mixer_module always use MIN/MAX/DIS/FAIL parameters

pre-commit hook: show all style issues, not just the ones from the first file
pre-commit hook: clear output with error, file name, diff, instructions
2026-05-28 03:50:04 +08:00 · 2021-10-21 21:50:25 -04:00 · 2021-10-21 19:07:13 -04:00 · 2021-10-21 19:07:13 -04:00 · 2021-10-21 19:07:13 -04:00 · 2021-10-21 15:59:15 -04:00
404 changed files with 7018 additions and 4610 deletions
@@ -86,7 +86,6 @@ 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",
@@ -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"'

@@ -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,
@@ -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
@@ -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
@@ -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,
@@ -81,7 +82,7 @@ jobs:
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 50M" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
          echo "hash_dir = false" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z
@@ -110,4 +111,6 @@ jobs:
      uses: actions/upload-artifact@v2
      with:
        name: px4_package_${{matrix.config}}
-        path: build/**/*.px4
+        path: |
+          build/**/*.px4
+          build/**/*.bin
@@ -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
@@ -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
@@ -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
 # --------------------------------------------------------------------
@@ -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
@@ -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
@@ -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
@@ -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
 )
@@ -55,5 +55,4 @@ px4_add_romfs_files(
 	rc.vehicle_setup
 	rc.vtol_apps
 	rc.vtol_defaults
-	rc.ctrlalloc
 )
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -12,7 +12,6 @@
 . ${R}etc/init.d/rc.mc_defaults

 set MIXER quad_x
-set PWM_OUT 1234

 param set SYS_HITL 1

@@ -9,6 +9,7 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #

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

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

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

 . ${R}etc/init.d/rc.vtol_defaults
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -19,5 +19,3 @@
 . ${R}etc/init.d/rc.mc_defaults

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

 set MIXER tri_y_yaw-
-
-set PWM_OUT 1234
@@ -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
@@ -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

@@ -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
@@ -28,7 +28,6 @@

 set VEHICLE_TYPE mc

-
 param set-default NAV_ACC_RAD 2

 param set-default PWM_AUX_RATE 400
@@ -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
@@ -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
@@ -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

@@ -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
@@ -21,7 +21,3 @@
 #

 . ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-
-set PWM_OUT 1234
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
-
@@ -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
@@ -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
@@ -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

@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
-
@@ -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
@@ -31,5 +31,3 @@
 # Set mixer
 set MIXER tilt_quad
 set MIXER_AUX tilt_quad
-
-set PWM_OUT 1234
@@ -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
@@ -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
@@ -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
-
@@ -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
@@ -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
@@ -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
@@ -26,5 +26,3 @@
 . ${R}etc/init.d/rc.mc_defaults

 set MIXER quad_+
-
-set PWM_OUT 1234
@@ -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
-
@@ -26,6 +26,7 @@
 #

 . ${R}etc/init.d/rc.mc_defaults
+
 set MIXER hexa_x
 set PWM_OUT 12345678

@@ -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
@@ -88,7 +88,6 @@ px4_add_romfs_files(
 	4080_zmr250
 	4090_nanomind
 	4100_tiltquadrotor
-	4250_teal
 	4500_clover4
 	4900_crazyflie
 	4901_crazyflie21
@@ -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
@@ -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
@@ -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
@@ -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.
 #
@@ -15,7 +15,7 @@ param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10

 param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_MIN 1075
+param set-default PWM_MAIN_MIN1 1075
 param set-default PWM_MAIN_RATE 400

 param set-default GPS_UBX_DYNMODEL 6
@@ -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
@@ -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

 	#
@@ -369,6 +371,17 @@ 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 $STARTUP_TUNE
+	fi
+
+
 	# Pre-takeoff continuous magnetometer calibration
 	if param compare -s MBE_ENABLE 1
 	then
@@ -539,6 +552,8 @@ unset PWM_OUT
 unset PWM_EXTRA_OUT
 unset PWM_EXTRA_RATE
 unset RC_INPUT_ARGS
+unset SDCARD_AVAILABLE
+unset SDCARD_EXT_PATH
 unset SDCARD_MIXERS_PATH
 unset STARTUP_TUNE
 unset USE_IO
@@ -44,5 +44,4 @@ px4_add_romfs_files(
 	tiltrotor_sitl.main.mix
 	uuv_x_sitl.main.mix
 	vectored6dof_sitl.main.mix
-	tiltrotor_sitl_direct.main.mix
 )
@@ -1,14 +0,0 @@
-Mixer for quad tiltrotor (x motor configuration)
-================================================
-
-A: 0
-A: 1
-A: 2
-A: 3
-A: 4
-A: 5
-A: 6
-A: 7
-A: 8
-A: 9
-A: 10
@@ -46,7 +46,6 @@ px4_add_romfs_files(
 	coax.main.mix
 	delta.main.mix
 	deltaquad.main.mix
-	direct.main.mix
 	dodeca_bottom_cox.aux.mix
 	dodeca_top_cox.main.mix
 	firefly6.aux.mix
@@ -1,11 +0,0 @@
-# Direct mixer
-# @board px4_fmu-v2 exclude
-
-A: 0
-A: 1
-A: 2
-A: 3
-A: 4
-A: 5
-A: 6
-A: 7
@@ -8,18 +8,16 @@ if [ -f "$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
@@ -1,12 +1,6 @@
 #!/usr/bin/env bash
 set -eu

