Tailsitter add yaw controls

gz_bridge: fix world selector environment variable
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
2026-05-24 18:07:34 +08:00 · 2023-01-11 13:38:59 +01:00 · 2023-01-08 00:15:35 -05:00 · 2023-01-07 21:53:01 -05:00 · 2023-01-07 17:00:35 -05:00 · 2023-01-07 17:00:35 -05:00
467 changed files with 8574 additions and 13151 deletions
@@ -54,6 +54,7 @@ jobs:
          nxp_fmuk66-e,
          nxp_fmuk66-v3,
          nxp_fmurt1062-v1,
+          nxp_mr-canhubk3,
          nxp_ucans32k146,
          omnibus_f4sd,
          px4_fmu-v2,
@@ -81,7 +81,7 @@ jobs:
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
        DONT_RUN: 1
-      run: make px4_sitl_default gazebo mavsdk_tests
+      run: make px4_sitl_default sitl_gazebo mavsdk_tests
    - name: ccache post-run mavsdk_tests
      run: ccache -s

@@ -49,49 +49,6 @@
                "group": "test"
            }
        },
-        {
-            "label": "jmavsim build",
-            "type": "shell",
-            "command": "ant create_run_jar copy_res",
-            "options": {
-                "cwd": "${workspaceFolder}/Tools/simulation/jmavsim/jMAVSim"
-            },
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
-                "focus": false,
-                "panel": "dedicated",
-                "showReuseMessage": false,
-                "clear": false,
-                "close": true
-            },
-            "problemMatcher": []
-        },
-        {
-            "label": "jmavsim",
-            "type": "shell",
-            "dependsOn": "jmavsim build",
-            "command": "java -Djava.ext.dirs= -jar jmavsim_run.jar -r 250 -lockstep -tcp localhost:4560 -qgc",
-            "options": {
-                "cwd": "${workspaceFolder}/Tools/simulation/jmavsim/jMAVSim/out/production",
-                "env": {
-                    "PX4_SIM_SPEED_FACTOR": "1"
-                }
-            },
-            "isBackground": true,
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
-                "focus": false,
-                "panel": "dedicated",
-                "showReuseMessage": false,
-                "clear": false,
-                "close": true
-            },
-            "problemMatcher": []
-        },
        {
            "label": "jmavsim kill",
            "type": "shell",
@@ -282,7 +282,10 @@ if(${PX4_PLATFORM} STREQUAL "posix")
 	set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 	set(CMAKE_ENABLE_EXPORTS ON)

-	include(coverage)
+	if(CMAKE_BUILD_TYPE MATCHES "Coverage")
+		include(coverage)
+	endif()
+
 	include(sanitizers)

 	# Define GNU standard installation directories
@@ -174,8 +174,8 @@ menu "Serial ports"
    config BOARD_SERIAL_WIFI
        string "WIFI tty port"

-    config BOARD_SERIAL_PPB
-        string "PPB (Pixhawk Payload Bus) tty port"
+    config BOARD_SERIAL_EXT2
+        string "EXT2 tty port"
 endmenu

 menu "drivers"
@@ -195,5 +195,6 @@ source "src/examples/Kconfig"
 endmenu

 menu "platforms"
+depends on PLATFORM_QURT || PLATFORM_POSIX
 source "platforms/common/Kconfig"
 endmenu
@@ -554,6 +554,14 @@ check_px4: $(call make_list,nuttx,"px4") \
 check_nxp: $(call make_list,nuttx,"nxp") \
 	sizes

+# helpers for running olddefconfig (nuttx) and px4_savedefconfig on all boards
+.PHONY: all_oldconfig all_px4_savedefconfig
+all_oldconfig:
+	@for targ in $(ALL_CONFIG_TARGETS); do $(MAKE) $$targ oldconfig; done
+
+all_px4_savedefconfig:
+	@for targ in $(ALL_CONFIG_TARGETS); do $(MAKE) $$targ px4_savedefconfig; done
+
 .PHONY: failsafe_web run_failsafe_web_server
 failsafe_web:
 	@if ! command -v emcc; then echo -e "Install emscripten first: https://emscripten.org/docs/getting_started/downloads.html\nAnd source the env: source <path>/emsdk_env.sh"; exit 1; fi
@@ -0,0 +1,32 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL jMAVSim
+#
+# @type Quadrotor Wide
+#
+# @maintainer Julian Oes <julian@oes.ch>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+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
+
@@ -0,0 +1,33 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (foggy_lidar)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+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
+
+param set-default EKF2_RNG_A_HMAX 10
+
@@ -1,11 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (foggy_lidar)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-param set-default EKF2_RNG_A_HMAX 10
-
@@ -41,4 +41,3 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

