[WIP] logger priority boost command line

2026-06-03 23:10:04 +08:00 · 2023-02-10 19:26:14 -05:00
315 changed files with 6218 additions and 10671 deletions
@@ -110,8 +110,6 @@ 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,
@@ -30,7 +30,6 @@ jobs:
          cuav_nora,
          cuav_x7pro,
          cubepilot_cubeorange,
-          cubepilot_cubeorangeplus,
          cubepilot_cubeyellow,
          diatone_mamba-f405-mk2,
          freefly_can-rtk-gps,
@@ -170,7 +170,7 @@
            ]
        },
        {
-            "label": "gazebo",
+            "label": "ign gazebo",
            "type": "shell",
            "options": {
                "cwd": "${workspaceFolder}",
@@ -178,7 +178,7 @@
                    "IGN_GAZEBO_RESOURCE_PATH": "${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,
@@ -191,7 +191,7 @@
                "close": false
            },
            "problemMatcher": [],
-            "dependsOn":["gazebo kill"]
+            "dependsOn":["ign gazebo kill"]
        },
        {
            "label": "gazebo-classic kill",
@@ -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",
@@ -44,88 +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)
-* [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)
-* [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
@@ -12,10 +12,6 @@
 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
@@ -11,11 +11,6 @@
 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
@@ -11,10 +11,6 @@
 PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}

-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
@@ -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
@@ -13,10 +13,6 @@ 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

@@ -13,10 +13,6 @@ 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

@@ -10,11 +10,6 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}

-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

@@ -60,6 +55,7 @@ param set-default RWTO_TKOFF 1
 param set-default CA_AIRFRAME 1

 param set-default COM_PREARM_MODE 2
+param set-default CBRK_AIRSPD_CHK 162128

 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
@@ -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 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_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
-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_B_TRANS_DUR 8
-param set-default VT_TYPE 2
-param set-default FD_ESCS_EN 0
@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# @name Gazebo x500 vision
-#
-# @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}
@@ -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
@@ -73,8 +73,6 @@ px4_add_romfs_files(
 	4001_gz_x500
 	4002_gz_x500_depth
 	4003_gz_rc_cessna
-	4004_gz_standard_vtol
-	4005_gz_x500_vision

 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post
@@ -8,28 +8,11 @@ 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"
@@ -94,22 +77,9 @@ 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 +90,9 @@ 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 +104,9 @@ 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"
@@ -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
@@ -122,12 +122,16 @@ 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
@@ -54,6 +54,14 @@ 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
@@ -17,6 +17,7 @@ param set-default COM_POS_FS_DELAY 5

 # there is a 2.5 factor applied on the _FS thresholds if for invalidation
 param set-default COM_POS_FS_EPH 50
+param set-default COM_POS_FS_EPV 30
 param set-default COM_VEL_FS_EVH 5

 param set-default COM_POS_LOW_EPH 50
@@ -25,7 +25,7 @@ if __name__ == "__main__":
    if not os.path.isdir(output_dir):
        os.mkdir(output_dir)

-    msg_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../msg")
+    msg_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"..")
    msg_files = get_msgs_list(msg_path)
    msg_files.sort()

@@ -164,8 +164,7 @@ for field_type, field_name, field_size, padding in fields:
 	print('\tmemcpy(&topic.{0}, buf.iterator, sizeof(topic.{0}));'.format(field_name))

 	if field_type == 'uint64' and (field_name == 'timestamp' or field_name == 'timestamp_sample'):
-		print('\tif (topic.{0} == 0) topic.{0} = hrt_absolute_time();'.format(field_name, field_name))
-		print('\telse topic.{0} = math::min(topic.{0} - time_offset, hrt_absolute_time());'.format(field_name, field_name))
+		print('\ttopic.{0} -= time_offset;'.format(field_name))

 	print('\tbuf.iterator += sizeof(topic.{:});'.format(field_name))
 	print('\tbuf.offset += sizeof(topic.{:});'.format(field_name))
@@ -102,7 +102,7 @@ class ModuleDocumentation(object):
    def _handle_usage_param_int(self, args):
        assert(len(args) == 6) # option_char, default_val, min_val, max_val, description, is_optional
        option_char = self._get_option_char(args[0])
-        default_val = self._get_int(args[1])
+        default_val = int(args[1], 0)
        description = self._get_string(args[4])
        if self._is_bool_true(args[5]):
            self._usage_string += "     [-%s <val>]  %s\n" % (option_char, description)
@@ -214,9 +214,6 @@ class ModuleDocumentation(object):
            f = f[:-1]
        return float(f)

-    def _get_int(self, argument):
-        return int(eval(argument))
-
    def _is_string(self, argument):
        return len(argument) > 0 and argument[0] == '"'

@@ -310,8 +307,6 @@ class SourceParser(object):
            r'//.*?$|/\*.*?\*/|\'(?:\\.|[^\\\'])*\'|"(?:\\.|[^\\"])*"',
            re.DOTALL | re.MULTILINE)

-        self._define_pattern = re.compile(r'#define\s+(\w+?)[^\S\r\n]+(.+?)\s*?\n')
-
    def Parse(self, scope, contents):
        """
        Incrementally parse program contents and append all found documentations
@@ -321,9 +316,6 @@ class SourceParser(object):
        # remove comments from source
        contents = self._comment_remover(contents)

-        # replace preprocessor defines defined in file directly
-        contents = self._define_replacer(contents)
-
        extracted_function_calls = [] # list of tuples: (FUNC_NAME, list(ARGS))

        start_index = 0
@@ -387,15 +379,6 @@ class SourceParser(object):
                return s
        return re.sub(self._comment_remove_pattern, replacer, text)

-    def _define_replacer(self, text):
-        """ check for C preprocesor #define in text and replace with argument"""
-        text = re.sub(r"\\\s*?\n"," ",text)
-        define_iter = self._define_pattern.finditer(text)
-        for define_pattern in define_iter:
-            text = re.sub(r"\b" +re.escape(str(define_pattern.groups()[0])) + r"\b", re.escape(str(define_pattern.groups()[1])), text)
-        return text
-
-
    def _do_consistency_check(self, contents, scope, module_doc):
        """
        check the documentation for consistency with the code (arguments to
@@ -84,7 +84,6 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
 	gdb \
 	git \
 	lcov \
-	libfuse2 \
 	libxml2-dev \
 	libxml2-utils \
 	make \
@@ -183,7 +182,6 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 			echo "${NUTTX_GCC_VERSION} path already set.";
 		else
 			echo $exportline >> $HOME/.profile;
-			source $HOME/.profile; # Allows to directly build NuttX targets in the same terminal
 		fi
 	fi
 fi
@@ -219,34 +217,33 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	# Set Java 11 as default
 	sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")

-	# Gazebo / Gazebo classic installation
+	# Install Gazebo
 	if [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
-		echo "Gazebo (Garden) will be installed"
-		echo "Earlier versions will be removed"
-		# Add Gazebo binary repository
-		sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
-		echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
-		sudo apt-get update -y --quiet
-
-		# Install Gazebo
-		gazebo_packages="gz-garden"
-	else
 		sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
 		wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
 		# Update list, since new gazebo-stable.list has been added
 		sudo apt-get update -y --quiet
-
-		# Install Gazebo classic
-		if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
-			gazebo_classic_version=9
-			gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev"
-		else
-			# default and Ubuntu 20.04
-			gazebo_classic_version=11
-			gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev"
-		fi
+		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+			ignition-fortress \
+			;
 	fi

