Tailsitter add yaw controls

2026-06-11 22:00:05 +08:00 · 2023-01-11 13:38:59 +01:00
1238 changed files with 23627 additions and 78824 deletions
@@ -9,10 +9,10 @@ pipeline {
        script {
          def build_nodes = [:]
          def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2022-08-12",
-            arm64: "px4io/px4-dev-aarch64:2022-08-12",
-            base: "px4io/px4-dev-ros2-foxy:2022-08-12",
-            nuttx: "px4io/px4-dev-nuttx-focal:2022-08-12",
+            armhf: "px4io/px4-dev-armhf:2021-09-08",
+            arm64: "px4io/px4-dev-aarch64:2021-09-08",
+            base: "px4io/px4-dev-base-bionic:2021-09-08",
+            nuttx: "px4io/px4-dev-nuttx-focal:2021-09-08",
          ]

          def armhf_builds = [
@@ -62,8 +62,6 @@ pipeline {
                     "holybro_durandal-v1_default",
                     "holybro_kakutef7_default",
                     "holybro_kakuteh7_default",
-                     "holybro_kakuteh7v2_default",
-                     "holybro_kakuteh7mini_default",
                     "holybro_pix32v5_default",
                     "matek_gnss-m9n-f4_canbootloader",
                     "matek_gnss-m9n-f4_default",
@@ -110,8 +108,6 @@ pipeline {
                     "raspberrypi_pico_default",
                     "sky-drones_smartap-airlink_default",
                     "spracing_h7extreme_default",
-                     "thepeach_k1_default",
-                     "thepeach_r1_default",
                     "uvify_core_default"
            ],
            image: docker_images.nuttx,
@@ -755,11 +755,9 @@ void runTests() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during test
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ostest"'
  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot after ostest

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during test
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'
@@ -18,14 +18,6 @@ Fixes #{Github issue ID}
 - Add ... for ...
 - Refactor ...

-### Changelog Entry
-For release notes:
-```
-Feature/Bugfix XYZ
-New parameter: XYZ_Z
-Documentation: Need to clarfiy page ... / done, read docs.px4.io/...
-```
-
 ### Alternatives
 We could also ...

@@ -30,7 +30,6 @@ jobs:
          cuav_nora,
          cuav_x7pro,
          cubepilot_cubeorange,
-          cubepilot_cubeorangeplus,
          cubepilot_cubeyellow,
          diatone_mamba-f405-mk2,
          freefly_can-rtk-gps,
@@ -59,13 +59,13 @@ jobs:
      run: |
          export
          ulimit -a
-    - name: Build PX4 and sitl_gazebo-classic
+    - name: Build PX4 and sitl_gazebo
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
      run: |
        ccache -z
        make px4_sitl_default
-        make px4_sitl_default sitl_gazebo-classic
+        make px4_sitl_default sitl_gazebo
        ccache -s

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

    - name: Core dump settings
@@ -74,14 +74,14 @@ jobs:
    - name: Build SITL Gazebo
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: make px4_sitl_default sitl_gazebo-classic
-    - name: ccache post-run sitl_gazebo-classic
+      run: make px4_sitl_default sitl_gazebo
+    - name: ccache post-run sitl_gazebo
      run: ccache -s
    - name: Build MAVSDK tests
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
        DONT_RUN: 1
-      run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
+      run: make px4_sitl_default sitl_gazebo mavsdk_tests
    - name: ccache post-run mavsdk_tests
      run: ccache -s

@@ -47,6 +47,8 @@ GTAGS
 *.files
 *.includes

+Tools/jlink-nuttx.so
+
 # CLion ignores
 .idea
 cmake-build-*/
@@ -105,6 +107,3 @@ src/modules/simulator/simulator_config.h
 src/systemcmds/topic_listener/listener_generated.cpp

 !src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
-
-# colcon
-log/
@@ -10,9 +10,9 @@
 	path = Tools/simulation/jmavsim/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
 	branch = main
-[submodule "Tools/simulation/gazebo-classic/sitl_gazebo-classic"]
-	path = Tools/simulation/gazebo-classic/sitl_gazebo-classic
-	url = https://github.com/PX4/PX4-SITL_gazebo-classic.git
+[submodule "Tools/simulation/gazebo/sitl_gazebo"]
+	path = Tools/simulation/gazebo/sitl_gazebo
+	url = https://github.com/PX4/PX4-SITL_gazebo.git
 	branch = main
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
@@ -58,7 +58,7 @@
 	path = src/lib/crypto/libtommath
 	url = https://github.com/PX4/libtommath.git
 	branch = px4
-[submodule "src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client"]
-	path = src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client
+[submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
+	path = src/modules/microdds_client/Micro-XRCE-DDS-Client
 	url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
 	branch = px4
@@ -4,7 +4,6 @@ compile_commands.json

 # generated by cmake
 launch.json
-c_cpp_properties.json

 # C/C++ extension does some local caching in this folder
 ipch/
@@ -3,18 +3,14 @@
        {
            "name": "PX4",
            "includePath": [
-                "${workspaceFolder}/**",
+                "${workspaceFolder}/**"
            ],
            "defines": [],
            "macFrameworkPath": [],
            "configurationProvider": "ms-vscode.cmake-tools",
            "cppStandard": "c++14",
-            "cStandard": "c11",
-            "forcedInclude": [
-                 "@PX4_BINARY_DIR@/px4_boardconfig.h",
-                 "@PX4_SOURCE_DIR@/platforms/common/include/px4_platform_common/defines.h"
-                 ]
+            "cStandard": "c11"
        }
    ],
    "version": 4
-}
+}
@@ -180,7 +180,7 @@ CONFIG:
      short: cubepilot_cubeorange
      buildType: MinSizeRel
      settings:
-        CONFIG: cubepilot_cubeorange_test
+        CONFIG: cubepilot_orange_test
    emlid_navio2_default:
      short: emlid_navio2
      buildType: MinSizeRel
@@ -266,16 +266,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: nxp_fmuk66-v3_default
-    nxp_mr-canhubk3_default:
-      short: nxp_mr-canhubk3_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: nxp_mr-canhubk3_default
-    nxp_mr-canhubk3_fmu:
-      short: nxp_mr-canhubk3_fmu
-      buildType: MinSizeRel
-      settings:
-        CONFIG: nxp_mr-canhubk3_fmu
    raspberrypi_pico_default:
      short: raspberrypi_pico
      buildType: MinSizeRel
@@ -2,6 +2,7 @@
        "astyle.astylerc": "${workspaceFolder}/Tools/astyle/astylerc",
        "astyle.c.enable": true,
        "astyle.cpp.enable": true,
+        "breadcrumbs.enabled": true,
        "C_Cpp.autoAddFileAssociations": false,
        "C_Cpp.clang_format_fallbackStyle": "none",
        "C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
@@ -19,6 +20,7 @@
        "cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
        "cmakeExplorer.parallelJobs": 1,
        "cmakeExplorer.suiteDelimiter": "-",
+        "cortex-debug.enableTelemetry": false,
        "cSpell.allowCompoundWords": true,
        "cSpell.diagnosticLevel": "Hint",
        "cSpell.showStatus": false,
@@ -29,6 +31,7 @@
        ],
        "debug.toolBarLocation": "docked",
        "editor.defaultFormatter": "chiehyu.vscode-astyle",
+        "editor.dragAndDrop": false,
        "editor.insertSpaces": false,
        "editor.minimap.maxColumn": 120,
        "editor.minimap.renderCharacters": false,
@@ -124,7 +127,12 @@
                "${workspaceFolder}/build": true
        },
        "search.showLineNumbers": true,
-        "terminal.integrated.scrollback": 15000,
+        "telemetry.enableTelemetry": false,
+        "terminal.integrated.scrollback": 5000,
+        "window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
+        "workbench.editor.highlightModifiedTabs": true,
+        "workbench.enableExperiments": false,
+        "workbench.settings.enableNaturalLanguageSearch": false,
        "yaml.schemas": {
                "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
        }
@@ -67,9 +67,9 @@
            "dependsOn":["px4_sitl_cleanup"]
        },
        {
-            "label": "gazebo-classic build",
+            "label": "gazebo build",
            "type": "shell",
-            "command": "make px4_sitl_default sitl_gazebo-classic",
+            "command": "make px4_sitl_default sitl_gazebo",
            "options": {
                "cwd": "${workspaceFolder}"
            },
@@ -86,18 +86,18 @@
            "problemMatcher": [],
        },
        {
-            "label": "gazebo-classic start",
+            "label": "gazebo start",
            "type": "shell",
-            "dependsOn": "gazebo-classic build",
+            "dependsOn": "gazebo build",
            "options": {
                "cwd": "${workspaceFolder}",
                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo-classic",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models",
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models",
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
-            "command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/empty.world",
+            "command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/worlds/empty.world",
            "isBackground": true,
            "presentation": {
                "echo": true,
@@ -127,58 +127,58 @@
                }
            ]
        },
-        {
-            "label": "gazebo-classic",
-            "type": "shell",
-            "dependsOn": "gazebo-classic start",
-            "options": {
-                "cwd": "${workspaceFolder}",
-                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo-classic",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models",
-                    "PX4_SIM_SPEED_FACTOR": "1"
-                }
-            },
-            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris/iris.sdf --model-name=iris -x 1.01 -y 0.98 -z 0.83",
-            "isBackground": false,
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
-                "focus": false,
-                "panel": "dedicated",
-                "showReuseMessage": false,
-                "clear": false,
-                "close": true
-            },
-            "problemMatcher": [
-                {
-                    "pattern": [
-                        {
-                            "regexp": ".",
-                            "file": 1,
-                            "location": 2,
-                            "message": 3
-                        }
-                    ],
-                    "background": {
-                        "activeOnStart": true,
-                        "beginsPattern": ".",
-                        "endsPattern": ".",
-                    }
-                }
-            ]
-        },
        {
            "label": "gazebo",
            "type": "shell",
+            "dependsOn": "gazebo start",
+            "options": {
+                "cwd": "${workspaceFolder}",
+                "env": {
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models",
+                    "PX4_SIM_SPEED_FACTOR": "1"
+                }
+            },
+            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models/iris/iris.sdf --model-name=iris -x 1.01 -y 0.98 -z 0.83",
+            "isBackground": false,
+            "presentation": {
+                "echo": true,
+                "reveal": "never",
+                "revealProblems": "onProblem",
+                "focus": false,
+                "panel": "dedicated",
+                "showReuseMessage": false,
+                "clear": false,
+                "close": true
+            },
+            "problemMatcher": [
+                {
+                    "pattern": [
+                        {
+                            "regexp": ".",
+                            "file": 1,
+                            "location": 2,
+                            "message": 3
+                        }
+                    ],
+                    "background": {
+                        "activeOnStart": true,
+                        "beginsPattern": ".",
+                        "endsPattern": ".",
+                    }
+                }
+            ]
+        },
+        {
+            "label": "ign gazebo",
+            "type": "shell",
            "options": {
                "cwd": "${workspaceFolder}",
                "env": {
                    "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/gz/models",
                }
            },
-            "command": "gz sim -v 4 -r ${workspaceFolder}/Tools/simulation/gz/worlds/${input:gzWorld}.sdf",
+            "command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/gz/worlds/${input:gzWorld}.sdf",
            "isBackground": true,
            "presentation": {
                "echo": true,
@@ -191,10 +191,10 @@
                "close": false
            },
            "problemMatcher": [],
-            "dependsOn":["gazebo kill"]
+            "dependsOn":["ign gazebo kill"]
        },
        {
-            "label": "gazebo-classic kill",
+            "label": "gazebo kill",
            "type": "shell",
            "command": "pkill -9 -f gzserver || true",
            "presentation": {
@@ -211,9 +211,9 @@
            "dependsOn":["px4_sitl_cleanup"]
        },
        {
-            "label": "gazebo kill",
+            "label": "ign gazebo kill",
            "type": "shell",
-            "command": "pkill -9 -f 'gz sim' || true",
+            "command": "pkill -9 -f 'ign gazebo' || true",
            "presentation": {
                "echo": true,
                "reveal": "never",
@@ -118,21 +118,7 @@ execute_process(
 	OUTPUT_STRIP_TRAILING_WHITESPACE
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
-
-# git describe to X.Y.Z version
-string(REPLACE "." ";" VERSION_LIST ${PX4_GIT_TAG})
-
-# major version
-list(GET VERSION_LIST 0 PX4_VERSION_MAJOR)
-string(REPLACE "v" "" PX4_VERSION_MAJOR ${PX4_VERSION_MAJOR})
-# minor version
-list(GET VERSION_LIST 1 PX4_VERSION_MINOR)
-# patch version
-list(GET VERSION_LIST 2 PX4_VERSION_PATCH)
-string(REPLACE "-" ";" PX4_VERSION_PATCH ${PX4_VERSION_PATCH})
-list(GET PX4_VERSION_PATCH 0 PX4_VERSION_PATCH)
-
-message(STATUS "PX4 version: ${PX4_GIT_TAG} (${PX4_VERSION_MAJOR}.${PX4_VERSION_MINOR}.${PX4_VERSION_PATCH})")
+message(STATUS "PX4 version: ${PX4_GIT_TAG}")

