drivers/rc_input: cleanup and simplify data processing per type

- don't store data in class

.ci/Jenkinsfile-compile

@@ -60,6 +60,8 @@ pipeline {
                      "holybro_kakutef7_default",
                      "holybro_pix32v5_default",
                      "matek_h743-slim",
+                     "matek_gnss-m9n-f4_canbootloader",
+                     "matek_gnss-m9n-f4_default",
                      "modalai_fc-v1_default",
                      "modalai_fc-v1_rtps",
                      "modalai_fc-v2_default",

.ci/Jenkinsfile-hardware

@@ -73,10 +73,8 @@ pipeline {
                 }
               }
               post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                 always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
                 }
               }
@@ -145,10 +143,8 @@ pipeline {
                 }
               }
               post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                 always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
                 }
               }
@@ -217,10 +213,8 @@ pipeline {
                 }
               }
               post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                 always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
                 }
               }
@@ -288,10 +282,8 @@ pipeline {
                 }
               }
               post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                 always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
                 }
               }
@@ -360,10 +352,8 @@ pipeline {
                 }
               }
               post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                 always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
                 }
               }
@@ -452,10 +442,8 @@ pipeline {
                 }
               }
               post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                 always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
                 }
               }
@@ -536,10 +524,8 @@ pipeline {
                 }
               }
               post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                 always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
                 }
               }
@@ -608,10 +594,8 @@ pipeline {
                 }
               }
               post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                 always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
                 }
               }
@@ -680,10 +664,8 @@ pipeline {
                 }
               }
               post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                 always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
                 }
               }
@@ -743,8 +725,10 @@ void checkStatus() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
   sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
 
   // run logger
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
@@ -778,6 +762,7 @@ void checkStatus() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
@@ -789,8 +774,8 @@ void checkStatus() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uavcan status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
   // stop logger
@@ -812,6 +797,8 @@ void runTests() {
 
   sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_CAL_EN" --value "0" || true' // disable during testing
   sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_FFT_EN" --value "0" || true' // disable during testing
+  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_IMU_AUTOCAL" --value "0" || true' // disable during testing
+  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_MAG_AUTOCAL" --value "0" || true' // disable during testing
 
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
   sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
@@ -857,7 +844,7 @@ void runTests() {
 void printTopics() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
 
   // these are for casually inspecting the system, output failure doesn't matter
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_armed" || true'

.clusterfuzzlite/Dockerfile

@@ -0,0 +1,7 @@
+FROM gcr.io/oss-fuzz-base/base-builder:v1
+COPY . $SRC/PX4-Autopilot
+RUN apt-get install -y libjpeg8-dev zlib1g-dev
+RUN pip3 install --upgrade pip
+RUN python3 -m pip install -r $SRC/PX4-Autopilot/Tools/setup/requirements.txt
+WORKDIR $SRC/PX4-Autopilot
+COPY ./.clusterfuzzlite/build.sh $SRC/

.clusterfuzzlite/build.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash -eu
+
+PX4_FUZZ=1 make px4_sitl
+cp build/px4_sitl_default/bin/px4 $OUT/px4

.clusterfuzzlite/project.yaml

@@ -0,0 +1 @@
+language: c++

.github/workflows/cflite_batch.yml

@@ -0,0 +1,34 @@
+name: ClusterFuzzLite batch fuzzing
+on:
+  schedule:
+    - cron: '0 6 * * *'  # UTC 6am every day.
+permissions: read-all
+jobs:
+  BatchFuzzing:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        sanitizer:
+        - address
+        - undefined
+        - memory
+    steps:
+    - name: Build Fuzzers (${{ matrix.sanitizer }})
+      id: build
+      uses: google/clusterfuzzlite/actions/build_fuzzers@v1
+      with:
+        sanitizer: ${{ matrix.sanitizer }}
+    - name: Run Fuzzers (${{ matrix.sanitizer }})
+      id: run
+      uses: google/clusterfuzzlite/actions/run_fuzzers@v1
+      with:
+        github-token: ${{ secrets.GITHUB_TOKEN }}
+        fuzz-seconds: 1800 # 30 mins
+        mode: 'batch'
+        sanitizer: ${{ matrix.sanitizer }}
+        # Optional but recommended: For storing certain artifacts from fuzzing.
+        # See later section on "Git repo for storage".
+        # storage-repo: https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/OWNER/STORAGE-REPO-NAME.git
+        # storage-repo-branch: main   # Optional. Defaults to "main"
+        # storage-repo-branch-coverage: gh-pages  # Optional. Defaults to "gh-pages".

.github/workflows/compile_nuttx.yml

@@ -33,8 +33,10 @@ jobs:
           holybro_can-gps-v1,
           holybro_durandal-v1,
           holybro_kakutef7,
+          holybro_kakuteh7,
           holybro_pix32v5,
           matek_h743-slim,
+          matek_gnss-m9n-f4,
           modalai_fc-v1,
           modalai_fc-v2,
           mro_ctrl-zero-f7,

.vscode/cmake-variants.yaml

@@ -196,6 +196,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: matek_h743-slim_default
+    matek_gnss-m9n-f4_canbootloader:
+      short: matek_gnss-m9n-f4_canbootloader
+      buildType: MiniSizeRel
+      settings:
+        CONFIG: matek_m9nf4can_canbootloader
+    matek_gnss-m9n-f4_default:
+      short: matek_gnss-m9n-f4_default
+      buildType: MiniSizeRel
+      settings:
+        CONFIG: matek_gnss-m9n-f4_default
     modalai_fc-v1_default:
       short: modalai_fc-v1
       buildType: MinSizeRel

CMakeLists.txt

@@ -125,6 +125,11 @@ define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                  FULL_DOCS "List of all PX4 module libraries"
                  )
 
+define_property(GLOBAL PROPERTY PX4_KERNEL_MODULE_LIBRARIES
+                 BRIEF_DOCS "PX4 kernel side module libs"
+                 FULL_DOCS "List of all PX4 kernel module libraries"
+                 )
+
 define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
                  BRIEF_DOCS "PX4 module paths"
                  FULL_DOCS "List of paths to all PX4 modules"
@@ -142,6 +147,7 @@ set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
 
 include(px4_add_module)
 set(config_module_list)
+set(config_kernel_list)
 
 # Find Python
 # If using catkin, Python 2 is found since it points

Kconfig

@@ -118,6 +118,11 @@ config BOARD_CRYPTO
     help
         Enable PX4 Crypto Support. Select the implementation under drivers
 
+config BOARD_PROTECTED
+    bool "Memory protection"
+    help
+        Enable memory protection via MPU/MMU
+
 menu "Serial ports"
 
     config BOARD_SERIAL_URT6

LICENSE

@@ -1,6 +1,6 @@
 BSD 3-Clause License
 
-Copyright (c) 2012 - 2021, PX4 Development Team
+Copyright (c) 2012 - 2022, PX4 Development Team
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

Makefile

@@ -158,6 +158,11 @@ else
 		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
 	endif
 
+	# Fuzz Testing
+	ifdef PX4_FUZZ
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
+	endif
+
 endif
 
