EKF2: EV vel/pos only use EV q if enabled and valid

mavlink_receiver: limit access through instances with gimbal mode
This adds explicit handling for the few things we want to allow through a MAVLink instance dedicated to a gimbal/(camera) payload as per the MAVLink gimbal mode configuration.
2026-06-21 11:10:36 +08:00 · 2024-08-09 12:02:32 -04:00 · 2024-08-09 10:13:44 -04:00 · 2024-08-09 12:51:09 +02:00 · 2024-08-09 12:51:09 +02:00 · 2024-08-09 12:51:09 +02:00
578 changed files with 7703 additions and 4482 deletions
@@ -16,6 +16,7 @@ jobs:
      matrix:
        check: [
          "check_format",
+          "check_newlines",
          "tests",
          "tests_coverage",
          "px4_fmu-v2_default stack_check",
@@ -54,4 +54,3 @@ jobs:
        AWS_REGION: 'us-west-1'
        SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
        DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
-
@@ -71,7 +71,7 @@
 [submodule "src/modules/zenoh/zenoh-pico"]
 	path = src/modules/zenoh/zenoh-pico
 	url = https://github.com/px4/zenoh-pico
-	branch = pr-zubf-werror-fix
+	branch = dev/1.0.0-px4
 [submodule "src/lib/heatshrink/heatshrink"]
 	path = src/lib/heatshrink/heatshrink
 	url = https://github.com/PX4/heatshrink.git
@@ -2,4 +2,4 @@
 	{
 		"name": "PX4 detect"
 	}
-]
+]
@@ -185,6 +185,17 @@ 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
@@ -379,9 +379,9 @@ doxygen:
 	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
 	@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll

-# Astyle
+# Style
 # --------------------------------------------------------------------
-.PHONY: check_format format
+.PHONY: check_format format check_newlines

 check_format:
 	$(call colorecho,'Checking formatting with astyle')
@@ -392,6 +392,10 @@ 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
@@ -120,6 +120,7 @@ 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}
@@ -131,6 +132,9 @@ 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}
@@ -320,6 +324,7 @@ 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
 	)

@@ -21,25 +21,14 @@ set R /
 #
 ver all

-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 param file location from kconfig
+. ${R}etc/init.d/rc.filepaths

 #
 # Load parameters.
 #
 param select $PARAM_FILE
+
 if ! param load
 then
 	param reset_all
@@ -29,4 +29,3 @@ 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
-
@@ -30,4 +30,3 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

 param set-default EKF2_RNG_A_HMAX 10
-
@@ -94,4 +94,3 @@ param set-default CA_METHOD 0
 # disable attitude failure detection
 param set-default FD_FAIL_P 0
 param set-default FD_FAIL_R 0
-
@@ -12,4 +12,3 @@ 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
-
@@ -30,4 +30,3 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

 param set-default LPE_FUSION 242
-
@@ -18,4 +18,3 @@ param set-default LPE_FUSION 132

 # AEQ: External heading set to use vision input
 param set-default ATT_EXT_HDG_M 1
-
@@ -41,4 +41,3 @@ 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
-
@@ -61,4 +61,3 @@ 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
-
@@ -68,5 +68,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-
-
@@ -39,7 +39,6 @@ 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
@@ -41,7 +41,6 @@ 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
@@ -71,4 +70,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-
@@ -55,4 +55,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-
@@ -54,4 +54,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-
@@ -55,4 +55,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-
@@ -62,4 +62,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-
@@ -39,7 +39,6 @@ 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
@@ -23,7 +23,6 @@ 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 NAV_ACC_RAD 15
@@ -78,4 +78,3 @@ 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
-
@@ -75,4 +75,3 @@ param set-default VT_F_TRANS_DUR 1.5
 param set-default VT_TYPE 0

 param set-default WV_EN 0
-
@@ -88,4 +88,3 @@ 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
-
@@ -39,7 +39,6 @@ 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
@@ -31,4 +31,3 @@ 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
-
@@ -38,4 +38,3 @@ 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
-
@@ -41,4 +41,3 @@ param set-default CA_R_REV 3

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
-
@@ -64,4 +64,3 @@ 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
-
@@ -69,4 +69,3 @@ 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
-
@@ -36,4 +36,3 @@ 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
-
@@ -6,16 +6,36 @@
 . ${R}etc/init.d/rc.rover_differential_defaults

 PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
 PX4_SIM_MODEL=${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 1
+param set-default SENS_EN_ARSPDSIM 0

