ORB queue depth completely static

.ci/Jenkinsfile-compile

@@ -46,8 +46,6 @@ pipeline {
                      "ark_cannode_default",
                      "ark_fmu-v6x_bootloader",
                      "ark_fmu-v6x_default",
-                     "ark_pi6x_bootloader",
-                     "ark_pi6x_default",
                      "atl_mantis-edu_default",
                      "av_x-v1_default",
                      "bitcraze_crazyflie21_default",

.devcontainer/devcontainer.json

@@ -15,7 +15,6 @@
 	"extensions": [
 		"chiehyu.vscode-astyle",
 		"dan-c-underwood.arm",
-		"editorconfig.editorconfig",
 		"fredericbonnet.cmake-test-adapter",
 		"github.vscode-pull-request-github",
 		"marus25.cortex-debug",

.editorconfig

@@ -1,14 +0,0 @@
-root = true
-
-[*]
-insert_final_newline = true
-
-[{*.{c,cpp,cc,h,hpp},CMakeLists.txt,Kconfig}]
-indent_style = tab
-tab_width = 8
-# Not in the official standard, but supported by many editors
-max_line_length = 120
-
-[*.yaml]
-indent_style = space
-indent_size = 2

.github/workflows/checks.yml

@@ -16,7 +16,6 @@ jobs:
       matrix:
         check: [
           "check_format",
-          "check_newlines",
           "tests",
           "tests_coverage",
           "px4_fmu-v2_default stack_check",
@@ -24,7 +23,6 @@ jobs:
           "shellcheck_all",
           "NO_NINJA_BUILD=1 px4_fmu-v5_default",
           "NO_NINJA_BUILD=1 px4_sitl_default",
-          "px4_sitl_allyes",
           "airframe_metadata",
           "module_documentation",
           "parameters_metadata",

.github/workflows/compile_nuttx.yml

@@ -25,7 +25,6 @@ jobs:
           ark_can-rtk-gps,
           ark_cannode,
           ark_fmu-v6x,
-          ark_pi6x,
           ark_septentrio-gps,
           atl_mantis-edu,
           av_x-v1,

.github/workflows/deploy_all.yml

@@ -54,3 +54,4 @@ jobs:
         AWS_REGION: 'us-west-1'
         SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
         DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
+

.github/workflows/mavros_mission_tests.yml

@@ -11,8 +11,6 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    env:
-      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
     strategy:
       fail-fast: false
       matrix:

.github/workflows/mavros_offboard_tests.yml

@@ -11,8 +11,6 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    env:
-      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
     strategy:
       fail-fast: false
       matrix:

.gitmodules

@@ -71,7 +71,7 @@
 [submodule "src/modules/zenoh/zenoh-pico"]
 	path = src/modules/zenoh/zenoh-pico
 	url = https://github.com/px4/zenoh-pico
-	branch = dev/1.0.0-px4
+	branch = pr-zubf-werror-fix
 [submodule "src/lib/heatshrink/heatshrink"]
 	path = src/lib/heatshrink/heatshrink
 	url = https://github.com/PX4/heatshrink.git
@@ -81,5 +81,5 @@
 	url = https://github.com/PX4/PX4-gazebo-models.git
 	branch = main
 [submodule "boards/modalai/voxl2/libfc-sensor-api"]
-	path = boards/modalai/voxl2/libfc-sensor-api
+	path = src/modules/muorb/apps/libfc-sensor-api
 	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git

.vscode/cmake-kits.json

@@ -2,4 +2,4 @@
 	{
 		"name": "PX4 detect"
 	}
-]
+]

.vscode/cmake-variants.yaml

@@ -151,16 +151,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_can-rtk-gps_canbootloader
-    ark_septentrio-gps_default:
-      short: ark_septentrio-gps_default
+    ark_septentrio_gps_default:
+      short: ark_septentrio_gps_default
       buildType: MinSizeRel
       settings:
-        CONFIG: ark_septentrio-gps_default
-    ark_septentrio-gps_canbootloader:
-      short: ark_septentrio-gps_canbootloader
+        CONFIG: ark_septentrio_gps_default
+    ark_septentrio_gps_canbootloader:
+      short: ark_septentrio_gps_canbootloader
       buildType: MinSizeRel
       settings:
-        CONFIG: ark_septentrio-gps_canbootloader
+        CONFIG: ark_septentrio_gps_canbootloader
     ark_cannode_default:
       short: ark_cannode_default
       buildType: MinSizeRel
@@ -181,16 +181,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_fmu-v6x_default
-    ark_pi6x_bootloader:
-      short: ark_pi6x_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_pi6x_bootloader
-    ark_pi6x_default:
-      short: ark_pi6x_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_pi6x_default
     atl_mantis-edu_default:
       short: atl_mantis-edu
       buildType: MinSizeRel

.vscode/extensions.json

@@ -4,7 +4,6 @@
     "recommendations": [
         "chiehyu.vscode-astyle",
         "dan-c-underwood.arm",
-        "editorconfig.editorconfig",
         "fredericbonnet.cmake-test-adapter",
         "github.vscode-pull-request-github",
         "marus25.cortex-debug",

.vscode/settings.json

@@ -15,7 +15,6 @@
         "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
         "cmake.configureOnOpen": true,
         "cmake.ctest.parallelJobs": 1,
-        "cmake.options.statusBarVisibility": "compact",
         "cmake.skipConfigureIfCachePresent": true,
         "cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
         "cmakeExplorer.parallelJobs": 1,

CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2017 - 2024 PX4 Development Team. All rights reserved.
+# Copyright (c) 2017 - 2022 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
@@ -132,9 +132,7 @@ 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)
 
-# # Capture only the hash part after 'g'
-string(REGEX MATCH "g([a-f0-9]+)$" GIT_HASH "${PX4_GIT_TAG}")
-set(PX4_GIT_HASH ${CMAKE_MATCH_1})
+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"
@@ -487,7 +485,7 @@ include(package)
 
 # install python requirements using configured python
 add_custom_target(install_python_requirements
-	COMMAND ${PYTHON_EXECUTABLE} -m pip install --break-system-packages --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+	COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	USES_TERMINAL
 )

Jenkinsfile

@@ -171,9 +171,9 @@ pipeline {
               sh('cp airframes.md PX4-user_guide/en/airframes/airframe_reference.md')
               sh('cp parameters.md PX4-user_guide/en/advanced_config/parameter_reference.md')
               sh('cp -R modules/*.md PX4-user_guide/en/modules/')
-              sh('cp -R graph_*.json PX4-user_guide/public/middleware/')  // vitepress
+              sh('cp -R graph_*.json PX4-user_guide/.vuepress/public/en/middleware/')
               sh('cp -R msg_docs/*.md PX4-user_guide/en/msg_docs/')
-              sh('cp -R failsafe_sim/* PX4-user_guide/public/config/failsafe')  // vitepress
+              sh('cp -R failsafe_sim/* PX4-user_guide/.vuepress/public/en/config/failsafe')
               sh('cd PX4-user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
               sh('cd PX4-user_guide; git push origin main || true')
               sh('rm -rf PX4-user_guide')

Kconfig

@@ -185,17 +185,6 @@ menu "Serial ports"
         string "EXT2 tty port"
 endmenu
 
-menu "File paths"
-
-    config BOARD_ROOT_PATH
-        string "PX4 Root file path"
-        default "/fs/microsd"
-
-    config BOARD_PARAM_FILE
-        string "Parameter file"
-        default "/fs/mtd_params"
-endmenu
-
 menu "drivers"
 source "src/drivers/Kconfig"
 endmenu

Makefile

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 - 2024 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 - 2020 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -323,32 +323,7 @@ px4io_update:
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status
 
-bootloaders_update: \
-	ark_fmu-v6x_bootloader \
-	ark_pi6x_bootloader \
-	cuav_nora_bootloader \
-	cuav_x7pro_bootloader \
-	cubepilot_cubeorange_bootloader \
-	cubepilot_cubeorangeplus_bootloader \
-	hkust_nxt-dual_bootloader \
-	hkust_nxt-v1_bootloader \
-	holybro_durandal-v1_bootloader \
-	holybro_kakuteh7_bootloader \
-	holybro_kakuteh7mini_bootloader \
-	holybro_kakuteh7v2_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 \
-	px4_fmu-v6xrt_bootloader \
-	siyi_n7_bootloader
+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
 
 .PHONY: coverity_scan
@@ -379,9 +354,9 @@ doxygen:
 	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
 	@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll
 
-# Style
+# Astyle
 # --------------------------------------------------------------------
-.PHONY: check_format format check_newlines
+.PHONY: check_format format
 
 check_format:
 	$(call colorecho,'Checking formatting with astyle')
@@ -392,10 +367,6 @@ format:
 	$(call colorecho,'Formatting with astyle')
 	@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh --fix
 
-check_newlines:
-	$(call colorecho,'Checking for missing or duplicate newlines at the end of files')
-	@"$(SRC_DIR)"/Tools/astyle/check_newlines.sh
-
 # Testing
 # --------------------------------------------------------------------
 .PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance

ROMFS/CMakeLists.txt

@@ -120,7 +120,6 @@ add_custom_command(
 		${romfs_gen_root_dir}/init.d/rc.serial
 		${romfs_gen_root_dir}/init.d/rc.autostart
 		${romfs_gen_root_dir}/init.d/rc.autostart.post
-		${romfs_gen_root_dir}/init.d/rc.filepaths
 		${romfs_copy_stamp}
 	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
 	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
@@ -132,9 +131,6 @@ add_custom_command(
 		--rc-dir ${romfs_gen_root_dir}/init.d
 		--serial-ports ${board_serial_ports} ${added_arguments}
 		--config-files ${module_config_files} #--verbose
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/filepaths/generate_config.py
-		--rc-dir ${romfs_gen_root_dir}/init.d
-		--params-file ${CONFIG_BOARD_PARAM_FILE}
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
 	WORKING_DIRECTORY ${romfs_gen_root_dir}
 	DEPENDS ${romfs_tar_file}
@@ -324,7 +320,6 @@ add_custom_target(romfs_gen_files_target
 	DEPENDS
 		${romfs_copy_stamp}
 		${romfs_gen_root_dir}/init.d/rc.serial
-		${romfs_gen_root_dir}/init.d/rc.filepaths
 		romfs_extras.stamp
 	)
 

ROMFS/cannode/init.d/rcS

@@ -21,14 +21,25 @@ set R /
 #
 ver all
 
-# Load param file location from kconfig
-. ${R}etc/init.d/rc.filepaths
+if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
+then
+	set PARAM_FILE /fs/mtd_params
+fi
+
+if mft query -q -k MTD -s MTD_PARAMETERS -v /dev/eeeprom0
+then
+	set PARAM_FILE /dev/eeeprom0
+fi
+
+if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/qspi/params
+then
+	set PARAM_FILE /mnt/qspi/params
+fi
 