 # Pick up specific Python path if set

ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer

@@ -44,6 +44,8 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
 
+param set-default FW_USE_NPFG 1
+
 param set-default RWTO_TKOFF 1
 
 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix

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

@@ -10,7 +10,7 @@ fi
 
 if [ ! -f replay_params.txt ]; then
 	echo "Creating $(pwd)/replay_params.txt"
-	ulog_params -i "${replay}" -d ' ' | grep -e '^EKF2' > replay_params.txt
+	ulog_params -i "${replay}" -l ' ' | grep -e '^EKF2' > replay_params.txt
 fi
 
 publisher_rules_file="orb_publisher.rules"
@@ -21,6 +21,7 @@ ignore_others: false
 EOF
 
 param set SDLOG_DIRS_MAX 7
+param set SDLOG_PROFILE 3
 
 # apply all params before ekf starts, as some params cannot be changed after startup
 replay tryapplyparams

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -234,7 +234,7 @@ fi
 
 if param greater -s MNT_MODE_IN -1
 then
-	vmount start
+	gimbal start
 fi
 
 if param greater -s TRIG_MODE 0

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

@@ -35,6 +35,6 @@ param set-default MC_YAWRATE_P 0.25
 param set-default MC_YAWRATE_I 0.25
 
 param set-default BAT1_V_DIV 12.27559
-param set-default BAT1_A_PER_V 15.39103
+param set-default BAT1_A_PER_V 15.391030303103
 
 set MIXER quad_w

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

@@ -15,6 +15,8 @@
 set MIXER quad_x
 set PWM_OUT 1234
 
+param set UAVCAN_ENABLE 0
+
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2
 

ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil

@@ -15,6 +15,8 @@
 set MIXER AERT
 set PWM_OUT 1234
 
+param set UAVCAN_ENABLE 0
+
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set-default SYS_HITL 2
 

ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil

@@ -0,0 +1,61 @@
+#!/bin/sh
+#
+# @name SIH Tailsitter Duo
+#
+# @type Simulation
+# @class VTOL
+#
+# @output MAIN1 motor right
+# @output MAIN2 motor left
+# @output MAIN5 elevon right
+# @output MAIN6 elevon left
+#
+# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set UAVCAN_ENABLE 0
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_MOT_COUNT 2
+param set-default VT_TYPE 0
+param set-default VT_FW_DIFTHR_EN 1
+param set-default VT_FW_DIFTHR_SC 0.3
+param set-default MPC_MAN_Y_MAX 60
+param set-default MC_PITCH_P 5
+
+param set-default MAV_TYPE 19
+set MAV_TYPE 19
+set MIXER vtol_tailsitter_duo_sat
+
+set PWM_OUT 1234
+
+# set SYS_HITL to 2 to start the SIH and avoid sensors startup
+param set-default SYS_HITL 2
+
+# disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default COM_PREARM_MODE 0
+param set-default CBRK_IO_SAFETY 22027
+
+param set-default BAT_N_CELLS 3
+
+param set SIH_T_MAX 2.0
+param set SIH_Q_MAX 0.0165
+param set SIH_MASS 0.2
+# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
+param set SIH_IXX 0.00354
+param set SIH_IYY 0.000625
+param set SIH_IZZ 0.00300
+param set SIH_IXZ 0.0
+param set SIH_KDV 0.2
+param set SIH_L_ROLL 0.145
+
+# sih as tailsitter
+param set SIH_VEHICLE_TYPE 2

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

@@ -24,6 +24,27 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-default CA_AIRFRAME 2
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.15
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_KM -0.05
+param set-default CA_SV_CS_COUNT 4
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
 
 param set-default PWM_AUX_DIS5 950
 

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

@@ -13,6 +13,25 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-default CA_AIRFRAME 4
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.15
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_KM -0.05
+param set-default CA_SV_CS_COUNT 2
+param set-default CA_SV_CS0_TRQ_P 0.5
+param set-default CA_SV_CS0_TRQ_Y 0.5
+param set-default CA_SV_CS0_TYPE 5
+param set-default CA_SV_CS1_TRQ_P 0.5
+param set-default CA_SV_CS1_TRQ_Y -0.5
+param set-default CA_SV_CS1_TYPE 6
 
 param set-default PWM_MAIN_MAX 2000
 

ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor

@@ -31,6 +31,32 @@ param set-default VT_IDLE_PWM_MC 1100
 param set-default VT_TYPE 1
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 24
+
+param set-default CA_AIRFRAME 3
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.15
+param set-default CA_ROTOR0_TILT 1
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+param set-default CA_ROTOR1_TILT 2
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR2_TILT 3
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_KM -0.05
+param set-default CA_ROTOR3_TILT 4
+param set-default CA_SV_CS_COUNT 4
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_TL_COUNT 4
+
 set MAV_TYPE 21
 
 set MIXER quad_x

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

@@ -23,6 +23,20 @@ param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0
 
+param set-default CA_AIRFRAME 4
+param set-default CA_ROTOR_COUNT 2
+param set-default CA_ROTOR0_KM -0.05
+param set-default CA_ROTOR0_PY 0.2
+param set-default CA_ROTOR1_KM -0.05
+param set-default CA_ROTOR1_PY -0.2
+param set-default CA_SV_CS_COUNT 2
+param set-default CA_SV_CS0_TRQ_P 0.5
+param set-default CA_SV_CS0_TRQ_Y 0.5
+param set-default CA_SV_CS0_TYPE 5
+param set-default CA_SV_CS1_TRQ_P 0.5
+param set-default CA_SV_CS1_TRQ_Y -0.5
+param set-default CA_SV_CS1_TYPE 6
+
 param set-default MAV_TYPE 19
 set MAV_TYPE 19
 set MIXER vtol_tailsitter_duo

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

@@ -23,6 +23,18 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
+param set-default CA_AIRFRAME 1
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+param set-default CA_SV_CS_COUNT 4
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+
 param set-default PWM_AUX_RATE 50
 param set-default PWM_MAIN_RATE 50
 

ROMFS/px4fmu_common/init.d/airframes/4001_quad_x

@@ -21,3 +21,16 @@
 #
 
 . ${R}etc/init.d/rc.mc_defaults
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.15
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_KM -0.05
+

ROMFS/px4fmu_common/init.d/airframes/4018_s500_ctrlalloc

@@ -1,39 +0,0 @@
-#!/bin/sh
-#
-# @name S500 with control allocation
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @maintainer Silvan Fuhrer
-#
-# @board px4_fmu-v2 exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER skip
-set MIXER_AUX none
-
-param set-default SYS_CTRL_ALLOC 1
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.177
-param set-default CA_ROTOR0_PY 0.177
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.177
-param set-default CA_ROTOR1_PY -0.177
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.177
-param set-default CA_ROTOR2_PY -0.177
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.177
-param set-default CA_ROTOR3_PY 0.177
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104

ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2

@@ -0,0 +1,23 @@
+#!/bin/sh
+#
+# @name Holybro X500 V2
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Farhang Naderi <farhang.nba@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default IMU_GYRO_CUTOFF 30
+
+param set-default MC_ROLLRATE_P 0.14
+param set-default MC_PITCHRATE_P 0.14
+param set-default MC_ROLLRATE_I 0.3
+param set-default MC_PITCHRATE_I 0.3
+param set-default MC_ROLLRATE_D 0.004
+param set-default MC_PITCHRATE_D 0.004

ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu

@@ -16,8 +16,10 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER none
-set MIXER_AUX none
+# We set the mixer and ESC manually.
+set MIXER skip
+set MIXER_AUX skip
+set MIXER_FILE ""
 
 # Battery settings
 param set-default BAT_CRIT_THR 0.20
@@ -33,12 +35,13 @@ param set-default CBRK_SUPPLY_CHK 894281
 
 param set-default COM_DISARM_LAND 0.1
 param set-default COM_DISARM_PRFLT 3
-param set-default COM_FLTMODE1 -1
+param set-default COM_DL_LOSS_T 10
+param set-default COM_FLTMODE1  2
 param set-default COM_FLTMODE2 -1
 param set-default COM_FLTMODE3 -1
-param set-default COM_FLTMODE4  2
+param set-default COM_FLTMODE4 -1
 param set-default COM_FLTMODE5 -1
-param set-default COM_FLTMODE6  6
+param set-default COM_FLTMODE6  1
 param set-default COM_RC_LOSS_T 3
 
 
@@ -68,6 +71,9 @@ param set-default EKF2_OF_GATE 2.0
 param set-default EKF2_OF_POS_X -0.035
 param set-default EKF2_OF_POS_Y 0.0
 param set-default EKF2_OF_POS_Z 0.033
+param set-default EKF2_OF_MIN_RNG 0.01
+param set-default EKF2_OF_A_HMAX 7.0
+param set-default EKF2_OF_QMIN 30
 
 param set-default EKF2_PCOEF_XN -0.3
 param set-default EKF2_PCOEF_XP -0.4
@@ -141,58 +147,31 @@ param set-default MPC_Z_VEL_P 0.27
 
 
 # gimbal configuration
-param set-default MNT_MODE_IN 1
-param set-default MNT_MODE_OUT 2
-param set-default MNT_MAN_PITCH 1
-
+param set-default MNT_MODE_IN 0
+param set-default MNT_MODE_OUT 1
+param set-default MNT_MAN_PITCH 2
+param set-default MNT_RC_IN_MODE 1
+param set-default MNT_RATE_PITCH 30
 
 # RC
 param set-default RC_CHAN_CNT       12
 
 param set-default RC_MAP_THROTTLE   1
-param set-default RC_MAP_ROLL       2
+param set-default RC_MAP_YAW        2
 param set-default RC_MAP_PITCH      3
-param set-default RC_MAP_YAW        4
-param set-default RC_MAP_FLTMODE    5
-param set-default RC_MAP_AUX1       7
-
-param set-default RC1_DZ            10
-param set-default RC1_MAX           3413
-param set-default RC1_MIN           683
-param set-default RC1_REV           1
-param set-default RC1_TRIM          683
-param set-default RC2_DZ            10
-param set-default RC2_MAX           3413
-param set-default RC2_MIN           683
-param set-default RC2_REV           -1
-param set-default RC2_TRIM          2048
-param set-default RC3_DZ            10
-param set-default RC3_MAX           3413
-param set-default RC3_MIN           683
-param set-default RC3_REV           1
-param set-default RC3_TRIM          2048
-param set-default RC4_DZ            10
-param set-default RC4_MAX           3413
-param set-default RC4_MIN           683
-param set-default RC4_REV           -1
-param set-default RC4_TRIM          2048
-param set-default RC5_DZ            10
-param set-default RC5_MAX           3414
-param set-default RC5_MIN           2048
-param set-default RC5_REV           1
-param set-default RC5_TRIM          2048
-param set-default RC7_DZ            10
-param set-default RC7_MAX           3413
-param set-default RC7_MIN           683
-param set-default RC7_REV           1
-param set-default RC7_TRIM          2048
+param set-default RC_MAP_ROLL       4
+param set-default RC_MAP_AUX2       5
+param set-default RC_MAP_AUX3       10
+param set-default RC_MAP_AUX4       8
+param set-default RC_MAP_FLTMODE    6
+param set-default RC1_TRIM          1000
 
 
 # optical flow
 param set-default SENS_FLOW_MAXR   7.4
 param set-default SENS_FLOW_MINHGT 0.15
 param set-default SENS_FLOW_MAXHGT 5.0
-param set-default SENS_FLOW_ROT    4
+param set-default SENS_FLOW_ROT    0
 
-
-mixer load /dev/tap_esc /etc/mixers/quad_x.main.mix
+# ignore the SD card errors and use normal startup sound
+set STARTUP_TUNE "1"

ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x

@@ -23,6 +23,23 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+param set-default CA_ROTOR_COUNT 6
+param set-default CA_ROTOR0_PX 0.0
+param set-default CA_ROTOR0_PY 0.5
+param set-default CA_ROTOR0_KM -0.05
+param set-default CA_ROTOR1_PX 0.0
+param set-default CA_ROTOR1_PY -0.5
+param set-default CA_ROTOR2_PX 0.43
+param set-default CA_ROTOR2_PY -0.25
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.43
+param set-default CA_ROTOR3_PY 0.25
+param set-default CA_ROTOR4_PX 0.43
+param set-default CA_ROTOR4_PY 0.25
+param set-default CA_ROTOR5_PX -0.43
+param set-default CA_ROTOR5_PY -0.25
+param set-default CA_ROTOR5_KM -0.05
+
 set MIXER hexa_x
 
 # Need to set all 8 channels

ROMFS/px4fmu_common/init.d/airframes/6003_hexa_x_ctrlalloc

@@ -1,52 +0,0 @@
-#!/bin/sh
-#
-# @name Hex X with control allocation
-#
-# @type Hexarotor x
-# @class Copter
-#
-# @maintainer Silvan Fuhrer
-#
-# @board px4_fmu-v2 exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default SYS_CTRL_ALLOC 1
-
-param set-default CA_AIRFRAME 0
-param set-default CA_ROTOR_COUNT 6
-
-param set-default CA_ROTOR0_PX 0.0
-param set-default CA_ROTOR0_PY 0.275
-param set-default CA_ROTOR0_KM -0.05
-
-param set-default CA_ROTOR1_PX 0.0
-param set-default CA_ROTOR1_PY -0.275
-param set-default CA_ROTOR1_KM 0.05
-
-param set-default CA_ROTOR2_PX 0.238
-param set-default CA_ROTOR2_PY -0.1375
-param set-default CA_ROTOR2_KM -0.05
-
-param set-default CA_ROTOR3_PX -0.238
-param set-default CA_ROTOR3_PY 0.1375
-param set-default CA_ROTOR3_KM 0.05
-
-param set-default CA_ROTOR4_PX 0.238
-param set-default CA_ROTOR4_PY 0.1375
-param set-default CA_ROTOR4_KM 0.05
-
-param set-default CA_ROTOR5_PX -0.238
-param set-default CA_ROTOR5_PY -0.1375
-param set-default CA_ROTOR5_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 105
-param set-default PWM_MAIN_FUNC6 106
-
-set MIXER skip
-set MIXER_AUX none

ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+

@@ -23,6 +23,23 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+param set-default CA_ROTOR_COUNT 6
+param set-default CA_ROTOR0_PX 0.5
+param set-default CA_ROTOR0_PY 0.0
+param set-default CA_ROTOR0_KM -0.05
+param set-default CA_ROTOR1_PX -0.5
+param set-default CA_ROTOR1_PY 0.0
+param set-default CA_ROTOR2_PX -0.25
+param set-default CA_ROTOR2_PY -0.43
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX 0.25
+param set-default CA_ROTOR3_PY 0.43
+param set-default CA_ROTOR4_PX 0.25
+param set-default CA_ROTOR4_PY -0.43
+param set-default CA_ROTOR5_PX -0.25
+param set-default CA_ROTOR5_PY 0.43
+param set-default CA_ROTOR5_KM -0.05
+
 set MIXER hexa_+
 
 # Need to set all 8 channels

ROMFS/px4fmu_common/init.d/airframes/8001_octo_x

@@ -25,6 +25,28 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+param set-default CA_ROTOR_COUNT 8
+param set-default CA_ROTOR0_KM -0.05
+param set-default CA_ROTOR0_PX 0.46
+param set-default CA_ROTOR0_PY 0.19
+param set-default CA_ROTOR1_KM -0.05
+param set-default CA_ROTOR1_PX -0.46
+param set-default CA_ROTOR1_PY -0.19
+param set-default CA_ROTOR2_PX 0.19
+param set-default CA_ROTOR2_PY 0.46
+param set-default CA_ROTOR3_PX -0.46
+param set-default CA_ROTOR3_PY 0.19
+param set-default CA_ROTOR4_PX 0.46
+param set-default CA_ROTOR4_PY -0.19
+param set-default CA_ROTOR5_PX -0.19
+param set-default CA_ROTOR5_PY -0.46
+param set-default CA_ROTOR6_KM -0.05
+param set-default CA_ROTOR6_PX 0.19
+param set-default CA_ROTOR6_PY -0.46
+param set-default CA_ROTOR7_KM -0.05
+param set-default CA_ROTOR7_PX -0.19
+param set-default CA_ROTOR7_PY 0.46
+
 set MIXER octo_x
 
 set PWM_OUT 12345678

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

@@ -40,6 +40,7 @@ px4_add_romfs_files(
 	1002_standard_vtol.hil
 	1100_rc_quad_x_sih.hil
 	1101_rc_plane_sih.hil
+	1102_tailsitter_duo_sih.hil
 
 	# [2000, 2999] Standard planes"
 	2100_standard_plane
@@ -71,7 +72,7 @@ px4_add_romfs_files(
 	4015_holybro_s500
 	4016_holybro_px4vision
 	4017_nxp_hovergames
-	4018_s500_ctrlalloc
+	4019_x500_v2
 	4030_3dr_solo
 	4031_3dr_quad
 	4040_reaper
@@ -98,7 +99,6 @@ px4_add_romfs_files(
 	# [6000, 6999] Hexarotor x"
 	6001_hexa_x
 	6002_draco_r
-	6003_hexa_x_ctrlalloc
 
 	# [7000, 7999] Hexarotor +"
 	7001_hexa_+

ROMFS/px4fmu_common/init.d/rc.interface

@@ -45,7 +45,7 @@ fi
 #
 # Set the default output mode if none was set.
 #
-if [ $OUTPUT_MODE = none ]
+if [ $OUTPUT_MODE = none -a $OUTPUT_MODE != skip ]
 then
 	if [ $USE_IO = yes ]
 	then
@@ -72,7 +72,7 @@ fi
 #
 # If OUTPUT_MODE = none then something is wrong with setup and we shouldn't try to enable output.
 #
-if [ $OUTPUT_MODE != none ]
+if [ $OUTPUT_MODE != none -a $OUTPUT_MODE != skip ]
 then
 
 	if [ $OUTPUT_MODE = hil -o $OUTPUT_MODE = sim ]

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -7,7 +7,10 @@
 
 set VEHICLE_TYPE mc
 
-param set-default IMU_GYRO_RATEMAX 800
+if param compare IMU_GYRO_RATEMAX 400
+then
+	param set-default IMU_GYRO_RATEMAX 800
+fi
 
 param set-default NAV_ACC_RAD 2
 

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -130,6 +130,13 @@ then
 	fi
 fi
 
+# SHT3x temperature and hygrometer sensor, external I2C
+if param compare -s SENS_EN_SHT3X 1
+then
+	sht3x start -X
+	sht3x start -X -a 0x45
+fi
+
 # TE MS4525 differential pressure sensor external I2C
 if param compare -s SENS_EN_MS4525 1
 then

ROMFS/px4fmu_common/init.d/rcS

@@ -291,15 +291,9 @@ else
 		# Start core UAVCAN module.
 		if uavcan start
 		then
-			if param greater UAVCAN_ENABLE 1
+			if param greater UAVCAN_ENABLE 2
 			then
-				# Start UAVCAN firmware update server and dynamic node ID allocation server.
-				uavcan start fw
-
-				if param greater UAVCAN_ENABLE 2
-				then
-					set OUTPUT_MODE uavcan_esc
-				fi
+				set OUTPUT_MODE uavcan_esc
 			fi
 		else
 			tune_control play error
@@ -415,17 +409,6 @@ else
 		commander start
 	fi
 
-
-	#
-	# Play the startup tune (if not disabled or there is an error)
-	#
-	param compare CBRK_BUZZER 782090
-	if [ $? != 0 -o $STARTUP_TUNE != 1 ]
-	then
-		tune_control play -t $STARTUP_TUNE
-	fi
-
-
 	# Pre-takeoff continuous magnetometer calibration
 	if param compare -s MBE_ENABLE 1
 	then
@@ -444,7 +427,7 @@ else
 	set BOARD_RC_MAVLINK ${R}etc/init.d/rc.board_mavlink
 	if [ -f $BOARD_RC_MAVLINK ]
 	then
-		echo "Board extras: ${BOARD_RC_MAVLINK}"
+		echo "Board mavlink: ${BOARD_RC_MAVLINK}"
 		. $BOARD_RC_MAVLINK
 	fi
 	unset BOARD_RC_MAVLINK
@@ -483,6 +466,15 @@ else
 	#
 	. ${R}etc/init.d/rc.vehicle_setup
 
+	#
+	# Play the startup tune (if not disabled or there is an error)
+	#
+	param compare CBRK_BUZZER 782090
+	if [ "$?" != "0" -o "$STARTUP_TUNE" != "1" ]
+	then
+		tune_control play -t $STARTUP_TUNE
+	fi
+
 	#
 	# Start the navigator.
 	#
@@ -494,11 +486,11 @@ else
 	. ${R}etc/init.d/rc.thermal_cal
 
 	#
-	# Start vmount to control mounts such as gimbals, disabled by default.
+	# Start gimbal to control mounts such as gimbals, disabled by default.
 	#
 	if param greater -s MNT_MODE_IN -1
 	then
-		vmount start
+		gimbal start
 	fi
 
