Update src/drivers/imu/invensense/icm20602/InvenSense_ICM20602_registers.hpp

Be course of the numerical computing error . The normalization of the quaternion can't always equal to 1 precisely. It could occasionally trigger the error"attitude estimate no longer valid". So enlarge the threshold to 1e-6f. That keeps it silence.

.ci/Jenkinsfile-compile

@@ -59,6 +59,7 @@ pipeline {
                      "holybro_durandal-v1_default",
                      "holybro_kakutef7_default",
                      "holybro_pix32v5_default",
+                     "matek_h743-slim",
                      "modalai_fc-v1_default",
                      "modalai_fc-v1_rtps",
                      "modalai_fc-v2_default",
@@ -79,6 +80,7 @@ pipeline {
                      "nxp_ucans32k146_canbootloader",
                      "nxp_ucans32k146_default",
                      "omnibus_f4sd_default",
+                     "raspberrypi_pico_default",
                      "px4_fmu-v2_default",
                      "px4_fmu-v2_fixedwing",
                      "px4_fmu-v2_multicopter",
@@ -86,7 +88,6 @@ pipeline {
                      "px4_fmu-v3_default",
                      "px4_fmu-v4_default",
                      "px4_fmu-v4pro_default",
-                     "px4_fmu-v5_ctrlalloc",
                      "px4_fmu-v5_debug",
                      "px4_fmu-v5_default",
                      "px4_fmu-v5_rtps",

.ci/Jenkinsfile-hardware

@@ -21,7 +21,7 @@ pipeline {
                 sh 'make cubepilot_cubeorange_test'
                 sh 'make cubepilot_cubeorange_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
               }
               post {
                 always {
@@ -70,6 +70,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
                     resetBoard()
                 }
               }
@@ -91,7 +92,7 @@ pipeline {
                 sh 'make cuav_x7pro_test'
                 sh 'make cuav_x7pro_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cuav_x7pro_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cuav_x7pro_test'
               }
               post {
                 always {
@@ -138,6 +139,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
                     resetBoard()
                 }
               }
@@ -159,7 +161,7 @@ pipeline {
                 sh 'make px4_fmu-v3_test'
                 sh 'make px4_fmu-v3_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
               }
               post {
                 always {
@@ -206,6 +208,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
                     resetBoard()
                 }
               }
@@ -227,7 +230,7 @@ pipeline {
                 sh 'make px4_fmu-v4_test'
                 sh 'make px4_fmu-v4_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
               }
               post {
                 always {
@@ -273,6 +276,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
                     resetBoard()
                 }
               }
@@ -294,7 +298,7 @@ pipeline {
                 sh 'make px4_fmu-v4pro_test'
                 sh 'make px4_fmu-v4pro_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
               }
               post {
                 always {
@@ -341,6 +345,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
                     resetBoard()
                 }
               }
@@ -362,7 +367,7 @@ pipeline {
                 sh 'make px4_fmu-v5_debug'
                 sh 'make px4_fmu-v5_debug bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_debug'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_debug'
               }
               post {
                 always {
@@ -420,6 +425,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
                     resetBoard()
                 }
               }
@@ -441,7 +447,7 @@ pipeline {
                 sh 'make px4_fmu-v5_stackcheck'
                 sh 'make px4_fmu-v5_stackcheck bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_stackcheck'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_stackcheck'
               }
               post {
                 always {
@@ -498,6 +504,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
                     resetBoard()
                 }
               }
@@ -519,7 +526,7 @@ pipeline {
                 sh 'make px4_fmu-v5_test'
                 sh 'make px4_fmu-v5_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
               }
               post {
                 always {
@@ -566,6 +573,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
                     resetBoard()
                 }
               }
@@ -573,73 +581,6 @@ pipeline {
           }
         }
 
-        // stage("modalai_fc-v1_test") {
-        //   stages {
-        //     stage("build modalai_fc-v1_test") {
-        //       agent {
-        //         docker {
-        //           image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-        //           args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-        //         }
-        //       }
-        //       steps {
-        //         checkout scm
-        //         sh 'export'
-        //         sh 'make distclean'
-        //         sh 'ccache -s'
-        //         sh 'git fetch --tags'
-        //         sh 'make modalai_fc-v1_test'
-        //         sh 'make modalai_fc-v1_test bootloader_elf'
-        //         sh 'ccache -s'
-        //         stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_test'
-        //       }
-        //       post {
-        //         always {
-        //             sh 'make distclean'
-        //         }
-        //       }
-        //     } // stage build
-        //     stage("hardware") {
-        //       agent {
-        //         label 'modalai_fc-v1'
-        //       }
-        //       stages {
-        //         stage("flash") {
-        //           steps {
-        //             sh 'export'
-        //             sh 'find /dev/serial'
-        //             unstash 'modalai_fc-v1_test'
-        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_bootloader.elf'
-        //             // flash board and watch bootup
-        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-        //           }
-        //         }
-        //         stage("tests") {
-        //           steps {
-        //             runTests()
-        //           }
-        //         }
-        //         stage("status") {
-        //           steps {
-        //             // configure
-        //             resetParameters()
-        //             sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
-        //             sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-        //             checkStatus()
-        //             quickCalibrate()
-        //           }
-        //         }
-        //         stage("print topics") {
-        //           steps {
-        //             printTopics()
-        //           }
-        //         }
-
-        //       }
-        //     } // stage test
-        //   }
-        // }
-
         stage("nxp_fmuk66-v3_test") {
           stages {
             stage("build nxp_fmuk66-v3_test") {
@@ -654,7 +595,7 @@ pipeline {
                 sh 'make nxp_fmuk66-v3_test'
                 //sh 'make nxp_fmuk66-v3_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
               }
               post {
                 always {
@@ -701,6 +642,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
                     resetBoard()
                 }
               }
@@ -734,12 +676,26 @@ void checkoutSCM() {
 }
 
 void quickCalibrate() {
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick; sleep 1; param show CAL_ACC*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro; sleep 1; param show CAL_GYRO*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level; sleep 1; param show SENS_BOARD*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick; sleep 1; param show CAL_MAG*"'
 
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status; param show CAL_GYRO*"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters before
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status || true"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_ACC*"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_GYRO*"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SENS*"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_MAG*"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters after
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
 }
 
 void checkStatus() {
@@ -831,6 +787,7 @@ void runTests() {
 
   //sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
 
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander stop"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'
 

