WIP: nuttx common early pin init per architecture

- existing SIM_GZ outputs -> SIM_GZ_EC (ESCs)
 - new SIM_GZ_SV for servos (not fully implemented)

.ci/Jenkinsfile-compile

@@ -9,10 +9,10 @@ pipeline {
         script {
           def build_nodes = [:]
           def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2021-09-08",
-            arm64: "px4io/px4-dev-aarch64:2021-09-08",
-            base: "px4io/px4-dev-base-bionic:2021-09-08",
-            nuttx: "px4io/px4-dev-nuttx-focal:2021-09-08",
+            armhf: "px4io/px4-dev-armhf:2022-08-12",
+            arm64: "px4io/px4-dev-aarch64:2022-08-12",
+            base: "px4io/px4-dev-ros2-foxy:2022-08-12",
+            nuttx: "px4io/px4-dev-nuttx-focal:2022-08-12",
           ]
 
           def armhf_builds = [

.ci/Jenkinsfile-hardware

@@ -755,9 +755,11 @@ void runTests() {
   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 "work_queue status"'
 
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during test
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ostest"'
   sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot after ostest
 
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during test
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'

.github/workflows/compile_nuttx.yml

@@ -54,6 +54,7 @@ jobs:
           nxp_fmuk66-e,
           nxp_fmuk66-v3,
           nxp_fmurt1062-v1,
+          nxp_mr-canhubk3,
           nxp_ucans32k146,
           omnibus_f4sd,
           px4_fmu-v2,

.github/workflows/mavros_mission_tests.yml

@@ -59,13 +59,13 @@ jobs:
       run: |
           export
           ulimit -a
-    - name: Build PX4 and sitl_gazebo
+    - name: Build PX4 and sitl_gazebo-classic
       env:
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
       run: |
         ccache -z
         make px4_sitl_default
-        make px4_sitl_default sitl_gazebo
+        make px4_sitl_default sitl_gazebo-classic
         ccache -s
 
     - name: Core dump settings

.github/workflows/mavros_offboard_tests.yml

@@ -54,13 +54,13 @@ jobs:
       run: |
           export
           ulimit -a
-    - name: Build PX4 and sitl_gazebo
+    - name: Build PX4 and sitl_gazebo-classic
       env:
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
       run: |
         ccache -z
         make px4_sitl_default
-        make px4_sitl_default sitl_gazebo
+        make px4_sitl_default sitl_gazebo-classic
         ccache -s
 
     - name: Core dump settings

.github/workflows/sitl_tests.yml

@@ -74,14 +74,14 @@ jobs:
     - name: Build SITL Gazebo
       env:
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: make px4_sitl_default sitl_gazebo
-    - name: ccache post-run sitl_gazebo
+      run: make px4_sitl_default sitl_gazebo-classic
+    - name: ccache post-run sitl_gazebo-classic
       run: ccache -s
     - name: Build MAVSDK tests
       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-classic mavsdk_tests
     - name: ccache post-run mavsdk_tests
       run: ccache -s
 

.gitignore

@@ -47,8 +47,6 @@ GTAGS
 *.files
 *.includes
 
-Tools/jlink-nuttx.so
-
 # CLion ignores
 .idea
 cmake-build-*/

.gitmodules

@@ -10,9 +10,9 @@
 	path = Tools/simulation/jmavsim/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
 	branch = main
-[submodule "Tools/simulation/gazebo/sitl_gazebo"]
-	path = Tools/simulation/gazebo/sitl_gazebo
-	url = https://github.com/PX4/PX4-SITL_gazebo.git
+[submodule "Tools/simulation/gazebo-classic/sitl_gazebo-classic"]
+	path = Tools/simulation/gazebo-classic/sitl_gazebo-classic
+	url = https://github.com/PX4/PX4-SITL_gazebo-classic.git
 	branch = main
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices

.vscode/.gitignore

@@ -4,6 +4,7 @@ compile_commands.json
 
 # generated by cmake
 launch.json
+c_cpp_properties.json
 
 # C/C++ extension does some local caching in this folder
 ipch/

.vscode/cmake-variants.yaml

@@ -266,6 +266,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: nxp_fmuk66-v3_default
+    nxp_mr-canhubk3_default:
+      short: nxp_mr-canhubk3_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: nxp_mr-canhubk3_default
+    nxp_mr-canhubk3_fmu:
+      short: nxp_mr-canhubk3_fmu
+      buildType: MinSizeRel
+      settings:
+        CONFIG: nxp_mr-canhubk3_fmu
     raspberrypi_pico_default:
       short: raspberrypi_pico
       buildType: MinSizeRel