 param set SIH_VEHICLE_TYPE 0
-
@@ -0,0 +1,47 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Optical Flow)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+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
+
+# EKF2
+param set-default EKF2_AID_MASK 2
+param set-default EKF2_GPS_CTRL 0
+param set-default EKF2_EVP_NOISE 0.05
+param set-default EKF2_EVA_NOISE 0.05
+
+# LPE: Flow-only mode
+param set-default LPE_FUSION 242
+param set-default LPE_FAKE_ORIGIN 1
+
+param set-default MPC_ALT_MODE 2
+
+param set-default SENS_FLOW_ROT 6
+param set-default SENS_FLOW_MINHGT 0.7
+param set-default SENS_FLOW_MAXHGT 3.0
+param set-default SENS_FLOW_MAXR 2.5
@@ -1,25 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Optical Flow)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-# EKF2
-param set-default EKF2_AID_MASK 2
-param set-default EKF2_GPS_CTRL 0
-param set-default EKF2_EVP_NOISE 0.05
-param set-default EKF2_EVA_NOISE 0.05
-
-# LPE: Flow-only mode
-param set-default LPE_FUSION 242
-param set-default LPE_FAKE_ORIGIN 1
-
-param set-default MPC_ALT_MODE 2
-
-param set-default SENS_FLOW_ROT 6
-param set-default SENS_FLOW_MINHGT 0.7
-param set-default SENS_FLOW_MAXHGT 3.0
-param set-default SENS_FLOW_MAXR 2.5
@@ -0,0 +1,38 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (irlock)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+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
+
+# enable fusion of landing target velocity
+param set-default LTEST_MODE 1
+param set-default PLD_HACC_RAD 0.1
+param set-default RTL_PLD_MD 2
+
+# Start up Landing Target Estimator module
+landing_target_estimator start
@@ -1,16 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (irlock)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-# enable fusion of landing target velocity
-param set-default LTEST_MODE 1
-param set-default PLD_HACC_RAD 0.1
-param set-default RTL_PLD_MD 2
-
-# Start up Landing Target Estimator module
-landing_target_estimator start
@@ -0,0 +1,33 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (rplidar)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+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
+
+param set-default LPE_FUSION 242
+
@@ -1,11 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (rplidar)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-param set-default LPE_FUSION 242
-
@@ -0,0 +1,34 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+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
+
+param set-default COM_OBS_AVOID 1
+param set-default MPC_XY_CRUISE 5.0
+
@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-param set-default COM_OBS_AVOID 1
-param set-default MPC_XY_CRUISE 5.0
-
@@ -0,0 +1,40 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Optical Flow)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+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
+
+# EKF2
+param set-default EKF2_AID_MASK 2
+param set-default EKF2_GPS_CTRL 0
+
+# LPE: Flow-only mode
+param set-default LPE_FUSION 242
+param set-default LPE_FAKE_ORIGIN 1
+
+param set-default MPC_ALT_MODE 2
@@ -1,18 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Optical Flow)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-# EKF2
-param set-default EKF2_AID_MASK 2
-param set-default EKF2_GPS_CTRL 0
-
-# LPE: Flow-only mode
-param set-default LPE_FUSION 242
-param set-default LPE_FAKE_ORIGIN 1
-
-param set-default MPC_ALT_MODE 2
@@ -1,13 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Vision Velocity)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-# EKF2: Vision velocity and heading
-param set-default EKF2_AID_MASK 272
-param set-default EKF2_EV_DELAY 5
-param set-default EKF2_GPS_CTRL 0
@@ -0,0 +1,33 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Dual GPS)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+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
+
+# EKF2: Multi GPS blending
+param set-default SENS_GPS_MASK 7
@@ -1,11 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Dual GPS)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-# EKF2: Multi GPS blending
-param set-default SENS_GPS_MASK 7
@@ -0,0 +1,81 @@
+#!/bin/sh
+#
+# @name Plane SITL with camera
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
+
+param set-default FW_LND_AIRSPD_SC 1
+param set-default FW_LND_ANG 8
+
+param set-default FW_L1_PERIOD 12
+
+param set-default FW_PR_P 0.9
+param set-default FW_PR_FF 0.5
+param set-default FW_PR_I 0.5
+param set-default TRIM_PITCH -0.15
+
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MIN -15
+
+param set-default FW_RR_FF 0.5
+param set-default FW_RR_P 0.3
+param set-default FW_RR_I 0.5
+
+param set-default FW_YR_FF 0.5
+param set-default FW_YR_P 0.6
+param set-default FW_YR_I 0.5
+
+param set-default FW_SPOILERS_LND 0.4
+
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_THR_TRIM 0.25
+
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+
+param set-default FW_W_EN 1
+
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 30
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+
+param set-default RWTO_TKOFF 1
+
+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 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+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_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256
+
+# Camera trigger interface is MAVLink
+param set-default TRIG_INTERFACE 3
+
+# Distance trigger mode enabled
+param set-default TRIG_MODE 4
@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL with camera
-#
-
-. ${R}etc/init.d-posix/airframes/1030_plane
-
-# Camera trigger interface is MAVLink
-param set-default TRIG_INTERFACE 3
-
-# Distance trigger mode enabled
-param set-default TRIG_MODE 4
@@ -0,0 +1,78 @@
+#!/bin/sh
+#
+# @name Plane SITL with catapult
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
+
+param set-default FW_LND_AIRSPD_SC 1
+param set-default FW_LND_ANG 8
+
+param set-default FW_L1_PERIOD 12
+
+param set-default FW_PR_P 0.9
+param set-default FW_PR_FF 0.5
+param set-default FW_PR_I 0.5
+param set-default TRIM_PITCH -0.15
+
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MIN -15
+
+param set-default FW_RR_FF 0.5
+param set-default FW_RR_P 0.3
+param set-default FW_RR_I 0.5
+
+param set-default FW_YR_FF 0.5
+param set-default FW_YR_P 0.6
+param set-default FW_YR_I 0.5
+
+param set-default FW_SPOILERS_LND 0.4
+
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_THR_TRIM 0.25
+
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+
+param set-default FW_W_EN 1
+
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 30
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+
+param set-default RWTO_TKOFF 1
+
+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 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+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_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256
+
+param set-default RWTO_TKOFF 0
+
@@ -1,9 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL with catapult
-#
-
-. ${R}etc/init.d-posix/airframes/1030_plane
-
-param set-default RWTO_TKOFF 0
-
@@ -57,4 +57,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-
@@ -0,0 +1,78 @@
+#!/bin/sh
+#
+# @name Plane SITL with catapult
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
+
+param set-default FW_LND_AIRSPD_SC 1
+param set-default FW_LND_ANG 8
+
+param set-default FW_L1_PERIOD 12
+
+param set-default FW_PR_P 0.9
+param set-default FW_PR_FF 0.5
+param set-default FW_PR_I 0.5
+param set-default TRIM_PITCH -0.15
+
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MIN -15
+
+param set-default FW_RR_FF 0.5
+param set-default FW_RR_P 0.3
+param set-default FW_RR_I 0.5
+
+param set-default FW_YR_FF 0.5
+param set-default FW_YR_P 0.6
+param set-default FW_YR_I 0.5
+
+param set-default FW_SPOILERS_LND 0.4
+
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_THR_TRIM 0.25
+
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+
+param set-default FW_W_EN 1
+
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 30
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+
+param set-default RWTO_TKOFF 1
+
+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 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+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_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256
+
+param set-default FW_THR_TRIM 0.0
+param set-default RWTO_TKOFF 0
@@ -1,9 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL with catapult
-#
-
-. ${R}etc/init.d-posix/airframes/1030_plane
-
-param set-default FW_THR_TRIM 0.0
-param set-default RWTO_TKOFF 0
@@ -0,0 +1,65 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default FW_LND_AIRSPD_SC 1.1
+param set-default FW_LND_ANG 5
+param set-default FW_LND_FL_PMIN 9.5
+param set-default FW_LND_FL_PMAX 20
+param set-default FW_LND_FLALT 5
+
+param set-default FW_L1_PERIOD 25
+
+param set-default FW_PR_FF 0.40
+param set-default FW_PR_I 0.05
+param set-default FW_PR_P 0.05
+
+param set-default FW_R_TC 0.45
+param set-default FW_RR_FF 0.40
+param set-default FW_RR_I 0.132
+param set-default FW_RR_P 0.085
+
+param set-default FW_W_EN 1
+
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+
+param set-default RWTO_TKOFF 1
+
+param set-default RWTO_MAX_PITCH 20
+
+param set-default RWTO_PSP 8
+param set-default RWTO_AIRSPD_SCL 1.8
+
+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 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+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_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256
@@ -0,0 +1,93 @@
+#!/bin/sh
+#
+# @name Standard VTOL
+#
+# @type Standard VTOL
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+# TODO: Enable motor failure detection when the
+# VTOL no longer reports 0A for all ESCs in SITL
+param set-default FD_ACT_EN 0
+param set-default FD_ACT_MOT_TOUT 500
+
+param set-default CA_AIRFRAME 2
+
+param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+param set-default CA_ROTOR4_AX 1.0
+param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_PX 0.2
+
+param set-default CA_SV_CS_COUNT 3
+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 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 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+
+param set-default FW_L1_PERIOD 12
+param set-default FW_PR_FF 0.2
+param set-default FW_PR_P 0.9
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MIN -15
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_P 0.3
+param set-default FW_THR_TRIM 0.25
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+
+param set-default MC_ROLLRATE_P 0.3
+param set-default MC_YAW_P 1.6
+
+param set-default MIS_TAKEOFF_ALT 10
+
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_XY_P 0.8
+param set-default MPC_XY_VEL_P_ACC 3
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_D_ACC 0.1
+
+param set-default NAV_ACC_RAD 5
+
+param set-default VT_FWD_THRUST_EN 4
+param set-default VT_F_TRANS_THR 0.75
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
+param set-default VT_B_TRANS_DUR 8
+param set-default VT_TYPE 2
+
+
+# Gimbal
+param set-default PWM_MAIN_FUNC9 420
+param set-default PWM_MAIN_FUNC10 421
+param set-default PWM_MAIN_FUNC11 422
+
+param set-default RC_MAP_AUX1 8
+param set-default RC_MAP_AUX2 9
+param set-default RC_MAP_AUX3 10
+
@@ -1,18 +0,0 @@
-#!/bin/sh
-#
-# @name Standard VTOL
-#
-# @type Standard VTOL
-#
-
-. ${R}etc/init.d-posix/airframes/1040_standard_vtol
-
-# Gimbal
-param set-default PWM_MAIN_FUNC9 420
-param set-default PWM_MAIN_FUNC10 421
-param set-default PWM_MAIN_FUNC11 422
-
-param set-default RC_MAP_AUX1 8
-param set-default RC_MAP_AUX2 9
-param set-default RC_MAP_AUX3 10
-
@@ -0,0 +1,78 @@
+#!/bin/sh
+#
+# @name Plane SITL with downward facing LIDAR.
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
+
+param set-default FW_LND_AIRSPD_SC 1
+param set-default FW_LND_ANG 8
+
+param set-default FW_L1_PERIOD 12
+
+param set-default FW_PR_P 0.9
+param set-default FW_PR_FF 0.5
+param set-default FW_PR_I 0.5
+param set-default TRIM_PITCH -0.15
+
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MIN -15
+
+param set-default FW_RR_FF 0.5
+param set-default FW_RR_P 0.3
+param set-default FW_RR_I 0.5
+
+param set-default FW_YR_FF 0.5
+param set-default FW_YR_P 0.6
+param set-default FW_YR_I 0.5
+
+param set-default FW_SPOILERS_LND 0.4
+
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_THR_TRIM 0.25
+
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+
+param set-default FW_W_EN 1
+
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 30
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+
+param set-default RWTO_TKOFF 1
+
+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 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+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_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256
+
+
+param set-default FW_LND_USETER 1
@@ -1,9 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL with downward facing LIDAR.
-#
-
-. ${R}etc/init.d-posix/airframes/1030_plane
-
-param set-default FW_LND_USETER 1
-
@@ -0,0 +1,48 @@
+#!/bin/sh
+#
+# @name Gazebo x500 depth
+#
+# @type Quadrotor
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_depth}
+
+param set-default CA_AIRFRAME 0
+param set-default CA_ROTOR_COUNT 4
+
+param set-default CA_ROTOR0_PX 0.13
+param set-default CA_ROTOR0_PY 0.22
+param set-default CA_ROTOR0_KM  0.05
+
+param set-default CA_ROTOR1_PX -0.13
+param set-default CA_ROTOR1_PY -0.20
+param set-default CA_ROTOR1_KM  0.05
+
+param set-default CA_ROTOR2_PX 0.13
+param set-default CA_ROTOR2_PY -0.22
+param set-default CA_ROTOR2_KM -0.05
+
+param set-default CA_ROTOR3_PX -0.13
+param set-default CA_ROTOR3_PY 0.20
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default SIM_GZ_FUNC1 101
+param set-default SIM_GZ_FUNC2 102
+param set-default SIM_GZ_FUNC3 103
+param set-default SIM_GZ_FUNC4 104
+
+param set-default SIM_GZ_MIN1 150
+param set-default SIM_GZ_MIN2 150
+param set-default SIM_GZ_MIN3 150
+param set-default SIM_GZ_MIN4 150
+
+param set-default SIM_GZ_MAX1 1000
+param set-default SIM_GZ_MAX2 1000
+param set-default SIM_GZ_MAX3 1000
+param set-default SIM_GZ_MAX4 1000
+
+param set-default MPC_THR_HOVER 0.60
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2020-2023 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
@@ -32,54 +32,60 @@
 ############################################################################