+	# Install Gazebo classic
+	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
+		gazebo_version=9
+		gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
+	elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
+		gazebo_packages="gazebo libgazebo-dev"
+	else
+		# default and Ubuntu 20.04
+		gazebo_version=11
+		gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
+	fi
+
+	sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+	wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
+	# Update list, since new gazebo-stable.list has been added
+	sudo apt-get update -y --quiet
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		dmidecode \
 		$gazebo_packages \
@@ -84,18 +84,6 @@
        <always_on>1</always_on>
        <update_rate>250</update_rate>
      </sensor>
-      <sensor name="air_pressure_sensor" type="air_pressure">
-        <always_on>1</always_on>
-        <update_rate>50</update_rate>
-        <air_pressure>
-          <pressure>
-            <noise type="gaussian">
-              <mean>0</mean>
-              <stddev>0.01</stddev>
-            </noise>
-          </pressure>
-        </air_pressure>
-      </sensor>
    </link>
    <link name="airspeed">
      <pose>0 0 0 0 0 0</pose>
@@ -209,6 +197,7 @@
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name="left_elevon">
@@ -637,6 +626,7 @@
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="RightWheelJoint" type="revolute">
@@ -653,6 +643,7 @@
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="CenterWheelJoint" type="revolute">
@@ -669,6 +660,7 @@
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
@@ -803,7 +795,7 @@
      <sub_topic>servo_3</sub_topic>
      <p_gain>10.0</p_gain>
    </plugin>
-    <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
+    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
      <jointName>rotor_puller_joint</jointName>
      <linkName>rotor_puller</linkName>
      <turningDirection>cw</turningDirection>
@@ -1,15 +0,0 @@
-<?xml version="1.0"?>
-<model>
-  <name>Standard VTOL</name>
-  <version>1.0</version>
-  <sdf version='1.10'>model.sdf</sdf>
-
-  <author>
-   <name>Roman Bapst</name>
-   <email>roman@px4.io</email>
-  </author>
-
-  <description>
-    This is a model of a standard VTOL quad plane.
-  </description>
-</model>
@@ -1,755 +0,0 @@
-<?xml version="1.0"?>
-<!-- DO NOT EDIT: Generated from standard_vtol.sdf.jinja -->
-<sdf version='1.10'>
-  <model name='standard_vtol'>
-    <pose>0 0 0.246 0 0 0</pose>
-    <link name='base_link'>
-      <pose>0 0 0 0 0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 0 0</pose>
-        <mass>5</mass>
-        <inertia>
-          <ixx>0.477708333333</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.341666666667</iyy>
-          <iyz>0</iyz>
-          <izz>0.811041666667</izz>
-        </inertia>
-      </inertial>
-      <collision name='base_link_collision'>
-        <pose>0 0 -0.07 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.55 2.144 0.05</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>100000</kp>
-              <kd>1.0</kd>
-              <max_vel>0.1</max_vel>
-              <min_depth>0.001</min_depth>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <visual name='base_link_visual'>
-        <pose>0.53 -1.072 -0.1 1.5707963268 0 3.1415926536</pose>
-        <geometry>
-          <mesh>
-            <scale>0.001 0.001 0.001</scale>
-            <uri>model://standard_vtol/meshes/x8_wing.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <ambient>.175 .175 .175 1.0</ambient>
-          <diffuse>.175 .175 .175 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name='left_motor_column'>
-        <pose>0 0.35 0.01 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.74 0.03 0.03</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>.175 .175 .175 1.0</ambient>
-          <diffuse>.175 .175 .175 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name='right_motor_column'>
-        <pose>0 -0.35 0.01 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.74 0.03 0.03</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>.175 .175 .175 1.0</ambient>
-          <diffuse>.175 .175 .175 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name='m0'>
-        <pose>-0.35 0.35 0.045 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.035</length>
-            <radius>0.02</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>.175 .175 .175 1.0</ambient>
-          <diffuse>.175 .175 .175 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name='m1'>
-        <pose>-0.35 -0.35 0.045 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.035</length>
-            <radius>0.02</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>.175 .175 .175 1.0</ambient>
-          <diffuse>.175 .175 .175 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name='m2'>
-        <pose>0.35 -0.35 0.045 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.035</length>
-            <radius>0.02</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>.175 .175 .175 1.0</ambient>
-          <diffuse>.175 .175 .175 1.0</diffuse>
-        </material>
-      </visual>
-      <visual name='m3'>
-        <pose>0.35 0.35 0.045 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.035</length>
-            <radius>0.02</radius>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>.175 .175 .175 1.0</ambient>
-          <diffuse>.175 .175 .175 1.0</diffuse>
-        </material>
-      </visual>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-      <sensor name="imu_sensor" type="imu">
-        <always_on>1</always_on>
-        <update_rate>250</update_rate>
-      </sensor>
-      <sensor name="air_pressure_sensor" type="air_pressure">
-        <always_on>1</always_on>
-        <update_rate>50</update_rate>
-        <air_pressure>
-          <pressure>
-            <noise type="gaussian">
-              <mean>0</mean>
-              <stddev>0.01</stddev>
-            </noise>
-          </pressure>
-        </air_pressure>
-      </sensor>
-    </link>
-    <link name='rotor_0'>
-      <pose>0.35 -0.35 0.07 0 0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 0 0</pose>
-        <mass>0.005</mass>
-        <inertia>
-          <ixx>9.75e-07</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000166704</iyy>
-          <iyz>0</iyz>
-          <izz>0.000167604</izz>
-        </inertia>
-      </inertial>
-      <collision name='rotor_0_collision'>
-        <pose>0 0 0 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.005</length>
-            <radius>0.1</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <visual name='rotor_0_visual'>
-        <pose>0 0 0 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <ambient>0 0 1 1.0</ambient>
-          <diffuse>0 0 1 1.0</diffuse>
-        </material>
-      </visual>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name='rotor_0_joint' type='revolute'>
-      <child>rotor_0</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name='rotor_1'>
-      <pose>-0.35 0.35 0.07 0 0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 0 0</pose>
-        <mass>0.005</mass>
-        <inertia>
-          <ixx>9.75e-07</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000166704</iyy>
-          <iyz>0</iyz>
-          <izz>0.000167604</izz>
-        </inertia>
-      </inertial>
-      <collision name='rotor_1_collision'>
-        <pose>0 0 0 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.005</length>
-            <radius>0.1</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <visual name='rotor_1_visual'>
-        <pose>0 0 0 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <ambient>0 0 1 1.0</ambient>
-          <diffuse>0 0 1 1.0</diffuse>
-        </material>
-      </visual>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name='rotor_1_joint' type='revolute'>
-      <child>rotor_1</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name='rotor_2'>
-      <pose>0.35 0.35 0.07 0 0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 0 0</pose>
-        <mass>0.005</mass>
-        <inertia>
-          <ixx>9.75e-07</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000166704</iyy>
-          <iyz>0</iyz>
-          <izz>0.000167604</izz>
-        </inertia>
-      </inertial>
-      <collision name='rotor_2_collision'>
-        <pose>0 0 0 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.005</length>
-            <radius>0.1</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <visual name='rotor_2_visual'>
-        <pose>0 0 0 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <ambient>0 0 1 1.0</ambient>
-          <diffuse>0 0 1 1.0</diffuse>
-        </material>
-      </visual>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name='rotor_2_joint' type='revolute'>
-      <child>rotor_2</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name='rotor_3'>
-      <pose>-0.35 -0.35 0.07 0 0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 0 0</pose>
-        <mass>0.005</mass>
-        <inertia>
-          <ixx>9.75e-07</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000166704</iyy>
-          <iyz>0</iyz>
-          <izz>0.000167604</izz>
-        </inertia>
-      </inertial>
-      <collision name='rotor_3_collision'>
-        <pose>0 0 0 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.005</length>
-            <radius>0.1</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <visual name='rotor_3_visual'>
-        <pose>0 0 0 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <ambient>0 0 1 1.0</ambient>
-          <diffuse>0 0 1 1.0</diffuse>
-        </material>
-      </visual>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name='rotor_3_joint' type='revolute'>
-      <child>rotor_3</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
-
-    <link name='rotor_puller'>
-      <pose>-0.22 0 0.0 0 1.57 0</pose>
-      <inertial>
-        <pose>0 0 0 0 0 0</pose>
-        <mass>0.005</mass>
-        <inertia>
-          <ixx>9.75e-07</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000166704</iyy>
-          <iyz>0</iyz>
-          <izz>0.000167604</izz>
-        </inertia>
-      </inertial>
-      <collision name='rotor_puller_collision'>
-        <pose>0.0 0 -0.04 0 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.005</length>
-            <radius>0.06</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <visual name='rotor_puller_visual'>
-        <pose>0 0 -0.04 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>0.8 0.8 0.8</scale>
-            <uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <ambient>0 0 1 1.0</ambient>
-          <diffuse>0 0 1 1.0</diffuse>
-        </material>
-      </visual>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name='rotor_puller_joint' type='revolute'>
-      <pose>0.0 0 0.0 0 -1.57 0</pose>
-      <child>rotor_puller</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>1 0 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
-
-    <link name="left_elevon">
-      <inertial>
-        <mass>0.00000001</mass>
-        <inertia>
-          <ixx>0.000001</ixx>
-          <ixy>0.0</ixy>
-          <iyy>0.000001</iyy>
-          <ixz>0.0</ixz>
-          <iyz>0.0</iyz>
-          <izz>0.000001</izz>
-        </inertia>
-        <pose>0 0.3 0 0.00 0 0.0</pose>
-      </inertial>
-      <visual name='left_elevon_visual'>
-        <pose>-0.105 0.004 -0.034 1.5707963268 0 3.1415926536</pose>
-        <geometry>
-          <mesh>
-            <scale>0.001 0.001 0.001</scale>
-            <uri>model://standard_vtol/meshes/x8_elevon_left.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <ambient>0 0 1 1.0</ambient>
-          <diffuse>0 0 1 1.0</diffuse>
-        </material>
-      </visual>
-    </link>
-    <link name="right_elevon">
-      <inertial>
-        <mass>0.00000001</mass>
-        <inertia>
-          <ixx>0.000001</ixx>
-          <ixy>0.0</ixy>
-          <iyy>0.000001</iyy>
-          <ixz>0.0</ixz>
-          <iyz>0.0</iyz>
-          <izz>0.000001</izz>
-        </inertia>
-        <pose>0 -0.6 0 0.00 0 0.0</pose>
-      </inertial>
-      <visual name='right_elevon_visual'>
-        <pose>0.281 -1.032 -0.034 1.5707963268 0 3.1415926536</pose>
-        <geometry>
-          <mesh>
-            <scale>0.001 0.001 0.001</scale>
-            <uri>model://standard_vtol/meshes/x8_elevon_right.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <ambient>0 0 1 1.0</ambient>
-          <diffuse>0 0 1 1.0</diffuse>
-        </material>
-      </visual>
-    </link>
-    <link name="elevator">
-      <inertial>
-        <mass>0.00000001</mass>
-        <inertia>
-          <ixx>0.000001</ixx>
-          <ixy>0.0</ixy>
-          <iyy>0.000001</iyy>
-          <ixz>0.0</ixz>
-          <iyz>0.0</iyz>
-          <izz>0.000001</izz>
-        </inertia>
-        <pose> -0.5 0 0 0.00 0 0.0</pose>
-      </inertial>
-    </link>
-    <joint name='servo_0' type='revolute'>
-      <parent>base_link</parent>
-      <child>left_elevon</child>
-      <pose>-0.18 0.6 -0.005 0 0 0.265</pose>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-0.53</lower>
-          <upper>0.53</upper>
-        </limit>
-        <dynamics>
-          <damping>1.000</damping>
-        </dynamics>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-        </ode>
-      </physics>
-    </joint>
-    <joint name='servo_1' type='revolute'>
-      <parent>base_link</parent>
-      <child>right_elevon</child>
-      <pose>-0.18 -0.6 -0.005 0 0 -0.265</pose>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-0.53</lower>
-          <upper>0.53</upper>
-        </limit>
-        <dynamics>
-          <damping>1.000</damping>
-        </dynamics>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-        </ode>
-      </physics>
-    </joint>
-    <joint name='servo_2' type='revolute'>
-      <parent>base_link</parent>
-      <child>elevator</child>
-      <pose> -0.5 0 0 0 0 0</pose>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <!-- -30/+30 deg. -->
-          <lower>-0.53</lower>
-          <upper>0.53</upper>
-        </limit>
-        <dynamics>
-          <damping>1.000</damping>
-        </dynamics>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-        </ode>
-      </physics>
-    </joint>
-    <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
-      <a0>0.05984281113</a0>
-      <cla>4.752798721</cla>
-      <cda>0.6417112299</cda>
-      <cma>0.0</cma>
-      <alpha_stall>0.3391428111</alpha_stall>
-      <cla_stall>-3.85</cla_stall>
-      <cda_stall>-0.9233984055</cda_stall>
-      <cma_stall>0</cma_stall>
-      <cp>-0.05 0.3 0.05</cp>
-      <area>0.50</area>
-      <air_density>1.2041</air_density>
-      <forward>1 0 0</forward>
-      <upward>0 0 1</upward>
-      <link_name>base_link</link_name>
-      <control_joint_name>servo_0</control_joint_name>
-      <control_joint_rad_to_cl>-1.0</control_joint_rad_to_cl>
-    </plugin>
-    <plugin
-      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
-      <joint_name>servo_0</joint_name>
-      <sub_topic>servo_0</sub_topic>
-    </plugin>
-    <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
-      <a0>0.05984281113</a0>
-      <cla>4.752798721</cla>
-      <cda>0.6417112299</cda>
-      <cma>0.0</cma>
-      <alpha_stall>0.3391428111</alpha_stall>
-      <cla_stall>-3.85</cla_stall>
-      <cda_stall>-0.9233984055</cda_stall>
-      <cma_stall>0</cma_stall>
-      <cp>-0.05 -0.3 0.05</cp>
-      <area>0.50</area>
-      <air_density>1.2041</air_density>
-      <forward>1 0 0</forward>
-      <upward>0 0 1</upward>
-      <link_name>base_link</link_name>
-      <control_joint_name>servo_1</control_joint_name>
-      <control_joint_rad_to_cl>-1.0</control_joint_rad_to_cl>
-    </plugin>
-    <plugin
-      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
-      <joint_name>servo_1</joint_name>
-      <sub_topic>servo_1</sub_topic>
-    </plugin>
-    <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
-      <a0>-0.2</a0>
-      <cla>4.752798721</cla>
-      <cda>0.6417112299</cda>
-      <cma>0.0</cma>
-      <alpha_stall>0.3391428111</alpha_stall>
-      <cla_stall>-3.85</cla_stall>
-      <cda_stall>-0.9233984055</cda_stall>
-      <cma_stall>0</cma_stall>
-      <cp>-0.5 0 0</cp>
-      <area>0.01</area>
-      <air_density>1.2041</air_density>
-      <forward>1 0 0</forward>
-      <upward>0 0 1</upward>
-      <link_name>base_link</link_name>
-      <control_joint_name>servo_2</control_joint_name>
-          <control_joint_name>servo_2</control_joint_name>
-      <control_joint_rad_to_cl>-12.0</control_joint_rad_to_cl>
-    </plugin>
-    <plugin
-      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
-      <joint_name>servo_2</joint_name>
-      <sub_topic>servo_2</sub_topic>
-    </plugin>
-    <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
-      <jointName>rotor_0_joint</jointName>
-      <linkName>rotor_0</linkName>
-      <turningDirection>ccw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1500</maxRotVelocity>
-      <motorConstant>2e-05</motorConstant>
-      <momentConstant>0.06</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>0</motorNumber>
-      <rotorDragCoefficient>0.000106428</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
-      <jointName>rotor_1_joint</jointName>
-      <linkName>rotor_1</linkName>
-      <turningDirection>ccw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1500</maxRotVelocity>
-      <motorConstant>2e-05</motorConstant>
-      <momentConstant>0.06</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>1</motorNumber>
-      <rotorDragCoefficient>0.000106428</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin
-      filename="gz-sim-multicopter-motor-model-system"
-      name="gz::sim::systems::MulticopterMotorModel">
-      <jointName>rotor_2_joint</jointName>
-      <linkName>rotor_2</linkName>
-      <turningDirection>cw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1500</maxRotVelocity>
-      <motorConstant>2e-05</motorConstant>
-      <momentConstant>0.06</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>2</motorNumber>
-      <rotorDragCoefficient>0.000106428</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin
-      filename="gz-sim-multicopter-motor-model-system"
-      name="gz::sim::systems::MulticopterMotorModel">
-      <jointName>rotor_3_joint</jointName>
-      <linkName>rotor_3</linkName>
-      <turningDirection>cw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1500</maxRotVelocity>
-      <motorConstant>2e-05</motorConstant>
-      <momentConstant>0.06</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>3</motorNumber>
-      <rotorDragCoefficient>0.000106428</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin
-      filename="gz-sim-multicopter-motor-model-system"
-      name="gz::sim::systems::MulticopterMotorModel">
-      <jointName>rotor_puller_joint</jointName>
-      <linkName>rotor_puller</linkName>
-      <turningDirection>cw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>3500</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.01</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>4</motorNumber>
-      <rotorDragCoefficient>0.000106428</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <static>0</static>
-  </model>
-</sdf>
@@ -215,18 +215,6 @@
          </friction>
        </surface>
      </collision>
-      <sensor name="air_pressure_sensor" type="air_pressure">
-        <always_on>1</always_on>
-        <update_rate>50</update_rate>
-        <air_pressure>
-          <pressure>
-            <noise type="gaussian">
-              <mean>0</mean>
-              <stddev>0.01</stddev>
-            </noise>
-          </pressure>
-        </air_pressure>
-      </sensor>
      <sensor name="imu_sensor" type="imu">
        <always_on>1</always_on>
        <update_rate>250</update_rate>
@@ -302,6 +290,7 @@
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name="rotor_1">
@@ -374,6 +363,7 @@
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name="rotor_2">
@@ -446,6 +436,7 @@
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name="rotor_3">
@@ -518,9 +509,10 @@
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
-   <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
+   <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
      <jointName>rotor_0_joint</jointName>
      <linkName>rotor_0</linkName>
      <turningDirection>ccw</turningDirection>
@@ -1,11 +0,0 @@
-<?xml version="1.0"?>
-<model>
-  <name>x500-vision</name>
-  <version>1.0</version>
-  <sdf version="1.9">model.sdf</sdf>
-  <author>
-    <name>Jaeyoung Lim</name>
-    <email>jalim@ethz.ch</email>
-  </author>
-  <description>Model of the X500 with a odometry/external vision input.</description>
-</model>
@@ -1,13 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<sdf version='1.9'>
-  <model name='x500-vision'>
-    <include merge='true'>
-      <uri>x500</uri>
-    </include>
-      <plugin
-        filename="gz-sim-odometry-publisher-system"
-        name="gz::sim::systems::OdometryPublisher">
-        <dimensions>3</dimensions>
-      </plugin>
-  </model>
-</sdf>
@@ -5,22 +5,21 @@
      <real_time_factor>1.0</real_time_factor>
      <real_time_update_rate>250</real_time_update_rate>
    </physics>
-    <plugin name='gz::sim::systems::Physics' filename='gz-sim-physics-system'/>
-    <plugin name='gz::sim::systems::UserCommands' filename='gz-sim-user-commands-system'/>
-    <plugin name='gz::sim::systems::SceneBroadcaster' filename='gz-sim-scene-broadcaster-system'/>
-    <plugin name='gz::sim::systems::Contact' filename='gz-sim-contact-system'/>
-    <plugin name='gz::sim::systems::Imu' filename='gz-sim-imu-system'/>
-    <plugin name='gz::sim::systems::AirPressure' filename='gz-sim-air-pressure-system'/>
-    <plugin name='gz::sim::systems::Sensors' filename='gz-sim-sensors-system'>
+    <plugin name='ignition::gazebo::systems::Physics' filename='ignition-gazebo-physics-system'/>
+    <plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
+    <plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
+    <plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>
+    <plugin name='ignition::gazebo::systems::Imu' filename='ignition-gazebo-imu-system'/>
+    <plugin name='ignition::gazebo::systems::Sensors' filename='ignition-gazebo-sensors-system'>
      <render_engine>ogre2</render_engine>
    </plugin>
    <gui fullscreen='false'>
      <plugin name='3D View' filename='GzScene3D'>
-        <gz-gui>
+        <ignition-gui>
          <title>3D View</title>
          <property type='bool' key='showTitleBar'>0</property>
          <property type='string' key='state'>docked</property>
-        </gz-gui>
+        </ignition-gui>
        <engine>ogre2</engine>
        <scene>scene</scene>
        <ambient_light>0.5984631152222222 0.5984631152222222 0.5984631152222222</ambient_light>
@@ -28,7 +27,7 @@
        <camera_pose>-6 0 6 0 0.5 0</camera_pose>
      </plugin>
      <plugin name='World control' filename='WorldControl'>
-        <gz-gui>
+        <ignition-gui>
          <title>World control</title>
          <property type='bool' key='showTitleBar'>0</property>
          <property type='bool' key='resizable'>0</property>
@@ -40,13 +39,13 @@
            <line own='left' target='left'/>
            <line own='bottom' target='bottom'/>
          </anchors>
-        </gz-gui>
+        </ignition-gui>
        <play_pause>1</play_pause>
        <step>1</step>
        <start_paused>1</start_paused>
      </plugin>
      <plugin name='World stats' filename='WorldStats'>
-        <gz-gui>
+        <ignition-gui>
          <title>World stats</title>
          <property type='bool' key='showTitleBar'>0</property>
          <property type='bool' key='resizable'>0</property>
@@ -58,7 +57,7 @@
            <line own='right' target='right'/>
            <line own='bottom' target='bottom'/>
          </anchors>
-        </gz-gui>
+        </ignition-gui>
        <sim_time>1</sim_time>
        <real_time>1</real_time>
        <real_time_factor>1</real_time_factor>
@@ -379,7 +379,7 @@

 #define GPIO_UART5_RX    GPIO_UART5_RX_3    /* PD2  */
 #define GPIO_UART5_TX    GPIO_UART5_TX_3    /* PC12 */
-// GPIO_UART5_RTS  No remap                 /* PC8  */
+// GPIO_UART5_RTS   no remap                /* PC8  */
 // GPIO_UART5_CTS  No remap                 /* PC9  */

 #define GPIO_USART6_RX   GPIO_USART6_RX_1   /* PC7 */
@@ -387,8 +387,8 @@

 #define GPIO_UART7_RX    GPIO_UART7_RX_4    /* PF6  */
 #define GPIO_UART7_TX    GPIO_UART7_TX_3    /* PE8  */
-#define GPIO_UART7_RTS   (GPIO_UART7_RTS_2 | GPIO_PULLDOWN)   /* PF8  */
-#define GPIO_UART7_CTS   (GPIO_UART7_CTS_1 | GPIO_PULLDOWN)   /* PE10 */
+#define GPIO_UART7_RTS   GPIO_UART7_RTS_2   /* PF8  */
+#define GPIO_UART7_CTS   GPIO_UART7_CTS_1   /* PE10 */

 #define GPIO_UART8_RX    GPIO_UART8_RX_1    /* PE0 */
 #define GPIO_UART8_TX    GPIO_UART8_TX_1    /* PE1 */
@@ -65,13 +65,16 @@ 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_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=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_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -82,6 +85,8 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_REFLECT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -3,9 +3,9 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_UAVCAN=n
+CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
@@ -19,7 +19,6 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
@@ -50,6 +49,7 @@ CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -65,13 +65,16 @@ 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_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=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_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -82,6 +85,8 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_REFLECT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -4,27 +4,12 @@
 #------------------------------------------------------------------------------
 board_adc start