 #
 # Load parameters.
 #
 param select $PARAM_FILE
-
 if ! param load
 then
 	param reset_all

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

@@ -29,3 +29,4 @@ 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

@@ -30,3 +30,4 @@ 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/10019_gazebo-classic_omnicopter

@@ -94,3 +94,4 @@ param set-default CA_METHOD 0
 # disable attitude failure detection
 param set-default FD_FAIL_P 0
 param set-default FD_FAIL_R 0
+

ROMFS/px4fmu_common/init.d-posix/airframes/10030_gazebo-classic_px4vision

@@ -12,3 +12,4 @@ 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/10041_sihsim_airplane

@@ -24,6 +24,8 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027
 
+param set-default BAT_N_CELLS 3
+
 param set-default SIH_T_MAX 6
 param set-default SIH_MASS 0.3
 param set-default SIH_IXX 0.00402

ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert

@@ -33,6 +33,8 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027
 
+param set-default BAT_N_CELLS 3
+
 param set-default SIH_T_MAX 2
 param set-default SIH_Q_MAX 0.0165
 param set-default SIH_MASS 0.2

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

@@ -30,3 +30,4 @@ 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/1013_gazebo-classic_iris_vision

@@ -18,3 +18,4 @@ param set-default LPE_FUSION 132
 
 # AEQ: External heading set to use vision input
 param set-default ATT_EXT_HDG_M 1
+

ROMFS/px4fmu_common/init.d-posix/airframes/1021_gazebo-classic_uuv_hippocampus

@@ -41,3 +41,4 @@ 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/1022_gazebo-classic_uuv_bluerov2_heavy

@@ -61,3 +61,4 @@ param set-default PWM_MAIN_FUNC5 105
 param set-default PWM_MAIN_FUNC6 106
 param set-default PWM_MAIN_FUNC7 107
 param set-default PWM_MAIN_FUNC8 108
+

ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane

@@ -68,3 +68,5 @@ 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/1031_gazebo-classic_plane_cam

@@ -39,6 +39,7 @@ 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

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

@@ -41,6 +41,7 @@ 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
@@ -70,3 +71,4 @@ 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/1033_jsbsim_rascal

@@ -24,6 +24,7 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1
 
 param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -55,3 +56,4 @@ 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/1034_flightgear_rascal-electric

@@ -24,6 +24,7 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1
 
 param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo-classic_techpod

@@ -54,3 +54,4 @@ 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/1036_jsbsim_malolo

@@ -24,6 +24,7 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1
 
 param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -55,3 +56,4 @@ 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/1037_gazebo-classic_believer

@@ -62,3 +62,4 @@ 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

@@ -39,6 +39,7 @@ 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

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

@@ -23,7 +23,9 @@ 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 NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol

@@ -78,3 +78,4 @@ param set-default VT_FWD_THRUST_EN 4
 param set-default VT_FWD_THRUST_SC 1
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_TYPE 2
+

ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo-classic_tailsitter

@@ -75,3 +75,4 @@ param set-default VT_F_TRANS_DUR 1.5
 param set-default VT_TYPE 0
 
 param set-default WV_EN 0
+

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

@@ -88,3 +88,4 @@ 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

@@ -39,6 +39,7 @@ 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

ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover

@@ -31,3 +31,4 @@ param set-default PWM_MAIN_FUNC1 201
 param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101
+

ROMFS/px4fmu_common/init.d-posix/airframes/1062_flightgear_tf-r1

@@ -38,3 +38,4 @@ param set-default PWM_MAIN_FUNC1 201
 param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101
+

ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo-classic_boat

@@ -41,3 +41,4 @@ param set-default CA_R_REV 3
 
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
+

ROMFS/px4fmu_common/init.d-posix/airframes/17001_flightgear_tf-g1

@@ -64,3 +64,4 @@ param set-default PWM_MAIN_FUNC4 203
 param set-default PWM_MAIN_FUNC5 407
 param set-default PWM_MAIN_FUNC6 408
 param set-default PWM_MAIN_FUNC7 409
+

ROMFS/px4fmu_common/init.d-posix/airframes/17002_flightgear_tf-g2

@@ -69,3 +69,4 @@ param set-default PWM_MAIN_FUNC4 203
 param set-default PWM_MAIN_FUNC5 407
 param set-default PWM_MAIN_FUNC6 408
 param set-default PWM_MAIN_FUNC7 409
+

ROMFS/px4fmu_common/init.d-posix/airframes/2507_gazebo-classic_cloudship

@@ -36,3 +36,4 @@ param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 201
 param set-default PWM_MAIN_FUNC4 103
+

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

@@ -52,4 +52,3 @@ param set-default SIM_GZ_EC_MAX3 1000
 param set-default SIM_GZ_EC_MAX4 1000
 
 param set-default MPC_THR_HOVER 0.60
-param set-default NAV_DLL_ACT 2

ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol

@@ -101,9 +101,8 @@ 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 NAV_DLL_ACT 2
 
 param set-default VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 0.3
+param set-default VT_F_TRANS_THR 0.75
 param set-default VT_TYPE 2
 param set-default FD_ESCS_EN 0

ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision

@@ -132,5 +132,3 @@ param set-default SIM_GZ_EC_MAX1 1100
 param set-default SIM_GZ_EC_MAX2 1100
 param set-default SIM_GZ_EC_MAX3 1100
 param set-default SIM_GZ_EC_MAX4 1100
-
-param set-default NAV_DLL_ACT 2

ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover

@@ -6,36 +6,16 @@
 . ${R}etc/init.d/rc.rover_differential_defaults
 
 PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
-# Rover parameters
-param set-default RD_WHEEL_TRACK 0.3
-param set-default RD_MAN_YAW_SCALE 0.1
-param set-default RD_YAW_RATE_I 0.1
-param set-default RD_YAW_RATE_P 5
-param set-default RD_MAX_ACCEL 6
-param set-default RD_MAX_JERK 30
-param set-default RD_MAX_SPEED 7
-param set-default RD_HEADING_P 5
-param set-default RD_HEADING_I 0.1
-param set-default RD_MAX_YAW_RATE 180
-param set-default RD_MISS_SPD_DEF 7
-param set-default RD_TRANS_DRV_TRN 0.349066
-param set-default RD_TRANS_TRN_DRV 0.174533
-
-# Pure pursuit parameters
-param set-default PP_LOOKAHD_MAX 30
-param set-default PP_LOOKAHD_MIN 2
-param set-default PP_LOOKAHD_GAIN 1
-
 # Simulated sensors
 param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 0
 param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
+param set-default SENS_EN_ARSPDSIM 1
 
 # Actuator mapping
 param set-default SIM_GZ_WH_FUNC1 101 # right wheel

ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower

@@ -20,9 +20,9 @@ param set-default SENS_EN_ARSPDSIM 1
 param set-default COM_ARM_WO_GPS 1
 
 # Set Differential Drive Kinematics Library parameters:
-param set RD_WHEEL_BASE 0.9
-param set RD_WHEEL_RADIUS 0.22
-param set RD_WHEEL_SPEED 10.0	# Maximum wheel speed rad/s, approx 8 km/h
+param set RDD_WHEEL_BASE 0.9
+param set RDD_WHEEL_RADIUS 0.22
+param set RDD_WHEEL_SPEED 10.0	# Maximum wheel speed rad/s, approx 8 km/h
 
 # Actuator mapping - set SITL motors/servos output parameters:
 
@@ -41,9 +41,9 @@ param set-default SIM_GZ_WH_FUNC2 102 # left wheel
 
 param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels
 
-# Note: The servo configurations ( SIM_GZ_SV_FUNC*) outlined below are intended for educational purposes in this simulation.
-# They do not have physical effects in the simulated environment, except for actuating the joints. Their definitions are meant to demonstrate
-# how actuators could be mapped and configured in a real-world application, providing a foundation for understanding and implementing actuator
+# Note: The servo configurations ( SIM_GZ_SV_FUNC*) outlined below are intended for educational purposes in this simulation. 
+# They do not have physical effects in the simulated environment, except for actuating the joints. Their definitions are meant to demonstrate 
+# how actuators could be mapped and configured in a real-world application, providing a foundation for understanding and implementing actuator 
 # controls in practical scenarios.
 
 # Cutter deck blades clutch, PCA9685 servo channel 3,  "RC FLAPS" (406) - leftmost switch, or "Servo 3" (203):

ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann

@@ -1,49 +0,0 @@
-#!/bin/sh
-# @name Rover Ackermann
-# @type Rover
-# @class Rover
-
-. ${R}etc/init.d/rc.rover_ackermann_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
-
-param set-default SIM_GZ_EN 1 # Gazebo bridge
-
-# Rover parameters
-param set-default NAV_ACC_RAD 0.5
-param set-default RA_ACC_RAD_GAIN 2
-param set-default RA_ACC_RAD_MAX 3
-param set-default RA_MAX_ACCEL 1.5
-param set-default RA_MAX_JERK 15
-param set-default RA_MAX_SPEED 3
-param set-default RA_MAX_STR_ANG 0.5236
-param set-default RA_MAX_STR_RATE 360
-param set-default RA_MISS_VEL_DEF 3
-param set-default RA_MISS_VEL_GAIN 5
-param set-default RA_MISS_VEL_MIN 1
-param set-default RA_SPEED_I 0.01
-param set-default RA_SPEED_P 2
-param set-default RA_WHEEL_BASE 0.321
-
-# Pure Pursuit parameters
-param set-default PP_LOOKAHD_GAIN 1
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1
-
-# Simulated sensors
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
-
-# Wheels
-param set-default SIM_GZ_WH_FUNC1 101
-param set-default SIM_GZ_WH_MIN1 0
-param set-default SIM_GZ_WH_MAX1 200
-param set-default SIM_GZ_WH_DIS1 100
-
-# Steering
-param set-default SIM_GZ_SV_FUNC1 201
-param set-default SIM_GZ_SV_REV 1

ROMFS/px4fmu_common/init.d-posix/airframes/4013_gz_x500_lidar

@@ -1,10 +0,0 @@
-#!/bin/sh
-#
-# @name Gazebo x500 lidar
-#
-# @type Quadrotor
-#
-
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_lidar}
-
-. ${R}etc/init.d-posix/airframes/4001_gz_x500

ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480

@@ -63,3 +63,4 @@ param set-default PWM_MAIN_FUNC9 422
 # Landing gear
 param set-default PWM_MAIN_FUNC10 400
 param set-default PWM_MAIN_FUNC11 400
+

ROMFS/px4fmu_common/init.d-posix/airframes/8011_gz_omnicopter

@@ -119,3 +119,4 @@ param set-default CA_METHOD 0
 # disable attitude failure detection
 param set-default FD_FAIL_P 0
 param set-default FD_FAIL_R 0
+

