            "label": "gazebo tailsitter",
+            "type": "shell",
+            "dependsOn": "gazebo build",
+            "options": {
+                "cwd": "${workspaceRoot}",
+                "env": {
+                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
+                    "PX4_SIM_SPEED_FACTOR": "1"
+                }
+            },
+            "command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/tailsitter.world",
+            "isBackground": true,
+            "presentation": {
+                "echo": true,
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": true
            },
            "problemMatcher": [
                {
@@ -220,10 +254,10 @@
            "type": "shell",
            "dependsOn": "gazebo build",
            "options": {
-                "cwd": "${workspaceFolder}",
+                "cwd": "${workspaceRoot}",
                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
+                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
@@ -235,7 +269,7 @@
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
-                "clear": false
+                "clear": true
            },
            "problemMatcher": [
                {
@@ -260,42 +294,12 @@
            "type": "shell",
            "command": "killall gzserver",
            "presentation": {
-                "echo": true,
-                "reveal": "silent",
+                "echo": false,
+                "reveal": "never",
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
-                "clear": false
-            },
-            "problemMatcher": [],
-            "dependsOn":["px4_sitl_cleanup"]
-        },
-        {
-            "label": "px4_sitl_cleanup",
-            "type": "shell",
-            "command": "rm -rfv /tmp/px4*",
-            "presentation": {
-                "echo": true,
-                "reveal": "silent",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false
-            },
-            "problemMatcher": [],
-            "dependsOn":["px4_kill"]
-        },
-        {
-            "label": "px4_kill",
-            "type": "shell",
-            "command": "killall px4 || true",
-            "presentation": {
-                "echo": true,
-                "reveal": "silent",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false
+                "clear": true
            },
            "problemMatcher": []
        },
@@ -304,7 +308,7 @@
            "type": "shell",
            "command": "./Tools/mavlink_shell.py",
            "options": {
-                "cwd": "${workspaceFolder}"
+                "cwd": "${workspaceRoot}"
            },
            "presentation": {
                "echo": true,
@@ -321,7 +325,7 @@
            "type": "shell",
            "command": "miniterm.py --raw - 57600",
            "options": {
-                "cwd": "${workspaceFolder}"
+                "cwd": "${workspaceRoot}"
            },
            "presentation": {
                "echo": true,
@@ -333,41 +337,5 @@
            },
            "problemMatcher": []
        }
-    ],
-    "inputs": [
-        {
-            "type": "pickString",
-            "id": "vehicleModel",
-            "description": "gazebo model",
-            "options": [
-              "iris",
-              "typhoon_h480",
-              "plane",
-              "plane_catapult",
-              "plane_lidar",
-              "standard_vtol",
-              "tailsitter",
-              "tiltrotor",
-              "r1_rover",
-              "boat"
-            ],
-            "default": "iris"
-        },
-        {
-            "type": "pickString",
-            "id": "gazeboWorld",
-            "description": "gazebo world",
-            "options": [
-                "baylands",
-                "empty",
-                "ksql_airport",
-                "mcmillan_airfield",
-                "sonoma_raceway",
-                "warehouse",
-                "windy",
-                "yosemite"
-            ],
-            "default": "empty"
-        }
    ]
 }
@@ -12,10 +12,12 @@ pipeline {
        }
      }
      parallel {
+
+        // TODO: temporarily disabled 2020-06-03 waiting on mavlink update
        // stage('Catkin build on ROS workspace') {
        //   agent {
        //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2020-11-18'
+        //       image 'px4io/px4-dev-ros-melodic:2020-04-01'
        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
        //     }
        //   }
@@ -52,42 +54,42 @@ pipeline {
        //     checkoutToSubdirectory('catkin_ws/src/Firmware')
        //   }
        // }
-
-        stage('Colcon build on ROS2 workspace') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros2-foxy:2020-11-18'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-            }
-          }
-          steps {
-            sh 'ls -l'
-            sh '''#!/bin/bash -l
-              echo $0;
-              unset ROS_DISTRO;
-              mkdir -p colcon_ws/src;
-              cd colcon_ws;
-              git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
-              git clone --recursive ${WORKSPACE}/colcon_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
-              git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
-              source /opt/ros/bouncy/setup.sh;
-              source /opt/ros/melodic/setup.sh;
-              colcon build --event-handlers console_direct+ --symlink-install;
-            '''
-          }
-          post {
-            always {
-              sh 'rm -rf colcon_ws'
-            }
-          }
-          options {
-            checkoutToSubdirectory('colcon_ws/src/Firmware')
-          }
-        }
+        //
+        // stage('Colcon build on ROS2 workspace') {
+        //   agent {
+        //     docker {
+        //       image 'px4io/px4-dev-ros2-dashing:2020-04-01'
+        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+        //     }
+        //   }
+        //   steps {
+        //     sh 'ls -l'
+        //     sh '''#!/bin/bash -l
+        //       echo $0;
+        //       unset ROS_DISTRO;
+        //       mkdir -p colcon_ws/src;
+        //       cd colcon_ws;
+        //       git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
+        //       git clone --recursive ${WORKSPACE}/colcon_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
+        //       git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
+        //       source /opt/ros/bouncy/setup.sh;
+        //       source /opt/ros/melodic/setup.sh;
+        //       colcon build --event-handlers console_direct+ --symlink-install;
+        //     '''
+        //   }
+        //   post {
+        //     always {
+        //       sh 'rm -rf colcon_ws'
+        //     }
+        //   }
+        //   options {
+        //     checkoutToSubdirectory('colcon_ws/src/Firmware')
+        //   }
+        // }

        stage('Airframe') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
          }
          steps {
            sh 'make distclean'
@@ -106,7 +108,7 @@ pipeline {

        stage('Parameter') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
          }
          steps {
            sh 'make distclean'
@@ -125,7 +127,7 @@ pipeline {

        stage('Module') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
          }
          steps {
            sh 'make distclean'
@@ -145,7 +147,7 @@ pipeline {
        stage('uORB graphs') {
          agent {
            docker {
-              image 'px4io/px4-dev-nuttx-focal:2020-11-18'
+              image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
            }
          }
@@ -172,20 +174,48 @@ pipeline {

      parallel {

-        stage('Userguide') {
+        stage('Devguide') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
          }
          steps {
            sh('export')
            unstash 'metadata_airframes'
            unstash 'metadata_parameters'
            unstash 'metadata_module_documentation'
+            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
+              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/Devguide.git')
+              sh('cp airframes.md Devguide/en/airframes/airframe_reference.md')
+              sh('cp parameters.md Devguide/en/advanced/parameter_reference.md')
+              sh('cp -R modules/*.md Devguide/en/middleware/')
+              sh('cd Devguide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
+              sh('cd Devguide; git push origin master || true')
+              sh('rm -rf Devguide')
+            }
+          }
+          when {
+            anyOf {
+              branch 'master'
+              branch 'pr-jenkins' // for testing
+            }
+          }
+          options {
+            skipDefaultCheckout()
+          }
+        }
+
+        stage('Userguide') {
+          agent {
+            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
+          }
+          steps {
+            sh('export')
+            unstash 'metadata_airframes'
+            unstash 'metadata_parameters'
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_user_guide.git')
              sh('cp airframes.md px4_user_guide/en/airframes/airframe_reference.md')
              sh('cp parameters.md px4_user_guide/en/advanced_config/parameter_reference.md')
-              sh('cp -R modules/*.md px4_user_guide/en/modules/')
              sh('cd px4_user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
              sh('cd px4_user_guide; git push origin master || true')
              sh('rm -rf px4_user_guide')
@@ -204,7 +234,7 @@ pipeline {

        stage('QGroundControl') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
          }
          steps {
            sh('export')
@@ -230,39 +260,9 @@ pipeline {
          }
        }