-# Variants
-# 1. Isolated {ICM42688p, ICM20948(with mag)}, body-fixed {ICM20649}
-# 2. Isolated {ICM42688p, ICM42688p}, body-fixed  {ICM20649, ICM45686, AK09918}
-# 3. Isolated {ICM42688p, ICM42688p}, body-fixed  {ICM45686, AK09918}
-
-# SPI4 is isolated, SPI1 is body-fixed
-
-# SPI4, isolated
+# SPI4
 ms5611 -s -b 4 start
+icm42688p -s -b 4 -R 10 start
+icm20948 -s -b 4 -R 10 -M start

-icm42688p -s -b 4 -R 10 start -c 15
-if ! icm20948 -s -b 4 -R 10 -M -q start
-then
-	icm42688p -s -b 4 -R 6 start -c 13
-fi
-
-# SPI1, body-fixed
-if ! icm45686 -s -b 1 -R 3 -q start
-then
-	icm20649 -s -b 1 start
-fi
-
+# SPI1
 ms5611 -s -b 1 start
+icm20649 -s -b 1 start

@@ -7,49 +7,21 @@
 #
 # CONFIG_DISABLE_ENVIRON is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
 # CONFIG_MMCSD_MMCSUPPORT is not set
 # CONFIG_MMCSD_SPI is not set
 # CONFIG_NSH_DISABLEBG is not set
 # CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_CAT is not set
-# CONFIG_NSH_DISABLE_CD is not set
-# CONFIG_NSH_DISABLE_CMP is not set
-# CONFIG_NSH_DISABLE_CP is not set
-# CONFIG_NSH_DISABLE_DATE is not set
 # CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_EXPORT is not set
-# CONFIG_NSH_DISABLE_FREE is not set
 # CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_HELP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_KILL is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PS is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_RM is not set
-# CONFIG_NSH_DISABLE_RMDIR is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_SET is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_TEST is not set
 # CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cubepilot/cubeorangeplus/nuttx-config"
@@ -58,7 +30,7 @@ CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"
 CONFIG_ARCH_CHIP_STM32H747XI=y
 CONFIG_ARCH_CHIP_STM32H7=y
-CONFIG_ARCH_INTERRUPTSTACK=768
+CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
@@ -68,11 +40,11 @@ CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=79954
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x1058
@@ -84,11 +56,11 @@ CONFIG_CDCACM_VENDORSTR="CubePilot"
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DISABLE_MQUEUE=y
 CONFIG_EXAMPLES_CALIB_UDELAY=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
@@ -112,10 +84,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
@@ -134,6 +103,9 @@ CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_IFCONFIG=y
+CONFIG_NSH_DISABLE_IFUPDOWN=y
+CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
@@ -155,16 +127,17 @@ CONFIG_RAW_BINARY=y
 CONFIG_READLINE_CMD_HISTORY=y
 CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
@@ -257,4 +230,6 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y
@@ -44,16 +44,6 @@
 #include <stdint.h>
 #include <stm32_gpio.h>

-/**
- * If NuttX is built without support for SMPS it can brick the hardware.
- * Therefore, we make sure the NuttX headers are correct.
- */
-#include "hardware/stm32h7x3xx_pwr.h"
-#if STM32_PWR_CR3_SMPSEXTHP != (1 << 3)
-#  error "No SMPS support in NuttX submodule");
-#endif
-
-
 /* PX4IO connection configuration */
 #define BOARD_USES_PX4IO_VERSION       2
 #define PX4IO_SERIAL_DEVICE            "/dev/ttyS3"
@@ -38,7 +38,6 @@
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}), // MPU_CS, MPU_DRDY
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortG, GPIO::Pin1}), // ICM45686_CS
 		initSPIDevice(DRV_BARO_DEVTYPE_MS5611,  SPI::CS{GPIO::PortD, GPIO::Pin7}), // BARO_CS
 	}),

@@ -49,7 +48,6 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI4, {
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20948, SPI::CS{GPIO::PortE, GPIO::Pin4}),  // MPU_EXT_CS
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin15}), // ACCEL_EXT_CS
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin13}), // GYRO_EXT_CS
 		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, 	SPI::CS{GPIO::PortC, GPIO::Pin14}), // BARO_EXT_CS
 	}),
 };
@@ -22,10 +22,13 @@ param set-default CBRK_SUPPLY_CHK 894281
 # Select the Generic 250 Racer by default
 param set-default SYS_AUTOSTART 4050

-# use EKF2 without mag
+# use the Q attitude estimator, it works w/o mag or GPS.
+param set-default SYS_MC_EST_GROUP 3
+param set-default ATT_ACC_COMP 0
+param set-default ATT_W_ACC 0.4000
+param set-default ATT_W_GYRO_BIAS 0.0000
+
 param set-default SYS_HAS_MAG 0
-# and enable gravity fusion
-param set-default EKF2_IMU_CONTROL 7

 # the startup tune is not great on a binary output buzzer, so disable it
 param set-default CBRK_BUZZER 782090
@@ -38,5 +41,11 @@ param set-default SYS_DM_BACKEND 1
 # Ignore that there is no SD card
 param set-default COM_ARM_SDCARD 0

+# Store missions in RAM
+param set-default SYS_DM_BACKEND 1
+
+# Ignore that there is no SD card
+param set-default COM_ARM_SDCARD 0
+
 # Don't try to log onto SD card
 param set-default SDLOG_MODE -1
@@ -138,8 +138,6 @@

 #define GPIO_RF_SWITCH                     /* PE13  */ (GPIO_OUTPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN13)

-#define GPIO_VTX_ON                        /* PB11  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
-
 /* Power switch controls ******************************************************/

 #define SDIO_SLOTNO                    0  /* Only one slot */
@@ -181,7 +179,6 @@
 		GPIO_TONE_ALARM_IDLE,             \
 		GPIO_RSSI_IN,                     \
 		GPIO_RF_SWITCH,                   \
-		GPIO_VTX_ON,                      \
 	}

 #define BOARD_ENABLE_CONSOLE_BUFFER
@@ -22,10 +22,13 @@ param set-default CBRK_SUPPLY_CHK 894281
 # Select the Generic 250 Racer by default
 param set-default SYS_AUTOSTART 4050

-# use EKF2 without mag
+# use the Q attitude estimator, it works w/o mag or GPS.
+param set-default SYS_MC_EST_GROUP 3
+param set-default ATT_ACC_COMP 0
+param set-default ATT_W_ACC 0.4000
+param set-default ATT_W_GYRO_BIAS 0.0000
+
 param set-default SYS_HAS_MAG 0
-# and enable gravity fusion
-param set-default EKF2_IMU_CONTROL 7

 # the startup tune is not great on a binary output buzzer, so disable it
 param set-default CBRK_BUZZER 782090
@@ -135,8 +135,6 @@

 #define GPIO_RF_SWITCH                     /* PE13  */ (GPIO_OUTPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN13)

-#define GPIO_VTX_ON                        /* PB11  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
-
 /* Power switch controls ******************************************************/

 #define SDIO_SLOTNO                    0  /* Only one slot */
@@ -180,7 +178,6 @@
 		GPIO_TONE_ALARM_IDLE,             \
 		GPIO_RSSI_IN,                     \
 		GPIO_RF_SWITCH,                   \
-		GPIO_VTX_ON,                      \
 	}

 #define BOARD_ENABLE_CONSOLE_BUFFER
@@ -12,7 +12,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_MUORB_SLPI=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_COMMANDER=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_ORB_COMMUNICATOR=y
@@ -31,6 +31,7 @@ CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -50,6 +51,7 @@ CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
@@ -96,3 +98,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_EXAMPLES_FAKE_GPS=y
@@ -32,6 +32,7 @@ CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -51,6 +52,7 @@ CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
@@ -97,3 +99,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_EXAMPLES_FAKE_GPS=y
@@ -31,6 +31,7 @@ CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -50,6 +51,7 @@ CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
@@ -195,7 +195,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	sdio_mediachange(sdio_dev, true);
 #endif /* CONFIG_MMCSD */

-	px4_platform_configure();
-
 	return OK;
 }
@@ -2,7 +2,6 @@ CONFIG_DRIVERS_ADC_ADS1115=n
 CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
-CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_BOARD_TESTING=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y
@@ -4,8 +4,6 @@ CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_COMMON_LIGHT=y
-CONFIG_CYPHAL_BMS_SUBSCRIBER=y
-CONFIG_DRIVERS_CYPHAL=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
@@ -15,7 +15,6 @@ param set-default MAV_1_REMOTE_PRT 14550
 param set-default MAV_1_UDP_PRT 14550

 param set-default SENS_EXT_I2C_PRB 0
-param set-default CYPHAL_ENABLE 0

 if param greater -s UAVCAN_ENABLE 0
 then
@@ -23,11 +22,4 @@ then
 	ifup can1
 	ifup can2
 	ifup can3
-fi
-if param greater -s CYPHAL_ENABLE 0
-then
-	ifup can0
-	ifup can1
-	ifup can2
-	ifup can3
-fi
+fi
@@ -29,14 +29,12 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
-# CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW is not set
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MFT=y
@@ -3,7 +3,6 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
-CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
@@ -4,4 +4,3 @@ CONFIG_DRIVERS_UAVCAN=n
 CONFIG_CYPHAL_BMS_SUBSCRIBER=y
 CONFIG_CYPHAL_UORB_SENSOR_GPS_SUBSCRIBER=y
 CONFIG_DRIVERS_CYPHAL=y
-CONFIG_CYPHAL_ESC_CONTROLLER=y
@@ -47,7 +47,6 @@ then
 	fi
 fi

-
 if ver hwtypecmp V6X000004 V6X001004 V6X004004 V6X005004
 then
 	# Internal SPI bus ICM20649
@@ -102,13 +101,7 @@ if ver hwtypecmp V6X002001
 then
 	rm3100 -I -b 4 start
 else
-	if ver hwtypecmp V6X009010 V6X010010
-	then
-		# Internal magnetometer on I2C
-		bmm150 -I -R 0 start
-	else
-		bmm150 -I -R 6 start
-	fi
+	bmm150 -I -R 6 start
 fi

 # External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
@@ -35,6 +35,7 @@ CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -54,6 +55,7 @@ CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
@@ -99,3 +101,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_EXAMPLES_FAKE_GPS=y
@@ -5,8 +5,13 @@ uint8 INDEX_ROLL = 0
 uint8 INDEX_PITCH = 1
 uint8 INDEX_YAW = 2
 uint8 INDEX_THROTTLE = 3
+uint8 INDEX_FLAPS = 4
+uint8 INDEX_SPOILERS = 5
+uint8 INDEX_AIRBRAKES = 6
+uint8 INDEX_LANDING_GEAR = 7
 uint8 INDEX_GIMBAL_SHUTTER = 3
 uint8 INDEX_CAMERA_ZOOM = 4
+uint8 INDEX_COLLECTIVE_TILT = 8

 uint8 GROUP_INDEX_ATTITUDE = 0
 uint8 GROUP_INDEX_ATTITUDE_ALTERNATE = 1
@@ -5,4 +5,4 @@ uint32 noutputs				# valid outputs
 float32[16] output				# output data, in natural output units

 # actuator_outputs_sim is used for SITL, HITL & SIH (with an output range of [-1, 1])
-# TOPICS actuator_outputs actuator_outputs_sim actuator_outputs_debug
+# TOPICS actuator_outputs actuator_outputs_sim
@@ -128,7 +128,6 @@ set(msg_files
 	MountOrientation.msg
 	ModeCompleted.msg
 	NavigatorMissionItem.msg
-	NormalizedUnsignedSetpoint.msg
 	NpfgStatus.msg
 	ObstacleDistance.msg
 	OffboardControlMode.msg
@@ -179,7 +178,6 @@ set(msg_files
 	TaskStackInfo.msg
 	TecsStatus.msg
 	TelemetryStatus.msg
-	TiltrotorExtraControls.msg
 	TimesyncStatus.msg
 	TrajectoryBezier.msg
 	TrajectorySetpoint.msg
@@ -220,6 +218,7 @@ set(msg_files
 	VehicleTrajectoryBezier.msg
 	VehicleTrajectoryWaypoint.msg
 	VtolVehicleStatus.msg
+	WheelEncoders.msg
 	Wind.msg
 	YawEstimatorStatus.msg
 )
@@ -5,14 +5,12 @@ float32 esc_voltage					# Voltage measured from current ESC [V] - if supported
 float32 esc_current					# Current measured from current ESC [A] - if supported
 float32 esc_temperature					# Temperature measured from current ESC [degC] - if supported
 uint8 esc_address					# Address of current ESC (in most cases 1-8 / must be set by driver)
-uint8 esc_cmdcount					# Counter of number of commands

 uint8 esc_state					# State of ESC - depend on Vendor

 uint8 actuator_function				# actuator output function (one of Motor1...MotorN)

 uint16 failures					# Bitmask to indicate the internal ESC faults
-int8 esc_power					# Applied power 0-100 in % (negative values reserved)

 uint8 FAILURE_OVER_CURRENT = 0 			# (1 << 0)
 uint8 FAILURE_OVER_VOLTAGE = 1 			# (1 << 1)
@@ -17,7 +17,6 @@ uint32 mode_req_offboard_signal
 uint32 mode_req_home_position
 uint32 mode_req_wind_and_flight_time_compliance # if set, mode cannot be entered if wind or flight time limit exceeded
 uint32 mode_req_prevent_arming    # if set, cannot arm while in this mode
-uint32 mode_req_manual_control
 uint32 mode_req_other             # other requirements, not covered above (for external modes)


@@ -29,6 +28,7 @@ bool local_position_invalid           # Local position estimate invalid
 bool local_position_invalid_relaxed   # Local position with reduced accuracy requirements invalid (e.g. flying with optical flow)
 bool local_velocity_invalid           # Local velocity estimate invalid
 bool global_position_invalid          # Global position estimate invalid
+bool gps_position_invalid             # GPS position invalid
 bool auto_mission_missing             # No mission available
 bool offboard_control_signal_lost     # Offboard signal lost
 bool home_position_invalid            # No home position available
@@ -26,7 +26,7 @@ float32 pitch    # move forward, negative pitch rotation, nose down
 float32 yaw      #               positive yaw rotation,   clockwise when seen top down
 float32 throttle # move up,      positive thrust,         -1 is minimum available 0% or -100% +1 is 100% thrust

-float32 flaps			 # position of flaps switch/knob/lever [-1, 1]
+float32 flaps			 # flap position

 float32 aux1
 float32 aux2
@@ -1,5 +0,0 @@
-uint64 timestamp        		# time since system start (microseconds)
-
-float32 normalized_setpoint          	# [0, 1]
-
-# TOPICS flaps_setpoint spoilers_setpoint
@@ -28,3 +28,8 @@ float32 throttle_trim			# estimated throttle value [0,1] required to fly level a
 uint8 mode
 uint8 TECS_MODE_NORMAL = 0
 uint8 TECS_MODE_UNDERSPEED = 1
+uint8 TECS_MODE_TAKEOFF = 2
+uint8 TECS_MODE_LAND = 3
+uint8 TECS_MODE_LAND_THROTTLELIM = 4
+uint8 TECS_MODE_BAD_DESCENT = 5
+uint8 TECS_MODE_CLIMBOUT = 6
@@ -1,4 +0,0 @@
-uint64 timestamp # time since system start (microseconds)
-
-float32 collective_tilt_normalized_setpoint	# Collective tilt angle of motors of tiltrotor, 0: vertical, 1: horizontal [0, 1]
-float32 collective_thrust_normalized_setpoint 	# Collective thrust setpoint [0, 1]
@@ -17,4 +17,14 @@ bool reset_integral	# Reset roll/pitch/yaw integrals (navigation logic change)

 bool fw_control_yaw_wheel	# control heading with steering wheel (used for auto takeoff on runway)

