ekf2: select estimator instance manually using RC channel

Transitions in Stabilized mode are done manually, the pilot controls the pitch angle
and if it's above the threshold the transition is declared finished (plus airspeed
check for front transition). Thus we can't have fixed thresholds but need to link
them to the actual max pitch angle in Stabilized mode.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

.github/PULL_REQUEST_TEMPLATE.md

@@ -18,6 +18,14 @@ 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 ...
 

.gitignore

@@ -105,3 +105,6 @@ src/modules/simulator/simulator_config.h
 src/systemcmds/topic_listener/listener_generated.cpp
 
 !src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
+
+# colcon
+log/

.gitmodules

@@ -58,7 +58,7 @@
 	path = src/lib/crypto/libtommath
 	url = https://github.com/PX4/libtommath.git
 	branch = px4
-[submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
-	path = src/modules/microdds_client/Micro-XRCE-DDS-Client
+[submodule "src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client"]
+	path = src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client
 	url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
 	branch = px4

Makefile

@@ -483,7 +483,8 @@ 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 "$(SRC_DIR)/src/modules/microdds_client/dds_topics.yaml" \
+	-not -path "$(SRC_DIR)/src/modules/uxrce_dds_client/dds_topics.yaml" \
+	-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
 	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
 	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
 

README.md

@@ -104,8 +104,9 @@ These boards fully comply with Pixhawk Standard, and are maintained by the PX4-A
 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)
-* [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)
+* [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)

ROMFS/CMakeLists.txt

@@ -137,11 +137,6 @@ 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)
 
@@ -208,6 +203,24 @@ 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}")

ROMFS/px4fmu_common/init.d-posix/airframes/10016_none_iris

@@ -0,0 +1,30 @@
+#!/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

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

@@ -17,12 +17,9 @@ 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

ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane

@@ -22,7 +22,6 @@ 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

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

@@ -11,6 +11,8 @@
 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
@@ -25,12 +27,9 @@ 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

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

@@ -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

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

@@ -30,5 +30,3 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 
 param set-default COM_OBS_AVOID 1
-param set-default MPC_XY_CRUISE 5.0
-

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

@@ -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

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

@@ -5,9 +5,6 @@
 
 . ${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

ROMFS/px4fmu_common/init.d-posix/airframes/1022_gazebo-classic_uuv_bluerov2_heavy

@@ -5,9 +5,6 @@
 
 . ${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

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

@@ -5,9 +5,6 @@
 
 . ${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

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

@@ -5,10 +5,8 @@
 
 . ${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

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

@@ -5,10 +5,9 @@
 
 . ${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_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 FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8
 
 param set-default NPFG_PERIOD 12
@@ -47,8 +46,6 @@ 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
@@ -74,5 +71,3 @@ param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
 
-param set-default RWTO_TKOFF 0
-

ROMFS/px4fmu_common/init.d-posix/airframes/1033_jsbsim_rascal

@@ -25,7 +25,6 @@ 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

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

@@ -25,7 +25,6 @@ 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

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

@@ -5,8 +5,7 @@
 
 . ${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
 

ROMFS/px4fmu_common/init.d-posix/airframes/1036_jsbsim_malolo

@@ -25,7 +25,6 @@ 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

ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer

@@ -5,8 +5,7 @@
 
 . ${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
 
@@ -26,7 +25,6 @@ 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

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

@@ -5,10 +5,8 @@
 
 . ${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
@@ -47,8 +45,6 @@ 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
@@ -75,4 +71,3 @@ param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
 
 param set-default FW_THR_TRIM 0.0
-param set-default RWTO_TKOFF 0

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

@@ -5,7 +5,6 @@
 
 . ${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
@@ -27,7 +26,6 @@ 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

ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo-classic_advanced_plane

@@ -5,8 +5,7 @@
 
 . ${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

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

@@ -67,7 +67,6 @@ 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 +76,5 @@ 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
 