.clang-tidy

@@ -74,6 +74,7 @@ Checks:          '*,
                   -modernize-deprecated-headers,
                   -modernize-loop-convert,
                   -modernize-pass-by-value,
+                  -modernize-raw-string-literal,
                   -modernize-return-braced-init-list,
                   -modernize-use-auto,
                   -modernize-use-bool-literals,
@@ -81,6 +82,7 @@ Checks:          '*,
                   -modernize-use-equals-default,
                   -modernize-use-equals-delete,
                   -modernize-use-override,
+                  -modernize-use-trailing-return-type,
                   -modernize-use-using,
                   -performance-inefficient-string-concatenation,
                   -readability-avoid-const-params-in-decls,

.github/workflows/compile_linux.yml

@@ -43,7 +43,7 @@ jobs:
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
           echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 40M" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
           echo "hash_dir = false" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z

.github/workflows/compile_linux_arm64.yml

@@ -40,7 +40,7 @@ jobs:
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
           echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 40M" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
           echo "hash_dir = false" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z

.github/workflows/compile_nuttx.yml

@@ -13,6 +13,7 @@ jobs:
     runs-on: ubuntu-latest
     container: px4io/px4-dev-nuttx-focal:2021-09-08
     strategy:
+      fail-fast: false
       matrix:
         config: [
           airmind_mindpx-v2,
@@ -33,6 +34,7 @@ jobs:
           holybro_durandal-v1,
           holybro_kakutef7,
           holybro_pix32v5,
+          matek_h743-slim,
           modalai_fc-v1,
           modalai_fc-v2,
           mro_ctrl-zero-f7,
@@ -47,6 +49,7 @@ jobs:
           nxp_fmurt1062-v1,
           nxp_ucans32k146,
           omnibus_f4sd,
+          raspberrypi_pico,
           px4_fmu-v2,
           px4_fmu-v3,
           px4_fmu-v4,
@@ -81,7 +84,7 @@ jobs:
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
           echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 50M" >> ~/.ccache/ccache.conf
+          echo "max_size = 120M" >> ~/.ccache/ccache.conf
           echo "hash_dir = false" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
@@ -110,4 +113,6 @@ jobs:
       uses: actions/upload-artifact@v2
       with:
         name: px4_package_${{matrix.config}}
-        path: build/**/*.px4
+        path: |
+          build/**/*.px4
+          build/**/*.bin

.github/workflows/compile_nuttx_cannode.yml

@@ -1,64 +0,0 @@
-name: NuttX UAVCAN firmware
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-09-08
-    strategy:
-      matrix:
-        config: [
-          ark_can-flow_default,
-          ark_can-gps_default,
-          ark_can-rtk-gps_default,
-          cuav_can-gps-v1_default,
-          freefly_can-rtk-gps_default,
-          holybro_can-gps-v1_default,
-          nxp_ucans32k146_default
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 20M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
-
-    - name: ccache post-run
-      run: ccache -s
-
-    - name: Upload px4 package
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_cannode_${{matrix.config}}
-        path: build/${{matrix.config}}/*.uavcan.bin

.github/workflows/deploy_all.yml

@@ -10,6 +10,7 @@ on:
 jobs:
   enumerate_targets:
     runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
     outputs:
       matrix: ${{ steps.set-matrix.outputs.matrix }}
     steps:

.gitmodules

@@ -1,11 +1,11 @@
-[submodule "mavlink/include/mavlink/v2.0"]
-	path = mavlink/include/mavlink/v2.0
-	url = https://github.com/mavlink/c_library_v2.git
+[submodule "src/modules/mavlink/mavlink"]
+	path = src/modules/mavlink/mavlink
+	url = https://github.com/mavlink/mavlink.git
 	branch = master
 [submodule "src/drivers/uavcan/libuavcan"]
 	path = src/drivers/uavcan/libuavcan
-	url = https://github.com/PX4/libuavcan.git
-	branch = px4
+	url = https://github.com/dronecan/libuavcan.git
+	branch = main
 [submodule "Tools/jMAVSim"]
 	path = Tools/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
@@ -65,7 +65,7 @@
 	url = https://github.com/mavlink/libevents.git
 [submodule "Tools/simulation-ignition"]
 	path = Tools/simulation-ignition
-	url = https://github.com/Auterion/px4-simulation-ignition.git
+	url = https://github.com/PX4/px4-simulation-ignition.git
 [submodule "src/lib/crypto/libtomcrypt"]
 	path = src/lib/crypto/libtomcrypt
 	url = https://github.com/PX4/libtomcrypt.git

.vscode/cmake-variants.yaml

@@ -106,6 +106,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_can-rtk-gps_default
+    ark_can-rtk-gps_debug:
+      short: ark_can-rtk-gps_debug
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-rtk-gps_debug
     ark_can-rtk-gps_canbootloader:
       short: ark_can-rtk-gps_canbootloader
       buildType: MinSizeRel
@@ -181,6 +186,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: holybro_durandal-v1_default
+    matek_h743-slim_default:
+      short: matek_h743-slim
+      buildType: MinSizeRel
+      settings:
+        CONFIG: matek_h743-slim_default
     modalai_fc-v1_default:
       short: modalai_fc-v1
       buildType: MinSizeRel
@@ -216,3 +226,8 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: nxp_fmuk66-v3_default
+    raspberrypi_pico_default:
+      short: raspberrypi_pico
+      buildType: MinSizeRel
+      settings:
+        CONFIG: raspberrypi_pico_default

.vscode/settings.json

@@ -136,5 +136,6 @@
         "workbench.settings.enableNaturalLanguageSearch": false,
         "yaml.schemas": {
                 "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
-        }
+        },
+        "cortex-debug.openocdPath": "${env:PICO_SDK_PATH}/../openocd/src/openocd"       // Added for rp2040
 }

Kconfig

@@ -128,6 +128,9 @@ config BOARD_KEYSTORE
 
 menu "Serial ports"
 
+    config BOARD_SERIAL_URT6
+        string "URT6 tty port"
+
     config BOARD_SERIAL_GPS1
         string "GPS1 tty port"
 
@@ -158,8 +161,14 @@ menu "Serial ports"
     config BOARD_SERIAL_TEL5
         string "TEL5 tty port"
 
+    config BOARD_SERIAL_RC
+        string "RC tty port"
+
     config BOARD_SERIAL_WIFI
         string "WIFI tty port"
+
+    config BOARD_SERIAL_PPB
+        string "PPB (Pixhawk Payload Bus) tty port"
 endmenu
 
 menu "drivers"