 	# Check for flow sensor

ROMFS/px4fmu_common/mixers/CMakeLists.txt

@@ -90,4 +90,5 @@ px4_add_romfs_files(
 	vtol_convergence.main.mix
 	vtol_delta.aux.mix
 	vtol_tailsitter_duo.main.mix
+	vtol_tailsitter_duo_sat.main.mix
 )

ROMFS/px4fmu_common/mixers/vtol_tailsitter_duo_sat.main.mix

@@ -0,0 +1,39 @@
+Tailsitter duo mixer
+============================
+
+This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
+has two motors in total, one attached to each wing. It also has two elevons which
+are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
+on the main PWM ouput port, two at 400Hz for the motors, and two at 50Hz for the
+elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
+at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used.
+
+Motor mixer
+------------
+Channel 1 connects to the right (starboard) motor.
+Channel 2 connects to the left (port) motor.
+
+R: 2-
+
+Zero mixer (2x)
+---------------
+Channels 3,4 are unused.
+
+Z:
+
+Z:
+
+Elevons mixer
+--------------
+Channel 5 connects to the right (starboard) elevon.
+Channel 6 connects to the left (port) elevon.
+Here we saturate the elevons before their full range
+to avoid roll-pitch-yaw coupling during faster maneuvers
+
+M: 2
+S: 1 0   10000   10000    0 -6000  6000
+S: 1 1   10000   10000    0 -6000  6000
+
+M: 2
+S: 1 0   10000   10000    0 -6000  6000
+S: 1 1  -10000  -10000    0 -6000  6000

Tools/HIL/test_airframes.sh

@@ -21,13 +21,25 @@ echo "airframes: ${ALL_AIRFRAMES}"
 for airframe in $ALL_AIRFRAMES
 do
 	echo
-	echo "##########################################################################################"
+	echo
+	echo
+	echo "########################################################################################################################"
 	echo " Airframe: $airframe"
-	echo "##########################################################################################"
+	echo "########################################################################################################################"
 	echo
 
 	${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name SYS_AUTOSTART  --value $airframe
 	${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name CBRK_BUZZER    --value 782097
+
+	# enable all mavlink instances
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_0_CONFIG 101' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_1_CONFIG 102' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_2_CONFIG 103' || true
+
+	# enable all GPS
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set GPS_1_CONFIG 201' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set GPS_1_CONFIG 202' || true
+
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param reset SYS_HITL'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param save'
@@ -35,13 +47,16 @@ do
 
 	${DIR}/reboot.py --device ${SERIAL_DEVICE}
 
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/mtd_params' || true
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/parameters_backup.bson' || true
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/param_import_fail.bson' || true
 
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'ps'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'work_queue status'
 
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'pwm info'
 
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'mavlink stop-all'
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'gps stop'
+
 done

Tools/gazebo_sitl_multiple_run.sh

@@ -39,7 +39,7 @@ function spawn_model() {
 
 	echo "Spawning ${MODEL}_${N} at ${X} ${Y}"
 
-	gz model --spawn-file=/tmp/${MODEL}_${N}.sdf --model-name=${MODEL}_${N} -x ${X} -y ${Y} -z 0.0
+	gz model --spawn-file=/tmp/${MODEL}_${N}.sdf --model-name=${MODEL}_${N} -x ${X} -y ${Y} -z 0.83
 
 	popd &>/dev/null
 

Tools/jmavsim_run.sh

@@ -10,7 +10,7 @@ extra_args=
 baudrate=921600
 device=
 ip="127.0.0.1"
-while getopts ":b:d:p:qsr:f:i:loa" opt; do
+while getopts ":b:d:p:qsr:f:i:loat" opt; do
 	case $opt in
 		b)
 			baudrate=$OPTARG
@@ -40,7 +40,10 @@ while getopts ":b:d:p:qsr:f:i:loa" opt; do
 			extra_args="$extra_args -disponly"
 			;;
 		a)
-			extra_args="$extra_args -fw" # aircraft
+			extra_args="$extra_args -fw" # aircraft model
+			;;
+		t)
+			extra_args="$extra_args -ts" # tailsitter model
 			;;
 		\?)
 			echo "Invalid option: -$OPTARG" >&2

Tools/kconfig/cmake_kconfig_lut.txt

@@ -150,13 +150,12 @@ simulator,CONFIG_MODULES_SIMULATOR=y
 temperature_compensation,CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 uuv_att_control,CONFIG_MODULES_UUV_ATT_CONTROL=y
 uuv_pos_control,CONFIG_MODULES_UUV_POS_CONTROL=y
-vmount,CONFIG_MODULES_VMOUNT=y
+gimbal,CONFIG_MODULES_GIMBAL=y
 vtol_att_control,CONFIG_MODULES_VTOL_ATT_CONTROL=y
 bl_update,CONFIG_SYSTEMCMDS_BL_UPDATE=y
 dmesg,CONFIG_SYSTEMCMDS_DMESG=y
 dumpfile,CONFIG_SYSTEMCMDS_DUMPFILE=y
 dyn,CONFIG_SYSTEMCMDS_DYN=y
-esc_calib,CONFIG_SYSTEMCMDS_ESC_CALIB=y
 failure,CONFIG_SYSTEMCMDS_FAILURE=y
 gpio,CONFIG_SYSTEMCMDS_GPIO=y
 hardfault_log,CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -165,7 +164,6 @@ led_control,CONFIG_SYSTEMCMDS_LED_CONTROL=y
 mft,CONFIG_SYSTEMCMDS_MFT=y
 microbench,CONFIG_SYSTEMCMDS_MICROBENCH=y
 mixer,CONFIG_SYSTEMCMDS_MIXER=y
-motor_ramp,CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 motor_test,CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 mtd,CONFIG_SYSTEMCMDS_MTD=y
 netman,CONFIG_SYSTEMCMDS_NETMAN=y

Tools/module_config/generate_actuators_metadata.py

@@ -142,7 +142,6 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
         }
     if 'show_subgroups_if' in actuator_output_yaml:
         actuator_output['show-subgroups-if'] = actuator_output_yaml['show_subgroups_if']
-    add_reverse_range_param = actuator_output_yaml.get('add_reverse_range_param', False)
 
     # config parameters
     def get_config_params(param_list):
@@ -257,14 +256,13 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
                 per_channel_params.append(param)
 
 
-        if add_reverse_range_param:
-            param = {
-                    'label': 'Rev Range\n(for Servos)',
-                    'name': param_prefix+'_REV',
-                    'index-offset': -1,
-                    'show-as': 'bitset',
-                }
-            per_channel_params.append(param)
+        param = {
+                'label': 'Rev Range\n(for Servos)',
+                'name': param_prefix+'_REV',
+                'index-offset': -1,
+                'show-as': 'bitset',
+            }
+        per_channel_params.append(param)
 
         # TODO: support non-standard per-channel parameters
 

Tools/module_config/generate_params.py

@@ -178,7 +178,6 @@ def get_actuator_output_params(yaml_config, output_functions,
     all_params = {}
     group_idx = 0
 