+uint8 apply_flaps       	# flap config specifier
+uint8 FLAPS_OFF = 0     	# no flaps
+uint8 FLAPS_LAND = 1    	# landing config flaps
+uint8 FLAPS_TAKEOFF = 2 	# take-off config flaps
+
+uint8 apply_spoilers		# spoiler config specifier
+uint8 SPOILERS_OFF = 0     	# no spoilers
+uint8 SPOILERS_LAND = 1    	# landing config spoiler
+uint8 SPOILERS_DESCEND = 2 	# descend config spoiler
+
 # TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
@@ -0,0 +1,5 @@
+uint64 timestamp			# time since system start (microseconds)
+
+int64 encoder_position   # The wheel position, in encoder counts since boot. Positive is forward rotation, negative is reverse rotation
+int32 speed              # Speed of each wheel, in encoder counts per second. Positive is forward, negative is reverse
+uint32 pulses_per_rev    # Number of pulses per revolution for each wheel
@@ -99,10 +99,7 @@ __END_DECLS

 #define PX4_ROOTFSDIR CONFIG_BOARD_ROOTFSDIR

-// Qurt doesn't have an SD card for storage
-#ifndef __PX4_QURT
 #define PX4_STORAGEDIR PX4_ROOTFSDIR
-#endif

 /****************************************************************************
 * Defines for POSIX and ROS
@@ -76,18 +76,18 @@ static constexpr wq_config_t hp_default{"wq:hp_default", 1900, -18};

 static constexpr wq_config_t uavcan{"wq:uavcan", 3624, -19};

-static constexpr wq_config_t ttyS0{"wq:ttyS0", 1728, -21};
-static constexpr wq_config_t ttyS1{"wq:ttyS1", 1728, -22};
-static constexpr wq_config_t ttyS2{"wq:ttyS2", 1728, -23};
-static constexpr wq_config_t ttyS3{"wq:ttyS3", 1728, -24};
-static constexpr wq_config_t ttyS4{"wq:ttyS4", 1728, -25};
-static constexpr wq_config_t ttyS5{"wq:ttyS5", 1728, -26};
-static constexpr wq_config_t ttyS6{"wq:ttyS6", 1728, -27};
-static constexpr wq_config_t ttyS7{"wq:ttyS7", 1728, -28};
-static constexpr wq_config_t ttyS8{"wq:ttyS8", 1728, -29};
-static constexpr wq_config_t ttyS9{"wq:ttyS9", 1728, -30};
-static constexpr wq_config_t ttyACM0{"wq:ttyACM0", 1728, -31};
-static constexpr wq_config_t ttyUnknown{"wq:ttyUnknown", 1728, -32};
+static constexpr wq_config_t ttyS0{"wq:ttyS0", 1632, -21};
+static constexpr wq_config_t ttyS1{"wq:ttyS1", 1632, -22};
+static constexpr wq_config_t ttyS2{"wq:ttyS2", 1632, -23};
+static constexpr wq_config_t ttyS3{"wq:ttyS3", 1632, -24};
+static constexpr wq_config_t ttyS4{"wq:ttyS4", 1632, -25};
+static constexpr wq_config_t ttyS5{"wq:ttyS5", 1632, -26};
+static constexpr wq_config_t ttyS6{"wq:ttyS6", 1632, -27};
+static constexpr wq_config_t ttyS7{"wq:ttyS7", 1632, -28};
+static constexpr wq_config_t ttyS8{"wq:ttyS8", 1632, -29};
+static constexpr wq_config_t ttyS9{"wq:ttyS9", 1632, -30};
+static constexpr wq_config_t ttyACM0{"wq:ttyACM0", 1632, -31};
+static constexpr wq_config_t ttyUnknown{"wq:ttyUnknown", 1632, -32};

 static constexpr wq_config_t lp_default{"wq:lp_default", 1920, -50};

@@ -124,13 +124,6 @@ typedef struct {
 // wait for the sensor hub if its data is coming from it.
 #define SCHED_PRIORITY_ESTIMATOR		(PX4_WQ_HP_BASE - 5)

-// Logger watchdog priority, triggered when a task busy-loops (and
-// restored after a short time).
-// The priority is a trade-off between:
-// - ability to capture any busy-looping task below this priority
-// - not having a negative impact on the system itself
-#define SCHED_PRIORITY_LOG_WATCHDOG		(PX4_WQ_HP_BASE - 6)
-
 // Position controllers typically are in a blocking wait on estimator data
 // so when new sensor data is available they will run last. Keeping them
 // on a high priority ensures that they are the first process to be run
@@ -148,8 +141,12 @@ typedef struct {
 // The navigation system needs to execute regularly but has no realtime needs
 #define SCHED_PRIORITY_NAVIGATION		(SCHED_PRIORITY_DEFAULT + 5)
 //      SCHED_PRIORITY_DEFAULT
-#define SCHED_PRIORITY_LOG_WRITER		(SCHED_PRIORITY_DEFAULT - 10)
+
 #define SCHED_PRIORITY_PARAMS			(SCHED_PRIORITY_DEFAULT - 15)
+
+#define SCHED_PRIORITY_LOG_WRITER		(SCHED_PRIORITY_DEFAULT - 40)
+
+
 //      SCHED_PRIORITY_IDLE

 typedef int (*px4_main_t)(int argc, char *argv[]);
@@ -347,12 +347,12 @@ void orb_print_message_internal(const orb_metadata *meta, const void *data, bool
 					data_offset += sizeof(uint64_t);

 				} else if (strcmp(c_type, "float") == 0) {
-					if (!dont_print) { PX4_INFO_RAW("%.5f", (double) * (float *)(data_ptr + data_offset)); }
+					if (!dont_print) { PX4_INFO_RAW("%.4f", (double) * (float *)(data_ptr + data_offset)); }

 					data_offset += sizeof(float);

 				} else if (strcmp(c_type, "double") == 0) {
-					if (!dont_print) { PX4_INFO_RAW("%.6f", *(double *)(data_ptr + data_offset)); }
+					if (!dont_print) { PX4_INFO_RAW("%.4f", *(double *)(data_ptr + data_offset)); }

 					data_offset += sizeof(double);

@@ -40,6 +40,14 @@ __BEGIN_DECLS
 #include <stm32.h>
 #define PX4_SOC_ARCH_ID             PX4_SOC_ARCH_ID_STM32F4
 #define PX4_FLASH_BASE  STM32_FLASH_BASE
+#if defined(CONFIG_STM32_STM32F4XXX)
+# include <stm32_bbsram.h>
+# define PX4_BBSRAM_SIZE STM32_BBSRAM_SIZE
+# define PX4_HF_GETDESC_IOCTL STM32_BBSRAM_GETDESC_IOCTL
+# define HAS_BBSRAM CONFIG_STM32_BBSRAM
+# define BBSRAM_FILE_COUNT CONFIG_STM32_BBSRAM_FILES
+# define SAVE_CRASHDUMP CONFIG_STM32_SAVE_CRASHDUMP
+#endif
 #define PX4_NUMBER_I2C_BUSES STM32_NI2C
 #define PX4_ADC_INTERNAL_TEMP_SENSOR_CHANNEL 16

@@ -14,11 +14,11 @@
            "environment": [
                {
                    "name": "PX4_SIM_MODEL",
-                    "value": "gz_${input:PX4_GZ_MODEL}"
+                    "value": "${input:PX4_GZ_MODEL}"
                }
            ],
            "externalConsole": false,
-            "postDebugTask": "gazebo kill",
+            "postDebugTask": "ign gazebo kill",
            "linux": {
                "MIMode": "gdb",
                "externalConsole": false,
@@ -222,9 +222,6 @@
            "description": "GZ vehicle model",
            "options": [
              "x500",
-              "x500_depth",
-              "rc_cessna",
-              "standard_vtol",
            ],
            "default": "x500"
        }
@@ -105,8 +105,7 @@ static int create_dirs();
 static int run_startup_script(const std::string &commands_file, const std::string &absolute_binary_path, int instance);
 static std::string get_absolute_binary_path(const std::string &argv0);
 static void wait_to_exit();
-static int get_server_running(int instance, bool *is_running);
-static int set_server_running(int instance);
+static bool is_server_running(int instance, bool server);
 static void print_usage();
 static bool dir_exists(const std::string &path);
 static bool file_exists(const std::string &name);
@@ -125,7 +124,6 @@ int main(int argc, char **argv)
 {
 	bool is_client = false;
 	bool pxh_off = false;
-	bool server_is_running = false;

 	/* Symlinks point to all commands that can be used as a client with a prefix. */
 	const char prefix[] = PX4_SHELL_COMMAND_PREFIX;
@@ -133,9 +131,6 @@ int main(int argc, char **argv)

 	std::string absolute_binary_path; // full path to the px4 binary being executed

-	int ret = PX4_OK;
-	int instance = 0;
-
 	if (argc > 0) {
 		/* The executed binary name could start with a path, so strip it away */
 		const std::string full_binary_name = argv[0];
@@ -151,6 +146,8 @@ int main(int argc, char **argv)
 	}

 	if (is_client) {
+		int instance = 0;
+
 		if (argc >= 3 && strcmp(argv[1], "--instance") == 0) {
 			instance = strtoul(argv[2], nullptr, 10);
 			/* update argv so that "--instance <instance>" is not visible anymore */
@@ -163,16 +160,15 @@ int main(int argc, char **argv)

 		PX4_DEBUG("instance: %i", instance);

-		ret = get_server_running(instance, &server_is_running);
+		if (!is_server_running(instance, false)) {
+			if (errno) {
+				PX4_ERR("Failed to communicate with daemon: %s", strerror(errno));

-		if (ret != PX4_OK) {
-			PX4_ERR("PX4 client failed to get server status");
-			return ret;
-		}
+			} else {
+				PX4_ERR("PX4 daemon not running yet");
+			}

-		if (!server_is_running) {
-			PX4_ERR("PX4 server not running");
-			return PX4_ERROR;
+			return -1;
 		}

 		/* Remove the path and prefix. */
@@ -206,6 +202,7 @@ int main(int argc, char **argv)

 		bool working_directory_default = false;

+		int instance = 0;
 		bool instance_provided = false;

 		int myoptind = 1;
@@ -295,27 +292,20 @@ int main(int argc, char **argv)
 				PX4_INFO("working directory %s", working_directory.c_str());
 			}

-			ret = change_directory(working_directory);
+			int ret = change_directory(working_directory);

 			if (ret != PX4_OK) {
 				return ret;
 			}
 		}

-		ret = get_server_running(instance, &server_is_running);
-
-		if (ret != PX4_OK) {
-			PX4_ERR("Failed to get server status");
-			return ret;
-		}
-
-		if (server_is_running) {
+		if (is_server_running(instance, true)) {
 			// allow running multiple instances, but the server is only started for the first
-			PX4_INFO("PX4 server already running for instance %i", instance);
-			return PX4_ERROR;
+			PX4_INFO("PX4 daemon already running for instance %i (%s)", instance, strerror(errno));
+			return -1;
 		}

-		ret = create_symlinks_if_needed(data_path);
+		int ret = create_symlinks_if_needed(data_path);

 		if (ret != PX4_OK) {
 			return ret;
@@ -353,13 +343,6 @@ int main(int argc, char **argv)
 		px4::init_once();
 		px4::init(argc, argv, "px4");

-		// Don't set this up until PX4 is up and running
-		ret = set_server_running(instance);
-
-		if (ret != PX4_OK) {
-			return ret;
-		}
-
 		ret = run_startup_script(commands_file, absolute_binary_path, instance);

 		if (ret == 0) {
@@ -635,73 +618,39 @@ void print_usage()
 	printf("        e.g.: px4-commander status\n");
 }

-int get_server_running(int instance, bool *is_server_running)
+bool is_server_running(int instance, bool server)
 {
 	const std::string file_lock_path = std::string(LOCK_FILE_PATH) + '-' + std::to_string(instance);
 	int fd = open(file_lock_path.c_str(), O_RDWR | O_CREAT, 0666);

 	if (fd < 0) {
-		PX4_ERR("%s: failed to create lock file: %s, reason=%s", __func__, file_lock_path.c_str(), strerror(errno));
-		return PX4_ERROR;
+		PX4_ERR("is_server_running: failed to create lock file: %s, reason=%s", file_lock_path.c_str(), strerror(errno));
+		return false;
 	}

-	int status = PX4_OK;
-	struct flock lock;
-	memset(&lock, 0, sizeof(struct flock));
+	bool result = false;

-	// Exclusive write lock, cover the entire file (regardless of size)
-	lock.l_type = F_WRLCK;
-	lock.l_whence = SEEK_SET;
-
-	if (fcntl(fd, F_GETLK, &lock) < 0) {
-		PX4_ERR("%s: failed to get check for lock on file: %s, reason=%s", __func__, file_lock_path.c_str(), strerror(errno));
-		status = PX4_ERROR;
-
-	} else {
-		// F_GETLK will set l_type to F_UNLCK if no one had a lock on the file. Otherwise,
-		// it means that the server is running and has a lock on the file
-		if (lock.l_type != F_UNLCK) {
-			*is_server_running = true;
+	// Server is running if the file is already locked.
+	if (flock(fd, LOCK_EX | LOCK_NB) < 0) {
+		if (errno == EWOULDBLOCK) {
+			// a server is running!
+			result = true;

 		} else {
-			*is_server_running = false;
+			PX4_ERR("is_server_running: failed to get lock on file: %s, reason=%s", file_lock_path.c_str(), strerror(errno));
+			result = false;
 		}
 	}

-	close(fd);
-
-	return status;
-}
-
-int set_server_running(int instance)
-{
-	const std::string file_lock_path = std::string(LOCK_FILE_PATH) + '-' + std::to_string(instance);
-	int fd = open(file_lock_path.c_str(), O_RDWR | O_CREAT, 0666);
-
-	if (fd < 0) {
-		PX4_ERR("%s: failed to create lock file: %s, reason=%s", __func__, file_lock_path.c_str(), strerror(errno));
-		return PX4_ERROR;
-	}
-
-	int status = PX4_OK;
-
-	struct flock lock;
-	memset(&lock, 0, sizeof(struct flock));
-
-	// Exclusive lock, cover the entire file (regardless of size).
-	lock.l_type = F_WRLCK;
-	lock.l_whence = SEEK_SET;
-
-	if (fcntl(fd, F_SETLK, &lock) < 0) {
-		PX4_ERR("%s: failed to set lock on file: %s, reason=%s", __func__, file_lock_path.c_str(), strerror(errno));
-		status = PX4_ERROR;
+	if (result || !server) {
 		close(fd);
 	}

-	// note: server leaks the file handle, on purpose, in order to keep the lock on the file until the process terminates.
+	// note: server leaks the file handle once, on purpose, in order to keep the lock on the file until the process terminates.
 	// In this case we return false so the server code path continues now that we have the lock.