 # Actuator mapping
 param set-default SIM_GZ_WH_FUNC1 101 # right wheel
@@ -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 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
+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

 # 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):
@@ -15,9 +15,6 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
 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_LOOKAHD_GAIN 1
-param set-default RA_LOOKAHD_MAX 10
-param set-default RA_LOOKAHD_MIN 1
 param set-default RA_MAX_ACCEL 1.5
 param set-default RA_MAX_JERK 15
 param set-default RA_MAX_SPEED 3
@@ -30,6 +27,11 @@ 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
@@ -0,0 +1,10 @@
+#!/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
@@ -63,4 +63,3 @@ param set-default PWM_MAIN_FUNC9 422
 # Landing gear
 param set-default PWM_MAIN_FUNC10 400
 param set-default PWM_MAIN_FUNC11 400
-
@@ -119,4 +119,3 @@ param set-default CA_METHOD 0
 # disable attitude failure detection
 param set-default FD_FAIL_P 0
 param set-default FD_FAIL_R 0
-
@@ -84,6 +84,7 @@ px4_add_romfs_files(
 	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
@@ -44,6 +44,7 @@ px4_add_romfs_files(
 	# TODO
 	rc.balloon_apps
 	rc.balloon_defaults
+	rc.sysinit
 )

 if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL)
@@ -77,7 +78,7 @@ if(CONFIG_MODULES_ROVER_POS_CONTROL)
 	)
 endif()

-if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
+if(CONFIG_MODULES_ROVER_DIFFERENTIAL)
 	px4_add_romfs_files(
 		rc.rover_differential_apps
 		rc.rover_differential_defaults
@@ -44,4 +44,3 @@ 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
-
@@ -119,5 +119,3 @@ 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
-
-
@@ -32,4 +32,3 @@ 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
-
@@ -24,5 +24,3 @@ param set-default MC_PITCHRATE_D 0
 param set-default MC_PITCHRATE_FF 0.1

 param set-default CA_AIRFRAME 10
-
-
@@ -23,4 +23,3 @@ 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
-
@@ -72,5 +72,3 @@ 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
-
-
@@ -66,4 +66,3 @@ 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
-
@@ -38,4 +38,3 @@ param set-default CA_SV_CS_COUNT 1
 param set-default CA_SV_CS0_TRQ_P 1

 param set-default CA_R_REV 7
-
@@ -68,6 +68,9 @@ 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
@@ -0,0 +1,12 @@
+#!/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
@@ -15,9 +15,6 @@

 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
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# @name Generic ackermann rover
+# @name Generic Rover Ackermann
 #
 # @type Rover
 # @class Rover
@@ -0,0 +1,37 @@
+#!/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
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# @name Generic Ground Vehicle (Ackermann)
+# @name Generic Ground Vehicle (Deprecated)
 #
 # @type Rover
 # @class Rover
@@ -48,5 +48,3 @@ 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
-
-
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# @name NXP Cup car: DF Robot GPX
+# @name NXP Cup car: DF Robot GPX (Deprecated)

 #
 # @type Rover
@@ -42,4 +42,3 @@ 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
-
@@ -31,5 +31,3 @@ 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
-
-
@@ -123,4 +123,3 @@ 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
-
@@ -31,5 +31,3 @@ 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
-
-
@@ -36,5 +36,3 @@ 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
-
-
@@ -36,4 +36,3 @@ 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
-
@@ -136,22 +136,27 @@ if(CONFIG_MODULES_VTOL_ATT_CONTROL)
 	)
 endif()

-if(CONFIG_MODULES_ROVER_POS_CONTROL)
+if(CONFIG_MODULES_ROVER_DIFFERENTIAL)
 	px4_add_romfs_files(
-		50000_generic_ground_vehicle
-		50004_nxpcup_car_dfrobot_gpx
-	)
-endif()
-
-if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
-	px4_add_romfs_files(
-		50003_aion_robotics_r1_rover
+		# [50000, 50999] Differential rovers
+		50000_generic_rover_differential
+		50001_aion_robotics_r1_rover
 	)
 endif()

 if(CONFIG_MODULES_ROVER_ACKERMANN)
 	px4_add_romfs_files(
-		50010_ackermann_rover_generic
+		# [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
 	)
 endif()

@@ -1,7 +1,7 @@
 #!/bin/sh
-# Standard apps for a ackermann drive rover.
+# Standard apps for an ackermann rover.