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

@@ -9,6 +9,8 @@
 
 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
@@ -42,6 +44,12 @@ 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_PR_I 0.2
 param set-default FW_PR_P 0.2
@@ -53,7 +61,6 @@ 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
@@ -61,7 +68,6 @@ 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

ROMFS/px4fmu_common/init.d-posix/airframes/1042_gazebo-classic_tiltrotor

@@ -70,7 +70,6 @@ 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

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

@@ -66,7 +66,6 @@ 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
@@ -78,7 +77,6 @@ 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
 
 

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

@@ -5,10 +5,8 @@
 
 . ${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

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

@@ -18,12 +18,9 @@ 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
 

ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo-classic_r1_rover

@@ -18,12 +18,9 @@ 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
 

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

@@ -25,12 +25,9 @@ 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
 

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

@@ -18,12 +18,9 @@ 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
 

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

@@ -26,7 +26,6 @@ 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

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

@@ -5,50 +5,6 @@
 # @type Quadrotor
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_depth}
 
-param set-default SIM_GZ_EN 1
-
-param set-default 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
-
-param set-default CA_ROTOR0_PX 0.13
-param set-default CA_ROTOR0_PY 0.22
-param set-default CA_ROTOR0_KM  0.05
-
-param set-default CA_ROTOR1_PX -0.13
-param set-default CA_ROTOR1_PY -0.20
-param set-default CA_ROTOR1_KM  0.05
-
-param set-default CA_ROTOR2_PX 0.13
-param set-default CA_ROTOR2_PY -0.22
-param set-default CA_ROTOR2_KM -0.05
-
-param set-default CA_ROTOR3_PX -0.13
-param set-default CA_ROTOR3_PY 0.20
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_FUNC4 104
-
-param set-default SIM_GZ_EC_MIN1 150
-param set-default SIM_GZ_EC_MIN2 150
-param set-default SIM_GZ_EC_MIN3 150
-param set-default SIM_GZ_EC_MIN4 150
-
-param set-default SIM_GZ_EC_MAX1 1000
-param set-default SIM_GZ_EC_MAX2 1000
-param set-default SIM_GZ_EC_MAX3 1000
-param set-default SIM_GZ_EC_MAX4 1000
-
-param set-default MPC_THR_HOVER 0.60
+. ${R}etc/init.d-posix/airframes/4001_gz_x500

ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna

@@ -10,13 +10,14 @@ 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 EKF2_MAG_ACCLIM 0
-param set-default EKF2_MAG_YAWLIM 0
+
 
 param set-default FW_LND_ANG 8
 

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

@@ -11,6 +11,8 @@ 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
@@ -94,7 +96,6 @@ 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
@@ -104,6 +105,5 @@ 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
 param set-default FD_ESCS_EN 0

ROMFS/px4fmu_common/init.d-posix/airframes/4005_gz_x500_vision

@@ -5,8 +5,6 @@
 # @type Quadrotor
 #
 
-. ${R}etc/init.d-posix/airframes/4001_gz_x500
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_vision}
+
+. ${R}etc/init.d-posix/airframes/4001_gz_x500

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

@@ -0,0 +1,152 @@
+#!/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
+
+

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

@@ -75,11 +75,13 @@ px4_add_romfs_files(
 	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
 
-	10016_gazebo-classic_iris
+	10015_gazebo-classic_iris
+	10016_none_iris
 	10017_jmavsim_iris
 	10018_gazebo-classic_iris_foggy_lidar
 	10019_gazebo-classic_omnicopter

