MPC: LAND: create Stop motion primitive to also be used elsewhere

.gitattributes

@@ -72,7 +72,6 @@ Makefile.* text eol=lf
 *.tar    binary
 *.tgz    binary
 *.zip    binary
-*.hex    binary
 
 # everything else
 .gitattributes text eol=lf

.github/workflows/build_all_targets.yml

@@ -14,15 +14,9 @@ on:
       - 'stable'
       - 'beta'
       - 'release/**'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
       - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
 
 jobs:
   group_targets:

.github/workflows/checks.yml

@@ -4,15 +4,9 @@ on:
   push:
     branches:
     - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:

.github/workflows/clang-tidy.yml

@@ -4,15 +4,10 @@ on:
   push:
     branches:
     - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
+
 jobs:
   build:
     runs-on: ubuntu-latest

.github/workflows/compile_macos.yml

@@ -4,15 +4,9 @@ on:
   push:
     branches:
     - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:

.github/workflows/compile_ubuntu.yml

@@ -7,15 +7,9 @@ on:
       - 'stable'
       - 'beta'
       - 'release/**'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
       - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
 
 jobs:
   build_and_test:

.github/workflows/dev_container.yml

@@ -10,20 +10,14 @@ on:
       - 'release/**'
     tags:
       - 'v*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
       - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:
     name: Build and Push Container
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
     steps:
       - uses: actions/checkout@v4
         with:
@@ -58,7 +52,13 @@ jobs:
             ghcr.io/PX4/px4-dev
             ${{ (github.event_name != 'pull_request') && 'px4io/px4-dev' || '' }}
           tags: |
-            type=raw,enable=true,value=${{ steps.px4-tag.outputs.tag }},priority=1000
+            type=semver,pattern={{version}}
+            type=semver,pattern={{major}}.{{minor}}
+            type=semver,pattern={{major}}
+            type=ref,event=branch,value=${{ steps.px4-tag.outputs.tag }},priority=700
+            type=ref,event=branch,suffix=-{{date 'YYYY-MM-DD'}},priority=600
+            type=ref,event=branch,suffix=,priority=500
+            type=ref,event=pr
 
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
@@ -102,6 +102,6 @@ jobs:
           platforms: |
             linux/amd64
           provenance: mode=max
-          push: ${{ github.event_name != 'pull_request' }}
+          push: true
           cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }}
           cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max

.github/workflows/docs_crowdin_download.yml

@@ -1,55 +0,0 @@
-name: Docs - Crowdin - Download Guide Translations
-
-# https://github.com/crowdin/github-action/tree/master
-
-on:
-  schedule:
-    - cron: '0 0 * * 0' # Runs every Sunday at 00:00 UTC
-  workflow_dispatch:
-
-permissions:
-  contents: write
-  pull-requests: write
-
-jobs:
-  synchronize-with-crowdin:
-    name: Synchronize with Crowdin
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      max-parallel: 1 # Should be 1 to avoid parallel builds
-      matrix:
-        lc: [ko, uk, zh-CN] # Target languages https://developer.crowdin.com/language-codes/
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-      - name: Debug Environment Variables
-        run: |
-          echo "CROWDIN_PROJECT_ID: ${{ secrets.CROWDIN_DOCS_PROJECT_ID }}"
-          echo "CROWDIN_PERSONAL_TOKEN: ${{ secrets.PX4BUILDBOT_CROWDIN_PERSONAL_TOKEN }}"
-      - name: Matrix
-        uses: crowdin/github-action@v2
-        with:
-          config: 'docs/crowdin_docs.yml'
-          upload_sources: false
-          upload_translations: false
-          download_translations: true
-          commit_message: New Crowdin translations - ${{ matrix.lc }}
-          localization_branch_name: l10n_crowdin_docs_translations_${{ matrix.lc }}
-          crowdin_branch_name: main
-          create_pull_request: true
-          pull_request_base_branch_name: 'main'
-          pull_request_title: New PX4 guide translations (Crowdin) - ${{ matrix.lc }}
-          pull_request_body: 'New PX4 guide Crowdin translations by [Crowdin GH Action](https://github.com/crowdin/github-action) for ${{ matrix.lc }}'
-          pull_request_labels: Documentation
-          pull_request_reviewers: hamishwillee
-          download_language: ${{ matrix.lc }}
-        env:
-          # A classic GitHub Personal Access Token with the 'repo' scope selected (the user should have write access to the repository).
-          GITHUB_TOKEN: ${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}
-
-          # A numeric ID, found at https://crowdin.com/project/<projectName>/tools/api
-          CROWDIN_PROJECT_ID: ${{ secrets.CROWDIN_DOCS_PROJECT_ID }}
-
-          # Visit https://crowdin.com/settings#api-key to create this token
-          CROWDIN_PERSONAL_TOKEN: ${{ secrets.PX4BUILDBOT_CROWDIN_PERSONAL_TOKEN }}

.github/workflows/docs_crowdin_upload.yml

@@ -1,44 +0,0 @@
-name: Docs - Crowdin - Upload Guide sources (en)
-
-# https://github.com/crowdin/github-action/tree/master
-
-on:
-  push:
-    branches:
-      - main
-    paths:
-      - 'docs/en/**'
-  #pull_request:
-  #  types:
-  #    - closed
-  #  branches:
-  #    - main
-  #  paths:
-  #    - 'docs/en/**'
-  workflow_dispatch:
-
-jobs:
-  upload-to-crowdin:
-    #if: github.event.pull_request.merged == true || github.event_name == 'push'  || github.event_name == 'workflow_dispatch'
-    runs-on: ubuntu-latest
-
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-      - name: crowdin push
-        uses: crowdin/github-action@v2
-        with:
-          config: 'docs/crowdin_docs.yml'
-          upload_sources: true
-          upload_translations: false
-          download_translations: false
-          crowdin_branch_name: main
-        env:
-          # A classic GitHub Personal Access Token with the 'repo' scope selected (the user should have write access to the repository).
-          GITHUB_TOKEN: ${{ secrets.PX4BUILDBOT_ACCESSTOKEN }}
-
-          # A numeric ID, found at https://crowdin.com/project/<projectName>/tools/api
-          CROWDIN_PROJECT_ID: ${{ secrets.CROWDIN_DOCS_PROJECT_ID }}
-
-          # Visit https://crowdin.com/settings#api-key to create this token
-          CROWDIN_PERSONAL_TOKEN: ${{ secrets.PX4BUILDBOT_CROWDIN_PERSONAL_TOKEN }}

.github/workflows/docs_deploy.yml

@@ -1,94 +0,0 @@
-name: Docs - Deploy PX4 User Guide
-
-on:
-  push:
-    branches:
-      - 'main'
-      - 'release/**'
-    paths:
-      - 'docs/en/**'
-  pull_request:
-    branches:
-      - '*'
-    paths:
-      - 'docs/en/**'
-
-  # Allows you to run this workflow manually from the Actions tab
-  workflow_dispatch:
-
-# Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
-permissions:
-  contents: read
-  pages: write
-  id-token: write
-
-# Allow only one concurrent deployment, skipping runs queued between the run in-progress and latest queued.
-# However, do NOT cancel in-progress runs as we want to allow these production deployments to complete.
-concurrency:
-  group: pages
-  cancel-in-progress: false
-
-env:
-  BRANCH_NAME: ${{ github.head_ref || github.ref_name }}
-
-jobs:
-  build:
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    steps:
-      - uses: runs-on/action@v1
-      - name: Checkout
-        uses: actions/checkout@v4
-
-      - name: Setup Node
-        uses: actions/setup-node@v4
-        with:
-          node-version: 20
-          cache: npm
-          # Specify the path to lock file for correct caching
-          cache-dependency-path: ./docs/yarn.lock
-
-      - name: Install dependencies
-        run: yarn install --frozen-lockfile --cwd ./docs
-
-      - name: Build with VitePress
-        working-directory: ./docs
-        run: |
-          npm run docs:build_ubuntu
-          touch .vitepress/dist/.nojekyll
-          npm run docs:sitemap
-
-      - name: Upload artifact
-        if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
-        uses: actions/upload-artifact@v4
-        with:
-          name: px4_docs_build
-          path: docs/.vitepress/dist/
-          retention-days: 1
-
-  deploy:
-    if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
-    needs: build
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
-
-    steps:
-      - name: Download Artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: px4_docs_build
-          path: ~/_book
-
-      - name: Deploy
-        run: |
-          git clone --single-branch --branch main https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/docs.px4.io.git
-          rm -rf docs.px4.io/${BRANCH_NAME}
-          mkdir -p docs.px4.io/${BRANCH_NAME}
-          cp -r ~/_book/* docs.px4.io/${BRANCH_NAME}/
-          cd docs.px4.io
-          git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
-          git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
-          git add ${BRANCH_NAME}
-          git commit -a -m "PX4 docs build update (vitepress) `date`"
-          #git add .
-          #git commit --amend -m "PX4 docs build update (vitepress) `date`"
-          #git commit --allow-empty -m "Empty commit to force rebuild"
-          git push origin main -f

.github/workflows/docs_flaw_checker.yml

@@ -1,74 +0,0 @@
-name: Docs - Check for flaws in PX4 Guide Source
-# So far:
-  # Modifications of translations files
-  # Broken internal links
-
-on:
-  pull_request_target:
-    types: [opened, edited, synchronize]
-    paths:
-      - 'docs/en/**'
-
-jobs:
-  check_flaws:
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v3
-        with:
-          ref: ${{ github.event.pull_request.head.sha }}
-
-      - name: Install Node.js
-        uses: actions/setup-node@v3
-        with:
-          node-version: '16'
-
-      - name: Create logs directory
-        run: |
-          mkdir logs
-
-      - name: Get changed english files
-        id: get_changed_markdown_english
-        uses: tj-actions/changed-files@v35.9.2
-        with:
-          json: true
-          base_sha: "${{ github.event.pull_request.base.sha }}"
-          sha: "${{ github.event.pull_request.head.sha }}"
-          # Below are used to output files to a directory. May use in flaw checker.
-          # write_output_files: true
-          # output_dir: "./logs"
-          files: |
-            docs/en/**/*.md
-
-      - name: Save JSON file containing files to link check
-        run: |
-          echo "${{ steps.get_changed_markdown_english.outputs.all_changed_files }}"
-          echo "${{ steps.get_changed_markdown_english.outputs.all_changed_files }}" > ./logs/prFiles.json
-
-      - name: Run link checker
-        id: link-check
-        run: |
-          npm -g install markdown_link_checker_sc@0.0.134
-          markdown_link_checker_sc -r ${{ github.workspace }} -d en -f ./docs/logs/prFiles.json -i assets -u docs.px4.io/main/ > ./docs/logs/errorsFilteredByPrPages.md
-          mkdir -p ./pr
-          cp ./docs/logs/errorsFilteredByPrPages.md ./pr/errorsFilteredByPrPages.md
-
-      - name: Read errorsFilteredByPrPages.md file
-        id: read-errors-by-page
-        uses: juliangruber/read-file-action@v1
-        with:
-          path: ./logs/errorsFilteredByPrPages.md
-
-      - name: Echo Errors by Page
-        run: echo "${{ steps.read-errors-by-page.outputs.content }}"
-
-      - name: Save PR number
-        env:
-          PR_NUMBER: ${{ github.event.number }}
-        run: |
-          #mkdir -p ./pr
-          echo $PR_NUMBER > ./pr/pr_number
-      - uses: actions/upload-artifact@v4
-        with:
-          name: pr_number
-          path: pr/

.github/workflows/docs_pr_comment.yml

@@ -1,107 +0,0 @@
-name: Docs - Comment Workflow
-on:
-  workflow_run:
-    workflows: ["Docs - Check for flaws in PX4 Guide Source"]
-    types:
-      - completed
-jobs:
-  comment:
-    permissions:
-      pull-requests: write # for marocchino/sticky-pull-request-comment
-    name: Comments
-    runs-on: ubuntu-latest
-    steps:
-      - name: 'Download PR artifact'
-        uses: actions/github-script@v6
-        with:
-          script: |
-            let allArtifacts = await github.rest.actions.listWorkflowRunArtifacts({
-               owner: context.repo.owner,
-               repo: context.repo.repo,
-               run_id: context.payload.workflow_run.id,
-            });
-            let matchArtifact = allArtifacts.data.artifacts.filter((artifact) => {
-              return artifact.name == "pr_number"
-            })[0];
-            let download = await github.rest.actions.downloadArtifact({
-               owner: context.repo.owner,
-               repo: context.repo.repo,
-               artifact_id: matchArtifact.id,
-               archive_format: 'zip',
-            });
-            let fs = require('fs');
-            fs.writeFileSync(`${process.env.GITHUB_WORKSPACE}/pr_number.zip`, Buffer.from(download.data));
-
-      - name: 'Unzip artifact'
-        run: unzip pr_number.zip
-
-      # Doesn't work across workflows
-      #- name: Get artifacts from flaw checker workflow
-      #  uses: actions/download-artifact@v3
-      #  with:
-      #    name: logs_and_errors
-      #    #path: ./logs
-
-      - name: Read errorsFilteredByPrPages.md file
-        id: read-errors-by-page
-        uses: juliangruber/read-file-action@v1
-        with:
-          path: ./errorsFilteredByPrPages.md
-
-      - name: Read PR number
-        id: read-error-pr-number
-        uses: juliangruber/read-file-action@v1
-        with:
-          path: ./pr_number
-
-      - name: File detail info
-        run: |
-          echo "${{ steps.read-errors-by-page.outputs.content }}"
-          echo "${{ steps.read-error-pr-number.outputs.content }}"
-
-      - name: Create or update comment
-        id: comment_to_pr
-        uses: marocchino/sticky-pull-request-comment@v2
-        with:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-          recreate: true
-          number: ${{ steps.read-error-pr-number.outputs.content }}
-          header: flaws
-          message: ${{ steps.read-errors-by-page.outputs.content || 'No flaws found' }}
-
-      #- name: Dump GitHub context
-      #  env:
-      #    GITHUB_CONTEXT: ${{ toJSON(github) }}
-      #  run: echo "$GITHUB_CONTEXT"
-
-      # Would like to do this, but it doesn't work (for me).
-      # Moving to time-based, or triggering on workflow
-      #- name: Wait for artifacts upload to succeed
-      #  uses: lewagon/wait-on-check-action@v1.3.1
-      #  with:
-      #    ref: ${{ github.ref }}
-      #    check-name: 'Archive production artifacts'
-      #    repo-token: ${{ secrets.GITHUB_TOKEN }}
-      #    wait-interval: 80
-
-      # Not needed for now - trying to trigger off the workflow
-      #- name: Sleep for 80 seconds
-      #  run: sleep 80s
-      #  shell: bash
-      #- name: Find Comment
-      #  uses: peter-evans/find-comment@v2
-      #  id: fc
-      #  with:
-      #    issue-number: ${{ steps.read-error-pr-number.outputs.content }}
-      #    comment-author: 'github-actions[bot]'
-      #    body-includes: Flaws (may be none)
-
-      #- name: Create or update comment
-      #  uses: peter-evans/create-or-update-comment@v3
-      #  with:
-      #    comment-id: ${{ steps.fc.outputs.comment-id }}
-      #    issue-number: ${{ steps.read-error-pr-number.outputs.content }}
-      #    body: |
-      #      Flaws (may be none)
-      #      ${{ steps.read-errors-by-page.outputs.content }}
-      #    edit-mode: replace