.vscode/tasks.json

@@ -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",
@@ -110,9 +67,9 @@
             "dependsOn":["px4_sitl_cleanup"]
         },
         {
-            "label": "gazebo build",
+            "label": "gazebo-classic build",
             "type": "shell",
-            "command": "make px4_sitl_default sitl_gazebo",
+            "command": "make px4_sitl_default sitl_gazebo-classic",
             "options": {
                 "cwd": "${workspaceFolder}"
             },
@@ -129,18 +86,18 @@
             "problemMatcher": [],
         },
         {
-            "label": "gazebo start",
+            "label": "gazebo-classic start",
             "type": "shell",
-            "dependsOn": "gazebo build",
+            "dependsOn": "gazebo-classic build",
             "options": {
                 "cwd": "${workspaceFolder}",
                 "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models",
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo-classic",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models",
                     "PX4_SIM_SPEED_FACTOR": "1"
                 }
             },
-            "command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/worlds/empty.world",
+            "command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/empty.world",
             "isBackground": true,
             "presentation": {
                 "echo": true,
@@ -171,18 +128,18 @@
             ]
         },
         {
-            "label": "gazebo",
+            "label": "gazebo-classic",
             "type": "shell",
-            "dependsOn": "gazebo start",
+            "dependsOn": "gazebo-classic start",
             "options": {
                 "cwd": "${workspaceFolder}",
                 "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models",
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo-classic",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models",
                     "PX4_SIM_SPEED_FACTOR": "1"
                 }
             },
-            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models/iris/iris.sdf --model-name=iris -x 1.01 -y 0.98 -z 0.83",
+            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris/iris.sdf --model-name=iris -x 1.01 -y 0.98 -z 0.83",
             "isBackground": false,
             "presentation": {
                 "echo": true,
@@ -237,7 +194,7 @@
             "dependsOn":["ign gazebo kill"]
         },
         {
-            "label": "gazebo kill",
+            "label": "gazebo-classic kill",
             "type": "shell",
             "command": "pkill -9 -f gzserver || true",
             "presentation": {

CMakeLists.txt

@@ -118,7 +118,21 @@ execute_process(
 	OUTPUT_STRIP_TRAILING_WHITESPACE
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
-message(STATUS "PX4 version: ${PX4_GIT_TAG}")
+
+# git describe to X.Y.Z version
+string(REPLACE "." ";" VERSION_LIST ${PX4_GIT_TAG})
+
+# major version
+list(GET VERSION_LIST 0 PX4_VERSION_MAJOR)
+string(REPLACE "v" "" PX4_VERSION_MAJOR ${PX4_VERSION_MAJOR})
+# minor version
+list(GET VERSION_LIST 1 PX4_VERSION_MINOR)
+# patch version
+list(GET VERSION_LIST 2 PX4_VERSION_PATCH)
+string(REPLACE "-" ";" PX4_VERSION_PATCH ${PX4_VERSION_PATCH})
+list(GET PX4_VERSION_PATCH 0 PX4_VERSION_PATCH)
+
+message(STATUS "PX4 version: ${PX4_GIT_TAG} (${PX4_VERSION_MAJOR}.${PX4_VERSION_MINOR}.${PX4_VERSION_PATCH})")
 
 define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                  BRIEF_DOCS "PX4 module libs"
@@ -282,7 +296,10 @@ 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
@@ -453,6 +470,9 @@ add_custom_command(OUTPUT ${uorb_graph_config}
 add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
 
 
+include(bloaty)
+
+
 include(doxygen)
 include(metadata)
 include(package)

Kconfig

@@ -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

LICENSE

@@ -1,6 +1,6 @@
 BSD 3-Clause License
 
-Copyright (c) 2012 - 2022, PX4 Development Team
+Copyright (c) 2012 - 2023, PX4 Development Team
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

Makefile

@@ -324,10 +324,6 @@ px4io_update:
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status
 