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -129,6 +129,7 @@ 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
@@ -264,20 +265,33 @@ fi
 
 navigator start
 
-# Try to start the microdds_client with UDP transport if module exists
-microdds_ns=""
+# Try to start the UXRCE-DDS Client with UDP transport if module exists
+uxrce_dds_ns=""
 if [ "$px4_instance" -ne "0" ]
 then
-	# 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"
+	# for multi intances setup, add namespace prefix
+	uxrce_dds_ns="-n px4_$px4_instance"
 fi
-if [ -n "$PX4_MICRODDS_NS" ]
+if [ -n "$PX4_UXRCE_DDS_NS" ]
 then
 	# Override namespace if environment variable is defined
-	microdds_ns="-n $PX4_MICRODDS_NS"
+	uxrce_dds_ns="-n $PX4_UXRCE_DDS_NS"
 fi
-microdds_client start -t udp -p 8888 $microdds_ns
+if [ -n "$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
 
 if param greater -s MNT_MODE_IN -1
 then

ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil

@@ -34,10 +34,7 @@ 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

ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil

@@ -34,8 +34,6 @@ 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
@@ -94,12 +92,9 @@ 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

ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil

@@ -36,12 +36,9 @@ 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

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

@@ -39,12 +39,9 @@ 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

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

@@ -17,6 +17,8 @@
 
 . ${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
@@ -54,12 +56,9 @@ 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

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

@@ -33,9 +33,6 @@ 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
@@ -48,11 +45,9 @@ 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
@@ -62,37 +57,24 @@ 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
@@ -114,17 +96,12 @@ 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_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
 

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

@@ -41,7 +41,6 @@ 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
@@ -53,21 +52,12 @@ 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
 
@@ -81,11 +71,9 @@ 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
 

ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter

@@ -12,6 +12,8 @@
 
 . ${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

ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2

@@ -26,7 +26,6 @@ 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

ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision

@@ -16,11 +16,12 @@ param set-default COM_OBS_AVOID 1
 param set-default COM_DISARM_LAND 0.5
 
 # EKF2 parameters
-param set-default EKF2_AID_MASK 35
+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
@@ -59,12 +60,9 @@ 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

ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2

@@ -33,3 +33,10 @@ 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
+

ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5

@@ -16,11 +16,12 @@ param set-default COM_OBS_AVOID 1
 param set-default COM_DISARM_LAND 0.5
 
 # EKF2 parameters
-param set-default EKF2_AID_MASK 35
+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
@@ -59,13 +60,10 @@ 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

ROMFS/px4fmu_common/init.d/airframes/4041_beta75x

@@ -19,7 +19,6 @@
 . ${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

ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250

@@ -58,8 +58,6 @@ 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

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

@@ -37,23 +37,20 @@ 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
@@ -61,7 +58,6 @@ 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
@@ -119,30 +115,20 @@ 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
@@ -165,7 +151,6 @@ 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"

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

@@ -22,10 +22,7 @@
 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
@@ -37,11 +34,8 @@ 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
@@ -51,7 +45,6 @@ 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
 
@@ -59,7 +52,6 @@ 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

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

@@ -23,9 +23,6 @@ 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
 
@@ -40,12 +37,11 @@ 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
@@ -60,7 +56,6 @@ 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
 
@@ -68,7 +63,6 @@ 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

ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie

@@ -21,14 +21,13 @@ 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

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

@@ -19,7 +19,7 @@
 
 param set-default SYS_MC_EST_GROUP 2
 param set-default SYS_HAS_MAG 0
-param set-default EKF2_AID_MASK 2
+param set-default EKF2_OF_CTRL 1
 param set-default EKF2_GPS_CTRL 0
 param set-default EKF2_MAG_TYPE 5
 
@@ -27,7 +27,6 @@ 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

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

@@ -39,8 +39,6 @@ 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

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

@@ -44,13 +44,8 @@ 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
 

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

@@ -45,13 +45,8 @@ 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

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

@@ -13,10 +13,6 @@
 
 . ${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

ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus

@@ -13,9 +13,6 @@
 
 . ${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

ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy

@@ -23,14 +23,9 @@
 . ${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

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

@@ -41,14 +41,8 @@ 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
@@ -69,8 +63,6 @@ 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