-    add_reverse_range_param = yaml_config['actuator_output'].get('add_reverse_range_param', False)
     all_param_prefixes = {}
 
     def add_local_param(param_name, param_def):
@@ -299,13 +298,9 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR
 '''
         minimum_description = \
 '''Minimum output value (when not disarmed).
-
-The output range can be reversed by setting Min > Max.
 '''
         maximum_description = \
 '''Maxmimum output value (when not disarmed).
-
-The output range can be reversed by setting Min > Max.
 '''
         failsafe_description = \
 '''This is the output value that is set when in failsafe mode.
@@ -346,29 +341,29 @@ When set to -1 (default), the value depends on the function (see {:}).
                     }
                 add_local_param(param_prefix+'_'+param_suffix+'${i}', param)
 
-    if add_reverse_range_param:
-        for param_prefix in all_param_prefixes:
-            groups = all_param_prefixes[param_prefix]
-            # collect the bits
-            channel_bits = {}
-            for instance_start, instance_start_label, num_instances, label in groups:
-                for instance in range(instance_start, instance_start+num_instances):
-                    instance_label = instance - instance_start + instance_start_label
-                    channel_bits[instance-1] = label + ' ' + str(instance_label)
+    # add reverse range param
+    for param_prefix in all_param_prefixes:
+        groups = all_param_prefixes[param_prefix]
+        # collect the bits
+        channel_bits = {}
+        for instance_start, instance_start_label, num_instances, label in groups:
+            for instance in range(instance_start, instance_start+num_instances):
+                instance_label = instance - instance_start + instance_start_label
+                channel_bits[instance-1] = label + ' ' + str(instance_label)
 
-            param = {
-                'description': {
-                    'short': 'Reverse Output Range for '+module_name,
-                    'long':
+        param = {
+            'description': {
+                'short': 'Reverse Output Range for '+module_name,
+                'long':
 '''Allows to reverse the output range for each channel.
 Note: this is only useful for servos.
 '''.format(channel_label),
-                    },
-                'type': 'bitmask',
-                'default': 0,
-                'bit': channel_bits
-                }
-            add_local_param(param_prefix+'_REV', param)
+                },
+            'type': 'bitmask',
+            'default': 0,
+            'bit': channel_bits
+            }
+        add_local_param(param_prefix+'_REV', param)
 
     if verbose: print('adding actuator params: {:}'.format(all_params))
     return all_params

Tools/setup/arch.sh

@@ -48,7 +48,6 @@ echo "Installing PX4 general dependencies"
 sudo pacman -Sy --noconfirm --needed \
 	astyle \
 	base-devel \
-	ccache \
 	clang \
 	cmake \
 	cppcheck \

Tools/setup/ubuntu.sh

@@ -77,7 +77,6 @@ sudo apt-get update -y --quiet
 sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 	astyle \
 	build-essential \
-	ccache \
 	cmake \
 	cppcheck \
 	file \
@@ -101,12 +100,6 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
 	zip \
 	;
 
-if [[ "${UBUNTU_RELEASE}" == "16.04" ]]; then
-	echo "Installing Ubuntu 16.04 PX4-compatible ccache version"
-	wget -O /tmp/ccache_3.4.1-1_amd64.deb http://launchpadlibrarian.net/356662933/ccache_3.4.1-1_amd64.deb
-	sudo dpkg -i /tmp/ccache_3.4.1-1_amd64.deb
-fi
-
 # Python3 dependencies
 echo
 echo "Installing PX4 Python3 dependencies"

Tools/uorb_graph/create.py

@@ -56,6 +56,21 @@ def get_N_colors(N, s=0.8, v=0.9):
         hex_out.append("#"+"".join(map(lambda x: format(x, '02x'), rgb)))
     return hex_out
 
+def topic_filename(topic):
+    MSG_PATH = 'msg/'
+
+    file_list = os.listdir(MSG_PATH)
+    msg_files = [file.replace('.msg', '') for file in file_list if file.endswith(".msg")]
+
+    if topic in msg_files:
+        return topic
+    else:
+        for msg_file in msg_files:
+            with open(f'{MSG_PATH}/{msg_file}.msg') as f:
+                ret = re.findall(f'^# TOPICS.*{topic}.*',f.read(),re.MULTILINE)
+                if len(ret) > 0:
+                    return msg_file
+    return "no_file"
 
 class PubSub(object):
     """ Collects either publication or subscription information for nodes
@@ -679,8 +694,7 @@ class OutputJSON(object):
             node['type'] = 'topic'
             node['color'] = topic_colors[topic]
             # url is opened when double-clicking on the node
-            # TODO: does not work for multi-topics
-            node['url'] = 'https://github.com/PX4/PX4-Autopilot/blob/master/msg/'+topic+'.msg'
+            node['url'] = 'https://github.com/PX4/PX4-Autopilot/blob/master/msg/'+topic_filename(topic)+'.msg'
             nodes.append(node)
 
         data['nodes'] = nodes

boards/airmind/mindpx-v2/default.px4board

@@ -74,19 +74,17 @@ CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_VMOUNT=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
-CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/airmind/mindpx-v2/init/rc.board_defaults

@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+param set-default BAT1_V_DIV 10.177939394
+param set-default BAT1_A_PER_V 15.391030303

boards/airmind/mindpx-v2/src/board_config.h

@@ -72,12 +72,6 @@
 #define ADC_RC_RSSI_CHANNEL		11
 #define ADC_AIRSPEED_VOLTAGE_CHANNEL	15
 
-/* Define Battery 1 Voltage Divider and A per V
- */
-
-#define BOARD_BATTERY1_V_DIV   (10.177939394f)
-#define BOARD_BATTERY1_A_PER_V (15.391030303f)
-
 /* Power supply control and monitoring GPIOs */
 // #define GPIO_VDD_5V_PERIPH_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
 // #define GPIO_VDD_BRICK_VALID	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)

boards/ark/can-flow/src/CMakeLists.txt

@@ -61,6 +61,5 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
-			arch_io_pins
 	)
 endif()

boards/ark/can-gps/src/CMakeLists.txt

@@ -63,6 +63,5 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
-			arch_io_pins
 	)
 endif()

boards/ark/can-rtk-gps/init/rc.board_defaults

@@ -4,6 +4,7 @@
 #------------------------------------------------------------------------------
 
 param set-default CBRK_IO_SAFETY 0
+param set-default CANNODE_GPS_RTCM 1
 
 safety_button start
 tone_alarm start

boards/ark/can-rtk-gps/src/CMakeLists.txt

@@ -63,6 +63,5 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
-			arch_io_pins
 	)
 endif()

boards/atl/mantis-edu/cmake/upload.cmake

@@ -0,0 +1,46 @@
+############################################################################
+#
+#   Copyright (c) 2021 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.
+#
+############################################################################
+
+
+set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.px4)
+
+# The file needs to have that name in order to be updated automatically.
+set(UPLOAD_NAME autopilot.px4)
+
+add_custom_target(upload_wifi
+	COMMAND ${CMAKE_COMMAND} -E copy ${PX4_FW_NAME} ${UPLOAD_NAME}
+	COMMAND ${PX4_SOURCE_DIR}/boards/atl/mantis-edu/upload.sh ${UPLOAD_NAME}
+	DEPENDS ${PX4_FW_NAME}
+	COMMENT "uploading autopilot.px4 file"
+	USES_TERMINAL
+)