Makefile

@@ -464,7 +464,7 @@ shellcheck_all:
 	@make px4_fmu-v5_default shellcheck
 
 validate_module_configs:
-	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
+	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -not -path "$(SRC_DIR)/src/lib/mixer_module/*" -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
 
 # Cleanup
 # --------------------------------------------------------------------

ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc

@@ -8,7 +8,8 @@
 #
 
 . ${R}etc/init.d/rc.mc_defaults
-. ${R}etc/init.d/rc.ctrlalloc
+
+param set-default SYS_CTRL_ALLOC 1
 
 param set-default MPC_USE_HTE 0
 
@@ -45,4 +46,10 @@ param set-default CA_MC_R3_PY 0.1875
 param set-default CA_MC_R3_CT 6.5
 param set-default CA_MC_R3_KM -0.05
 
-set MIXER direct
+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
+
+set MIXER skip
+set MIXER_AUX none

ROMFS/px4fmu_common/init.d-posix/airframes/1038_glider

@@ -0,0 +1,9 @@
+#!/bin/sh
+#
+# @name Plane SITL with catapult
+#
+
+. ${R}etc/init.d-posix/airframes/1030_plane
+
+param set-default FW_THR_CRUISE 0.0
+param set-default RWTO_TKOFF 0

ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc

@@ -6,7 +6,17 @@
 #
 
 . ${R}etc/init.d/rc.mc_defaults
-. ${R}etc/init.d/rc.ctrlalloc
+
+param set-default SYS_CTRL_ALLOC 1
+
+param set-default MC_PITCHRATE_P 0.0800
+param set-default MC_PITCHRATE_I 0.0400
+param set-default MC_PITCHRATE_D 0.0010
+param set-default MC_PITCH_P 9.0
+param set-default MC_ROLLRATE_P 0.0800
+param set-default MC_ROLLRATE_I 0.0400
+param set-default MC_ROLLRATE_D 0.0010
+param set-default MC_ROLL_P 9.0
 
 param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_P_ACC 3
@@ -66,7 +76,14 @@ param set-default CA_MC_R5_PY -0.5
 param set-default CA_MC_R5_CT 9.5
 param set-default CA_MC_R5_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 PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 106
+
 set MAV_TYPE 13
 
-# set MIXER hexa_x
-set MIXER direct
+set MIXER skip
+set MIXER_AUX none

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

@@ -61,6 +61,7 @@ px4_add_romfs_files(
 	1035_techpod
 	1036_malolo
 	1037_believer
+	1038_glider
 	1040_standard_vtol
 	1041_tailsitter
 	1042_tiltrotor
@@ -76,6 +77,6 @@ px4_add_romfs_files(
 	2507_cloudship
 	6011_typhoon_h480
 	6011_typhoon_h480.post
-	6012_typhoon_ctrlalloc
-	6012_typhoon_ctrlalloc.post
+	6012_typhoon_h480_ctrlalloc
+	6012_typhoon_h480_ctrlalloc.post
 )

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -144,6 +144,8 @@ param set-default SENS_MAG_MODE 0
 
 param set-default IMU_GYRO_FFT_EN 1
 
+param set-default -s MC_AT_EN 1
+
 # By default log from boot until first disarm.
 param set-default SDLOG_MODE 1
 # enable default, estimator replay and vision/avoidance logging profiles
@@ -217,6 +219,7 @@ load_mon start
 battery_simulator start
 tone_alarm start
 rc_update start
+manual_control start
 sensors start
 commander start
 navigator start

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -55,5 +55,4 @@ px4_add_romfs_files(
 	rc.vehicle_setup
 	rc.vtol_apps
 	rc.vtol_defaults
-	rc.ctrlalloc
 )

ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil

@@ -18,7 +18,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-
 param set-default BAT1_N_CELLS 3
 
 param set-default FW_AIRSPD_MAX 20
@@ -40,7 +39,6 @@ param set-default FW_RR_P 0.3
 
 param set-default RWTO_TKOFF 1
 
-
 param set SYS_HITL 1
 
 # disable some checks to allow to fly

ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery

@@ -34,5 +34,3 @@ param set-default MC_PITCHRATE_D 0.0025
 param set-default MC_YAWRATE_P 0.28
 
 set MIXER quad_w
-
-set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris

@@ -23,7 +23,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-
 # TODO tune roll/pitch separately
 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_I 0.05
@@ -39,5 +38,3 @@ param set-default BAT1_V_DIV 12.27559
 param set-default BAT1_A_PER_V 15.39103
 
 set MIXER quad_w
-
-set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d

@@ -25,7 +25,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-
 param set-default BAT1_N_CELLS 4
 
 param set-default MC_ROLL_P 7
@@ -38,5 +37,3 @@ param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCHRATE_D 0.004
 param set-default MC_YAW_P 4
 set MIXER quad_w
-
-set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance

@@ -25,7 +25,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-
 param set-default BAT1_N_CELLS 6
 param set-default BAT1_V_EMPTY 3.5
 
@@ -42,5 +41,3 @@ param set-default MPC_XY_VEL_MAX 2
 param set-default PWM_MAIN_MIN 1080
 
 set MIXER quad_w
-
-set PWM_OUT 1234

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

@@ -12,7 +12,6 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
-set PWM_OUT 1234
 
 param set SYS_HITL 1
 

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

@@ -9,6 +9,7 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults

ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard

@@ -19,6 +19,7 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults

ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol

@@ -14,6 +14,7 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults

ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter

@@ -22,11 +22,11 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
 param set-default PWM_MAIN_MAX 2000
 
 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0
+
 set MAV_TYPE 20
 
 set MIXER quad_+_vtol

ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad

@@ -19,14 +19,13 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
 param set-default PWM_AUX_DIS5 950
 
-
 param set-default MC_ROLL_P 6
 param set-default MC_ROLLRATE_P 0.17
 param set-default MC_ROLLRATE_I 0.002

ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta

@@ -17,6 +17,7 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
@@ -26,7 +27,6 @@ param set-default MC_ROLLRATE_I 0.01
 param set-default MC_PITCHRATE_I 0.01
 param set-default MC_YAW_P 3.5
 
-
 param set-default MC_YAWRATE_MAX 50
 
 param set-default MPC_XY_P 0.8

ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad

@@ -9,6 +9,7 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults

ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger

@@ -9,11 +9,11 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
 param set-default FW_AIRSPD_MAX   22
 param set-default FW_AIRSPD_MIN   14
 param set-default FW_AIRSPD_TRIM  16
@@ -68,7 +68,6 @@ param set-default PWM_AUX_REV4    1
 
 param set-default PWM_AUX_DIS5 950
 
-
 param set-default VT_ARSP_TRANS   15
 param set-default VT_F_TRANS_THR    0.6
 param set-default VT_IDLE_PWM_MC 1180