-	return status;
+	errno = 0;
+	return result;
 }

 bool file_exists(const std::string &name)
@@ -166,12 +166,11 @@ static px4_task_t px4_task_spawn_internal(const char *name, int priority, px4_ma
 				return -1;

 			} else {
-				strcpy(taskmap[task_index].argv_storage[i], argv[i]);
+				//px4_clock_gettimemap[task_index].argv_storage[i], argv[i]);
 				taskmap[task_index].argv[i] = taskmap[task_index].argv_storage[i];
 			}

 		} else {
-			// Must add NULL at end of argv
 			taskmap[task_index].argv[i] = nullptr;
 			break;
 		}
@@ -421,13 +420,13 @@ int px4_sem_timedwait(px4_sem_t *sem, const struct timespec *ts)
 	return 0;
 }

-int px4_prctl(int option, const char *arg2, px4_task_t pid)
+int px4_prctl(int option, const char *arg2, pthread_t pid)
 {
 	int rv = -1;
 	pthread_mutex_lock(&task_mutex);

 	for (int i = 0; i < PX4_MAX_TASKS; i++) {
-		if (taskmap[i].isused && taskmap[i].tid == (pthread_t) pid) {
+		if (taskmap[i].isused && taskmap[i].tid == pid) {
 			rv = pthread_attr_setthreadname(&taskmap[i].attr, arg2);
 			return rv;
 		}
@@ -65,13 +65,12 @@ ModalIo::ModalIo() :
 		_esc_status.esc[i].esc_address     = 0;
 		_esc_status.esc[i].esc_rpm         = 0;
 		_esc_status.esc[i].esc_state       = 0;
-		_esc_status.esc[i].esc_cmdcount    = 0;
+		//_esc_status.esc[i].esc_cmdcount    = 0;
 		_esc_status.esc[i].esc_voltage     = 0;
 		_esc_status.esc[i].esc_current     = 0;
 		_esc_status.esc[i].esc_temperature = 0;
 		_esc_status.esc[i].esc_errorcount  = 0;
 		_esc_status.esc[i].failures        = 0;
-		_esc_status.esc[i].esc_power       = 0;
 	}

 	qc_esc_packet_init(&_fb_packet);
@@ -153,8 +152,6 @@ int ModalIo::load_params(modal_io_params_t *params, ch_assign_t *map)
 	param_get(param_find("MODAL_IO_RPM_MIN"), &params->rpm_min);
 	param_get(param_find("MODAL_IO_RPM_MAX"), &params->rpm_max);

-	param_get(param_find("MODAL_IO_VLOG"),    &params->verbose_logging);
-
 	if (params->rpm_min >= params->rpm_max) {
 		PX4_ERR("Invalid parameter MODAL_IO_RPM_MIN.  Please verify parameters.");
 		params->rpm_min = 0;
@@ -339,9 +336,9 @@ int ModalIo::parse_response(uint8_t *buf, uint8_t len, bool print_feedback)
 					_esc_status.esc[id].esc_address  = motor_idx + 1; //remapped motor ID
 					_esc_status.esc[id].timestamp    = tnow;
 					_esc_status.esc[id].esc_rpm      = fb.rpm;
-					_esc_status.esc[id].esc_power    = fb.power;
+					//_esc_status.esc[id].esc_power    = fb.power;
 					_esc_status.esc[id].esc_state    = fb.id_state & 0x0F;
-					_esc_status.esc[id].esc_cmdcount = fb.cmd_counter;
+					//_esc_status.esc[id].esc_cmdcount = fb.cmd_counter;
 					_esc_status.esc[id].esc_voltage  = _esc_chans[id].voltage;
 					_esc_status.esc[id].esc_current  = _esc_chans[id].current;
 					_esc_status.esc[id].failures     = 0; //not implemented
@@ -588,7 +585,7 @@ int ModalIo::custom_command(int argc, char *argv[])
 	}

 	if (!strcmp(verb, "reset")) {
-		if (esc_id < MODAL_IO_OUTPUT_CHANNELS) {
+		if (esc_id < 4) {
 			PX4_INFO("Reset ESC: %i", esc_id);
 			cmd.len = qc_esc_create_reset_packet(esc_id, cmd.buf, sizeof(cmd.buf));
 			cmd.response = false;
@@ -600,7 +597,7 @@ int ModalIo::custom_command(int argc, char *argv[])
 		}

 	} else if (!strcmp(verb, "version")) {
-		if (esc_id < MODAL_IO_OUTPUT_CHANNELS) {
+		if (esc_id < 4) {
 			PX4_INFO("Request version for ESC: %i", esc_id);
 			cmd.len = qc_esc_create_version_request_packet(esc_id, cmd.buf, sizeof(cmd.buf));
 			cmd.response = true;
@@ -613,7 +610,7 @@ int ModalIo::custom_command(int argc, char *argv[])
 		}

 	} else if (!strcmp(verb, "version-ext")) {
-		if (esc_id < MODAL_IO_OUTPUT_CHANNELS) {
+		if (esc_id < 4) {
 			PX4_INFO("Request extended version for ESC: %i", esc_id);
 			cmd.len = qc_esc_create_extended_version_request_packet(esc_id, cmd.buf, sizeof(cmd.buf));
 			cmd.response = true;
@@ -626,14 +623,14 @@ int ModalIo::custom_command(int argc, char *argv[])
 		}

 	} else if (!strcmp(verb, "tone")) {
-		if (esc_id < MODAL_IO_OUTPUT_CHANNELS) {
+		if (0 < esc_id && esc_id < 16) {
 			PX4_INFO("Request tone for ESC mask: %i", esc_id);
 			cmd.len = qc_esc_create_sound_packet(period, duration, power, esc_id, cmd.buf, sizeof(cmd.buf));
 			cmd.response = false;
 			return get_instance()->send_cmd_thread_safe(&cmd);

 		} else {
-			print_usage("Invalid ESC ID, use 0-3");
+			print_usage("Invalid ESC mask, use 1-15");
 			return 0;
 		}

@@ -655,20 +652,42 @@ int ModalIo::custom_command(int argc, char *argv[])
 		}

 	}  else if (!strcmp(verb, "rpm")) {
-		if (esc_id < MODAL_IO_OUTPUT_CHANNELS) {
-			PX4_INFO("Request RPM for ESC ID: %i - RPM: %i", esc_id, rate);
-			int16_t rate_req[MODAL_IO_OUTPUT_CHANNELS] = {0, 0, 0, 0};
+		if (0 < esc_id && esc_id < 16) {
+			PX4_INFO("Request RPM for ESC bit mask: %i - RPM: %i", esc_id, rate);
+			int16_t rate_req[MODAL_IO_OUTPUT_CHANNELS];
+			int16_t outputs[MODAL_IO_OUTPUT_CHANNELS];
+			outputs[0] = (esc_id & 1) ? rate : 0;
+			outputs[1] = (esc_id & 2) ? rate : 0;
+			outputs[2] = (esc_id & 4) ? rate : 0;
+			outputs[3] = (esc_id & 8) ? rate : 0;
+
+			//the motor mapping is.. if I want to spin Motor 1 (1-4) then i need to provide non-zero rpm for motor map[m-1]
+
+			modal_io_params_t params;
+			ch_assign_t map[MODAL_IO_OUTPUT_CHANNELS];
+			get_instance()->load_params(&params, (ch_assign_t *)&map);
+
+			uint8_t id_fb_raw = 0;
 			uint8_t id_fb = 0;

-			if (esc_id == 0xFF) {
-				rate_req[0] = rate;
-				rate_req[1] = rate;
-				rate_req[2] = rate;
-				rate_req[3] = rate;
+			if (esc_id & 1) { id_fb_raw = 0; }

-			} else {
-				rate_req[esc_id] = rate;
-				id_fb = esc_id;
+			else if (esc_id & 2) { id_fb_raw = 1; }
+
+			else if (esc_id & 4) { id_fb_raw = 2; }
+
+			else if (esc_id & 8) { id_fb_raw = 3; }
+
+			for (int i = 0; i < MODAL_IO_OUTPUT_CHANNELS; i++) {
+				int motor_idx = map[i].number - 1; // user defined mapping is 1-4, array is 0-3
+
+				if (motor_idx >= 0 && motor_idx < MODAL_IO_OUTPUT_CHANNELS) {
+					rate_req[i] = outputs[motor_idx] * map[i].direction;
+				}
+
+				if (motor_idx == id_fb_raw) {
+					id_fb = i;
+				}
 			}

 			cmd.len = qc_esc_create_rpm_packet4_fb(rate_req[0],
@@ -689,31 +708,53 @@ int ModalIo::custom_command(int argc, char *argv[])
 			cmd.repeat_delay_us = repeat_delay_us;
 			cmd.print_feedback  = true;

-			PX4_INFO("feedback id debug: %i", id_fb);
+			PX4_INFO("ESC map: %d %d %d %d", map[0].number, map[1].number, map[2].number, map[3].number);
+			PX4_INFO("feedback id debug: %i, %i", id_fb_raw, id_fb);
 			PX4_INFO("Sending UART ESC RPM command %i", rate);

 			return get_instance()->send_cmd_thread_safe(&cmd);

 		} else {
-			print_usage("Invalid ESC ID, use 0-3");
+			print_usage("Invalid ESC mask, use 1-15");
 			return 0;
 		}

 	} else if (!strcmp(verb, "pwm")) {
-		if (esc_id < MODAL_IO_OUTPUT_CHANNELS) {
-			PX4_INFO("Request PWM for ESC ID: %i - PWM: %i", esc_id, rate);
-			int16_t rate_req[MODAL_IO_OUTPUT_CHANNELS] = {0, 0, 0, 0};
+		if (0 < esc_id && esc_id < 16) {
+			PX4_INFO("Request PWM for ESC mask: %i - PWM: %i", esc_id, rate);
+			int16_t rate_req[MODAL_IO_OUTPUT_CHANNELS];
+			int16_t outputs[MODAL_IO_OUTPUT_CHANNELS];
+			outputs[0] = (esc_id & 1) ? rate : 0;
+			outputs[1] = (esc_id & 2) ? rate : 0;
+			outputs[2] = (esc_id & 4) ? rate : 0;
+			outputs[3] = (esc_id & 8) ? rate : 0;
+
+			modal_io_params_t params;
+			ch_assign_t map[MODAL_IO_OUTPUT_CHANNELS];
+			get_instance()->load_params(&params, (ch_assign_t *)&map);
+
+			uint8_t id_fb_raw = 0;
 			uint8_t id_fb = 0;

-			if (esc_id == 0xFF) {
-				rate_req[0] = rate;
-				rate_req[1] = rate;
-				rate_req[2] = rate;
-				rate_req[3] = rate;
+			if (esc_id & 1) { id_fb_raw = 0; }

-			} else {
-				rate_req[esc_id] = rate;
-				id_fb = esc_id;
+			else if (esc_id & 2) { id_fb_raw = 1; }
+
+			else if (esc_id & 4) { id_fb_raw = 2; }
+
+			else if (esc_id & 8) { id_fb_raw = 3; }
+
+			for (int i = 0; i < MODAL_IO_OUTPUT_CHANNELS; i++) {
+				int motor_idx = map[i].number - 1; // user defined mapping is 1-4, array is 0-3
+
+				if (motor_idx >= 0 && motor_idx < MODAL_IO_OUTPUT_CHANNELS) {
+					rate_req[i] = outputs[motor_idx] * map[i].direction;
+					PX4_INFO("rate_req[%d]=%d", i, rate_req[i]);
+				}
+
+				if (motor_idx == id_fb_raw) {
+					id_fb = i;
+				}
 			}

 			cmd.len = qc_esc_create_pwm_packet4_fb(rate_req[0],
@@ -734,9 +775,11 @@ int ModalIo::custom_command(int argc, char *argv[])
 			cmd.repeat_delay_us = repeat_delay_us;
 			cmd.print_feedback  = true;

-			PX4_INFO("feedback id debug: %i", id_fb);
+			PX4_INFO("ESC map: %d %d %d %d", map[0].number, map[1].number, map[2].number, map[3].number);
+			PX4_INFO("feedback id debug: %i, %i", id_fb_raw, id_fb);
 			PX4_INFO("Sending UART ESC power command %i", rate);

+
 			return get_instance()->send_cmd_thread_safe(&cmd);

 		} else {
@@ -1114,7 +1157,8 @@ bool ModalIo::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
 	//check_for_esc_timeout();

 	// publish the actual command that we sent and the feedback received
-	if (_parameters.verbose_logging) {
+	/*
+	if (MODALAI_PUBLISH_ESC_STATUS) {
 		actuator_outputs_s actuator_outputs{};
 		actuator_outputs.noutputs = num_outputs;

@@ -1125,10 +1169,9 @@ bool ModalIo::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
 		actuator_outputs.timestamp = hrt_absolute_time();

 		_outputs_debug_pub.publish(actuator_outputs);
-
+		_esc_status_pub.publish(_esc_status);
 	}
-
-	_esc_status_pub.publish(_esc_status);
+	*/

 	perf_count(_output_update_perf);

@@ -1320,9 +1363,7 @@ void ModalIo::Run()
 					}

 					if (_current_cmd.response) {
-						if (read_response(&_current_cmd) == 0) {
-							_esc_status_pub.publish(_esc_status);
-						}
+						read_response(&_current_cmd);
 					}

 				} else {
@@ -1392,19 +1433,19 @@ $ todo
 	PRINT_MODULE_USAGE_PARAM_INT('i', 0, 0, 3, "ESC ID, 0-3", false);

 	PRINT_MODULE_USAGE_COMMAND_DESCR("rpm", "Closed-Loop RPM test control request");
-	PRINT_MODULE_USAGE_PARAM_INT('i', 0, 0, 3, "ESC ID, 0-3", false);
+	PRINT_MODULE_USAGE_PARAM_INT('i', 1, 1, 15, "ESC ID bitmask, 1-15", false);
 	PRINT_MODULE_USAGE_PARAM_INT('r', 0, -32768, 32768, "RPM, -32,768 to 32,768", false);
 	PRINT_MODULE_USAGE_PARAM_INT('n', 100, 0, 1<<31, "Command repeat count, 0 to INT_MAX", false);
 	PRINT_MODULE_USAGE_PARAM_INT('t', 10000, 0, 1<<31, "Delay between repeated commands (microseconds), 0 to INT_MAX", false);

 	PRINT_MODULE_USAGE_COMMAND_DESCR("pwm", "Open-Loop PWM test control request");
-	PRINT_MODULE_USAGE_PARAM_INT('i', 0, 0, 3, "ESC ID, 0-3", false);
+	PRINT_MODULE_USAGE_PARAM_INT('i', 1, 1, 15, "ESC ID bitmask, 1-15", false);
 	PRINT_MODULE_USAGE_PARAM_INT('r', 0, 0, 800, "Duty Cycle value, 0 to 800", false);
 	PRINT_MODULE_USAGE_PARAM_INT('n', 100, 0, 1<<31, "Command repeat count, 0 to INT_MAX", false);
 	PRINT_MODULE_USAGE_PARAM_INT('t', 10000, 0, 1<<31, "Delay between repeated commands (microseconds), 0 to INT_MAX", false);

