drivers/rc_input: cleanup and simplify data processing per type

- don't store data in class
drivers/rc_input: poll file descriptor to minimize latency
2026-06-04 04:50:05 +08:00 · 2022-02-09 17:11:11 -05:00 · 2022-02-09 16:48:08 -05:00
961 changed files with 14960 additions and 82682 deletions
@@ -28,7 +28,7 @@ pipeline {
          ]

          def base_builds = [
-            target: ["px4_sitl_default"],
+            target: ["px4_sitl_rtps"],
            image: docker_images.base,
            archive: false
          ]
@@ -52,14 +52,12 @@ pipeline {
                     "cuav_x7pro_default",
                     "cubepilot_cubeorange_default",
                     "cubepilot_cubeyellow_default",
-                     "diatone_mamba-f405-mk2_default",
                     "freefly_can-rtk-gps_canbootloader",
                     "freefly_can-rtk-gps_default",
                     "holybro_can-gps-v1_canbootloader",
                     "holybro_can-gps-v1_default",
                     "holybro_durandal-v1_default",
                     "holybro_kakutef7_default",
-                     "holybro_kakuteh7_default",
                     "holybro_pix32v5_default",
                     "matek_h743-slim",
                     "matek_gnss-m9n-f4_canbootloader",
@@ -105,7 +103,6 @@ pipeline {
                     "px4_fmu-v6u_default",
                     "px4_fmu-v6x_default",
                     "px4_io-v2_default",
-                     "sky-drones_smartap-airlink_default",
                     "spracing_h7extreme_default",
                     "uvify_core_default"
            ],
@@ -705,21 +705,18 @@ void quickCalibrate() {

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status || true"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick; sleep 1"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_ACC*"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro; sleep 2"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_GYRO*"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level; sleep 2"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SENS*"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick; sleep 1"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_MAG*"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate baro; sleep 5"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_BARO*"'
-
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters after
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
 }
@@ -864,7 +861,7 @@ void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf_gps_drift" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
@@ -20,7 +20,6 @@ jobs:
          ark_can-flow,
          ark_can-gps,
          ark_can-rtk-gps,
-          ark_cannode,
          atl_mantis-edu,
          av_x-v1,
          bitcraze_crazyflie,
@@ -30,7 +29,6 @@ jobs:
          cuav_x7pro,
          cubepilot_cubeorange,
          cubepilot_cubeyellow,
-          diatone_mamba-f405-mk2,
          freefly_can-rtk-gps,
          holybro_can-gps-v1,
          holybro_durandal-v1,
@@ -62,7 +60,6 @@ jobs:
          px4_fmu-v5x,
          px4_fmu-v6u,
          px4_fmu-v6x,
-          sky-drones_smartap-airlink,
          spracing_h7extreme,
          uvify_core
          ]
@@ -29,9 +29,9 @@ jobs:
        token: ${{ secrets.ACCESS_TOKEN }}

    - name: Download MAVSDK
-      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
    - name: Install MAVSDK
-      run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+      run: dpkg -i "mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@@ -64,6 +64,3 @@
 	path = src/lib/crypto/libtommath
 	url = https://github.com/PX4/libtommath.git
 	branch = px4
-[submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
-	path = src/modules/microdds_client/Micro-XRCE-DDS-Client
-	url = https://github.com/eProsima/Micro-XRCE-DDS-Client.git
@@ -121,16 +121,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-rtk-gps_canbootloader
-    ark_cannode_default:
-      short: ark_cannode_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_cannode_default
-    ark_cannode_canbootloader:
-      short: ark_cannode_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_cannode_canbootloader
    atl_mantis-edu_default:
      short: atl_mantis-edu
      buildType: MinSizeRel
@@ -412,7 +412,6 @@ endif()
 # subdirectories
 #
 add_library(parameters_interface INTERFACE)
-add_library(kernel_parameters_interface INTERFACE)

 include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)
@@ -435,13 +434,7 @@ add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)

 # must be the last module before firmware
 add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
-
-if(${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT)
-target_link_libraries(parameters_interface INTERFACE usr_parameters)
-target_link_libraries(kernel_parameters_interface INTERFACE parameters)
-else()
 target_link_libraries(parameters_interface INTERFACE parameters)
-endif()

 # firmware added last to generate the builtin for included modules
 add_subdirectory(platforms/${PX4_PLATFORM})
@@ -88,7 +88,7 @@ unset BOARD_RC_SENSORS
 # Check for flow sensor
 if param compare SENS_EN_PX4FLOW 1
 then
-	px4flow start -X &
+	px4flow start -X
 fi

 uavcannode start
@@ -10,7 +10,6 @@
 # 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
@@ -8,5 +8,8 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

+set MAV_TYPE 12
+param set MAV_TYPE ${MAV_TYPE}
+
 set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
 set MIXER custom
@@ -8,5 +8,8 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

+set MAV_TYPE 12
+param set MAV_TYPE ${MAV_TYPE}
+
 set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
 set MIXER custom
@@ -67,3 +67,4 @@ param set-default PWM_MAIN_FUNC7 107
 param set-default PWM_MAIN_FUNC8 108

 set MIXER skip
+
@@ -10,7 +10,7 @@
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 2

-param set-default CA_ROTOR_COUNT 5
+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
@@ -23,9 +23,6 @@ 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
@@ -71,6 +68,7 @@ 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_LOITER_RAD 80

 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75
@@ -79,5 +77,7 @@ param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2

+set MAV_TYPE 22
+
 set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
 set MIXER custom
@@ -7,8 +7,6 @@

 . ${R}etc/init.d/rc.vtol_defaults

-param set-default MAV_TYPE 20
-
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 4

@@ -70,6 +68,7 @@ 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_LOITER_RAD 80

 param set-default VT_FW_DIFTHR_EN 1
 param set-default VT_FW_DIFTHR_SC 0.5
@@ -79,5 +78,7 @@ param set-default VT_TYPE 0

 param set-default WV_EN 0

+set MAV_TYPE 20
+
 set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
 set MIXER custom
@@ -7,8 +7,6 @@

 . ${R}etc/init.d/rc.vtol_defaults

-param set-default MAV_TYPE 21
-
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 3

@@ -82,6 +80,7 @@ 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_LOITER_RAD 80

 param set-default VT_B_TRANS_DUR 8
 param set-default VT_FWD_THRUST_EN 4
@@ -89,5 +88,7 @@ param set-default VT_MOT_ID 1234
 param set-default VT_TILT_TRANS 0.6
 param set-default VT_TYPE 1

+set MAV_TYPE 21
+
 set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
 set MIXER custom
@@ -38,6 +38,7 @@ 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_LOITER_RAD 80

 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75
@@ -50,5 +51,7 @@ param set-default RC_MAP_AUX1 8
 param set-default RC_MAP_AUX2 9
 param set-default RC_MAP_AUX3 10

+set MAV_TYPE 22
+
 set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
 set MIXER custom
@@ -37,4 +37,6 @@ param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101

+set MAV_TYPE 10
+
 set MIXER_FILE skip
@@ -37,4 +37,6 @@ param set-default PWM_MAIN_FUNC2 101
 param set-default PWM_MAIN_FUNC6 102
 param set-default PWM_MAIN_FUNC7 102

+set MAV_TYPE 10
+
 set MIXER_FILE skip
@@ -10,8 +10,6 @@

 . ${R}etc/init.d/rc.rover_defaults

-param set-default MAV_TYPE 10
-
 param set-default GND_L1_DIST 5
 param set-default GND_SP_CTRL_MODE 1
 param set-default GND_SPEED_D 3
@@ -35,4 +33,6 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 3.0