boards/atl/mantis-edu/default.px4board

@@ -4,6 +4,8 @@ CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
+CONFIG_DRIVERS_BAROMETER_MAIERTEK_MPC2520=y
+CONFIG_DRIVERS_TAP_ESC=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -29,7 +31,7 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIH=y
-CONFIG_MODULES_VMOUNT=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
@@ -37,7 +39,6 @@ CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y

boards/atl/mantis-edu/init/rc.board_defaults

@@ -5,6 +5,8 @@
 
 param set-default SYS_AUTOSTART 4061
 
+param set-default BAT1_V_DIV 9.0
+
 param set-default COM_ARM_SDCARD 0
 
 param set-default SENS_EXT_I2C_PRB 0
@@ -16,7 +18,7 @@ param set-default SENS_MAG_MODE 0
 
 param set-default EV_TSK_STAT_DIS 1
 
-set LOGGER_ARGS "-m mavlink"
+param set-default SYS_DM_BACKEND 1
 
-# Start esc
-tap_esc start -d /dev/ttyS4 -n 4
+# Use MAVLink log streaming
+set LOGGER_ARGS "-m mavlink -c 0.5"

boards/atl/mantis-edu/init/rc.board_extras

@@ -0,0 +1,5 @@
+#!/bin/sh
+
+tap_esc start -d /dev/ttyS4 -n 4
+sleep 1
+mixer load /dev/tap_esc /etc/mixers/quad_x.main.mix

boards/atl/mantis-edu/nuttx-config/nsh/defconfig

@@ -204,7 +204,7 @@ CONFIG_TASK_NAME_SIZE=24
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600
 CONFIG_UART4_RXDMA=y
-CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART4_TXBUFSIZE=3000
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_RXBUFSIZE=600
 CONFIG_UART7_TXBUFSIZE=1500

boards/atl/mantis-edu/nuttx-config/scripts/script.ld

@@ -103,7 +103,7 @@ SECTIONS
 		This signature provides the bootloader with a way to delay booting
 		*/
 		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
+		FILL(0xb4ecc2925d7d05c5)
 		. += 8;
 		*(.main_toc)
 		*(.text .text.*)

boards/atl/mantis-edu/src/CMakeLists.txt

@@ -39,7 +39,7 @@ add_library(drivers_board
 	spi.cpp
 	timer_config.cpp
 	usb.c
-	pwr.c
+	pwr.cpp
 )
 add_dependencies(drivers_board arch_board_hw_info)
 

boards/atl/mantis-edu/src/board_config.h

@@ -59,6 +59,13 @@
 #define BOARD_ARMED_STATE_LED  LED_BLUE
 
 #define FLASH_BASED_PARAMS
+#define RAM_BASED_MISSIONS
+
+// Hacks for MAVLink RC button input
+#define ATL_MANTIS_RC_INPUT_HACKS
+
+// Hacks for MAVLink RC button input
+#define ATL_MANTIS_RC_INPUT_HACKS
 
 /*
  * ADC channels
@@ -98,9 +105,6 @@
 	 (1 << ADC_HW_REV_SENSE_CHANNEL)           | \
 	 (1 << ADC1_SPARE_1_CHANNEL))
 
-/* Define Battery 1 Voltage Divider and A per V */
-#define BOARD_BATTERY1_V_DIV         (9.0f)     /* measured with the provided PM board */
-
 /* HW has to large of R termination on ADC todo:change when HW value is chosen */
 #define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
 
@@ -147,9 +151,8 @@
 #define RC_SERIAL_PORT                     "/dev/ttyS5"
 #define RC_SERIAL_SINGLEWIRE
 
-#define BOARD_HAS_POWER_CONTROL	1
 /* power on/off */
-#define MS_PWR_BUTTON_DOWN 1500
+#define MS_PWR_BUTTON_DOWN 750
 #define KEY_AD_GPIO    (GPIO_INPUT|GPIO_PULLUP|GPIO_EXTI|GPIO_PORTC|GPIO_PIN4)
 #define POWER_ON_GPIO  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5)
 #define POWER_OFF_GPIO (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN5)

boards/atl/mantis-edu/src/init.c

@@ -114,6 +114,8 @@ static void cam_pwr_on_pulse(void)
 	static bool pwr_on_flag = false;
 
 	if (pwr_on_flag == false) {
+		// This is now done in the bootloader.
+		// However, for transition we can leave it in.
 		up_mdelay(700);
 		stm32_configgpio(GPIO_CAM_PWR_ON_H);
 		up_mdelay(20);

boards/atl/mantis-edu/src/pwr.cpp

@@ -53,8 +53,7 @@
 #include <nuttx/arch.h>
 
 #include <uORB/uORB.h>
-#include <uORB/topics/led_control.h>
-#include <uORB/topics/tune_control.h>
+#include <uORB/Publication.hpp>
 
 #include <arm_arch.h>
 #include "board_config.h"

boards/atl/mantis-edu/upload.sh

@@ -0,0 +1,11 @@
+#!/usr/bin/env bash
+
+set -e
+
+PX4_BINARY_FILE="$1"
+
+echo "uploading: $PX4_BINARY_FILE"
+
+PX4_BINARY_FILE_SIZE=$(stat -c%s "$PX4_BINARY_FILE")
+curl -v -F "image=@$PX4_BINARY_FILE" -H "Expect:" -H "File-Size:$PX4_BINARY_FILE_SIZE" http://192.168.42.1/cgi-bin/upload
+

boards/av/x-v1/default.px4board

@@ -71,19 +71,17 @@ CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_VMOUNT=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
-CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_NETMAN=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/av/x-v1/init/rc.board_defaults

@@ -5,3 +5,5 @@
 
 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281
+
+param set-default BAT1_V_DIV 10.13

boards/av/x-v1/src/board_config.h

@@ -88,12 +88,6 @@
 #define ADC_CHANNELS \
 	((1 << ADC_BATTERY1_VOLTAGE_CHANNEL))
 
-/* Define Battery 1 Voltage Divider and A per V
- */
-
-#define BOARD_BATTERY1_V_DIV         (10.133333333f)
-#define BOARD_BATTERY1_A_PER_V       (36.367515152f)
-
 /* HW has to large of R termination on ADC todo:change when HW value is chosen */
 
 #define BOARD_ADC_OPEN_CIRCUIT_V               (5.6f)

boards/beaglebone/blue/default.px4board

@@ -56,13 +56,11 @@ CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_VMOUNT=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_DYN=y
-CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y

boards/beaglebone/blue/init/rc.board_defaults

@@ -0,0 +1,6 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+param set-default BAT1_V_DIV 11.0

boards/beaglebone/blue/src/board_config.h

@@ -42,8 +42,6 @@
 #define BOARD_OVERRIDE_UUID "BBBLUEID00000000" // must be of length 16
 #define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_BBBLUE
 