 px4_add_romfs_files(
-	10016_iris
-	10018_iris_foggy_lidar
-	10019_omnicopter
-	10030_px4vision
-	10040_quadx
-	10041_airplane
-	10042_xvert
-	1010_iris_opt_flow
-	1010_iris_opt_flow.post
-	1011_iris_irlock
-	1012_iris_rplidar
-	1013_iris_vision
-	1013_iris_vision.post
-	1015_iris_obs_avoid
-	1015_iris_obs_avoid.post
-	1017_iris_opt_flow_mockup
-	1018_iris_vision_velocity
-	1019_iris_dual_gps
-	1021_uuv_hippocampus
-	1022_uuv_bluerov2_heavy
-	1030_plane
-	1031_plane_cam
-	1032_plane_catapult
-	1033_rascal
-	1034_rascal-electric
-	1035_techpod
-	1036_malolo
-	1037_believer
-	1038_glider
-	1039_advanced_plane
-	1040_standard_vtol
-	1041_tailsitter
-	1042_tiltrotor
-	1043_standard_vtol_drop
-	1044_plane_lidar
-	1060_rover
-	1061_r1_rover
-	1062_tf-r1
-	1070_boat
-	3010_quadrotor_x
-	3011_hexarotor_x

-	4001_x500
+	1010_gazebo_iris_opt_flow
+	1010_gazebo_iris_opt_flow.post
+	1011_gazebo_iris_irlock
+	1012_gazebo_iris_rplidar
+	1013_gazebo_iris_vision
+	1013_gazebo_iris_vision.post
+	1015_gazebo_iris_obs_avoid
+	1015_gazebo_iris_obs_avoid.post
+	1017_gazebo_iris_opt_flow_mockup
+	1019_gazebo_iris_dual_gps
+	1021_gazebo_uuv_hippocampus
+	1022_gazebo_uuv_bluerov2_heavy
+	1030_gazebo_plane
+	1031_gazebo_plane_cam
+	1032_gazebo_plane_catapult
+	1033_jsbsim_rascal
+	1034_flightgear_rascal-electric
+	1035_gazebo_techpod
+	1036_jsbsim_malolo
+	1037_gazebo_believer
+	1038_gazebo_glider
+	1039_gazebo_advanced_plane
+	1040_gazebo_standard_vtol
+	1041_gazebo_tailsitter
+	1042_gazebo_tiltrotor
+	1043_gazebo_standard_vtol_drop
+	1044_gazebo_plane_lidar
+	1060_gazebo_rover
+	1061_gazebo_r1_rover
+	1062_flightgear_tf-r1
+	1070_gazebo_boat

-	17001_tf-g1
-	17002_tf-g2
-	2507_cloudship
+	2507_gazebo_cloudship

-	6011_typhoon_h480
-	6011_typhoon_h480.post
+	3010_jsbsim_quadrotor_x
+	3011_jsbsim_hexarotor_x
+
+	4001_gz_x500
+	4002_gz_x500_depth
+
+	6011_gazebo_typhoon_h480
+	6011_gazebo_typhoon_h480.post
+
+	10016_gazebo_iris
+	10017_jmavsim_iris
+	10018_gazebo_iris_foggy_lidar
+	10019_gazebo_omnicopter
+	10030_gazebo_px4vision
+
+	10040_sihsim_quadx
+	10041_sihsim_airplane
+	10042_sihsim_xvert
+
+	17001_flightgear_tf-g1
+	17002_flightgear_tf-g2
 )
@@ -6,6 +6,8 @@ param set-default IMU_INTEG_RATE 250

 if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then

+	echo "INFO  [init] SIH simulator"
+
 	if simulator_sih start; then

 		sensor_baro_sim start
@@ -19,16 +21,33 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"

 elif [ "$PX4_SIMULATOR" = "gz" ]; then

-	# source generated gazebo_env.sh for IGN_GAZEBO_RESOURCE_PATH
-	if [ -f ./gazebo_env.sh ]; then
-		. ./gazebo_env.sh
+	# source generated gz_env.sh for IGN_GAZEBO_RESOURCE_PATH
+	if [ -f ./gz_env.sh ]; then
+		. ./gz_env.sh

-	elif [ -f ../gazebo_env.sh ]; then
-		. ../gazebo_env.sh
+	elif [ -f ../gz_env.sh ]; then
+		. ../gz_env.sh
 	fi