ROMFS/px4fmu_common/init.d/airframes/13010_claire

@@ -13,7 +13,6 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
 param set-default PWM_AUX_DISARM 1000
 param set-default PWM_AUX_MAX 2000
 param set-default PWM_AUX_MIN 1000

ROMFS/px4fmu_common/init.d/airframes/13012_convergence

@@ -22,7 +22,6 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
 param set-default CBRK_AIRSPD_CHK 162128
 
 param set-default FW_ARSP_MODE 1

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

@@ -22,7 +22,6 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
 param set-default BAT1_CAPACITY 23000
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_R_INTERNAL 0.0025

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

@@ -18,11 +18,11 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
 param set-default BAT1_N_CELLS 6
 
 param set-default FW_AIRSPD_MAX 30

ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor

@@ -22,12 +22,11 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
-
 param set-default VT_IDLE_PWM_MC 1100
 param set-default VT_TYPE 1
 param set-default VT_MOT_ID 1234

ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo

@@ -21,11 +21,11 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
 param set-default PWM_AUX_DIS5 950
 
 param set-default VT_TYPE 2

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

@@ -14,11 +14,11 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0

ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+

@@ -19,5 +19,3 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER tri_y_yaw+
-
-set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw-

@@ -19,5 +19,3 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER tri_y_yaw-
-
-set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli

@@ -19,7 +19,6 @@
 . ${R}etc/init.d/rc.mc_defaults
 set MIXER coax
 
-
 param set-default MC_ROLLRATE_P 0.17
 param set-default MC_ROLLRATE_I 0.05
 param set-default MC_ROLLRATE_D 0.005
@@ -41,5 +40,4 @@ param set-default RTL_DESCEND_ALT 10
 set MIXER_AUX pass
 
 # use PWM parameters for throttle channel
-set PWM_AUX_OUT 1234
 set PWM_OUT 34

ROMFS/px4fmu_common/init.d/airframes/16001_helicopter

@@ -24,8 +24,7 @@ set MAV_TYPE 4
 
 set MIXER blade130
 
-#set PWM_OUT 1234
-
+set PWM_OUT none
 
 param set-default ATT_BIAS_MAX 0
 

ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1

@@ -15,7 +15,6 @@
 
 . ${R}etc/init.d/rc.balloon_defaults
 
-
 param set-default COM_PREARM_MODE 2  # always in prearm state
 param set-default CBRK_IO_SAFETY 22027
 param set-default SDLOG_PROFILE 17
@@ -28,6 +27,5 @@ param set-default SER_TEL2_BAUD 9600
 set MAV_TYPE 8
 param set MAV_TYPE ${MAV_TYPE}
 
-
 set MIXER IO_pass
 set MIXER_AUX pass

ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox

@@ -28,7 +28,6 @@
 
 set VEHICLE_TYPE mc
 
-
 param set-default NAV_ACC_RAD 2
 
 param set-default PWM_AUX_RATE 400

ROMFS/px4fmu_common/init.d/airframes/2507_cloudship

@@ -18,6 +18,5 @@
 param set-default COM_PREARM_MODE 2
 param set-default CBRK_IO_SAFETY 22027
 
-
 set MIXER cloudship
 set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5

@@ -37,5 +37,4 @@ param set-default FW_PR_FF 0.35
 param set-default FW_RR_FF 0.6
 param set-default FW_RR_P 0.04
 
-
 set MIXER fw_generic_wing

ROMFS/px4fmu_common/init.d/airframes/3033_wingwing

@@ -41,7 +41,6 @@ param set-default FW_RR_P 0.04
 
 param set-default PWM_MAIN_DISARM 1000
 
-
 # Configure this as plane.
 set MAV_TYPE 1
 

ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha

@@ -21,7 +21,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-
 param set-default FW_AIRSPD_MAX 25
 param set-default FW_AIRSPD_MIN 12.5
 param set-default FW_AIRSPD_TRIM 16.5

ROMFS/px4fmu_common/init.d/airframes/4001_quad_x

@@ -21,7 +21,3 @@
 #
 
 . ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-
-set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/4003_qavr5

@@ -13,10 +13,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default MC_ROLL_P 8
 param set-default MC_ROLLRATE_P 0.08
 param set-default MC_ROLLRATE_I 0.16

ROMFS/px4fmu_common/init.d/airframes/4009_qav250

@@ -13,10 +13,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default ATT_BIAS_MAX 0
 
 param set-default CBRK_IO_SAFETY 22027

ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330

@@ -11,9 +11,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_I 0.05
 param set-default MC_PITCH_P 7

ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450

@@ -10,9 +10,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_I 0.05
 param set-default MC_PITCH_P 7

ROMFS/px4fmu_common/init.d/airframes/4014_s500

@@ -13,10 +13,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default MC_ROLLRATE_P 0.18
 param set-default MC_PITCHRATE_P 0.18
 param set-default MC_ROLLRATE_I 0.15

ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500

@@ -13,10 +13,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default IMU_GYRO_CUTOFF 30
 
 param set-default MC_ROLLRATE_P 0.14

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

@@ -16,10 +16,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
-
 # System parameters
 # use FMU motor outputs for less delay in the rate control loop
 param set-default SYS_USE_IO 0
@@ -88,6 +84,8 @@ param set-default MPC_Z_VEL_P_ACC 5
 param set-default MPC_Z_VEL_I_ACC 3
 param set-default MPC_LAND_ALT1 3
 param set-default MPC_LAND_ALT2 1
+param set-default MPC_POS_MODE 3
+param set-default CP_GO_NO_DATA 1
 
 # Navigator Parameters
 param set-default NAV_ACC_RAD 2

ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames

@@ -18,9 +18,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
 param set-default IMU_DGYRO_CUTOFF 20
 
 param set-default MC_ROLLRATE_P 0.18

ROMFS/px4fmu_common/init.d/airframes/4018_s500_ctrlalloc

@@ -11,8 +11,11 @@
 #
 
 . ${R}etc/init.d/rc.mc_defaults
-. ${R}etc/init.d/rc.ctrlalloc
 
+set MIXER skip
+set MIXER_AUX none
+
+param set-default SYS_CTRL_ALLOC 1
 
 param set-default MPC_USE_HTE 0
 
@@ -49,8 +52,7 @@ param set-default CA_MC_R3_PY 0.177
 param set-default CA_MC_R3_CT 6.5
 param set-default CA_MC_R3_KM -0.05
 