 	PRINT_MODULE_USAGE_COMMAND_DESCR("tone", "Send tone generation request to ESC");
-	PRINT_MODULE_USAGE_PARAM_INT('i', 0, 0, 3, "ESC ID, 0-3", false);
+	PRINT_MODULE_USAGE_PARAM_INT('i', 1, 1, 15, "ESC ID bitmask, 1-15", false);
 	PRINT_MODULE_USAGE_PARAM_INT('p', 0, 0, 255, "Period of sound, inverse frequency, 0-255", false);
 	PRINT_MODULE_USAGE_PARAM_INT('d', 0, 0, 255, "Duration of the sound, 0-255, 1LSB = 13ms", false);
 	PRINT_MODULE_USAGE_PARAM_INT('v', 0, 0, 100, "Power (volume) of sound, 0-100", false);
@@ -143,7 +143,6 @@ private:
 		int32_t		function_map[MODAL_IO_OUTPUT_CHANNELS] {0, 0, 0, 0};
 		int32_t		motor_map[MODAL_IO_OUTPUT_CHANNELS] {1, 2, 3, 4};
 		int32_t		direction_map[MODAL_IO_OUTPUT_CHANNELS] {1, 1, 1, 1};
-		int32_t		verbose_logging{0};
 	} modal_io_params_t;

 	struct EscChan {
@@ -189,7 +188,7 @@ private:
 	uORB::Subscription 	_actuator_test_sub{ORB_ID(actuator_test)};
 	uORB::Subscription	_led_update_sub{ORB_ID(led_control)};

-	uORB::Publication<actuator_outputs_s> _outputs_debug_pub{ORB_ID(actuator_outputs_debug)};
+	//uORB::Publication<actuator_outputs_s> _outputs_debug_pub{ORB_ID(actuator_outputs_debug)};
 	uORB::Publication<esc_status_s> _esc_status_pub{ORB_ID(esc_status)};

 	modal_io_params_t	_parameters;
@@ -201,16 +201,3 @@ PARAM_DEFINE_INT32(MODAL_IO_T_EXPO, 35);
 * @increment 0.001
 */
 PARAM_DEFINE_FLOAT(MODAL_IO_T_COSP, 0.990);
-
-/**
- * UART ESC verbose logging
- *
- * @reboot_required true
- *
- * @group MODAL IO
- * @value 0 - Disabled
- * @value 1 - Enabled
- * @min 0
- * @max 1
- */
-PARAM_DEFINE_INT32(MODAL_IO_VLOG, 0);
@@ -53,7 +53,6 @@
 #include <lib/perf/perf_counter.h>
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/topics/actuator_armed.h>
-#include <uORB/topics/actuator_test.h>
 #include <uORB/topics/esc_status.h>
 #include <drivers/drv_hrt.h>
 #include <lib/mixer_module/mixer_module.hpp>
@@ -70,30 +69,61 @@ public:
 	static constexpr int MAX_ACTUATORS = MixingOutput::MAX_ACTUATORS;

 	UavcanEscController(CanardHandle &handle, UavcanParamManager &pmgr) :
-		UavcanPublisher(handle, pmgr, "udral.", "esc") { };
+		UavcanPublisher(handle, pmgr, "udral", "esc") { };

 	~UavcanEscController() {};

 	void update() override
 	{
-		actuator_test_s actuator_test;
-
-		if (_actuator_test_sub.update(&actuator_test)) {
-			_actuator_test_timestamp = actuator_test.timestamp;
-		}
-
 		if (_armed_sub.updated()) {
 			actuator_armed_s new_arming;
 			_armed_sub.update(&new_arming);

 			if (new_arming.armed != _armed.armed) {
 				_armed = new_arming;
-				publish_readiness();
-			}
-		}
+				size_t payload_size = reg_udral_service_common_Readiness_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_;

-		if (hrt_absolute_time() > _previous_pub_time + READINESS_PUBLISH_PERIOD) {
-			publish_readiness();
+				// Only publish if we have a valid publication ID set
+				if (_port_id == 0) {
+					return;
+				}
+
+				reg_udral_service_common_Readiness_0_1 msg_arming {};
+
+				if (_armed.armed) {
+					msg_arming.value = reg_udral_service_common_Readiness_0_1_ENGAGED;
+
+				} else if (_armed.prearmed) {
+					msg_arming.value = reg_udral_service_common_Readiness_0_1_STANDBY;
+
+				} else {
+					msg_arming.value = reg_udral_service_common_Readiness_0_1_SLEEP;
+				}
+
+				uint8_t arming_payload_buffer[reg_udral_service_common_Readiness_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_];
+
+				CanardPortID arming_pid = static_cast<CanardPortID>(static_cast<uint32_t>(_port_id) + 1);
+				const CanardTransferMetadata transfer_metadata = {
+					.priority       = CanardPriorityNominal,
+					.transfer_kind  = CanardTransferKindMessage,
+					.port_id        = arming_pid,                // This is the subject-ID.
+					.remote_node_id = CANARD_NODE_ID_UNSET,      // Messages cannot be unicast, so use UNSET.
+					.transfer_id    = _arming_transfer_id,
+				};
+
+				int result = reg_udral_service_common_Readiness_0_1_serialize_(&msg_arming, arming_payload_buffer,
+						&payload_size);
+
+				if (result == 0) {
+					// set the data ready in the buffer and chop if needed
+					++_arming_transfer_id;  // The transfer-ID shall be incremented after every transmission on this subject.
+					result = _canard_handle.TxPush(hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
+								       &transfer_metadata,
+								       payload_size,
+								       &arming_payload_buffer
+								      );
+				}
+			}
 		}
 	};

@@ -101,7 +131,7 @@ public:
 	{
 		if (_port_id > 0) {
 			reg_udral_service_actuator_common_sp_Vector31_0_1 msg_sp {0};
-			size_t payload_size = reg_udral_service_actuator_common_sp_Vector31_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_;
+			size_t payload_size = reg_udral_service_common_Readiness_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_;

 			for (uint8_t i = 0; i < MAX_ACTUATORS; i++) {
 				if (i < num_outputs) {
@@ -113,6 +143,10 @@ public:
 				}
 			}

+
+			PX4_INFO("Publish %d values %f, %f, %f, %f", num_outputs, (double)msg_sp.value[0], (double)msg_sp.value[1],
+				 (double)msg_sp.value[2], (double)msg_sp.value[3]);
+
 			uint8_t esc_sp_payload_buffer[reg_udral_service_actuator_common_sp_Vector31_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_];

 			const CanardTransferMetadata transfer_metadata = {
@@ -148,64 +182,10 @@ private:
 	 */
 	void esc_status_sub_cb(const CanardRxTransfer &msg);

-	void publish_readiness()
-	{
-		const hrt_abstime now = hrt_absolute_time();
-		_previous_pub_time = now;
-
-		size_t payload_size = reg_udral_service_common_Readiness_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_;
-
-		// Only publish if we have a valid publication ID set
-		if (_port_id == 0) {
-			return;
-		}
-
-		reg_udral_service_common_Readiness_0_1 msg_arming {};
-
-		if (_armed.armed || _actuator_test_timestamp + 100_ms > now) {
-			msg_arming.value = reg_udral_service_common_Readiness_0_1_ENGAGED;
-
-		} else if (_armed.prearmed) {
-			msg_arming.value = reg_udral_service_common_Readiness_0_1_STANDBY;
-
-		} else {
-			msg_arming.value = reg_udral_service_common_Readiness_0_1_SLEEP;
-		}
-
-		uint8_t arming_payload_buffer[reg_udral_service_common_Readiness_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_];
-
-		CanardPortID arming_pid = static_cast<CanardPortID>(static_cast<uint32_t>(_port_id) + 1);
-		const CanardTransferMetadata transfer_metadata = {
-			.priority       = CanardPriorityNominal,
-			.transfer_kind  = CanardTransferKindMessage,
-			.port_id        = arming_pid,                // This is the subject-ID.
-			.remote_node_id = CANARD_NODE_ID_UNSET,      // Messages cannot be unicast, so use UNSET.
-			.transfer_id    = _arming_transfer_id,
-		};
-
-		int result = reg_udral_service_common_Readiness_0_1_serialize_(&msg_arming, arming_payload_buffer,
-				&payload_size);
-
-		if (result == 0) {
-			// set the data ready in the buffer and chop if needed
-			++_arming_transfer_id;  // The transfer-ID shall be incremented after every transmission on this subject.
-			result = _canard_handle.TxPush(hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
-						       &transfer_metadata,
-						       payload_size,
-						       &arming_payload_buffer);
-		}
-	};
-
 	uint8_t _rotor_count {0};

-	static constexpr hrt_abstime READINESS_PUBLISH_PERIOD = 100000;
-	hrt_abstime _previous_pub_time = 0;
-
 	uORB::Subscription _armed_sub{ORB_ID(actuator_armed)};
 	actuator_armed_s _armed {};

-	uORB::Subscription _actuator_test_sub{ORB_ID(actuator_test)};
-	uint64_t _actuator_test_timestamp{0};
-
 	CanardTransferID _arming_transfer_id;
 };
@@ -131,7 +131,7 @@ void CanardHandle::receive()

 		} else if (result == 1) {
 			// A transfer has been received, process it.
-			// PX4_INFO("received Port ID: %d", receive.metadata.port_id);
+			// PX4_INFO("received Port ID: %d", receive.port_id);

 			if (subscription != nullptr) {
 				UavcanBaseSubscriber *sub_instance = (UavcanBaseSubscriber *)subscription->user_reference;
@@ -145,7 +145,7 @@ void CanardHandle::receive()
 			_canard_instance.memory_free(&_canard_instance, (void *)receive.payload);

 		} else {
-			// PX4_INFO("RX canard %li\n", result);
+			//PX4_INFO("RX canard %d", result);
 		}
 	}

@@ -83,8 +83,6 @@ CyphalNode::CyphalNode(uint32_t node_id, size_t capacity, size_t mtu_bytes) :
 	_pub_manager.updateParams();

 	_sub_manager.subscribe();
-
-	_mixing_output.mixingOutput().setMaxTopicUpdateRate(1000000 / 200);
 }

 CyphalNode::~CyphalNode()
@@ -137,7 +135,6 @@ int CyphalNode::start(uint32_t node_id, uint32_t bitrate)
 	_instance->active_bitrate = bitrate;

 	_instance->ScheduleOnInterval(ScheduleIntervalMs * 1000);
-	_instance->_mixing_output.ScheduleNow();

 	return PX4_OK;
 }
@@ -257,19 +254,17 @@ void CyphalNode::print_info()

 	_pub_manager.printInfo();

-	PX4_INFO("Message subscriptions:");
 	traverseTree<CanardRxSubscription>(_canard_handle.getRxSubscriptions(CanardTransferKindMessage),
 	[&](const CanardRxSubscription * const sub) {
 		if (sub->user_reference == nullptr) {
 			PX4_INFO("Message port id %d", sub->port_id);

 		} else {
-			((UavcanBaseSubscriber *)sub->user_reference)->printInfo(sub->port_id);
+			((UavcanBaseSubscriber *)sub->user_reference)->printInfo();
 		}
 	});


-	PX4_INFO("Service response subscriptions:");
 	traverseTree<CanardRxSubscription>(_canard_handle.getRxSubscriptions(CanardTransferKindRequest),
 	[&](const CanardRxSubscription * const sub) {
 		if (sub->user_reference == nullptr) {
@@ -280,7 +275,6 @@ void CyphalNode::print_info()
 		}
 	});

-	PX4_INFO("Service request subscriptions:");
 	traverseTree<CanardRxSubscription>(_canard_handle.getRxSubscriptions(CanardTransferKindResponse),
 	[&](const CanardRxSubscription * const sub) {
 		if (sub->user_reference == nullptr) {
@@ -399,11 +393,8 @@ bool UavcanMixingInterface::updateOutputs(bool stop_motors, uint16_t outputs[MAX
 	// Hence, the mutex lock in UavcanMixingInterface::Run() is in effect

 	/// TODO: Need esc/servo metadata / bitmask(s)
-	auto publisher = static_cast<UavcanEscController *>(_pub_manager.getPublisher("esc"));
-
-	if (publisher) {
-		publisher->update_outputs(stop_motors, outputs, num_outputs);
-	}
+	_esc_controller.update_outputs(stop_motors, outputs, num_outputs);
+	// _servo_controller.update_outputs(stop_motors, outputs, num_outputs);

 	return true;
 }
@@ -82,10 +82,11 @@ class UavcanMixingInterface : public OutputModuleInterface
 {
 public:
 	UavcanMixingInterface(pthread_mutex_t &node_mutex,
-			      PublicationManager &pub_manager)
+			      UavcanEscController &esc_controller) //, UavcanServoController &servo_controller)
 		: OutputModuleInterface(MODULE_NAME "-actuators", px4::wq_configurations::uavcan),
 		  _node_mutex(node_mutex),
-		  _pub_manager(pub_manager) {}
+		  _esc_controller(esc_controller)/*,
+		  _servo_controller(servo_controller)*/ {}

 	bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
 			   unsigned num_outputs, unsigned num_control_groups_updated) override;
@@ -102,7 +103,8 @@ protected:
 private:
 	friend class CyphalNode;
 	pthread_mutex_t &_node_mutex;
-	PublicationManager &_pub_manager;
+	UavcanEscController &_esc_controller;
+	// UavcanServoController &_servo_controller;
 	MixingOutput _mixing_output{"UCAN1_ESC", MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
 };

@@ -113,7 +115,7 @@ class CyphalNode : public ModuleParams, public px4::ScheduledWorkItem
 	 * Base interval, has to be complemented with events from the CAN driver
 	 * and uORB topics sending data, to decrease response time.
 	 */
-	static constexpr unsigned ScheduleIntervalMs = 3;
+	static constexpr unsigned ScheduleIntervalMs = 10;

 public:

@@ -176,6 +178,9 @@ private:
 	PublicationManager _pub_manager {_canard_handle, _param_manager};
 	SubscriptionManager _sub_manager {_canard_handle, _param_manager};

-	UavcanMixingInterface _mixing_output {_node_mutex, _pub_manager};
+	/// TODO: Integrate with PublicationManager
+	UavcanEscController _esc_controller {_canard_handle, _param_manager};
+
+	UavcanMixingInterface _mixing_output {_node_mutex, _esc_controller};

 };
@@ -117,19 +117,19 @@ private:


 	const UavcanParamBinder _uavcan_params[13] {
-		{"uavcan.pub.udral.esc.0.id",                	"UCAN1_ESC_PUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
-		{"uavcan.pub.udral.servo.0.id",              	"UCAN1_SERVO_PUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
-		{"uavcan.pub.udral.gps.0.id",                	"UCAN1_GPS_PUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
-		{"uavcan.pub.udral.actuator_outputs.0.id",   	"UCAN1_ACTR_PUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
-		{"uavcan.sub.udral.esc.0.id",                	"UCAN1_ESC0_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
-		{"uavcan.sub.udral.gps.0.id",                	"UCAN1_GPS0_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
-		{"uavcan.sub.udral.gps.1.id",                	"UCAN1_GPS1_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
-		{"uavcan.sub.udral.energy_source.0.id",      	"UCAN1_BMS_ES_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
-		{"uavcan.sub.udral.battery_status.0.id",     	"UCAN1_BMS_BS_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
-		{"uavcan.sub.udral.battery_parameters.0.id",	"UCAN1_BMS_BP_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
-		{"uavcan.sub.udral.legacy_bms.0.id",         	"UCAN1_LG_BMS_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
-		{"uavcan.sub.uorb.sensor_gps.0.id",    		"UCAN1_UORB_GPS",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
-		{"uavcan.pub.uorb.sensor_gps.0.id",    		"UCAN1_UORB_GPS_P",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.pub.esc.0.id",                "UCAN1_ESC_PUB",		    px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.pub.servo.0.id",              "UCAN1_SERVO_PUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.pub.gps.0.id",                "UCAN1_GPS_PUB",		    px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.pub.actuator_outputs.0.id",   "UCAN1_ACTR_PUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.sub.esc.0.id",                "UCAN1_ESC0_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.sub.gps.0.id",                "UCAN1_GPS0_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.sub.gps.1.id",                "UCAN1_GPS1_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.sub.energy_source.0.id",      "UCAN1_BMS_ES_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.sub.battery_status.0.id",     "UCAN1_BMS_BS_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.sub.battery_parameters.0.id", "UCAN1_BMS_BP_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.sub.legacy_bms.0.id",         "UCAN1_LG_BMS_SUB",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.sub.uorb.sensor_gps.0.id",    "UCAN1_UORB_GPS",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
+		{"uavcan.pub.uorb.sensor_gps.0.id",    "UCAN1_UORB_GPS_P",		px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
 		//{"uavcan.sub.bms.0.id",   "UCAN1_BMS0_SUB"}, //FIXME instancing
 		//{"uavcan.sub.bms.1.id",   "UCAN1_BMS1_SUB"},
 	};
@@ -114,18 +114,6 @@ void PublicationManager::updateParams()
 	updateDynamicPublications();
 }