-PATTERN="-e ."
-
-if [ $# -gt 0 ]; then
-    PATTERN="$1"
-fi
-
 exec find boards msg src platforms test \
    -path msg/templates/urtps -prune -o \
    -path platforms/nuttx/NuttX -prune -o \
@@ -27,4 +21,4 @@ exec find boards msg src platforms test \
    -path src/lib/crypto/monocypher -prune -o \
    -path src/lib/crypto/libtomcrypt -prune -o \
    -path src/lib/crypto/libtommath -prune -o \
-    -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN
+    -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \)
@@ -54,12 +54,9 @@ if [ $? -ne 0 ]; then
 fi

 # Check for code style, only in changed files
-for i in `git diff --cached --name-only --diff-filter=ACM`
-do
-	./Tools/astyle/files_to_check_code_style.sh $i | xargs -n 1 -P 8 -I % ./Tools/astyle/check_code_style.sh %
-	if [ $? -ne 0 ]
-	then
-		echo "Pre-commit style error: Bad formatting according to astyle rules"
-		exit 1
-	fi
-done
+bash -c "comm -12 <(./Tools/astyle/files_to_check_code_style.sh | sort) <(git diff --cached --name-only --diff-filter=ACM) | xargs -P 8 -I % ./Tools/astyle/check_code_style.sh %"
+if [ $? -ne 0 ]
+then
+	echo "Pre-commit style error: Bad formatting according to astyle rules"
+	exit 1
+fi
@@ -17,4 +17,3 @@ def save_compressed(filename):
            f.write(content_file.read())