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

@@ -83,8 +83,6 @@ px4_add_romfs_files(
 	4009_gz_r1_rover
 	4010_gz_x500_mono_cam
 	4011_gz_lawnmower
-	4012_gz_rover_ackermann
-	4013_gz_x500_lidar
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post

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

@@ -15,9 +15,6 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 	if [ -n "${PX4_HOME_LON}" ]; then
 		param set SIH_LOC_LON0 ${PX4_HOME_LON}
 	fi
-	if [ -n "${PX4_HOME_ALT}" ]; then
-		param set SIH_LOC_H0 ${PX4_HOME_ALT}
-	fi
 
 	if simulator_sih start; then
 

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -157,7 +157,6 @@ param set-default CBRK_SUPPLY_CHK 894281
 
 # disable check, no CPU load reported on posix yet
 param set-default COM_CPU_MAX -1
-param set-default COM_RAM_MAX -1
 
 # Don't require RC calibration and configuration
 param set-default COM_RC_IN_MODE 1
@@ -183,6 +182,10 @@ param set-default SYS_FAILURE_EN 1
 # does not go below 50% by default, but failure injection can trigger failsafes.
 param set-default COM_LOW_BAT_ACT 2
 
+# Allow to override SYS_MC_EST_GROUP via env
+if [ -n "$SYS_MC_EST_GROUP" ]; then
+	param set SYS_MC_EST_GROUP $SYS_MC_EST_GROUP
+fi
 
 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
@@ -253,23 +256,6 @@ manual_control start
 sensors start
 commander start
 
-#
-# state estimator selection
-if param compare -s EKF2_EN 1
-then
-	ekf2 start &
-fi
-
-if param compare -s LPE_EN 1
-then
-	local_position_estimator start
-fi
-
-if param compare -s ATT_EN 1
-then
-	attitude_estimator_q start
-fi
-
 if ! pwm_out_sim start -m sim
 then
 	tune_control play error
@@ -344,7 +330,7 @@ fi
 [ -e "$autostart_file".post ] && . "$autostart_file".post
 
 # Run script to start logging
-if param compare -s EKF2_EN 1
+if param compare SYS_MC_EST_GROUP 2
 then
 	set LOGGER_ARGS "-p ekf2_timestamps"
 else

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -44,7 +44,6 @@ px4_add_romfs_files(
 	# TODO
 	rc.balloon_apps
 	rc.balloon_defaults
-	rc.sysinit
 )
 
 if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL)
@@ -78,20 +77,13 @@ if(CONFIG_MODULES_ROVER_POS_CONTROL)
 	)
 endif()
 
-if(CONFIG_MODULES_ROVER_DIFFERENTIAL)
+if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
 	px4_add_romfs_files(
 		rc.rover_differential_apps
 		rc.rover_differential_defaults
 	)
 endif()
 
-if(CONFIG_MODULES_ROVER_ACKERMANN)
-	px4_add_romfs_files(
-		rc.rover_ackermann_apps
-		rc.rover_ackermann_defaults
-	)
-endif()
-
 if(CONFIG_MODULES_UUV_ATT_CONTROL)
 	px4_add_romfs_files(
 		rc.uuv_apps

ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox

@@ -44,3 +44,4 @@ param set-default CA_ROTOR4_KM -0.05
 param set-default CA_ROTOR5_PX 0.25
 param set-default CA_ROTOR5_PY -0.433
 param set-default CA_ROTOR5_PZ 0.05
+

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

@@ -44,6 +44,8 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027
 
+param set-default BAT_N_CELLS 3
+
 param set SIH_T_MAX 6
 param set SIH_MASS 0.3
 param set SIH_IXX 0.00402

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

@@ -62,6 +62,8 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027
 
+param set-default BAT_N_CELLS 3
+
 param set SIH_T_MAX 2.0
 param set SIH_Q_MAX 0.0165
 param set SIH_MASS 0.2

ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad

@@ -66,6 +66,7 @@ param set-default MC_PITCHRATE_I 0.05
 param set-default MC_YAWRATE_MAX 20
 param set-default MC_AIRMODE 1
 
+param set-default MIS_DIST_1WP 100
 param set-default MIS_TAKEOFF_ALT 15
 
 param set-default MPC_XY_P 0.8

ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark

@@ -119,3 +119,5 @@ param set-default PWM_MAIN_TIM0 50
 param set-default PWM_MAIN_DIS1 1500
 param set-default PWM_MAIN_DIS2 1500
 param set-default PWM_MAIN_DIS4 1500
+
+

ROMFS/px4fmu_common/init.d/airframes/14001_generic_mc_with_tilt

@@ -32,3 +32,4 @@ param set-default CA_SV_TL0_MAXA 45
 param set-default CA_SV_TL0_MINA -45
 param set-default CA_SV_TL0_TD 90
 param set-default CA_SV_TL_COUNT 1
+

ROMFS/px4fmu_common/init.d/airframes/16001_helicopter

@@ -24,3 +24,5 @@ param set-default MC_PITCHRATE_D 0
 param set-default MC_PITCHRATE_FF 0.1
 
 param set-default CA_AIRFRAME 10
+
+

ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1

@@ -23,3 +23,4 @@ param set-default MAV_0_MODE 1
 param set-default MAV_0_CONFIG 102
 param set-default GPS_UBX_DYNMODEL 8
 param set-default SER_TEL2_BAUD 9600
+