ROMFS/px4fmu_common/init.d/rc.fw_apps

@@ -20,7 +20,7 @@ control_allocator start
 #
 fw_rate_control start
 fw_att_control start
-fw_path_navigation start
+fw_pos_control start
 airspeed_selector start
 
 #

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -46,7 +46,6 @@ param set-default RTL_LAND_DELAY -1
 #
 param set-default NAV_ACC_RAD 10
 
-param set-default MIS_DIST_WPS 5000
 param set-default MIS_TAKEOFF_ALT 25
 param set-default MIS_TKO_LAND_REQ 2
 

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -74,6 +74,7 @@ fi
 mc_hover_thrust_estimator start
 flight_mode_manager start
 mc_pos_control start
+fake_ev start
 
 #
 # Start Multicopter Land Detector.

ROMFS/px4fmu_common/init.d/rc.rover_defaults

@@ -10,9 +10,9 @@ set VEHICLE_TYPE rover
 # MAV_TYPE_GROUND_ROVER 10
 param set-default MAV_TYPE 10
 
-#
-# Default parameters for UGVs.
-#
+# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default MIS_TAKEOFF_ALT 0.01
 
 param set-default NAV_ACC_RAD 2

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -132,6 +132,12 @@ then
 	fi
 fi
 
+# ADIS16507 spi external IMU
+if param greater -s SENS_EN_ADIS165X 0
+then
+	adis16507 -S start
+fi
+
 # Eagle Tree airspeed sensor external I2C
 if param compare -s SENS_EN_ETSASPD 1
 then

ROMFS/px4fmu_common/init.d/rc.uuv_defaults

@@ -9,3 +9,6 @@ set VEHICLE_TYPE uuv
 
 # MAV_TYPE_SUBMARINE 12
 param set-default MAV_TYPE 12
+
+# UUV don't have an airspeed sensor, so disable checks around it
+param set-default CBRK_AIRSPD_CHK 162128

ROMFS/px4fmu_common/init.d/rc.vtol_apps

@@ -37,7 +37,7 @@ fi
 
 fw_rate_control start vtol
 fw_att_control start vtol
-fw_path_navigation start vtol
+fw_pos_control start vtol
 fw_autotune_attitude_control start vtol
 
 # Start Land Detector

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -23,12 +23,10 @@ param set-default EKF2_FUSE_BETA 1
 
 param set-default HTE_VXY_THR 2.0
 
-param set-default MIS_DIST_WPS 5000
 param set-default MIS_TKO_LAND_REQ 2
 
 param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_VEL_MANUAL 5
-param set-default MPC_XY_CRUISE 5
 param set-default MPC_XY_ERR_MAX 5
 param set-default MPC_XY_VEL_MAX 8
 param set-default MPC_JERK_MAX 4.5

Tools/astyle/files_to_check_code_style.sh

@@ -25,5 +25,5 @@ exec find boards msg src platforms test \
     -path src/lib/crypto/monocypher -prune -o \
     -path src/lib/crypto/libtomcrypt -prune -o \
     -path src/lib/crypto/libtommath -prune -o \
-    -path src/modules/microdds_client/Micro-XRCE-DDS-Client -prune -o \
+    -path src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client -prune -o \
     -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN

Tools/convert_ip.py

@@ -0,0 +1,51 @@
+#!/usr/bin/env python3
+
+"""
+Converts IP address given in decimal dot notation to int32 to be used in UXRCE_DDS_CFG parameter
+and vice-versa
+
+@author: Beniamino Pozzan (beniamino.pozzan@phd.unipd.it)
+"""
+
+
+import argparse
+
+parser = argparse.ArgumentParser(
+    prog = 'convert_ip',
+    description = 'converts IP to int32 and viceversa'
+    )
+parser.add_argument('input',
+                    type=str,
+                    help='IP address to convert')
+parser.add_argument('-r','--reverse',
+                    action='store_true',
+                    help='converts from int32 to dot decimal')
+
+args = parser.parse_args()
+
+if( args.reverse == False ):
+
+    try:
+        ip_parts = [int(x) for x in args.input.split('.')]
+    except:
+        raise ValueError("Not a valid IP")
+    if( len(ip_parts)!=4 ):
+        raise ValueError("Not a valid IP")
+    if( not all(x>=0 and x<255 for x in ip_parts) ):
+        raise ValueError("Not a valid IP")
+
+    ip = (ip_parts[0]<<24) + (ip_parts[1]<<16) + (ip_parts[2]<<8) + ip_parts[3]
+
+    if(ip & 0x80000000):
+        ip = -0x100000000 + ip
+
+    print(ip)
+
+else:
+    try:
+        ip = int(args.input)
+    except:
+        raise ValueError("Not a valid IP")
+    if(ip < 0):
+        ip = ip + 0x100000000
+    print('{}.{}.{}.{}'.format(ip>>24, (ip>>16)&0xff, (ip>>8)&0xff, ip&0xff))

Tools/module_config/generate_actuators_metadata.py

@@ -264,7 +264,18 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
             }
         per_channel_params.append(param)
 
-        # TODO: support non-standard per-channel parameters
+        custom_params = group.get('custom_params', [])
+        for custom_param in custom_params:
+            # Simply pulls all custom params, assuming they are valid ones
+            param = {
+                'name': param_prefix+'_'+custom_param['name'],
+            }
+            # TODO: check and match the custom params in output_groups with module-level parameters
+            del custom_param['name']
+            for param_key in custom_param:
+                # '-' is used in actuators.schema.json, while '_' is used in module_schema.yml
+                param[param_key.replace('_', '-')] = custom_param[param_key]
+            per_channel_params.append(param)
 
         subgroup['per-channel-parameters'] = per_channel_params
 

Tools/px4events/jsonout.py

@@ -7,7 +7,7 @@ import os
 class JsonOutput():
     def __init__(self, groups):
         all_json = {}
-        all_json['version'] = 1
+        all_json['version'] = 2
         component = {}
         all_json['components'] = {1: component} #1: autopilot component
 

Tools/simulation/gazebo-classic/sitl_multiple_run.sh

@@ -35,7 +35,20 @@ function spawn_model() {
 	pushd "$working_dir" &>/dev/null
 	echo "starting instance $N in $(pwd)"
 	$build_path/bin/px4 -i $N -d "$build_path/etc" >out.log 2>err.log &
-	python3 ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/scripts/jinja_gen.py ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf
+
+	set --
+	set -- ${@} ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/scripts/jinja_gen.py
+	set -- ${@} ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/${MODEL}/${MODEL}.sdf.jinja
+	set -- ${@} ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic
+	set -- ${@} --mavlink_tcp_port $((4560+${N}))
+	set -- ${@} --mavlink_udp_port $((14560+${N}))
+	set -- ${@} --mavlink_id $((1+${N}))
+	set -- ${@} --gst_udp_port $((5600+${N}))
+	set -- ${@} --video_uri $((5600+${N}))
+	set -- ${@} --mavlink_cam_udp_port $((14530+${N}))
+	set -- ${@} --output-file /tmp/${MODEL}_${N}.sdf
+
+	python3 ${@}
 
 	echo "Spawning ${MODEL}_${N} at ${X} ${Y}"
 
@@ -106,7 +119,7 @@ if [ -z ${SCRIPT} ]; then
 	fi
 
 	while [ $n -lt $num_vehicles ]; do
-		spawn_model ${vehicle_model} $n
+		spawn_model ${vehicle_model} $(($n + 1))
 		n=$(($n + 1))
 	done
 else
@@ -127,7 +140,7 @@ else
 		m=0
 		while [ $m -lt ${target_number} ]; do
 			export PX4_SIM_MODEL=gazebo-classic_${target_vehicle}
-			spawn_model ${target_vehicle}${LABEL} $n $target_x $target_y
+			spawn_model ${target_vehicle}${LABEL} $(($n + 1)) $target_x $target_y
 			m=$(($m + 1))
 			n=$(($n + 1))
 		done