-        stage('microRTPS agent') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
-          }
-          steps {
-            sh('export')
-            sh('git fetch --all --tags')
-            sh('make distclean')
-            sh('make px4_sitl_rtps')
-            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/micrortps_agent.git -b ${BRANCH_NAME}")
-              sh("rm -rf micrortps_agent/src micrortps_agent/idl")
-              sh('cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent')
-              sh('cd micrortps_agent; git status; git add src; git commit -a -m "Update microRTPS agent source code `date`" || true')
-              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
-              sh('cd micrortps_agent; git status; git add idl; git commit -a -m "Update IDL definitions `date`" || true')
-              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
-              sh('cd micrortps_agent; git status; git add CMakeLists.txt; git commit -a -m "Update CMakeLists.txt `date`" || true')
-              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
-              sh('rm -rf micrortps_agent')
-            }
-          }
-          when {
-            anyOf {
-              branch 'master'
-              branch 'pr-jenkins' // for testing
-            }
-          }
-        }
-
        stage('PX4 ROS msgs') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
          }
          steps {
            sh('export')
@@ -270,12 +270,12 @@ pipeline {
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
              // 'master' branch
-              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
+              sh('python msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
              sh('cd px4_msgs; git push origin master || true')
              // 'ros1' branch
              sh('cd px4_msgs; git checkout ros1')
-              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
+              sh('python msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
              sh('cd px4_msgs; git push origin ros1 || true')
              sh('rm -rf px4_msgs')
@@ -291,7 +291,7 @@ pipeline {

        stage('PX4 ROS2 bridge') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
          }
          steps {
            sh('export')
@@ -334,7 +334,7 @@ pipeline {

        stage('S3') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
          }
          steps {
            sh('export')
@@ -271,7 +271,6 @@ misc_qgc_extra_firmware: \
 	check_intel_aerofc-v1_default \
 	check_mro_x21_default \
 	check_bitcraze_crazyflie_default \
-	check_bitcraze_crazyflie21_default \
 	check_airmind_mindpx-v2_default \
 	check_px4_fmu-v2_lpe \
 	sizes
@@ -362,10 +361,8 @@ tests:

 tests_coverage:
 	@$(MAKE) clean
-	@$(MAKE) --no-print-directory tests PX4_CMAKE_BUILD_TYPE=Coverage
-	@mkdir -p coverage
-	@lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
-
+	@$(MAKE) --no-print-directory px4_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
+	@echo "Open "$(SRC_DIR)"/build/px4_sitl_default/coverage-html/index.html to see coverage"

 rostest: px4_sitl_default
 	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
@@ -1,20 +1,20 @@
 # PX4 Drone Autopilot

-[![Releases](https://img.shields.io/github/release/PX4/PX4-Autopilot.svg)](https://github.com/PX4/PX4-Autopilot/releases) [![DOI](https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot)
+[![Releases](https://img.shields.io/github/release/PX4/Firmware.svg)](https://github.com/PX4/Firmware/releases) [![DOI](https://zenodo.org/badge/22634/PX4/Firmware.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/Firmware)

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

 [![Slack](https://px4-slack.herokuapp.com/badge.svg)](http://slack.px4.io)

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

-* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
+* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/Firmware/blob/master/LICENSE))
 * [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
  * [Multicopters](https://docs.px4.io/master/en/airframes/airframe_reference.html#copter)
  * [Fixed wing](https://docs.px4.io/master/en/airframes/airframe_reference.html#plane)
  * [VTOL](https://docs.px4.io/master/en/airframes/airframe_reference.html#vtol)
  * many more experimental types (Rovers, Blimps, Boats, Submarines, Autogyros, etc)
-* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
+* Releases: [Downloads](https://github.com/PX4/Firmware/releases)


 ## PX4 Users
@@ -40,43 +40,32 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co

 ## Maintenance Team

-  * Project: Founder
-    * [Lorenz Meier](https://github.com/LorenzMeier)
-  * Architecture
-    * [Daniel Agar](https://github.com/dagar)
-  * [Dev Call](https://github.com/PX4/PX4-Autopilot/labels/devcall)
-    * [Ramon Roche](https://github.com/mrpollo)
+  * Project: Founder - [Lorenz Meier](https://github.com/LorenzMeier), Architecture: [Daniel Agar](https://github.com/dagar)
+    * [Dev Call](https://github.com/PX4/Firmware/labels/devcall) - [Ramon Roche](https://github.com/mrpollo)
  * Communication Architecture
    * [Beat Kueng](https://github.com/bkueng)
    * [Julian Oes](https://github.com/JulianOes)
  * UI in QGroundControl
    * [Gus Grubba](https://github.com/dogmaphobic)
-  * [Multicopter Flight Control](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
+  * [Multicopter Flight Control](https://github.com/PX4/Firmware/labels/multicopter)
    * [Mathieu Bresciani](https://github.com/bresch)
-  * [Multicopter Software Architecture](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
+  * [Multicopter Software Architecture](https://github.com/PX4/Firmware/labels/multicopter)
    * [Matthias Grob](https://github.com/MaEtUgR)
-  * [VTOL Flight Control](https://github.com/PX4/PX4-Autopilot/labels/vtol)
+  * [VTOL Flight Control](https://github.com/PX4/Firmware/labels/vtol)
    * [Roman Bapst](https://github.com/RomanBapst)
-  * [Fixed Wing Flight Control](https://github.com/PX4/PX4-Autopilot/labels/fixedwing)
+  * [Fixed Wing Flight Control](https://github.com/PX4/Firmware/labels/fixedwing)
    * [Roman Bapst](https://github.com/RomanBapst)
-  * OS / NuttX
-    * [David Sidrane](https://github.com/davids5)
-  * Driver Architecture
-    * [Daniel Agar](https://github.com/dagar)
-  * Commander Architecture
-    * [Julian Oes](https://github.com/julianoes)
-  * [UAVCAN](https://github.com/PX4/PX4-Autopilot/labels/uavcan)
-    * [Daniel Agar](https://github.com/dagar)
-  * [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
-    * [Paul Riseborough](https://github.com/priseborough)
+  * OS / NuttX [David Sidrane](https://github.com/davids5)
+  * Driver Architecture [Daniel Agar](https://github.com/dagar)
+  * Commander Architecture [Julian Oes](https://github.com/julianoes)
+  * [UAVCAN](https://github.com/PX4/Firmware/labels/uavcan) [Daniel Agar](https://github.com/dagar)
+  * [State Estimation](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22) - [Paul Riseborough](https://github.com/priseborough)
  * Vision based navigation
    * [Julian Kent](https://github.com/jkflying)
-  * Obstacle Avoidance
-    * [Martina Rivizzigno](https://github.com/mrivi)
-  * RTPS/ROS2 Interface
-    * [Nuno Marques](https://github.com/TSC21)
+  * Obstacle Avoidance - [Martina Rivizzigno](https://github.com/mrivi)
+  * RTPS/ROS2 Interface - [Nuno Marques](https://github.com/TSC21)

-See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github).
+See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/Firmware/graphs/contributors) (Github).

 ## Supported Hardware

@@ -108,4 +97,4 @@ Additional information about supported hardware can be found in [PX4 user Guide

 ## Project Roadmap

-A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).
+A high level project roadmap is available [here](https://www.dronecode.org/roadmap/).
@@ -34,7 +34,7 @@
 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)
+set(romfs_gen_root_dir ${PX4_BINARY_DIR}/genromfs)