.github/workflows/ekf_functional_change_indicator.yml

@@ -4,9 +4,6 @@ on:
   pull_request:
     branches:
     - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
 
 jobs:
   unit_tests:

.github/workflows/ekf_update_change_indicator.yml

@@ -1,10 +1,6 @@
 name: EKF Update Change Indicator
 
-on:
-  push:
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
+on: push
 
 jobs:
   unit_tests:

.github/workflows/failsafe_sim.yml

@@ -4,15 +4,9 @@ on:
   push:
     branches:
     - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:

.github/workflows/flash_analysis.yml

@@ -1,23 +1,12 @@
 name: FLASH usage analysis
 
-permissions:
-  contents: read
-  pull-requests: write
-  issues: write
-
 on:
   push:
     branches:
       - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
       - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
 
 env:
   MIN_FLASH_POS_DIFF_FOR_COMMENT: 50
@@ -94,9 +83,6 @@ jobs:
           echo '${{ steps.bloaty-step.outputs.bloaty-summary-map }}' >> $GITHUB_OUTPUT
           echo "$EOF" >> $GITHUB_OUTPUT
 
-  # TODO:
-  # This part of the workflow is causing errors for forks. We should find a way to fix this and enable it again for forks.
-  # Track this issue https://github.com/PX4/PX4-Autopilot/issues/24408
   post_pr_comment:
     name: Publish Results
     runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
@@ -106,7 +92,7 @@ jobs:
       V5X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-percentage) }}
       V6X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-absolute) }}
       V6X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-percentage) }}
-    if: github.event.pull_request && github.event.pull_request.head.repo.full_name == github.repository
+    if: ${{ github.event.pull_request }}
     steps:
       - name: Find Comment
         uses: peter-evans/find-comment@v3

.github/workflows/mavros_mission_tests.yml

@@ -4,15 +4,9 @@ on:
   push:
     branches:
     - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:

.github/workflows/mavros_offboard_tests.yml

@@ -4,15 +4,9 @@ on:
   push:
     branches:
     - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:

.github/workflows/nuttx_env_config.yml

@@ -4,15 +4,9 @@ on:
   push:
     branches:
     - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:

.github/workflows/python_checks.yml

@@ -4,15 +4,9 @@ on:
   push:
     branches:
     - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:

.github/workflows/ros_translation_node.yml

@@ -1,58 +0,0 @@
-name: ROS Translation Node Tests
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-  pull_request:
-    branches:
-    - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-defaults:
-  run:
-    shell: bash
-jobs:
-  build_and_test:
-    name: Build and test
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          - {ros_version: "humble", ubuntu: "jammy"}
-          - {ros_version: "jazzy", ubuntu: "noble"}
-    container:
-      image: rostooling/setup-ros-docker:ubuntu-${{ matrix.config.ubuntu }}-latest
-    steps:
-      - name: Setup ROS 2 (${{ matrix.config.ros_version }})
-        uses: ros-tooling/setup-ros@v0.7
-        with:
-          required-ros-distributions: ${{ matrix.config.ros_version }}
-      - name: Checkout repository
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      # Workaround for https://github.com/actions/runner/issues/2033
-      - name: ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: Check .msg file versioning
-        if: github.event_name == 'pull_request'
-        run: |
-          ./Tools/ci/check_msg_versioning.sh ${{ github.event.pull_request.base.sha }} ${{github.event.pull_request.head.sha}}
-
-      - name: Build and test
-        run: |
-          ros_ws=/ros_ws
-          mkdir -p $ros_ws/src
-          ./Tools/copy_to_ros_ws.sh $ros_ws
-          cd $ros_ws
-          source /opt/ros/${{ matrix.config.ros_version }}/setup.sh
-          colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install --event-handlers=console_cohesion+
-          source ./install/setup.sh
-          ./build/translation_node/translation_node_unit_tests

.github/workflows/sitl_tests.yml

@@ -9,15 +9,9 @@ on:
   push:
     branches:
     - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:
@@ -127,7 +121,7 @@ jobs:
           path: |
             logs/**/**/**/*.log
             logs/**/**/**/*.ulg
-            build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/**/*.ulg
+            build/px4_sitl_default/tmp_mavsdk_tests/rootfs/*.ulg
 
       - name: Look at Core files
         if: failure() && ${{ hashFiles('px4.core') != '' }}

.vscode/cmake-variants.yaml

@@ -131,11 +131,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_can-flow_canbootloader
-    ark_can-flow-mr_canbootloader:
-      short: ark_can-flow-mr_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-flow-mr_canbootloader
     ark_can-gps_default:
       short: ark_can-gps_default
       buildType: MinSizeRel
@@ -171,11 +166,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_septentrio-gps_canbootloader
-    ark_teseo-gps_canbootloader:
-      short: ark_teseo-gps_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_teseo-gps_canbootloader
     ark_cannode_default:
       short: ark_cannode_default
       buildType: MinSizeRel
@@ -311,11 +301,6 @@ CONFIG:
       buildType: MiniSizeRel
       settings:
         CONFIG: matek_gnss-m9n-f4_default
-    micoair_h743_bootloader:
-      short: micoair_h743_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: micoair_h743_bootloader
     micoair_h743_default:
       short: micoair_h743
       buildType: MinSizeRel
@@ -331,16 +316,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: micoair_h743-aio_default
-    micoair_h743-v2_bootloader:
-      short: micoair_h743-v2_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: micoair_h743-v2_bootloader
-    micoair_h743-v2_default:
-      short: micoair_h743-v2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: micoair_h743-v2_default
     modalai_fc-v1_default:
       short: modalai_fc-v1
       buildType: MinSizeRel

.vscode/settings.json

@@ -129,4 +129,5 @@
         "yaml.schemas": {
                 "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
         },
+        "ros.distro": "humble"
 }

CMakeLists.txt

@@ -99,7 +99,7 @@
 #
 #=============================================================================
 
-cmake_minimum_required(VERSION 3.10 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.9 FATAL_ERROR)
 
 set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
 set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)

Jenkinsfile

@@ -235,9 +235,9 @@ pipeline {
               sh('rm -f px4_msgs/srv/*.srv')
               sh('rm -f px4_msgs/srv/versioned/*.srv')
               sh('cp msg/*.msg px4_msgs/msg/')
-              sh('cp msg/versioned/*.msg px4_msgs/msg/ || true')
+              sh('mkdir -p px4_msgs/msg/versioned && cp msg/versioned/*.msg px4_msgs/msg/versioned/')
               sh('cp srv/*.srv px4_msgs/srv/')
-              sh('cp srv/versioned/*.srv px4_msgs/srv/ || true')
+              sh('mkdir -p px4_msgs/srv/versioned && cp srv/versioned/*.srv px4_msgs/srv/versioned/')
               sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
               sh('cd px4_msgs; git push origin main || true')
               sh('rm -rf px4_msgs')

Kconfig

@@ -73,6 +73,13 @@ menu "Toolchain"
         help
             relative path to the ROMFS root directory
 
+    config BOARD_ROOTFSDIR
+        string "Root directory"
+        depends on PLATFORM_POSIX
+        default "."
+        help
+            Configure the root directory in the file system for PX4 files
+
     config BOARD_IO
         string "IO board name"
         default "px4_io-v2_default"

MAINTAINERS.md

@@ -1,42 +0,0 @@
-Maintainers
-===========
-
-See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/maintainers.html) to learn about the role of the maintainers and the process to become one.
-
-**Active Maintainers**
-
-| Name                    | Sector | GitHub | Chat | email
-|-------------------------|--------|--------|------|----------------
-| Lorenz Meier | Founder | [LorenzMeier][LorenzMeier] |  | <lorenz@px4.io>
-| Daniel Agar | Architecture | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
-| Beat Küng | Architecture | [bkueng][bkueng] | beatkueng | <beat-kueng@gmx.net>
-| Ramón Roche | CI / Testing | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
-| Mathieu Bresciani | State Estimation | [bresch][bresch] | mbresch |
-| Paul Riseborough | State Estimation | [priseborough][priseborough] |  |
-| David Sidrane | RTOS / NuttX | [davids5][davids5] | david_s5 | <David.Sidrane@Nscdg.com>
-| Jayoung Lim | Simulation | [Jaeyoung-Lim][Jaeyoung-Lim] | jaeyounglim. | <jalim@ethz.ch>
-| Beniamino Pozzan | ROS 2 | [beniaminopozzan][beniaminopozzan] | beniaminopozzan | <beniamino.pozzan@gmail.com>
-| Matthias Grob | Multirotor | [MaEtUgR][MaEtUgR] | maetugr |
-| Silvan Fuhrer | Fixed-Wing / VTOL | [sfuhrer][sfuhrer] | sfuhrer |
-| Christian Friedrich | Rover | [chfriedrich98][chfriedrich98] | christian982564 |
-| Pedro Roque | Spacecraft | [Pedro-Roque][Pedro-Roque] | .pedroroque | <padr@kth.se>
-
-
-**Documentation Maintainers**
-
-| Name | GitHub | Chat | email
-|------|--------|------|----------------------
-| Hamish Willee  | [hamishwillee][hamishwillee] | hamishwillee |
-
-**Release Managers**
-
-| Name | GitHub | Chat | email
-|------|--------|------|----------------------
-| Ramón Roche | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
-| Daniel Agar | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
-
-**Retired Maintainers**
-
-| Name | GitHub | Chat | email
-|------|--------|------|----------------------
-|  |  |  |

Makefile

@@ -344,7 +344,6 @@ bootloaders_update: \
 	matek_h743-slim_bootloader \
         micoair_h743_bootloader \
         micoair_h743-aio_bootloader \
-	micoair_h743-v2_bootloader \
 	modalai_fc-v2_bootloader \
 	mro_ctrl-zero-classic_bootloader \
 	mro_ctrl-zero-h7_bootloader \
@@ -404,7 +403,7 @@ check_newlines:
 
 # Testing
 # --------------------------------------------------------------------
-.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard
+.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance
 .PHONY: rostest python_coverage
 
 tests:
@@ -457,6 +456,10 @@ tests_offboard: rostest
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_rpyrt_ctl.test
 
+tests_avoidance: rostest
+	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test
+	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_safe_landing.test
+
 python_coverage:
 	@mkdir -p "$(SRC_DIR)"/build/python_coverage
 	@cd "$(SRC_DIR)"/build/python_coverage && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DPYTHON_COVERAGE=ON

README.md

@@ -17,19 +17,17 @@ PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out o
   * [VTOL](https://docs.px4.io/main/en/frames_vtol/)
   * [Autogyro](https://docs.px4.io/main/en/frames_autogyro/)
   * [Rover](https://docs.px4.io/main/en/frames_rover/)
-  * many more experimental types (Blimps, Boats, Submarines, High Altitude Balloons, Spacecraft, etc)
+  * many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
 * Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
 
-## Releases
-
-Release notes and supporting information for PX4 releases can be found on the [Developer Guide](https://docs.px4.io/main/en/releases/).
 
 ## Building a PX4 based drone, rover, boat or robot
 
-The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4. See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
+The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4.
+See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
 
 
-## Changing Code and Contributing
+## Changing code and contributing
 
 This [Developer Guide](https://docs.px4.io/main/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
 
@@ -37,7 +35,7 @@ Developers should read the [Guide for Contributions](https://docs.px4.io/main/en
 See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
 
 
-## Weekly Dev Call
+### Weekly Dev Call
 
 The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/contribute/).
 
@@ -46,17 +44,96 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/con
 
 ## Maintenance Team
 
-See the latest list of maintainers on [MAINTAINERS](MAINTAINERS.md) file at the root of the project.
+Note: This is the source of truth for the active maintainers of PX4 ecosystem.
 
-For the latest stats on contributors please see the latest stats for the Dronecode ecosystem in our project dashboard under [LFX Insights](https://insights.lfx.linuxfoundation.org/foundation/dronecode). For information on how to update your profile and affiliations please see the following support link on how to [Complete Your LFX Profile](https://docs.linuxfoundation.org/lfx/my-profile/complete-your-lfx-profile). Dronecode publishes a yearly snapshot of contributions and achievements on its [website under the Reports section](https://dronecode.org).
+| 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) |
+| Rover | [Christian Friedrich](https://github.com/chfriedrich98) |
+| Boat | 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.
 
 ## Supported Hardware
 
-For the most up to date information, please visit [PX4 User Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
+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/).
+
+### Pixhawk Standard Boards
+
+These boards fully comply with Pixhawk Standard, and are maintained by the PX4-Autopilot maintainers and Dronecode team
+
+* 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/ark_v6x.html)
+* [CubePilot Cube Orange+](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orangeplus.html)
+* [CubePilot Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
+* [CubePilot Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
+* [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html)
+* [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
+* [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
+* [Holybro Kakute F7](https://docs.px4.io/main/en/flight_controller/kakutef7.html)
+
+### Community supported
+
+These boards don't fully comply industry standards, and thus is solely maintained by the PX4 public community members.
+
+### Experimental
+
+These boards are not 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)
+
+## Project Roadmap
+
+**Note: Outdated**
+
+A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).
 
 ## Project Governance
 
 The PX4 Autopilot project including all of its trademarks is hosted under [Dronecode](https://www.dronecode.org/), part of the Linux Foundation.
 