+set MAV_TYPE 10
+
 set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
@@ -47,4 +47,6 @@ param set-default CA_R_REV 3
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102

+set MAV_TYPE 11
+
 set MIXER skip
@@ -9,8 +9,6 @@

 . ${R}etc/init.d/rc.mc_defaults

-param set-default MAV_TYPE 13
-
 param set-default MC_PITCHRATE_P 0.1
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCH_P 6.0
@@ -26,4 +24,6 @@ param set-default TRIG_MODE 4
 param set-default MNT_MODE_IN 4
 param set-default MNT_DO_STAB 2

+set MAV_TYPE 13
+
 set MIXER hexa_x
@@ -7,8 +7,6 @@

 . ${R}etc/init.d/rc.mc_defaults

-param set-default MAV_TYPE 13
-
 param set-default MC_PITCHRATE_P 0.0800
 param set-default MC_PITCHRATE_I 0.0400
 param set-default MC_PITCHRATE_D 0.0010
@@ -28,4 +26,6 @@ param set-default MNT_MODE_IN 4
 param set-default MNT_MODE_OUT 2
 param set-default MAV_PROTO_VER 2

+set MAV_TYPE 13
+
 set MIXER hexa_x
@@ -7,8 +7,6 @@

 . ${R}etc/init.d/rc.mc_defaults

-param set-default MAV_TYPE 13
-
 param set-default SYS_CTRL_ALLOC 1

 param set-default MC_PITCHRATE_P 0.0800
@@ -60,5 +58,7 @@ param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 105
 param set-default PWM_MAIN_FUNC6 106

+set MAV_TYPE 13
+
 set MIXER skip
 set MIXER_AUX none
@@ -24,6 +24,7 @@ fi

 # initialize script variables
 set IO_PRESENT                  no
+set MAV_TYPE                    none
 set MIXER                       none
 set MIXER_AUX                   none
 set MIXER_FILE                  none
@@ -223,13 +224,6 @@ rc_update start
 manual_control start
 sensors start
 commander start
-
-# Configure vehicle type specific parameters.
-# Note: rc.vehicle_setup is the entry point for rc.interface,
-#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
-#
-. ${R}etc/init.d/rc.vehicle_setup
-
 navigator start

 # Try to start the micrortps_client with UDP transport if module exists
@@ -259,6 +253,12 @@ then
 	gyro_calibration start
 fi

+# Configure vehicle type specific parameters.
+# Note: rc.vehicle_setup is the entry point for rc.interface,
+#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
+#
+. ${R}etc/init.d/rc.vehicle_setup
+
 #user defined mavlink streams for instances can be in PATH
 . px4-rc.mavlink

@@ -39,26 +39,6 @@ param set-default FW_RR_P 0.3

 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 4
-param set-default CA_SV_CS0_TRQ_R 0.5
-param set-default CA_SV_CS0_TYPE 2
-param set-default CA_SV_CS1_TRQ_P 1.0
-param set-default CA_SV_CS1_TYPE 3
-param set-default CA_SV_CS2_TRQ_Y 1.0
-param set-default CA_SV_CS2_TYPE 4
-param set-default CA_SV_CS3_TYPE 10
-
-param set-default HIL_ACT_REV 2
-param set-default HIL_ACT_FUNC1 201
-param set-default HIL_ACT_FUNC2 202
-param set-default HIL_ACT_FUNC3 203
-param set-default HIL_ACT_FUNC4 101
-param set-default HIL_ACT_FUNC5 204
-param set-default HIL_ACT_FUNC6 400
-
 param set SYS_HITL 1

 # disable some checks to allow to fly
@@ -36,5 +36,4 @@ param set-default MC_PITCHRATE_P 0.19
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCHRATE_D 0.004
 param set-default MC_YAW_P 4
-
 set MIXER quad_w
@@ -15,23 +15,6 @@ set MIXER quad_x

 param set SYS_HITL 1

-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
-
 # disable some checks to allow to fly
 # - with usb
 param set-default CBRK_USB_CHK 197848
@@ -49,6 +49,7 @@ param set-default MPC_Z_VEL_MAX_DN 1.5

 param set-default NAV_ACC_RAD 5
 param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 80

 param set-default RTL_DESCEND_ALT 10
 param set-default RTL_RETURN_ALT 30
@@ -60,37 +61,6 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_TYPE 2

-param set-default CA_AIRFRAME 2
-param set-default CA_ROTOR_COUNT 5
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_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_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 HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
-param set-default HIL_ACT_FUNC5 105
-param set-default HIL_ACT_FUNC6 201
-param set-default HIL_ACT_FUNC7 202
-param set-default HIL_ACT_FUNC8 203
-

 param set SYS_HITL 1

@@ -103,7 +73,7 @@ param set-default CBRK_SUPPLY_CHK 894281
 param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

-param set-default MAV_TYPE 22
+set MAV_TYPE 22

 set MIXER standard_vtol_hitl

@@ -17,23 +17,6 @@ set PWM_OUT 1234

 param set UAVCAN_ENABLE 0

-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
-
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2

@@ -17,26 +17,6 @@ set PWM_OUT 1234

 param set UAVCAN_ENABLE 0

-param set-default CA_AIRFRAME 1
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-param set-default CA_SV_CS_COUNT 4
-param set-default CA_SV_CS0_TRQ_R 0.5
-param set-default CA_SV_CS0_TYPE 2
-param set-default CA_SV_CS1_TRQ_P 1.0
-param set-default CA_SV_CS1_TYPE 3
-param set-default CA_SV_CS2_TRQ_Y 1.0
-param set-default CA_SV_CS2_TYPE 4
-param set-default CA_SV_CS3_TYPE 10
-
-param set-default HIL_ACT_REV 2
-param set-default HIL_ACT_FUNC1 201
-param set-default HIL_ACT_FUNC2 202
-param set-default HIL_ACT_FUNC3 203
-param set-default HIL_ACT_FUNC4 101
-param set-default HIL_ACT_FUNC5 204
-param set-default HIL_ACT_FUNC6 400
-
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set-default SYS_HITL 2

@@ -26,28 +26,8 @@ param set-default VT_FW_DIFTHR_SC 0.3
 param set-default MPC_MAN_Y_MAX 60
 param set-default MC_PITCH_P 5

-param set-default CA_AIRFRAME 4
-param set-default CA_ROTOR_COUNT 2
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR0_PY 0.2
-param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR1_PY -0.2
-param set-default CA_SV_CS_COUNT 2
-param set-default CA_SV_CS0_TRQ_P 0.3
-param set-default CA_SV_CS0_TRQ_Y 0.3
-param set-default CA_SV_CS0_TYPE 5
-param set-default CA_SV_CS1_TRQ_P 0.3
-param set-default CA_SV_CS1_TRQ_Y -0.3
-param set-default CA_SV_CS1_TYPE 6
-
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC5 202
-param set-default HIL_ACT_FUNC6 201
-param set-default HIL_ACT_REV 32
-
 param set-default MAV_TYPE 19
-
+set MAV_TYPE 19
 set MIXER vtol_tailsitter_duo_sat

 set PWM_OUT 1234
@@ -25,7 +25,7 @@
 . ${R}etc/init.d/rc.vtol_defaults

 param set-default CA_AIRFRAME 2
-param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 0.15
 param set-default CA_ROTOR0_PY 0.15
 param set-default CA_ROTOR1_PX -0.15
@@ -36,9 +36,6 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.15
 param set-default CA_ROTOR3_PY 0.15
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_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 4
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS0_TRQ_R -0.5
@@ -54,8 +51,7 @@ param set-default PWM_AUX_DIS5 950
 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
-
-param set-default MAV_TYPE 22
+set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAERT
@@ -19,6 +19,7 @@