 set_property(GLOBAL PROPERTY PX4_ROMFS_FILES)
 set_property(GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
@@ -81,48 +81,21 @@ file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
 if (px4_constrained_flash_build)
 	set(added_arguments --constrained-flash)
 endif()
-# create list of relative romfs file names
-set(romfs_copy_files_relative)
-foreach(romfs_file IN LISTS romfs_copy_files)
-	string(REPLACE "${romfs_src_dir}/" "" romfs_file_rel ${romfs_file})
-	list(APPEND romfs_copy_files_relative ${romfs_file_rel})
-endforeach()
-# copy the ROMFS files by creating a tar and extracting it to the build
-# directory (which preserves the directory structure)
-file(MAKE_DIRECTORY ${romfs_gen_root_dir})
-set(romfs_tar_file ${PX4_BINARY_DIR}/romfs_files.tar)
-add_custom_command(
-	OUTPUT ${romfs_tar_file}
-	COMMAND ${CMAKE_COMMAND} -E tar cf ${romfs_tar_file} ${romfs_copy_files_relative}
-	WORKING_DIRECTORY ${romfs_src_dir}
-	DEPENDS
-		${romfs_copy_files}
-		${jinja_templates}
-		${module_config_files}
-		${romfs_cmake_files}
-		${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/markdownout.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/rcout.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/srcparser.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/srcscanner.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/xmlout.py
-		${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
-	)
-set(romfs_extract_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_extract.stamp)
-add_custom_command(
-	OUTPUT ${romfs_extract_stamp}
-	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
-	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
-	WORKING_DIRECTORY ${romfs_gen_root_dir}
-	DEPENDS ${romfs_tar_file}
-	)
-
 add_custom_command(
 	OUTPUT
+		${romfs_gen_root_dir}/init.d/rcS
 		${romfs_gen_root_dir}/init.d/rc.serial
 		${romfs_gen_root_dir}/init.d/rc.autostart
 		${romfs_gen_root_dir}/init.d/rc.autostart.post
 		romfs_copy.stamp
+	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}
+	# TODO: we should only copy the files in ${romfs_copy_files}
+	COMMAND ${CMAKE_COMMAND} -E copy_directory ${romfs_src_dir} ${romfs_gen_root_dir}
+	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/init.d-posix
+	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/mixers-sitl
+	COMMAND ${CMAKE_COMMAND} -E remove ${romfs_gen_root_dir}/mixers/CMakeLists.txt
+	COMMAND ${CMAKE_COMMAND} -E remove ${romfs_gen_root_dir}/init.d/CMakeLists.txt
+	COMMAND ${CMAKE_COMMAND} -E remove ${romfs_gen_root_dir}/init.d/airframes/CMakeLists.txt
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		--airframes-path ${romfs_gen_root_dir}/init.d
 		--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
@@ -133,13 +106,32 @@ add_custom_command(
 		--config-files ${module_config_files} #--verbose
 	COMMAND ${CMAKE_COMMAND} -E touch romfs_copy.stamp
 	DEPENDS
-		${romfs_extract_stamp}
+		${jinja_templates}
+		${module_config_files}
+		${romfs_cmake_files}
+		${romfs_copy_files}
+		${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/markdownout.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/rcout.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/srcparser.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/srcscanner.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/xmlout.py
+		${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
 	COMMENT "ROMFS: copying, generating airframes"
 	)

 # copy extras into ROMFS
 set(extras_dependencies)

+if(config_bl_file)
+	file(MAKE_DIRECTORY ${PX4_BINARY_DIR}/romfs_extras)
+	configure_file(${config_bl_file} ${PX4_BINARY_DIR}/romfs_extras COPYONLY)
+
+	list(APPEND extras_dependencies
+		${config_bl_file}
+		)
+endif()
+
 # copy px4io binary if configured
 if(config_io_board)
 	list(APPEND extras_dependencies
@@ -187,35 +179,17 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})

 endforeach()

-list(APPEND extras_dependencies
-	${config_romfs_extra_dependencies}
-	)
-
-if (config_romfs_extra_files)
-	set(extras_copy_cmd COMMAND ${CMAKE_COMMAND} -E copy_if_different ${config_romfs_extra_files} ${romfs_gen_root_dir}/extras/)
-else()
-	set(extras_copy_cmd "")
-endif()
 add_custom_command(OUTPUT romfs_extras.stamp
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/extras/
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/romfs_extras/
 	COMMAND ${CMAKE_COMMAND} -E copy_directory ${PX4_BINARY_DIR}/romfs_extras/ ${romfs_gen_root_dir}/extras/
-	${extras_copy_cmd}
 	COMMAND ${CMAKE_COMMAND} -E touch romfs_extras.stamp
 	DEPENDS
 		romfs_copy.stamp
-		${config_romfs_extra_files}
 		${extras_dependencies}
 	COMMENT "ROMFS: copying extras"
 	)

-add_custom_target(romfs_gen_files_target
-	DEPENDS
-		${romfs_extract_stamp}
-		${romfs_gen_root_dir}/init.d/rc.serial
-		romfs_extras.stamp
-	)
-
 add_custom_command(
 	OUTPUT romfs_pruned.stamp
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py --folder ${romfs_gen_root_dir} --board ${PX4_BOARD}
@@ -246,11 +220,7 @@ if("${CONFIG_FS_CROMFS}" STREQUAL "y")
 		COMMENT "ROMFS: generating image"
 	)

-	add_library(romfs STATIC nsh_romfsimg.c)
-	add_dependencies(romfs prebuild_targets)
-	set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
-
-elseif("${CONFIG_FS_ROMFS}" STREQUAL "y")
+else()
 	# create romfs.img
 	find_program(GENROMFS genromfs)
 	if(NOT GENROMFS)
@@ -285,13 +255,13 @@ elseif("${CONFIG_FS_ROMFS}" STREQUAL "y")
 		COMMAND ${SED} 's/unsigned/const unsigned/g' nsh_romfsimg.c > nsh_romfsimg.c.tmp && ${CMAKE_COMMAND} -E rename nsh_romfsimg.c.tmp nsh_romfsimg.c
 		DEPENDS romfs.img
 	)
-
-	add_library(romfs STATIC nsh_romfsimg.c)
-	add_dependencies(romfs prebuild_targets)
-	set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
 endif()


+add_library(romfs STATIC nsh_romfsimg.c)
+add_dependencies(romfs prebuild_targets)
+set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
+

 # shellcheck
 find_program(SHELLCHECK_PATH shellcheck)
@@ -301,15 +271,11 @@ if(SHELLCHECK_PATH)
 	# TODO: fix SC2086, SC2166
 	add_custom_target(shellcheck
 		COMMAND ${SHELLCHECK_PATH} --shell=sh
-			--exclude=SC1090 # SC1090: use of source (.) - Can't follow non-constant source. Use a directive to specify location.
-			--exclude=SC1091 # SC1091: use of source (.) - Not following: xxxx openBinaryFile: does not exist (No such file or directory)
 			--exclude=SC2121 # SC2121: To assign a variable, use just 'var=value'
 			--exclude=SC2086 # SC2086: Double quote to prevent globbing and word splitting.
 			--exclude=SC2166 # SC2166: Prefer [ p ] || [ q ] as [ p -o q ] is not well defined.
 			--exclude=SC2154 # SC2154: <var> is referenced but not assigned (NuttX uses different asssignment)
 			--exclude=SC2164 # SC2164: Use 'cd ... || exit' or 'cd ... || return' in case cd fails.
-			--exclude=SC2169 # SC2169: In dash, 'source' in place of '.' is not supported. (we alias it)
-			--exclude=SC2039 # SC2039: In POSIX sh, 'source' in place of '.' is undefined. (we alias it)
 			--exclude=SC2181 # SC2181: Check exit code directly with e.g. 'if mycmd;', not indirectly with $?.
 			`find ${romfs_gen_root_dir}/init.d -type f`
 		DEPENDS ${romfs_gen_root_dir}/init.d/rc.autostart
@@ -14,7 +14,7 @@ set +e
 # NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
 #
 #------------------------------------------------------------------------------
-set R /
+
 #
 # Mount the procfs.
 #
@@ -51,28 +51,28 @@ fi
 param select $PARAM_FILE
 if ! param load
 then
-	param reset_all
+	param reset
 fi

 #
 # Optional board defaults: rc.board_defaults
 #
-set BOARD_RC_DEFAULTS ${R}etc/init.d/rc.board_defaults
+set BOARD_RC_DEFAULTS /etc/init.d/rc.board_defaults
 if [ -f $BOARD_RC_DEFAULTS ]
 then
 	echo "Board defaults: ${BOARD_RC_DEFAULTS}"
-	. $BOARD_RC_DEFAULTS
+	sh $BOARD_RC_DEFAULTS
 fi
 unset BOARD_RC_DEFAULTS

 #
 # Start system state indicator.
 #
-rgbled start -X -q
-rgbled_ncp5623c start -X -q
+rgbled start -X
+rgbled_ncp5623c start -X
 rgbled_pwm start

-if param greater -s LIGHT_EN_BLINKM 0
+if param greater LIGHT_EN_BLINKM 0
 then
 	if blinkm start -X
 	then
@@ -83,11 +83,11 @@ fi
 #
 # board sensors: rc.sensors
 #
-set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
+set BOARD_RC_SENSORS /etc/init.d/rc.board_sensors
 if [ -f $BOARD_RC_SENSORS ]
 then
 	echo "Board sensors: ${BOARD_RC_SENSORS}"
-	. $BOARD_RC_SENSORS
+	sh $BOARD_RC_SENSORS
 fi
 unset BOARD_RC_SENSORS