-<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://dronecode.org/wp-content/uploads/sites/24/2020/08/dronecode_logo_default-1.png" alt="Dronecode Logo" width="110px"/></a>
+<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://mavlink.io/assets/site/logo_dronecode.png" alt="Dronecode Logo" width="110px"/></a>
+<a href="https://www.linuxfoundation.org/projects" style="padding:20px;"><img src="https://mavlink.io/assets/site/logo_linux_foundation.png" alt="Linux Foundation Logo" width="80px" /></a>
 <div style="padding:10px">&nbsp;</div>

ROMFS/performance-test/CMakeLists.txt

@@ -1,34 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2025 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.
-#
-############################################################################
-
-add_subdirectory(init.d)

ROMFS/performance-test/init.d/CMakeLists.txt

@@ -1,36 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2025 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_romfs_files(
-	rcS
-)

ROMFS/performance-test/init.d/rcS

@@ -1,68 +0,0 @@
-#!/bin/sh
-# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
-set +e
-# Un comment the line below to help debug scripts by printing a trace of the script commands
-#set -x
-# PX4FMU startup script.
-#
-# NOTE: environment variable references:
-#    If the dollar sign ('$') is followed by a left bracket ('{') then the
-#    variable name is terminated with the right bracket character ('}').
-#    Otherwise, the variable name goes to the end of the argument.
-#
-#
-# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
-#
-#------------------------------------------------------------------------------
-set R /
-
-#
-# Print full system version.
-#
-ver all
-
-#
-# Set the parameter file the board supports params on
-# MTD device.
-#
-if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
-then
-	set PARAM_FILE /fs/mtd_params
-fi
-
-#
-# Load parameters.
-#
-# if the board has a storage for (factory) calibration data
-if mft query -q -k MTD -s MTD_CALDATA -v /fs/mtd_caldata
-then
-	param load /fs/mtd_caldata
-fi
-
-#
-# Load parameters.
-#
-param select $PARAM_FILE
-if ! param load
-then
-	param reset_all
-fi
-
-#
-# Try to mount the microSD card.
-#
-mount -t vfat /dev/mmcsd0 /fs/microsd
-if [ $? = 0 ]
-then
-	echo "SD card mounted at /fs/microsd"
-else
-	echo "No SD card found"
-fi
-
-unset R
-
-echo ""
-echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
-echo "!!!!!!     This is the PERFORMANCE TESTING firmware! WARNs and ERRORs are expected!     !!!!!"
-echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
-echo ""

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

@@ -35,11 +35,8 @@ add_subdirectory(airframes)
 
 px4_add_romfs_files(
 	px4-rc.mavlink
+	px4-rc.params
 	px4-rc.simulator
-	px4-rc.gzsim
-	px4-rc.jmavsim
-	px4-rc.mavlinksim
-	px4-rc.sihsim
 	rc.replay
 	rcS
 )

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

@@ -16,6 +16,10 @@ 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:
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+
 # Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 1

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

@@ -16,6 +16,12 @@ param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1
 
+# disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+
 param set-default SIH_T_MAX 6
 param set-default SIH_MASS 0.3
 param set-default SIH_IXX 0.00402
@@ -27,19 +33,18 @@ param set-default SIH_KDV 0.2
 param set-default SIH_VEHICLE_TYPE 1 	# sih as fixed wing
 param set-default RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)
 
+
 param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
 
-# SIH for now hardcodes this configuration which we need to match in the airframe files.
 param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_CS0_TRQ_R 1
-param set-default CA_SV_CS0_TYPE 15  # single channel aileron
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_P 1
-param set-default CA_SV_CS1_TYPE 3  # elevator
+param set-default CA_SV_CS1_TYPE 3
 param set-default CA_SV_CS2_TRQ_Y 1
-param set-default CA_SV_CS2_TYPE 4  # rudder
-
+param set-default CA_SV_CS2_TYPE 4
 param set-default PWM_MAIN_FUNC1 201
 param set-default PWM_MAIN_FUNC2 202
 param set-default PWM_MAIN_FUNC3 203

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

@@ -28,6 +28,10 @@ param set-default MC_PITCH_P 5
 
 param set-default MAV_TYPE 19
 
+# disable some checks to allow to fly:
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+
 param set-default SIH_T_MAX 2
 param set-default SIH_Q_MAX 0.0165
 param set-default SIH_MASS 0.2

ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_standard_vtol

@@ -1,96 +0,0 @@
-#!/bin/sh
-#
-# @name SIH Standard VTOL
-#
-# @type Simulation
-# @class VTOL
-#
-# @output Motor1 MC motor front right
-# @output Motor2 MC motor back left
-# @output Motor3 MC motor front left
-# @output Motor4 MC motor back right
-# @output Motor5 Forward thrust motor
-# @output Servo1 Ailerons (single channel)
-# @output Servo2 Elevator
-# @output Servo3 Rudder
-#
-# @board px4_fmu-v2 exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
-
-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
-
-param set-default EKF2_GPS_DELAY 0
-
-param set-default VT_TYPE 2
-param set-default MPC_MAN_Y_MAX 60
-param set-default MC_PITCH_P 5
-
-param set-default CA_AIRFRAME 2
-param set-default CA_ROTOR_COUNT 5
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR0_PX 0.2
-param set-default CA_ROTOR0_PY 0.2
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR1_PX -0.2
-param set-default CA_ROTOR1_PY -0.2
-param set-default CA_ROTOR2_PX 0.2
-param set-default CA_ROTOR2_PY -0.2
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.2
-param set-default CA_ROTOR3_PY 0.2
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_PX -0.3
-param set-default CA_ROTOR4_KM 0.05
-param set-default CA_ROTOR4_AX 1
-param set-default CA_ROTOR4_AZ 0
-
-# SIH for now hardcodes this configuration which we need to match in the airframe files.
-param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_CS0_TRQ_R 1
-param set-default CA_SV_CS0_TYPE 15  # single channel aileron
-param set-default CA_SV_CS1_TRQ_P 1
-param set-default CA_SV_CS1_TYPE 3  # elevator
-param set-default CA_SV_CS2_TRQ_Y 1
-param set-default CA_SV_CS2_TYPE 4  # rudder
-
-param set-default FW_AIRSPD_MIN 7
-param set-default FW_AIRSPD_TRIM 10
-param set-default FW_AIRSPD_MAX 12
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 201
-param set-default PWM_MAIN_FUNC6 202
-param set-default PWM_MAIN_FUNC7 203
-param set-default PWM_MAIN_FUNC8 105
-
-param set-default MAV_TYPE 22
-
-# set SYS_HITL to 2 to start the SIH and avoid sensors startup
-# param set-default SYS_HITL 2
-
-param set-default SENS_DPRES_OFF 0.001
-
-param set SIH_T_MAX 2.0
-param set SIH_Q_MAX 0.0165
-param set SIH_MASS 0.2
-# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
-param set SIH_IXX 0.00354
-param set SIH_IYY 0.000625
-param set SIH_IZZ 0.00300
-param set SIH_IXZ 0
-param set SIH_KDV 0.2
-param set SIH_L_ROLL 0.2
-
-# sih as standard vtol
-param set SIH_VEHICLE_TYPE 3

ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid

@@ -0,0 +1,32 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+
+param set-default COM_OBS_AVOID 1

ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid.post

@@ -0,0 +1,2 @@
+# shellcheck disable=SC2154
+mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 -p # add mavlink stream for SDK

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

@@ -44,7 +44,7 @@ param set-default FW_R_LIM 30
 
 param set-default FW_MAN_R_MAX 30
 
-param set-default FW_THR_TRIM 0.8
+param set-default FW_THR_CRUISE 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0
 

ROMFS/px4fmu_common/init.d-posix/airframes/4001_gz_x500

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

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

@@ -12,8 +12,13 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}
 
 param set-default SIM_GZ_EN 1
 
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1
 
+
+
 param set-default FW_LND_ANG 8
 
 param set-default NPFG_PERIOD 12

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

@@ -13,6 +13,9 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
 
 param set-default SIM_GZ_EN 1
 
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1
 
 # TODO: Enable motor failure detection when the

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

@@ -14,7 +14,12 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=px4vision}
 
 param set-default SIM_GZ_EN 1
 
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+
 # Commander Parameters
+param set-default COM_OBS_AVOID 0
 param set-default COM_DISARM_LAND 0.5
 
 # EKF2 parameters

ROMFS/px4fmu_common/init.d-posix/airframes/4008_gz_advanced_plane

@@ -11,6 +11,8 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=advanced_plane}
 
 param set-default SIM_GZ_EN 1
 
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1
 
 param set-default FW_LND_ANG 8

ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover

@@ -11,39 +11,35 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
-param set-default NAV_ACC_RAD 0.5
-
-# Differential Parameters
+# Rover parameters
 param set-default RD_WHEEL_TRACK 0.3
+param set-default RD_MAX_ACCEL 5
+param set-default RD_MAX_DECEL 10
+param set-default RD_MAX_JERK 30
 param set-default RD_MAX_THR_YAW_R 1.5
+param set-default RD_YAW_RATE_P 0.25
+param set-default RD_YAW_RATE_I 0.01
+param set-default RD_YAW_P 5
+param set-default RD_YAW_I 0.1
+param set-default RD_MAX_SPEED 2
+param set-default RD_MAX_THR_SPD 2.15
+param set-default RD_SPEED_P 0.1
+param set-default RD_SPEED_I 0.01
+param set-default RD_MAX_YAW_RATE 180
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533
+param set-default RD_MAX_YAW_ACCEL 1000
 
-# Rover Control Parameters
-param set-default RO_ACCEL_LIM 5
-param set-default RO_DECEL_LIM 10
-param set-default RO_JERK_LIM 30
-param set-default RO_MAX_THR_SPEED 2.1
-
-# Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.01
-param set-default RO_YAW_RATE_P 0.25
-param set-default RO_YAW_RATE_LIM 180
-param set-default RO_YAW_ACCEL_LIM 120
-param set-default RO_YAW_DECEL_LIM 1000
-
-# Rover Attitude Control Parameters
-param set-default RO_YAW_P 5
-
-# Rover Position Control Parameters
-param set-default RO_SPEED_LIM 2
-param set-default RO_SPEED_I 0.5
-param set-default RO_SPEED_P 1
-
-# Pure Pursuit parameters
+# Pure pursuit parameters
+param set-default PP_LOOKAHD_MAX 30
+param set-default PP_LOOKAHD_MIN 2
 param set-default PP_LOOKAHD_GAIN 1
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1
+
+# Simulated sensors
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 0
 
 # Actuator mapping
 param set-default SIM_GZ_WH_FUNC1 101 # right wheel

ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower

@@ -11,6 +11,11 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=lawnmower}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
+# Simulated sensors
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 0
 # We can arm and drive in manual mode when it slides and GPS check fails:
 param set-default COM_ARM_WO_GPS 1
 
@@ -55,25 +60,19 @@ param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels
 # controls in practical scenarios.
 
 # Cutter deck blades clutch, PCA9685 servo channel 3,  "RC FLAPS" (406) - leftmost switch, or "Servo 3" (203):
-param set-default SIM_GZ_SV_FUNC1 201
-param set-default SIM_GZ_SV_MIN1 0
-param set-default SIM_GZ_SV_MAX1 1000
-param set-default SIM_GZ_SV_DIS1 500
-param set-default SIM_GZ_SV_FAIL1 500
-param set-default SIM_GZ_SV_MAXA1 90
-param set-default SIM_GZ_SV_MINA1 -90
+param set-default SIM_GZ_SV_FUNC3 203
+param set-default SIM_GZ_SV_MIN3 0
+param set-default SIM_GZ_SV_MAX3 1000
+param set-default SIM_GZ_SV_DIS3 500
+param set-default SIM_GZ_SV_FAIL3 500
 
 # Gas engine throttle, PCA9685 servo channel 4, "RC AUX1" (407) - left knob, or "Servo 4" (204):
 #    - on minimum when disarmed or failed:
-param set-default SIM_GZ_SV_FUNC2 202
-param set-default SIM_GZ_SV_MIN2 0
-param set-default SIM_GZ_SV_MAX2 1000
-param set-default SIM_GZ_SV_DIS2 500
-param set-default SIM_GZ_SV_FAIL2 500
-param set-default SIM_GZ_SV_MAXA2 90
-param set-default SIM_GZ_SV_MINA2 -90
-
-param set-default CA_SV_CS_COUNT 2
+param set-default SIM_GZ_SV_FUNC4 204
+param set-default SIM_GZ_SV_MIN4 0
+param set-default SIM_GZ_SV_MAX4 1000
+param set-default SIM_GZ_SV_DIS4 500
+param set-default SIM_GZ_SV_FAIL4 500
 
 # Controlling PCA9685 servos 5,6,7,8 directly via "Servo 5..8" setting, by publishing actuator_servos.control[]:
 

ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann

@@ -11,39 +11,35 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
+# Rover parameters
 param set-default NAV_ACC_RAD 0.5
-
-# Ackermann Parameters
-param set-default RA_WHEEL_BASE 0.321
 param set-default RA_ACC_RAD_GAIN 2
 param set-default RA_ACC_RAD_MAX 3
+param set-default RA_LAT_ACCEL_I 0.01
+param set-default RA_LAT_ACCEL_P 0.1
+param set-default RA_MAX_ACCEL 3
+param set-default RA_MAX_DECEL 6
+param set-default RA_MAX_JERK 15
+param set-default RA_MAX_LAT_ACCEL 4
+param set-default RA_MAX_SPEED 3
 param set-default RA_MAX_STR_ANG 0.5236
-param set-default RA_STR_RATE_LIM 360
-
-# Rover Control Parameters
-param set-default RO_ACCEL_LIM 3
-param set-default RO_DECEL_LIM 6
-param set-default RO_JERK_LIM 15
-param set-default RO_MAX_THR_SPEED 3.1
-
-# Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.1
-param set-default RO_YAW_RATE_P 1
-param set-default RO_YAW_RATE_LIM 180
-
-# Rover Attitude Control Parameters
-param set-default RO_YAW_P 3
-
-# Rover Position Control Parameters
-param set-default RO_SPEED_LIM 3
-param set-default RO_SPEED_I 0.1
-param set-default RO_SPEED_P 1
+param set-default RA_MAX_STR_RATE 360
+param set-default RA_MAX_THR_SPEED 3.1
+param set-default RA_SPEED_I 0.01
+param set-default RA_SPEED_P 0.1
+param set-default RA_WHEEL_BASE 0.321
 
 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1
 param set-default PP_LOOKAHD_MAX 10
 param set-default PP_LOOKAHD_MIN 1
 
+# Simulated sensors
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 0
+
 # Wheels
 param set-default SIM_GZ_WH_FUNC1 101
 param set-default SIM_GZ_WH_MIN1 0
@@ -51,8 +47,5 @@ param set-default SIM_GZ_WH_MAX1 200
 param set-default SIM_GZ_WH_DIS1 100
 
 # Steering
-param set-default SIM_GZ_SV_MAXA1 30
-param set-default SIM_GZ_SV_MINA1 -30
-param set-default CA_SV_CS_COUNT 1
 param set-default SIM_GZ_SV_FUNC1 201
 param set-default SIM_GZ_SV_REV 1

ROMFS/px4fmu_common/init.d-posix/airframes/4015_gz_r1_rover_mecanum

@@ -11,41 +11,34 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover_mecanum}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
-param set-default NAV_ACC_RAD 0.5
-
-# Mecanum Parameters
+# Rover parameters
 param set-default RM_WHEEL_TRACK 0.3
+param set-default RM_YAW_RATE_I 0.1
+param set-default RM_YAW_RATE_P 0.1
+param set-default RM_MAX_ACCEL 3
+param set-default RM_MAX_DECEL 5
+param set-default RM_MAX_JERK 5
+param set-default RM_MAX_SPEED 2
+param set-default RM_MAX_THR_SPD 2.2
 param set-default RM_MAX_THR_YAW_R 1.2
-param set-default RM_MISS_SPD_GAIN 1
+param set-default RM_YAW_P 5
+param set-default RM_YAW_I 0.1
+param set-default RM_MAX_YAW_RATE 120
+param set-default RM_MAX_YAW_ACCEL 240
+param set-default RM_MISS_VEL_GAIN 1
+param set-default RM_SPEED_I 0.01
+param set-default RM_SPEED_P 0.1
 
-# Rover Control Parameters
-param set-default RO_ACCEL_LIM 3
-param set-default RO_DECEL_LIM 5
-param set-default RO_JERK_LIM 30
-param set-default RO_MAX_THR_SPEED 2.1
-
-# Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.1
-param set-default RO_YAW_RATE_P 0.1
-param set-default RO_YAW_RATE_LIM 120
-param set-default RO_YAW_ACCEL_LIM 240
-param set-default RO_YAW_DECEL_LIM 1000
-
-# Rover Attitude Control Parameters
-param set-default RO_YAW_P 5
-
-# Rover Position Control Parameters
-param set-default RO_SPEED_LIM 2
-param set-default RO_SPEED_I 0.5
-param set-default RO_SPEED_P 1
-
-# Pure Pursuit parameters
-param set-default PP_LOOKAHD_GAIN 0.5
+# Pure pursuit parameters
 param set-default PP_LOOKAHD_MAX 10
 param set-default PP_LOOKAHD_MIN 1
+param set-default PP_LOOKAHD_GAIN 0.5
 
 # Simulated sensors
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
 param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 0
 