 . ${R}etc/init.d/rc.vtol_defaults

+
 param set-default MAV_TYPE 19

 param set-default MC_ROLL_P 6
@@ -37,6 +38,7 @@ param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_ID 12
 param set-default VT_TYPE 0
+set MAV_TYPE 19

 set MIXER vtol_tailsitter_duo

@@ -23,7 +23,6 @@

 . ${R}etc/init.d/rc.vtol_defaults

-param set-default MAV_TYPE 21

 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.19
@@ -46,6 +45,7 @@ param set-default VT_TILT_TRANS 0.5
 param set-default VT_TILT_FW 0.9
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
+set MAV_TYPE 21

 set MIXER firefly6
 set MIXER_AUX firefly6
@@ -13,8 +13,6 @@

 . ${R}etc/init.d/rc.vtol_defaults

-param set-default MAV_TYPE 20
-
 param set-default CA_AIRFRAME 4
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 0.15
@@ -40,6 +38,7 @@ param set-default PWM_MAIN_MAX 2000
 param set-default VT_MOT_ID 1234
 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0
+set MAV_TYPE 20

 set MIXER quad_x_vtol

@@ -7,8 +7,8 @@
 #
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
+# @output MAIN3 motor 4
+# @output MAIN4 motor 5
 # @output MAIN5 elevon left
 # @output MAIN6 elevon right
 # @output MAIN7 canard surface
@@ -22,13 +22,13 @@

 . ${R}etc/init.d/rc.vtol_defaults

-param set-default MAV_TYPE 20
-
 param set-default PWM_MAIN_MAX 2000

 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0

+set MAV_TYPE 20
+
 set MIXER quad_+_vtol

 set PWM_OUT 1234
@@ -52,6 +52,7 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
+set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAERT
@@ -41,6 +41,7 @@ param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
+set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_delta
@@ -33,6 +33,7 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
+set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAVVT
@@ -46,6 +46,7 @@ param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_TYPE 2
+set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAERT
@@ -77,6 +77,8 @@ param set-default VT_TRANS_MIN_TM 5
 param set-default VT_TRANS_TIMEOUT    30
 param set-default VT_TYPE 2

+set MAV_TYPE 22
+
 set MIXER quad_x
 set MIXER_AUX vtol_AAERT

@@ -13,8 +13,6 @@

 . ${R}etc/init.d/rc.vtol_defaults

-param set-default MAV_TYPE 21
-
 param set-default PWM_AUX_DISARM 1000
 param set-default PWM_AUX_MAX 2000
 param set-default PWM_AUX_MIN 1000
@@ -30,6 +28,7 @@ param set-default VT_TILT_MC 0.08
 param set-default VT_TILT_TRANS 0.5
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
+set MAV_TYPE 21

 set MIXER claire
 set MIXER_AUX claire
@@ -22,8 +22,6 @@

 . ${R}etc/init.d/rc.vtol_defaults

-param set-default MAV_TYPE 21
-
 param set-default CBRK_AIRSPD_CHK 162128

 param set-default FW_ARSP_MODE 1
@@ -66,6 +64,7 @@ param set-default VT_TRANS_MIN_TM 1.2
 param set-default VT_TRANS_P2_DUR 1.3
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
+set MAV_TYPE 21

 set MIXER vtol_convergence

@@ -22,8 +22,6 @@

 . ${R}etc/init.d/rc.vtol_defaults

-param set-default MAV_TYPE 22
-
 param set-default BAT1_CAPACITY 23000
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_R_INTERNAL 0.0025
@@ -136,6 +134,7 @@ param set-default VT_TRANS_TIMEOUT 22
 param set-default VT_F_TRANS_RAMP 4

 param set-default COM_RC_OVERRIDE 0
+set MAV_TYPE 22

 set MIXER deltaquad
 set MIXER_AUX pass
@@ -23,8 +23,6 @@

 . ${R}etc/init.d/rc.vtol_defaults

-param set-default MAV_TYPE 22
-
 param set-default BAT1_N_CELLS 6

 param set-default FW_AIRSPD_MAX 30
@@ -96,6 +94,8 @@ param set-default VT_PSHER_RMP_DT 2
 param set-default VT_TRANS_MIN_TM 4
 param set-default VT_TYPE 2

+set MAV_TYPE 22
+
 set MIXER babyshark
 set MIXER_AUX pass

@@ -27,8 +27,6 @@

 . ${R}etc/init.d/rc.vtol_defaults

-param set-default MAV_TYPE 21
-
 param set-default VT_IDLE_PWM_MC 1100
 param set-default VT_TYPE 1
 param set-default VT_MOT_ID 1234
@@ -59,6 +57,8 @@ param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_TL_COUNT 4

+set MAV_TYPE 21
+
 set MIXER quad_x
 set MIXER_AUX vtol_TTTTAAER

@@ -31,6 +31,7 @@ param set-default PWM_AUX_DIS5 950
 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 12345678
 param set-default VT_FW_MOT_OFFID 12345678
+set MAV_TYPE 22

 set MIXER octo_cox
 set MIXER_AUX vtol_AAERT
@@ -19,8 +19,6 @@

 . ${R}etc/init.d/rc.vtol_defaults

-param set-default MAV_TYPE 19
-
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0
@@ -39,6 +37,8 @@ param set-default CA_SV_CS1_TRQ_P 0.5
 param set-default CA_SV_CS1_TRQ_Y -0.5
 param set-default CA_SV_CS1_TYPE 6

+param set-default MAV_TYPE 19
+set MAV_TYPE 19
 set MIXER vtol_tailsitter_duo

 set PWM_OUT 1234
@@ -18,7 +18,4 @@

 . ${R}etc/init.d/rc.mc_defaults

-# MAV_TYPE_TRICOPTER 15
-param set-default MAV_TYPE 15
-
 set MIXER tri_y_yaw+
@@ -18,7 +18,4 @@

 . ${R}etc/init.d/rc.mc_defaults

-# MAV_TYPE_TRICOPTER 15
-param set-default MAV_TYPE 15
-
 set MIXER tri_y_yaw-
@@ -17,9 +17,7 @@
 #

 . ${R}etc/init.d/rc.mc_defaults
-
-# MAV_TYPE_COAXIAL 3
-param set-default MAV_TYPE 3
+set MIXER coax

 param set-default MC_ROLLRATE_P 0.17
 param set-default MC_ROLLRATE_I 0.05
@@ -38,9 +36,6 @@ param set-default PWM_MAIN_RATE 400

 param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10
-
-set MIXER coax
-
 # This is the gimbal pass mixer
 set MIXER_AUX pass

@@ -20,7 +20,7 @@
 . ${R}etc/init.d/rc.mc_defaults

 # Configure as helicopter (number 4 defined in commander_helper.cpp)
-param set-default MAV_TYPE 4
+set MAV_TYPE 4

 set MIXER blade130

@@ -41,6 +41,5 @@ param set-default FW_R_LIM 40
 param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
-
 set MIXER TF-G2
 set MIXER_AUX pass
@@ -24,5 +24,8 @@ param set-default MAV_0_CONFIG 102
 param set-default GPS_UBX_DYNMODEL 8
 param set-default SER_TEL2_BAUD 9600

+set MAV_TYPE 8
+param set MAV_TYPE ${MAV_TYPE}
+
 set MIXER IO_pass
 set MIXER_AUX pass
@@ -26,7 +26,7 @@
 # @board px4_fmu-v2 exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
+set VEHICLE_TYPE mc

 param set-default NAV_ACC_RAD 2

@@ -39,7 +39,6 @@ param set-default PWM_MAIN_RATE 400

 param set-default RTL_DESCEND_ALT 10
 param set-default RTL_RETURN_ALT 30
-
 set MIXER dodeca_top_cox
 set MIXER_AUX dodeca_bottom_cox