ROMFS/px4fmu_common/init.d/airframes/2106_albatross

@@ -72,3 +72,5 @@ param set-default PWM_MAIN_DIS5 1000
 param set-default PWM_MAIN_DIS6 1500
 param set-default PWM_MAIN_DIS7 1500
 param set-default PWM_MAIN_DIS8 1500
+
+

ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox

@@ -66,3 +66,4 @@ param set-default CA_ROTOR11_PX -0.344
 param set-default CA_ROTOR11_PY -0.25
 param set-default CA_ROTOR11_PZ -0.05
 param set-default CA_ROTOR11_KM -0.05
+

ROMFS/px4fmu_common/init.d/airframes/2507_cloudship

@@ -38,3 +38,4 @@ param set-default CA_SV_CS_COUNT 1
 param set-default CA_SV_CS0_TRQ_P 1
 
 param set-default CA_R_REV 7
+

ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames

@@ -6,7 +6,6 @@
 # @class Copter
 #
 # @board px4_fmu-v2 exclude
-# @board px4_fmu-v5x exclude
 # @board bitcraze_crazyflie exclude
 #
 # @maintainer Iain Galloway <iain.galloway@nxp.com>

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

@@ -7,10 +7,6 @@
 #
 # @maintainer
 # @board px4_fmu-v2 exclude
-# @board cuav_x7pro exclude
-# @board px4_fmu-v4pro exclude
-# @board px4_fmu-v5x exclude
-# @board px4_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults
@@ -40,6 +36,7 @@ param set-default COM_RC_LOSS_T 3
 
 
 # ekf2
+param set-default EKF2_TERR_MASK 1
 param set-default EKF2_BARO_NOISE 2
 
 param set-default EKF2_BCOEF_X 31.5

ROMFS/px4fmu_common/init.d/airframes/4071_ifo

@@ -12,7 +12,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude
 #

ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s

@@ -10,7 +10,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude
 #

ROMFS/px4fmu_common/init.d/airframes/4500_clover4

@@ -8,7 +8,6 @@
 # @maintainer Oleg Kalachev <okalachev@gmail.com>
 #
 # @board px4_fmu-v2 exclude
-# @board px4_fmu-v4pro exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/4601_droneblocks_dexi_5

@@ -1,80 +0,0 @@
-#!/bin/sh
-#
-# @name Droneblocks DEXI 5
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @maintainer Dennis Baldwin <db@droneblocks.io>
-# @maintainer Alex klimaj <alex@arkelectron.com>
-#
-# @board px4_fmu-v2 exclude
-# @board px4_fmu-v3 exclude
-# @board px4_fmu-v4 exclude
-# @board px4_fmu-v4pro exclude
-# @board px4_fmu-v5 exclude
-# @board px4_fmu-v5x exclude
-# @board px4_fmu-v6x exclude
-# @board bitcraze_crazyflie exclude
-# @board diatone_mamba-f405-mk2 exclude
-# @board ark_fmu-v6x exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default BAT1_CAPACITY 4000
-param set-default BAT1_N_CELLS 6
-param set-default BAT1_V_EMPTY 3.3
-param set-default BAT_AVRG_CURRENT 13
-
-# Square quadrotor X PX4 numbering
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.0762
-param set-default CA_ROTOR0_PY 0.09525
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.0762
-param set-default CA_ROTOR1_PY -0.09525
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.0762
-param set-default CA_ROTOR2_PY -0.09525
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.0762
-param set-default CA_ROTOR3_PY 0.09525
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default EKF2_MIN_RNG 0.01
-param set-default EKF2_OF_POS_X 0.043
-param set-default EKF2_OF_POS_Y 0.011
-param set-default EKF2_OF_QMIN_GND 1
-param set-default EKF2_RNG_POS_X 0.043
-param set-default EKF2_RNG_POS_Y 0.0
-
-param set-default IMU_GYRO_DNF_EN 2
-
-param set-default MC_PITCHRATE_D 0.0013
-param set-default MC_PITCHRATE_I 0.185
-param set-default MC_PITCHRATE_P 0.105
-param set-default MC_PITCH_P 7.5
-param set-default MC_ROLLRATE_D 0.0010
-param set-default MC_ROLLRATE_I 0.165
-param set-default MC_ROLLRATE_P 0.095
-param set-default MC_ROLL_P 7.5
-param set-default MC_YAWRATE_I 0.35
-param set-default MC_YAWRATE_P 0.13
-
-param set-default MPC_THR_HOVER 0.22
-param set-default MPC_THR_MAX 0.5
-param set-default MPC_THR_MIN 0.025
-param set-default MPC_VEL_MANUAL 5.0
-param set-default MPC_XY_VEL_MAX 8.0
-
-param set-default RC_CRSF_PRT_CFG 300
-param set-default RC_CRSF_TEL_EN 1
-
-param set-default RTL_RETURN_ALT 15
-
-param set-default SENS_FLOW_MINHGT 0.0
-
-param set-default SER_TEL2_BAUD 3000000
-
-param set-default UXRCE_DDS_CFG 102

ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21

@@ -13,12 +13,11 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board px4_fmu-v6x exclude
 # @board diatone_mamba-f405-mk2 exclude
 #
 . ${R}etc/init.d/rc.mc_defaults
 
-
+param set-default SYS_MC_EST_GROUP 2
 param set-default SYS_HAS_MAG 0
 param set-default EKF2_OF_CTRL 1
 param set-default EKF2_GPS_CTRL 0

ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# @name Generic Ground Vehicle (Deprecated)
+# @name Generic Ground Vehicle (Ackermann)
 #
 # @type Rover
 # @class Rover
@@ -48,3 +48,5 @@ param set-default PWM_MAIN_FUNC1 201
 param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101
+
+

ROMFS/px4fmu_common/init.d/airframes/50000_generic_rover_differential

@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# @name Generic Rover Differential
-#
-# @type Rover
-# @class Rover
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.rover_differential_defaults

ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover

@@ -15,6 +15,9 @@
 
 param set-default BAT1_N_CELLS 4
 
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_ANGERR_INIT 0.01
+
 # Set geometry & output configration
 param set-default RBCLW_ADDRESS 128
 param set-default RBCLW_FUNC1 101

ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# @name NXP Cup car: DF Robot GPX (Deprecated)
+# @name NXP Cup car: DF Robot GPX
 
 #
 # @type Rover

ROMFS/px4fmu_common/init.d/airframes/51000_generic_rover_ackermann

@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# @name Generic Rover Ackermann
-#
-# @type Rover
-# @class Rover
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.rover_ackermann_defaults

ROMFS/px4fmu_common/init.d/airframes/51001_axial_scx10_2_trail_honcho

@@ -1,37 +0,0 @@
-#!/bin/sh
-#
-# @name Axial SCX10 2 Trail Honcho
-#
-# @url https://www.axialadventure.com/product/1-10-scx10-ii-trail-honcho-4wd-rock-crawler-brushed-rtr/AXID9059.html
-#
-# @type Rover
-# @class Rover
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.rover_ackermann_defaults
-
-param set-default BAT1_N_CELLS 3
-
-# Rover parameters
-param set-default NAV_ACC_RAD 0.5
-param set-default RA_ACC_RAD_GAIN 2
-param set-default RA_ACC_RAD_MAX 3
-param set-default RA_MAX_ACCEL 0.5
-param set-default RA_MAX_JERK 10
-param set-default RA_MAX_SPEED 2.7
-param set-default RA_MAX_STR_ANG 0.5236
-param set-default RA_MAX_STR_RATE 270
-param set-default RA_MISS_VEL_DEF 2.7
-param set-default RA_MISS_VEL_GAIN 3.5
-param set-default RA_MISS_VEL_MIN 1
-param set-default RA_SPEED_I 0.1
-param set-default RA_SPEED_P 0.5
-param set-default RA_WHEEL_BASE 0.321
-
-# Pure pursuit parameters
-param set-default PP_LOOKAHD_GAIN 1
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1.5

ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic

@@ -42,3 +42,4 @@ param set-default CA_ROTOR3_KM 0
 param set-default CA_ROTOR3_PX 0
 param set-default CA_ROTOR3_PY -0.3
 param set-default CA_ROTOR3_PZ 0.3
+

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

@@ -31,3 +31,5 @@ param set-default CA_ROTOR4_PY 0.25
 param set-default CA_ROTOR5_PX -0.43
 param set-default CA_ROTOR5_PY -0.25
 param set-default CA_ROTOR5_KM -0.05
+
+

ROMFS/px4fmu_common/init.d/airframes/6002_draco_r

@@ -123,3 +123,4 @@ param set-default PWM_MAIN_FUNC6 106
 param set-default PWM_MAIN_TIM0 -1
 param set-default PWM_MAIN_TIM1 -1
 param set-default PWM_MAIN_TIM2 -1
+

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

@@ -31,3 +31,5 @@ param set-default CA_ROTOR4_PY -0.43
 param set-default CA_ROTOR5_PX -0.25
 param set-default CA_ROTOR5_PY 0.43
 param set-default CA_ROTOR5_KM -0.05
+
+

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

@@ -36,3 +36,5 @@ param set-default CA_ROTOR6_PY -0.46
 param set-default CA_ROTOR7_KM -0.05
 param set-default CA_ROTOR7_PX -0.19
 param set-default CA_ROTOR7_PY 0.46
+
+

ROMFS/px4fmu_common/init.d/airframes/9001_octo_+

@@ -36,3 +36,4 @@ param set-default CA_ROTOR6_PY -0.5
 param set-default CA_ROTOR7_KM -0.05
 param set-default CA_ROTOR7_PX 0
 param set-default CA_ROTOR7_PY 0.5
+

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

@@ -69,7 +69,6 @@ if(CONFIG_MODULES_MC_RATE_CONTROL)
 		4071_ifo
 		4073_ifo-s
 		4500_clover4
-		4601_droneblocks_dexi_5
 		4901_crazyflie21
 
 		# [5000, 5999] Quadrotor +
@@ -136,27 +135,16 @@ if(CONFIG_MODULES_VTOL_ATT_CONTROL)
 	)
 endif()
 
-if(CONFIG_MODULES_ROVER_DIFFERENTIAL)
-	px4_add_romfs_files(
-		# [50000, 50999] Differential rovers
-		50000_generic_rover_differential
-		50001_aion_robotics_r1_rover
-	)
-endif()
-
-if(CONFIG_MODULES_ROVER_ACKERMANN)
-	px4_add_romfs_files(
-		# [51000, 51999] Ackermann rovers
-		51000_generic_rover_ackermann
-		51001_axial_scx10_2_trail_honcho
-	)
-endif()
-
 if(CONFIG_MODULES_ROVER_POS_CONTROL)
 	px4_add_romfs_files(
-		# [59000, 59999] Rover position control (deprecated)
-		59000_generic_ground_vehicle
-		59001_nxpcup_car_dfrobot_gpx
+		50000_generic_ground_vehicle
+		50004_nxpcup_car_dfrobot_gpx
+	)
+endif()
+
+if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
+	px4_add_romfs_files(
+		50003_aion_robotics_r1_rover
 	)
 endif()
 