-jlink-nuttx:
-	$(CC) -shared -fPIC platforms/nuttx/NuttX/nuttx/tools/jlink-nuttx.c -o Tools/jlink-nuttx.so
-
-
 bootloaders_update: ark_fmu-v6x_bootloader cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
 	git status
 
@@ -392,17 +388,17 @@ tests_coverage:
 
 
 rostest: px4_sitl_default
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
 
 tests_integration: px4_sitl_default
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
 	@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
 	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
 
 tests_integration_coverage:
 	@$(MAKE) clean
 	@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
 	@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
 	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
 	@mkdir -p coverage
@@ -412,13 +408,13 @@ tests_mission: rostest
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_missions.test
 
 rostest_run: px4_sitl_default
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh $(TEST_FILE) mission:=$(TEST_MISSION) vehicle:=$(TEST_VEHICLE)
 
 tests_mission_coverage:
 	@$(MAKE) clean
 	@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic PX4_CMAKE_BUILD_TYPE=Coverage
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=VTOL_mission_1 vehicle:=standard_vtol
 	@$(MAKE) --no-print-directory px4_sitl_default generate_coverage
 
@@ -493,7 +489,7 @@ validate_module_configs:
 
 # Cleanup
 # --------------------------------------------------------------------
-.PHONY: clean submodulesclean submodulesupdate gazeboclean distclean
+.PHONY: clean submodulesclean submodulesupdate distclean
 
 clean:
 	@[ ! -d "$(SRC_DIR)/build" ] || find "$(SRC_DIR)/build" -mindepth 1 -maxdepth 1 -type d -exec sh -c "echo {}; cmake --build {} -- clean || rm -rf {}" \; # use generated build system to clean, wipe build directory if it fails
@@ -511,10 +507,7 @@ submodulesupdate:
 	@git submodule update --init --recursive --jobs 4
 	@git fetch --all --tags --recurse-submodules=yes --jobs=4
 
-gazeboclean:
-	@rm -rf ~/.gazebo/*
-
-distclean: gazeboclean
+distclean:
 	@git submodule deinit --force $(SRC_DIR)
 	@rm -rf "$(SRC_DIR)/build"
 	@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"
@@ -554,6 +547,14 @@ 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

ROMFS/px4fmu_common/init.d-posix/airframes/10017_jmavsim_iris

@@ -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
+

ROMFS/px4fmu_common/init.d-posix/airframes/10018_gazebo-classic_iris_foggy_lidar

@@ -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
+

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

@@ -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
-

ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx

@@ -41,4 +41,3 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 
 param set SIH_VEHICLE_TYPE 0
-

ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo-classic_iris_opt_flow

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1011_gazebo-classic_iris_irlock

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1011_iris_irlock

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1012_gazebo-classic_iris_rplidar

@@ -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
+

ROMFS/px4fmu_common/init.d-posix/airframes/1012_iris_rplidar

@@ -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
-

ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_obs_avoid

@@ -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
+

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

@@ -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
-

ROMFS/px4fmu_common/init.d-posix/airframes/1017_gazebo-classic_iris_opt_flow_mockup

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1017_iris_opt_flow_mockup

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1018_iris_vision_velocity

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1019_gazebo-classic_iris_dual_gps

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1019_iris_dual_gps

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1031_plane_cam

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult

@@ -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
+

ROMFS/px4fmu_common/init.d-posix/airframes/1032_plane_catapult

@@ -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
-

ROMFS/px4fmu_common/init.d-posix/airframes/1034_flightgear_rascal-electric

@@ -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
-

ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1038_glider

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo-classic_standard_vtol_drop

@@ -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
+

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

@@ -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
-

ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1044_plane_lidar

@@ -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
-

ROMFS/px4fmu_common/init.d-posix/airframes/4001_gz_x500

@@ -11,6 +11,8 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}
 
+param set-default SIM_GZ_EN 1
+
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 4
 