@@ -41,6 +41,9 @@ param set-default FW_RR_P 0.04

 param set-default PWM_MAIN_DISARM 1000

+# Configure this as plane.
+set MAV_TYPE 1
+
 # Set mixer.
 set MIXER fw_generic_wing

@@ -24,6 +24,8 @@

 set MIXER quad_s250aq

+set MAV_TYPE 2
+
 param set-default ATT_BIAS_MAX 0

 param set-default CBRK_IO_SAFETY 22027
@@ -46,7 +46,7 @@ param set-default COM_RC_LOSS_T 3


 # ekf2
-param set-default EKF2_AID_MASK 33
+param set-default EKF2_AID_MASK 35
 param set-default EKF2_BARO_DELAY 0
 param set-default EKF2_BARO_NOISE 2.0

@@ -164,8 +164,6 @@ param set-default RC_MAP_AUX2       5
 param set-default RC_MAP_AUX3       10
 param set-default RC_MAP_AUX4       8
 param set-default RC_MAP_FLTMODE    6
-param set-default RC_MAP_RETURN_SW  7
-
 param set-default RC1_TRIM          1000


@@ -21,7 +21,10 @@
 # @board cuav_x7pro exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
+set VEHICLE_TYPE mc
+set MIXER quad_x
+set PWM_OUT 1234
+

 # Attitude & rate gains
 param set-default MC_ROLLRATE_D 0.0013
@@ -21,7 +21,10 @@
 # @maintainer Hyon Lim <lim@uvify.com>
 #

-. ${R}etc/init.d/rc.mc_defaults
+set VEHICLE_TYPE mc
+set MIXER quad_x
+set PWM_OUT 1234
+

 # Attitude & rate gains
 param set-default MC_ROLLRATE_D 0.0013
@@ -24,6 +24,10 @@

 . ${R}etc/init.d/rc.mc_defaults

+
+# Configure this as Quadrotor
+# set MAV_TYPE 14
+
 # Set mixer
 set MIXER tilt_quad
 set MIXER_AUX tilt_quad
@@ -48,6 +48,8 @@ param set-default NAV_ACC_RAD 0.5
 param set-default PWM_MAIN_DISARM 1500
 param set-default PWM_MAIN_MAX 2000
 param set-default PWM_MAIN_MIN 1000
+# Configure this as rover
+set MAV_TYPE 10

 # Set mixer
 set MIXER rover_generic
@@ -76,6 +76,9 @@ param set-default RBCLW_SER_CFG 104
 # Start this driver after setting parameters, because the driver uses some of those parameters.
 # roboclaw start /dev/ttyS3

+# Configure this as rover
+set MAV_TYPE 10
+
 # Set mixer
 set MIXER generic_diff_rover

@@ -65,6 +65,9 @@ param set-default PWM_MAIN_MIN4 970
 # Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

+# Configure this as rover
+set MAV_TYPE 10
+
 # Set mixer
 set MIXER rover_diff_and_servo

@@ -16,4 +16,7 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

+set MAV_TYPE 12
+param set MAV_TYPE ${MAV_TYPE}
+
 set MIXER uuv_x
@@ -16,4 +16,7 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

+set MAV_TYPE 12
+param set MAV_TYPE ${MAV_TYPE}
+
 set MIXER uuv_x
@@ -23,9 +23,6 @@

 . ${R}etc/init.d/rc.mc_defaults

-# MAV_TYPE_HEXAROTOR 13
-param set-default MAV_TYPE 13
-
 param set-default CA_ROTOR_COUNT 6
 param set-default CA_ROTOR0_PX 0.0
 param set-default CA_ROTOR0_PY 0.5
@@ -27,8 +27,9 @@

 . ${R}etc/init.d/rc.mc_defaults

-# MAV_TYPE_HEXAROTOR 13
-param set-default MAV_TYPE 13
+set MIXER hexa_x
+set PWM_OUT 12345678
+

 ###############################################
 # Attitude & rate gains
@@ -119,7 +120,3 @@ param set-default MAV_1_MODE 2
 param set-default MAV_1_FORWARD 1
 param set-default MAV_1_RATE 800000
 param set-default SER_TEL2_BAUD 921600
-
-
-set MIXER hexa_x
-set PWM_OUT 12345678
@@ -23,9 +23,6 @@

 . ${R}etc/init.d/rc.mc_defaults

-# MAV_TYPE_HEXAROTOR 13
-param set-default MAV_TYPE 13
-
 param set-default CA_ROTOR_COUNT 6
 param set-default CA_ROTOR0_PX 0.5
 param set-default CA_ROTOR0_PY 0.0
@@ -25,9 +25,6 @@

 . ${R}etc/init.d/rc.mc_defaults

-# MAV_TYPE_OCTOROTOR 14
-param set-default MAV_TYPE 14
-
 param set-default CA_ROTOR_COUNT 8
 param set-default CA_ROTOR0_KM -0.05
 param set-default CA_ROTOR0_PX 0.46
@@ -25,9 +25,6 @@

 . ${R}etc/init.d/rc.mc_defaults

-# MAV_TYPE_OCTOROTOR 14
-param set-default MAV_TYPE 14
-
 set MIXER octo_+

 set PWM_OUT 12345678
@@ -7,9 +7,6 @@

 set VEHICLE_TYPE airship

-# MAV_TYPE_AIRSHIP 7
-param set-default MAV_TYPE 7
-
 #
 # This is the gimbal pass mixer.
 #
@@ -7,9 +7,6 @@

 set VEHICLE_TYPE fw

-# MAV_TYPE_FREE_BALLOON 8
-param set-default MAV_TYPE 8
-
 #
 # Default parameters for balloon UAVs.
 #
@@ -7,9 +7,6 @@

 set VEHICLE_TYPE rover

-# MAV_TYPE_SURFACE_BOAT 11
-param set-default MAV_TYPE 11
-
 #
 # Default parameters for UGVs.
 #
@@ -7,15 +7,14 @@

 set VEHICLE_TYPE fw

-# MAV_TYPE_FIXED_WING 1
-param set-default MAV_TYPE 1
-
 #
 # Default parameters for fixed wing UAVs.
 #
 param set-default COM_POS_FS_DELAY 5
 param set-default COM_POS_FS_EPH 15
 param set-default COM_POS_FS_EPV 30
+param set-default COM_POS_FS_GAIN 0
+param set-default COM_POS_FS_PROB 1
 param set-default COM_VEL_FS_EVH 5
 # Disable preflight disarm to not interfere with external launching
 param set-default COM_DISARM_PRFLT -1
@@ -7,9 +7,6 @@

 set VEHICLE_TYPE mc

-# MAV_TYPE_QUADROTOR 2
-param set-default MAV_TYPE 2
-
 if param compare IMU_GYRO_RATEMAX 400
 then
 	param set-default IMU_GYRO_RATEMAX 800
@@ -7,9 +7,6 @@

 set VEHICLE_TYPE rover

-# MAV_TYPE_GROUND_ROVER 10
-param set-default MAV_TYPE 10
-
 #
 # Default parameters for UGVs.
 #
@@ -83,24 +83,18 @@ then
 	teraranger start -X
 fi

-# paa3905 optical flow sensor (external SPI)
-if param greater -s SENS_EN_PAA3905 0
-then
-	paa3905 -S start
-fi
-
-# paw3902 optical flow sensor (external SPI)
-if param greater -s SENS_EN_PAW3902 0
-then
-	paw3902 -S start
-fi
-
-# pmw3901 optical flow sensor (external SPI)
+# Possible external pmw3901 optical flow sensor
 if param greater -s SENS_EN_PMW3901 0
 then
 	pmw3901 -S start
 fi