 # Actuator mapping
 param set-default SIM_GZ_WH_FUNC1 102 # right wheel front

ROMFS/px4fmu_common/init.d-posix/airframes/4018_gz_quadtailsitter

@@ -13,6 +13,12 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadtailsitter}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
+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 0
+
+
 param set-default MAV_TYPE 20
 
 param set-default CA_AIRFRAME 4

ROMFS/px4fmu_common/init.d-posix/airframes/4019_gz_x500_gimbal

@@ -1,23 +0,0 @@
-#!/bin/sh
-#
-# @name Gazebo x500 gimbal
-#
-# @type Quadrotor
-#
-
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_gimbal}
-
-. ${R}etc/init.d-posix/airframes/4001_gz_x500
-
-# Gimbal settings
-param set-default MNT_MODE_IN 4
-param set-default MNT_MODE_OUT 2
-param set-default MNT_RC_IN_MODE 1
-
-param set-default MNT_MAN_ROLL 1
-param set-default MNT_MAN_PITCH 2
-param set-default MNT_MAN_YAW 3
-
-param set-default MNT_RANGE_ROLL 180
-param set-default MNT_RANGE_PITCH 180
-param set-default MNT_RANGE_YAW 720

ROMFS/px4fmu_common/init.d-posix/airframes/4020_gz_tiltrotor

@@ -1,107 +0,0 @@
-#!/bin/sh
-#
-# @name VTOL Tiltrotor
-#
-# @type VTOL Tiltrotor
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=tiltrotor}
-
-param set-default SIM_GZ_EN 1 # Gazebo bridge
-
-param set-default MAV_TYPE 21
-
-param set-default CA_AIRFRAME 3
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default CA_ROTOR0_TILT 1
-param set-default CA_ROTOR2_TILT 2
-param set-default CA_SV_TL0_MAXA 90
-param set-default CA_SV_TL0_MINA 0
-param set-default CA_SV_TL0_TD 0
-param set-default CA_SV_TL0_CT 1
-param set-default CA_SV_TL1_MAXA 90
-param set-default CA_SV_TL1_MINA 0
-param set-default CA_SV_TL1_TD 0
-param set-default CA_SV_TL1_CT 1
-
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_TL_COUNT 2
-
-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_FUNC4 104
-
-param set-default SIM_GZ_EC_MIN1 10
-param set-default SIM_GZ_EC_MIN2 10
-param set-default SIM_GZ_EC_MIN3 10
-param set-default SIM_GZ_EC_MIN4 10
-
-param set-default SIM_GZ_EC_MAX1 1500
-param set-default SIM_GZ_EC_MAX2 1500
-param set-default SIM_GZ_EC_MAX3 1500
-param set-default SIM_GZ_EC_MAX4 1500
-
-param set-default SIM_GZ_SV_FUNC1 201
-param set-default SIM_GZ_SV_FUNC2 202
-param set-default SIM_GZ_SV_FUNC3 203
-param set-default SIM_GZ_SV_FUNC4 204
-param set-default SIM_GZ_SV_FUNC5 205
-
-param set-default SIM_GZ_SV_MAXA4 90
-param set-default SIM_GZ_SV_MINA4 0
-param set-default SIM_GZ_SV_MAXA5 90
-param set-default SIM_GZ_SV_MINA5 0
-
-param set-default NPFG_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 0.38
-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_YAWRATE_P 0.4
-param set-default MC_YAWRATE_I 0.1
-
-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 MIS_TAKEOFF_ALT 10
-
-param set-default VT_FWD_THRUST_EN 4
-param set-default VT_FWD_THRUST_SC 0.6
-param set-default VT_TILT_TRANS 0.6
-param set-default VT_TYPE 1

ROMFS/px4fmu_common/init.d-posix/airframes/4021_gz_x500_flow

@@ -1,15 +0,0 @@
-#!/bin/sh
-#
-# @name Gazebo x500 with downward optical flow and distance sensor
-#
-# @type Quadrotor
-#
-
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_flow}
-
-. ${R}etc/init.d-posix/airframes/4001_gz_x500
-
-echo "Disabling Sim GPS"
-param set-default SYS_HAS_GPS 0
-param set-default SIM_GPS_USED 0
-param set-default EKF2_GPS_CTRL 0

ROMFS/px4fmu_common/init.d-posix/airframes/71001_gazebo-classic_spacecraft_dart

@@ -1,155 +0,0 @@
-#!/bin/sh
-#
-# @name 6DoF Spacecraft Model
-#
-# @type Freeflyer with 8 thrusters
-#
-# @maintainer Pedro Roque <padr@kth.se>
-#
-
-. ${R}etc/init.d/rc.sc_defaults
-
-param set-default CA_AIRFRAME 15
-param set-default MAV_TYPE 99
-
-param set-default CA_THRUSTER_CNT 12
-param set-default CA_R_REV 0
-
-# param set-default FW_ARSP_MODE 1
-
-# Auto to be provided by Custom Airframe
-param set-default CA_METHOD 0
-
-# disable attitude failure detection
-param set-default FD_FAIL_P 0
-param set-default FD_FAIL_R 0
-
-# Set proper failsafes
-param set-default COM_ACT_FAIL_ACT 0
-param set-default COM_LOW_BAT_ACT 0
-param set-default NAV_DLL_ACT 0
-param set-default GF_ACTION 1
-param set-default NAV_RCL_ACT 1
-param set-default COM_POSCTL_NAVL 2
-
-# Set thrusters
-param set-default CA_THRUSTER0_PX -0.50
-param set-default CA_THRUSTER0_PY 0.50
-param set-default CA_THRUSTER0_PZ 0.0
-param set-default CA_THRUSTER0_CT 0.237
-param set-default CA_THRUSTER0_AX 0.0
-param set-default CA_THRUSTER0_AY -1.0
-param set-default CA_THRUSTER0_AZ 0.0
-
-param set-default CA_THRUSTER1_PX 0.50
-param set-default CA_THRUSTER1_PY 0.50
-param set-default CA_THRUSTER1_PZ 0.0
-param set-default CA_THRUSTER1_CT 0.237
-param set-default CA_THRUSTER1_AX 0.0
-param set-default CA_THRUSTER1_AY -1.0
-param set-default CA_THRUSTER1_AZ 0.0
-
-param set-default CA_THRUSTER2_PX 0.50
-param set-default CA_THRUSTER2_PY -0.50
-param set-default CA_THRUSTER2_PZ 0.0
-param set-default CA_THRUSTER2_CT 0.237
-param set-default CA_THRUSTER2_AX 0.0
-param set-default CA_THRUSTER2_AY 1.0
-param set-default CA_THRUSTER2_AZ 0.0
-
-param set-default CA_THRUSTER3_PX -0.50
-param set-default CA_THRUSTER3_PY -0.50
-param set-default CA_THRUSTER3_PZ 0.0
-param set-default CA_THRUSTER3_CT 0.237
-param set-default CA_THRUSTER3_AX 0.0
-param set-default CA_THRUSTER3_AY 1.0
-param set-default CA_THRUSTER3_AZ 0.0
-
-param set-default CA_THRUSTER4_PX -0.50
-param set-default CA_THRUSTER4_PY 0.0
-param set-default CA_THRUSTER4_PZ -0.50
-param set-default CA_THRUSTER4_CT 0.237
-param set-default CA_THRUSTER4_AX 1.0
-param set-default CA_THRUSTER4_AY 0.0
-param set-default CA_THRUSTER4_AZ 0.0
-
-param set-default CA_THRUSTER5_PX 0.50
-param set-default CA_THRUSTER5_PY 0.0
-param set-default CA_THRUSTER5_PZ -0.50
-param set-default CA_THRUSTER5_CT 0.237
-param set-default CA_THRUSTER5_AX -1.0
-param set-default CA_THRUSTER5_AY 0.0
-param set-default CA_THRUSTER5_AZ 0.0
-
-param set-default CA_THRUSTER6_PX 0.50
-param set-default CA_THRUSTER6_PY 0.0
-param set-default CA_THRUSTER6_PZ 0.50
-param set-default CA_THRUSTER6_CT 0.237
-param set-default CA_THRUSTER6_AX -1.0
-param set-default CA_THRUSTER6_AY 0.0
-param set-default CA_THRUSTER6_AZ 0.0
-
-param set-default CA_THRUSTER7_PX -0.50
-param set-default CA_THRUSTER7_PY 0.0
-param set-default CA_THRUSTER7_PZ 0.50
-param set-default CA_THRUSTER7_CT 0.237
-param set-default CA_THRUSTER7_AX 1.0
-param set-default CA_THRUSTER7_AY 0.0
-param set-default CA_THRUSTER7_AZ 0.0
-
-param set-default CA_THRUSTER8_PX 0.0
-param set-default CA_THRUSTER8_PY -0.50
-param set-default CA_THRUSTER8_PZ -0.50
-param set-default CA_THRUSTER8_CT 0.237
-param set-default CA_THRUSTER8_AX 0.0
-param set-default CA_THRUSTER8_AY 0.0
-param set-default CA_THRUSTER8_AZ 1.0
-
-param set-default CA_THRUSTER9_PX 0.0
-param set-default CA_THRUSTER9_PY 0.50
-param set-default CA_THRUSTER9_PZ -0.50
-param set-default CA_THRUSTER9_CT 0.237
-param set-default CA_THRUSTER9_AX 0.0
-param set-default CA_THRUSTER9_AY 0.0
-param set-default CA_THRUSTER9_AZ 1.0
-
-param set-default CA_THRUSTER10_PX 0.0
-param set-default CA_THRUSTER10_PY 0.50
-param set-default CA_THRUSTER10_PZ 0.50
-param set-default CA_THRUSTER10_CT 0.237
-param set-default CA_THRUSTER10_AX 0.0
-param set-default CA_THRUSTER10_AY 0.0
-param set-default CA_THRUSTER10_AZ -1.0
-
-param set-default CA_THRUSTER11_PX 0.0
-param set-default CA_THRUSTER11_PY -0.50
-param set-default CA_THRUSTER11_PZ 0.50
-param set-default CA_THRUSTER11_CT 0.237
-param set-default CA_THRUSTER11_AX 0.0
-param set-default CA_THRUSTER11_AY 0.0
-param set-default CA_THRUSTER11_AZ -1.0
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 105
-param set-default PWM_MAIN_FUNC6 106
-param set-default PWM_MAIN_FUNC7 107
-param set-default PWM_MAIN_FUNC8 108
-param set-default PWM_MAIN_FUNC9 109
-param set-default PWM_MAIN_FUNC10 110
-param set-default PWM_MAIN_FUNC11 111
-param set-default PWM_MAIN_FUNC12 112
-
-# PWM Simulation
-param set PWM_SIM_PWM_MAX 10000
-param set PWM_SIM_PWM_MIN 0
-
-# Controller Tunings
-param set-default SC_ROLLRATE_P 0.14
-param set-default SC_PITCHRATE_P 0.14
-param set-default SC_ROLLRATE_I 0.3
-param set-default SC_PITCHRATE_I 0.3
-param set-default SC_ROLLRATE_D 0.004
-param set-default SC_PITCHRATE_D 0.004

ROMFS/px4fmu_common/init.d-posix/airframes/71002_gz_spacecraft_2d

@@ -1,147 +0,0 @@
-#!/bin/sh
-#
-# @name 3DoF Spacecraft Model
-#
-# @type 2D Freeflyer with 8 thrusters - Planar motion
-#
-# @maintainer Pedro Roque <padr@kth.se>
-#
-
-. ${R}etc/init.d/rc.sc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=spacecraft_2d}
-
-param set-default SIM_GZ_EN 1
-
-param set-default SENS_EN_MAGSIM 1
-param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
-param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?
-
-param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 99
-
-param set-default CA_THRUSTER_CNT 8
-param set-default CA_R_REV 0
-
-# param set-default FW_ARSP_MODE 1
-
-# Auto to be provided by Custom Airframe
-param set-default CA_METHOD 0  # 0 is PseudoInverse, 3 is Metric
-
-# Set proper failsafes
-param set-default COM_ACT_FAIL_ACT 0
-param set-default COM_LOW_BAT_ACT 0
-param set-default NAV_DLL_ACT 0
-param set-default GF_ACTION 1
-param set-default NAV_RCL_ACT 1
-param set-default COM_POSCTL_NAVL 2
-
-# disable attitude failure detection
-param set-default FD_FAIL_P 0
-param set-default FD_FAIL_R 0
-
-param set-default CA_THRUSTER0_PX -0.12
-param set-default CA_THRUSTER0_PY -0.12
-param set-default CA_THRUSTER0_PZ 0.0
-param set-default CA_THRUSTER0_CT 1.4
-param set-default CA_THRUSTER0_AX 1.0
-param set-default CA_THRUSTER0_AY 0.0
-param set-default CA_THRUSTER0_AZ 0.0
-
-param set-default CA_THRUSTER1_PX 0.12
-param set-default CA_THRUSTER1_PY -0.12
-param set-default CA_THRUSTER1_PZ 0.0
-param set-default CA_THRUSTER1_CT 1.4
-param set-default CA_THRUSTER1_AX -1.0
-param set-default CA_THRUSTER1_AY 0.0
-param set-default CA_THRUSTER1_AZ 0.0
-
-param set-default CA_THRUSTER2_PX -0.12
-param set-default CA_THRUSTER2_PY 0.12
-param set-default CA_THRUSTER2_PZ 0.0
-param set-default CA_THRUSTER2_CT 1.4
-param set-default CA_THRUSTER2_AX 1.0
-param set-default CA_THRUSTER2_AY 0.0
-param set-default CA_THRUSTER2_AZ 0.0
-
-param set-default CA_THRUSTER3_PX 0.12
-param set-default CA_THRUSTER3_PY 0.12
-param set-default CA_THRUSTER3_PZ 0.0
-param set-default CA_THRUSTER3_CT 1.4
-param set-default CA_THRUSTER3_AX -1.0
-param set-default CA_THRUSTER3_AY 0.0
-param set-default CA_THRUSTER3_AZ 0.0
-
-param set-default CA_THRUSTER4_PX 0.12
-param set-default CA_THRUSTER4_PY -0.12
-param set-default CA_THRUSTER4_PZ 0.0
-param set-default CA_THRUSTER4_CT 1.4
-param set-default CA_THRUSTER4_AX 0.0
-param set-default CA_THRUSTER4_AY 1.0
-param set-default CA_THRUSTER4_AZ 0.0
-
-param set-default CA_THRUSTER5_PX 0.12
-param set-default CA_THRUSTER5_PY 0.12
-param set-default CA_THRUSTER5_PZ 0.0
-param set-default CA_THRUSTER5_CT 1.4
-param set-default CA_THRUSTER5_AX 0.0
-param set-default CA_THRUSTER5_AY -1.0
-param set-default CA_THRUSTER5_AZ 0.0
-
-param set-default CA_THRUSTER6_PX -0.12
-param set-default CA_THRUSTER6_PY -0.12
-param set-default CA_THRUSTER6_PZ 0.0
-param set-default CA_THRUSTER6_CT 1.4
-param set-default CA_THRUSTER6_AX 0.0
-param set-default CA_THRUSTER6_AY 1.0
-param set-default CA_THRUSTER6_AZ 0.0
-
-param set-default CA_THRUSTER7_PX -0.12
-param set-default CA_THRUSTER7_PY 0.12
-param set-default CA_THRUSTER7_PZ 0.0
-param set-default CA_THRUSTER7_CT 1.4
-param set-default CA_THRUSTER7_AX 0.0
-param set-default CA_THRUSTER7_AY -1.0
-param set-default CA_THRUSTER7_AZ 0.0
-
-param set-default SIM_GZ_TH_FUNC1 101
-param set-default SIM_GZ_TH_FUNC2 102
-param set-default SIM_GZ_TH_FUNC3 103
-param set-default SIM_GZ_TH_FUNC4 104
-param set-default SIM_GZ_TH_FUNC5 105
-param set-default SIM_GZ_TH_FUNC6 106
-param set-default SIM_GZ_TH_FUNC7 107
-param set-default SIM_GZ_TH_FUNC8 108
-
-param set-default SIM_GZ_TH_MIN1 0
-param set-default SIM_GZ_TH_MIN2 0
-param set-default SIM_GZ_TH_MIN3 0
-param set-default SIM_GZ_TH_MIN4 0
-param set-default SIM_GZ_TH_MIN5 0
-param set-default SIM_GZ_TH_MIN6 0
-param set-default SIM_GZ_TH_MIN7 0
-param set-default SIM_GZ_TH_MIN8 0
-
-param set-default SIM_GZ_TH_MAX1 10000
-param set-default SIM_GZ_TH_MAX2 10000
-param set-default SIM_GZ_TH_MAX3 10000
-param set-default SIM_GZ_TH_MAX4 10000
-param set-default SIM_GZ_TH_MAX5 10000
-param set-default SIM_GZ_TH_MAX6 10000
-param set-default SIM_GZ_TH_MAX7 10000
-param set-default SIM_GZ_TH_MAX8 10000
-
-# Controller Tunings
-param set SC_YAWRATE_P 3.335
-param set SC_YAWRATE_I 0.87
-param set SC_YAWRATE_D 0.15
-param set SC_YR_INT_LIM 0.2
-param set SC_YAW_P 3.0
-
-param set SPC_POS_P 0.20
-param set SPC_VEL_P 6.55
-param set SPC_VEL_I 0.0
-param set SPC_VEL_D 0.0
-param set SPC_VEL_MAX 12.0