@@ -95,7 +95,7 @@ unset BOARD_RC_SENSORS
 # Start UART/Serial device drivers.
 # Note: rc.serial is auto-generated from Tools/serial/generate_config.py
 #
-. ${R}etc/init.d/rc.serial
+sh /etc/init.d/rc.serial

 # Check for flow sensor
 if param compare SENS_EN_PX4FLOW 1
@@ -104,4 +104,3 @@ then
 fi

 uavcannode start
-unset R
@@ -33,8 +33,3 @@

 add_subdirectory(init.d)
 add_subdirectory(mixers)
-# TODO: make this configurable from the board config, or better combine
-if("${PX4_BOARD}" MATCHES "sitl")
-	add_subdirectory(mixers-sitl)
-	add_subdirectory(init.d-posix)
-endif()
@@ -7,6 +7,7 @@
 # @maintainer Julian Oes <julian@oes.ch>
 #

-. ${R}etc/init.d/rc.mc_defaults
+sh /etc/init.d/rc.mc_defaults

 set MIXER quad_w
+
@@ -6,7 +6,7 @@
 # @type Quadrotor
 #

-. ${R}etc/init.d/rc.mc_defaults
+sh /etc/init.d/rc.mc_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -6,6 +6,6 @@
 # @type Quadrotor
 #

-. ${R}etc/init.d/airframes/4016_holybro_px4vision
+sh /etc/init.d/airframes/4016_holybro_px4vision

 set MIXER quad_x
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-. ${R}etc/init.d-posix/airframes/10016_iris
+sh /etc/init.d-posix/10016_iris

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-. ${R}etc/init.d-posix/airframes/10016_iris
+sh /etc/init.d-posix/10016_iris

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-. ${R}etc/init.d-posix/airframes/10016_iris
+sh /etc/init.d-posix/10016_iris

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-. ${R}etc/init.d-posix/airframes/10016_iris
+sh /etc/init.d-posix/10016_iris

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type Quadrotor
 #

-. ${R}etc/init.d/rc.mc_defaults
+sh /etc/init.d/rc.mc_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-. ${R}etc/init.d-posix/airframes/10016_iris
+sh /etc/init.d-posix/10016_iris

 if [ $AUTOCNF = yes ]
 then
@@ -5,4 +5,4 @@
 # @type Quadrotor Wide
 #

-. ${R}etc/init.d-posix/airframes/10016_iris
+sh /etc/init.d-posix/10016_iris
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-. ${R}etc/init.d-posix/airframes/10016_iris
+sh /etc/init.d-posix/10016_iris

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-. ${R}etc/init.d-posix/airframes/10016_iris
+sh /etc/init.d-posix/10016_iris

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-. ${R}etc/init.d-posix/airframes/10016_iris
+sh /etc/init.d-posix/10016_iris

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name UUV
 #

-. ${R}etc/init.d/rc.uuv_defaults
+sh /etc/init.d/rc.uuv_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name Hippocampus UUV
 #

-. ${R}etc/init.d/rc.uuv_defaults
+sh /etc/init.d/rc.uuv_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name Plane SITL
 #

-. ${R}etc/init.d/rc.fw_defaults
+sh /etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name Plane SITL with camera
 #

-. ${R}etc/init.d-posix/airframes/1030_plane
+sh /etc/init.d-posix/1030_plane

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name Plane SITL with catapult
 #

-. ${R}etc/init.d-posix/airframes/1030_plane
+sh /etc/init.d-posix/1030_plane

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name Plane SITL with downward facing LIDAR.
 #

-. ${R}etc/init.d-posix/airframes/1030_plane
+sh /etc/init.d-posix/1030_plane

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name Plane SITL
 #

-. ${R}etc/init.d/rc.fw_defaults
+sh /etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name Plane SITL
 #

-. ${R}etc/init.d/rc.fw_defaults
+sh /etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -5,50 +5,41 @@
 # @type Standard VTOL
 #

-. ${R}etc/init.d/rc.vtol_defaults
+sh /etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
+	param set FW_AIRSPD_MAX 25
+	param set FW_AIRSPD_MIN 14
+	param set FW_AIRSPD_TRIM 16
 	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_LTRMIN_ALT 10
 	param set MIS_TAKEOFF_ALT 10
+	param set MIS_YAW_TMT 10

 	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_P_ACC 3
 	param set MPC_XY_VEL_I_ACC 4
 	param set MPC_XY_VEL_D_ACC 0.1
+	param set MPC_Z_VEL_MAX_DN 1.5

 	param set NAV_ACC_RAD 5
 	param set NAV_LOITER_RAD 80

-	param set VT_FWD_THRUST_EN 4
+	param set VT_F_TRANS_DUR 5
 	param set VT_F_TRANS_THR 0.75
+	param set VT_ARSP_TRANS 16
 	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 VT_B_TRANS_DUR 8

 fi

@@ -0,0 +1,46 @@
+#!/bin/sh
+#
+# @name Quadrotor + Tailsitter
+#
+# @type VTOL Quad Tailsitter
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MAX 25
+	param set FW_AIRSPD_MIN 14
+	param set FW_AIRSPD_TRIM 16
+	param set FW_L1_PERIOD 12
+
+	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 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 0.15
+	param set MPC_XY_VEL_D_ACC 0.1
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_P_ACC 1
+	param set MPC_Z_VEL_MAX_DN 1.5
+	param set MPC_Z_VEL_P_ACC 16
+
+	param set NAV_ACC_RAD 5
+	param set NAV_LOITER_RAD 80
+
+	param set VT_F_TRANS_DUR 1.5
+	param set VT_F_TRANS_THR 0.7
+	param set VT_TYPE 0
+
+fi
+
+set MAV_TYPE 20
+
+set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
+set MIXER custom
@@ -0,0 +1,52 @@
+#!/bin/sh
+#
+# @name VTOL Tiltrotor
+#
+# @type VTOL Tiltrotor
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set FW_ARSP_MODE 1
+	param set FW_AIRSPD_MAX 25
+	param set FW_AIRSPD_MIN 14
+	param set FW_AIRSPD_TRIM 16
+	param set FW_L1_PERIOD 12
+
+	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 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 0.15
+	param set MPC_XY_VEL_D_ACC 0.1
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_P_ACC 1
+	param set MPC_Z_VEL_MAX_DN 1.5
+	param set MPC_Z_VEL_P_ACC 16
+
+	param set NAV_ACC_RAD 5
+	param set NAV_LOITER_RAD 80
+
+	param set VT_F_TRANS_DUR 5.0
+	param set VT_F_TRANS_THR 0.75
+	param set VT_FWD_THRUST_SC 1.1
+	param set VT_TILT_FW 1
+	param set VT_TILT_TRANS 0.6
+	param set VT_ELEV_MC_LOCK 0
+	param set VT_TYPE 1
+	param set VT_B_TRANS_DUR 8
+
+fi
+
+set MAV_TYPE 21
+
+set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
+set MIXER custom
@@ -3,7 +3,7 @@
 # @name Rover
 #

-. ${R}etc/init.d/rc.rover_defaults
+sh /etc/init.d/rc.rover_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -4,7 +4,7 @@
 # @type Rover
 # @class Rover

-. ${R}etc/init.d/rc.rover_defaults
+sh /etc/init.d/rc.rover_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -8,7 +8,7 @@
 # @maintainer ThunderFly s.r.o.
 #

-. ${R}etc/init.d/rc.rover_defaults
+sh /etc/init.d/rc.rover_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name Boat
 #

-. ${R}etc/init.d/rc.boat_defaults
+sh /etc/init.d/rc.boat_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -10,7 +10,7 @@
 #
 #

-. ${R}etc/init.d/rc.fw_defaults
+sh /etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -9,7 +9,7 @@
 # @output MAIN3 port thruster
 # @output MAIN4 tail thruster