 define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                 BRIEF_DOCS "PX4 module libs"
@@ -470,9 +456,6 @@ add_custom_command(OUTPUT ${uorb_graph_config}
 add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})


-include(bloaty)
-
-
 include(doxygen)
 include(metadata)
 include(package)
@@ -73,13 +73,6 @@ menu "Toolchain"
        help
            relative path to the ROMFS root directory

-    config BOARD_ROOTFSDIR
-        string "Root directory"
-        depends on PLATFORM_POSIX
-        default "."
-        help
-            Configure the root directory in the file system for PX4 files
-
    config BOARD_IO
        string "IO board name"
        default "px4_io-v2_default"
@@ -1,6 +1,6 @@
 BSD 3-Clause License

-Copyright (c) 2012 - 2023, PX4 Development Team
+Copyright (c) 2012 - 2022, PX4 Development Team
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
@@ -324,6 +324,10 @@ px4io_update:
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status

+jlink-nuttx:
+	$(CC) -shared -fPIC platforms/nuttx/NuttX/nuttx/tools/jlink-nuttx.c -o Tools/jlink-nuttx.so
+
+
 bootloaders_update: ark_fmu-v6x_bootloader cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
 	git status

@@ -388,17 +392,17 @@ tests_coverage:


 rostest: px4_sitl_default
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo

 tests_integration: px4_sitl_default
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
 	@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
 	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json

 tests_integration_coverage:
 	@$(MAKE) clean
 	@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
 	@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
 	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
 	@mkdir -p coverage
@@ -408,13 +412,13 @@ tests_mission: rostest
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_missions.test

 rostest_run: px4_sitl_default
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh $(TEST_FILE) mission:=$(TEST_MISSION) vehicle:=$(TEST_VEHICLE)

 tests_mission_coverage:
 	@$(MAKE) clean
 	@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=VTOL_mission_1 vehicle:=standard_vtol
 	@$(MAKE) --no-print-directory px4_sitl_default generate_coverage

@@ -483,14 +487,13 @@ shellcheck_all:
 validate_module_configs:
 	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
 	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" \
-	-not -path "$(SRC_DIR)/src/modules/uxrce_dds_client/dds_topics.yaml" \
-	-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
+	-not -path "$(SRC_DIR)/src/modules/microdds_client/dds_topics.yaml" \
 	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
 	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml

 # Cleanup
 # --------------------------------------------------------------------
-.PHONY: clean submodulesclean submodulesupdate distclean
+.PHONY: clean submodulesclean submodulesupdate gazeboclean distclean

 clean:
 	@[ ! -d "$(SRC_DIR)/build" ] || find "$(SRC_DIR)/build" -mindepth 1 -maxdepth 1 -type d -exec sh -c "echo {}; cmake --build {} -- clean || rm -rf {}" \; # use generated build system to clean, wipe build directory if it fails
@@ -508,7 +511,10 @@ submodulesupdate:
 	@git submodule update --init --recursive --jobs 4
 	@git fetch --all --tags --recurse-submodules=yes --jobs=4

-distclean:
+gazeboclean:
+	@rm -rf ~/.gazebo/*
+
+distclean: gazeboclean
 	@git submodule deinit --force $(SRC_DIR)
 	@rm -rf "$(SRC_DIR)/build"
 	@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"
@@ -44,89 +44,81 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/con

 ## Maintenance Team

-Note: This is the source of truth for the active maintainers of PX4 ecosystem.
+  * Project: Founder
+    * [Lorenz Meier](https://github.com/LorenzMeier)
+  * Architecture
+    * [Daniel Agar](https://github.com/dagar)
+  * [Dev Call](https://github.com/PX4/PX4-Autopilot/labels/devcall)
+    * [Ramon Roche](https://github.com/mrpollo)
+  * Communication Architecture
+    * [Beat Kueng](https://github.com/bkueng)
+    * [Julian Oes](https://github.com/JulianOes)
+  * UI in QGroundControl
+    * [Gus Grubba](https://github.com/dogmaphobic)
+  * [Multicopter Flight Control](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
+    * [Mathieu Bresciani](https://github.com/bresch)
+  * [Multicopter Software Architecture](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
+    * [Matthias Grob](https://github.com/MaEtUgR)
+  * [VTOL Flight Control](https://github.com/PX4/PX4-Autopilot/labels/vtol)
+    * [Roman Bapst](https://github.com/RomanBapst)
+  * [Fixed Wing Flight Control](https://github.com/PX4/PX4-Autopilot/labels/fixedwing)
+    * [Roman Bapst](https://github.com/RomanBapst)
+  * OS / NuttX
+    * [David Sidrane](https://github.com/davids5)
+  * Driver Architecture
+    * [Daniel Agar](https://github.com/dagar)
+  * Commander Architecture
+    * [Julian Oes](https://github.com/julianoes)
+  * [UAVCAN](https://github.com/PX4/PX4-Autopilot/labels/uavcan)
+    * [Daniel Agar](https://github.com/dagar)
+  * [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
+    * [Paul Riseborough](https://github.com/priseborough)
+  * Vision based navigation and Obstacle Avoidance
+    * [Markus Achtelik](https://github.com/markusachtelik)
+  * DDS/ROS2 Interface
+    * [Nuno Marques](https://github.com/TSC21)

-| Sector | Maintainer |
-|---|---|
-| Founder | [Lorenz Meier](https://github.com/LorenzMeier) |
-| Architecture | [Daniel Agar](https://github.com/dagar) / [Beat Küng](https://github.com/bkueng)|
-| State Estimation | [Mathieu Bresciani](https://github.com/bresch) / [Paul Riseborough](https://github.com/priseborough) |
-| OS/NuttX | [David Sidrane](https://github.com/davids5) |
-| Drivers | [Daniel Agar](https://github.com/dagar) |
-| Simulation | [Jaeyoung Lim](https://github.com/Jaeyoung-Lim) |
-| ROS2 | [Beniamino Pozzan](https://github.com/beniaminopozzan) |
-| Community QnA Call | [Ramon Roche](https://github.com/mrpollo) |
-| [Documentation](https://docs.px4.io/main/en/) | [Hamish Willee](https://github.com/hamishwillee) |
-
-| Vehicle Type | Maintainer |
-|---|---|
-| Multirotor | [Matthias Grob](https://github.com/MaEtUgR) |
-| Fixed Wing | [Thomas Stastny](https://github.com/tstastny) |
-| Hybrid VTOL | [Silvan Fuhrer](https://github.com/sfuhrer) |
-| Boat | x |
-| Rover | x |
-
-See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github). However it may be not up to date.
+See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github).

 ## Supported Hardware

-Pixhawk standard boards and proprietary boards are shown below (discontinued boards aren't listed).
-
-For the most up to date information, please visit [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
+This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.