-	gz_command="ign" # "ign" before garden
-	gz_sub_command="gazebo" # "gazebo" before garden
+	# "gz sim" only avaiilable in Garden and later
+	GZ_SIM_VERSIONS=$(gz sim --versions 2>&1)
+	if [ $? -eq 0 ] && [ "${GZ_SIM_VERSIONS}" != "" ]
+	then
+		# "gz sim" from Garden on
+		gz_command="gz"
+		gz_sub_command="sim"
+	else
+		IGN_GAZEBO_VERSIONS=$(ign gazebo --versions 2>&1)
+		if [ $? -eq 0 ] && [ "${IGN_GAZEBO_VERSIONS}" != "" ]
+		then
+			# "ign gazebo" for Fortress and earlier
+			gz_command="ign"
+			gz_sub_command="gazebo"
+		else
+			echo "ERROR [init] Gazebo gz and ign commands unavailable"
+			exit 1
+		fi
+	fi

 	# look for running ${gz_command} gazebo world
 	gz_world=$( ${gz_command} topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
@@ -41,8 +60,8 @@ elif [ "$PX4_SIMULATOR" = "gz" ]; then
 		${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &

 		if [ -z "${HEADLESS}" ]; then
-			# HEADLESS not set, starting ign gazebo gui
-			${gz_command} gazebo -g &
+			# HEADLESS not set, starting gui
+			${gz_command} ${gz_sub_command} -g &
 		fi

 	else
@@ -71,7 +90,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ]; then
 			sensor_mag_sim start

 		else
-			echo "ERROR [init] gazebo failed to start"
+			echo "ERROR [init] gz_bridge failed to start"
 			exit 1
 		fi

@@ -84,7 +103,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ]; then
 			sensor_mag_sim start

 		else
-			echo "ERROR [init] gazebo failed to start"
+			echo "ERROR [init] gz_bridge failed to start"
 			exit 1
 		fi

@@ -92,13 +111,13 @@ elif [ "$PX4_SIMULATOR" = "gz" ]; then

 		echo "WARN  [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."

-		if gz_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
+		if gz_bridge start -m "${PX4_SIM_MODEL#*gz_}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
 			sensor_baro_sim start
 			sensor_gps_sim start
 			sensor_mag_sim start

 		else
-			echo "ERROR [init] gazebo failed to start"
+			echo "ERROR [init] gz_bridge failed to start"
 			exit 1
 		fi

@@ -107,6 +126,20 @@ elif [ "$PX4_SIMULATOR" = "gz" ]; then
 		exit 1
 	fi

+elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "10017" ]; then
+
+	echo "INFO  [init] jMAVSim simulator"
+
+	if jps | grep -i jmavsim; then
+		kill "$(jps | grep -i jmavsim | awk '{print $1}')" || true
+		sleep 1
+	fi
+
+	param set IMU_INTEG_RATE 250
+	./jmavsim_run.sh -l -r 250 &
+
+	simulator_mavlink start -h localhost $((4560+px4_instance))
+
 else
 	# otherwise start simulator (mavlink) module
 	simulator_tcp_port=$((4560+px4_instance))
@@ -117,15 +150,15 @@ else
 	if [ -z "${PX4_SIM_HOSTNAME}" ]; then

 		if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
-			echo "PX4 SIM HOST: localhost"
+			echo "INFO  [init] PX4_SIM_HOSTNAME: localhost"
 			simulator_mavlink start -c $simulator_tcp_port
 		else
-			echo "PX4 SIM HOST: ${PX4_SIM_HOST_ADDR}"
+			echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
 			simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
 		fi

 	else
-		echo "PX4 SIM HOST: ${PX4_SIM_HOSTNAME}"
+		echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
 		simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
 	fi

@@ -18,6 +18,7 @@ control_allocator start
 #
 # Start attitude controller.
 #
+fw_rate_control start
 fw_att_control start
 fw_pos_control_l1 start
 airspeed_selector start
@@ -35,6 +35,7 @@ then
 	mc_autotune_attitude_control start
 fi

+fw_rate_control start vtol
 fw_att_control start vtol
 fw_pos_control_l1 start vtol
 fw_autotune_attitude_control start vtol
@@ -350,6 +350,7 @@ else
 			simulator_sih start
 			sensor_baro_sim start
 			sensor_mag_sim start
+			sensor_gps_sim start
 		fi

 	else
@@ -14,7 +14,6 @@ set -e
 INSTALL_NUTTX="true"
 INSTALL_SIM="true"
 INSTALL_ARCH=`uname -m`
-INSTALL_SIM_JAMMY="false"

 # Parse arguments
 for arg in "$@"
@@ -26,11 +25,6 @@ do
 	if [[ $arg == "--no-sim-tools" ]]; then
 		INSTALL_SIM="false"
 	fi
-
-	if [[ $arg == "--sim_jammy" ]]; then
-		INSTALL_SIM_JAMMY="true"
-	fi
-
 done

 # detect if running in docker
@@ -71,9 +65,7 @@ elif [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
 elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
 	echo "Ubuntu 20.04"
 elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
-	echo "Ubuntu 22.04, simulation build off by default." 
-	echo "Use --sim_jammy to enable simulation build."
-	INSTALL_SIM=$INSTALL_SIM_JAMMY
+	echo "Ubuntu 22.04"
 fi


@@ -225,7 +217,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	# Set Java 11 as default
 	sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")

-	# Gazebo
+	# Install Gazebo classic
 	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
 		gazebo_version=9
 		gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
@@ -262,6 +254,17 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		# fix VMWare 3D graphics acceleration for gazebo
 		echo "export SVGA_VGPU10=0" >> ~/.profile
 	fi
+
+	# Install Gazebo
+	if [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
+		sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+		wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
+		# Update list, since new gazebo-stable.list has been added
+		sudo apt-get update -y --quiet
+		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+			ignition-fortress \
+			;
+	fi
 fi

 if [[ $INSTALL_NUTTX == "true" ]]; then
@@ -22,7 +22,7 @@ echo build_path: $build_path
 rootfs="$build_path/rootfs" # this is the working directory
 mkdir -p "$rootfs"

-export PX4_SIM_MODEL=${model}
+export PX4_SIM_MODEL=flightgear_${model}

 echo "FG setup"
 cd "${src_path}/Tools/simulation/flightgear/flightgear_bridge/"
@@ -1,6 +1,6 @@
 #!/bin/bash
 # run multiple instances of the 'px4' binary, with the gazebo SITL simulation
-# It assumes px4 is already built, with 'make px4_sitl_default gazebo'
+# It assumes px4 is already built, with 'make px4_sitl_default sitl_gazebo'

 # The simulator is expected to send to TCP port 4560+i for i in [0, N-1]
 # For example gazebo can be run like this:
@@ -69,7 +69,7 @@ num_vehicles=${NUM_VEHICLES:=3}
 world=${WORLD:=empty}
 target=${TARGET:=px4_sitl_default}
 vehicle_model=${VEHICLE_MODEL:="iris"}
-export PX4_SIM_MODEL=${vehicle_model}
+export PX4_SIM_MODEL=gazebo_${vehicle_model}

 echo ${SCRIPT}
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
@@ -126,7 +126,7 @@ else

 		m=0
 		while [ $m -lt ${target_number} ]; do
-			export PX4_SIM_MODEL=${target_vehicle}
+			export PX4_SIM_MODEL=gazebo_${target_vehicle}
 			spawn_model ${target_vehicle}${LABEL} $n $target_x $target_y
 			m=$(($m + 1))
 			n=$(($n + 1))
@@ -67,7 +67,7 @@ fi
 # be running from last time
 pkill -x gazebo || true

-export PX4_SIM_MODEL=${model}
+export PX4_SIM_MODEL=gazebo_${model}
 export PX4_SIM_WORLD=${world}