+# Possible external paw3902 optical flow sensor
+if param greater -s SENS_EN_PAW3902 0
+then
+	paw3902 -S start
+fi
+
 # vl53l1x i2c distance sensor
 if param compare -s SENS_EN_VL53L1X 1
 then
@@ -129,31 +123,13 @@ fi
 # Sensirion SDP3X differential pressure sensor external I2C
 if param compare -s SENS_EN_SDP3X 1
 then
-	if ! sdp3x start -X
+	if ! sdp3x_airspeed start -X
 	then
 		# try another common address
-		sdp3x start -X -a 0x22
+		sdp3x_airspeed start -X -a 0x22
 	fi
 fi

-# TE MS4515 differential pressure sensor external I2C
-if param compare -s SENS_EN_MS4515 1
-then
-	ms4515 start -X
-fi
-
-# TE MS4525DO differential pressure sensor external I2C
-if param compare -s SENS_EN_MS4525DO 1
-then
-	ms4525do start -X
-fi
-
-# TE MS5525DSO differential pressure sensor external I2C
-if param compare -s SENS_EN_MS5525DS 1
-then
-	ms5525dso start -X
-fi
-
 # SHT3x temperature and hygrometer sensor, external I2C
 if param compare -s SENS_EN_SHT3X 1
 then
@@ -161,24 +137,16 @@ then
 	sht3x start -X -a 0x45
 fi

-# IR-LOCK sensor external I2C
-if param compare -s SENS_EN_IRLOCK 1
+# TE MS4525 differential pressure sensor external I2C
+if param compare -s SENS_EN_MS4525 1
 then
-	irlock start -X
+	ms4525_airspeed start -X
 fi

-# SPL06 sensor external I2C
-if param compare -s SENS_EN_SPL06 1
+# TE MS5525 differential pressure sensor external I2C
+if param compare -s SENS_EN_MS5525 1
 then
-	spl06 -X start
-	spl06 -X -a 0x77 start
-fi
-
-# PCF8583 counter (RPM sensor)
-if param compare -s SENS_EN_PCF8583 1
-then
-	pcf8583 start -X
-	pcf8583 start -X -a 0x51
+	ms5525_airspeed start -X
 fi

 # probe for optional external I2C devices
@@ -198,3 +166,9 @@ then
 	# start last (wait for possible icm20948 passthrough mode)
 	ak09916 -X -q start
 fi
+
+###############################################################################
+#                            End Optional drivers                             #
+###############################################################################
+
+sensors start
@@ -7,9 +7,6 @@

 set VEHICLE_TYPE uuv

-# MAV_TYPE_SUBMARINE 12
-param set-default MAV_TYPE 12
-
 param set-default PWM_MAIN_MAX 1950
 param set-default PWM_MAIN_MIN 1050
 param set-default PWM_MAIN_DISARM 1500
@@ -12,9 +12,19 @@ if [ $VEHICLE_TYPE = fw ]
 then
 	if [ $MIXER = none ]
 	then
-		echo "FW mixer undefined"
+		# Set default mixer for fixed wing if not defined.
+		set MIXER AERT
 	fi

+	if [ $MAV_TYPE = none ]
+	then
+		# Set a default MAV_TYPE = 1 if not defined.
+		set MAV_TYPE 1
+	fi
+
+	# Set the mav type parameter.
+	param set MAV_TYPE ${MAV_TYPE}
+
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -32,6 +42,41 @@ then
 		echo "MC mixer undefined"
 	fi

+	if [ $MAV_TYPE = none ]
+	then
+		# Set a default MAV_TYPE = 2 if not defined.
+		set MAV_TYPE 2
+
+		# Use mixer to detect vehicle type
+		if [ $MIXER = coax ]
+		then
+			set MAV_TYPE 3
+		fi
+		if [ $MIXER = hexa_x -o $MIXER = hexa_+ ]
+		then
+			set MAV_TYPE 13
+		fi
+		if [ $MIXER = hexa_cox ]
+		then
+			set MAV_TYPE 13
+		fi
+		if [ $MIXER = octo_x -o $MIXER = octo_+ ]
+		then
+			set MAV_TYPE 14
+		fi
+		if [ $MIXER = octo_cox -o $MIXER = octo_cox_w ]
+		then
+			set MAV_TYPE 14
+		fi
+		if [ $MIXER = tri_y_yaw- -o $MIXER = tri_y_yaw+ ]
+		then
+			set MAV_TYPE 15
+		fi
+	fi
+
+	# Set the mav type parameter.
+	param set MAV_TYPE ${MAV_TYPE}
+
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -46,9 +91,19 @@ if [ $VEHICLE_TYPE = rover ]
 then
 	if [ $MIXER = none ]
 	then
-		echo "rover mixer undefined"
+		# Set default mixer for UGV if not defined.
+		set MIXER rover_generic
 	fi

+	if [ $MAV_TYPE = none ]
+	then
+		# Set a default MAV_TYPE = 10 if not defined.
+		set MAV_TYPE 10
+	fi
+
+	# Set the mav type parameter.
+	param set MAV_TYPE ${MAV_TYPE}
+
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -66,6 +121,25 @@ then
 		echo "VTOL mixer undefined"
 	fi

+	if [ $MAV_TYPE = none ]
+	then
+		# Set a default MAV_TYPE = 19 if not defined.
+		set MAV_TYPE 19
+
+		# Use mixer to detect vehicle type.
+		if [ $MIXER = firefly6 ]
+		then
+			set MAV_TYPE 21
+		fi
+		if [ $MIXER = quad_x_pusher_vtol ]
+		then
+			set MAV_TYPE 22
+		fi
+	fi
+
+	# Set the mav type parameter.
+	param set MAV_TYPE ${MAV_TYPE}
+
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -83,6 +157,15 @@ then
 		echo "Airship mixer undefined"
 	fi

+	if [ $MAV_TYPE = none ]
+	then
+		# Set a default MAV_TYPE = 7 if not defined.
+		set MAV_TYPE 7
+	fi
+
+	# Set the mav type parameter.
+	param set MAV_TYPE ${MAV_TYPE}
+
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -100,11 +183,19 @@ then
 		echo "UUV mixer undefined"
 	fi

+	if [ $MAV_TYPE = none ]
+	then
+		# Set default MAV_TYPE to submarine if not defined
+		set MAV_TYPE 12
+	fi
+
+	param set MAV_TYPE ${MAV_TYPE}
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

 	# Start standard vtol apps.
 	. ${R}etc/init.d/rc.uuv_apps
+
 fi


@@ -7,9 +7,6 @@

 set VEHICLE_TYPE vtol

-# MAV_TYPE_VTOL_FIXEDROTOR 22
-param set-default MAV_TYPE 22
-
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_YAW_TMT 10

@@ -29,6 +29,7 @@ set IOFW "/etc/extras/px4_io-v2_default.bin"
 set IO_PRESENT no
 set LOGGER_ARGS ""
 set LOGGER_BUF 8
+set MAV_TYPE none
 set MIXER none
 set MIXER_AUX none
 set MIXER_FILE none
@@ -405,17 +406,9 @@ else
 			battery_status start
 		fi

-		sensors start
 		commander start
 	fi

-	#
-	# Configure vehicle type specific parameters.
-	# Note: rc.vehicle_setup is the entry point for rc.interface,
-	#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
-	#
-	. ${R}etc/init.d/rc.vehicle_setup
-
 	# Pre-takeoff continuous magnetometer calibration
 	if param compare -s MBE_ENABLE 1
 	then
@@ -466,6 +459,13 @@ else
 		fi
 	fi