 ### Pixhawk Standard Boards
+  * FMUv6X and FMUv6U (STM32H7, 2021)
+    * Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
+  * FMUv5 and FMUv5X (STM32F7, 2019/20)
+    * [Pixhawk 4 (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4.html)
+    * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4_mini.html)
+    * [CUAV V5+ (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_plus.html)
+    * [CUAV V5 nano (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_nano.html)
+    * [Auterion Skynode (FMUv5X)](https://docs.auterion.com/skynode)
+  * FMUv4 (STM32F4, 2015)
+    * [Pixracer](https://docs.px4.io/main/en/flight_controller/pixracer.html)
+    * [Pixhawk 3 Pro](https://docs.px4.io/main/en/flight_controller/pixhawk3_pro.html)
+  * FMUv3 (STM32F4, 2014)
+    * [Pixhawk 2](https://docs.px4.io/main/en/flight_controller/pixhawk-2.html)
+    * [Pixhawk Mini](https://docs.px4.io/main/en/flight_controller/pixhawk_mini.html)
+    * [CUAV Pixhack v3](https://docs.px4.io/main/en/flight_controller/pixhack_v3.html)
+  * FMUv2 (STM32F4, 2013)
+    * [Pixhawk](https://docs.px4.io/main/en/flight_controller/pixhawk.html)
+    * [Pixfalcon](https://docs.px4.io/main/en/flight_controller/pixfalcon.html)

-These boards fully comply with Pixhawk Standard, and are maintained by the PX4-Autopilot maintainers and Dronecode team
+### Manufacturer and Community supported
+  * [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html)
+  * [Hex Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
+  * [Hex Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
+  * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
+  * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
+  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/main/en/complete_vehicles/crazyflie2.html)
+  * [Omnibus F4 SD](https://docs.px4.io/main/en/flight_controller/omnibus_f4_sd.html)
+  * [Holybro Kakute F7](https://docs.px4.io/main/en/flight_controller/kakutef7.html)
+  * [Raspberry PI with Navio 2](https://docs.px4.io/main/en/flight_controller/raspberry_pi_navio2.html)

-* FMUv6X and FMUv6C
-  * [CUAV Pixahwk V6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/cuav_pixhawk_v6x.html)
-  * [Holybro Pixhawk 6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/pixhawk6x.html)
-  * [Holybro Pixhawk 6C (FMUv6C)](https://docs.px4.io/main/en/flight_controller/pixhawk6c.html)
-  * [Holybro Pix32 v6 (FMUv6C)](https://docs.px4.io/main/en/flight_controller/holybro_pix32_v6.html)
-* FMUv5 and FMUv5X (STM32F7, 2019/20)
-  * [Pixhawk 4 (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4.html)
-  * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4_mini.html)
-  * [CUAV V5+ (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_plus.html)
-  * [CUAV V5 nano (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_nano.html)
-  * [Auterion Skynode (FMUv5X)](https://docs.auterion.com/avionics/skynode)
-* FMUv4 (STM32F4, 2015)
-  * [Pixracer](https://docs.px4.io/main/en/flight_controller/pixracer.html)
-  * [Pixhawk 3 Pro](https://docs.px4.io/main/en/flight_controller/pixhawk3_pro.html)
-* FMUv3 (STM32F4, 2014)
-  * [Pixhawk 2](https://docs.px4.io/main/en/flight_controller/pixhawk-2.html)
-  * [Pixhawk Mini](https://docs.px4.io/main/en/flight_controller/pixhawk_mini.html)
-  * [CUAV Pixhack v3](https://docs.px4.io/main/en/flight_controller/pixhack_v3.html)
-* FMUv2 (STM32F4, 2013)
-  * [Pixhawk](https://docs.px4.io/main/en/flight_controller/pixhawk.html)
-
-### Manufacturer supported
-
-These boards are maintained to be compatible with PX4-Autopilot by the Manufacturers.
-
-* [ARK Electronics ARKV6X](https://docs.px4.io/main/en/flight_controller/arkv6x.html)
-* [CubePilot Cube Orange+](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orangeplus.html)
-* [CubePilot Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
-* [CubePilot Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
-* [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html)
-* [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
-* [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
-* [Holybro Kakute F7](https://docs.px4.io/main/en/flight_controller/kakutef7.html)
-
-### Community supported
-
-These boards don't fully comply industry standards, and thus is solely maintained by the PX4 publc community members.
-
-### Experimental
-
-These boards are nor maintained by PX4 team nor Manufacturer, and is not guaranteed to be compatible with up to date PX4 releases.
-
-* [Raspberry PI with Navio 2](https://docs.px4.io/main/en/flight_controller/raspberry_pi_navio2.html)
-* [Bitcraze Crazyflie 2.0](https://docs.px4.io/main/en/complete_vehicles/crazyflie2.html)
+Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).

 ## Project Roadmap

-**Note: Outdated**
-
 A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).

 ## Project Governance
@@ -137,6 +137,11 @@ add_custom_command(
 	COMMENT "ROMFS: copying, generating airframes"
 	)

+if(EXISTS ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)
+	set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
+	configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
+endif()
+
 # copy extras into ROMFS
 set(extras_dependencies)

@@ -203,24 +208,6 @@ endforeach()
 set(OPTIONAL_BOARD_EXTRAS)
 file(GLOB OPTIONAL_BOARD_EXTRAS ${PX4_BOARD_DIR}/extras/*)

-# bootloader (optional)
-#  - if systemcmds/bl_update included and board bootloader available then generate rc.board_bootloader_upgrade and copy bootloader binary
-#  - otherwise remove bootloader binary from extras in final ROMFS
-foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
-	file(RELATIVE_PATH extra_file_base_name ${PX4_BOARD_DIR}/extras/ ${board_extra_file})
-	if(${extra_file_base_name} MATCHES "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
-		if(CONFIG_SYSTEMCMDS_BL_UPDATE)
-			# generate rc.board_bootloader_upgrade
-			set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
-			configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
-		else()
-			# remove bootloader from extras
-			list(REMOVE_ITEM OPTIONAL_BOARD_EXTRAS ${board_extra_file})
-		endif()
-
-	endif()
-endforeach()
-
 foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})

 	if(EXISTS "${board_extra_file}")
@@ -1,30 +0,0 @@
-#!/bin/sh
-#
-# @name Generic Iris Quadrotor SITL
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
@@ -12,14 +12,13 @@
 PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadx}

-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 1
-param set-default SENS_EN_MAGSIM 1
-
 # disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
+param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

 param set-default CA_ROTOR_COUNT 4
@@ -11,17 +11,13 @@
 PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=airplane}

-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 1
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 1
-
 # disable some checks to allow to fly:
 # - with usb
 param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
+param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

 param set-default BAT_N_CELLS 3
@@ -11,12 +11,6 @@
 PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}

-param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
-
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 1
-param set-default SENS_EN_MAGSIM 1
-
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 0
 param set-default VT_FW_DIFTHR_EN 1
@@ -27,9 +21,12 @@ param set-default MC_PITCH_P 5
 param set-default MAV_TYPE 19

 # disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
+param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

 param set-default BAT_N_CELLS 3
@@ -52,7 +49,7 @@ param set-default CA_AIRFRAME 4

 param set-default CA_ROTOR_COUNT 2
 param set-default CA_ROTOR0_PX 0
-param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR0_PY 2
 param set-default CA_ROTOR0_KM 0.05
 param set-default CA_ROTOR1_PX 0
 param set-default CA_ROTOR1_PY -1
@@ -30,10 +30,10 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

 # EKF2
+param set-default EKF2_AID_MASK 2
 param set-default EKF2_GPS_CTRL 0
 param set-default EKF2_EVP_NOISE 0.05
 param set-default EKF2_EVA_NOISE 0.05
-param set-default EKF2_OF_CTRL 1

 # LPE: Flow-only mode
 param set-default LPE_FUSION 242
@@ -5,12 +5,12 @@
 # @type Quadrotor Wide
 #

-. ${R}etc/init.d-posix/airframes/10016_gazebo-classic_iris
+. ${R}etc/init.d-posix/airframes/10016_iris

-# EKF2: Vision position and heading, no GPS
+# EKF2: Vision position and heading
+param set-default EKF2_AID_MASK 24
 param set-default EKF2_EV_DELAY 5
 param set-default EKF2_EV_CTRL 15
-param set-default EKF2_HGT_REF 3
 param set-default EKF2_GPS_CTRL 0

 # LPE: Vision + baro
@@ -30,3 +30,5 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

 param set-default COM_OBS_AVOID 1
+param set-default MPC_XY_CRUISE 5.0
+
@@ -30,8 +30,8 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

 # EKF2
+param set-default EKF2_AID_MASK 2
 param set-default EKF2_GPS_CTRL 0
-param set-default EKF2_OF_CTRL 1

 # LPE: Flow-only mode
 param set-default LPE_FUSION 242
@@ -5,6 +5,9 @@

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

+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default CA_AIRFRAME 7
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_R_REV 255
@@ -5,6 +5,9 @@

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

+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default CA_AIRFRAME 7

 param set-default CA_ROTOR_COUNT 8
@@ -5,9 +5,12 @@

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

+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
+
 param set-default FW_LND_ANG 8

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
@@ -5,11 +5,13 @@

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

+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

-
+param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
@@ -5,12 +5,13 @@

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

-param set-default FW_LAUN_DETCN_ON 1
-param set-default FW_THR_IDLE 0.1 # needs to be running before throw as that's how gazebo detects arming
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

+param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
@@ -46,6 +47,8 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

+param set-default RWTO_TKOFF 1
+
 param set-default CA_AIRFRAME 1

 param set-default CA_ROTOR_COUNT 1
@@ -71,3 +74,5 @@ param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256

+param set-default RWTO_TKOFF 0
+
@@ -10,7 +10,7 @@ param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5

-param set-default NPFG_PERIOD 25
+param set-default FW_L1_PERIOD 25

 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
@@ -25,6 +25,7 @@ param set-default FW_W_EN 1

 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -10,7 +10,7 @@ param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5

-param set-default NPFG_PERIOD 25
+param set-default FW_L1_PERIOD 25

 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
@@ -25,6 +25,7 @@ param set-default FW_W_EN 1

 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -5,10 +5,13 @@

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

-
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_ANG 8

+param set-default FW_L1_PERIOD 15
+
 param set-default FW_P_TC 0.5
 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
@@ -19,7 +22,7 @@ param set-default FW_RR_FF 0.20
 param set-default FW_RR_I 0.02
 param set-default FW_RR_P 0.22