 SIM_PID=0
@@ -75,10 +75,6 @@ SIM_PID=0
 if [ -x "$(command -v gazebo)" ]; then
 	# Get the model name
 	model_name="${model}"
-	# Check if a 'modelname-gen.sdf' file exist for the models using jinja and generating the SDF files
-	if [ -f "${src_path}/Tools/simulation/gazebo/sitl_gazebo/models/${model}/${model}-gen.sdf" ]; then
-		model_name="${model}-gen"
-	fi

 	# Set the plugin path so Gazebo finds our model and sim
 	source "$src_path/Tools/simulation/gazebo/setup_gazebo.bash" "${src_path}" "${build_path}"
@@ -1,11 +0,0 @@
-<?xml version="1.0"?>
-<model>
-  <name>x500-NoPlugin</name>
-  <version>1.0</version>
-  <sdf version="1.9">model.sdf</sdf>
-  <author>
-    <name>Benjamin Perseghetti</name>
-    <email>bperseghetti@rudislabs.com</email>
-  </author>
-  <description>Model of the NXP HoverGames Drone development kit (KIT-HGDRONEK66). The PX4 software compatible kit provides mechanical, RC remote and other components needed to evaluate the RDDRONE-FMUK66 reference design. The FMU includes 100Base-T1 Automotive Ethernet, dual CAN transceivers, as well as SE050 secure element, and works with add on boards NavQPlus, MR-T1ETH8, MR-T1ADAPT, and CAN-nodes such as UCANS32K1SIC.  Kit may be used with, and contains the components needed for the HoverGames.com coding challenges.</description>
-</model>
@@ -1,516 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<sdf version='1.9'>
-  <model name='x500-NoPlugin'>
-    <pose>0 0 .24 0 0 0</pose>
-    <self_collide>false</self_collide>
-    <static>false</static>
-    <link name="base_link">
-      <inertial>
-        <mass>2.0</mass>
-        <inertia>
-          <ixx>0.02166666666666667</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.02166666666666667</iyy>
-          <iyz>0</iyz>
-          <izz>0.04000000000000001</izz>
-        </inertia>
-      </inertial>
-      <gravity>true</gravity>
-      <velocity_decay/>
-      <visual name="base_link_visual">
-        <pose>0 0 .025 0 0 3.141592654</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500-NoPlugin/meshes/NXP-HGD-CF.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="5010_motor_base_0">
-        <pose>0.174 0.174 .032 0 0 -.45</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500-NoPlugin/meshes/5010Base.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="5010_motor_base_1">
-        <pose>-0.174 0.174 .032 0 0 -.45</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500-NoPlugin/meshes/5010Base.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="5010_motor_base_2">
-        <pose>0.174 -0.174 .032 0 0 -.45</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500-NoPlugin/meshes/5010Base.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="5010_motor_base_3">
-        <pose>-0.174 -0.174 .032 0 0 -.45</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500-NoPlugin/meshes/5010Base.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="NXP_FMUK66_FRONT">
-        <pose>0.047 .001 .043 1 0 1.57</pose>
-        <cast_shadows>false</cast_shadows>
-        <geometry>
-          <plane>
-            <normal>0 0 1</normal>
-            <size>.013 .007</size>
-          </plane>
-        </geometry>
-        <material>
-          <diffuse>1.0 1.0 1.0</diffuse>
-          <specular>1.0 1.0 1.0</specular>
-          <pbr>
-            <metal>
-              <albedo_map>model://x500-NoPlugin/materials/textures/nxp.png</albedo_map>
-            </metal>
-          </pbr>
-        </material>
-      </visual>
-      <visual name="NXP_FMUK66_TOP">
-        <pose>-0.023 0 .0515 0 0 -1.57</pose>
-        <cast_shadows>false</cast_shadows>
-        <geometry>
-          <plane>
-            <normal>0 0 1</normal>
-            <size>.013 .007</size>
-          </plane>
-        </geometry>
-        <material>
-          <diffuse>1.0 1.0 1.0</diffuse>
-          <specular>1.0 1.0 1.0</specular>
-          <pbr>
-            <metal>
-              <albedo_map>model://x500-NoPlugin/materials/textures/nxp.png</albedo_map>
-            </metal>
-          </pbr>
-        </material>
-      </visual>
-      <visual name="RDDRONE_FMUK66_TOP">
-        <pose>-.03 0 .0515 0 0 -1.57</pose>
-        <cast_shadows>false</cast_shadows>
-        <geometry>
-          <plane>
-            <normal>0 0 1</normal>
-            <size>.032 .0034</size>
-          </plane>
-        </geometry>
-        <material>
-          <diffuse>1.0 1.0 1.0</diffuse>
-          <specular>1.0 1.0 1.0</specular>
-          <pbr>
-            <metal>
-              <albedo_map>model://x500-NoPlugin/materials/textures/rd.png</albedo_map>
-            </metal>
-          </pbr>
-        </material>
-      </visual>
-      <collision name="base_link_collision_0">
-        <pose>0 0 .007 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.35355339059327373 0.35355339059327373 0.05</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <collision name="base_link_collision_1">
-        <pose>0 -0.098 -.123 -0.35 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.015 0.015 0.21</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <collision name="base_link_collision_2">
-        <pose>0 0.098 -.123 0.35 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.015 0.015 0.21</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <collision name="base_link_collision_3">
-        <pose>0 -0.132 -.2195 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.25 0.015 0.015</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <collision name="base_link_collision_4">
-        <pose>0 0.132 -.2195 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.25 0.015 0.015</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <sensor name="imu_sensor" type="imu">
-        <always_on>1</always_on>
-        <update_rate>250</update_rate>
-      </sensor>
-    </link>
-    <link name="rotor_0">
-      <gravity>true</gravity>
-      <self_collide>false</self_collide>
-      <velocity_decay/>
-      <pose>0.174 -0.174 0.06 0 0 0</pose>
-      <inertial>
-          <mass>0.016076923076923075</mass>
-          <inertia>
-            <ixx>3.8464910483993325e-07</ixx>
-            <iyy>2.6115851691700804e-05</iyy>
-            <izz>2.649858234714004e-05</izz>
-          </inertia>
-        </inertial>
-      <visual name="rotor_0_visual">
-        <pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
-            <uri>model://x500-NoPlugin/meshes/1345_prop_ccw.stl</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <script>
-            <name>Gazebo/DarkGrey</name>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-          </script>
-        </material>
-      </visual>
-      <visual name="rotor_0_visual_motor_bell">
-        <pose>0 0 -.032 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500-NoPlugin/meshes/5010Bell.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <collision name="rotor_0_collision">
-        <pose>0 0 0 0 0 0 </pose>
-        <geometry>
-          <box>
-            <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rotor_0_joint" type="revolute">
-      <parent>base_link</parent>
-      <child>rotor_0</child>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rotor_1">
-      <gravity>true</gravity>
-      <self_collide>false</self_collide>
-      <velocity_decay/>
-      <pose>-0.174 0.174 0.06 0 0 0</pose>
-      <inertial>
-          <mass>0.016076923076923075</mass>
-          <inertia>
-            <ixx>3.8464910483993325e-07</ixx>
-            <iyy>2.6115851691700804e-05</iyy>
-            <izz>2.649858234714004e-05</izz>
-          </inertia>
-        </inertial>
-      <visual name="rotor_1_visual">
-        <pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
-            <uri>model://x500-NoPlugin/meshes/1345_prop_ccw.stl</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <script>
-            <name>Gazebo/DarkGrey</name>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-          </script>
-        </material>
-      </visual>