-set MIXER direct
-set PWM_OUT 1234
-
-set MIXER_AUX direct_aux
-set PWM_AUX_OUT 1234
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104

ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo

@@ -18,7 +18,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-
 # tuning
 param set-default MC_PITCHRATE_P    0.11
 param set-default MC_ROLLRATE_P     0.11
@@ -83,7 +82,5 @@ param set-default RC5_TRIM          1500
 param set-default MAV_0_RATE 80000
 param set-default MAV_0_MODE 2
 param set-default SER_TEL1_BAUD 921600
-set MIXER quad_x
 
-set PWM_OUT 1234
 set MIXER_AUX none

ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad

@@ -13,9 +13,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
 param set-default MC_ROLLRATE_P 0.14
 param set-default MC_ROLLRATE_I 0.1
 param set-default MC_ROLLRATE_D 0.004

ROMFS/px4fmu_common/init.d/airframes/4040_reaper

@@ -42,8 +42,4 @@ param set-default RTL_DESCEND_ALT 10
 
 set MIXER quad_h
 
-set PWM_OUT 1234
-
 set MIXER_AUX pass
-
-set PWM_AUX_OUT 1234

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

@@ -23,7 +23,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-
 param set-default CBRK_SUPPLY_CHK 894281
 param set-default CBRK_USB_CHK 197848
 
@@ -57,5 +56,3 @@ param set-default SYS_HAS_MAG 0
 param set-default BAT1_N_CELLS 2
 # The Whoop uses reversed props
 set MIXER quad_h
-set PWM_OUT 1234
-

ROMFS/px4fmu_common/init.d/airframes/4050_generic_250

@@ -12,10 +12,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default MC_ROLL_P 8
 param set-default MC_ROLLRATE_P 0.08
 param set-default MC_ROLLRATE_I 0.25

ROMFS/px4fmu_common/init.d/airframes/4051_s250aq

@@ -23,11 +23,9 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_s250aq
+
 set MAV_TYPE 2
 
-set PWM_OUT 1234
-
-
 param set-default ATT_BIAS_MAX 0
 
 param set-default CBRK_IO_SAFETY 22027

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

@@ -15,10 +15,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
-
 # The set does not include a battery, but most people will probably use 4S
 param set-default BAT1_N_CELLS 4
 

ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2

@@ -13,10 +13,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default BAT1_N_CELLS 4
 
 param set-default GPS_1_CONFIG 0

ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100

@@ -13,10 +13,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default BAT1_N_CELLS 6
 
 param set-default MC_ROLLRATE_P 0.05

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

@@ -19,7 +19,6 @@
 set MIXER none
 set MIXER_AUX none
 
-
 # Battery settings
 param set-default BAT_CRIT_THR 0.20
 param set-default BAT_LOW_THR 0.25

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

@@ -28,10 +28,8 @@ set PWM_OUT 1234
 
 # Attitude & rate gains
 param set-default MC_ROLLRATE_D 0.0013
-
 param set-default MC_PITCHRATE_D 0.0016
 
-
 param set-default MC_YAW_FF 0.5
 
 param set-default MPC_MANTHR_MAX 0.9

ROMFS/px4fmu_common/init.d/airframes/4072_draco

@@ -22,10 +22,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
-
 # use the Q attitude estimator, it works w/o mag or GPS.
 param set-default SYS_MC_EST_GROUP 3
 param set-default ATT_ACC_COMP 0
@@ -81,4 +77,3 @@ param set-default IMU_DGYRO_CUTOFF 100
 
 # enable to use high-rate logging for better rate tracking analysis
 param set-default SDLOG_PROFILE 27
-

ROMFS/px4fmu_common/init.d/airframes/4090_nanomind

@@ -17,10 +17,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default BAT1_N_CELLS 1
 
 param set-default MC_ROLL_P 8

ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor

@@ -31,5 +31,3 @@
 # Set mixer
 set MIXER tilt_quad
 set MIXER_AUX tilt_quad
-
-set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/4250_teal