ROMFS/px4fmu_common/init.d-posix/airframes/8011_gz_omnicopter

@@ -83,6 +83,9 @@ param set-default CA_ROTOR7_AY -0.211325
 param set-default CA_ROTOR7_AZ -0.57735
 
 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 SIM_GZ_EC_FUNC1 101
 param set-default SIM_GZ_EC_FUNC2 102

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

@@ -39,6 +39,8 @@ px4_add_romfs_files(
 	1012_gazebo-classic_iris_rplidar
 	1013_gazebo-classic_iris_vision
 	1013_gazebo-classic_iris_vision.post
+	1014_gazebo-classic_iris_obs_avoid
+	1014_gazebo-classic_iris_obs_avoid.post
 	1015_gazebo-classic_iris_depth_camera
 	1016_gazebo-classic_iris_downward_depth_camera
 	1017_gazebo-classic_iris_opt_flow_mockup
@@ -89,9 +91,6 @@ px4_add_romfs_files(
 	4016_gz_x500_lidar_down
 	4017_gz_x500_lidar_front
 	4018_gz_quadtailsitter
-	4019_gz_x500_gimbal
-	4020_gz_tiltrotor
-	4021_gz_x500_flow
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post
@@ -108,13 +107,9 @@ px4_add_romfs_files(
 	10040_sihsim_quadx
 	10041_sihsim_airplane
 	10042_sihsim_xvert
-	10043_sihsim_standard_vtol
 
 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2
 
-	71001_gazebo-classic_spacecraft_dart
-	71002_gz_spacecraft_2d
-
 	# [22000, 22999] Reserve for custom models
 )

ROMFS/px4fmu_common/init.d-posix/px4-rc.gzsim

@@ -1,180 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-echo "INFO  [init] Gazebo simulator"
-
-# Enforce minimum gz version as Harmonic (gz-sim8)
-MIN_GZ_VERSION="8.0.0"
-GZ_SIM_VERSION=$(gz sim --versions 2>/dev/null | head -n 1 | tr -d ' ')
-
-if [ -z "$GZ_SIM_VERSION" ]; then
-    echo "ERROR [init] Gazebo gz sim not found. Please install gz-harmonic"
-    exit 1
-fi
-
-# Use sort compare, check that MIN_GZ_VERSION is ordered last
-if [ "$(printf '%s\n' "$GZ_SIM_VERSION" "$MIN_GZ_VERSION" | sort -V | head -n1)" = "$MIN_GZ_VERSION" ]; then
-	gz_command="gz"
-	gz_sub_command="sim"
-
-	# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
-	# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
-	if [ -n "${PX4_GZ_SIM_RENDER_ENGINE}" ]; then
-		echo "INFO  [init] Setting Gazebo render engine to '${PX4_GZ_SIM_RENDER_ENGINE}'!"
-		gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
-	fi
-else
-    echo "ERROR [init] Gazebo gz sim version is too old ($GZ_SIM_VERSION). Minimum required version is $MIN_GZ_VERSION"
-    exit 1
-fi
-
-# If not standalone
-if [ -z "${PX4_GZ_STANDALONE}" ]; then
-
-	# Look for an already running world
-	gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
-
-	# shellcheck disable=SC2153
-	if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
-
-		# Setup gz environment variables
-		if [ -f ./gz_env.sh ]; then
-			. ./gz_env.sh
-
-		elif [ -f ../gz_env.sh ]; then
-			. ../gz_env.sh
-		fi
-
-		echo "INFO  [init] Starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
-
-		${gz_command} ${gz_sub_command} --verbose=${GZ_VERBOSE:=1} -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
-
-		if [ -z "${HEADLESS}" ]; then
-			echo "INFO  [init] Starting gz gui"
-			${gz_command} ${gz_sub_command} -g > /dev/null 2>&1 &
-		fi
-
-	else
-		# Gazebo is already running
-		echo "INFO  [init] gazebo already running world: ${gz_world}"
-		PX4_GZ_WORLD=${gz_world}
-	fi
-
-else
-	echo "INFO  [init] Standalone PX4 launch, waiting for Gazebo"
-fi
-
-# Wait for Gazebo world to be ready before proceeding
-check_scene_info() {
-	SERVICE_INFO=$(${gz_command} service -i --service "/world/${PX4_GZ_WORLD}/scene/info" 2>&1)
-	if echo "$SERVICE_INFO" | grep -q "Service providers"; then
-		return 0
-	else
-		return 1
-	fi
-}
-
-ATTEMPTS=30
-while [ $ATTEMPTS -gt 0 ]; do
-	if check_scene_info; then
-		echo "INFO  [init] Gazebo world is ready"
-		break
-	fi
-	ATTEMPTS=$((ATTEMPTS-1))
-	if [ $ATTEMPTS -eq 0 ]; then
-		echo "ERROR [init] Timed out waiting for Gazebo world"
-		exit 1
-	fi
-	echo "INFO  [init] Waiting for Gazebo world..."
-	sleep 1
-done
-
-# Start gz_bridge - either spawn a model or connect to existing one
-if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
-	# Spawn a model
-	MODEL_NAME="${PX4_SIM_MODEL#*gz_}"
-	MODEL_NAME_INSTANCE="${MODEL_NAME}_${px4_instance}"
-
-	POSE_ARG=""
-	if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
-		pos_x=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $1}')
-		pos_y=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $2}')
-		pos_z=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $3}')
-		pos_x=${pos_x:-0}
-		pos_y=${pos_y:-0}
-		pos_z=${pos_z:-0}
-
-		POSE_ARG=", pose: { position: { x: ${pos_x}, y: ${pos_y}, z: ${pos_z} } }"
-		echo "INFO  [init] Spawning model at position: ${pos_x} ${pos_y} ${pos_z}"
-	fi
-
-	echo "INFO  [init] Spawning model"
-
-	# Spawn model
-	${gz_command} service -s "/world/${PX4_GZ_WORLD}/create" --reqtype gz.msgs.EntityFactory \
-			--reptype gz.msgs.Boolean --timeout 5000 \
-			--req "sdf_filename: \"${PX4_GZ_MODELS}/${MODEL_NAME}/model.sdf\", name: \"${MODEL_NAME_INSTANCE}\", allow_renaming: false${POSE_ARG}" > /dev/null 2>&1
-
-	# Wait for model to spawn
-	sleep 1
-
-	# Start gz_bridge
-	if ! gz_bridge start -w "${PX4_GZ_WORLD}" -n "${MODEL_NAME_INSTANCE}"; then
-		echo "ERROR [init] gz_bridge failed to start and spawn model"
-		exit 1
-	fi
-
-	# Set physics parameters for faster-than-realtime simulation if needed
-	if [ -n "${PX4_SIM_SPEED_FACTOR}" ]; then
-		echo "INFO  [init] Setting simulation speed factor: ${PX4_SIM_SPEED_FACTOR}"
-		${gz_command} service -s "/world/${PX4_GZ_WORLD}/set_physics" --reqtype gz.msgs.Physics \
-					--reptype gz.msgs.Boolean --timeout 5000 \
-					--req "real_time_factor: ${PX4_SIM_SPEED_FACTOR}" > /dev/null 2>&1
-	fi
-
-	# Set up camera to follow the model if requested
-	if [ -n "${PX4_GZ_FOLLOW}" ]; then
-
-		echo "INFO  [init] Setting camera to follow ${MODEL_NAME_INSTANCE}"
-
-		# Set camera to follow the model
-		${gz_command} service -s "/gui/follow" --reqtype gz.msgs.StringMsg \
-				--reptype gz.msgs.Boolean --timeout 5000 \
-				--req "data: \"${MODEL_NAME_INSTANCE}\"" > /dev/null 2>&1
-
-		# Set default camera offset if not specified
-		follow_x=${PX4_GZ_FOLLOW_OFFSET_X:--2.0}
-		follow_y=${PX4_GZ_FOLLOW_OFFSET_Y:--2.0}
-		follow_z=${PX4_GZ_FOLLOW_OFFSET_Z:-2.0}
-
-		# Set camera offset
-		${gz_command} service -s "/gui/follow/offset" --reqtype gz.msgs.Vector3d \
-				--reptype gz.msgs.Boolean --timeout 5000 \
-				--req "x: ${follow_x}, y: ${follow_y}, z: ${follow_z}" > /dev/null 2>&1
-
-		echo "INFO  [init] Camera follow offset set to ${follow_x}, ${follow_y}, ${follow_z}"
-	fi
-
-elif [ -n "${PX4_GZ_MODEL_NAME}" ]; then
-	# Connect to existing model
-	echo "INFO  [init] PX4_GZ_MODEL_NAME set, PX4 will attach to existing model"
-	if ! gz_bridge start -w "${PX4_GZ_WORLD}" -n "${PX4_GZ_MODEL_NAME}"; then
-		echo "ERROR [init] gz_bridge failed to start and attach to existing model"
-		exit 1
-	fi
-else
-	echo "ERROR [init] failed to pass either PX4_GZ_MODEL_NAME or PX4_SIM_MODEL"
-	exit 1
-fi
-
-# NOTE: Only for rover_mecanum and spacecraft_2d. All other models have
-# the magnetometer sensor in the model.sdf.
-if param compare -s SENS_EN_MAGSIM 1
-then
-	sensor_mag_sim start
-fi
-# NOTE: new gz has airspeed sensor, remove once added
-if param compare -s SENS_EN_ARSPDSIM 1
-then
-	sensor_airspeed_sim start
-fi

ROMFS/px4fmu_common/init.d-posix/px4-rc.jmavsim

@@ -1,14 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-echo "INFO  [init] jMAVSim simulator"
-
-if jps | grep -i jmavsim; then
-	kill "$(jps | grep -i jmavsim | awk '{print $1}')" || true
-	sleep 1
-fi
-
-param set IMU_INTEG_RATE 250
-./jmavsim_run.sh -l -r 250 &
-
-simulator_mavlink start -h localhost $((4560+px4_instance))

ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlinksim

@@ -1,27 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-# EKF2 specifics
-param set-default EKF2_GPS_DELAY 10
-param set-default EKF2_MULTI_IMU 3
-param set-default SENS_IMU_MODE 0
-
-simulator_tcp_port=$((4560+px4_instance))
-
-# Check if PX4_SIM_HOSTNAME environment variable is empty
-# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
-# If both are empty use localhost for simulator
-if [ -z "${PX4_SIM_HOSTNAME}" ]; then
-
-	if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
-		echo "INFO  [init] PX4_SIM_HOSTNAME: localhost"
-		simulator_mavlink start -c $simulator_tcp_port
-	else
-		echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
-		simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
-	fi
-
-else
-	echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
-	simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
-fi

ROMFS/px4fmu_common/init.d-posix/px4-rc.params

@@ -0,0 +1,5 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+#param set-default MAV_SYS_ID $((px4_instance+1))
+#param set-default IMU_INTEG_RATE 250

ROMFS/px4fmu_common/init.d-posix/px4-rc.sihsim

@@ -1,38 +0,0 @@
-#!/bin/sh
-
-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 ${PX4_HOME_LON}
-fi
-if [ -n "${PX4_HOME_ALT}" ]; then
-	param set SIH_LOC_H0 ${PX4_HOME_ALT}
-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
-	if param compare -s SENS_EN_AGPSIM 1
-	then
-		sensor_agp_sim start
-	fi
-
-else
-	echo "ERROR [init] simulator_sih failed to start"
-	exit 1
-fi

ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator

@@ -4,22 +4,204 @@
 # Simulator IMU data provided at 250 Hz
 param set-default IMU_INTEG_RATE 250
 