-. ${R}etc/init.d/rc.airship_defaults
+sh /etc/init.d/rc.airship_defaults

 set MIXER cloudship
 set PWM_OUT 1234
@@ -1,13 +1,11 @@
 #!/bin/sh
 #
-# @name Hexacopter SITL model for JSBSim
+# @name Typhoon H480 SITL
 #
 # @type Hexarotor x
 #
-# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
-#

-. ${R}etc/init.d/rc.mc_defaults
+sh /etc/init.d/rc.mc_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -21,11 +19,11 @@ then
 	param set MPC_XY_VEL_P_ACC 3

 	param set RTL_DESCEND_ALT 10
+	param set RTL_LAND_DELAY 0

 	param set TRIG_INTERFACE 3
 	param set TRIG_MODE 4
-	param set MNT_MODE_IN 4
-	param set MNT_DO_STAB 2
+	param set MNT_MODE_IN 0
 	param set MAV_PROTO_VER 2
 fi

@@ -1,39 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-add_subdirectory(airframes)
-
-px4_add_romfs_files(
-	rc.replay
-	rcS
-)
@@ -1,52 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL
-#
-# @type Quadrotor Wide
-#
-# @maintainer Julian Oes <julian@oes.ch>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-. ${R}etc/init.d/rc.ctrlalloc
-
-if [ $AUTOCNF = yes ]
-then
-	param set MPC_USE_HTE 0
-
-	param set VM_MASS 1.5
-	param set VM_INERTIA_XX 0.03
-	param set VM_INERTIA_YY 0.03
-	param set VM_INERTIA_ZZ 0.05
-
-	param set CA_AIRFRAME 0
-	param set CA_METHOD 1
-	param set CA_ACT0_MIN 0.0
-	param set CA_ACT1_MIN 0.0
-	param set CA_ACT2_MIN 0.0
-	param set CA_ACT3_MIN 0.0
-	param set CA_ACT0_MAX 1.0
-	param set CA_ACT1_MAX 1.0
-	param set CA_ACT2_MAX 1.0
-	param set CA_ACT3_MAX 1.0
-
-	param set CA_MC_R0_PX 0.1515
-	param set CA_MC_R0_PY 0.245
-	param set CA_MC_R0_CT 6.5
-	param set CA_MC_R0_KM 0.05
-	param set CA_MC_R1_PX -0.1515
-	param set CA_MC_R1_PY -0.1875
-	param set CA_MC_R1_CT 6.5
-	param set CA_MC_R1_KM 0.05
-	param set CA_MC_R2_PX 0.1515
-	param set CA_MC_R2_PY -0.245
-	param set CA_MC_R2_CT 6.5
-	param set CA_MC_R2_KM -0.05
-	param set CA_MC_R3_PX -0.1515
-	param set CA_MC_R3_PY 0.1875
-	param set CA_MC_R3_CT 6.5
-	param set CA_MC_R3_KM -0.05
-
-fi
-
-set MIXER direct
@@ -1,20 +0,0 @@
-#!/bin/sh
-#
-# @name BlueROV2 Heavy Configuration
-#
-
-. ${R}etc/init.d/rc.uuv_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	#Set data link loss failsafe mode (0: disabled)
-	param set NAV_DLL_ACT 0
-
-	# disable circuit breaker for airspeed sensor
-	param set CBRK_AIRSPD_CHK 162128
-
-fi
-
-set PWM_OUT 12345678
-set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
-set MIXER custom
@@ -1,58 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	param set EKF2_MAG_ACCLIM 0
-	param set EKF2_MAG_YAWLIM 0
-
-	param set FW_LND_AIRSPD_SC 1
-	param set FW_LND_ANG 8
-	param set FW_THR_LND_MAX 0
-
-	param set FW_L1_PERIOD 12
-
-	param set FW_MAN_P_MAX 30
-
-	param set FW_PR_I 0.4
-	param set FW_PR_P 0.9
-	param set FW_PR_FF 0.2
-	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_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_THR_CRUISE 0.25
-
-	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 FW_W_EN 1
-
-	param set MIS_LTRMIN_ALT 30
-	param set MIS_TAKEOFF_ALT 30
-
-	param set NAV_ACC_RAD 15
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 50
-
-	param set RWTO_TKOFF 1
-
-fi
-
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
@@ -1,56 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	#param set EKF2_MAG_ACCLIM 0
-	#param set EKF2_MAG_YAWLIM 0
-
-	param set FW_LND_AIRSPD_SC 1.1
-	param set FW_LND_ANG 5
-	param set FW_THR_LND_MAX 0
-	param set FW_LND_HHDIST 30
-	param set FW_LND_FL_PMIN 9.5
-	param set FW_LND_FL_PMAX 20
-	param set FW_LND_FLALT 5
-	param set FW_LND_TLALT 15
-
-	param set FW_L1_PERIOD 25
-
-	param set FW_P_TC 0.4
-	param set FW_PR_FF 0.40
-	param set FW_PR_I 0.05
-	param set FW_PR_P 0.05
-
-	param set FW_R_TC 0.45
-	param set FW_RR_FF 0.40
-	param set FW_RR_I 0.132
-	param set FW_RR_P 0.085
-
-	param set FW_W_EN 1
-
-	param set MIS_LTRMIN_ALT 30
-	param set MIS_TAKEOFF_ALT 20
-	param set MIS_DIST_1WP 2500
-	param set MIS_DIST_WPS 10000
-
-	param set NAV_ACC_RAD 15
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 50
-
-	param set RWTO_TKOFF 1
-	param set RWTO_MAX_PITCH 20
-	param set RWTO_MAX_ROLL 10
-	param set RWTO_PSP 8
-	param set RWTO_AIRSPD_SCL 1.8
-
-fi
-
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
@@ -1,52 +0,0 @@
-#!/bin/sh
-#
-# @name Quadrotor + Tailsitter
-#
-# @type VTOL Quad Tailsitter
-#
-
-. ${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_I 0.2
-	param set FW_PR_P 0.3
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
-	param set FW_RR_P 0.3
-	param set FW_THR_CRUISE 0.33
-	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 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_F_TRANS_DUR 1.5
-	param set VT_F_TRANS_THR 0.7
-	param set VT_TYPE 0
-
-	param set WV_EN 0
-
-fi
-
-set MAV_TYPE 20
-
-set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
-set MIXER custom
@@ -1,56 +0,0 @@
-#!/bin/sh
-#
-# @name VTOL Tiltrotor
-#
-# @type VTOL Tiltrotor
-#
-
-. ${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 0.38
-	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_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_B_TRANS_DUR 8
-	param set VT_FWD_THRUST_EN 4
-	param set VT_MOT_ID 1234
-	param set VT_TILT_TRANS 0.6
-	param set VT_TYPE 1
-
-fi
-
-set MAV_TYPE 21
-
-set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
-set MIXER custom
@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# @name Quadrotor SITL model for JSBSim
-#
-# @type Quadrotor Wide
-#
-# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_w
@@ -1,33 +0,0 @@
-#!/bin/sh
-#
-# @name Typhoon H480 SITL
-#
-# @type Hexarotor x
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set MC_PITCHRATE_P 0.1000
-	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_I 0.0400
-	param set MC_ROLLRATE_D 0.0010
-	param set MC_ROLL_P 9.0
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_P_ACC 3
-
-	param set RTL_DESCEND_ALT 10
-
-	param set TRIG_INTERFACE 3
-	param set TRIG_MODE 4
-	param set MNT_MODE_IN 0
-	param set MAV_PROTO_VER 2
-fi
-
-set MAV_TYPE 13
-
-set MIXER hexa_x
@@ -1,75 +0,0 @@
-#!/bin/sh
-#
-# @name Typhoon H480 SITL
-#
-# @type Hexarotor x
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-. ${R}etc/init.d/rc.ctrlalloc
-
-if [ $AUTOCNF = yes ]
-then
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_P_ACC 3
-
-	param set RTL_DESCEND_ALT 10
-	param set RTL_LAND_DELAY 0
-
-	param set TRIG_INTERFACE 3
-	param set TRIG_MODE 4
-	param set MNT_MODE_IN 0
-	param set MAV_PROTO_VER 2
-
-	param set MPC_USE_HTE 0
-
-	param set VM_MASS 2.66
-	param set VM_INERTIA_XX 0.06
-	param set VM_INERTIA_YY 0.06
-	param set VM_INERTIA_ZZ 0.10
-
-	param set CA_AIRFRAME 0
-	param set CA_METHOD 1
-	param set CA_ACT0_MIN 0.0
-	param set CA_ACT1_MIN 0.0
-	param set CA_ACT2_MIN 0.0
-	param set CA_ACT3_MIN 0.0
-	param set CA_ACT4_MIN 0.0
-	param set CA_ACT5_MIN 0.0
-	param set CA_ACT0_MAX 1.0
-	param set CA_ACT1_MAX 1.0
-	param set CA_ACT2_MAX 1.0
-	param set CA_ACT3_MAX 1.0
-	param set CA_ACT4_MAX 1.0
-	param set CA_ACT5_MAX 1.0
-
-	param set CA_MC_R0_PX 0.0
-	param set CA_MC_R0_PY 1.0
-	param set CA_MC_R0_CT 9.5
-	param set CA_MC_R0_KM -0.05
-	param set CA_MC_R1_PX 0.0
-	param set CA_MC_R1_PY -1.0
-	param set CA_MC_R1_CT 9.5
-	param set CA_MC_R1_KM 0.05
-	param set CA_MC_R2_PX 0.866025
-	param set CA_MC_R2_PY -0.5
-	param set CA_MC_R2_CT 9.5
-	param set CA_MC_R2_KM -0.05
-	param set CA_MC_R3_PX -0.866025
-	param set CA_MC_R3_PY 0.5
-	param set CA_MC_R3_CT 9.5
-	param set CA_MC_R3_KM 0.05
-	param set CA_MC_R4_PX 0.866025
-	param set CA_MC_R4_PY 0.5
-	param set CA_MC_R4_CT 9.5
-	param set CA_MC_R4_KM 0.05
-	param set CA_MC_R5_PX -0.866025
-	param set CA_MC_R5_PY -0.5
-	param set CA_MC_R5_CT 9.5
-	param set CA_MC_R5_KM -0.05
-fi
-
-set MAV_TYPE 13
-
-# set MIXER hexa_x
-set MIXER direct
@@ -1,10 +0,0 @@
-
-mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
-
-mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
-
-# shellcheck disable=SC2154
-mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
-# shellcheck disable=SC2154
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
-mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local
@@ -1,79 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-px4_add_romfs_files(
-	10016_iris
-	10017_iris_ctrlalloc
-	10020_if750a
-	10030_px4vision
-	1010_iris_opt_flow
-	1010_iris_opt_flow.post
-	1011_iris_irlock
-	1012_iris_rplidar
-	1013_iris_vision
-	1013_iris_vision.post
-	1014_solo
-	1015_iris_obs_avoid
-	1015_iris_obs_avoid.post
-	1016_iris_rtps
-	1016_iris_rtps.post
-	1017_iris_opt_flow_mockup
-	1018_iris_vision_velocity
-	1019_iris_dual_gps
-	1020_uuv_generic
-	1021_uuv_hippocampus
-	1022_uuv_bluerov2_heavy
-	1030_plane
-	1031_plane_cam
-	1032_plane_catapult
-	1033_plane_lidar
-	1033_rascal
-	1034_rascal-electric
-	1035_techpod
-	1036_malolo
-	1040_standard_vtol
-	1041_tailsitter
-	1042_tiltrotor
-	1060_rover
-	1061_r1_rover
-	1062_tf-r1
-	1070_boat
-	3010_quadrotor_x
-	3011_hexarotor_x
-	17001_tf-g1
-	2507_cloudship
-	6011_typhoon_h480
-	6011_typhoon_h480.post
-	6012_typhoon_ctrlalloc
-	6012_typhoon_ctrlalloc.post
-)
@@ -2,17 +2,6 @@