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_W_EN 1

@@ -10,7 +10,7 @@ param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5

-param set-default NPFG_PERIOD 25
+param set-default FW_L1_PERIOD 25

 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
@@ -25,6 +25,7 @@ param set-default FW_W_EN 1

 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -5,11 +5,12 @@

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

-
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_ANG 8

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.2
@@ -25,6 +26,7 @@ param set-default FW_THR_TRIM 0.25

 param set-default FW_T_ALT_TC 2
 param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
 param set-default FW_T_TAS_TC 2
@@ -5,11 +5,13 @@

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

+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

-
+param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
@@ -45,6 +47,8 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

+param set-default RWTO_TKOFF 1
+
 param set-default CA_AIRFRAME 1

 param set-default CA_ROTOR_COUNT 1
@@ -71,3 +75,4 @@ param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256

 param set-default FW_THR_TRIM 0.0
+param set-default RWTO_TKOFF 0
@@ -5,12 +5,13 @@

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

+param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5

-param set-default NPFG_PERIOD 25
+param set-default FW_L1_PERIOD 25

 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
@@ -26,6 +27,7 @@ param set-default FW_W_EN 1
 param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -5,12 +5,13 @@

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

-
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_ANG 8
 param set-default FW_THR_LND_MAX 0

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_MAN_P_MAX 30

@@ -47,7 +47,7 @@ param set-default PWM_MAIN_FUNC6 201
 param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
@@ -67,6 +67,7 @@ param set-default MC_YAW_P 1.6

 param set-default MIS_TAKEOFF_ALT 10

+param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_XY_P 0.8
 param set-default MPC_XY_VEL_P_ACC 3
 param set-default MPC_XY_VEL_I_ACC 4
@@ -76,5 +77,6 @@ param set-default NAV_ACC_RAD 5

 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75
+param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2

@@ -9,13 +9,11 @@

 param set-default MAV_TYPE 20

-param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
-
 param set-default CA_AIRFRAME 4

 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 1
-param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR0_PY 2
 param set-default CA_ROTOR0_KM 0.05
 param set-default CA_ROTOR1_PX -1
 param set-default CA_ROTOR1_PY -1
@@ -44,13 +42,7 @@ param set-default PWM_MAIN_FUNC6 201
 param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_REV 96 # invert both elevons

-# Single-EKF (for replay)
-param set-default EKF2_MULTI_IMU 0
-param set-default SENS_IMU_MODE 1
-param set-default EKF2_MULTI_MAG 0
-param set-default SENS_MAG_MODE 1
-
-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12
 param set-default FW_PR_I 0.2
 param set-default FW_PR_P 0.2
 param set-default FW_PSP_OFF 2
@@ -61,6 +53,7 @@ param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_T_ALT_TC 2
 param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
 param set-default FW_T_TAS_TC 2
@@ -68,6 +61,7 @@ param set-default FW_T_TAS_TC 2
 param set-default MC_AIRMODE 1
 param set-default MC_ROLLRATE_P 0.3

+param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_XY_P 0.8
 param set-default MPC_XY_VEL_P_ACC 3
 param set-default MPC_XY_VEL_I_ACC 4
@@ -46,7 +46,7 @@ param set-default PWM_MAIN_FUNC7 201
 param set-default PWM_MAIN_FUNC8 202
 param set-default PWM_MAIN_FUNC9 203

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
@@ -70,6 +70,7 @@ param set-default MPC_XY_VEL_D_ACC 0.1

 param set-default MIS_TAKEOFF_ALT 10

+param set-default VT_B_TRANS_DUR 8
 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_FWD_THRUST_SC 0.6
 param set-default VT_TILT_TRANS 0.6
@@ -47,7 +47,7 @@ param set-default PWM_MAIN_FUNC6 201
 param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
@@ -66,6 +66,7 @@ param set-default MC_YAW_P 1.6

 param set-default MIS_TAKEOFF_ALT 10

+param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_XY_P 0.8
 param set-default MPC_XY_VEL_P_ACC 3
 param set-default MPC_XY_VEL_I_ACC 4
@@ -77,6 +78,7 @@ param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
+param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2


@@ -5,11 +5,13 @@

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

+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

-
+param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

-param set-default NPFG_PERIOD 12
+param set-default FW_L1_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
@@ -18,9 +18,12 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

+param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

@@ -18,9 +18,12 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

+param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

@@ -25,9 +25,12 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

+param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 3.0

@@ -18,9 +18,12 @@ param set-default GND_THR_CRUISE 0.85
 param set-default GND_THR_MAX 1
 param set-default GND_THR_MIN 0

+param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

@@ -26,6 +26,7 @@ param set-default NAV_ACC_RAD 20
 param set-default NAV_DLL_ACT 2
 param set-default NAV_LOITER_RAD 50

+param set-default RWTO_TKOFF 0
 # Parameters related to autogyro takeoff PR
 #param set-default AG_TKOFF 1
 #param set-default AG_PROT_TYPE 1
@@ -11,12 +11,6 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}

-param set-default SIM_GZ_EN 1
-
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 4

@@ -36,19 +30,19 @@ param set-default CA_ROTOR3_PX -0.13
 param set-default CA_ROTOR3_PY 0.20
 param set-default CA_ROTOR3_KM -0.05

-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_FUNC4 104
+param set-default SIM_GZ_FUNC1 101
+param set-default SIM_GZ_FUNC2 102
+param set-default SIM_GZ_FUNC3 103
+param set-default SIM_GZ_FUNC4 104

-param set-default SIM_GZ_EC_MIN1 150
-param set-default SIM_GZ_EC_MIN2 150
-param set-default SIM_GZ_EC_MIN3 150
-param set-default SIM_GZ_EC_MIN4 150
+param set-default SIM_GZ_MIN1 150
+param set-default SIM_GZ_MIN2 150
+param set-default SIM_GZ_MIN3 150
+param set-default SIM_GZ_MIN4 150

-param set-default SIM_GZ_EC_MAX1 1000
-param set-default SIM_GZ_EC_MAX2 1000
-param set-default SIM_GZ_EC_MAX3 1000
-param set-default SIM_GZ_EC_MAX4 1000
+param set-default SIM_GZ_MAX1 1000
+param set-default SIM_GZ_MAX2 1000
+param set-default SIM_GZ_MAX3 1000
+param set-default SIM_GZ_MAX4 1000

 param set-default MPC_THR_HOVER 0.60
@@ -5,6 +5,44 @@
 # @type Quadrotor
 #

+. ${R}etc/init.d/rc.mc_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_depth}