-      <visual name="rotor_1_visual_motor_top">
-        <pose>0 0 -.032 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500-NoPlugin/meshes/5010Bell.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <collision name="rotor_1_collision">
-        <pose>0 0 0 0 0 0 </pose>
-        <geometry>
-          <box>
-            <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rotor_1_joint" type="revolute">
-      <parent>base_link</parent>
-      <child>rotor_1</child>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rotor_2">
-      <gravity>true</gravity>
-      <self_collide>false</self_collide>
-      <velocity_decay/>
-      <pose>0.174 0.174 0.06 0 0 0</pose>
-      <inertial>
-          <mass>0.016076923076923075</mass>
-          <inertia>
-            <ixx>3.8464910483993325e-07</ixx>
-            <iyy>2.6115851691700804e-05</iyy>
-            <izz>2.649858234714004e-05</izz>
-          </inertia>
-        </inertial>
-      <visual name="rotor_2_visual">
-        <pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
-            <uri>model://x500-NoPlugin/meshes/1345_prop_cw.stl</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <script>
-            <name>Gazebo/DarkGrey</name>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-          </script>
-        </material>
-      </visual>
-      <visual name="rotor_2_visual_motor_top">
-        <pose>0 0 -.032 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500-NoPlugin/meshes/5010Bell.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <collision name="rotor_2_collision">
-        <pose>0 0 0 0 0 0 </pose>
-        <geometry>
-          <box>
-            <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rotor_2_joint" type="revolute">
-      <parent>base_link</parent>
-      <child>rotor_2</child>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rotor_3">
-      <gravity>true</gravity>
-      <self_collide>false</self_collide>
-      <velocity_decay/>
-      <pose>-0.174 -0.174 0.06 0 0 0</pose>
-      <inertial>
-          <mass>0.016076923076923075</mass>
-          <inertia>
-            <ixx>3.8464910483993325e-07</ixx>
-            <iyy>2.6115851691700804e-05</iyy>
-            <izz>2.649858234714004e-05</izz>
-          </inertia>
-        </inertial>
-      <visual name="rotor_3_visual">
-        <pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
-            <uri>model://x500-NoPlugin/meshes/1345_prop_cw.stl</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <script>
-            <name>Gazebo/DarkGrey</name>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-          </script>
-        </material>
-      </visual>
-      <visual name="rotor_3_visual_motor_top">
-        <pose>0 0 -.032 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500-NoPlugin/meshes/5010Bell.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <collision name="rotor_3_collision">
-        <pose>0 0 0 0 0 0 </pose>
-        <geometry>
-          <box>
-            <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rotor_3_joint" type="revolute">
-      <parent>base_link</parent>
-      <child>rotor_3</child>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-  </model>
-</sdf>
@@ -1,10 +1,518 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <sdf version='1.9'>
  <model name='x500'>
-    <include merge='true'>
-      <uri>model://x500-NoPlugin</uri>
-    </include>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+    <pose>0 0 .24 0 0 0</pose>
+    <self_collide>false</self_collide>
+    <static>false</static>
+    <link name="base_link">
+      <inertial>
+        <mass>2.0</mass>
+        <inertia>
+          <ixx>0.02166666666666667</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.02166666666666667</iyy>
+          <iyz>0</iyz>
+          <izz>0.04000000000000001</izz>
+        </inertia>
+      </inertial>
+      <gravity>true</gravity>
+      <velocity_decay/>
+      <visual name="base_link_visual">
+        <pose>0 0 .025 0 0 3.141592654</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://x500/meshes/NXP-HGD-CF.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="5010_motor_base_0">
+        <pose>0.174 0.174 .032 0 0 -.45</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://x500/meshes/5010Base.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="5010_motor_base_1">
+        <pose>-0.174 0.174 .032 0 0 -.45</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://x500/meshes/5010Base.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="5010_motor_base_2">
+        <pose>0.174 -0.174 .032 0 0 -.45</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://x500/meshes/5010Base.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="5010_motor_base_3">
+        <pose>-0.174 -0.174 .032 0 0 -.45</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://x500/meshes/5010Base.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="NXP_FMUK66_FRONT">
+        <pose>0.047 .001 .043 1 0 1.57</pose>
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+          <plane>
+            <normal>0 0 1</normal>
+            <size>.013 .007</size>
+          </plane>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0</diffuse>
+          <specular>1.0 1.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>model://x500/materials/textures/nxp.png</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="NXP_FMUK66_TOP">
+        <pose>-0.023 0 .0515 0 0 -1.57</pose>
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+          <plane>
+            <normal>0 0 1</normal>
+            <size>.013 .007</size>
+          </plane>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0</diffuse>
+          <specular>1.0 1.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>model://x500/materials/textures/nxp.png</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="RDDRONE_FMUK66_TOP">
+        <pose>-.03 0 .0515 0 0 -1.57</pose>
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+          <plane>
+            <normal>0 0 1</normal>
+            <size>.032 .0034</size>
+          </plane>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0</diffuse>
+          <specular>1.0 1.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>model://x500/materials/textures/rd.png</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <collision name="base_link_collision_0">
+        <pose>0 0 .007 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.35355339059327373 0.35355339059327373 0.05</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <min_depth>0.001</min_depth>
+              <max_vel>0</max_vel>
+            </ode>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_collision_1">
+        <pose>0 -0.098 -.123 -0.35 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.015 0.015 0.21</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <min_depth>0.001</min_depth>
+              <max_vel>0</max_vel>
+            </ode>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_collision_2">
+        <pose>0 0.098 -.123 0.35 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.015 0.015 0.21</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <min_depth>0.001</min_depth>
+              <max_vel>0</max_vel>
+            </ode>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_collision_3">
+        <pose>0 -0.132 -.2195 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.25 0.015 0.015</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <min_depth>0.001</min_depth>
+              <max_vel>0</max_vel>
+            </ode>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_collision_4">
+        <pose>0 0.132 -.2195 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.25 0.015 0.015</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <min_depth>0.001</min_depth>
+              <max_vel>0</max_vel>
+            </ode>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <sensor name="imu_sensor" type="imu">
+        <always_on>1</always_on>