-# Start rover ackermann drive controller.
+# Start rover ackermann module.
 rover_ackermann start

 # Start Land Detector.
@@ -2,12 +2,10 @@
 # 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 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
-param set-default NAV_ACC_RAD 0.5 # Waypoint acceptance radius
-param set-default NAV_RCL_ACT 6 # Disarm on manual control loss
-param set-default COM_FAIL_ACT_T 1 # Delay before failsafe after rc loss
@@ -1,8 +1,8 @@
 #!/bin/sh
-# Standard apps for a differential drive rover.
+# Standard apps for a differential rover.

-# Start rover differential drive controller.
-differential_drive start
+# Start rover differential module.
+rover_differential start

 # Start Land Detector.
 land_detector start rover
@@ -2,10 +2,10 @@
 # Differential rover parameters.

 set VEHICLE_TYPE rover_differential
-
-param set-default MAV_TYPE 10 # MAV_TYPE_GROUND_ROVER
-
-param set-default CA_AIRFRAME 6 # Rover (Differential)
-param set-default CA_R_REV 3 # Right and left motors reversible
-
-param set-default EKF2_MAG_TYPE 1 # make sure magnetometer is fused even when not flying
+param set-default MAV_TYPE 10           # MAV_TYPE_GROUND_ROVER
+param set-default CA_AIRFRAME 6         # Rover (Differential)
+param set-default CA_R_REV 3            # Right and left motors 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
@@ -0,0 +1,4 @@
+#!/bin/sh
+#
+# Standard system init script
+#
@@ -120,14 +120,8 @@ then
 	. $FRC
 else

-	#
-	# Set the parameter file the board supports params on
-	# MTD device.
-	#
-	if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
-	then
-		set PARAM_FILE /fs/mtd_params
-	fi
+	# Load param file location from kconfig
+	. ${R}etc/init.d/rc.filepaths

 	# Check if /fs/mtd_params is a valid BSON file
 	if ! bsondump docsize /fs/mtd_caldata
@@ -45,7 +45,7 @@ function [ center, radii, evecs, v ] = ellipsoid_fit( X, flag, equals )
 % * center    -  ellispoid center coordinates [xc; yc; zc]
 % * ax        -  ellipsoid radii [a; b; c]
 % * evecs     -  ellipsoid radii directions as columns of the 3x3 matrix
-% * v         -  the 9 parameters describing the ellipsoid algebraically: 
+% * v         -  the 9 parameters describing the ellipsoid algebraically:
 %                Ax^2 + By^2 + Cz^2 + 2Dxy + 2Exz + 2Fyz + 2Gx + 2Hy + 2Iz = 1
 %
 % Author:
@@ -59,7 +59,7 @@ end
 if flag == 2 && nargin == 2
    equals = 'xy';
 end
-    
+
 if size( X, 2 ) ~= 3
    error( 'Input data must have three columns!' );
 else
@@ -69,7 +69,7 @@ else
 end

 % need nine or more data points
-if length( x ) < 9 && flag == 0 
+if length( x ) < 9 && flag == 0
   error( 'Must have at least 9 points to fit a unique ellipsoid' );
 end
 if length( x ) < 6 && flag == 1
@@ -91,7 +91,7 @@ if flag == 0
      2 * x .* z, ...
      2 * y .* z, ...
      2 * x, ...
-      2 * y, ... 
+      2 * y, ...
      2 * z ];  % ndatapoints x 9 ellipsoid parameters
 elseif flag == 1
    % fit ellipsoid in the form Ax^2 + By^2 + Cz^2 + 2Gx + 2Hy + 2Iz = 1
@@ -99,7 +99,7 @@ elseif flag == 1
          y .* y, ...
          z .* z, ...
      2 * x, ...
-      2 * y, ... 
+      2 * y, ...
      2 * z ];  % ndatapoints x 6 ellipsoid parameters
 elseif flag == 2
    % fit ellipsoid in the form Ax^2 + By^2 + Cz^2 + 2Gx + 2Hy + 2Iz = 1,
@@ -127,7 +127,7 @@ else
    % fit sphere in the form A(x^2 + y^2 + z^2) + 2Gx + 2Hy + 2Iz = 1
    D = [ x .* x + y .* y + z .* z, ...
      2 * x, ...
-      2 * y, ... 
+      2 * y, ...
      2 * z ];  % ndatapoints x 4 sphere parameters
 end