-# For simulation, allow registering modes while armed for developer convenience
-param set-default COM_MODE_ARM_CHK 1
-
 if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then
-    # Run SIH
-    . px4-rc.sihsim
+
+	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 ${PX4_HOME_LON}
+	fi
+	if [ -n "${PX4_HOME_ALT}" ]; then
+		param set SIH_LOC_H0 ${PX4_HOME_ALT}
+	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
+		if param compare -s SENS_EN_AGPSIM 1
+		then
+			sensor_agp_sim start
+		fi
+
+	else
+		echo "ERROR [init] simulator_sih failed to start"
+		exit 1
+	fi
 
 elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
-    # Run Gazebo (gz)
-    . px4-rc.gzsim
+	# Use Gazebo
+
+	echo "INFO  [init] Gazebo simulator"
+
+	# Only start up Gazebo if PX4_GZ_STANDALONE is not set.
+	if [ -z "${PX4_GZ_STANDALONE}" ]; then
+
+		# "gz sim" only available in Garden and later
+		GZ_SIM_VERSIONS=$(gz sim --versions 2>&1)
+		if [ $? -eq 0 ] && [ "${GZ_SIM_VERSIONS}" != "" ]
+		then
+			# "gz sim" from Garden on
+			gz_command="gz"
+			gz_sub_command="sim"
+
+			# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
+			# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
+			if [ -n "${PX4_GZ_SIM_RENDER_ENGINE}" ]; then
+				echo "INFO  [init] Setting Gazebo render engine to '${PX4_GZ_SIM_RENDER_ENGINE}'!"
+				gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
+			fi
+		else
+			echo "ERROR [init] Gazebo gz please install gz-garden"
+			exit 1
+		fi
+
+		# look for running ${gz_command} gazebo world
+		gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+
+		# shellcheck disable=SC2153
+		if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
+
+			# source generated gz_env.sh for GZ_SIM_RESOURCE_PATH
+			if [ -f ./gz_env.sh ]; then
+				. ./gz_env.sh
+
+			elif [ -f ../gz_env.sh ]; then
+				. ../gz_env.sh
+			fi
+
+			echo "INFO  [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
+
+			${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
+
+			if [ -z "${HEADLESS}" ]; then
+				# HEADLESS not set, starting gui
+				${gz_command} ${gz_sub_command} -g &
+			fi
+
+		else
+			# Gazebo is already running, do not start the simulator, nor the GUI
+			echo "INFO  [init] gazebo already running world: ${gz_world}"
+			PX4_GZ_WORLD=${gz_world}
+		fi
+	else
+		echo "INFO  [init] Standalone PX4 launch, waiting for Gazebo"
+	fi
+
+	# start gz_bridge
+	if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
+		# model specified, gz_bridge will spawn model
+
+		if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
+			# model pose provided: [x, y, z, roll, pitch, yaw]
+
+			# Clean potential input line formatting.
+			model_pose="$( echo "${PX4_GZ_MODEL_POSE}" | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
+			echo "INFO  [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
+
+		else
+			# model pose not provided, origin will be used
+
+			echo "WARN  [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
+			model_pose="0,0,0,0,0,0"
+		fi
+
+		# start gz bridge with pose arg.
+		if ! gz_bridge start -p "${model_pose}" -m "${PX4_SIM_MODEL#*gz_}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
+			echo "ERROR [init] gz_bridge failed to start and spawn model"
+			exit 1
+		fi
+
+	elif [ -n "${PX4_GZ_MODEL_NAME}" ]; then
+		# model name specificed, gz_bridge will attach to existing model
+
+		echo "INFO  [init] PX4_GZ_MODEL_NAME set, PX4 will attach to existing model"
+		if ! gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
+			echo "ERROR [init] gz_bridge failed to start and attach to existing model"
+			exit 1
+		fi
+
+	else
+		echo "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_SIM_MODEL"
+		exit 1
+	fi
+
+	# Start the sensor simulator modules
+	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
+	if param compare -s SENS_EN_AGPSIM 1
+	then
+		sensor_agp_sim start
+	fi
 
 elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "10017" ]; then
-    # Run jMAVSim
-    . px4-rc.jmavsim
+
+	echo "INFO  [init] jMAVSim simulator"
+
+	if jps | grep -i jmavsim; then
+		kill "$(jps | grep -i jmavsim | awk '{print $1}')" || true
+		sleep 1
+	fi
+
+	param set IMU_INTEG_RATE 250
+	./jmavsim_run.sh -l -r 250 &
+
+	simulator_mavlink start -h localhost $((4560+px4_instance))
 
 else
-    # Run simulator_mavlink module for interface with gazebo-classic
-    . px4-rc.mavlinksim
+	# otherwise start simulator (mavlink) module
+
+	# EKF2 specifics
+	param set-default EKF2_GPS_DELAY 10
+	param set-default EKF2_MULTI_IMU 3
+	param set-default SENS_IMU_MODE 0
+
+	simulator_tcp_port=$((4560+px4_instance))
+
+	# Check if PX4_SIM_HOSTNAME environment variable is empty
+	# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
+	# If both are empty use localhost for simulator
+	if [ -z "${PX4_SIM_HOSTNAME}" ]; then
+
+		if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
+			echo "INFO  [init] PX4_SIM_HOSTNAME: localhost"
+			simulator_mavlink start -c $simulator_tcp_port
+		else
+			echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
+			simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
+		fi
+
+	else
+		echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
+		simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
+	fi
+
 fi

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -153,6 +153,8 @@ fi
 
 param set-default BAT1_N_CELLS 4
 
+param set-default CBRK_SUPPLY_CHK 894281
+
 # disable check, no CPU load reported on posix yet
 param set-default COM_CPU_MAX -1
 param set-default COM_RAM_MAX -1
@@ -227,6 +229,9 @@ then
 	exit 1
 fi
 
+#user defined params for instances can be in PATH
+. px4-rc.params
+
 dataman start
 
 # only start the simulator if not in replay mode, as both control the lockstep time
@@ -242,8 +247,6 @@ then
 	battery_simulator start
 fi
 
-system_power_simulator start
-
 tone_alarm start
 rc_update start
 manual_control start
@@ -334,11 +337,6 @@ then
 	payload_deliverer start
 fi
 
-if param compare -s ICE_EN 1
-then
-	internal_combustion_engine_control start
-fi
-
 #user defined mavlink streams for instances can be in PATH
 . px4-rc.mavlink
 

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -92,13 +92,6 @@ if(CONFIG_MODULES_ROVER_ACKERMANN)
 	)
 endif()
 
-if(CONFIG_MODULES_SPACECRAFT)
-	px4_add_romfs_files(
-		rc.sc_apps
-		rc.sc_defaults
-	)
-endif()
-
 if(CONFIG_MODULES_ROVER_MECANUM)
 	px4_add_romfs_files(
 		rc.rover_mecanum_apps

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

@@ -5,15 +5,6 @@
 # @type Standard VTOL
 # @class VTOL
 #
-# @output Motor1 MC motor front right
-# @output Motor2 MC motor back left
-# @output Motor3 MC motor front left
-# @output Motor4 MC motor back right
-# @output Motor5 Forward thrust motor
-# @output Servo1 Aileron
-# @output Servo2 Elevator
-# @output Servo3 Rudder
-#
 # @maintainer Roman Bapst <roman@auterion.com>
 #
 # @board px4_fmu-v2 exclude

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

@@ -17,16 +17,15 @@ param set UAVCAN_ENABLE 0
 param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
-
-# SIH for now hardcodes this configuration which we need to match in the airframe files.
 param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_CS0_TRQ_R 1
-param set-default CA_SV_CS0_TYPE 15  # single channel aileron
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_P 1
-param set-default CA_SV_CS1_TYPE 3  # elevator
+param set-default CA_SV_CS1_TYPE 3
 param set-default CA_SV_CS2_TRQ_Y 1
-param set-default CA_SV_CS2_TYPE 4  # rudder
+param set-default CA_SV_CS2_TYPE 4
 
+param set HIL_ACT_REV 1
 param set HIL_ACT_FUNC1 201
 param set HIL_ACT_FUNC2 202
 param set HIL_ACT_FUNC3 203

ROMFS/px4fmu_common/init.d/airframes/1103_standard_vtol_sih.hil

@@ -1,92 +0,0 @@
-#!/bin/sh
-#
-# @name SIH Standard VTOL QuadPlane
-#
-# @type Simulation
-# @class VTOL
-#
-# @output Motor1 MC motor front right
-# @output Motor2 MC motor back left
-# @output Motor3 MC motor front left
-# @output Motor4 MC motor back right
-# @output Motor5 Forward thrust motor
-# @output Servo1 Ailerons (single channel)
-# @output Servo2 Elevator
-# @output Servo3 Rudder
-#
-# @board px4_fmu-v2 exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set UAVCAN_ENABLE 0
-
-param set-default VT_TYPE 2
-param set-default MPC_MAN_Y_MAX 60
-param set-default MC_PITCH_P 5
-
-param set-default CA_AIRFRAME 2
-param set-default CA_ROTOR_COUNT 5
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR0_PX 0.2
-param set-default CA_ROTOR0_PY 0.2
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR1_PX -0.2
-param set-default CA_ROTOR1_PY -0.2
-param set-default CA_ROTOR2_PX 0.2
-param set-default CA_ROTOR2_PY -0.2
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.2
-param set-default CA_ROTOR3_PY 0.2
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_PX -0.3
-param set-default CA_ROTOR4_KM 0.05
-param set-default CA_ROTOR4_AX 1
-param set-default CA_ROTOR4_AZ 0
-
-# SIH for now hardcodes this configuration which we need to match in the airframe files.
-param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_CS0_TRQ_R 1
-param set-default CA_SV_CS0_TYPE 15  # single channel aileron
-param set-default CA_SV_CS1_TRQ_P 1
-param set-default CA_SV_CS1_TYPE 3  # elevator
-param set-default CA_SV_CS2_TRQ_Y 1
-param set-default CA_SV_CS2_TYPE 4  # rudder
-
-param set-default FW_AIRSPD_MIN 7
-param set-default FW_AIRSPD_TRIM 10
-param set-default FW_AIRSPD_MAX 12
-
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
-param set-default HIL_ACT_FUNC5 201
-param set-default HIL_ACT_FUNC6 202
-param set-default HIL_ACT_FUNC7 203
-param set-default HIL_ACT_FUNC8 105
-
-param set-default MAV_TYPE 22
-
-# set SYS_HITL to 2 to start the SIH and avoid sensors startup
-param set-default SYS_HITL 2
-
-# disable some checks to allow to fly:
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-
-param set-default SENS_DPRES_OFF 0.001
-
-param set SIH_T_MAX 2.0
-param set SIH_Q_MAX 0.0165
-param set SIH_MASS 0.2
-# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
-param set SIH_IXX 0.00354
-param set SIH_IYY 0.000625
-param set SIH_IZZ 0.00300
-param set SIH_IXZ 0
-param set SIH_KDV 0.2
-param set SIH_L_ROLL 0.2
-
-# sih as standard vtol
-param set SIH_VEHICLE_TYPE 3

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

@@ -12,6 +12,7 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 # Commander Parameters
+param set-default COM_OBS_AVOID 1
 param set-default COM_DISARM_LAND 0.5
 
 # EKF2 parameters

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

@@ -22,6 +22,11 @@ param set-default MC_PITCHRATE_I 0.3
 param set-default MC_ROLLRATE_D 0.004
 param set-default MC_PITCHRATE_D 0.004
 
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+
 # Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 1

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

@@ -12,6 +12,7 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 # Commander Parameters
+param set-default COM_OBS_AVOID 1
 param set-default COM_DISARM_LAND 0.5
 
 # EKF2 parameters

ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover

@@ -21,37 +21,26 @@ param set-default RBCLW_FUNC1 101
 param set-default RBCLW_FUNC2 102
 param set-default RBCLW_REV 1 # reverse right wheels
 
-
-param set-default NAV_ACC_RAD 0.5
-
-# Differential Parameters
+# Rover parameters
 param set-default RD_WHEEL_TRACK 0.3
+param set-default RD_MAX_ACCEL 3
+param set-default RD_MAX_DECEL 4
+param set-default RD_MAX_JERK 5
+param set-default RD_MAX_SPEED 1.6
+param set-default RD_MAX_THR_SPD 1.9
 param set-default RD_MAX_THR_YAW_R 0.7
+param set-default RD_MAX_YAW_ACCEL 600
+param set-default RD_MAX_YAW_RATE 250
+param set-default RD_SPEED_P 0.1
+param set-default RD_SPEED_I 0.01
 param set-default RD_TRANS_DRV_TRN 0.785398
 param set-default RD_TRANS_TRN_DRV 0.139626
+param set-default RD_YAW_P 5
+param set-default RD_YAW_I 0.1
+param set-default RD_YAW_RATE_P 0.1
+param set-default RD_YAW_RATE_I 0.01
 
-# Rover Control Parameters
-param set-default RO_ACCEL_LIM 3
-param set-default RO_DECEL_LIM 4
-param set-default RO_JERK_LIM 5
-param set-default RO_MAX_THR_SPEED 1.9
-
-# Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.01
-param set-default RO_YAW_RATE_P 0.1
-param set-default RO_YAW_RATE_LIM 250
-param set-default RO_YAW_ACCEL_LIM 600
-param set-default RO_YAW_DECEL_LIM 600
-
-# Rover Attitude Control Parameters
-param set-default RO_YAW_P 5
-
-# Rover Position Control Parameters
-param set-default RO_SPEED_LIM 1.6
-param set-default RO_SPEED_I 0.01
-param set-default RO_SPEED_P 0.1
-
-# Pure Pursuit parameters
-param set-default PP_LOOKAHD_GAIN 1
+# Pure pursuit parameters
 param set-default PP_LOOKAHD_MAX 10
 param set-default PP_LOOKAHD_MIN 1
+param set-default PP_LOOKAHD_GAIN 1

ROMFS/px4fmu_common/init.d/airframes/51001_axial_scx10_2_trail_honcho

@@ -14,33 +14,24 @@
 . ${R}etc/init.d/rc.rover_ackermann_defaults
 
 param set-default BAT1_N_CELLS 3
-param set-default NAV_ACC_RAD 0.5
 
-# Ackermann Parameters
-param set-default RA_WHEEL_BASE 0.321
+# Rover parameters
+param set-default NAV_ACC_RAD 0.5
 param set-default RA_ACC_RAD_GAIN 2
 param set-default RA_ACC_RAD_MAX 3
+param set-default RA_LAT_ACCEL_I 0.01
+param set-default RA_LAT_ACCEL_P 0.1
+param set-default RA_MAX_ACCEL 1.5
+param set-default RA_MAX_DECEL 10
+param set-default RA_MAX_JERK 20
+param set-default RA_MAX_LAT_ACCEL 3
+param set-default RA_MAX_SPEED 2.5
 param set-default RA_MAX_STR_ANG 0.5236
-param set-default RA_STR_RATE_LIM 270
-
-# Rover Control Parameters
-param set-default RO_ACCEL_LIM 1.5
-param set-default RO_DECEL_LIM 10
-param set-default RO_JERK_LIM 20
-param set-default RO_MAX_THR_SPEED 2.8
-
-# Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0
-param set-default RO_YAW_RATE_P 0
-param set-default RO_YAW_RATE_LIM 0
-
-# Rover Attitude Control Parameters
-param set-default RO_YAW_P 0
-
-# Rover Position Control Parameters
-param set-default RO_SPEED_LIM 2.5
-param set-default RO_SPEED_I 0.01
-param set-default RO_SPEED_P 0.1
+param set-default RA_MAX_STR_RATE 270
+param set-default RA_MAX_THR_SPEED 2.8
+param set-default RA_SPEED_I 0.01
+param set-default RA_SPEED_P 0.1
+param set-default RA_WHEEL_BASE 0.321
 