@@ -30,19 +32,19 @@ 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_EC_FUNC1 101
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_EC_FUNC3 103
+param set-default SIM_GZ_EC_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_EC_MIN1 150
+param set-default SIM_GZ_EC_MIN2 150
+param set-default SIM_GZ_EC_MIN3 150
+param set-default SIM_GZ_EC_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 SIM_GZ_EC_MAX1 1000
+param set-default SIM_GZ_EC_MAX2 1000
+param set-default SIM_GZ_EC_MAX3 1000
+param set-default SIM_GZ_EC_MAX4 1000
 
 param set-default MPC_THR_HOVER 0.60

ROMFS/px4fmu_common/init.d-posix/airframes/4002_gz_x500_depth

@@ -0,0 +1,50 @@
+#!/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 SIM_GZ_EN 1
+
+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_EC_FUNC1 101
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_EC_FUNC3 103
+param set-default SIM_GZ_EC_FUNC4 104
+
+param set-default SIM_GZ_EC_MIN1 150
+param set-default SIM_GZ_EC_MIN2 150
+param set-default SIM_GZ_EC_MIN3 150
+param set-default SIM_GZ_EC_MIN4 150
+
+param set-default SIM_GZ_EC_MAX1 1000
+param set-default SIM_GZ_EC_MAX2 1000
+param set-default SIM_GZ_EC_MAX3 1000
+param set-default SIM_GZ_EC_MAX4 1000
+
+param set-default MPC_THR_HOVER 0.60

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

@@ -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-classic_iris_opt_flow
+	1010_gazebo-classic_iris_opt_flow.post
+	1011_gazebo-classic_iris_irlock
+	1012_gazebo-classic_iris_rplidar
+	1013_gazebo-classic_iris_vision
+	1013_gazebo-classic_iris_vision.post
+	1015_gazebo-classic_iris_obs_avoid
+	1015_gazebo-classic_iris_obs_avoid.post
+	1017_gazebo-classic_iris_opt_flow_mockup
+	1019_gazebo-classic_iris_dual_gps
+	1021_gazebo-classic_uuv_hippocampus
+	1022_gazebo-classic_uuv_bluerov2_heavy
+	1030_gazebo-classic_plane
+	1031_gazebo-classic_plane_cam
+	1032_gazebo-classic_plane_catapult
+	1033_jsbsim_rascal
+	1034_flightgear_rascal-electric
+	1035_gazebo-classic_techpod
+	1036_jsbsim_malolo
+	1037_gazebo-classic_believer
+	1038_gazebo-classic_glider
+	1039_gazebo-classic_advanced_plane
+	1040_gazebo-classic_standard_vtol
+	1041_gazebo-classic_tailsitter
+	1042_gazebo-classic_tiltrotor
+	1043_gazebo-classic_standard_vtol_drop
+	1044_gazebo-classic_plane_lidar
+	1060_gazebo-classic_rover
+	1061_gazebo-classic_r1_rover
+	1062_flightgear_tf-r1
+	1070_gazebo-classic_boat
 
-	17001_tf-g1
-	17002_tf-g2
-	2507_cloudship
+	2507_gazebo-classic_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-classic_typhoon_h480
+	6011_gazebo-classic_typhoon_h480.post
+
+	10016_gazebo-classic_iris
+	10017_jmavsim_iris
+	10018_gazebo-classic_iris_foggy_lidar
+	10019_gazebo-classic_omnicopter
+	10030_gazebo-classic_px4vision
+
+	10040_sihsim_quadx
+	10041_sihsim_airplane
+	10042_sihsim_xvert
+
+	17001_flightgear_tf-g1
+	17002_flightgear_tf-g2
 )

ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator

@@ -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
@@ -17,18 +19,35 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 		exit 1
 	fi
 
-elif [ "$PX4_SIMULATOR" = "gz" ]; then
+elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; 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
 

ROMFS/px4fmu_common/init.d/rc.fw_apps

@@ -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

ROMFS/px4fmu_common/init.d/rc.logging

@@ -23,6 +23,12 @@ then
 	set LOGGER_ARGS "${LOGGER_ARGS} -x"
 fi
 
+if param compare SDLOG_MODE 4
+then
+	set LOGGER_ARGS "${LOGGER_ARGS} -a"
+fi
+
+
 if ! param compare SDLOG_MODE -1
 then
 	logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -101,12 +101,24 @@ then
 	pmw3901 -S start
 fi
 
+# vl53l0x i2c distance sensor
+if param compare -s SENS_EN_VL53L0X 1
+then
+	vl53l0x start -X
+fi
+
 # vl53l1x i2c distance sensor
 if param compare -s SENS_EN_VL53L1X 1
 then
 	vl53l1x start -X
 fi
 