@@ -170,5 +170,3 @@ else
    radii = ( sqrt( gam ./ v( 1:3 ) ) )';
    evecs = eye( 3 );
 end
-
-
@@ -0,0 +1,19 @@
+#!/usr/bin/env bash
+
+return_value=0
+
+# Check if there are files checked in that don't end in a newline (POSIX requirement)
+git grep --cached -Il '' | xargs -L1 bash -c 'if test "$(tail -c 1 "$0")"; then echo "No new line at end of $0"; exit 1; fi'
+
+if [ $? -ne 0 ]; then
+	return_value=1
+fi
+
+# Check if there are files checked in that have duplicate newlines at the end (fail trailing whitespace checks)
+git grep --cached -Il '' | xargs -L1 bash -c 'if tail -c 2 "$0" | ( read x && read y && [ x"$x" = x ] && [ x"$y" = x ]); then echo "Multiple newlines at the end of $0"; exit 1; fi'
+
+if [ $? -ne 0 ]; then
+	return_value=1
+fi
+
+exit $return_value
@@ -170,4 +170,3 @@ if(__name__ == "__main__"):
                fs.write(f.read())
    except:
        pass
-
@@ -139,7 +139,3 @@ def find_checks_that_apply(
        innov_fail_checks.append('ofy')

    return sensor_checks, innov_fail_checks
-
-
-
-
@@ -54,7 +54,7 @@ def calculate_sensor_metrics(
    # calculates peak, mean, percentage above 0.5 std, and percentage above std metrics for
    # estimator status variables
    for signal, result_id in [('hgt_test_ratio', 'hgt'),
-                              ('mag_test_ratio', 'mag'),
+                              ('hdg_test_ratio', 'mag'),
                              ('vel_test_ratio', 'vel'),
                              ('pos_test_ratio', 'pos'),
                              ('tas_test_ratio', 'tas'),
@@ -84,4 +84,4 @@ def main() -> None:


 if __name__ == '__main__':
-    main()
+    main()
@@ -160,7 +160,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str

        # plot normalised innovation test levels
        # define variables to plot
-        variables = [['mag_test_ratio'], ['vel_test_ratio', 'pos_test_ratio'], ['hgt_test_ratio']]
+        variables = [['hdg_test_ratio'], ['vel_test_ratio', 'pos_test_ratio'], ['hgt_test_ratio']]
        y_labels = ['mag', 'vel, pos', 'hgt']
        legend = [['mag'], ['vel', 'pos'], ['hgt']]
        if np.amax(estimator_status['hagl_test_ratio']) > 0.0:  # plot hagl test ratio, if applicable
@@ -0,0 +1,61 @@
+#!/usr/bin/env python3
+""" Script to generate Serial rc.filepaths for the ROMFS startup script """
+
+import argparse
+import os
+import sys
+
+try:
+    from jinja2 import Environment, FileSystemLoader
+except ImportError as e:
+    print("Failed to import jinja2: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user jinja2")
+    print("")
+    sys.exit(1)
+
+try:
+    import yaml
+except ImportError as e:
+    print("Failed to import yaml: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user pyyaml")
+    print("")
+    sys.exit(1)
+
+parser = argparse.ArgumentParser(description='Generate PX4 ROMFS filepaths')
+
+parser.add_argument('--config-files', type=str, nargs='*', default=[],
+                    help='YAML module config file(s)')
+parser.add_argument('--constrained-flash', action='store_true',
+                    help='Reduce verbosity in ROMFS scripts to reduce flash size')
+parser.add_argument('--rc-dir', type=str, action='store',
+                    help='ROMFS output directory', default=None)
+parser.add_argument('--params-file', type=str, action='store',
+                    help='Parameter output file', default=None)
+parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
+                    help='Verbose Output')
+
+args = parser.parse_args()
+
+verbose = args.verbose
+constrained_flash = args.constrained_flash
+rc_filepaths_output_dir = args.rc_dir
+rc_filepaths_template = 'rc.filepaths.jinja'
+
+
+jinja_env = Environment(loader=FileSystemLoader(
+    os.path.dirname(os.path.realpath(__file__))))
+
+# generate the ROMFS script using a jinja template
+if rc_filepaths_output_dir is not None:
+    rc_filepath_output_file = os.path.join(rc_filepaths_output_dir, "rc.filepaths")
+
+    if verbose: print("Generating {:}".format(rc_filepath_output_file))
+    template = jinja_env.get_template(rc_filepaths_template)
+    with open(rc_filepath_output_file, 'w') as fid:
+        fid.write(template.render(constrained_flash=constrained_flash, params_file=args.params_file))
+else:
+    raise Exception("--rc-dir needs to be specified")
@@ -0,0 +1,6 @@
+{# jinja template to generate the serial autostart script. #}
+
+# serial autostart script generated with generate_serial_config.py
+
+
+set PARAM_FILE {{ params_file }}
@@ -243,4 +243,3 @@ def main():