-#define BOARD_BATTERY1_V_DIV   (11.0f)
-
 #define BOARD_MAX_LEDS 4 // Number external of LED's this board has
 
 

boards/bitcraze/crazyflie/default.px4board

@@ -17,7 +17,6 @@ CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOGGER=y

boards/cuav/can-gps-v1/src/CMakeLists.txt

@@ -61,6 +61,5 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
-			arch_io_pins
 	)
 endif()

boards/cuav/nora/default.px4board

@@ -76,13 +76,12 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_VMOUNT=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
-CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y

boards/cuav/x7pro/default.px4board

@@ -77,13 +77,12 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_VMOUNT=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
-CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y

boards/cubepilot/cubeorange/default.px4board

@@ -72,20 +72,18 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_VMOUNT=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
-CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/cubepilot/cubeorange/src/board_config.h

@@ -149,7 +149,6 @@
 #define BOARD_HAS_STATIC_MANIFEST 1
 
 
-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};
 
 #define BOARD_ENABLE_CONSOLE_BUFFER
 

boards/cubepilot/cubeyellow/default.px4board

@@ -74,20 +74,18 @@ CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_VMOUNT=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
-CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/cubepilot/cubeyellow/src/board_config.h

@@ -144,7 +144,6 @@
 #define BOARD_HAS_STATIC_MANIFEST 1
 
 
-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};
 
 #define BOARD_ENABLE_CONSOLE_BUFFER
 

boards/emlid/navio2/default.px4board

@@ -58,13 +58,11 @@ CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_VMOUNT=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_DYN=y
-CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y

boards/emlid/navio2/init/rc.board_defaults

@@ -0,0 +1,8 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+param set-default BAT1_V_DIV 10.177939394
+param set-default BAT1_A_PER_V 15.391030303
+

boards/emlid/navio2/src/board_config.h

@@ -42,9 +42,6 @@
 #define BOARD_OVERRIDE_UUID "RPIID00000000000" // must be of length 16
 #define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_RPI
 
-#define BOARD_BATTERY1_V_DIV   (10.177939394f)
-#define BOARD_BATTERY1_A_PER_V (15.391030303f)
-
 #define BOARD_MAX_LEDS 1 // Number of external LED's this board has
 
 

boards/freefly/can-rtk-gps/init/rc.board_defaults

@@ -0,0 +1,6 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+param set-default CANNODE_GPS_RTCM 1

boards/freefly/can-rtk-gps/src/CMakeLists.txt

@@ -62,6 +62,5 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
-			arch_io_pins
 	)
 endif()

boards/holybro/can-gps-v1/src/CMakeLists.txt

@@ -68,6 +68,5 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
-			arch_io_pins
 	)
 endif()

boards/holybro/durandal-v1/default.px4board

@@ -69,20 +69,18 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_VMOUNT=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
-CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/holybro/durandal-v1/init/rc.board_defaults

@@ -1,7 +1,13 @@
 #!/bin/sh
 #
-# Holybro Durandal V1 specific board defaults
+# board specific defaults
 #------------------------------------------------------------------------------
 
+param set-default BAT1_V_DIV 18.1
+param set-default BAT2_V_DIV 18.1
+
+param set-default BAT1_A_PER_V 36.367515152
+param set-default BAT2_A_PER_V 36.367515152
+
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1

boards/holybro/durandal-v1/src/board_config.h

@@ -140,12 +140,6 @@
 	 (1 << ADC_HW_REV_SENSE_CHANNEL)           | \
 	 (1 << ADC1_3V3_IN_CHANNEL))
 
-/* Define Battery 1 Voltage Divider and A per V
- */
-
-#define BOARD_BATTERY1_V_DIV         (18.1f)     /* measured with the provided PM board */
-#define BOARD_BATTERY1_A_PER_V       (36.367515152f)
-
 /* HW has to large of R termination on ADC todo:change when HW value is chosen */
 
 #define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
@@ -187,7 +181,6 @@
 
 #define BOARD_NUM_IO_TIMERS 4
 
-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7, 9, 8};
 
 /* Power supply control and monitoring GPIOs */
 

boards/holybro/kakutef7/default.px4board

@@ -21,7 +21,6 @@ CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LOGGER=y

boards/holybro/kakutef7/init/rc.board_defaults

@@ -3,6 +3,9 @@
 # board specific defaults
 #------------------------------------------------------------------------------
 
+param set-default BAT1_V_DIV 10.9
+param set-default BAT1_A_PER_V 17
+
 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281
 

boards/holybro/kakutef7/src/board_config.h

@@ -92,11 +92,6 @@
 	 (1 << ADC_BATTERY_CURRENT_CHANNEL)       | \
 	 (1 << ADC_RSSI_IN_CHANNEL))
 
-/* Define Battery 1 Voltage Divider and A per V
- */
-#define BOARD_BATTERY1_V_DIV         (10.9f)
-#define BOARD_BATTERY1_A_PER_V       (17.f)
-
 /* PWM
  */
 #define DIRECT_PWM_OUTPUT_CHANNELS  6

boards/holybro/kakuteh7/bootloader.px4board

@@ -0,0 +1,3 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ROMFSROOT=""

boards/holybro/kakuteh7/default.px4board

@@ -0,0 +1,92 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_COMMON_BAROMETERS=y
+CONFIG_DRIVERS_BATT_SMBUS=y
+CONFIG_DRIVERS_CAMERA_CAPTURE=y
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
+CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
+CONFIG_DRIVERS_OSD=y
+CONFIG_COMMON_LIGHT=y
+CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_PWM_OUT_SIM=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_DRIVERS_RPM=y
+CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
+CONFIG_COMMON_TELEMETRY=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_ESC_BATTERY=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIH=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_GPIO=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_TEST=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_PWM=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_USB_CONNECTED=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/holybro/kakuteh7/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 1048,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the KakuteH7 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "KAKUTEH7",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 1835008,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/holybro/kakuteh7/init/rc.board_defaults

@@ -0,0 +1,27 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+param set-default BAT1_V_DIV 11.2
+param set-default BAT1_A_PER_V 59.5
+
+# system_power unavailable
+param set-default CBRK_SUPPLY_CHK 894281
+
+# Select the Generic 250 Racer by default
+param set-default SYS_AUTOSTART 4050
+
+# use the Q attitude estimator, it works w/o mag or GPS.
+param set-default SYS_MC_EST_GROUP 3
+param set-default ATT_ACC_COMP 0
+param set-default ATT_W_ACC 0.4000
+param set-default ATT_W_GYRO_BIAS 0.0000
+
+param set-default SYS_HAS_MAG 0
+
+# the startup tune is not great on a binary output buzzer, so disable it
+param set-default CBRK_BUZZER 782090
+
+param set-default IMU_GYRO_RATEMAX 2000
+

boards/holybro/kakuteh7/init/rc.board_extras

@@ -0,0 +1,13 @@
+#!/bin/sh
+#
+# KakuteH7 specific board extras init
+#------------------------------------------------------------------------------
+
+if ! param compare OSD_ATXXXX_CFG 0
+then
+	atxxxx start -s
+fi
+
+# DShot telemetry is always on UART7
+dshot telemetry /dev/ttyS5
+