 # EKF2 replay script

-# shellcheck disable=SC2154
-if [ ! -f ${replay} ]; then
-	echo "Invalid replay log file ${replay}"
-	exit 1
-fi
-
-if [ ! -f replay_params.txt ]; then
-	echo "Creating $(pwd)/replay_params.txt"
-	ulog_params -i "${replay}" -d ' ' | grep -e '^EKF2' > replay_params.txt
-fi
-
 publisher_rules_file="orb_publisher.rules"
 cat <<EOF > "$publisher_rules_file"
 restrict_topics: sensor_combined, vehicle_gps_position, vehicle_land_detected
@@ -15,19 +15,19 @@ SCRIPT_DIR="$(CDPATH='' cd -- "$(dirname -- "$0")" && pwd)"
 # shellcheck disable=SC2154
 if [ "$replay_mode" = "ekf2" ]
 then
-	. ${R}etc/init.d-posix/rc.replay
+	sh etc/init.d-posix/rc.replay
 	exit 0
 fi

 # initialize script variables
 set AUX_MODE                    none
 set IO_PRESENT                  no
+set LOG_FILE                    bootlog.txt
 set MAV_TYPE                    none
 set MIXER                       none
 set MIXER_AUX                   none
 set MIXER_FILE                  none
 set OUTPUT_MODE                 sim
-set EXTRA_MIXER_MODE            none
 set PWM_OUT                     none
 set SDCARD_MIXERS_PATH          etc/mixers
 set USE_IO                      no
@@ -44,15 +44,17 @@ else
 	# Find the matching Autostart ID (file name has the form: [0-9]+_${PX4_SIM_MODEL})
 	# TODO: unify with rc.autostart generation
 	# shellcheck disable=SC2012
-	REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
+	REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR" | 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'"
 		exit 1
-	else
-		echo "INFO  [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
 	fi
 fi

+# clear bootlog
+[ -f $LOG_FILE ] && rm $LOG_FILE
+
+
 uorb start

 # Load parameters
@@ -63,12 +65,12 @@ 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
@@ -99,7 +101,7 @@ then
 	set AUTOCNF yes

 	# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
-	param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT_UUID
+	param reset_nostart RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT_UUID
 fi

 # multi-instance setup
@@ -119,14 +121,14 @@ then

 	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_GYRO0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
-	param set CAL_GYRO1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
-	param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
+	param set CAL_ACC0_ID 1311244
+	param set CAL_ACC_PRIME 1311244
+
+	param set CAL_GYRO0_ID 1311244
+	param set CAL_GYRO_PRIME 1311244
+
 	param set CAL_MAG0_ID 197388
-	param set CAL_MAG1_ID 197644
+	param set CAL_MAG_PRIME 197388

 	param set CBRK_AIRSPD_CHK 0
 	param set CBRK_SUPPLY_CHK 894281
@@ -134,14 +136,31 @@ then
 	# Don't require RC calibration and configuration
 	param set COM_RC_IN_MODE 1

+	param set EKF2_ANGERR_INIT 0.01
+	param set EKF2_GBIAS_INIT 0.01
+
+	# Prevent high accel bias
+	param set COM_ARM_EKF_AB 0.005
+
 	# 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
+	# LPE: GPS only mode
+	param set LPE_FUSION 145
+
+	param set MC_PITCH_P 6
+	param set MC_PITCHRATE_P 0.2
+	param set MC_ROLL_P 6
+	param set MC_ROLLRATE_P 0.2
+
+	param set MPC_Z_VEL_P_ACC 12.0
+	param set MPC_Z_VEL_I_ACC 3.0
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_P_ACC 4.0
+	param set MPC_XY_VEL_I_ACC 0.4
+	param set MPC_XY_VEL_D_ACC 0.32
+
+	param set RTL_RETURN_ALT 30

 	# By default log from boot until first disarm.
 	param set SDLOG_MODE 1
@@ -178,8 +197,7 @@ fi

 # Autostart ID
 autostart_file=''
-# shellcheck disable=SC2231
-for f in ${R}etc/init.d-posix/airframes/"$(param show -q SYS_AUTOSTART)"_*
+for f in etc/init.d-posix/"$(param show -q SYS_AUTOSTART)"_*
 do
 	filename=$(basename "$f")
 	case "$filename" in
@@ -192,11 +210,11 @@ 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

-. "$autostart_file"
+sh "$autostart_file"