 # Pure pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1

ROMFS/px4fmu_common/init.d/airframes/70000_spacecraft_2d

@@ -1,150 +0,0 @@
-#!/bin/sh
-#
-# @name KTH Space Robot
-#
-# @type Space Robot
-# @class 2D Space Robot
-#
-# @maintainer DISCOWER
-#
-
-. ${R}etc/init.d/rc.sc_defaults
-
-param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 99
-
-param set-default CA_THRUSTER_CNT 8
-param set-default CA_R_REV 0
-
-# Auto to be provided by Custom Airframe
-param set-default CA_METHOD 0
-
-# Set proper failsafes
-param set-default COM_ACT_FAIL_ACT 0
-param set-default COM_LOW_BAT_ACT 0
-param set-default NAV_DLL_ACT 0
-param set-default GF_ACTION 1
-param set-default NAV_RCL_ACT 1
-param set-default COM_POSCTL_NAVL 2
-
-# Set Mocap Vision frame
-param set EKF2_EV_CTRL 15
-param set EKF2_HGT_REF 3
-
-# disable attitude failure detection
-param set-default FD_FAIL_P 0
-param set-default FD_FAIL_R 0
-
-param set-default CA_THRUSTER0_PX -0.12
-param set-default CA_THRUSTER0_PY -0.12
-param set-default CA_THRUSTER0_PZ 0.0
-param set-default CA_THRUSTER0_CT 1.4
-param set-default CA_THRUSTER0_AX 1.0
-param set-default CA_THRUSTER0_AY 0.0
-param set-default CA_THRUSTER0_AZ 0.0
-
-param set-default CA_THRUSTER1_PX 0.12
-param set-default CA_THRUSTER1_PY -0.12
-param set-default CA_THRUSTER1_PZ 0.0
-param set-default CA_THRUSTER1_CT 1.4
-param set-default CA_THRUSTER1_AX -1.0
-param set-default CA_THRUSTER1_AY 0.0
-param set-default CA_THRUSTER1_AZ 0.0
-
-param set-default CA_THRUSTER2_PX -0.12
-param set-default CA_THRUSTER2_PY 0.12
-param set-default CA_THRUSTER2_PZ 0.0
-param set-default CA_THRUSTER2_CT 1.4
-param set-default CA_THRUSTER2_AX 1.0
-param set-default CA_THRUSTER2_AY 0.0
-param set-default CA_THRUSTER2_AZ 0.0
-
-param set-default CA_THRUSTER3_PX 0.12
-param set-default CA_THRUSTER3_PY 0.12
-param set-default CA_THRUSTER3_PZ 0.0
-param set-default CA_THRUSTER3_CT 1.4
-param set-default CA_THRUSTER3_AX -1.0
-param set-default CA_THRUSTER3_AY 0.0
-param set-default CA_THRUSTER3_AZ 0.0
-
-param set-default CA_THRUSTER4_PX 0.12
-param set-default CA_THRUSTER4_PY -0.12
-param set-default CA_THRUSTER4_PZ 0.0
-param set-default CA_THRUSTER4_CT 1.4
-param set-default CA_THRUSTER4_AX 0.0
-param set-default CA_THRUSTER4_AY 1.0
-param set-default CA_THRUSTER4_AZ 0.0
-
-param set-default CA_THRUSTER5_PX 0.12
-param set-default CA_THRUSTER5_PY 0.12
-param set-default CA_THRUSTER5_PZ 0.0
-param set-default CA_THRUSTER5_CT 1.4
-param set-default CA_THRUSTER5_AX 0.0
-param set-default CA_THRUSTER5_AY -1.0
-param set-default CA_THRUSTER5_AZ 0.0
-
-param set-default CA_THRUSTER6_PX -0.12
-param set-default CA_THRUSTER6_PY -0.12
-param set-default CA_THRUSTER6_PZ 0.0
-param set-default CA_THRUSTER6_CT 1.4
-param set-default CA_THRUSTER6_AX 0.0
-param set-default CA_THRUSTER6_AY 1.0
-param set-default CA_THRUSTER6_AZ 0.0
-
-param set-default CA_THRUSTER7_PX -0.12
-param set-default CA_THRUSTER7_PY 0.12
-param set-default CA_THRUSTER7_PZ 0.0
-param set-default CA_THRUSTER7_CT 1.4
-param set-default CA_THRUSTER7_AX 0.0
-param set-default CA_THRUSTER7_AY -1.0
-param set-default CA_THRUSTER7_AZ 0.0
-
-
-param set-default PWM_AUX_TIM0 10
-param set-default PWM_AUX_TIM1 10
-param set-default PWM_AUX_TIM2 10
-
-param set-default PWM_AUX_FUNC1 101
-param set-default PWM_AUX_FUNC2 102
-param set-default PWM_AUX_FUNC3 103
-param set-default PWM_AUX_FUNC4 104
-param set-default PWM_AUX_FUNC5 105
-param set-default PWM_AUX_FUNC6 106
-param set-default PWM_AUX_FUNC7 107
-param set-default PWM_AUX_FUNC8 108
-
-param set-default PWM_AUX_DIS1 0
-param set-default PWM_AUX_DIS2 0
-param set-default PWM_AUX_DIS3 0
-param set-default PWM_AUX_DIS4 0
-param set-default PWM_AUX_DIS5 0
-param set-default PWM_AUX_DIS6 0
-param set-default PWM_AUX_DIS7 0
-param set-default PWM_AUX_DIS8 0
-
-param set-default PWM_AUX_MIN1 0
-param set-default PWM_AUX_MIN2 0
-param set-default PWM_AUX_MIN3 0
-param set-default PWM_AUX_MIN4 0
-param set-default PWM_AUX_MIN5 0
-param set-default PWM_AUX_MIN6 0
-param set-default PWM_AUX_MIN7 0
-param set-default PWM_AUX_MIN8 0
-
-# BOARD_PWM_FREQ is downscaled by 10, thus PWM value is given in 10s of usec
-param set-default PWM_AUX_MAX1 10000
-param set-default PWM_AUX_MAX2 10000
-param set-default PWM_AUX_MAX3 10000
-param set-default PWM_AUX_MAX4 10000
-param set-default PWM_AUX_MAX5 10000
-param set-default PWM_AUX_MAX6 10000
-param set-default PWM_AUX_MAX7 10000
-param set-default PWM_AUX_MAX8 10000
-
-# Controller Tunings
-param set-default SC_ROLLRATE_P 0.14
-param set-default SC_PITCHRATE_P 0.14
-param set-default SC_ROLLRATE_I 0.3
-param set-default SC_PITCHRATE_I 0.3
-param set-default SC_ROLLRATE_D 0.004
-param set-default SC_PITCHRATE_D 0.004

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

@@ -48,7 +48,6 @@ if(CONFIG_MODULES_SIMULATION_PWM_OUT_SIM)
 		1100_rc_quad_x_sih.hil
 		1101_rc_plane_sih.hil
 		1102_tailsitter_duo_sih.hil
-		1103_standard_vtol_sih.hil
 	)
 endif()
 

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -24,6 +24,7 @@ param set-default COM_DISARM_PRFLT -1
 
 param set-default EKF2_ARSP_THR 8
 param set-default EKF2_FUSE_BETA 1
+param set-default EKF2_GPS_CHECK 21
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_REQ_EPH 10
 param set-default EKF2_REQ_EPV 10

ROMFS/px4fmu_common/init.d/rc.heli_defaults

@@ -12,7 +12,6 @@ param set-default MAV_TYPE 4
 
 param set-default COM_PREARM_MODE 2
 param set-default COM_SPOOLUP_TIME 10
-param set-default COM_DISARM_PRFLT 60
 
 # No need for minimum collective pitch (or airmode) to keep torque authority
 param set-default MPC_MANTHR_MIN 0

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -21,6 +21,3 @@ param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10
 
 param set-default GPS_UBX_DYNMODEL 6
-
-# lower RNG_FOG since MC are expected to fly closer over obstacles
-param set-default EKF2_RNG_FOG 1.0

ROMFS/px4fmu_common/init.d/rc.sc_apps

@@ -1,36 +0,0 @@
-#!/bin/sh
-#
-# Standard apps for sr. Attitude/Position estimator, Attitude/Position control.
-#
-# NOTE: Script variables are declared/initialized/unset in the rcS script.
-#
-
-# Start Spacecraft App
-spacecraft start
-
-# Estimator Group Selection
-# ekf2 start &
-
-# Start MicroDDS Client
-# uxrce_dds_client start -t udp -h 192.168.0.1 -n spacebot2
-# uxrce_dds_client start -t udp -p 8888
-
-#
-# Start Control Allocator
-#
-# sc_control_allocator start
-
-#
-# Start Spacecraft Rate Controller.
-#
-# sc_rate_control start
-
-#
-# Start Spacecraft Attitude Controller.
-#
-# sc_att_control start
-
-#
-# Start Spacecraft Position Controller.
-#
-# sc_pos_control start

ROMFS/px4fmu_common/init.d/rc.sc_defaults

@@ -1,27 +0,0 @@
-#!/bin/sh
-#
-# NOTE: Script variables are declared/initialized/unset in the rcS script.
-#
-
-set VEHICLE_TYPE sc
-
-# MAV_TYPE_QUADROTOR 2
-#param set-default MAV_TYPE 12
-
-# Set micro-dds-client to use ethernet and IP-address 192.168.0.1
-param set-default UXRCE_DDS_AG_IP -1062731775
-
-# Disable preflight disarm to not interfere with external launching
-param set-default COM_DISARM_PRFLT -1
-param set-default CBRK_SUPPLY_CHK 894281
-param set-default COM_ARM_HFLT_CHK 0
-
-#Missing params
-param set-default CP_DIST -1.0
-
-# Default to MoCap fusion
-param set-default ATT_EXT_HDG_M 2
-param set-default EKF2_EV_CTRL 15
-param set-default EKF2_EV_DELAY 5
-param set-default EKF2_GPS_CTRL 0
-param set-default EKF2_HGT_REF 3

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -232,12 +232,9 @@ then
 
 	# compasses
 	hmc5883 -T -X -q start
-	if ! iis2mdc -X -q start
-	then
-		lis2mdl -X -q start
-	fi
 	ist8308 -X -q start
 	ist8310 -X -q start
+	lis2mdl -X -q start
 	if ! lis3mdl -X -q start
 	then
 		lis3mdl -X -q -a 0x1c start

ROMFS/px4fmu_common/init.d/rcS

@@ -302,75 +302,6 @@ else
 		. $FCONFIG
 	fi
 
-
-	#
-	# Sensors System (start before Commander so Preflight checks are properly run).
-	#
-	if param greater SYS_HITL 0
-	then
-		sensors start -h
-
-		# disable GPS
-		param set GPS_1_CONFIG 0
-
-		# start the simulator in hardware if needed
-		if param compare SYS_HITL 2
-		then
-			simulator_sih start
-			sensor_baro_sim start
-			sensor_mag_sim start
-			sensor_gps_sim start
-			sensor_agp_sim start
-		fi
-
-	else
-		#
-		# board sensors: rc.sensors
-		#
-		set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
-		if [ -f $BOARD_RC_SENSORS ]
-		then
-			echo "Board sensors: ${BOARD_RC_SENSORS}"
-			. $BOARD_RC_SENSORS
-		fi
-		unset BOARD_RC_SENSORS
-
-		. ${R}etc/init.d/rc.sensors
-
-		if param compare -s BAT1_SOURCE 2
-		then
-			esc_battery start
-		fi
-
-		if ! param compare BAT1_SOURCE 1
-		then
-			battery_status start
-		fi
-
-		sensors start
-	fi
-
-	#
-	# state estimator selection
-	#
-	if param compare -s EKF2_EN 1
-	then
-		ekf2 start &
-	fi
-
-	if param compare -s LPE_EN 1
-	then
-		local_position_estimator start
-	fi
-
-	if param compare -s ATT_EN 1
-	then
-		attitude_estimator_q start
-	fi
-
-	#
-	# px4io
-	#
 	if px4io supported
 	then
 	# Check if PX4IO present and update firmware if needed.
@@ -423,11 +354,6 @@ else
 	then
 		pps_capture start
 	fi
-	# RPM capture driver
-	if param greater -s RPM_CAP_ENABLE 0
-	then
-		rpm_capture start
-	fi
 	# Camera capture driver
 	if param greater -s CAM_CAP_FBACK 0
 	then
@@ -438,24 +364,79 @@ else
 	fi
 
 	#
-	# Commander
+	# Sensors System (start before Commander so Preflight checks are properly run).
+	# Commander needs to be this early for in-air-restarts.
 	#
 	if param greater SYS_HITL 0
 	then
-		commander start -h
-
 		if ! pwm_out_sim start -m hil
 		then
 			tune_control play error
 		fi
 
+		sensors start -h
+		commander start -h
+		# disable GPS
+		param set GPS_1_CONFIG 0
+
+		# start the simulator in hardware if needed
+		if param compare SYS_HITL 2
+		then
+			simulator_sih start
+			sensor_baro_sim start
+			sensor_mag_sim start
+			sensor_gps_sim start
+			sensor_agp_sim start
+		fi
+
 	else
+		#
+		# board sensors: rc.sensors
+		#
+		set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
+		if [ -f $BOARD_RC_SENSORS ]
+		then
+			echo "Board sensors: ${BOARD_RC_SENSORS}"
+			. $BOARD_RC_SENSORS
+		fi
+		unset BOARD_RC_SENSORS
+
+		. ${R}etc/init.d/rc.sensors
+
+		if param compare -s BAT1_SOURCE 2
+		then
+			esc_battery start
+		fi
+
+		if ! param compare BAT1_SOURCE 1
+		then
+			battery_status start
+		fi
+
+		sensors start
 		commander start
 
 		dshot start
 		pwm_out start
 	fi
 
+	#
+	# state estimator selection
+	if param compare -s EKF2_EN 1
+	then
+		ekf2 start &
+	fi
+
+	if param compare -s LPE_EN 1
+	then
+		local_position_estimator start
+	fi
+
+	if param compare -s ATT_EN 1
+	then
+		attitude_estimator_q start
+	fi
+
 	#
 	# Configure vehicle type specific parameters.
 	# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.
@@ -488,14 +469,11 @@ else
 	rc_input start $RC_INPUT_ARGS
 
 	# Manages USB interface
-	if param greater -s SYS_USB_AUTO -1
+	if ! cdcacm_autostart start
 	then
-		if ! cdcacm_autostart start
-		then
-			sercon
-			echo "Starting MAVLink on /dev/ttyACM0"
-			mavlink start -d /dev/ttyACM0
-		fi
+		sercon
+		echo "Starting MAVLink on /dev/ttyACM0"
+		mavlink start -d /dev/ttyACM0
 	fi
 
 	#
@@ -558,11 +536,6 @@ else
 		payload_deliverer start
 	fi
 
-	if param compare -s ICE_EN 1
-	then
-		internal_combustion_engine_control start
-	fi
-
 	#
 	# Optional board supplied extras: rc.board_extras
 	#

Tools/HIL/run_tests.py

@@ -136,6 +136,9 @@ class TestHardwareMethods(unittest.TestCase):
     def test_atomic_bitset(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "atomic_bitset"))
 
+    def test_bezier(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bezier"))
+
     def test_bitset(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bitset"))
 

Tools/astyle/check_newlines.sh

@@ -3,14 +3,14 @@
 return_value=0
 
 # Check if there are files checked in that don't end in a newline (POSIX requirement)
-git grep --cached -Il '' -- ':!docs/*' | xargs -L1 bash -c 'if test "$(tail -c 1 "$0")"; then echo "No new line at end of $0"; exit 1; fi'
+git grep --cached -Il '' | xargs -L1 bash -c 'if test "$(tail -c 1 "$0")"; then echo "No new line at end of $0"; exit 1; fi'
 
 if [ $? -ne 0 ]; then
 	return_value=1
 fi
 
 # Check if there are files checked in that have duplicate newlines at the end (fail trailing whitespace checks)
-git grep --cached -Il '' -- ':!docs/*' | xargs -L1 bash -c 'if tail -c 2 "$0" | ( read x && read y && [ x"$x" = x ] && [ x"$y" = x ]); then echo "Multiple newlines at the end of $0"; exit 1; fi'
+git grep --cached -Il '' | xargs -L1 bash -c 'if tail -c 2 "$0" | ( read x && read y && [ x"$x" = x ] && [ x"$y" = x ]); then echo "Multiple newlines at the end of $0"; exit 1; fi'
 
 if [ $? -ne 0 ]; then
 	return_value=1

Tools/astyle/files_to_check_code_style.sh

@@ -8,12 +8,10 @@ if [ $# -gt 0 ]; then
 fi
 
 exec find boards msg src platforms test \
-    -path msg/translation_node -prune -o \
     -path platforms/nuttx/NuttX -prune -o \
     -path platforms/qurt/dspal -prune -o \
     -path src/drivers/ins/vectornav/libvnc -prune -o \
     -path src/drivers/uavcan/libdronecan -prune -o \
-    -path src/drivers/uavcan/libuavcan -prune -o \
     -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
     -path src/drivers/cyphal/libcanard -prune -o \
     -path src/lib/crypto/monocypher -prune -o \