-. ${R}etc/init.d-posix/airframes/4001_gz_x500
+param set-default CA_AIRFRAME 0
+param set-default CA_ROTOR_COUNT 4
+
+param set-default CA_ROTOR0_PX 0.13
+param set-default CA_ROTOR0_PY 0.22
+param set-default CA_ROTOR0_KM  0.05
+
+param set-default CA_ROTOR1_PX -0.13
+param set-default CA_ROTOR1_PY -0.20
+param set-default CA_ROTOR1_KM  0.05
+
+param set-default CA_ROTOR2_PX 0.13
+param set-default CA_ROTOR2_PY -0.22
+param set-default CA_ROTOR2_KM -0.05
+
+param set-default CA_ROTOR3_PX -0.13
+param set-default CA_ROTOR3_PY 0.20
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default SIM_GZ_FUNC1 101
+param set-default SIM_GZ_FUNC2 102
+param set-default SIM_GZ_FUNC3 103
+param set-default SIM_GZ_FUNC4 104
+
+param set-default SIM_GZ_MIN1 150
+param set-default SIM_GZ_MIN2 150
+param set-default SIM_GZ_MIN3 150
+param set-default SIM_GZ_MIN4 150
+
+param set-default SIM_GZ_MAX1 1000
+param set-default SIM_GZ_MAX2 1000
+param set-default SIM_GZ_MAX3 1000
+param set-default SIM_GZ_MAX4 1000
+
+param set-default MPC_THR_HOVER 0.60
@@ -1,89 +0,0 @@
-#!/bin/sh
-#
-# @name Gazebo rc_cessna
-# @type Fixedwing
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}
-
-param set-default SIM_GZ_EN 1
-
-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 FW_LND_ANG 8
-
-param set-default NPFG_PERIOD 12
-
-param set-default FW_PR_P 0.9
-param set-default FW_PR_FF 0.5
-param set-default FW_PR_I 0.5
-param set-default TRIM_PITCH -0.15
-
-param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MIN -15
-
-param set-default FW_RR_FF 0.5
-param set-default FW_RR_P 0.3
-param set-default FW_RR_I 0.5
-
-param set-default FW_YR_FF 0.5
-param set-default FW_YR_P 0.6
-param set-default FW_YR_I 0.5
-
-param set-default FW_SPOILERS_LND 0.4
-
-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-param set-default FW_THR_TRIM 0.25
-
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
-
-param set-default FW_W_EN 1
-
-param set-default MIS_TAKEOFF_ALT 30
-
-param set-default NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
-
-param set-default RWTO_TKOFF 1
-
-param set-default CA_AIRFRAME 1
-
-param set-default COM_PREARM_MODE 2
-
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-
-param set-default CA_SV_CS_COUNT 6
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4
-param set-default CA_SV_CS4_TYPE 9
-param set-default CA_SV_CS5_TYPE 10
-
-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_MIN1 0
-param set-default SIM_GZ_EC_MAX1 1000
-
-param set-default SIM_GZ_SV_FUNC1 201
-param set-default SIM_GZ_SV_FUNC2 202
-param set-default SIM_GZ_SV_FUNC3 203
-param set-default SIM_GZ_SV_FUNC4 204
-param set-default SIM_GZ_SV_FUNC5 205
-param set-default SIM_GZ_SV_FUNC6 206
@@ -1,109 +0,0 @@
-#!/bin/sh
-#
-# @name Standard VTOL
-#
-# @type Standard VTOL
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
-
-param set-default SIM_GZ_EN 1
-
-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
-
-# TODO: Enable motor failure detection when the
-# VTOL no longer reports 0A for all ESCs in SITL
-param set-default FD_ACT_EN 0
-param set-default FD_ACT_MOT_TOUT 500
-
-param set-default CA_AIRFRAME 2
-
-param set-default COM_PREARM_MODE 2
-
-param set-default CA_ROTOR_COUNT 5
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
-param set-default CA_ROTOR4_PX 0.2
-
-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_MIN1 10
-param set-default SIM_GZ_EC_MAX1 1500
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_MIN2 10
-param set-default SIM_GZ_EC_MAX2 1500
-param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_MIN3 10
-param set-default SIM_GZ_EC_MAX3 1500
-param set-default SIM_GZ_EC_FUNC4 104
-param set-default SIM_GZ_EC_MIN4 10
-param set-default SIM_GZ_EC_MAX4 1500
-
-param set-default SIM_GZ_EC_FUNC5 105
-param set-default SIM_GZ_EC_MIN5 0
-param set-default SIM_GZ_EC_MAX5 3500
-
-param set-default SIM_GZ_SV_FUNC1 201
-param set-default SIM_GZ_SV_FUNC2 202
-param set-default SIM_GZ_SV_FUNC3 203
-
-param set-default COM_RC_IN_MODE 1
-param set-default ASPD_PRIMARY 1
-
-param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1.0
-
-param set-default FW_L1_PERIOD 12
-param set-default FW_PR_FF 0.2
-param set-default FW_PR_P 0.9
-param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MIN -15
-param set-default FW_RR_FF 0.1
-param set-default FW_RR_P 0.3
-param set-default FW_THR_TRIM 0.25
-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
-
-param set-default MC_AIRMODE 1
-param set-default MC_ROLLRATE_P 0.3
-param set-default MC_YAW_P 1.6
-
-param set-default MIS_TAKEOFF_ALT 10
-
-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 3
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_D_ACC 0.1
-
-param set-default NAV_ACC_RAD 5
-
-param set-default VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_TYPE 2
-param set-default FD_ESCS_EN 0
@@ -1,10 +0,0 @@
-#!/bin/sh
-#
-# @name Gazebo x500 vision
-#
-# @type Quadrotor
-#
-
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_vision}
-
-. ${R}etc/init.d-posix/airframes/4001_gz_x500
@@ -1,152 +0,0 @@
-#!/bin/sh
-#
-# @name PX4Vision SITL
-# Holybro px4vision. Gazebo Only.
-#
-# @type Quadrotor
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=px4vision}
-
-param set-default SIM_GZ_EN 1
-
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-
-# Commander Parameters
-param set-default COM_OBS_AVOID 0
-param set-default COM_DISARM_LAND 0.5
-
-# EKF2 parameters
-param set-default EKF2_DRAG_CTRL 1
-param set-default EKF2_IMU_POS_X 0.02
-param set-default EKF2_GPS_POS_X 0.055
-param set-default EKF2_GPS_POS_Z -0.15
-param set-default EKF2_MIN_RNG 0.03
-param set-default EKF2_OF_CTRL 1
-param set-default EKF2_OF_POS_X 0.055
-param set-default EKF2_OF_POS_Y 0.02
-param set-default EKF2_OF_POS_Z 0.065
-param set-default EKF2_REQ_HDRIFT 0.3
-param set-default EKF2_REQ_SACC 1
-param set-default EKF2_REQ_VDRIFT 0.3
-param set-default EKF2_RNG_A_HMAX 8
-param set-default EKF2_RNG_A_VMAX 2
-param set-default EKF2_RNG_POS_X 0.055
-param set-default EKF2_RNG_POS_Y -0.01
-param set-default EKF2_RNG_POS_Z 0.065
-param set-default EKF2_PCOEF_XP -0.25
-param set-default EKF2_PCOEF_YN -0.55
-param set-default EKF2_PCOEF_YP -0.55
-
-# MAVLink parameters
-# param set-default MAV_0_CONFIG 101		Not found
-# param set-default MAV_1_CONFIG 102		Not found
-param set-default MAV_1_RATE 80000
-param set-default MAV_1_MODE 9
-# param set-default SER_TEL1_BAUD 921600	Not found
-
-# Vehicle attitude PID tuning
-param set-default MC_ACRO_EXPO 0
-param set-default MC_ACRO_EXPO_Y 0
-param set-default MC_ACRO_P_MAX 200
-param set-default MC_ACRO_R_MAX 200
-param set-default MC_ACRO_SUPEXPO 0
-param set-default MC_ACRO_SUPEXPOY 0
-param set-default MC_ACRO_Y_MAX 150
-param set-default MC_PITCHRATE_D 0.0015
-param set-default MC_ROLLRATE_D 0.0015
-param set-default MC_YAWRATE_P 0.3
-
-# Position Control Tuning
-param set-default CP_DIST 6
-param set-default MPC_ACC_DOWN_MAX 5
-param set-default MPC_ACC_HOR_MAX 10
-param set-default MPC_MANTHR_MIN 0
-param set-default MPC_MAN_Y_MAX 120
-param set-default MPC_THR_HOVER 0.3
-param set-default MPC_VEL_MANUAL 5
-param set-default MPC_XY_VEL_MAX 5
-param set-default MPC_XY_VEL_P_ACC 1.58
-param set-default MPC_XY_TRAJ_P 0.3
-# param set-default MPC_Z_TRAJ_P 0.3		Not found
-param set-default MPC_Z_VEL_P_ACC 5
-param set-default MPC_Z_VEL_I_ACC 3
-param set-default MPC_LAND_ALT1 3
-param set-default MPC_LAND_ALT2 1
-param set-default MPC_POS_MODE 3
-param set-default CP_GO_NO_DATA 1
-
-# Navigator Parameters
-param set-default NAV_ACC_RAD 2
-
-# RTL Parameters
-param set-default RTL_DESCEND_ALT 5
-param set-default RTL_RETURN_ALT 5
-
-# Logging Parameters
-param set-default SDLOG_PROFILE 131
-
-# Sensors Parameters
-# param set-default SENS_CM8JL65_CFG 202 	Not found
-param set-default SENS_FLOW_MAXHGT 25
-param set-default SENS_FLOW_MINHGT 0.5
-param set-default IMU_GYRO_CUTOFF 100
-# param set-default SENS_TFLOW_CFG 103		Not found
-
-# Power Parameters
-param set-default BAT1_N_CELLS 4
-# param set-default BAT1_A_PER_V 36.364		Not found
-# param set-default BAT1_V_DIV 18.182		Not found
-
-# Circuit breakers
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default THR_MDL_FAC 0.3
-
-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_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_KM 0.05
-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
-
-# Outputs
-# param set-default PWM_AUX_FUNC1 101
-# param set-default PWM_AUX_FUNC2 102
-# param set-default PWM_AUX_FUNC3 103
-# param set-default PWM_AUX_FUNC4 104
-
-# param set-default PWM_MAIN_FUNC1 101
-# param set-default PWM_MAIN_FUNC2 102
-# param set-default PWM_MAIN_FUNC3 103
-# param set-default PWM_MAIN_FUNC4 104
-
-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_FUNC4 104
-
-param set-default SIM_GZ_EC_MIN1 150
-param set-default SIM_GZ_EC_MIN2 150
-param set-default SIM_GZ_EC_MIN3 150
-param set-default SIM_GZ_EC_MIN4 150
-
-param set-default SIM_GZ_EC_MAX1 1100
-param set-default SIM_GZ_EC_MAX2 1100
-param set-default SIM_GZ_EC_MAX3 1100
-param set-default SIM_GZ_EC_MAX4 1100
-
-
@@ -1,6 +1,8 @@

 mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p

+# shellcheck disable=SC2154
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
 # shellcheck disable=SC2154
 mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
 mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local
@@ -33,59 +33,54 @@

 px4_add_romfs_files(

-	1010_gazebo-classic_iris_opt_flow
-	1010_gazebo-classic_iris_opt_flow.post
-	1011_gazebo-classic_iris_irlock
-	1012_gazebo-classic_iris_rplidar
-	1013_gazebo-classic_iris_vision
-	1013_gazebo-classic_iris_vision.post
-	1015_gazebo-classic_iris_obs_avoid
-	1015_gazebo-classic_iris_obs_avoid.post
-	1017_gazebo-classic_iris_opt_flow_mockup
-	1019_gazebo-classic_iris_dual_gps
-	1021_gazebo-classic_uuv_hippocampus
-	1022_gazebo-classic_uuv_bluerov2_heavy
-	1030_gazebo-classic_plane
-	1031_gazebo-classic_plane_cam
-	1032_gazebo-classic_plane_catapult
+	1010_gazebo_iris_opt_flow
+	1010_gazebo_iris_opt_flow.post
+	1011_gazebo_iris_irlock
+	1012_gazebo_iris_rplidar
+	1013_gazebo_iris_vision
+	1013_gazebo_iris_vision.post
+	1015_gazebo_iris_obs_avoid
+	1015_gazebo_iris_obs_avoid.post
+	1017_gazebo_iris_opt_flow_mockup
+	1019_gazebo_iris_dual_gps
+	1021_gazebo_uuv_hippocampus
+	1022_gazebo_uuv_bluerov2_heavy
+	1030_gazebo_plane
+	1031_gazebo_plane_cam
+	1032_gazebo_plane_catapult
 	1033_jsbsim_rascal
 	1034_flightgear_rascal-electric
-	1035_gazebo-classic_techpod
+	1035_gazebo_techpod
 	1036_jsbsim_malolo
-	1037_gazebo-classic_believer
-	1038_gazebo-classic_glider
-	1039_gazebo-classic_advanced_plane
-	1040_gazebo-classic_standard_vtol
-	1041_gazebo-classic_tailsitter
-	1042_gazebo-classic_tiltrotor
-	1043_gazebo-classic_standard_vtol_drop
-	1044_gazebo-classic_plane_lidar
-	1060_gazebo-classic_rover
-	1061_gazebo-classic_r1_rover
+	1037_gazebo_believer
+	1038_gazebo_glider
+	1039_gazebo_advanced_plane
+	1040_gazebo_standard_vtol
+	1041_gazebo_tailsitter
+	1042_gazebo_tiltrotor
+	1043_gazebo_standard_vtol_drop
+	1044_gazebo_plane_lidar
+	1060_gazebo_rover
+	1061_gazebo_r1_rover
 	1062_flightgear_tf-r1
-	1070_gazebo-classic_boat
+	1070_gazebo_boat