 #
 # If autoconfig parameter was set, reset it and save parameters.
@@ -212,7 +230,6 @@ if ! replay tryapplyparams
 then
 	simulator start -c $simulator_tcp_port
 fi
-load_mon start
 battery_simulator start
 tone_alarm start
 rc_update start
@@ -221,7 +238,7 @@ commander start
 navigator start


-if param greater -s MNT_MODE_IN -1
+if ! param compare -s MNT_MODE_IN -1
 then
 	vmount start
 fi
@@ -236,34 +253,28 @@ fi
 # Note: rc.vehicle_setup is the entry point for rc.interface,
 #       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
 #
-. ${R}etc/init.d/rc.vehicle_setup
+sh etc/init.d/rc.vehicle_setup

-if [ -e etc/init.d-posix/rc.mavlink_override ]
-then
-	echo "Running non-default mavlink config rc.mavlink_override"
-	sh etc/init.d-posix/rc.mavlink_override
-else
-	# GCS link
-	mavlink start -x -u $udp_gcs_port_local -r 4000000
-	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
-	mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
-	mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
-	mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
-	mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
-	mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
-	mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
+# GCS link
+mavlink start -x -u $udp_gcs_port_local -r 4000000
+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
+mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
+mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
+mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
+mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
+mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
+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
+# API/Offboard link
+mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offboard_port_remote

-	# Onboard link to camera
-	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
+# Onboard link to camera
+mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote

-fi
 # execute autostart post script if any
-[ -e "$autostart_file".post ] && . "$autostart_file".post
+[ -e "$autostart_file".post ] && sh "$autostart_file".post

 # Run script to start logging
 if param compare SYS_MC_EST_GROUP 2
@@ -272,7 +283,7 @@ then
 else
 	set LOGGER_ARGS "-p vehicle_attitude"
 fi
-. ${R}etc/init.d/rc.logging
+sh etc/init.d/rc.logging

 mavlink boot_complete
 replay trystart
@@ -34,11 +34,6 @@
 add_subdirectory(airframes)

 px4_add_romfs_files(
-	rc.airship_apps
-	rc.airship_defaults
-	rc.balloon_apps
-	rc.balloon_defaults
-	rc.boat_defaults
 	rc.fw_apps
 	rc.fw_defaults
 	rc.interface
@@ -56,5 +51,4 @@ px4_add_romfs_files(
 	rc.vehicle_setup
 	rc.vtol_apps
 	rc.vtol_defaults
-	rc.ctrlalloc
 )
@@ -15,7 +15,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #

-. ${R}etc/init.d/rc.fw_defaults
+sh /etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -19,12 +19,11 @@
 #
 # @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
+sh /etc/init.d/rc.mc_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -17,12 +17,11 @@
 #
 # @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
+sh /etc/init.d/rc.mc_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -19,12 +19,11 @@
 #
 # @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
+sh /etc/init.d/rc.mc_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -19,12 +19,11 @@
 #
 # @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
+sh /etc/init.d/rc.mc_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -46,7 +45,7 @@ then

 	param set MPC_XY_VEL_MAX 2

-	param set PWM_MAIN_MIN 1080
+	param set PWM_MIN 1080
 fi

 set MIXER quad_w
@@ -8,7 +8,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #

-. ${R}etc/init.d/rc.mc_defaults
+sh /etc/init.d/rc.mc_defaults

 set MIXER quad_x
 set PWM_OUT 1234
@@ -7,12 +7,8 @@
 #
 # @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
+sh /etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -55,6 +51,7 @@ then
 	param set NAV_LOITER_RAD 80

 	param set RTL_DESCEND_ALT 10
+	param set RTL_LAND_DELAY 0
 	param set RTL_RETURN_ALT 30

 	param set SDLOG_DIRS_MAX 7
@@ -22,7 +22,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
+sh /etc/init.d/rc.mc_defaults

 set MIXER hexa_cox

@@ -8,7 +8,7 @@
 # @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
 #

-. ${R}etc/init.d/rc.mc_defaults
+sh /etc/init.d/rc.mc_defaults

 set MIXER quad_x
 set PWM_OUT 1234
@@ -20,7 +20,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
+sh /etc/init.d/rc.mc_defaults

 set MIXER octo_cox

@@ -16,12 +16,11 @@
 #
 # @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
+sh /etc/init.d/rc.mc_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -17,17 +17,13 @@
 # @output AUX4 Rudder
 # @output AUX5 Throttle
 #
-# @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
-# @board bitcraze_crazyflie exclude
-#

-. ${R}etc/init.d/rc.vtol_defaults
+sh /etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
 	param set PWM_AUX_DIS5 950
-	param set PWM_MAIN_RATE 400
+	param set PWM_RATE 400

 	param set VT_TYPE 2
 	param set VT_MOT_ID 1234
@@ -12,12 +12,8 @@
 #
 # @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
+sh /etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -51,4 +47,4 @@ set MAV_TYPE 19

 set MIXER vtol_tailsitter_duo

-set PWM_OUT 123456
+set PWM_OUT 1234
@@ -22,7 +22,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.vtol_defaults
+sh /etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -42,7 +42,7 @@ then
 	param set MC_YAWRATE_D 0
 	param set MC_YAWRATE_FF 0

-	param set PWM_MAIN_RATE 400
+	param set PWM_RATE 400

 	param set VT_FW_MOT_OFFID 34
 	param set VT_IDLE_PWM_MC 1080
@@ -7,17 +7,13 @@
 #
 # @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
+sh /etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
-	param set PWM_MAIN_MAX 2000
-	param set PWM_MAIN_RATE 400
+	param set PWM_MAX 2000
+	param set PWM_RATE 400

 	param set VT_MOT_ID 1234
 	param set VT_IDLE_PWM_MC  1080
@@ -29,4 +25,4 @@ set MAV_TYPE 20

 set MIXER quad_x_vtol

-set PWM_OUT 1234
+set PWM_OUT 1234
@@ -21,12 +21,12 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.vtol_defaults
+sh /etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
-	param set PWM_MAIN_MAX 2000
-	param set PWM_MAIN_RATE 400
+	param set PWM_MAX 2000
+	param set PWM_RATE 400

 	param set VT_IDLE_PWM_MC  1080
 	param set VT_TYPE 0
@@ -17,18 +17,17 @@
 # @output AUX4 Rudder
 # @output AUX5 Throttle
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.vtol_defaults
+sh /etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
 	param set PWM_AUX_DIS5 950