Tools/simulation/gz/models/px4vision/model.config

@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<model>
+  <name>PX4 Vision</name>
+  <version>1.0</version>
+  <sdf version='1.9'>model.sdf</sdf>
+
+  <author>
+   <name>Jaeyoung Lim</name>
+   <email>jaeyoung@auterion.com</email>
+  </author>
+
+  <description>
+    This is a model of the Holybro PX4 Vision
+  </description>
+</model>

Tools/simulation/gz/models/px4vision/model.sdf

@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version='1.9'>
+  <model name='px4vision'>
+  <include>
+    <uri>
+      https://fuel.gazebosim.org/1.0/PX4/models/PX4 Vision
+    </uri>
+  </include>
+  </model>
+</sdf>

Tools/simulation/gz/models/x500_depth/model.sdf

@@ -2,7 +2,7 @@
 <sdf version='1.9'>
   <model name='x500-Depth'>
     <include merge='true'>
-      <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/x500-Base</uri>
+      <uri>x500</uri>
     </include>
     <include merge='true'>
       <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/OakD-Lite</uri>

Tools/simulation/jmavsim/jmavsim_run.sh

@@ -12,7 +12,7 @@ baudrate=921600
 device=
 ip="127.0.0.1"
 protocol="tcp"
-while getopts ":b:d:u:p:qsr:f:i:loat" opt; do
+while getopts "b:d:ui:p:qsr:loat" opt; do
 	case $opt in
 		b)
 			baudrate=$OPTARG

Tools/uorb_graph/create.py

@@ -110,10 +110,6 @@ class PubSub(object):
 
             log.debug("          ####:{}:  {}, {}".format( self._name, route_group, topic_group))
 
-            # # TODO: handle this case... but not sure where, yet
-            # if match == 'ORB_ID_VEHICLE_ATTITUDE_CONTROLS': # special case
-            #     match = orb_id+orb_id_vehicle_attitude_controls_topic
-
             # match has the form: '[ORB_ID(]<topic_name>'
             if route_group:
                 if route_group == 'ORB_ID':
@@ -232,9 +228,6 @@ class Graph(object):
 
         self._topic_blacklist = set(kwargs.get('topic_blacklist',set()))
 
-        self._orb_id_vehicle_attitude_controls_topic = 'actuator_controls_0'
-        self._orb_id_vehicle_attitude_controls_re = re.compile(r'\#define\s+ORB_ID_VEHICLE_ATTITUDE_CONTROLS\s+([^,)]+)')
-
         self._warnings = [] # list of all ambiguous scan sites
 
         self._current_scope = [] # stack with current module (they can be nested)
@@ -510,18 +503,7 @@ class Graph(object):
                 elif current_scope.name == 'uorb_tests': # skip this
                     return
                 elif current_scope.name == 'uorb':
-
-                    # search and validate the ORB_ID_VEHICLE_ATTITUDE_CONTROLS define
-                    matches = self._orb_id_vehicle_attitude_controls_re.findall(content)
-                    for match in matches:
-                        if match != 'ORB_ID('+self._orb_id_vehicle_attitude_controls_topic:
-                            # if we land here, you need to change _orb_id_vehicle_attitude_controls_topic
-                            raise Exception(
-                                'The extracted define for ORB_ID_VEHICLE_ATTITUDE_CONTROLS '
-                                'is '+match+' but expected ORB_ID('+
-                                self._orb_id_vehicle_attitude_controls_topic)
-
-                    return # skip uorb module for the rest
+                    return # skip this
 
             line_number = 0
             for full_line in content.splitlines():

boards/airmind/mindpx-v2/default.px4board

@@ -27,7 +27,6 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -46,7 +45,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/ark/can-flow/default.px4board