-UavcanPublisher *PublicationManager::getPublisher(const char *subject_name)
-{
-	for (auto &dynpub : _dynpublishers) {
-		if (strcmp(dynpub->getSubjectName(), subject_name) == 0) {
-			return dynpub;
-		}
-	}
-
-	return NULL;
-}
-
-
 void PublicationManager::update()
 {
 	for (auto &dynpub : _dynpublishers) {
@@ -101,8 +101,6 @@ public:
 	void printInfo();
 	void updateParams();

-	UavcanPublisher *getPublisher(const char *subject_name);
-
 private:
 	void updateDynamicPublications();

@@ -118,7 +116,7 @@ private:
 			{
 				return new UavcanGnssPublisher(handle, pmgr, 0);
 			},
-			"udral.gps",
+			"gps",
 			0
 		},
 #endif
@@ -128,7 +126,7 @@ private:
 			{
 				return new UavcanEscController(handle, pmgr);
 			},
-			"udral.esc",
+			"esc",
 			0
 		},
 #endif
@@ -138,7 +136,7 @@ private:
 			{
 				return new UavcanReadinessPublisher(handle, pmgr, 0);
 			},
-			"udral.readiness",
+			"readiness",
 			0
 		},
 #endif
@@ -122,26 +122,18 @@ public:
 		return _subj_sub._subject_name;
 	}

-	const char *getSubjectPrefix()
-	{
-		return _prefix_name;
-	}
-
 	uint8_t getInstance()
 	{
 		return _instance;
 	}

-	void printInfo(CanardPortID port_id = CANARD_PORT_ID_UNSET)
+	void printInfo()
 	{
 		SubjectSubscription *curSubj = &_subj_sub;

 		while (curSubj != nullptr) {
 			if (curSubj->_canard_sub.port_id != CANARD_PORT_ID_UNSET) {
-				if (port_id == CANARD_PORT_ID_UNSET ||
-				    port_id == curSubj->_canard_sub.port_id) {
-					PX4_INFO("Subscribed %s.%d on port %d", curSubj->_subject_name, _instance, curSubj->_canard_sub.port_id);
-				}
+				PX4_INFO("Subscribed %s.%d on port %d", curSubj->_subject_name, _instance, curSubj->_canard_sub.port_id);
 			}

 			curSubj = curSubj->next;
@@ -61,8 +61,6 @@ public:
 	void updateParam()
 	{
 		SubjectSubscription *curSubj = &_subj_sub;
-		bool unsubscribeRequired = false;
-		bool subscribeRequired = false;

 		while (curSubj != nullptr) {
 			char uavcan_param[90];
@@ -78,37 +76,29 @@ public:
 				if (curSubj->_canard_sub.port_id != new_id) {
 					if (new_id == CANARD_PORT_ID_UNSET) {
 						// Cancel subscription
-						unsubscribeRequired = true;
+						unsubscribe();

 					} else {
 						if (curSubj->_canard_sub.port_id != CANARD_PORT_ID_UNSET) {
 							// Already active; unsubscribe first
-							unsubscribeRequired = true;
+							unsubscribe();
 						}

 						// Subscribe on the new port ID
 						curSubj->_canard_sub.port_id = (CanardPortID)new_id;
 						PX4_INFO("Subscribing %s%s.%d on port %d", _prefix_name, curSubj->_subject_name, _instance,
 							 curSubj->_canard_sub.port_id);
-						subscribeRequired = true;
+						subscribe();
 					}
 				}

 			} else if (curSubj->_canard_sub.port_id != CANARD_PORT_ID_UNSET) { // No valid sub id unsubscribe when neccesary
 				// Already active; unsubscribe first
-				unsubscribeRequired = true;
+				unsubscribe();
 			}

 			curSubj = curSubj->next;
 		}
-
-		if (unsubscribeRequired) {
-			unsubscribe();
-		}
-
-		if (subscribeRequired) {
-			subscribe();
-		}
 	};

 	UavcanDynamicPortSubscriber *next()
@@ -110,7 +110,7 @@ public:
 			bat_status.connected = true; // Based on some threshold or an error??

 			// Estimate discharged mah from Joule
-			if (PX4_ISFINITE(_nominal_voltage)) {
+			if (_nominal_voltage != NAN) {
 				bat_status.discharged_mah = (source_ts.value.full_energy.joule - source_ts.value.energy.joule)
 							    / (_nominal_voltage * WH_TO_JOULE);
 			}
@@ -78,13 +78,10 @@ void SubscriptionManager::updateDynamicSubscriptions()

 		while (dynsub != nullptr) {
 			// Check if subscriber has already been created
-			const char *subj_prefix = dynsub->getSubjectPrefix();
 			const char *subj_name = dynsub->getSubjectName();
 			const uint8_t instance = dynsub->getInstance();
-			char subject_name[90];
-			snprintf(subject_name, sizeof(subject_name), "%s%s", subj_prefix, subj_name);