-	param set PWM_MAIN_RATE 400
+	param set PWM_RATE 400

 	param set MC_ROLL_P 6
 	param set MC_ROLLRATE_P 0.17
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Matthias Grob	21c82a4814	FlightTasks: hotfix guard against accessing no task Safety guard for null pointer exception when accessing the current task when none is running. This could only happen if the running task was changed during the update because of command handling failing. Note: This is fixed on master in a different, better way.	2021-01-26 20:34:31 +01:00
Daniel Agar	a6274bc5ed	rc/dsm: remove system field check, add new validity checks - unfortunately we can't depend on the system field due to potential external binding and non-genuine Spektrum equipment - reject any DSM frame with duplicate channels - add 16 channel mask - tighten valid PWM range 990-2010us (±100% travel is 1102-1898µs) - update RCTest rejected frame count	2021-01-01 22:58:47 +01:00
Nicolas Martin	4b0038bd43	positionControl: add check on sign before sqrtf	2020-11-19 10:01:56 -05:00
Beat Küng	5b2f41de12	ll40ls: fix rotation -> orientation	2020-11-19 11:15:30 +01:00
Matthias Grob	02c6f207ce	PX4 compile flags: disable Wlogical-op for GCC 10 There is a proper fix for this already on master but it's a rabbit hole to cherry-pick it: -> update matrix -> dependency on changing ecl -> dependency on a lot of autopilot changes	2020-11-18 11:47:06 -05:00
Daniel Agar	97ab8277ed	ROMFS: 50000_generic_ground_vehicle remove fmu-v2 exclude - this allows px4_fmu-v2_rover to function until we have a better mechanism for including or excluding ROMFS dependencies #15711	2020-11-12 12:57:27 -05:00
AlexanderAurora	8068ed89f6	landing_slope: added wrap_pi to getLandingSlope and getFlareCurve - fixes https://github.com/PX4/PX4-Autopilot/issues/16132	2020-11-12 12:57:27 -05:00
Alex Mikhalev	a0a4b10885	Fix non-determinstic boot hang with crashdumps On boot, if board_hardfault_init finds a hardfault stored in BBSRAM, it checks if there is any data available on stdin to see if there is somebody there to respond to a prompt. But on boards such as cubeorange where there is not a serial console by default, the ioctl fails and bytesWaiting is uninitialized. So it will non-deterministally hang the boot process with no outside feedback if that value is not zero. Signed-off-by: Alex Mikhalev <alexmikhalevalex@gmail.com>	2020-11-12 12:57:27 -05:00
Julian Kent	377dc909ed	Check that home position is valid in RTL (#15964 )	2020-11-12 12:57:27 -05:00
Daniel Agar	8a516e5488	commander: preflight check don't read mag device_id	2020-11-12 12:57:27 -05:00
CUAVcaijie	d8778ac8df	Add a USB ardupilot * type	2020-11-12 12:57:27 -05:00
Jacob Dahl	92a9278a6a	fixed dps310 calibration coeffecient for c11	2020-11-12 12:57:27 -05:00
Julian Oes	508c09d610	commander: fix switch to loiter Sometimes, the mission_result timestamp is the same as the internal_state timestamp which would meant that we would not switch to LOITER even though the takeoff is clearly done at that point.	2020-11-12 12:57:27 -05:00
Daniel Agar	efabca854f	ekf2: update ecl with bug fixes - ecl/EKF: Improve robustness of yaw reset to bad inertial data (https://github.com/PX4/PX4-ECL/pull/914) - ecl/EKF: Use strength in Gauss (bug fix) (https://github.com/PX4/PX4-ECL/pull/933)	2020-11-12 11:27:56 -05:00
Daniel Agar	bdcccb1723	sensors: force parameter update if mag device id still isn't set	2020-10-22 09:36:00 -04:00
Beat Küng	8592fe2358	tests: don't run battery_simulator The battery migration interferes with the tests.	2020-10-20 11:43:41 -04:00
Beat Küng	5faf8bd52c	battery: disable secondary module by default Avoid a GCS showing 2 battery indicators. Alternatively we could also check the 'connected' flag, but this is more explicit.	2020-10-20 11:43:41 -04:00
Beat Küng	977479c370	battery: fix isFloatEqual(), use matrix::isEqualF Fixes param migration, e.g. if BAT_N_CELLS is set, migrates to BAT1_N_CELLS.	2020-10-20 11:43:41 -04:00
Beat Küng	6da456e7f5	fix EscBattery: remove _battery.publish(); updateBatteryStatus() already publishes	2020-10-20 11:43:41 -04:00
Daniel Agar	9fcbf18d82	battery: fix duplicate uORB publish and minor cleanup - run battery_status module on adc_report publications rather than a fixed schedule	2020-10-05 14:49:54 -04:00
Daniel Agar	3188408d81	boards: mRo Control Zero F7 fix RC input and cleanup sensors init	2020-10-05 14:49:54 -04:00
Daniel Agar	d3148f2656	commander: PreFlightCheck param_find all parameters immediately - this ensures the relevant parameters are marked active immediately before parameter sync - fixes https://github.com/PX4/Firmware/issues/15872	2020-10-03 17:52:46 -04:00
Beat Küng	665effca3b	kakutef7: fix output ordering Regression from `d2254c2e44`, I overlooked that they were defined in reverse order.	2020-10-03 17:52:46 -04:00
Alex Mikhalev	db37c632b4	uavcan: Increase uavcan main stack size I observed stack overflows when executing `uavcan params list`, so the stack size probably needs to be increased. Signed-off-by: Alex Mikhalev <alexmikhalevalex@gmail.com>	2020-10-03 17:52:46 -04:00
Nicolas Martin	50d768c79d	mc_pos_control: fix acc Z sign	2020-09-29 09:33:43 -04:00
Daniel Agar	740c471021	boards: CUAV Nora/X7pro fix BOARD_DSHOT_MOTOR_ASSIGNMENT - BOARD_DSHOT_MOTOR_ASSIGNMENT isn't needed if there's no remapping	2020-09-24 12:04:28 -04:00
Daniel Agar	8398e80fa5	boards: cubepilot orange/yellow fix BOARD_DSHOT_MOTOR_ASSIGNMENT	2020-09-24 12:04:28 -04:00
Daniel Agar	4f8bcec1d7	boards: cubeorange and cubeyellow disable serial console (used for ADSB on new carrier boards) - add console builds (cubepilot_cubeorange_console) for hardware test rack and developers	2020-09-21 13:44:54 -04:00
Mirko Denecke	f01fbdf8b5	CubeOrange and CubeYellow IMU heating fix	2020-09-16 10:28:33 -04:00
Nicolas MARTIN	db529aa013	temperature compensation: change sensor id not found message	2020-09-16 10:28:33 -04:00
Nicolas MARTIN	cd3db45d27	thermal calibrtation: do not calibrate sensor without temperature sensor	2020-09-16 10:28:33 -04:00
David Sidrane	71db0903a9	NuttX Critical STM32H7 Interrupt Storm on I2C	2020-09-07 15:36:11 -04:00
Dusan Zivkovic	bfc59f6d88	FlightTaskAuto: update waypoints on every iteration when in offtrack state	2020-09-07 15:25:06 -04:00
Daniel Agar	2bc4a5a44b	commander: HITL skip auto disarm if lockdown - auto disarm when locked down was added in #14766 to prevent user confusion in regular usage, but also breaks HITL where lockdown is enabled for safety - fixes #15686	2020-09-06 19:30:02 -04:00
Jonathan Hahn	33cabba185	fw_pos_control_l1: fix swapped TECS time parameters (#15685 ) Co-authored-by: Jonathan Hahn <hahn@wingcopter.com>	2020-09-04 15:14:00 -04:00
Matthias Grob	4cd7d44b4a	battery: switch to PublicationMulti for battery_status	2020-09-01 22:08:28 -04:00
Matthias Grob	7da7ebad3d	analog_battery: fix missing stdio include This was not a problem before because battery.h included the adc driver and implicitly snprintf was defined through there.	2020-09-01 22:08:28 -04:00
Matthias Grob	a809e4cfc8	commander_params: remove some double spaces	2020-09-01 22:08:28 -04:00
Matthias Grob	4db9d7131e	syslink_main: remove empty lines and struct keyword	2020-09-01 22:08:28 -04:00
Matthias Grob	f92c5aa688	ina226/voxlpm: make sure parameter sub is reset The subscription to parameter updates has to get copied otherwise the change detection will not get reset for next time.	2020-09-01 22:08:28 -04:00
Matthias Grob	165c8b23bf	battery: fix parameter migration and clarify	2020-09-01 22:08:28 -04:00
Matthias Grob	226f5f875d	BatterySimulator: remove SimulatorBattery It loads the battery parameters but then overwrites them with hardcoded values and it breaks the ModuleParams parent/child hierarchy. Both is undesired.	2020-09-01 22:08:28 -04:00
Oleg	af9c6e6fce	batterry_status: fix checking default a_per_v	2020-08-28 16:28:54 -04:00
bresch	c3a410e19c	ll40ls: set default rotation to downwards facing All the other distance sensors have their default rotation to downwards facing as well	2020-08-28 16:28:54 -04:00
Daniel Agar	427b17d8a1	bosch/bmi055: fix accel temperature reading - single register output is in 2's complement	2020-08-28 16:28:29 -04:00
CUAVcaijie	1672fc646f	boards: add UAVCAN timer override mechanism and CUAV X7 add CAN (#15348 ) * X7Pro adds CAN driver * UAVCAN timer selection moved to default.cmake * Modify some details about @CUAVcaijie UAVCAN timer selection moved to default.cmake * Put some timer parameters to micro_hal.h from board_config.h. Fix all h7 boards Co-authored-by: honglang <honglang@cuav.net>	2020-08-28 16:28:29 -04:00
modaltb	c915f0dca9	modalai_fc-v1 - power_monitor/voxlpm: add support for voxlpm v3 (INA231 sensors)	2020-08-28 16:28:01 -04:00