@@ -13,6 +13,8 @@ CONFIG_DRIVERS_OPTICAL_FLOW_PAA3905=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
+CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set

boards/ark/can-gps/default.px4board

@@ -13,6 +13,13 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_BEEP_COMMAND=y
+CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
+CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_UAVCANNODE_SAFETY_BUTTON=y
+CONFIG_UAVCANNODE_STATIC_PRESSURE=y
+CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y

boards/ark/can-rtk-gps/default.px4board

@@ -13,6 +13,14 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_BEEP_COMMAND=y
+CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
+CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_UAVCANNODE_RTK_DATA=y
+CONFIG_UAVCANNODE_SAFETY_BUTTON=y
+CONFIG_UAVCANNODE_STATIC_PRESSURE=y
+CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y

boards/ark/cannode/default.px4board

@@ -4,11 +4,13 @@ CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_EXTERNAL_METADATA=y
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_COMMON_HYGROMETERS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
@@ -17,10 +19,27 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_ARMING_STATUS=y
+CONFIG_UAVCANNODE_BEEP_COMMAND=y
+CONFIG_UAVCANNODE_ESC_RAW_COMMAND=y
+CONFIG_UAVCANNODE_ESC_STATUS=y
+CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
+CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_HYGROMETER_MEASUREMENT=y
+CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
+CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
+CONFIG_UAVCANNODE_RAW_AIR_DATA=y
+CONFIG_UAVCANNODE_RTK_DATA=y
+CONFIG_UAVCANNODE_SERVO_ARRAY_COMMAND=y
+CONFIG_UAVCANNODE_STATIC_PRESSURE=y
+CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_SENSORS=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y

boards/ark/cannode/init/rc.board_defaults

@@ -2,6 +2,7 @@
 #
 # board specific defaults
 #------------------------------------------------------------------------------
+
 pwm_out start
 
-control_allocator start
+dshot start

boards/ark/cannode/init/rc.board_sensors

@@ -100,8 +100,6 @@ then
 	spl06 -X -a 0x77 start
 fi
 
-gps start -d /dev/ttyS0 -p ubx
-
 # probe for optional external I2C devices
 icm20948_i2c_passthrough -X -q start
 

boards/ark/fmu-v6x/default.px4board

@@ -17,6 +17,7 @@ CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
+CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
 CONFIG_COMMON_LIGHT=y
@@ -43,7 +44,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_PATH_NAVIGATION=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -60,14 +61,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y

boards/ark/fmu-v6x/src/board_config.h

@@ -125,6 +125,7 @@
 /* SPI */
 
 #define SPI6_nRESET_EXTERNAL1       /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN10)
+#define SPI6_RESET(on_true)          px4_arch_gpiowrite(SPI6_nRESET_EXTERNAL1, !(on_true))
 
 /* I2C busses */
 
@@ -309,7 +310,6 @@
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
 #define VDD_3V3_ETH_POWER_EN(on_true)      px4_arch_gpiowrite(GPIO_ETH_POWER_EN, (on_true))
 
-
 /* Tone alarm output */
 
 #define TONE_ALARM_TIMER        14  /* Timer 14 */

boards/ark/fmu-v6x/src/init.c

@@ -110,6 +110,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
 	VDD_3V3_SENSORS4_EN(false);
+	SPI6_RESET(true);
 
 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
@@ -128,6 +129,8 @@ __EXPORT void board_peripheral_reset(int ms)
 	VDD_5V_HIPOWER_EN(true);
 	VDD_5V_PERIPH_EN(true);
 
+	/* Release SPI6 Reset */
+	SPI6_RESET(false);
 }
 
 /************************************************************************************
@@ -217,6 +220,8 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SENSORS4_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 
+	SPI6_RESET(false);
+
 	/* Need hrt running before using the ADC */
 
 	px4_platform_init();