+# tf02 pro i2c distance sensor
+if param compare -s SENS_EN_TF02PRO 1
+then
+	tf02pro start -X
+fi
+
 # ADIS16448 spi external IMU
 if param compare -s SENS_EN_ADIS164X 1
 then

ROMFS/px4fmu_common/init.d/rc.vtol_apps

@@ -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

ROMFS/px4fmu_common/init.d/rcS

@@ -29,6 +29,7 @@ set LOGGER_ARGS ""
 set LOGGER_BUF 8
 set PARAM_FILE ""
 set PARAM_BACKUP_FILE ""
+set RC_INPUT_ARGS ""
 set SDCARD_AVAILABLE no
 set SDCARD_EXT_PATH /fs/microsd/ext_autostart
 set SDCARD_FORMAT no
@@ -349,6 +350,7 @@ else
 			simulator_sih start
 			sensor_baro_sim start
 			sensor_mag_sim start
+			sensor_gps_sim start
 		fi
 
 	else
@@ -410,10 +412,8 @@ else
 	#
 	. ${R}etc/init.d/rc.serial
 
-	if param compare -s RC_PPM_EN 1
-	then
-		ppm_in start
-	fi
+	# Must be started after the serial config is read
+	rc_input start $RC_INPUT_ARGS
 
 	#
 	# Play the startup tune (if not disabled or there is an error)
@@ -545,6 +545,7 @@ unset LOGGER_ARGS
 unset LOGGER_BUF
 unset PARAM_FILE
 unset PARAM_BACKUP_FILE
+unset RC_INPUT_ARGS
 unset SDCARD_AVAILABLE
 unset SDCARD_EXT_PATH
 unset SDCARD_FORMAT

Tools/HIL/test_airframes.sh

@@ -54,7 +54,10 @@ do
 	${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 'mavlink status' || true
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'mavlink stop-all'
+
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'gps status' || true
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'gps stop'
 
 done

Tools/astyle/files_to_check_code_style.sh

@@ -10,6 +10,7 @@ fi
 exec find boards msg src platforms test \
     -path platforms/nuttx/NuttX -prune -o \
     -path platforms/qurt/dspal -prune -o \
+    -path src/drivers/ins/vectornav/libvnc -prune -o \
     -path src/drivers/uavcan/libuavcan -prune -o \
     -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
     -path src/drivers/cyphal/libcanard -prune -o \

Tools/px4moduledoc/srcparser.py

@@ -15,7 +15,7 @@ class ModuleDocumentation(object):
     # TOC in https://github.com/PX4/PX4-user_guide/blob/main/en/SUMMARY.md
     valid_categories = ['driver', 'estimator', 'controller', 'system',
                         'communication', 'command', 'template', 'simulation', 'autotune']
-    valid_subcategories = ['', 'distance_sensor', 'imu', 'airspeed_sensor',
+    valid_subcategories = ['', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
                            'magnetometer', 'baro', 'optical_flow', 'rpm_sensor', 'transponder']
 
     max_line_length = 80 # wrap lines that are longer than this

Tools/setup/ubuntu.sh

@@ -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

Tools/simulation/flightgear/sitl_run.sh

@@ -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/"

Tools/simulation/gazebo-classic/setup_gazebo.bash

@@ -16,9 +16,9 @@ SRC_DIR=$1
 BUILD_DIR=$2
 
 # setup Gazebo env and update package path
-export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:${BUILD_DIR}/build_gazebo
-export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${SRC_DIR}/Tools/simulation/gazebo/sitl_gazebo/models
-export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${BUILD_DIR}/build_gazebo
+export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:${BUILD_DIR}/build_gazebo-classic
+export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${SRC_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${BUILD_DIR}/build_gazebo-classic
 
 echo -e "GAZEBO_PLUGIN_PATH $GAZEBO_PLUGIN_PATH"
 echo -e "GAZEBO_MODEL_PATH $GAZEBO_MODEL_PATH"

Tools/simulation/gazebo-classic/sitl_gazebo-classic

@@ -0,0 +1 @@
+Subproject commit 9343aaf4e275db48fce02dd25c5bd8273c2d583a

Tools/simulation/gazebo-classic/sitl_multiple_run.sh

@@ -1,10 +1,10 @@
 #!/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-classic'
 