ROMFS/px4fmu_common/init.d/rc.airship_apps

@@ -5,6 +5,49 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
+###############################################################################
+#                       Begin Estimator Group Selection                       #
+###############################################################################
+
+#
+# LPE
+#
+if param compare SYS_MC_EST_GROUP 1
+then
+	#
+	# Try to start LPE. If it fails, start EKF2 as a default.
+	# Unfortunately we do not build it on px4_fmu-v2 due to a limited flash.
+	#
+	if attitude_estimator_q start
+	then
+		echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
+		local_position_estimator start
+	else
+		echo "ERROR [init] Estimator LPE not available. Using EKF2"
+		param set SYS_MC_EST_GROUP 2
+		param save
+		reboot
+	fi
+else
+	#
+	# Q estimator (attitude estimation only)
+	#
+	if param compare SYS_MC_EST_GROUP 3
+	then
+		attitude_estimator_q start
+	else
+		#
+		# EKF2
+		#
+		param set SYS_MC_EST_GROUP 2
+		ekf2 start &
+	fi
+fi
+
+###############################################################################
+#                        End Estimator Group Selection                        #
+###############################################################################
+
 #
 # Start Control Allocator
 #

ROMFS/px4fmu_common/init.d/rc.balloon_apps

@@ -4,3 +4,39 @@
 #
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
+
+#
+# Start the attitude and position estimator.
+#
+
+if param compare SYS_MC_EST_GROUP 1
+then
+	#
+	# Try to start LPE. If it fails, start EKF2 as a default.
+	# Unfortunately we do not build it on px4_fmu-v2 due to a limited flash.
+	#
+	if attitude_estimator_q start
+	then
+		echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
+		local_position_estimator start
+	else
+		echo "ERROR [init] Estimator LPE not available. Using EKF2"
+		param set SYS_MC_EST_GROUP 2
+		param save
+		reboot
+	fi
+else
+	#
+	# Q estimator (attitude estimation only)
+	#
+	if param compare SYS_MC_EST_GROUP 3
+	then
+		attitude_estimator_q start
+	else
+		#
+		# EKF2
+		#
+		param set SYS_MC_EST_GROUP 2
+		ekf2 start &
+	fi
+fi

ROMFS/px4fmu_common/init.d/rc.balloon_defaults

@@ -13,6 +13,4 @@ param set-default MAV_TYPE 8
 #
 # Default parameters for balloon UAVs.
 #
-param set-default LPE_EN 1
-param set-default ATT_EN 1
-param set-default EKF2_EN 0
+param set-default SYS_MC_EST_GROUP 1

ROMFS/px4fmu_common/init.d/rc.fw_apps

@@ -5,6 +5,11 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
+#
+# Start the attitude and position estimator.
+#
+ekf2 start &
+
 #
 # Start Control Allocator
 #

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -5,6 +5,49 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
+###############################################################################
+#                       Begin Estimator Group Selection                       #
+###############################################################################
+
+#
+# LPE
+#
+if param compare SYS_MC_EST_GROUP 1
+then
+	#
+	# Try to start LPE. If it fails, start EKF2 as a default.
+	# Unfortunately we do not build it on px4_fmu-v2 due to a limited flash.
+	#
+	if attitude_estimator_q start
+	then
+		echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
+		local_position_estimator start
+	else
+		echo "ERROR [init] Estimator LPE not available. Using EKF2"
+		param set SYS_MC_EST_GROUP 2
+		param save
+		reboot
+	fi
+else
+	#
+	# Q estimator (attitude estimation only)
+	#
+	if param compare SYS_MC_EST_GROUP 3
+	then
+		attitude_estimator_q start
+	else
+		#
+		# EKF2
+		#
+		param set SYS_MC_EST_GROUP 2
+		ekf2 start &
+	fi
+fi
+
+###############################################################################
+#                        End Estimator Group Selection                        #
+###############################################################################
+
 #
 # Start Control Allocator
 #

ROMFS/px4fmu_common/init.d/rc.rover_ackermann_apps

@@ -1,8 +0,0 @@
-#!/bin/sh
-# Standard apps for an ackermann rover.
-
-# Start rover ackermann module.
-rover_ackermann start
-
-# Start Land Detector.
-land_detector start rover

ROMFS/px4fmu_common/init.d/rc.rover_ackermann_defaults

@@ -1,11 +0,0 @@
-#!/bin/sh
-# Ackermann rover parameters.
-
-set VEHICLE_TYPE rover_ackermann
-param set-default MAV_TYPE 10           # MAV_TYPE_GROUND_ROVER
-param set-default CA_AIRFRAME 5         # Rover (Ackermann)
-param set-default CA_R_REV 1            # Motor is assumed to be reversible
-param set-default EKF2_MAG_TYPE 1       # Make sure magnetometer is fused even when not flying
-param set-default NAV_ACC_RAD 0.5       # Waypoint acceptance radius
-param set-default EKF2_GBIAS_INIT 0.01
-param set-default EKF2_ANGERR_INIT 0.01