@@ -1,190 +0,0 @@
-#!/bin/sh
-#
-# @name Teal One
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-#
-# @maintainer Matt McFadden <matt.mcfadden@tealdrones.com>
-#
-# @board px4_fmu-v2 exclude
-# @board px4_fmu-v3 exclude
-# @board px4_fmu-v4pro exclude
-# @board px4_fmu-v5 exclude
-# @board px4_fmu-v5x exclude
-# @board bitcraze_crazyflie exclude
-#
-
-echo "Executing 4250_teal script."
-
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
-
-# First thing, reset all params to default... EXCEPT THIS LIST
-param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* CAL_MAG* SENS_BOARD* EKF2_MAGBIAS*
-
-# battery
-param set-default BAT_CRIT_THR 0.15
-param set-default BAT_EMERGEN_THR 0.075
-param set-default BAT_LOW_THR 0.20
-
-param set-default BAT1_CAPACITY 2750
-param set-default BAT1_N_CELLS 4
-param set-default BAT1_R_INTERNAL 0.06
-param set-default BAT1_SOURCE 1
-param set-default BAT1_V_CHARGED 4.15
-param set-default BAT1_V_DIV 11.1625
-param set-default BAT1_V_EMPTY 3.65
-param set-default BAT1_V_OFFS_CURR -0.0045
-
-# sensor calibration
-param set-default CAL_MAG_SIDES 63
-
-# circuit breakers
-param set-default CBRK_IO_SAFETY 22027
-param set-default CBRK_USB_CHK 197848
-
-# commander
-param set-default COM_DISARM_LAND 0.1
-# Return mode at critically low level, Land mode at current position if reaching dangerously low levels.
-param set-default COM_LOW_BAT_ACT 3
-
-# ekf2
-param set-default EKF2_MAG_TYPE 1
-param set-default EKF2_GPS_CHECK 511
-param set-default EKF2_GPS_POS_X -0.04
-param set-default EKF2_IMU_POS_X -0.06
-param set-default EKF2_PCOEF_XN 0.1
-param set-default EKF2_PCOEF_XP -0.5
-param set-default EKF2_RNG_A_VMAX 20
-param set-default EKF2_RNG_NOISE 0.2
-param set-default EKF2_MIN_RNG 0.07
-
-# geofence
-# Geofence violation action -- Warning.
-param set-default GF_ACTION 1
-
-# land detector
-param set-default LNDMC_XY_VEL_MAX 1
-# This is set high because we have lots of vibrations while in contact with ground.
-param set-default LNDMC_ROT_MAX 50
-
-# serial comms
-param set-default SER_TEL1_BAUD 921600
-param set-default SER_TEL2_BAUD 921600
-
-# mavlink stream configuration
-# TEL1 ttyS1 -- disabled. TX1 FTDI UART has issues.
-param set-default MAV_0_CONFIG 0
-param set-default MAV_0_RATE 800000
-
-# TEL2 ttyS2 -- Primary MAVLINK stream to companion computer.
-param set-default MAV_1_CONFIG 102
-param set-default MAV_1_RATE 800000
-
-# mc_att_control
-param set-default MC_ACRO_P_MAX 360
-param set-default MC_ACRO_R_MAX 360
-param set-default MC_ACRO_Y_MAX 360
-
-param set-default MC_ROLL_P 6
-param set-default MC_ROLLRATE_P 0.055
-param set-default MC_ROLLRATE_D 0.0012
-param set-default MC_ROLLRATE_MAX 180
-
-param set-default MC_PITCHRATE_P 0.06
-param set-default MC_PITCHRATE_D 0.0012
-param set-default MC_PITCHRATE_MAX 180
-
-param set-default MC_YAW_P 1
-param set-default MC_YAWRATE_P 0.08
-param set-default MC_YAWRATE_I 0.08
-
-param set-default MC_YAWRATE_MAX 180
-
-# Set to reduce voltage transients as seen by battery management system.
-param set-default MOT_SLEW_MAX 0.15
-
-#### CONTROLLER ###
-param set-default MPC_LAND_ALT1 8
-param set-default MPC_LAND_ALT2 5
-param set-default MPC_TKO_RAMP_T 0.75
-param set-default MPC_TKO_SPEED 0.75
-param set-default MPC_TILTMAX_LND 18
-param set-default MPC_TILTMAX_AIR 45
-param set-default MPC_MAN_TILT_MAX 45
-
-param set-default MPC_MANTHR_MAX 0.85
-param set-default MPC_MANTHR_MIN 0.15
-# Full throttle can trip over current protection on BMS.
-param set-default MPC_THR_MAX 0.85
-param set-default MPC_THR_MIN 0.15
-
-param set-default MPC_VEL_MANUAL 26.5
-# RTL speed, it was too fast and scaring people.
-param set-default MPC_XY_CRUISE 15
-
-param set-default MPC_MAN_Y_MAX 200
-
-param set-default MPC_JERK_MAX 5
-param set-default MPC_ACC_UP_MAX 10
-param set-default MPC_ACC_DOWN_MAX 10
-param set-default MPC_ACC_HOR 10
-param set-default MPC_ACC_HOR_MAX 15
-
-param set-default MPC_XY_P 1.15
-param set-default MPC_XY_VEL_P_ACC 2.8
-param set-default MPC_XY_VEL_I_ACC 0.28
-param set-default MPC_XY_VEL_D_ACC 0.28
-param set-default MPC_XY_VEL_MAX 26.5
-
-param set-default MPC_Z_P 0.85
-param set-default MPC_Z_VEL_P_ACC 5
-param set-default MPC_Z_VEL_I_ACC 1.7
-param set-default MPC_Z_VEL_D_ACC 0.4
-# Documentation says limit is 8.0, but does not seem to be enforced in code.
-param set-default MPC_Z_VEL_MAX_UP 20
-param set-default MPC_Z_VEL_MAX_DN 2.5
-#### CONTROLLER ###
-
-# navigator
-param set-default NAV_ACC_RAD 2.5
-# RC loss failsafe behavior -- hold mode.
-param set-default NAV_RCL_ACT 1
-
-# pwm control
-param set-default PWM_MAIN_DISARM 900
-param set-default PWM_MAIN_MAX 1850
-param set-default PWM_MAIN_MIN 1075
-# Oneshot125
-param set-default PWM_MAIN_RATE 0
-
-# rtl
-param set-default RTL_DESCEND_ALT 5
-param set-default RTL_LAND_DELAY 5
-param set-default RTL_MIN_DIST 7.5
-param set-default RTL_RETURN_ALT 25
-
-# calibration
-param set-default CAL_ACC0_PRIO 255
-param set-default CAL_ACC1_PRIO 0
-
-param set-default CAL_GYRO0_PRIO 255
-param set-default CAL_GYRO1_PRIO 0
-# Logger mode. Default(1) + estimator replay(2) + thermal calibration(4)
-param set-default SDLOG_PROFILE 6
-
-# Do not start frsky_telemetry on port ttyS6 by default, PGA460 lives there. 500 is in arbitrary unused number.
-param set TEL_FRSKY_CONFIG 500
-# We want to make sure these always start
-param set SENS_EN_PGA460 1
-param set SENS_EN_THERMAL 1
-param set SENS_EN_BATT 1

ROMFS/px4fmu_common/init.d/airframes/4500_clover4

@@ -13,10 +13,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default MC_PITCHRATE_P 0.087
 param set-default MC_PITCHRATE_I 0.037
 param set-default MC_PITCHRATE_D 0.0044

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

@@ -17,7 +17,6 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x_cw
-set PWM_OUT 1234
 
 param set-default BAT1_N_CELLS 1
 param set-default BAT1_CAPACITY 240
@@ -69,4 +68,3 @@ set PWM_MAIN_MIN none
 
 syslink start
 mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
-

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

@@ -17,7 +17,6 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x_cw
-set PWM_OUT 1234
 
 param set-default SYS_MC_EST_GROUP 2
 param set-default SYS_HAS_MAG 0
@@ -61,7 +60,6 @@ param set-default PWM_MAIN_RATE 3921
 
 param set-default SENS_FLOW_MINRNG 0.05
 
-
 set PWM_MAIN_DISARM none
 set PWM_MAIN_MAX none
 set PWM_MAIN_MIN none

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

@@ -18,7 +18,6 @@
 
 . ${R}etc/init.d/rc.rover_defaults
 
-
 param set-default BAT1_N_CELLS 4
 
 param set-default EKF2_GBIAS_INIT 0.01

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

@@ -20,7 +20,6 @@
 
 . ${R}etc/init.d/rc.rover_defaults
 
-
 param set-default BAT1_N_CELLS 2
 
 param set-default EKF2_GBIAS_INIT 0.01

ROMFS/px4fmu_common/init.d/airframes/5001_quad_+

@@ -26,5 +26,3 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_+
-
-set PWM_OUT 1234

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

@@ -22,7 +22,6 @@
 
 . ${R}etc/init.d/rc.uuv_defaults
 
-
 #Set data link loss failsafe mode (0: disabled)
 