-	2507_gazebo-classic_cloudship
+	2507_gazebo_cloudship

 	3010_jsbsim_quadrotor_x
 	3011_jsbsim_hexarotor_x

 	4001_gz_x500
 	4002_gz_x500_depth
-	4003_gz_rc_cessna
-	4004_gz_standard_vtol
-	4005_gz_x500_vision
-	4006_gz_px4vision

-	6011_gazebo-classic_typhoon_h480
-	6011_gazebo-classic_typhoon_h480.post
+	6011_gazebo_typhoon_h480
+	6011_gazebo_typhoon_h480.post

-	10015_gazebo-classic_iris
-	10016_none_iris
+	10016_gazebo_iris
 	10017_jmavsim_iris
-	10018_gazebo-classic_iris_foggy_lidar
-	10019_gazebo-classic_omnicopter
-	10030_gazebo-classic_px4vision
+	10018_gazebo_iris_foggy_lidar
+	10019_gazebo_omnicopter
+	10030_gazebo_px4vision

 	10040_sihsim_quadx
 	10041_sihsim_airplane
@@ -8,37 +8,20 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"

 	echo "INFO  [init] SIH simulator"

-	if [ -n "${PX4_HOME_LAT}" ]; then
-		param set SIH_LOC_LAT0 ${PX4_HOME_LAT}
-	fi
-
-	if [ -n "${PX4_HOME_LON}" ]; then
-		param set SIH_LOC_LON0 ${PX4_HOME_LON}
-	fi
-
 	if simulator_sih start; then

-		if param compare -s SENS_EN_BAROSIM 1
-		then
-			sensor_baro_sim start
-		fi
-		if param compare -s SENS_EN_GPSSIM 1
-		then
-			sensor_gps_sim start
-		fi
-		if param compare -s SENS_EN_MAGSIM 1
-		then
-			sensor_mag_sim start
-		fi
+		sensor_baro_sim start
+		sensor_gps_sim start
+		sensor_mag_sim start

 	else
 		echo "ERROR [init] simulator_sih failed to start"
 		exit 1
 	fi

-elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; then
+elif [ "$PX4_SIMULATOR" = "gz" ]; then

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

@@ -54,8 +37,16 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 		gz_command="gz"
 		gz_sub_command="sim"
 	else
-		echo "ERROR [init] Gazebo gz please install gz-garden"
-		exit 1
+		IGN_GAZEBO_VERSIONS=$(ign gazebo --versions 2>&1)
+		if [ $? -eq 0 ] && [ "${IGN_GAZEBO_VERSIONS}" != "" ]
+		then
+			# "ign gazebo" for Fortress and earlier
+			gz_command="ign"
+			gz_sub_command="gazebo"
+		else
+			echo "ERROR [init] Gazebo gz and ign commands unavailable"
+			exit 1
+		fi
 	fi

 	# look for running ${gz_command} gazebo world
@@ -94,22 +85,9 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th

 		# start gz bridge with pose arg.
 		if gz_bridge start -p "${model_pose}" -m "${PX4_GZ_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
-			if param compare -s SENS_EN_BAROSIM 1
-			then
-				sensor_baro_sim start
-			fi
-			if param compare -s SENS_EN_GPSSIM 1
-			then
-				sensor_gps_sim start
-			fi
-			if param compare -s SENS_EN_MAGSIM 1
-			then
-				sensor_mag_sim start
-			fi
-			if param compare -s SENS_EN_ARSPDSIM 1
-			then
-				sensor_airspeed_sim start
-			fi
+			sensor_baro_sim start
+			sensor_gps_sim start
+			sensor_mag_sim start

 		else
 			echo "ERROR [init] gz_bridge failed to start"
@@ -120,22 +98,9 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 		# model name specificed, gz_bridge will attach to existing model

 		if gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
-			if param compare -s SENS_EN_BAROSIM 1
-			then
-				sensor_baro_sim start
-			fi
-			if param compare -s SENS_EN_GPSSIM 1
-			then
-				sensor_gps_sim start
-			fi
-			if param compare -s SENS_EN_MAGSIM 1
-			then
-				sensor_mag_sim start
-			fi
-			if param compare -s SENS_EN_ARSPDSIM 1
-			then
-				sensor_airspeed_sim start
-			fi
+			sensor_baro_sim start
+			sensor_gps_sim start
+			sensor_mag_sim start

 		else
 			echo "ERROR [init] gz_bridge failed to start"
@@ -147,22 +112,9 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 		echo "WARN  [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."

 		if gz_bridge start -m "${PX4_SIM_MODEL#*gz_}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
-			if param compare -s SENS_EN_BAROSIM 1
-			then
-				sensor_baro_sim start
-			fi
-			if param compare -s SENS_EN_GPSSIM 1
-			then
-				sensor_gps_sim start
-			fi
-			if param compare -s SENS_EN_MAGSIM 1
-			then
-				sensor_mag_sim start
-			fi
-			if param compare -s SENS_EN_ARSPDSIM 1
-			then
-				sensor_airspeed_sim start
-			fi
+			sensor_baro_sim start
+			sensor_gps_sim start
+			sensor_mag_sim start

 		else
 			echo "ERROR [init] gz_bridge failed to start"
@@ -129,7 +129,6 @@ fi
 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
-param set UXRCE_DDS_KEY $((px4_instance+1))

 if [ $AUTOCNF = yes ]
 then
@@ -185,9 +184,6 @@ param set-default SDLOG_DIRS_MAX 7
 param set-default TRIG_INTERFACE 3

 param set-default SYS_FAILURE_EN 1
-# Enable low-battery actions by default for (automated) testing. Battery sim
-# does not go below 50% by default, but failure injection can trigger failsafes.
-param set-default COM_LOW_BAT_ACT 2

 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
@@ -265,33 +261,20 @@ fi

 navigator start

-# Try to start the UXRCE-DDS Client with UDP transport if module exists
-uxrce_dds_ns=""
+# Try to start the microdds_client with UDP transport if module exists
+microdds_ns=""
 if [ "$px4_instance" -ne "0" ]
 then
-	# for multi intances setup, add namespace prefix
-	uxrce_dds_ns="-n px4_$px4_instance"
+	# Assign new xrce dds key based on instance number and set default namespace
+	param set XRCE_DDS_KEY ${px4_instance}
+	microdds_ns="-n px4_$px4_instance"
 fi
-if [ -n "$PX4_UXRCE_DDS_NS" ]
+if [ -n "$PX4_MICRODDS_NS" ]
 then
 	# Override namespace if environment variable is defined
-	uxrce_dds_ns="-n $PX4_UXRCE_DDS_NS"
+	microdds_ns="-n $PX4_MICRODDS_NS"
 fi
-if [ -n "$ROS_DOMAIN_ID" ]
-then
-	# Match UXRCE_DDS_DOM_ID with ROS_DOMAIN_ID, if defined
-	param set UXRCE_DDS_DOM_ID $ROS_DOMAIN_ID
-else
-	param set UXRCE_DDS_DOM_ID 0
-fi
-uxrce_dds_port=8888
-if [ -n "$PX4_UXRCE_DDS_PORT" ]
-then
-	# Override port if environment variable is defined
-	uxrce_dds_port="$PX4_UXRCE_DDS_PORT"
-fi
-
-uxrce_dds_client start -t udp -h 127.0.0.1 -p $uxrce_dds_port $uxrce_dds_ns
+microdds_client start -t udp -p 8888 $microdds_ns

 if param greater -s MNT_MODE_IN -1
 then
@@ -36,7 +36,6 @@ add_subdirectory(airframes)
 px4_add_romfs_files(
 	rc.airship_apps
 	rc.airship_defaults
-	rc.autostart_ext
 	rc.balloon_apps
 	rc.balloon_defaults
 	rc.boat_defaults
@@ -34,7 +34,10 @@ 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
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
+param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027
@@ -34,6 +34,8 @@ param set-default MC_ROLLRATE_P 0.3
 param set-default MIS_TAKEOFF_ALT 10
 param set-default MIS_YAW_TMT 10

+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_THR_MIN 0.1
 param set-default MPC_XY_P 0.8
 param set-default MPC_XY_VEL_D_ACC 0.1
@@ -92,9 +94,12 @@ param set SYS_HITL 1
 param set UAVCAN_ENABLE 0

 # disable some checks to allow to fly
+# - with usb
+param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
+param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

 param set-default MAV_TYPE 22
@@ -36,9 +36,12 @@ param set-default HIL_ACT_FUNC4 104
 param set SYS_HITL 2

 # disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
+param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

 param set SIH_VEHICLE_TYPE 0
@@ -39,9 +39,12 @@ param set-default HIL_ACT_FUNC6 400
 param set-default SYS_HITL 2

 # disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
+param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

 param set-default BAT_N_CELLS 3
@@ -17,8 +17,6 @@

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

-param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
-
 param set UAVCAN_ENABLE 0
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
@@ -56,9 +54,12 @@ param set-default MAV_TYPE 19
 param set-default SYS_HITL 2

 # disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
+param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

 param set-default BAT_N_CELLS 3
@@ -33,9 +33,12 @@ param set-default CBRK_IO_SAFETY 22027

 param set-default EKF2_GPS_POS_X -0.12
 param set-default EKF2_IMU_POS_X -0.12
+param set-default EKF2_TAU_VEL 0.5
+param set-default EKF2_GPS_P_GATE 10
+param set-default EKF2_GPS_V_GATE 10

 param set-default FW_ARSP_MODE 1
-param set-default NPFG_PERIOD 25
+param set-default FW_L1_PERIOD 25
 param set-default FW_PR_FF 0.7
 param set-default FW_PR_I 0.18
 param set-default FW_PR_P 0.15
@@ -45,9 +48,11 @@ param set-default FW_R_LIM 35
 param set-default FW_RR_FF 0.9
 param set-default FW_RR_I 0.08
 param set-default FW_RR_P 0.18
+param set-default FW_T_HRATE_FF 0.5
 param set-default FW_T_CLMB_MAX 3
 param set-default FW_T_SINK_MAX 3
 param set-default FW_T_SINK_MIN 1
+param set-default FW_T_VERT_ACC 6
 param set-default FW_THR_TRIM 0.70
 param set-default FW_THR_SLEW_MAX 1
 param set-default FW_P_LIM_MAX 15
@@ -57,24 +62,37 @@ param set-default FW_P_RMAX_POS 45
 param set-default FW_R_RMAX 50
 param set-default FW_THR_MIN 0.55
 param set-default FW_BAT_SCALE_EN 1
+param set-default FW_THR_ALT_SCL 2.7
 param set-default FW_T_RLL2THR 20