+	#
+	# Configure vehicle type specific parameters.
+	# Note: rc.vehicle_setup is the entry point for rc.interface,
+	#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
+	#
+	. ${R}etc/init.d/rc.vehicle_setup
+
 	#
 	# Play the startup tune (if not disabled or there is an error)
 	#
@@ -493,6 +493,12 @@ else
 		gimbal start
 	fi

+	# Check for flow sensor
+	if param compare -s SENS_EN_PX4FLOW 1
+	then
+		px4flow start -X
+	fi
+
 	# Blacksheep telemetry
 	if param compare -s TEL_BST_EN 1
 	then
@@ -509,12 +515,6 @@ else
 		gyro_calibration start
 	fi

-	# Check for px4flow sensor
-	if param compare -s SENS_EN_PX4FLOW 1
-	then
-		px4flow start -X &
-	fi
-
 	#
 	# Optional board supplied extras: rc.board_extras
 	#
@@ -573,6 +573,7 @@ unset IO_PRESENT
 unset IOFW
 unset LOGGER_ARGS
 unset LOGGER_BUF
+unset MAV_TYPE
 unset MIXER
 unset MIXER_AUX
 unset MIXER_FILE
@@ -1,7 +1,5 @@
 Mixer for Tailsitter with x motor configuration and elevons
 ===========================================================
-# @board px4_fmu-v2 exclude
-# @board omnibus_f4sd exclude

 This file defines a single mixer for tailsitter with motors in X configuration.  All controls
 are mixed 100%.
@@ -16,15 +16,15 @@ if board_adc start
 then
 fi

-if sdp3x start -X
+if sdp3x_airspeed start -X
 then
 fi

-if ms5525dso start -X
+if ms5525_airspeed start -X
 then
 fi

-if ms4525do start -X
+if ms4525_airspeed start -X
 then
 fi

@@ -27,5 +27,4 @@ exec find boards msg src platforms test \
    -path src/lib/crypto/monocypher -prune -o \
    -path src/lib/crypto/libtomcrypt -prune -o \
    -path src/lib/crypto/libtommath -prune -o \
-    -path src/modules/microdds_client/Micro-XRCE-DDS-Client -prune -o \
    -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN
@@ -55,7 +55,7 @@ def perform_imu_checks(

    # perform the vibration check
    imu_status['imu_vibration_check'] = 'Pass'
-    for imu_vibr_metric in ['imu_coning', 'imu_hfgyro', 'imu_hfaccel']:
+    for imu_vibr_metric in ['imu_coning', 'imu_hfdang', 'imu_hfdvel']:
        mean_metric = '{:s}_mean'.format(imu_vibr_metric)
        peak_metric = '{:s}_peak'.format(imu_vibr_metric)
        if imu_metrics[mean_metric] > check_levels['{:s}_warn'.format(mean_metric)] \
@@ -144,27 +144,17 @@ def calculate_imu_metrics(ulog: ULog, multi_instance, in_air_no_ground_effects:
        imu_metrics[result] = calculate_stat_from_signal(
            estimator_status_data, 'estimator_status', signal, in_air_no_ground_effects, np.median)

-
    # calculates peak and mean for IMU vibration checks
-    for imu_status_instance in range(4):
-        try:
-            vehicle_imu_status_data = ulog.get_dataset('vehicle_imu_status', imu_status_instance).data
-
-            if vehicle_imu_status_data['accel_device_id'][0] == estimator_status_data['accel_device_id'][0]:
-
-                for signal, result in [('delta_angle_coning_metric', 'imu_coning'),
-                                       ('gyro_vibration_metric', 'imu_hfgyro'),
-                                       ('accel_vibration_metric', 'imu_hfaccel')]:
-
-                    peak = calculate_stat_from_signal(vehicle_imu_status_data, 'vehicle_imu_status', signal, in_air_no_ground_effects, np.amax)
-
-                    if peak > 0.0:
-                        imu_metrics['{:s}_peak'.format(result)] = peak
-                        imu_metrics['{:s}_mean'.format(result)] = calculate_stat_from_signal(vehicle_imu_status_data, 'vehicle_imu_status', signal, in_air_no_ground_effects, np.mean)
-
-        except:
-            pass
-
+    for signal, result in [('vibe[0]', 'imu_coning'),
+                           ('vibe[1]', 'imu_hfdang'),
+                           ('vibe[2]', 'imu_hfdvel')]:
+        peak = calculate_stat_from_signal(
+            estimator_status_data, 'estimator_status', signal, in_air_no_ground_effects, np.amax)
+        if peak > 0.0:
+            imu_metrics['{:s}_peak'.format(result)] = peak
+            imu_metrics['{:s}_mean'.format(result)] = calculate_stat_from_signal(
+                estimator_status_data, 'estimator_status', signal,
+                in_air_no_ground_effects, np.mean)

    # IMU bias checks
    estimator_states_data = ulog.get_dataset('estimator_states', multi_instance).data
@@ -48,7 +48,7 @@ for filename in os.listdir(metadata_directory):

 #        # print out the check levels
 #        print('\n'+'The following metadata loaded from '+filename+' were used'+'\n')
-#        val = population_data.get(filename, {}).get('imu_hfgyro_mean')
+#        val = population_data.get(filename, {}).get('imu_hfdang_mean')
 #        print(val)

 # Open pdf file for plotting
@@ -90,10 +90,10 @@ population_results = {
 'ofy_fail_pct_avg':[float('NaN'),'The mean percentage of innovation test fails for the Y axis optical flow sensor'],
 'imu_coning_max_avg':[float('NaN'),'The mean of the maximum in-flight values of the IMU delta angle coning vibration level (mrad)'],
 'imu_coning_mean_avg':[float('NaN'),'The mean of the mean in-flight value of the IMU delta angle coning vibration level (mrad)'],
-'imu_hfgyro_max_avg':[float('NaN'),'The mean of the maximum in-flight values of the IMU high frequency gyro vibration level (rad/s)'],
-'imu_hfgyro_mean_avg':[float('NaN'),'The mean of the mean in-flight value of the IMU delta high frequency gyro vibration level (rad/s)'],
-'imu_hfaccel_max_avg':[float('NaN'),'The mean of the maximum in-flight values of the IMU high frequency accel vibration level (m/s/s)'],
-'imu_hfaccel_mean_avg':[float('NaN'),'The mean of the mean in-flight value of the IMU delta high frequency accel vibration level (m/s/s)'],
+'imu_hfdang_max_avg':[float('NaN'),'The mean of the maximum in-flight values of the IMU high frequency delta angle vibration level (mrad)'],
+'imu_hfdang_mean_avg':[float('NaN'),'The mean of the mean in-flight value of the IMU delta high frequency delta angle vibration level (mrad)'],
+'imu_hfdvel_max_avg':[float('NaN'),'The mean of the maximum in-flight values of the IMU high frequency delta velocity vibration level (m/s)'],
+'imu_hfdvel_mean_avg':[float('NaN'),'The mean of the mean in-flight value of the IMU delta high frequency delta velocity vibration level (m/s)'],
 'obs_ang_median_avg':[float('NaN'),'The mean of the median in-flight value of the output observer angular tracking error magnitude (mrad)'],
 'obs_vel_median_avg':[float('NaN'),'The mean of the median in-flight value of the output observer velocity tracking error magnitude (m/s)'],
 'obs_pos_median_avg':[float('NaN'),'The mean of the median in-flight value of the output observer position tracking error magnitude (m)'],
@@ -360,54 +360,54 @@ if (len(result1) > 0 and len(result2) > 0):
    plt.close(8)