 # disable circuit breaker for airspeed sensor
@@ -43,4 +42,3 @@ param set-default BAT_V_OFFS_CURR 0.33
 set PWM_OUT 12345678
 # set MIXER IO_pass
 set MIXER vectored6dof
-

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

@@ -26,6 +26,7 @@
 #
 
 . ${R}etc/init.d/rc.mc_defaults
+
 set MIXER hexa_x
 set PWM_OUT 12345678
 

ROMFS/px4fmu_common/init.d/airframes/6003_hexa_x_ctrlalloc

@@ -11,9 +11,8 @@
 #
 
 . ${R}etc/init.d/rc.mc_defaults
-. ${R}etc/init.d/rc.ctrlalloc
-
 
+param set-default SYS_CTRL_ALLOC 1
 param set-default MPC_USE_HTE 0
 
 param set-default VM_MASS 1.5
@@ -67,8 +66,12 @@ param set-default CA_MC_R5_PY -0.1375
 param set-default CA_MC_R5_CT 6.5
 param set-default CA_MC_R5_KM -0.05
 
-set MIXER direct
-set PWM_OUT 123456
+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
 
-set MIXER_AUX direct_aux
-set PWM_AUX_OUT 123456
+set MIXER skip
+set MIXER_AUX none

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

@@ -88,7 +88,6 @@ px4_add_romfs_files(
 	4080_zmr250
 	4090_nanomind
 	4100_tiltquadrotor
-	4250_teal
 	4500_clover4
 	4900_crazyflie
 	4901_crazyflie21

ROMFS/px4fmu_common/init.d/rc.autostart_ext

@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# External airframe startup script (on SD card)
+#
+set SDCARD_MIXERS_PATH ${SDCARD_EXT_PATH}/mixers
+
+if [ -e ${SDCARD_EXT_PATH}/rc.autostart ]
+then
+	. ${SDCARD_EXT_PATH}/rc.autostart
+else
+	echo "Error: ${SDCARD_EXT_PATH}/rc.autostart does not exist"
+fi

ROMFS/px4fmu_common/init.d/rc.ctrlalloc

@@ -1,26 +0,0 @@
-#!/bin/sh
-#
-# Standard apps for new control allocation and controllers
-#
-# NOTE: Script variables are declared/initialized/unset in the rcS script.
-#
-
-#
-# Start angular velocity controller
-#
-angular_velocity_controller start
-mc_rate_control stop
-
-#
-# Start Control Allocator
-#
-control_allocator start
-
-#
-# Disable hover thrust estimator and prearming
-# These features are currently incompatible with control allocation
-#
-# TODO: fix
-#
-param set MPC_USE_HTE 0
-param set COM_PREARM_MODE 0

ROMFS/px4fmu_common/init.d/rc.fw_apps

@@ -16,6 +16,12 @@ ekf2 start &
 fw_att_control start
 fw_pos_control_l1 start
 airspeed_selector start
+
+#
+# Start attitude control auto-tuner
+#
+fw_autotune_attitude_control start
+
 #
 # Start Land Detector.
 #

ROMFS/px4fmu_common/init.d/rc.interface

@@ -96,10 +96,16 @@ then
 
 	if [ $OUTPUT_MODE = $OUTPUT_CMD -o $OUTPUT_MODE = io ]
 	then
-		if ! $OUTPUT_CMD start
+		if param compare SYS_CTRL_ALLOC 1
 		then
-			echo "$OUTPUT_CMD start failed"
-			tune_control play error
+			pwm_out start
+			dshot start
+		else
+			if ! $OUTPUT_CMD start
+			then
+				echo "$OUTPUT_CMD start failed"
+				tune_control play error
+			fi
 		fi
 	fi
 fi
@@ -214,10 +220,10 @@ fi
 
 if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
 then
-	if [ $PWM_OUT != none ]
+	if [ $PWM_OUT != none -a $PWM_MAIN_RATE != none ]
 	then
 		# Set PWM output frequency.
-		if [ $PWM_MAIN_RATE != none ]
+		if ! param compare SYS_CTRL_ALLOC 1
 		then
 			pwm rate -c ${PWM_OUT} -r ${PWM_MAIN_RATE}
 		fi

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -48,6 +48,22 @@ fi
 #                        End Estimator Group Selection                        #
 ###############################################################################
 
+if param compare SYS_CTRL_ALLOC 1
+then
+	#
+	# Start Control Allocator
+	#
+	control_allocator start
+
+	#
+	# Disable hover thrust estimator and prearming
+	# These features are currently incompatible with control allocation
+	#
+	# TODO: fix
+	#
+	param set MPC_USE_HTE 0
+fi
+
 #
 # Start Multicopter Rate Controller.
 #
@@ -57,7 +73,11 @@ mc_rate_control start
 # Start Multicopter Attitude Controller.
 #
 mc_att_control start
-mc_autotune_attitude_control start
+
+if param greater -s MC_AT_EN 0
+then
+	mc_autotune_attitude_control start
+fi
 
 #
 # Start Multicopter Position Controller.

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -25,4 +25,8 @@ param set-default GPS_UBX_DYNMODEL 6
 #
 set MIXER_AUX pass
 
+set MIXER quad_x
+
+set PWM_OUT 1234
+
 set PWM_AUX_OUT 1234

ROMFS/px4fmu_common/init.d/rc.vtol_apps

@@ -25,8 +25,14 @@ flight_mode_manager start
 mc_pos_control start vtol
 mc_hover_thrust_estimator start
 
+if param greater -s MC_AT_EN 0
+then
+	mc_autotune_attitude_control start
+fi
+
 fw_att_control start vtol
 fw_pos_control_l1 start vtol
+fw_autotune_attitude_control start vtol
 
 # Start Land Detector
 # Multicopter for now until we have something for VTOL

ROMFS/px4fmu_common/init.d/rcS

@@ -44,6 +44,8 @@ set PWM_EXTRA_OUT none
 set PWM_EXTRA_RATE p:PWM_EXTRA_RATE
 set EXTRA_MIXER_MODE none
 set RC_INPUT_ARGS ""
+set SDCARD_AVAILABLE no
+set SDCARD_EXT_PATH /fs/microsd/ext_autostart
 set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
 set STARTUP_TUNE 1
 set USE_IO no
@@ -57,7 +59,6 @@ ver all
 #
 # Try to mount the microSD card.
 #
-set SDCARD_AVAILABLE no
 # REBOOTWORK this needs to start after the flight control loop.
 if mount -t vfat /dev/mmcsd0 /fs/microsd
 then
@@ -97,15 +98,13 @@ if [ $SDCARD_AVAILABLE = yes ]
 then
 	if hardfault_log check
 	then
-		# Error tune.
-		set STARTUP_TUNE 2
+		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
 		if hardfault_log commit
 		then
 			hardfault_log reset
 		fi
 	fi
 fi
-unset SDCARD_AVAILABLE
 