-			if (strcmp(subject_name, sub.subject_name) == 0 && instance == sub.instance) {
+			if (strcmp(subj_name, sub.subject_name) == 0 && instance == sub.instance) {
 				found_subscriber = true;
 				break;
 			}
@@ -126,7 +126,7 @@ private:
 			{
 				return new UavcanEscSubscriber(handle, pmgr, 0);
 			},
-			"udral.esc",
+			"esc",
 			0
 		},
 #endif
@@ -136,7 +136,7 @@ private:
 			{
 				return new UavcanGnssSubscriber(handle, pmgr, 0);
 			},
-			"udral.gps",
+			"gps",
 			0
 		},
 #endif
@@ -146,7 +146,7 @@ private:
 			{
 				return new UavcanGnssSubscriber(handle, pmgr, 1);
 			},
-			"udral.gps",
+			"gps",
 			1
 		},
 #endif
@@ -156,7 +156,7 @@ private:
 			{
 				return new UavcanBmsSubscriber(handle, pmgr, 0);
 			},
-			"udral.energy_source",
+			"energy_source",
 			0
 		},
 #endif
@@ -166,7 +166,7 @@ private:
 			{
 				return new UavcanLegacyBatteryInfoSubscriber(handle, pmgr, 0);
 			},
-			"udral.legacy_bms",
+			"legacy_bms",
 			0
 		},
 #endif
@@ -1,50 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2022-2023 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-px4_add_module(
-	MODULE drivers__distance_sensor__lightware_sf45_serial
-	MAIN lightware_sf45_serial
-	COMPILE_FLAGS
-	SRCS
-		lightware_sf45_serial.cpp
-		lightware_sf45_serial.hpp
-		lightware_sf45_serial_main.cpp
-	DEPENDS
-		drivers_rangefinder
-		px4_work_queue
-	MODULE_CONFIG
-		module.yaml
-	)
-
-if(PX4_TESTING)
-	add_subdirectory(tests)
-endif()
@@ -1,5 +0,0 @@
-menuconfig DRIVERS_DISTANCE_SENSOR_LIGHTWARE_SF45_SERIAL
-	bool "lightware_sf45_serial"
-	default n
-	---help---
-		Enable support for lightware_sf45_serial
@@ -1,761 +0,0 @@
-/**************************************************************************
- *
- *   Copyright (c) 2022-2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include "lightware_sf45_serial.hpp"
-#include "sf45_commands.h"
-
-#include <inttypes.h>
-#include <fcntl.h>
-#include <termios.h>
-#include <lib/systemlib/crc.h>
-
-#include <float.h>
-#include <mathlib/mathlib.h>
-#include <matrix/matrix/math.hpp>
-
-/* Configuration Constants */
-#define SF45_MAX_PAYLOAD 256
-#define SF45_SCALE_FACTOR 0.01f
-
-SF45LaserSerial::SF45LaserSerial(const char *port, uint8_t rotation) :
-	ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(port)),
-	_px4_rangefinder(0, rotation),
-	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
-	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": com_err"))
-{
-	/* store port name */
-	strncpy(_port, port, sizeof(_port) - 1);
-
-	/* enforce null termination */
-	_port[sizeof(_port) - 1] = '\0';
-
-	device::Device::DeviceId device_id;
-	device_id.devid_s.bus_type = device::Device::DeviceBusType_SERIAL;
-
-	uint8_t bus_num = atoi(&_port[strlen(_port) - 1]); // Assuming '/dev/ttySx'
-
-	if (bus_num < 10) {
-		device_id.devid_s.bus = bus_num;
-	}
-
-	_num_retries = 2;
-	_px4_rangefinder.set_device_id(device_id.devid);
-	_px4_rangefinder.set_device_type(DRV_DIST_DEVTYPE_LIGHTWARE_LASER);
-
-	// populate obstacle map members
-	_obstacle_map_msg.frame = obstacle_distance_s::MAV_FRAME_BODY_FRD;
-	_obstacle_map_msg.increment = 5;
-	_obstacle_map_msg.angle_offset = -2.5;
-	_obstacle_map_msg.min_distance = UINT16_MAX;
-	_obstacle_map_msg.max_distance = 5000;
-
-}
-
-SF45LaserSerial::~SF45LaserSerial()
-{
-	stop();
-
-	perf_free(_sample_perf);
-	perf_free(_comms_errors);
-}
-
-int SF45LaserSerial::init()
-{
-
-	param_get(param_find("SF45_UPDATE_CFG"), &_update_rate);
-	param_get(param_find("SF45_ORIENT_CFG"), &_orient_cfg);
-	param_get(param_find("SF45_YAW_CFG"), &_yaw_cfg);
-
-	/* SF45/B (50M) */
-	_px4_rangefinder.set_min_distance(0.2f);
-	_px4_rangefinder.set_max_distance(50.0f);
-	_interval = 10000;
-
-	start();
-
-	return PX4_OK;
-}
-
-int SF45LaserSerial::measure()
-{
-
-	int rate = (int)_update_rate;
-	_data_output = 0x101; // raw distance + yaw readings
-	_stream_data = 5; // enable constant streaming
-
-	// send some packets so the sensor starts scanning
-	switch (_sensor_state) {
-
-	// sensor should now respond
-	case 0:
-		while (_num_retries--) {
-			sf45_send(SF_PRODUCT_NAME, false, &_product_name[0], 0);
-			_sensor_state = 0;
-		}
-
-		_sensor_state = 1;
-		break;
-
-	case 1:
-		// Update rate default to 50 readings/s
-		sf45_send(SF_UPDATE_RATE, true, &rate, sizeof(uint8_t));
-		_sensor_state = 2;
-		break;
-
-	case 2:
-		sf45_send(SF_DISTANCE_OUTPUT, true, &_data_output, sizeof(_data_output));
-		_sensor_state = 3;
-		break;
-
-	case 3:
-		sf45_send(SF_STREAM, true, &_stream_data, sizeof(_stream_data));
-		_sensor_state = 4;
-		break;
-
-	default:
-		break;
-	}
-
-	return PX4_OK;
-}
-
-int SF45LaserSerial::collect()
-{
-	perf_begin(_sample_perf);
-
-	/* clear buffer if last read was too long ago */
-	int64_t read_elapsed = hrt_elapsed_time(&_last_read);
-	int ret;
-	/* the buffer for read chars is buflen minus null termination */
-	param_get(param_find("SF45_CP_LIMIT"), &_collision_constraint);
-	uint8_t readbuf[SF45_MAX_PAYLOAD];
-
-	float distance_m = -1.0f;
-
-	/* read from the sensor (uart buffer) */
-	const hrt_abstime timestamp_sample = hrt_absolute_time();
-
-	if (_sensor_state == 1) {
-
-		ret = ::read(_fd, &readbuf[0], 22);
-		sf45_request_handle(ret, readbuf);
-		ScheduleDelayed(_interval * 2);
-
-	} else if (_sensor_state == 2) {
-
-		ret = ::read(_fd, &readbuf[0], 7);
-
-		if (readbuf[3] == SF_UPDATE_RATE) {
-			sf45_request_handle(ret, readbuf);
-			ScheduleDelayed(_interval * 5);
-		}
-
-	} else if (_sensor_state == 3) {
-
-		ret = ::read(_fd, &readbuf[0], 8);
-
-		if (readbuf[3] == SF_DISTANCE_OUTPUT) {
-			sf45_request_handle(ret, readbuf);
-			ScheduleDelayed(_interval * 5);
-		}
-
-	} else {
-
-		ret = ::read(_fd, &readbuf[0], 10);
-		uint8_t flags_payload = (readbuf[1] >> 6) | (readbuf[2] << 2);
-
-		if (readbuf[3] == SF_DISTANCE_DATA_CM && flags_payload == 5) {
-
-			for (uint8_t i = 0; i < ret; ++i) {
-				sf45_request_handle(ret, readbuf);
-			}
-
-			if (_init_complete) {
-				sf45_process_replies(&distance_m);
-			} // end if
-
-		} else {
-
-			ret = ::read(_fd, &readbuf[0], 10);
-
-		}
-	}
-
-	if (ret < 0) {
-		PX4_DEBUG("read err: %d", ret);
-		perf_count(_comms_errors);
-		perf_end(_sample_perf);
-
-		/* only throw an error if we time out */
-		if (read_elapsed > (_interval * 2)) {
-			PX4_DEBUG("Timing out...");
-			return ret;
-
-		} else {
-
-			return -EAGAIN;
-		}
-
-	} else if (ret == 0) {
-		return -EAGAIN;
-	}
-
-	_last_read = hrt_absolute_time();
-
-	if (!_crc_valid) {
-		return -EAGAIN;
-	}
-
-	PX4_DEBUG("val (float): %8.4f, raw: %s, valid: %s", (double)distance_m, _linebuf, ((_crc_valid) ? "OK" : "NO"));
-	_px4_rangefinder.update(timestamp_sample, distance_m);
-
-	perf_end(_sample_perf);
-
-	return PX4_OK;
-}
-
-void SF45LaserSerial::start()
-{
-	/* reset the report ring and state machine */
-	_collect_phase = false;
-
-	/* schedule a cycle to start things */
-	ScheduleNow();
-}
-
-void SF45LaserSerial::stop()
-{
-	ScheduleClear();
-}
-
-void SF45LaserSerial::Run()
-{
-	/* fds initialized? */
-	if (_fd < 0) {
-		/* open fd: non-blocking read mode*/
-
-		_fd = ::open(_port, O_RDWR | O_NOCTTY);
-
-		if (_fd < 0) {
-			PX4_ERR("open failed (%i)", errno);
-			return;
-		}
-
-		struct termios uart_config;
-
-		int termios_state;
-
-		/* fill the struct for the new configuration */
-		tcgetattr(_fd, &uart_config);
-
-		uart_config.c_cflag = (uart_config.c_cflag & ~CSIZE) | CS8;
-
-		uart_config.c_cflag |= (CLOCAL | CREAD);
-
-		// no parity, 1 stop bit, flow control disabled
-		uart_config.c_cflag &= ~(PARENB | PARODD);
-
-		uart_config.c_cflag |= 0;
-
-		uart_config.c_cflag &= ~CSTOPB;
-
-		uart_config.c_cflag &= ~CRTSCTS;
-
-		uart_config.c_iflag &= ~IGNBRK;
-
-		uart_config.c_iflag &= ~ICRNL;
-
-		uart_config.c_iflag &= ~(IXON | IXOFF | IXANY);
-
-		// echo and echo NL off, canonical mode off (raw mode)
-		// extended input processing off, signal chars off
-		uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
-
-		uart_config.c_oflag = 0;
-
-		uart_config.c_cc[VMIN] = 0;
-
-		uart_config.c_cc[VTIME] = 1;
-
-		unsigned speed = B921600;
-
-		/* set baud rate */
-		if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
-			PX4_ERR("CFG: %d ISPD", termios_state);
-		}
-
-		if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
-			PX4_ERR("CFG: %d OSPD", termios_state);
-		}
-
-		if ((termios_state = tcsetattr(_fd, TCSANOW, &uart_config)) < 0) {
-			PX4_ERR("baud %d ATTR", termios_state);
-		}
-
-	}
-
-	if (_collect_phase) {
-
-		/* perform collection */
-		int collect_ret = collect();
-
-		if (collect_ret == -EAGAIN) {
-			/* reschedule to grab the missing bits, time to transmit 8 bytes @ 9600 bps */
-			ScheduleDelayed(1042 * 8);
-
-			return;
-		}
-
-		if (OK != collect_ret) {
-			/* we know the sensor needs about four seconds to initialize */
-			if (hrt_absolute_time() > 5 * 1000 * 1000LL && _consecutive_fail_count < 5) {
-				PX4_ERR("collection error #%u", _consecutive_fail_count);
-			}
-
-			_consecutive_fail_count++;
-
-			/* restart the measurement state machine */
-			start();
-			return;
-
-		} else {
-			/* apparently success */
-			_consecutive_fail_count = 0;
-		}
-
-		/* next phase is measurement */
-		_collect_phase = false;
-	}
-
-	/* measurement phase */
-
-	if (OK != measure()) {
-		PX4_DEBUG("measure error");
-	}
-
-	/* next phase is collection */
-	_collect_phase = true;
-
-	/* schedule a fresh cycle call when the measurement is done */
-	ScheduleDelayed(_interval);
-
-}
-
-void SF45LaserSerial::print_info()
-{
-	perf_print_counter(_sample_perf);
-	perf_print_counter(_comms_errors);
-}
-
-void SF45LaserSerial::sf45_request_handle(int return_val, uint8_t *input_buf)
-{
-
-	// SF45 protocol
-	// Start byte is 0xAA and is the start of packet
-	// Payload length sanity check (0-1023) bytes
-	// and represented by 16-bit integer (payload +
-	// read/write status)
-	// ID byte precedes the data in the payload
-	// CRC comprised of 16-bit checksum (not included in checksum calc.)
-
-	uint16_t recv_crc = 0;
-	bool restart_flag = false;
-
-	while (restart_flag != true) {
-
-		switch (_parsed_state) {
-		case 0: {
-				if (input_buf[0] == 0xAA) {
-					// start of frame is valid, continue
-					_sop_valid = true;
-					_calc_crc = sf45_format_crc(_calc_crc, _start_of_frame);
-					_parsed_state = 1;
-					break;
-
-				} else {
-					_sop_valid = false;
-					_crc_valid = false;
-					_parsed_state = 0;
-					restart_flag = true;
-					_calc_crc = 0;
-					PX4_INFO("INFO: start of packet not valid");
-					break;
-				} // end else
-			} // end case 0
-
-		case 1: {
-				rx_field.flags_lo = input_buf[1];
-				_calc_crc = sf45_format_crc(_calc_crc, rx_field.flags_lo);
-				_parsed_state = 2;
-				break;
-			}
-
-		case 2: {
-				rx_field.flags_hi = input_buf[2];
-				rx_field.data_len = (rx_field.flags_hi << 2) | (rx_field.flags_lo >> 6);
-				_calc_crc = sf45_format_crc(_calc_crc, rx_field.flags_hi);
-
-				// Check payload length against known max value
-				if (rx_field.data_len > 17) {
-					PX4_INFO("INFO: payload length invalid, restarting data request");
-					_parsed_state = 0;
-					restart_flag = true;
-					_calc_crc = 0;
-					break;
-
-				} else {
-					_parsed_state = 3;
-					break;
-				}
-			}
-
-		case 3: {
-
-				rx_field.msg_id = input_buf[3];
-
-				if (rx_field.msg_id == SF_PRODUCT_NAME || rx_field.msg_id == SF_UPDATE_RATE || rx_field.msg_id == SF_DISTANCE_OUTPUT
-				    || rx_field.msg_id == SF_STREAM || rx_field.msg_id == SF_DISTANCE_DATA_CM) {
-
-					if (rx_field.msg_id == SF_DISTANCE_DATA_CM && rx_field.data_len > 1) {
-						_sensor_ready = true;
-
-					} else {
-						_sensor_ready = false;
-					}
-
-					_calc_crc = sf45_format_crc(_calc_crc, rx_field.msg_id);
-
-					_parsed_state = 4;
-					break;
-				}
-
-				// Ignore message ID's that aren't defined
-				else {
-					_parsed_state = 0;
-					_calc_crc = 0;
-					restart_flag = true;
-					break;
-
-				}
-			}
-
-		// Data
-		case 4: {
-				// Process commands with  & w/out data bytes
-				if (rx_field.data_len > 1) {
-					for (uint8_t i = 4; i < 3 + rx_field.data_len; ++i) {
-
-						rx_field.data[_data_bytes_recv] = input_buf[i];
-						_calc_crc = sf45_format_crc(_calc_crc, rx_field.data[_data_bytes_recv]);
-						_data_bytes_recv = _data_bytes_recv + 1;
-
-					}  // end for
-				} //end if
-
-				else {
-
-					_parsed_state = 5;
-					_data_bytes_recv = 0;
-					_calc_crc = sf45_format_crc(_calc_crc, _data_bytes_recv);
-
-				}
-
-				_parsed_state = 5;
-				_data_bytes_recv = 0;
-				break;
-			}
-
-		// CRC low byte
-		case 5: {
-				rx_field.crc[0] = input_buf[3 + rx_field.data_len];
-				_parsed_state = 6;
-				break;
-			}
-
-		// CRC high byte
-		case 6: {
-				rx_field.crc[1] = input_buf[4 + rx_field.data_len];
-				recv_crc = (rx_field.crc[1] << 8) | rx_field.crc[0];
-
-				// Check the received crc bytes from the sf45 against our own CRC calcuation
-				// If it matches, we can check if sensor ready
-				// Only if crc match is valid and sensor ready (transmitting distance data) do we flag _init_complete
-				if (recv_crc == _calc_crc) {
-					_crc_valid = true;
-
-					// Sensor is ready if we read msg ID 44: SF_DISTANCE_DATA_CM
-					if (_sensor_ready) {
-						_init_complete = true;
-
-					} else {
-						_init_complete = false;
-					}
-
-					_parsed_state = 0;
-					_calc_crc = 0;
-					restart_flag = true;
-					break;
-
-				} else {
-					PX4_INFO("INFO: CRC mismatch");
-					_crc_valid = false;
-					_init_complete = false;
-					_parsed_state = 0;
-					_calc_crc = 0;
-					restart_flag = true;
-					break;
-				}
-			}
-		} // end switch
-	} //end while
-}
-
-void SF45LaserSerial::sf45_send(uint8_t msg_id, bool write, int *data, uint8_t data_len)
-{
-	uint16_t crc_val = 0;
-	uint8_t packet_buff[SF45_MAX_PAYLOAD];
-	uint8_t data_inc = 4;
-	int ret = 0;
-	uint8_t packet_len = 0;
-	// Include payload ID byte in payload len
-	uint16_t flags = (data_len + 1) << 6;
-
-	// If writing to the device, lsb is 1
-	if (write) {
-		flags |= 0x01;
-	}
-
-	else {
-		flags |= 0x0;
-	}
-
-	uint8_t flags_lo = flags & 0xFF;
-	uint8_t flags_hi = (flags >> 8) & 0xFF;
-
-	// Add packet bytes to format into crc based on CRC-16-CCITT 0x1021/XMODEM
-	crc_val = sf45_format_crc(crc_val, _start_of_frame);
-	crc_val = sf45_format_crc(crc_val, flags_lo);
-	crc_val = sf45_format_crc(crc_val, flags_hi);
-	crc_val = sf45_format_crc(crc_val, msg_id);
-
-	// Write the packet header contents + payload msg ID to the output buffer
-	packet_buff[0] = _start_of_frame;
-	packet_buff[1] = flags_lo;
-	packet_buff[2] = flags_hi;
-	packet_buff[3] = msg_id;
-
-	if (msg_id == SF_DISTANCE_OUTPUT) {
-		uint8_t data_convert = data[0] & 0x00FF;
-		// write data bytes to the output buffer
-		packet_buff[data_inc] =  data_convert;
-		// Add data bytes to crc add function
-		crc_val = sf45_format_crc(crc_val, data_convert);
-		data_inc = data_inc + 1;
-		data_convert = data[0] >> 8;
-		packet_buff[data_inc] = data_convert;
-		crc_val = sf45_format_crc(crc_val, data_convert);
-		data_inc = data_inc + 1;
-		packet_buff[data_inc] = 0;
-		crc_val = sf45_format_crc(crc_val, packet_buff[data_inc]);
-		data_inc = data_inc + 1;
-		packet_buff[data_inc] = 0;
-		crc_val = sf45_format_crc(crc_val, packet_buff[data_inc]);
-		data_inc = data_inc + 1;
-	}
-
-	else if (msg_id == SF_STREAM) {
-		packet_buff[data_inc] = data[0];
-		//pad zeroes
-		crc_val = sf45_format_crc(crc_val, data[0]);
-		data_inc = data_inc + 1;
-		packet_buff[data_inc] = 0;
-		crc_val = sf45_format_crc(crc_val, packet_buff[data_inc]);
-		data_inc = data_inc + 1;
-		packet_buff[data_inc] = 0;
-		crc_val = sf45_format_crc(crc_val, packet_buff[data_inc]);
-		data_inc = data_inc + 1;
-		packet_buff[data_inc] = 0;
-		crc_val = sf45_format_crc(crc_val, packet_buff[data_inc]);
-		data_inc = data_inc + 1;
-	}
-
-	else if (msg_id == SF_UPDATE_RATE) {
-		// Update Rate
-		packet_buff[data_inc] = (uint8_t)data[0];
-		// Add data bytes to crc add function
-		crc_val = sf45_format_crc(crc_val, data[0]);
-		data_inc = data_inc + 1;
-
-	}
-
-	else {
-		// Product Name
-		PX4_INFO("INFO: Product name");
-	}
-
-	uint8_t crc_lo = crc_val & 0xFF;
-	uint8_t crc_hi = (crc_val >> 8) & 0xFF;
-
-	packet_buff[data_inc] = crc_lo;
-	data_inc = data_inc + 1;
-	packet_buff[data_inc] = crc_hi;
-
-	size_t len = sizeof(packet_buff[0]) * (data_inc + 1);
-	packet_len = (uint8_t)len;
-
-	// DEBUG
-	for (uint8_t i = 0; i < packet_len; ++i) {
-		PX4_INFO("INFO: Send byte: %d", packet_buff[i]);
-	}
-
-	ret = ::write(_fd, packet_buff, packet_len);
-
-	if (ret != packet_len) {
-		perf_count(_comms_errors);
-		PX4_DEBUG("write fail %d", ret);
-		//return ret;
-	}
-}
-
-void SF45LaserSerial::sf45_process_replies(float *distance_m)
-{
-
-	switch (rx_field.msg_id) {
-	case SF_DISTANCE_DATA_CM: {
-
-			uint16_t obstacle_dist_cm = 0;
-			const float raw_distance = (rx_field.data[0] << 0) | (rx_field.data[1] << 8);
-			int16_t raw_yaw = ((rx_field.data[2] << 0) | (rx_field.data[3] << 8));
-			int16_t scaled_yaw = 0;
-
-			// The sensor scans from 0 to -160, so extract negative angle from int16 and represent as if a float
-			if (raw_yaw > 32000) {
-				raw_yaw = raw_yaw - 65535;
-
-			}
-
-			// The sensor is facing downward, so the sensor is flipped about it's x-axis -inverse of each yaw angle
-			if (_orient_cfg == 1) {
-				raw_yaw = raw_yaw * -1;
-			}
-
-			switch (_yaw_cfg) {
-			case 0:
-				break;
-
-			case 1:
-				if (raw_yaw > 180) {
-					raw_yaw = raw_yaw - 180;
-
-				} else {
-					raw_yaw = raw_yaw + 180; // rotation facing aft
-				}
-
-				break;
-
-			case 2:
-				raw_yaw = raw_yaw + 90; // rotation facing right
-				break;
-
-			case 3:
-				raw_yaw = raw_yaw - 90; // rotation facing left
-				break;
-
-			default:
-				break;
-			}
-
-			scaled_yaw = raw_yaw * SF45_SCALE_FACTOR;
-
-			// Convert to meters for rangefinder update
-			*distance_m = raw_distance * SF45_SCALE_FACTOR;
-			obstacle_dist_cm = (uint16_t)raw_distance;
-
-			uint8_t current_bin = sf45_convert_angle(scaled_yaw);
-
-			// If we have moved to a new bin
-
-			if (current_bin != _previous_bin) {
-
-				// update the current bin to the distance sensor reading
-				// readings in cm
-				_obstacle_map_msg.distances[current_bin] = obstacle_dist_cm;
-				_obstacle_map_msg.timestamp = hrt_absolute_time();
-
-			}
-
-			_previous_bin = current_bin;
-
-			_obstacle_distance_pub.publish(_obstacle_map_msg);
-
-			break;
-		}
-
-	default:
-		// add case for future use
-		break;
-	}
-}
-
-uint8_t SF45LaserSerial::sf45_convert_angle(const int16_t yaw)
-{
-
-	uint8_t mapped_sector = 0;
-	float adjusted_yaw = sf45_wrap_360(yaw - _obstacle_map_msg.angle_offset);
-	mapped_sector = round(adjusted_yaw / _obstacle_map_msg.increment);
-
-	return mapped_sector;
-}
-
-float SF45LaserSerial::sf45_wrap_360(float f)
-{
-	return matrix::wrap(f, 0.f, 360.f);
-}
-
-uint16_t SF45LaserSerial::sf45_format_crc(uint16_t crc, uint8_t data_val)
-{
-	uint32_t i;
-	const uint16_t poly = 0x1021u;
-	crc ^= (uint16_t)((uint16_t) data_val << 8u);
-
-	for (i = 0; i < 8; i++) {
-		if (crc & (1u << 15u)) {
-			crc = (uint16_t)((crc << 1u) ^ poly);
-
-		} else {
-			crc = (uint16_t)(crc << 1u);
-		}
-	}
-
-	return crc;
-}
--- a/Show More
+++ b/Show More