 # IMU high frequency delta angle vibration levels
-temp = np.asarray([population_data[k].get('imu_hfgyro_peak') for k in found_keys])
+temp = np.asarray([population_data[k].get('imu_hfdang_peak') for k in found_keys])
 result1 = 1000.0 * temp[np.isfinite(temp)]
-temp = np.asarray([population_data[k].get('imu_hfgyro_mean') for k in found_keys])
+temp = np.asarray([population_data[k].get('imu_hfdang_mean') for k in found_keys])
 result2 = 1000.0 * temp[np.isfinite(temp)]

 if (len(result1) > 0 and len(result2) > 0):
-    population_results['imu_hfgyro_max_avg'][0] = np.mean(result1)
-    population_results['imu_hfgyro_mean_avg'][0] = np.mean(result2)
+    population_results['imu_hfdang_max_avg'][0] = np.mean(result1)
+    population_results['imu_hfdang_mean_avg'][0] = np.mean(result2)

    plt.figure(9,figsize=(20,13))

    plt.subplot(2,1,1)
    plt.hist(result1)
-    plt.title("Gaussian Histogram - IMU HF Gyroscope Vibration Peak")
-    plt.xlabel("imu_hfgyro_max (rad/s)")
+    plt.title("Gaussian Histogram - IMU HF Delta Angle Vibration Peak")
+    plt.xlabel("imu_hfdang_max (mrad)")
    plt.ylabel("Frequency")

    plt.subplot(2,1,2)
    plt.hist(result2)
-    plt.title("Gaussian Histogram - IMU HF Gyroscope Vibration Mean")
-    plt.xlabel("imu_hfgyro_mean (rad/s)")
+    plt.title("Gaussian Histogram - IMU HF Delta Angle Vibration Mean")
+    plt.xlabel("imu_hfdang_mean (mrad)")
    plt.ylabel("Frequency")

    pp.savefig()
    plt.close(9)

-# IMU high frequency accel vibration levels
-temp = np.asarray([population_data[k].get('imu_hfaccel_peak') for k in found_keys])
+# IMU high frequency delta velocity vibration levels
+temp = np.asarray([population_data[k].get('imu_hfdvel_peak') for k in found_keys])
 result1 = temp[np.isfinite(temp)]
-temp = np.asarray([population_data[k].get('imu_hfaccel_mean') for k in found_keys])
+temp = np.asarray([population_data[k].get('imu_hfdvel_mean') for k in found_keys])
 result2 = temp[np.isfinite(temp)]

 if (len(result1) > 0 and len(result2) > 0):
-    population_results['imu_hfaccel_max_avg'][0] = np.mean(result1)
-    population_results['imu_hfaccel_mean_avg'][0] = np.mean(result2)
+    population_results['imu_hfdvel_max_avg'][0] = np.mean(result1)
+    population_results['imu_hfdvel_mean_avg'][0] = np.mean(result2)

    plt.figure(10,figsize=(20,13))

    plt.subplot(2,1,1)
    plt.hist(result1)
-    plt.title("Gaussian Histogram - IMU HF Accelerometer Vibration Peak")
-    plt.xlabel("imu_hfaccel_max (m/s/s)")
+    plt.title("Gaussian Histogram - IMU HF Delta Velocity Vibration Peak")
+    plt.xlabel("imu_hfdvel_max (m/s)")
    plt.ylabel("Frequency")

    plt.subplot(2,1,2)
    plt.hist(result2)
-    plt.title("Gaussian Histogram - IMU HF Accelerometer Vibration Mean")
-    plt.xlabel("imu_hfaccel_mean (m/s/s)")
+    plt.title("Gaussian Histogram - IMU HF Delta Velocity Vibration Mean")
+    plt.xlabel("imu_hfdvel_mean (m/s)")
    plt.ylabel("Frequency")

    pp.savefig()
@@ -535,12 +535,12 @@ single_log_results = {
 'hgt_sensor_status':['Pass','Height sensor check summary. This sensor data can be sourced from either Baro, GPS, range fidner or external vision system. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required'],
 'hgt_test_max':[float('NaN'),'The maximum in-flight value of the height sensor innovation consistency test ratio.'],
 'hgt_test_mean':[float('NaN'),'The mean in-flight value of the height sensor innovation consistency test ratio.'],
-'imu_coning_mean':[float('NaN'),'Mean in-flight value of the IMU delta angle coning vibration metric (rad^2)'],
-'imu_coning_peak':[float('NaN'),'Peak in-flight value of the IMU delta angle coning vibration metric (rad^2)'],
-'imu_hfgyro_mean':[float('NaN'),'Mean in-flight value of the IMU gyro high frequency vibration metric (rad/s)'],
-'imu_hfgyro_peak':[float('NaN'),'Peak in-flight value of the IMU gyro high frequency vibration metric (rad/s)'],
-'imu_hfaccel_mean':[float('NaN'),'Mean in-flight value of the IMU accel high frequency vibration metric (m/s/s)'],
-'imu_hfaccel_peak':[float('NaN'),'Peak in-flight value of the IMU accel high frequency vibration metric (m/s/s)'],
+'imu_coning_mean':[float('NaN'),'Mean in-flight value of the IMU delta angle coning vibration metric (rad)'],
+'imu_coning_peak':[float('NaN'),'Peak in-flight value of the IMU delta angle coning vibration metric (rad)'],
+'imu_hfdang_mean':[float('NaN'),'Mean in-flight value of the IMU delta angle high frequency vibration metric (rad)'],
+'imu_hfdang_peak':[float('NaN'),'Peak in-flight value of the IMU delta angle high frequency vibration metric (rad)'],
+'imu_hfdvel_mean':[float('NaN'),'Mean in-flight value of the IMU delta velocity high frequency vibration metric (m/s)'],
+'imu_hfdvel_peak':[float('NaN'),'Peak in-flight value of the IMU delta velocity high frequency vibration metric (m/s)'],
 'imu_sensor_status':['Pass','IMU sensor check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required'],
 'in_air_transition_time':[float('NaN'),'The time in seconds measured from startup that the EKF transtioned into in-air mode. Set to a nan if a transition event is not detected.'],
 'mag_percentage_amber':[float('NaN'),'The percentage of in-flight consolidated magnetic field sensor innovation consistency test values > 0.5.'],
@@ -21,10 +21,10 @@ hagl_amber_warn_pct,5.0
 tas_amber_warn_pct,5.0
 imu_coning_peak_warn,1.8E-5
 imu_coning_mean_warn,3.6E-6
-imu_hfgyro_peak_warn,12
-imu_hfgyro_mean_warn,2.4
-imu_hfaccel_peak_warn,360
-imu_hfaccel_mean_warn,72
+imu_hfdang_peak_warn,3.0E-3
+imu_hfdang_mean_warn,6.0E-4
+imu_hfdvel_peak_warn,9.0E-2
+imu_hfdvel_mean_warn,1.8E-2
 obs_ang_err_median_warn,8.0E-3
 obs_vel_err_median_warn,0.05
 obs_pos_err_median_warn,0.15
@@ -49,12 +49,12 @@ hagl_test_mean, The mean in-flight value of the height above ground sensor innov
 ofx_fail_percentage, The percentage of in-flight recorded failure events for the optical flow sensor X-axis innovation consistency test.
 ofy_fail_percentage, The percentage of in-flight recorded failure events for the optical flow sensor Y-axis innovation consistency test.
 filter_faults_max, Largest recorded value of the filter internal fault bitmask. Should always be zero.
-imu_coning_peak, Peak in-flight value of the IMU delta angle coning vibration metric (rad^2)
-imu_coning_mean, Mean in-flight value of the IMU delta angle coning vibration metric (rad^2)
-imu_hfgyro_peak, Peak in-flight value of the IMU accel high frequency vibration metric (rad/s)
-imu_hfgyro_mean, Mean in-flight value of the IMU accel high frequency vibration metric (rad/s)
-imu_hfaccel_peak, Peak in-flight value of the IMU accel high frequency vibration metric (m/s/s)
-imu_hfaccel_mean, Mean in-flight value of the IMU accel high frequency vibration metric (m/s/s)
+imu_coning_peak, Peak in-flight value of the IMU delta angle coning vibration metric (rad)
+imu_coning_mean, Mean in-flight value of the IMU delta angle coning vibration metric (rad)
+imu_hfdang_peak, Peak in-flight value of the IMU delta angle high frequency vibration metric (rad)
+imu_hfdang_mean, Mean in-flight value of the IMU delta angle high frequency vibration metric (rad)
+imu_hfdvel_peak, Peak in-flight value of the IMU delta velocity high frequency vibration metric (m/s)
+imu_hfdvel_mean, Mean in-flight value of the IMU delta velocity high frequency vibration metric (m/s)
 output_obs_ang_err_median, Median in-flight value of the output observer angular error (rad)
 output_obs_vel_err_median, Median in-flight value of the output observer velocity error (m/s)
 output_obs_pos_err_median, Median in-flight value of the output observer position error (m)
@@ -250,32 +250,18 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
        data_plot.save()
        data_plot.close()