 save_compressed(filename)
-
@@ -0,0 +1,344 @@
+#!/usr/bin/env python3
+""" Script to params from module.yaml config file(s)
+    Note: serial params are handled in Tools/serial/generate_config.py
+"""
+
+import argparse
+import os
+import sys
+
+from output_groups_from_timer_config import get_timer_groups, get_output_groups
+
+try:
+    import yaml
+except ImportError as e:
+    print("Failed to import yaml: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user pyyaml")
+    print("")
+    sys.exit(1)
+
+parser = argparse.ArgumentParser(description='Generate params from module.yaml file(s)')
+
+parser.add_argument('--config-files', type=str, nargs='*', default=[],
+                    help='YAML module config file(s)')
+parser.add_argument('--params-file', type=str, action='store',
+                    help='Parameter output file')
+parser.add_argument('--timer-config', type=str, action='store',
+                    help='board-specific timer_config.cpp file')
+parser.add_argument('--ethernet', action='store_true',
+                    help='Ethernet support')
+parser.add_argument('--board', type=str, action='store',
+                    help='board name, e.g. ')
+parser.add_argument('--board-with-io', dest='board_with_io', action='store_true',
+                    help='Indicate that the board as an IO for extra PWM',
+                    default=False)
+parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
+                    help='Verbose Output')
+
+args = parser.parse_args()
+
+verbose = args.verbose
+params_output_file = args.params_file
+timer_config_file = args.timer_config
+ethernet_supported = args.ethernet
+board_with_io = args.board_with_io
+board = args.board
+
+root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../..")
+output_functions_file = os.path.join(root_dir,"src/lib/mixer_module/output_functions.yaml")
+
+def process_param_prefix(param_prefix):
+    if param_prefix == '${PWM_MAIN_OR_HIL}':
+        if board == 'px4_sitl': return 'PWM_MAIN'
+        return 'HIL_ACT'
+    if param_prefix == '${PWM_MAIN_OR_AUX}':
+        if board_with_io: return 'PWM_AUX'
+        return 'PWM_MAIN'
+    if '${' in param_prefix:
+        raise Exception('unhandled variable in {:}'.format(param_prefix))
+    return param_prefix
+
+def process_channel_label(channel_label):
+    if channel_label == '${PWM_MAIN_OR_HIL}':
+        if board == 'px4_sitl': return 'PWM Sim'
+        return 'HIL actuator'
+    if channel_label == '${PWM_MAIN_OR_AUX}':
+        if board_with_io: return 'PWM Aux'
+        return 'PWM Main'
+    if '${' in channel_label:
+        raise Exception('unhandled variable in {:}'.format(channel_label))
+    return channel_label
+
+
+def parse_yaml_parameters_config(yaml_config, ethernet_supported):
+    """ parse the parameters section from the yaml config file """
+    if 'parameters' not in yaml_config:
+        return ''
+    parameters_section_list = yaml_config['parameters']
+    ret = ''
+    for parameters_section in parameters_section_list:
+        if 'definitions' not in parameters_section:
+            continue
+        definitions = parameters_section['definitions']
+        param_group = parameters_section.get('group', None)
+        for param_name in definitions:
+            # 'definitions' either contains the param definition directly (dict),
+            # or a list of definitions with that name (multiple entries for a
+            # multi-instance param with different instance_start)
+            param_list = definitions[param_name]
+            if not isinstance(param_list, list):
+                param_list = [param_list]
+
+            for param in param_list:
+                if param.get('requires_ethernet', False) and not ethernet_supported:
+                    continue
+                num_instances = param.get('num_instances', 1)
+                instance_start = param.get('instance_start', 0) # offset
+                instance_start_label = param.get('instance_start_label', instance_start)
+
+                # get the type and extract all tags
+                tags = '@group {:}'.format(param_group)
+                if param['type'] == 'enum':
+                    param_type = 'INT32'
+                    for key in param['values']:
+                        tags += '\n * @value {:} {:}'.format(key, param['values'][key])
+                elif param['type'] == 'boolean':
+                    param_type = 'INT32'
+                    tags += '\n * @boolean'
+                elif param['type'] == 'int32':
+                    param_type = 'INT32'
+                elif param['type'] == 'float':
+                    param_type = 'FLOAT'
+                else:
+                    raise Exception("unknown param type {:}".format(param['type']))
+
+                for tag in ['decimal', 'increment', 'category', 'volatile', 'bit',
+                            'min', 'max', 'unit', 'reboot_required']:
+                    if tag in param:
+                        tags += '\n * @{:} {:}'.format(tag, param[tag])
+
+                for i in range(num_instances):
+                    # default value
+                    default_value = 0
+                    if 'default' in param:
+                        # default can be a list of num_instances or a single value
+                        if type(param['default']) == list:
+                            assert len(param['default']) == num_instances
+                            default_value = param['default'][i]
+                        else:
+                            default_value = param['default']
+
+                    if type(default_value) == bool:
+                        default_value = int(default_value)
+
+                    # output the existing C-style format
+                    ret += '''
+/**
+ * {short_descr}
+ *
+ * {long_descr}
+ *
+ * {tags}
+ */
+PARAM_DEFINE_{param_type}({name}, {default_value});
+'''.format(short_descr=param['description']['short'].replace("\n", "\n * "),
+           long_descr=param['description']['long'].replace("\n", "\n * "),
+           tags=tags,
+           param_type=param_type,
+           name=param_name.replace('${i}', str(i+instance_start)),
+           default_value=default_value,
+          ).replace('${i}', str(i+instance_start_label))
+    return ret
+
+
+def get_actuator_output_params(yaml_config, output_functions,
+    timer_config_file, verbose):
+    """ parse the actuator_output section from the yaml config file
+        :return: dict of param definitions
+    """
+    if not 'actuator_output' in yaml_config:
+        return {}
+    output_groups = yaml_config['actuator_output']['output_groups']
+    all_params = {}