+        <update_rate>250</update_rate>
+      </sensor>
+    </link>
+    <link name="rotor_0">
+      <gravity>true</gravity>
+      <self_collide>false</self_collide>
+      <velocity_decay/>
+      <pose>0.174 -0.174 0.06 0 0 0</pose>
+      <inertial>
+          <mass>0.016076923076923075</mass>
+          <inertia>
+            <ixx>3.8464910483993325e-07</ixx>
+            <iyy>2.6115851691700804e-05</iyy>
+            <izz>2.649858234714004e-05</izz>
+          </inertia>
+        </inertial>
+      <visual name="rotor_0_visual">
+        <pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
+            <uri>model://x500/meshes/1345_prop_ccw.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/DarkGrey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="rotor_0_visual_motor_bell">
+        <pose>0 0 -.032 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://x500/meshes/5010Bell.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="rotor_0_collision">
+        <pose>0 0 0 0 0 0 </pose>
+        <geometry>
+          <box>
+            <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <min_depth>0.001</min_depth>
+              <max_vel>0</max_vel>
+            </ode>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+    </link>
+    <joint name="rotor_0_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>rotor_0</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name="rotor_1">
+      <gravity>true</gravity>
+      <self_collide>false</self_collide>
+      <velocity_decay/>
+      <pose>-0.174 0.174 0.06 0 0 0</pose>
+      <inertial>
+          <mass>0.016076923076923075</mass>
+          <inertia>
+            <ixx>3.8464910483993325e-07</ixx>
+            <iyy>2.6115851691700804e-05</iyy>
+            <izz>2.649858234714004e-05</izz>
+          </inertia>
+        </inertial>
+      <visual name="rotor_1_visual">
+        <pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
+            <uri>model://x500/meshes/1345_prop_ccw.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/DarkGrey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="rotor_1_visual_motor_top">
+        <pose>0 0 -.032 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://x500/meshes/5010Bell.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="rotor_1_collision">
+        <pose>0 0 0 0 0 0 </pose>
+        <geometry>
+          <box>
+            <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <min_depth>0.001</min_depth>
+              <max_vel>0</max_vel>
+            </ode>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+    </link>
+    <joint name="rotor_1_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>rotor_1</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name="rotor_2">
+      <gravity>true</gravity>
+      <self_collide>false</self_collide>
+      <velocity_decay/>
+      <pose>0.174 0.174 0.06 0 0 0</pose>
+      <inertial>
+          <mass>0.016076923076923075</mass>
+          <inertia>
+            <ixx>3.8464910483993325e-07</ixx>
+            <iyy>2.6115851691700804e-05</iyy>
+            <izz>2.649858234714004e-05</izz>
+          </inertia>
+        </inertial>
+      <visual name="rotor_2_visual">
+        <pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
+            <uri>model://x500/meshes/1345_prop_cw.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/DarkGrey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="rotor_2_visual_motor_top">
+        <pose>0 0 -.032 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://x500/meshes/5010Bell.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="rotor_2_collision">
+        <pose>0 0 0 0 0 0 </pose>
+        <geometry>
+          <box>
+            <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <min_depth>0.001</min_depth>
+              <max_vel>0</max_vel>
+            </ode>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+    </link>
+    <joint name="rotor_2_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>rotor_2</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name="rotor_3">
+      <gravity>true</gravity>
+      <self_collide>false</self_collide>
+      <velocity_decay/>
+      <pose>-0.174 -0.174 0.06 0 0 0</pose>
+      <inertial>
+          <mass>0.016076923076923075</mass>
+          <inertia>
+            <ixx>3.8464910483993325e-07</ixx>
+            <iyy>2.6115851691700804e-05</iyy>
+            <izz>2.649858234714004e-05</izz>
+          </inertia>
+        </inertial>
+      <visual name="rotor_3_visual">
+        <pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
+            <uri>model://x500/meshes/1345_prop_cw.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/DarkGrey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="rotor_3_visual_motor_top">
+        <pose>0 0 -.032 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://x500/meshes/5010Bell.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="rotor_3_collision">
+        <pose>0 0 0 0 0 0 </pose>
+        <geometry>
+          <box>
+            <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <min_depth>0.001</min_depth>
+              <max_vel>0</max_vel>
+            </ode>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+    </link>
+    <joint name="rotor_3_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>rotor_3</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+   <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
      <jointName>rotor_0_joint</jointName>
      <linkName>rotor_0</linkName>
      <turningDirection>ccw</turningDirection>
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Jaeyoung Lim	18e79c9649	Tailsitter add yaw controls	2023-01-11 13:38:59 +01:00
Beniamino Pozzan	af336719e6	gz_bridge: fix world selector environment variable Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>	2023-01-08 00:15:35 -05:00
PX4 BuildBot	e6c4416250	update all px4board kconfig	2023-01-07 21:53:01 -05:00
Daniel Agar	618288cca9	SITL Gazebo classic make airframes simulator specific	2023-01-07 17:00:35 -05:00
Daniel Agar	97c8a60d67	SITL gz make airframes simulator specific	2023-01-07 17:00:35 -05:00
Daniel Agar	ae4cb24100	SITL flightgear make airframes simulator specific	2023-01-07 17:00:35 -05:00
Daniel Agar	1abe35c220	SITL jsbsim make airframes simulator specific	2023-01-07 17:00:35 -05:00
Daniel Agar	75125da34c	SITL sihsim make airframes simulator specific	2023-01-07 17:00:35 -05:00
Daniel Agar	95a6eba36c	SITL jmavsim make airframes simulator specific -cleanup and simplify jmavsim SITL launch and debug	2023-01-07 17:00:35 -05:00
Daniel Agar	760fff7d89	Kconfig: fix missing SERIAL_EXT2 (fmu-v5x/v6x)	2023-01-07 12:10:52 -05:00
Daniel Agar	dc5ce9b0ce	boards: NuttX increase default CONFIG_ARCH_INTERRUPTSTACK 512->768 bytes - during casual testing on default configs the stack was penetration was reaching ~90% which is a bit too close for comfort - increasing by 50% to be conservative	2023-01-07 12:07:35 -05:00
Daniel Agar	7f7dfea998	drivers/imu/analog_devices: experimental support for new ADIS16507 IMU (untested)	2023-01-07 10:56:30 -05:00
Daniel Agar	f520d4b3be	Update submodule mavlink to latest Sat Jan 7 12:38:21 UTC 2023 - mavlink in PX4/Firmware (8bc88ed526044a864427a4b65135c3baffabb2ef): https://github.com/mavlink/mavlink/commit/0c7792edfeee7cf08e531cb4ce5b4f01854e5724 - mavlink current upstream: https://github.com/mavlink/mavlink/commit/74dee05f0cd121ae27e021d011a04b161c9d0440 - Changes: https://github.com/mavlink/mavlink/compare/0c7792edfeee7cf08e531cb4ce5b4f01854e5724...74dee05f0cd121ae27e021d011a04b161c9d0440 74dee05f 2023-01-04 Beat Küng - component_metadata: add translation schema (#1934) 0267c4cf 2023-01-04 Bob Long - common.xml: add fuel_pressure ext. to EFI_STATUS (#1938) c64818e8 2023-01-04 Mathieu Mirmont - common.xml: fix typos in AIS_TYPE enumerate (#1939) 2306bf79 2023-01-04 Hamish Willee - Update pymavlink (#1940) 0077129b 2022-10-06 Peter Hall - Development: update airspeed message fbf84c64 2022-10-05 Peter Hall - gitignore: add /.vscode 817c44d8 2022-12-15 Mathieu Mirmont - Add the MAV_TYPE_VTOL_TILTWING aircraft type (#1933) Co-authored-by: PX4 BuildBot <bot@px4.io>	2023-01-07 10:55:05 -05:00