+param set-default LNDMC_XY_VEL_MAX 1
+param set-default LNDMC_Z_VEL_MAX 0.7
+
 param set-default MC_ROLLRATE_P 0.16
 param set-default MC_ROLLRATE_I 0.01
+param set-default MC_ROLLRATE_MAX 80
 param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCHRATE_MAX 80
+param set-default MC_YAW_P 3.5

 param set-default MC_YAWRATE_MAX 20
 param set-default MC_AIRMODE 1

 param set-default MIS_DIST_1WP 100
+param set-default MIS_DIST_WPS 100000
 param set-default MIS_TAKEOFF_ALT 15

 param set-default MPC_XY_P 0.8
+param set-default MPC_XY_VEL_P_ACC 2
 param set-default MPC_XY_VEL_MAX 5
+param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_LAND_SPEED 1.2
 param set-default MPC_TILTMAX_LND 35
 param set-default MPC_Z_VEL_MAX_UP 1.5
+param set-default MPC_HOLD_MAX_XY 0.5
+param set-default MPC_HOLD_MAX_Z 0.5
 param set-default MPC_TKO_RAMP_T 0.8
+param set-default MPC_XY_CRUISE 5
 param set-default MPC_TILTMAX_AIR 25
 param set-default MPC_TILTMAX_LND 25
 param set-default MPC_YAWRAUTO_MAX 20
@@ -96,15 +114,24 @@ param set-default MAV_1_FORWARD 1
 param set-default SER_TEL2_BAUD 57600

 param set-default VT_TYPE 2
+param set-default VT_F_TRANS_THR 1
 param set-default VT_PITCH_MIN 8
 param set-default VT_FW_QC_P 55
 param set-default VT_FW_QC_R 55
 param set-default VT_TRANS_MIN_TM 15
+param set-default VT_B_TRANS_DUR 8
 param set-default VT_FWD_THRUST_SC 4
+param set-default VT_F_TRANS_DUR 1
+param set-default VT_B_REV_OUT 0.5
+param set-default VT_B_TRANS_THR 0.7
 param set-default VT_TRANS_TIMEOUT 22
+param set-default VT_F_TRANS_RAMP 4

 param set-default COM_RC_OVERRIDE 0

+
+
+
 param set-default CA_AIRFRAME 2

 param set-default CA_ROTOR_COUNT 5
@@ -30,7 +30,7 @@ param set-default BAT1_N_CELLS 6
 param set-default FW_AIRSPD_MAX 30
 param set-default FW_AIRSPD_MIN 19
 param set-default FW_AIRSPD_TRIM 23
-param set-default FW_PN_R_SLEW_MAX 40
+param set-default FW_L1_R_SLEW_MAX 40
 param set-default FW_PSP_OFF 3
 param set-default FW_P_LIM_MAX 18
 param set-default FW_P_LIM_MIN -25
@@ -41,6 +41,7 @@ param set-default FW_R_RMAX 50
 param set-default FW_THR_TRIM 0.65
 param set-default FW_THR_MIN 0.3
 param set-default FW_THR_SLEW_MAX 0.6
+param set-default FW_T_HRATE_FF 0
 param set-default FW_T_SINK_MAX 15
 param set-default FW_T_SINK_MIN 3
 param set-default FW_YR_P 0.15
@@ -52,12 +53,21 @@ param set-default MC_YAWRATE_I 0.15
 param set-default MC_YAWRATE_MAX 40
 param set-default MC_YAWRATE_P 0.3

+param set-default MPC_ACC_DOWN_MAX 2
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_ACC_UP_MAX 3
 param set-default MC_AIRMODE 1
+param set-default MPC_JERK_AUTO 4
 param set-default MPC_LAND_SPEED 1
 param set-default MPC_MAN_TILT_MAX 25
 param set-default MPC_MAN_Y_MAX 40
+param set-default COM_SPOOLUP_TIME 1.5
 param set-default MPC_THR_HOVER 0.45
 param set-default MPC_TILTMAX_AIR 25
+param set-default MPC_TKO_RAMP_T 1.8
+param set-default MPC_VEL_MANUAL 3
+param set-default MPC_XY_CRUISE 3
+param set-default MPC_XY_VEL_MAX 3.5
 param set-default MPC_YAWRAUTO_MAX 40
 param set-default MPC_Z_VEL_MAX_UP 2

@@ -71,9 +81,11 @@ param set-default SENS_BOARD_ROT 4
 param set-default VT_ARSP_BLEND 10
 param set-default VT_ARSP_TRANS 21
 param set-default VT_B_DEC_MSS 1.5
+param set-default VT_B_TRANS_DUR 12
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_FWD_THRUST_SC 1.2
 param set-default VT_F_TR_OL_TM 8
+param set-default VT_PSHER_RMP_DT 2
 param set-default VT_TRANS_MIN_TM 4
 param set-default VT_TYPE 2

@@ -12,8 +12,6 @@

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

-param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
-
 param set-default CA_AIRFRAME 4
 param set-default CA_ROTOR_COUNT 2
 param set-default CA_ROTOR0_KM -0.05
@@ -26,6 +26,7 @@ param set-default BAT1_N_CELLS 3

 param set-default SENS_BOARD_ROT 4

+param set-default FW_AIRSPD_MAX 20
 param set-default FW_AIRSPD_MIN 7
 param set-default FW_AIRSPD_TRIM 13
 param set-default FW_THR_TRIM 0.8
@@ -16,12 +16,11 @@ param set-default COM_OBS_AVOID 1
 param set-default COM_DISARM_LAND 0.5

 # EKF2 parameters
-param set-default EKF2_DRAG_CTRL 1
+param set-default EKF2_AID_MASK 35
 param set-default EKF2_IMU_POS_X 0.02
 param set-default EKF2_GPS_POS_X 0.055
 param set-default EKF2_GPS_POS_Z -0.15
 param set-default EKF2_MIN_RNG 0.03
-param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_POS_X 0.055
 param set-default EKF2_OF_POS_Y 0.02
 param set-default EKF2_OF_POS_Z 0.065
@@ -60,9 +59,12 @@ param set-default MC_YAWRATE_P 0.3
 param set-default CP_DIST 6
 param set-default MPC_ACC_DOWN_MAX 5
 param set-default MPC_ACC_HOR_MAX 10
+param set-default MPC_ACC_UP_MAX 4
 param set-default MPC_MAN_Y_MAX 120
+param set-default MPC_TILTMAX_AIR 45
 param set-default MPC_THR_HOVER 0.3
 param set-default MPC_VEL_MANUAL 5
+param set-default MPC_XY_CRUISE 5
 param set-default MPC_XY_VEL_MAX 5
 param set-default MPC_XY_VEL_P_ACC 1.58
 param set-default MPC_XY_TRAJ_P 0.3
@@ -33,10 +33,3 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.25
 param set-default CA_ROTOR3_PY 0.25
 param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_AUX_FUNC1 101
-param set-default PWM_AUX_FUNC2 102
-param set-default PWM_AUX_FUNC3 103
-param set-default PWM_AUX_FUNC4 104
-param set-default PWM_AUX_TIM0 -4
-
@@ -16,12 +16,11 @@ param set-default COM_OBS_AVOID 1
 param set-default COM_DISARM_LAND 0.5

 # EKF2 parameters
-param set-default EKF2_DRAG_CTRL 1
+param set-default EKF2_AID_MASK 35
 param set-default EKF2_IMU_POS_X 0.02
 param set-default EKF2_GPS_POS_X 0.055
 param set-default EKF2_GPS_POS_Z -0.15
 param set-default EKF2_MIN_RNG 0.03
-param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_POS_X 0.055
 param set-default EKF2_OF_POS_Y 0.02
 param set-default EKF2_OF_POS_Z 0.065
@@ -60,10 +59,13 @@ param set-default MC_YAWRATE_P 0.3
 param set-default CP_DIST 6
 param set-default MPC_ACC_DOWN_MAX 5
 param set-default MPC_ACC_HOR_MAX 10
+param set-default MPC_ACC_UP_MAX 4
 param set-default MPC_MANTHR_MIN 0
 param set-default MPC_MAN_Y_MAX 120
+param set-default MPC_TILTMAX_AIR 45
 param set-default MPC_THR_HOVER 0.3
 param set-default MPC_VEL_MANUAL 5
+param set-default MPC_XY_CRUISE 5
 param set-default MPC_XY_VEL_MAX 5
 param set-default MPC_XY_VEL_P_ACC 1.58
 param set-default MPC_XY_TRAJ_P 0.3
@@ -19,6 +19,7 @@
 . ${R}etc/init.d/rc.mc_defaults

 param set-default CBRK_SUPPLY_CHK 894281
+param set-default CBRK_USB_CHK 197848

 param set-default IMU_GYRO_CUTOFF 100
 param set-default IMU_DGYRO_CUTOFF 60
@@ -58,6 +58,8 @@ 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 PWM_MAIN_TIM0 0
+
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
@@ -37,20 +37,23 @@ param set-default COM_RC_LOSS_T 3