-
        # Plot the EKF IMU vibration metrics
-        for imu_status_instance in range(4):
-            try:
-                vehicle_imu_status_data = ulog.get_dataset('vehicle_imu_status', imu_status_instance).data
-
-                imu_status_time = 1e-6 * vehicle_imu_status_data['timestamp']
-
-                if vehicle_imu_status_data['accel_device_id'][0] == estimator_status['accel_device_id'][0]:
-
-                    scaled_estimator_status = {'delta_angle_coning_metric': 1000. * vehicle_imu_status_data['delta_angle_coning_metric'],
-                                               'gyro_vibration_metric': vehicle_imu_status_data['gyro_vibration_metric'],
-                                               'accel_vibration_metric': vehicle_imu_status_data['accel_vibration_metric']
-                                              }
-                    data_plot = CheckFlagsPlot(
-                        imu_status_time, scaled_estimator_status, [['delta_angle_coning_metric'], ['gyro_vibration_metric'], ['accel_vibration_metric']],
-                        x_label='time (sec)',
-                        y_labels=['Del Ang Coning (mrad^2)', 'HF Gyro (rad/s)', 'HF accel (m/s/s)'],
-                        plot_title='IMU Vibration Metrics',
-                        pdf_handle=pdf_pages, annotate=True)
-                    data_plot.save()
-                    data_plot.close()
-
-            except:
-                pass
-
+        scaled_estimator_status = {'vibe[0]': 1000. * estimator_status['vibe[0]'],
+                                   'vibe[1]': 1000. * estimator_status['vibe[1]'],
+                                   'vibe[2]': estimator_status['vibe[2]']
+                                   }
+        data_plot = CheckFlagsPlot(
+            status_time, scaled_estimator_status, [['vibe[0]'], ['vibe[1]'], ['vibe[2]']],
+            x_label='time (sec)', y_labels=['Del Ang Coning (mrad)', 'HF Del Ang (mrad)',
+                                            'HF Del Vel (m/s)'], plot_title='IMU Vibration Metrics',
+            pdf_handle=pdf_pages, annotate=True)
+        data_plot.save()
+        data_plot.close()

        # Plot the EKF output observer tracking errors
        scaled_innovations = {
@@ -139,7 +139,6 @@ mc_hover_thrust_estimator,CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 mc_pos_control,CONFIG_MODULES_MC_POS_CONTROL=y
 mc_rate_control,CONFIG_MODULES_MC_RATE_CONTROL=y
 micrortps_bridge,CONFIG_MODULES_MICRORTPS_BRIDGE=y
-microdds_client,CONFIG_MODULES_MICRODDS_CLIENT=y
 navigator,CONFIG_MODULES_NAVIGATOR=y
 px4iofirmware,CONFIG_MODULES_PX4IOFIRMWARE=y
 rc_update,CONFIG_MODULES_RC_UPDATE=y
@@ -330,11 +330,9 @@ def get_mixers(yaml_config, output_functions, verbose):
        option = select_param + '==' + str(type_index)
        mixer_config = {
                'option': option,
-                'help-url': 'https://docs.px4.io/master/en/config/actuators.html',
            }
-        for optional in ['type', 'title']:
-            if optional in current_type:
-                mixer_config[optional] = current_type[optional]
+        if 'type' in current_type:
+            mixer_config['type'] = current_type['type']
        actuators = []
        for actuator_conf in current_type['actuators']:
            actuator = {
@@ -7,8 +7,7 @@ import os
 import math
 import matplotlib.pyplot as plt
 import numpy as np
-
-from scipy.signal import medfilt
+import scipy as sp

 from pyulog import *

@@ -66,7 +65,7 @@ def resampleWithDeltaX(x,y):
    return resampledX,resampledY

 def median_filter(data):
-    return medfilt(data, 31)
+    return sp.signal.medfilt(data, 31)

 parser = argparse.ArgumentParser(description='Reads in IMU data from a static thermal calibration test and performs a curve fit of gyro, accel and baro bias vs temperature')
 parser.add_argument('filename', metavar='file.ulg', help='ULog input file')
@@ -16,7 +16,7 @@ class ModuleDocumentation(object):
    valid_categories = ['driver', 'estimator', 'controller', 'system',
                        'communication', 'command', 'template', 'simulation', 'autotune']
    valid_subcategories = ['', 'distance_sensor', 'imu', 'airspeed_sensor',
-                           'magnetometer', 'baro', 'optical_flow', 'rpm_sensor']
+                           'magnetometer', 'baro', 'optical_flow']

    max_line_length = 80 # wrap lines that are longer than this

@@ -268,14 +268,10 @@ for serial_command in serial_commands:
                default_port_str = port_config['default'][i]
            else:
                default_port_str = port_config['default']
-
            if default_port_str != "":
                if default_port_str not in serial_ports:
                    raise Exception("Default Port {:} not found for {:}".format(default_port_str, serial_command['label']))
-
-                if default_port_str in dict(board_ports).keys():
-                    default_port = serial_ports[default_port_str]['index']
-
+                default_port = serial_ports[default_port_str]['index']

        commands.append({
            'command': serial_command['command'],
@@ -192,7 +192,7 @@ elif [ "$program" == "ignition" ] && [ -z "$no_sim" ]; then
 		ignition_headless=""
 	fi
 	source "$src_path/Tools/setup_ignition.bash" "${src_path}" "${build_path}"
-	ign gazebo --force-version 5 ${verbose} ${ignition_headless} -r "${src_path}/Tools/simulation-ignition/worlds/${model}.world"&
+	ign gazebo ${verbose} ${ignition_headless} -r "${src_path}/Tools/simulation-ignition/worlds/${model}.world"&
 elif [ "$program" == "flightgear" ] && [ -z "$no_sim" ]; then
 	echo "FG setup"
 	cd "${src_path}/Tools/flightgear_bridge/"
@@ -1,6 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m4"
-CONFIG_BOARD_ROMFSROOT=""
-CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONFIG_DRIVERS_BOOTLOADERS=y
-CONFIG_NSH_BUILTIN_APPS=y
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Daniel Agar	edb9fce9b3	drivers/rc_input: cleanup and simplify data processing per type - don't store data in class	2022-02-09 17:11:11 -05:00
Daniel Agar	c4f9f2980d	drivers/rc_input: poll file descriptor to minimize latency	2022-02-09 16:48:08 -05:00