 # 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:
-#./Tools/simulation/gazebo/sitl_multiple_run.sh -n 10 -m iris
+#./Tools/simulation/gazebo-classic/sitl_multiple_run.sh -n 10 -m iris
 
 function cleanup() {
 	pkill -x px4
@@ -35,7 +35,7 @@ function spawn_model() {
 	pushd "$working_dir" &>/dev/null
 	echo "starting instance $N in $(pwd)"
 	$build_path/bin/px4 -i $N -d "$build_path/etc" >out.log 2>err.log &
-	python3 ${src_path}/Tools/simulation/gazebo/sitl_gazebo/scripts/jinja_gen.py ${src_path}/Tools/simulation/gazebo/sitl_gazebo/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/simulation/gazebo/sitl_gazebo --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf
+	python3 ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/scripts/jinja_gen.py ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf
 
 	echo "Spawning ${MODEL}_${N} at ${X} ${Y}"
 
@@ -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=${vehicle_model}
+export PX4_SIM_MODEL=gazebo-classic_${vehicle_model}
 
 echo ${SCRIPT}
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
@@ -84,7 +84,7 @@ pkill -x px4 || true
 
 sleep 1
 
-source ${src_path}/Tools/simulation/gazebo/setup_gazebo.bash ${src_path} ${src_path}/build/${target}
+source ${src_path}/Tools/simulation/gazebo-classic/setup_gazebo.bash ${src_path} ${src_path}/build/${target}
 
 # To use gazebo_ros ROS2 plugins
 if [[ -n "$ROS_VERSION" ]] && [ "$ROS_VERSION" == "2" ]; then
@@ -94,7 +94,7 @@ else
 fi
 
 echo "Starting gazebo"
-gzserver ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${world}.world --verbose $ros_args &
+gzserver ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${world}.world --verbose $ros_args &
 sleep 5
 
 n=0
@@ -126,7 +126,7 @@ else
 
 		m=0
 		while [ $m -lt ${target_number} ]; do
-			export PX4_SIM_MODEL=${target_vehicle}
+			export PX4_SIM_MODEL=gazebo-classic_${target_vehicle}
 			spawn_model ${target_vehicle}${LABEL} $n $target_x $target_y
 			m=$(($m + 1))
 			n=$(($n + 1))

Tools/simulation/gazebo-classic/sitl_run.sh

@@ -67,7 +67,7 @@ fi
 # be running from last time
 pkill -x gazebo || true
 
-export PX4_SIM_MODEL=${model}
+export PX4_SIM_MODEL=gazebo-classic_${model}
 export PX4_SIM_WORLD=${world}
 
 SIM_PID=0
@@ -75,31 +75,27 @@ 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}" "${build_path}"
+	source "$src_path/Tools/simulation/gazebo-classic/setup_gazebo.bash" "${src_path}" "${build_path}"
 	if [ -z $PX4_SITL_WORLD ]; then
 		#Spawn predefined world
 		if [ "$world" == "none" ]; then
-			if [ -f ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${model}.world ]; then
+			if [ -f ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${model}.world ]; then
 				echo "empty world, default world ${model}.world for model found"
-				world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${model}.world"
+				world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${model}.world"
 			else
 				echo "empty world, setting empty.world as default"
-				world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/empty.world"
+				world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/empty.world"
 			fi
 		else
 			#Spawn empty world if world with model name doesn't exist
-			world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${world}.world"
+			world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${world}.world"
 		fi
 	else
-		if [ -f ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world ]; then
+		if [ -f ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${PX4_SITL_WORLD}.world ]; then
 			# Spawn world by name if exists in the worlds directory from environment variable
-			world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world"
+			world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${PX4_SITL_WORLD}.world"
 		else
 			# Spawn world from environment variable with absolute path
 			world_path="$PX4_SITL_WORLD"

Tools/simulation/gazebo/sitl_gazebo

@@ -1 +0,0 @@
-Subproject commit 049b667d5e86fa71bd47c41dd10e911a0e2681b0

Tools/simulation/gz/models/x500-NoPlugin/model.config

@@ -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>

Tools/simulation/gz/models/x500-NoPlugin/model.sdf

@@ -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>