 #
 # Look for an init script on the microSD card.
@@ -182,15 +181,6 @@ else
 	#
 	tone_alarm start
 
-	#
-	# Play the startup tune (if not disabled or there is an error)
-	#
-	param compare CBRK_BUZZER 782090
-	if [ $? != 0 -o $STARTUP_TUNE != 1 ]
-	then
-		tune_control play -t $STARTUP_TUNE
-	fi
-
 	#
 	# Waypoint storage.
 	# REBOOTWORK this needs to start in parallel.
@@ -216,10 +206,22 @@ else
 	#
 	# Set parameters and env variables for selected AUTOSTART.
 	#
+	set AUTOSTART_PATH etc/init.d/rc.autostart
 	if ! param compare SYS_AUTOSTART 0
 	then
-		. ${R}etc/init.d/rc.autostart
+		if param greater SYS_AUTOSTART 1000000
+		then
+			# Use external startup file
+			if [ $SDCARD_AVAILABLE = yes ]
+			then
+				set AUTOSTART_PATH etc/init.d/rc.autostart_ext
+			else
+				echo "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
+			fi
+		fi
+		. ${R}$AUTOSTART_PATH
 	fi
+	unset AUTOSTART_PATH
 
 	#
 	# Override parameters from user configuration file.
@@ -250,7 +252,7 @@ else
 			then
 				# Start UAVCAN firmware update server and dynamic node ID allocation server.
 				uavcan start fw
-				tune_control play -t 1
+
 				if param greater UAVCAN_ENABLE 2
 				then
 					set OUTPUT_MODE uavcan_esc
@@ -315,7 +317,7 @@ else
 	if [ $USE_IO = yes -a $IO_PRESENT = no ]
 	then
 		echo "PX4IO not found"
-		tune_control play error
+		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
 	fi
 
 	#
@@ -323,6 +325,7 @@ else
 	#  start before commander
 	#
 	rc_update start
+	manual_control start
 
 	#
 	# Sensors System (start before Commander so Preflight checks are properly run).
@@ -369,6 +372,17 @@ else
 		commander start
 	fi
 
+
+	#
+	# Play the startup tune (if not disabled or there is an error)
+	#
+	param compare CBRK_BUZZER 782090
+	if [ $? != 0 -o $STARTUP_TUNE != 1 ]
+	then
+		tune_control play -t $STARTUP_TUNE
+	fi
+
+
 	# Pre-takeoff continuous magnetometer calibration
 	if param compare -s MBE_ENABLE 1
 	then
@@ -539,6 +553,8 @@ unset PWM_OUT
 unset PWM_EXTRA_OUT
 unset PWM_EXTRA_RATE
 unset RC_INPUT_ARGS
+unset SDCARD_AVAILABLE
+unset SDCARD_EXT_PATH
 unset SDCARD_MIXERS_PATH
 unset STARTUP_TUNE
 unset USE_IO

ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt

@@ -44,5 +44,4 @@ px4_add_romfs_files(
 	tiltrotor_sitl.main.mix
 	uuv_x_sitl.main.mix
 	vectored6dof_sitl.main.mix
-	tiltrotor_sitl_direct.main.mix
 )

ROMFS/px4fmu_common/mixers-sitl/tiltrotor_sitl_direct.main.mix

@@ -1,14 +0,0 @@
-Mixer for quad tiltrotor (x motor configuration)
-================================================
-
-A: 0
-A: 1
-A: 2
-A: 3
-A: 4
-A: 5
-A: 6
-A: 7
-A: 8
-A: 9
-A: 10

ROMFS/px4fmu_common/mixers/CMakeLists.txt

@@ -46,7 +46,6 @@ px4_add_romfs_files(
 	coax.main.mix
 	delta.main.mix
 	deltaquad.main.mix
-	direct.main.mix
 	dodeca_bottom_cox.aux.mix
 	dodeca_top_cox.main.mix
 	firefly6.aux.mix

ROMFS/px4fmu_common/mixers/direct.main.mix

@@ -1,11 +0,0 @@
-# Direct mixer
-# @board px4_fmu-v2 exclude
-
-A: 0
-A: 1
-A: 2
-A: 3
-A: 4
-A: 5
-A: 6
-A: 7

Tools/astyle/check_code_style.sh

@@ -8,18 +8,16 @@ if [ -f "$FILE" ]; then
 	if [ -n "$CHECK_FAILED" ]; then
 		${DIR}/fix_code_style.sh --quiet < $FILE > $FILE.pretty
 
+		echo -e 'Formatting issue found in' $FILE
 		echo
-		git --no-pager diff --no-index --minimal --histogram --color=always $FILE $FILE.pretty
+		git --no-pager diff --no-index --minimal --histogram --color=always $FILE $FILE.pretty | grep -vE -e "^.{,4}diff.*\.pretty.{,3}$" -e "^.{,4}--- a/.*$" -e "^.{,4}\+\+\+ b/.*$" -e "^.{,5}@@ .* @@.*$" -e "^.{,4}index .{10}\.\."
 		rm -f $FILE.pretty
 		echo
 
 		if [[ $PX4_ASTYLE_FIX -eq 1 ]]; then
 			${DIR}/fix_code_style.sh $FILE
 		else
-			# Make sure this file is not staged for comitting
-			git reset $FILE
-			# Provide instructions
-			echo $FILE 'bad formatting, please run "make format" or "./Tools/astyle/fix_code_style.sh' $FILE'"'
+			echo 'to fix automatically run "make format" or "./Tools/astyle/fix_code_style.sh' $FILE'"'
 			exit 1
 		fi
 	fi

Tools/astyle/files_to_check_code_style.sh

@@ -21,6 +21,7 @@ exec find boards msg src platforms test \
     -path src/lib/parameters/uthash -prune -o \
     -path src/modules/ekf2/EKF -prune -o \
     -path src/modules/gyro_fft/CMSIS_5 -prune -o \
+    -path src/modules/mavlink/mavlink -prune -o \
     -path src/modules/micrortps_bridge/micro-CDR -prune -o \
     -path src/modules/micrortps_bridge/microRTPS_client -prune -o \
     -path test/mavsdk_tests/catch2 -prune -o \