Tools/ci/check_msg_versioning.sh

@@ -1,76 +0,0 @@
-#! /bin/bash
-# Copy a git diff between two commits if msg versioning is added
-
-DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
-
-PX4_SRC_DIR="$DIR/.."
-
-BASE_COMMIT="$1"
-HEAD_COMMIT="$2"
-if [ -z "${BASE_COMMIT}" ] || [ -z "${HEAD_COMMIT}" ]
-then
-  echo "Usage: $0 <base_commit> <head_commit>"
-  exit 1
-fi
-
-failed=0
-
-# Iterate git diff files between BASE_COMMIT and HEAD_COMMIT
-modified_files="$(git --no-pager diff --no-color --name-only --diff-filter=M "${BASE_COMMIT}"..."${HEAD_COMMIT}")"
-all_files="$(     git --no-pager diff --no-color --name-only                 "${BASE_COMMIT}"..."${HEAD_COMMIT}")"
-for file in ${modified_files}
-do
-  if [[ "$file" == msg/versioned/*.msg ]]; then
-    echo "Modified msg file: ${file}"
-    # A modified versioned .msg file requires:
-    # - Incrementing the version
-    # - An old .msg version exists
-    # - A translation header exists and is included
-
-    # Ignore changes to comments or constants
-    content_a=$(git show "${BASE_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v =)
-    content_b=$(git show "${HEAD_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v =)
-    if [ "${content_a}" == "${content_b}" ]; then
-      echo "No version update required for ${file}"
-      continue
-    fi
-
-    diff=$(git --no-pager diff --no-color --diff-filter=M "${BASE_COMMIT}"..."${HEAD_COMMIT}" -- "${file}")
-    old_version=$(echo "${diff}" | sed -n 's/^-uint32 MESSAGE_VERSION = \([0-9]*\).*/\1/p')
-    new_version=$(echo "${diff}" | sed -n 's/^+uint32 MESSAGE_VERSION = \([0-9]*\).*/\1/p')
-
-    # Check that the version is incremented
-    if [ -z "${new_version}" ] || [ -z "${old_version}" ]; then
-      echo "ERROR: Missing version update for ${file}"
-      failed=1
-    else
-      if [ $((new_version-old_version)) -ne 1 ]; then
-        echo "ERROR: Version not incremented by +1 for ${file}"
-        failed=1
-      fi
-    fi
-
-    # Check that an old version exists
-    filename=$(basename -- "$file")
-    filename="${filename%.*}"
-    old_version_file="px4_msgs_old/msg/${filename}V${old_version}.msg"
-    if [[ "${all_files}" != *"${old_version_file}"* ]]; then
-      echo "ERROR: Old message version does not exist for ${file} (missing ${old_version_file})"
-      failed=1
-    fi
-
-    # Check that a translation header got added by checking for a modification to all_translations.h
-    # If it is changed, we assume a new header got added too, so we don't explicitly check for that
-    if [[ "${modified_files}" != *"translations/all_translations.h"* ]]; then
-      echo "ERROR: missing modification to translations/all_translations.h"
-      failed=1
-    fi
-  fi
-done
-
-if [ ${failed} -ne 0 ]; then
-  echo ""
-  echo "ERROR: missing message versioning due to changed .msg file(s) (see above)"
-  echo "Check the documentation under https://docs.px4.io/main/en/ros2/px4_ros2_msg_translation_node.html for how to add a new version"
-  exit 1
-fi

Tools/ci/generate_board_targets_json.py

@@ -69,7 +69,7 @@ def process_target(px4board_file, target_name):
     group = None
 
     if px4board_file.endswith("default.px4board") or \
-        px4board_file.endswith("performance-test.px4board") or \
+        px4board_file.endswith("recovery.px4board") or \
         px4board_file.endswith("bootloader.px4board"):
         kconf.load_config(px4board_file, replace=True)
     else: # Merge config with default.px4board

Tools/copy_to_ros_ws.sh

@@ -1,33 +0,0 @@
-#! /bin/bash
-# Copy msgs and the message translation node into a ROS workspace directory
-
-DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
-
-PX4_SRC_DIR="$DIR/.."
-
-WS_DIR="$1"
-if [ ! -e "${WS_DIR}" ]
-then
-	echo "Usage: $0 <ros_ws_dir>"
-	exit 1
-fi
-WS_DIR="$WS_DIR"/src
-if [ ! -e "${WS_DIR}" ]
-then
-	echo "'src' directory not found inside ROS workspace (${WS_DIR})"
-	exit 1
-fi
-
-cp -ar "${PX4_SRC_DIR}"/msg/translation_node "${WS_DIR}"
-cp -ar "${PX4_SRC_DIR}"/msg/px4_msgs_old "${WS_DIR}"
-PX4_MSGS_DIR="${WS_DIR}"/px4_msgs
-if [ ! -e "${PX4_MSGS_DIR}" ]
-then
-  git clone https://github.com/PX4/px4_msgs.git "${PX4_MSGS_DIR}"
-  rm -rf "${PX4_MSGS_DIR}"/msg/*.msg
-  rm -rf "${PX4_MSGS_DIR}"/msg/versioned/*.msg
-  rm -rf "${PX4_MSGS_DIR}"/srv/*.srv
-fi
-cp -ar "${PX4_SRC_DIR}"/msg/*.msg "${PX4_MSGS_DIR}"/msg
-cp -ar "${PX4_SRC_DIR}"/msg/versioned/*.msg "${PX4_MSGS_DIR}"/msg
-cp -ar "${PX4_SRC_DIR}"/srv/*.srv "${PX4_MSGS_DIR}"/srv

Tools/docker_run.sh

@@ -47,7 +47,6 @@ CCACHE_DIR=${HOME}/.ccache
 mkdir -p "${CCACHE_DIR}"
 
 docker run -it --rm -w "${SRC_DIR}" \
-	--user="$(id -u):$(id -g)" \
 	--env=AWS_ACCESS_KEY_ID \
 	--env=AWS_SECRET_ACCESS_KEY \
 	--env=BRANCH_NAME \
@@ -55,6 +54,7 @@ docker run -it --rm -w "${SRC_DIR}" \
 	--env=CI \
 	--env=CODECOV_TOKEN \
 	--env=COVERALLS_REPO_TOKEN \
+	--env=LOCAL_USER_ID="$(id -u)" \
 	--env=PX4_ASAN \
 	--env=PX4_MSAN \
 	--env=PX4_TSAN \

Tools/ecl_ekf/analyse_logdata_ekf.py

@@ -111,13 +111,13 @@ def find_checks_that_apply(
         innov_fail_checks.append('yaw')
 
     # Velocity Sensor Checks
-    if (np.amax(estimator_status_flags['cs_gnss_vel']) > 0.5):
+    if (np.amax(estimator_status_flags['cs_gps']) > 0.5):
         sensor_checks.append('vel')
         innov_fail_checks.append('velh')
         innov_fail_checks.append('velv')
 
     # Position Sensor Checks
-    if (pos_checks_when_sensors_not_fused or (np.amax(estimator_status_flags['cs_gnss_pos']) > 0.5)
+    if (pos_checks_when_sensors_not_fused or (np.amax(estimator_status_flags['cs_gps']) > 0.5)
         or (np.amax(estimator_status_flags['cs_ev_pos']) > 0.5)):
         sensor_checks.append('pos')
         innov_fail_checks.append('posh')

Tools/ecl_ekf/plotting/pdf_report.py

@@ -185,7 +185,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
         # plot control mode summary A
         data_plot = ControlModeSummaryPlot(
             status_flags_time, estimator_status_flags, [['cs_tilt_align', 'cs_yaw_align'],
-            ['cs_gnss_pos', 'cs_opt_flow', 'cs_ev_pos'], ['cs_baro_hgt', 'cs_gps_hgt',
+            ['cs_gps', 'cs_opt_flow', 'cs_ev_pos'], ['cs_baro_hgt', 'cs_gps_hgt',
              'cs_rng_hgt', 'cs_ev_hgt'], ['cs_mag_hdg', 'cs_mag_3d', 'cs_mag_dec']],
             x_label='time (sec)', y_labels=['aligned', 'pos aiding', 'hgt aiding', 'mag aiding'],
             annotation_text=[['tilt alignment', 'yaw alignment'], ['GPS aiding', 'optical flow aiding',

Tools/kconfig/allyesconfig.py

@@ -40,7 +40,6 @@ exception_list = [
     'DRIVERS_DISTANCE_SENSOR_SRF05', # Requires hardcoded GPIO_ULTRASOUND
     'DRIVERS_PPS_CAPTURE', # Requires PPS GPIO config
     'DRIVERS_PWM_INPUT', # Requires PWM config
-    'DRIVERS_RPM_CAPTURE', # Requires PPS GPIO config
     'DRIVERS_TEST_PPM', # PIN config not portable
     'DRIVERS_TATTU_CAN', # Broken needs fixing
     'MODULES_REPLAY', # Fails on NuttX targets maybe force POSIX dependency?
@@ -53,7 +52,6 @@ exception_list = [
     'SYSTEMCMDS_I2C_LAUNCHER', #  undefined reference to `system',
     'MODULES_MUORB_APPS', # Weird QURT/Posix package doesn't work on x86 px4 sitl
     'MODULES_SIMULATION_SIMULATOR_SIH', # Causes compile errors
-    'MODULES_SPACECRAFT', # Clashes with Control Allocation (mom's spaghetti code)
 ]
 
 exception_list_sitl = [
@@ -74,8 +72,6 @@ exception_list_sitl = [
     'SYSTEMCMDS_I2CDETECT', # Not supported in SITL
     'SYSTEMCMDS_DMESG', # Not supported in SITL
     'SYSTEMCMDS_USB_CONNECTED', # Not supported in SITL
-    'SYSTEMCMDS_MFT_CFG', # Not supported in SITL
-    'MODULES_SPACECRAFT', # Clashes with Control Allocation (mom's spaghetti code)
 ]
 
 def main():

Tools/msg/px_generate_uorb_topic_files.py

@@ -173,7 +173,7 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
 
 def generate_by_template(output_file, template_file, em_globals):
     """
-    Invokes empy intepreter to generate output_file by the
+    Invokes empy intepreter to geneate output_file by the
     given template_file and predefined em_globals dict
     """
     # check if folder exists:

Tools/px4.py

@@ -59,7 +59,7 @@ from sys import platform as _platform
 
 def get_version():
     """
-        Get PX4-Autopilot Latest Git Tag.
+        Get PX4 Firmware latest Git tag.
     """
     px4_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
 
@@ -74,7 +74,7 @@ def get_version():
             exit(1)
     else:
         # Else, get it from remote repo tags (requires network access)
-        cmd = "git ls-remote --tags git@github.com:PX4/PX4-Autopilot.git | cut -d/ -f3- | sort -n -t. -k1,1 -k2,2 -k3,3 | awk '/^v[^{]*$/{version=$1}END{print version}'"
+        cmd = "git ls-remote --tags git://github.com/PX4/Firmware.git | cut -d/ -f3- | sort -n -t. -k1,1 -k2,2 -k3,3 | awk '/^v[^{]*$/{version=$1}END{print version}'"
 
         try:
             version = subprocess.check_output(
@@ -94,7 +94,7 @@ else:
 
 
 def main():
-    print("PX4 Release", get_version())
+    print("PX4 release", get_version())
 
 
 if __name__ == '__main__':

Tools/px4airframes/rcout.py

@@ -47,7 +47,7 @@ class RCOutput():
                     continue
 
                 if post_start:
-                    # Path to post-start script
+                    # Path to post-start sript
                     path = airframe.GetPostPath()
                 else:
                     # Path to start script

Tools/px_uploader.py

@@ -189,7 +189,7 @@ class uploader:
     GET_CHIP        = b'\x2c'     # rev5+  , get chip version
     SET_BOOT_DELAY  = b'\x2d'     # rev5+  , set boot delay
     GET_CHIP_DES    = b'\x2e'     # rev5+  , get chip description in ASCII
-    GET_VERSION     = b'\x2f'     # rev5+  , get bootloader version in ASCII
+    GET_VERSION     = b'\x2f'     # rev5+  , get chip description in ASCII
     CHIP_FULL_ERASE = b'\x40'     # full erase of flash, rev6+
     MAX_DES_LENGTH  = 20
 
@@ -201,6 +201,7 @@ class uploader:
     INFO_BOARD_ID   = b'\x02'        # board type
     INFO_BOARD_REV  = b'\x03'        # board revision
     INFO_FLASH_SIZE = b'\x04'        # max firmware size in bytes
+    BL_VERSION      = b'\x07'        # get bootloader version, e.g. major.minor.patch.githash (up to 20 chars)
 
     PROG_MULTI_MAX  = 252            # protocol max is 255, must be multiple of 4
     READ_MULTI_MAX  = 252            # protocol max is 255
@@ -296,7 +297,7 @@ class uploader:
         if c != self.OK:
             raise RuntimeError("unexpected response 0x%x instead of OK" % ord(c))
 
-    # The control flow for receiving Sync is on the order of 16 Ms per Sync
+    # The control flow for reciving Sync is on the order of 16 Ms per Sync
     # This will validate all the SYNC,<results> for a window of programing
     # in about 13.81 Ms for 256 blocks written
     def __ackSyncWindow(self, count):
@@ -708,7 +709,7 @@ class uploader:
                 # https://github.com/PX4/Firmware/blob/master/src/drivers/boards/common/stm32/board_mcu_version.c#L125-L144
 
                 if self.fw_maxsize > fw.property('image_maxsize') and not force:
-                    print(f"WARNING: Board can accept larger flash images ({self.fw_maxsize} bytes) than board config ({fw.property('image_maxsize')} bytes)")
+                    raise RuntimeError(f"Board can accept larger flash images ({self.fw_maxsize} bytes) than board config ({fw.property('image_maxsize')} bytes). Please use the correct board configuration to avoid lacking critical functionality.")
         else:
             # If we're still on bootloader v4 on a Pixhawk, we don't know if we
             # have the silicon errata and therefore need to flash px4_fmu-v2

Tools/setup/docker-entrypoint.sh

@@ -1,5 +1,6 @@
 #!/bin/bash
 
+echo "[docker-entrypoint.sh] Starting entrypoint"
 # Start virtual X server in the background
 # - DISPLAY default is :99, set in dockerfile
 # - Users can override with `-e DISPLAY=` in `docker run` command to avoid
@@ -16,4 +17,17 @@ if [ -n "${ROS_DISTRO}" ]; then
 	source "/opt/ros/$ROS_DISTRO/setup.bash"
 fi
 
-exec "$@"
+echo "[docker-entrypoint.sh] Working Directory: ${pwd}"
+
+# Use the LOCAL_USER_ID if passed in at runtime
+if [ -n "${LOCAL_USER_ID}" ]; then
+	echo "[docker-entrypoint.sh] Starting with: $LOCAL_USER_ID:user"
+	# modify existing user's id
+	usermod -u $LOCAL_USER_ID user
+
+	# run as user
+	# exec gosu user "$@"
+	exec "$@"
+else
+	exec "$@"
+fi

Tools/setup/ubuntu.sh

@@ -116,7 +116,6 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		binutils-dev \
 		bison \
 		build-essential \
-		curl \
 		flex \
 		g++-multilib \
 		gcc-arm-none-eabi \

Tools/simulation/gazebo-classic/sitl_gazebo-classic

@@ -1 +1 @@
-Subproject commit 70683dc759cbd3ebccfa78429b564f8b1fb5d149
+Subproject commit c0e0751341d46108377bbae2ae1bb6da8a5d4106