 # ekf2
+param set-default EKF2_AID_MASK 33
 param set-default EKF2_TERR_MASK 1
+param set-default EKF2_BARO_DELAY 0
 param set-default EKF2_BARO_NOISE 2.0

 param set-default EKF2_BCOEF_X 31.5
 param set-default EKF2_BCOEF_Y 25.5

-param set-default EKF2_DRAG_CTRL 1
-
 param set-default EKF2_GPS_DELAY 100
 param set-default EKF2_GPS_POS_X 0.06
+param set-default EKF2_GPS_POS_Y 0.0
+param set-default EKF2_GPS_POS_Z 0.0
 param set-default EKF2_GPS_V_NOISE 0.5

 param set-default EKF2_IMU_POS_X 0.06

+param set-default EKF2_MAG_DELAY 0
 param set-default EKF2_MAG_NOISE 0.1

 param set-default EKF2_MIN_RNG 0.15
@@ -58,6 +61,7 @@ param set-default EKF2_MIN_RNG 0.15
 param set-default EKF2_OF_DELAY 38
 param set-default EKF2_OF_GATE 2.0
 param set-default EKF2_OF_POS_X -0.035
+param set-default EKF2_OF_POS_Y 0.0
 param set-default EKF2_OF_POS_Z 0.033
 param set-default EKF2_OF_MIN_RNG 0.01
 param set-default EKF2_OF_A_HMAX 7.0
@@ -115,20 +119,30 @@ param set-default MPC_ACC_HOR_MAX 10.0
 param set-default MPC_ACC_UP_MAX 3.0
 param set-default MPC_ALT_MODE 0
 param set-default MPC_LAND_SPEED 0.5
+param set-default MPC_LAND_VEL_XY 10
 param set-default MPC_MAN_TILT_MAX 20
 param set-default MPC_YAWRAUTO_MAX 80.0
+param set-default MPC_POS_MODE 4
 param set-default MPC_THR_HOVER 0.54
 param set-default MPC_THR_MAX 0.9
 param set-default MPC_THR_MIN 0.06
 param set-default MPC_TILTMAX_AIR 30
 param set-default MPC_XY_P 1.0
+param set-default MPC_XY_VEL_D 0.005
+param set-default MPC_XY_VEL_I 0.02
+param set-default MPC_XY_VEL_P 0.15
 param set-default MPC_Z_P 2.0
+param set-default MPC_Z_VEL_D 0.0
+param set-default MPC_Z_VEL_I 0.02
 param set-default MPC_Z_VEL_MAX_DN 2.0
+param set-default MPC_Z_VEL_P 0.27
+

 # gimbal configuration
 param set-default MNT_MODE_IN 0
 param set-default MNT_MODE_OUT 1
 param set-default MNT_MAN_PITCH 2
+param set-default MNT_RC_IN_MODE 1
 param set-default MNT_RATE_PITCH 30

 # RC
@@ -151,6 +165,7 @@ param set-default RC1_TRIM          1000
 param set-default SENS_FLOW_MAXR   7.4
 param set-default SENS_FLOW_MINHGT 0.15
 param set-default SENS_FLOW_MAXHGT 5.0
+param set-default SENS_FLOW_ROT 0

 # ignore the SD card errors and use normal startup sound
 set STARTUP_TUNE "1"
@@ -22,7 +22,10 @@
 param set-default MC_ROLLRATE_D 0.0013
 param set-default MC_PITCHRATE_D 0.0016

+param set-default MC_YAW_FF 0.5
+
 param set-default MPC_MANTHR_MAX 0.9
+param set-default MPC_MANTHR_MIN 0.08

 # Filter settings
 param set-default IMU_DGYRO_CUTOFF 90
@@ -34,8 +37,11 @@ param set-default SENS_BOARD_ROT 10

 # EKF2
 param set-default EKF2_GND_EFF_DZ 6
+param set-default EKF2_HGT_REF 1

 # Position control
+param set-default MPC_Z_P 1
+param set-default MPC_Z_VEL_P_ACC 4
 param set-default MPC_Z_VEL_I_ACC 0.4

 param set-default MPC_THR_MIN 0.06
@@ -45,6 +51,7 @@ param set-default MIS_TAKEOFF_ALT 1.1
 param set-default MPC_XY_P 1.7
 param set-default MPC_XY_VEL_P_ACC 2.6
 param set-default MPC_XY_VEL_I_ACC 1.2
+param set-default MPC_XY_VEL_D_ACC 0.2
 param set-default MPC_TKO_RAMP_T 1
 param set-default MPC_VEL_MANUAL 3

@@ -52,6 +59,7 @@ param set-default BAT1_SOURCE 0
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_V_DIV 10.14
 param set-default BAT1_A_PER_V 18.18
+param set-default COM_DISARM_LAND 2

 # Filter settings
 param set-default IMU_GYRO_CUTOFF 90
@@ -23,6 +23,9 @@ param set-default MC_ROLLRATE_D 0.0013

 param set-default MC_PITCHRATE_D 0.0016

+
+param set-default MPC_MANTHR_MIN 0.08
+
 # Filter settings
 param set-default IMU_GYRO_CUTOFF 100

@@ -37,11 +40,12 @@ param set-default SENS_TFMINI_CFG 103
 param set-default SENS_EN_BATT 1

 # EKF2
+param set-default EKF2_AID_MASK 3
 param set-default EKF2_GND_EFF_DZ 6
+param set-default EKF2_HGT_REF 1
 param set-default EKF2_MIN_RNG 0.3

 # Flow
-param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_QMIN 70

 # Position control
@@ -56,6 +60,7 @@ param set-default MIS_TAKEOFF_ALT 1.1
 param set-default MPC_XY_P 1.7
 param set-default MPC_XY_VEL_P_ACC 2.6
 param set-default MPC_XY_VEL_I_ACC 1.2
+param set-default MPC_XY_VEL_D_ACC 0.2
 param set-default MPC_TKO_RAMP_T 1
 param set-default MPC_VEL_MANUAL 3

@@ -63,6 +68,7 @@ param set-default BAT1_SOURCE 0
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_V_DIV 10.14
 param set-default BAT1_A_PER_V 18.18
+param set-default COM_DISARM_LAND 2

 # Filter settings
 param set-default IMU_GYRO_CUTOFF 90
@@ -21,13 +21,14 @@ param set-default BAT1_CAPACITY 240
 param set-default BAT1_SOURCE 1

 param set-default CBRK_SUPPLY_CHK 894281
+param set-default CBRK_USB_CHK 197848
 param set-default COM_RC_IN_MODE 1

 param set-default EKF2_ABL_LIM 2
+param set-default EKF2_AID_MASK 3
 param set-default EKF2_HGT_REF 2
 param set-default EKF2_RNG_CTRL 2
 param set-default EKF2_MAG_TYPE 1
-param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_DELAY 10

 param set-default IMU_GYRO_CUTOFF 100
@@ -19,7 +19,7 @@

 param set-default SYS_MC_EST_GROUP 2
 param set-default SYS_HAS_MAG 0
-param set-default EKF2_OF_CTRL 1
+param set-default EKF2_AID_MASK 2
 param set-default EKF2_GPS_CTRL 0
 param set-default EKF2_MAG_TYPE 5

@@ -27,6 +27,7 @@ param set-default BAT1_N_CELLS 1
 param set-default BAT1_SOURCE 1

 param set-default CBRK_SUPPLY_CHK 894281
+param set-default CBRK_USB_CHK 197848
 param set-default COM_RC_IN_MODE 1

 param set-default IMU_GYRO_CUTOFF 100
@@ -39,6 +39,8 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

+param set-default MIS_TAKEOFF_ALT 0.01
+
 param set-default NAV_ACC_RAD 0.5

 param set-default CA_AIRFRAME 5
@@ -44,11 +44,24 @@ param set-default GND_SPEED_D 0.001
 param set-default GND_SPEED_IMAX 0.125
 param set-default GND_SPEED_THR_SC 1

+param set-default MIS_TAKEOFF_ALT 0.01
+
 param set-default NAV_ACC_RAD 0.5

+# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
 # Differential drive acts like ackermann steering with a maximum turn angle of 180 degrees, or pi radians
 param set-default GND_MAX_ANG 3.1415

+param set-default RBCLW_BAUD 8
+param set-default RBCLW_COUNTS_REV 1200
+param set-default RBCLW_ADDRESS 128
+# 104 corresponds to Telem 4
+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
+
 # Set geometry & output configration
 param set-default CA_AIRFRAME 6
 param set-default CA_R_REV 3
@@ -45,8 +45,13 @@ param set-default GND_SPEED_D 0.001
 param set-default GND_SPEED_IMAX 0.125
 param set-default GND_SPEED_THR_SC 1

+param set-default MIS_TAKEOFF_ALT 0.01
+
 param set-default NAV_ACC_RAD 0.5

+# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default CA_AIRFRAME 5

 param set-default CA_R_REV 1
@@ -13,6 +13,10 @@

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

+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
+
 param set-default CA_AIRFRAME 7
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_R_REV 255
@@ -13,6 +13,9 @@

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

+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default CA_AIRFRAME 7
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_R_REV 255
@@ -23,9 +23,14 @@
 . ${R}etc/init.d/rc.uuv_defaults


+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
 # companion computer is connected via USB permanently
+param set-default CBRK_USB_CHK 197848
 param set-default CBRK_IO_SAFETY 22027

+param set-default COM_PREARM_MODE 0
+
 param set-default MAV_1_CONFIG 102

 param set-default BAT1_A_PER_V 37.8798
@@ -41,8 +41,14 @@ param set-default MPC_ACC_HOR 8
 param set-default MPC_THR_MIN 0.06
 param set-default MPC_THR_HOVER 0.3
 # altitude control gains
+param set-default MPC_Z_P 1
+param set-default MPC_Z_VEL_P_ACC 4
 param set-default MPC_Z_VEL_I_ACC 0.4
 # position control gains
+param set-default MPC_XY_P 0.9500
+param set-default MPC_XY_VEL_P_ACC 1.8
+param set-default MPC_XY_VEL_I_ACC 0.4
+param set-default MPC_XY_VEL_D_ACC 0.2
 # etc gains
 param set-default MPC_TKO_RAMP_T 0.4
 param set-default MPC_VEL_MANUAL 5
@@ -63,6 +69,8 @@ param set-default MIS_TAKEOFF_ALT 1.1
 #####################################
 # EKF
 #####################################
+# Height mode as GPS
+param set-default EKF2_HGT_REF 1
 # Enable optical flow and GPS
 param set-default EKF2_MAG_TYPE 1
 param set-default EKF2_OF_QMIN 80
--- a/Show More
+++ b/Show More