 if __name__ == '__main__':
    main()
-
@@ -282,4 +282,3 @@ def main():

 if __name__ == '__main__':
    main()
-
@@ -107,4 +107,4 @@ plt.show()
 ##plt.plot(airspeed_corrected,(airspeed_corrected-airspeed_raw)/airspeed_corrected)
 ##plt.xlabel('airspeed [m/s]')
 ##plt.ylabel('relative error [-]')
-##plt.show()
+##plt.show()
@@ -47,4 +47,4 @@ for field in spec.parsed_fields():
 		"main_orb_id": @( all_topics.index(name_snake_case) if name_snake_case in all_topics else -1 ),
 		"dependencies": @( json.dumps(list(set(dependencies))) ),
 		"name": "@( spec.full_name )"
-}
+}
@@ -1 +1 @@
-__all__ = ["srcscanner", "srcparser", "xmlout", "rcout"]
+__all__ = ["srcscanner", "srcparser", "xmlout", "rcout"]
@@ -330,4 +330,3 @@ if serial_params_output_file is not None:
        fid.write(template.render(serial_devices=serial_devices,
            ethernet_configuration=ethernet_configuration,
            commands=commands, serial_ports=serial_ports))
-
@@ -30,4 +30,3 @@ unset PRT
 unset PRT_F
 unset BAUD_PARAM
 unset MAV_ARGS
-
@@ -70,4 +70,3 @@ PARAM_DEFINE_INT32({{ command.port_param_name }}, {{ command.default_port }});

 {% endfor -%}
 {% endif %}
-
@@ -24,4 +24,4 @@ q8jVArPNQT4R2erSmKmIGTRkLMG7CzUmwk1taHdSvzcmUyL4uYc5QBSubxat6gWh
 +a85AoGBAKgfnjjVoAWWvqEDLpfGPmE8lW+RaS7i5ff6QsSBx7uTEnHq6RNHuVnN
 et4pR87yIENeG8jMBiDCj8AGDtUNt9Ps9vWCPrf9HSOYoBUk+gZagU/9N+RBpuCM
 egoxtxIHM7HI+XIer+ZnZpVpgr+EoCaL7avx6k/susLQb7tqSBt1
-----END RSA PRIVATE KEY-----
+-----END RSA PRIVATE KEY-----
@@ -1 +1 @@
-{"date": "Tue Nov  3 13:02:09 2020", "public": "4db0c20105552a3cd7fbaf5cba7ab0811b3663db28525edb1436f2578d02b7fd", "private": "734d597e7d8ab0a1d0d64b95083aa6bee34b46b9e6e76dac1e363af114f12d15"}
+{"date": "Tue Nov  3 13:02:09 2020", "public": "4db0c20105552a3cd7fbaf5cba7ab0811b3663db28525edb1436f2578d02b7fd", "private": "734d597e7d8ab0a1d0d64b95083aa6bee34b46b9e6e76dac1e363af114f12d15"}
@@ -125,4 +125,3 @@ def main():

 if __name__ == '__main__':
    main()
-
@@ -50,4 +50,3 @@ for json_file in json_files:
    except:
        print("JSON validation for {:} failed (schema: {:})".format(json_file, schema_file))
        raise
-
@@ -65,4 +65,3 @@ for yaml_file in yaml_files:
        print(validator.errors)
        print("")
        raise Exception("Validation of {:} failed".format(yaml_file))
-
@@ -37,4 +37,3 @@ constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
 	initI2CBusInternal(1),
 	initI2CBusExternal(2),
 };
-
@@ -105,4 +105,3 @@ __EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
 {
 	uinfo("resume: %d\n", resume);
 }
-
@@ -7,6 +7,7 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BATT_SMBUS=y
@@ -31,7 +32,7 @@ CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
-CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RC=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
@@ -21,7 +21,7 @@ CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RC=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
@@ -8,4 +8,3 @@ echo "uploading: $PX4_BINARY_FILE"

 PX4_BINARY_FILE_SIZE=$(stat -c%s "$PX4_BINARY_FILE")
 curl -v -F "image=@$PX4_BINARY_FILE" -H "Expect:" -H "File-Size:$PX4_BINARY_FILE_SIZE" http://192.168.42.1/cgi-bin/upload
-
--- a/Show More
+++ b/Show More