Julian Oes	243caac44a	mavlink: filter command_acks by target When we receive a command_long or command_int message to answer, it arrives with a source sysid/compid, so this means we can send the command_ack back on the appropriate MAVLink instances instead of all of them. This commit filters outgoing command_ack messages, so they are only sent on the MAVLink instances where the sysid/compid has been seen in the past. This means that a command_ack is likely still sent on multiple links for a setup with redundant links. This should also prevent command_acks from being blasted on Iridium links when it's not required. Signed-off-by: Julian Oes <julian@oes.ch>	2023-01-07 10:39:08 -05:00
Matthias Grob	19cee04f3a	ubuntu.sh: always install "Gazebo" next to "Gazebo classic" on 22.04	2023-01-07 10:37:02 -05:00
Marcin	91e97eded9	setup ubuntu.sh; fix legacy gazebo for ubuntu22.04	2023-01-07 10:37:02 -05:00
murata,katsutoshi	d821404e4f	commander: failsafe define enums for actions (#20880 )	2023-01-07 10:10:57 -05:00
bresch	49f8bcfc69	ekf2: purge old ekf2 derivation	2023-01-06 18:35:19 -05:00
Peter van der Perk	d1b95a21e4	Fixes MR-CANHUBK3 FMU build and adds it to the CI targets	2023-01-06 18:02:45 -05:00
Hamish Willee	1551e2f15c	MIS_TKO_LAND_REQ - improve English for value 4	2023-01-06 09:43:16 +01:00
Julian Oes	7e3dcd7be4	sensors: fix overlapping ifdef This fixes the case where vehicle_angular_rate is no longer started when airspeed is not enabled. Signed-off-by: Julian Oes <julian@oes.ch>	2023-01-05 21:09:14 -05:00
bresch	26122886ae	ekf2: drag fusion - improve parameter description The user should refer to the online documentation for tuning guidelines and not the parameter description.	2023-01-05 12:03:24 -05:00
bresch	06ef39d05e	ekf2: MC drag fusion - interpolate between X an Y "b" coefficients Use the current sideslip angle to generate a drag coefficient that is a mixture of X and Y coefficients, creating an elliptic distribution.	2023-01-05 12:03:24 -05:00
bresch	420f5ef2b7	ekf2: migrate drag fusion derivation to SymForce	2023-01-05 12:03:24 -05:00
bresch	04f76c932e	ekf2: decompose drag vector into x-y components The drag force is a vector. drag_x = drag.norm() * vx / v.norm()	2023-01-05 12:03:24 -05:00
Paul Riseborough	1a9c358858	ekf2: Add unit tests for drag fusion	2023-01-05 12:03:24 -05:00
bresch	0509f612dd	ekf2: fix drag data downsampling setDragData needs the imu data at full speed to downsample it without skipping samples.	2023-01-05 12:03:24 -05:00
Daniel Agar	34c57cc5b5	px4-rc.simulator shellcheck fixes	2023-01-04 17:35:41 -05:00
bresch	14bf04b9a4	SIH: add to px4_fmu-v5_default and auto start GPS sim driver - add simulator kconfig dependencies - exclude SIH (+deps) where sufficient flash isn't available	2023-01-04 16:26:15 -05:00
Peter van der Perk	fa87375d0c	Add hardfault log progmem flash backend	2023-01-04 12:52:01 -05:00
Daniel Agar	ca9ae80b10	px4-rc.simulator support launching new Gazebo Garden vs Fortress (#20864 ) - "ign gazebo" command is now "gz sim" as of Gazebo Garden	2023-01-04 12:39:06 -05:00
JaeyoungLim	21e88f64b4	Add new fixed wing rate control module (fw_rate_control) * Fixedwing rate control into a separate module * Start fw_rate_control for vtol * Move over airspeed related parameters to fw_rate_control Co-authored-by: Silvan Fuhrer <silvan@auterion.com>	2023-01-04 11:14:00 -05:00
Peter van der Perk	4c2c06060d	PX4Board kconfig add dependency chain for QURT & POSIX modules	2023-01-04 09:40:17 -05:00
Peter van der Perk	ddaa3c24eb	Fix MR-CANHUBK3	2023-01-04 05:52:58 -05:00
frederictaillandier	315c075e5c	updating the sitl-gazebo-sniffer to allow a vehicle name in the serialized object	2023-01-03 17:00:48 +01:00
bresch	28d664aed5	EKF2: purge outdated matlab scripts Those files are no longer maintained and will just confuse new users	2022-12-30 13:01:58 -05:00
Daniel Agar	cc1b043e18	cmake/kconfig.cmake: fix whitespace	2022-12-30 13:01:30 -05:00
dagar	618ce9a865	[AUTO COMMIT] update change indication	2022-12-29 16:37:34 -05:00
Daniel Agar	20a1c73cf0	ekf2: reinit baro height on sensor or calibration change - handle reset on delayed time horizon	2022-12-29 16:37:34 -05:00
Silvan Fuhrer	0e2df5a152	remove drivers/pca9685 Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-12-29 12:57:41 -05:00
Silvan Fuhrer	348dcf11c8	remove examples/hwtest Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-12-29 12:57:11 -05:00
bresch	3e4e5c991c	ekf2: add mag unit tests	2022-12-29 12:56:36 -05:00
bresch	657bd6cf72	ekf2: stop mag fusion when inhibited for too long Also do not try to run anything if mag is inhibited	2022-12-29 12:56:36 -05:00
bresch	c75a9058a5	EKF2: only fuse zero innovation if yaw var is large	2022-12-29 12:56:36 -05:00
Daniel Agar	40e3503c39	boards: fix all NuttX configs (CONFIG_SMALL NuttX upgrade migration)	2022-12-29 12:50:37 -05:00
Daniel Agar	0fbb6db6d4	boards: update all NuttX defconfig (make all_olddefconfig)	2022-12-29 12:50:37 -05:00
Daniel Agar	c2f15f5957	boards: update all px4boards (make all_px4_savedefconfig)	2022-12-29 12:50:37 -05:00
Daniel Agar	0204a55354	Makefile: add all_olddefconfig and all_px4_savedefconfig helpers for updating all boards	2022-12-29 12:50:37 -05:00
Daniel Agar	f37eb55e19	platforms/nuttx: FATAL error if NSH enabled and SET disabled	2022-12-29 12:50:37 -05:00
Peter van der Perk	964e9dd8c4	Fix MRO NuttX defconfig	2022-12-28 17:00:58 -05:00
Peter van der Perk	f7c183edd3	Update NuttX kernel for K3 changes	2022-12-28 10:21:58 -05:00
Peter van der Perk	5e3165af70	S32K3 Enable dflash progmem	2022-12-28 10:21:58 -05:00
Peter van der Perk	2fde13c07d	S32K3 EMAC TJA1103 Support	2022-12-28 10:21:58 -05:00
Peter van der Perk	2f1a165d85	S32K3 Enable IRQ stack	2022-12-28 10:21:58 -05:00
Benjamin Perseghetti	c3174b5dec	Tools/setup/ubuntu.sh: Fixes install for 22.04 gazebo (#20833 ) Fixes ubuntu installation script for 22.04 to only install gazebo. Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>	2022-12-28 10:16:43 -05:00
Peter van der Perk	beabe56253	S32K3XX call functional reset on board_reset	2022-12-27 08:33:24 -05:00
Yannick Fuhrer	98529a5b49	Battery: delay initialization of SoC (#20729 ) * Battery: delay initialization of SoC * battery: rework of battery initialization delay Co-authored-by: Matthias Grob <maetugr@gmail.com>	2022-12-26 18:44:22 +01:00
PX4 BuildBot	54d825730e	Update submodule libcanard to latest Sat Dec 24 00:39:03 UTC 2022 - libcanard in PX4/Firmware (280ef8935565d4a13e0780c926e1707fa5a90118): https://github.com/opencyphal/libcanard/commit/2e3b11f6b8325080c160d38521b169b0bbb6b1c7 - libcanard current upstream: https://github.com/opencyphal/libcanard/commit/5c69d451ab0787a81dcb615692d707f2a286f5e5 - Changes: https://github.com/opencyphal/libcanard/compare/2e3b11f6b8325080c160d38521b169b0bbb6b1c7...5c69d451ab0787a81dcb615692d707f2a286f5e5 5c69d45 2022-11-03 John Vishnefske - Add sanitizers to unit test cmake build (#205) 989124d 2022-10-30 Pavel Kirienko - Fix 203 (#204) f85103b 2022-10-13 joshvazquez-amzn - Fix warnings in test helpers (#202)	2022-12-23 22:36:09 -05:00
PX4 BuildBot	b6eb5ba790	Update submodule sitl_gazebo to latest Sat Dec 24 00:39:01 UTC 2022 - sitl_gazebo in PX4/Firmware (`bb591c6c29`): https://github.com/PX4/PX4-SITL_gazebo/commit/049b667d5e86fa71bd47c41dd10e911a0e2681b0 - sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/d44ce17f4368ab961f87fcc59845647fb629033f - Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/049b667d5e86fa71bd47c41dd10e911a0e2681b0...d44ce17f4368ab961f87fcc59845647fb629033f d44ce17 2022-12-19 Frederic Taillandier - fixing macos test build (#935) 7f9239c 2022-12-19 Daniel Mesham - Add safe landing world (#932) 61b1fc1 2022-12-19 Daniel Mesham - Update depth camera to match the RealSense D455 (#933)	2022-12-23 22:34:32 -05:00