+    group_idx = 0
+
+    def add_local_param(param_name, param_def):
+        nonlocal all_params
+        # add as a list, as there can be multiple entries with the same param_name
+        if not param_name in all_params:
+            all_params[param_name] = []
+        all_params[param_name].append(param_def)
+
+    while group_idx < len(output_groups):
+        group = output_groups[group_idx]
+        group_idx += 1
+
+        if verbose: print("processing group: {:}".format(group))
+
+        # Check for generator and generate additional data.
+        # We do this by extending the output_groups list and parse in a later iteration
+        if 'generator' in group:
+            if group['generator'] == 'pwm':
+                param_prefix = process_param_prefix(group['param_prefix'])
+                channel_labels = [process_channel_label(label) for label in group['channel_labels']]
+                standard_params = group.get('standard_params', [])
+                extra_function_groups = group.get('extra_function_groups', [])
+                pwm_timer_param = group.get('pwm_timer_param', None)
+                if 'timer_config_file' in group:
+                    timer_config_file = os.path.join(root_dir, group['timer_config_file'])
+                if timer_config_file is None:
+                    raise Exception('trying to generate pwm outputs, but --timer-config not set')
+                timer_groups = get_timer_groups(timer_config_file, verbose)
+                timer_output_groups, timer_params = get_output_groups(timer_groups,
+                    param_prefix, channel_labels,
+                    standard_params, extra_function_groups, pwm_timer_param,
+                    verbose=verbose)
+                all_params.update(timer_params)
+                output_groups.extend(timer_output_groups)
+            else:
+                raise Exception('unknown generator {:}'.format(group['generator']))
+            continue
+
+        num_channels = group['num_channels']
+        param_prefix = process_param_prefix(group['param_prefix'])
+        channel_label = process_channel_label(group['channel_label'])
+        standard_params = group.get('standard_params', {})
+        instance_start = group.get('instance_start', 1)
+        instance_start_label = group.get('instance_start_label', instance_start)
+        if len(param_prefix) > 9: # 16 - len('_FAIL') - 2 (2 digits for index)
+            raise Exception("param prefix {:} too long (max length=10)".format(param_prefix))
+        # collect the functions
+        function_groups = ['common']
+        function_groups.extend(group.get('extra_function_groups', []))
+        output_function_values = {}
+        for function_group in function_groups:
+            group = output_functions[function_group]
+            for function_name in group:
+                function_name_label = function_name.replace('_', ' ')
+                if isinstance(group[function_name], int):
+                    output_function_values[group[function_name]] = function_name_label
+                else:
+                    start = group[function_name]['start']
+                    count = group[function_name]['count']
+                    for i in range(count):
+                        output_function_values[start+i] = function_name_label+' '+str(i+1)
+
+        # function param
+        param = {
+            'description': {
+                'short': channel_label+' ${i} Output Function',
+                'long':
+'''Select what should be output on {:} ${{i}}.
+
+The default failsafe value is set according to the selected function:
+- 'Min' for ConstantMin
+- 'Max' for ConstantMax
+- 'Max' for Parachute
+- ('Max'+'Min')/2 for Servos
+- 'Disarmed' for the rest
+'''.format(channel_label),
+                },
+            'type': 'enum',
+            'instance_start': instance_start,
+            'instance_start_label': instance_start_label,
+            'num_instances': num_channels,
+            'default': 0,
+            'values': output_function_values
+            }
+        add_local_param(param_prefix+'_FUNC${i}', param)
+
+        # handle standard_params
+        disarmed_description = \
+'''This is the output value that is set when not armed.
+
+Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.
+'''
+        minimum_description = \
+'''Minimum output value (when not disarmed).
+
+The output range can be reversed by setting Min > Max.
+'''
+        maximum_description = \
+'''Maxmimum output value (when not disarmed).
+
+The output range can be reversed by setting Min > Max.
+'''
+        failsafe_description = \
+'''This is the output value that is set when in failsafe mode.
+
+When set to -1 (default), the value depends on the function (see {:}).
+'''.format(param_prefix+'_FUNC${i}')
+        standard_params_array = [
+            ( 'disarmed', 'Disarmed', 'DIS', disarmed_description ),
+            ( 'min', 'Minimum', 'MIN', minimum_description ),
+            ( 'max', 'Maximum', 'MAX', maximum_description ),
+            ( 'failsafe', 'Failsafe', 'FAIL', failsafe_description ),
+            ]
+        for key, label, param_suffix, description in standard_params_array:
+            if key in standard_params:
+
+                # values must be in range of an uint16_t
+                if standard_params[key]['min'] < 0:
+                    raise Exception('minimum value for {:} expected >= 0 (got {:})'.format(key, standard_params[key]['min']))
+                if standard_params[key]['max'] >= 1<<16:
+                    raise Exception('maximum value for {:} expected <= {:} (got {:})'.format(key, 1<<16, standard_params[key]['max']))
+
+                if key == 'failsafe':
+                    standard_params[key]['default'] = -1
+                    standard_params[key]['min'] = -1
+
+                param = {
+                    'description': {
+                        'short': channel_label+' ${i} '+label+' Value',
+                        'long': description
+                        },
+                    'type': 'int32',
+                    'instance_start': instance_start,
+                    'instance_start_label': instance_start_label,
+                    'num_instances': num_channels,
+                    'min': standard_params[key]['min'],
+                    'max': standard_params[key]['max'],
+                    'default': standard_params[key]['default'],
+                    }
+                add_local_param(param_prefix+'_'+param_suffix+'${i}', param)
+
+    if verbose: print('adding actuator params: {:}'.format(all_params))
+    return all_params
+
+def load_yaml_file(file_name):
+    with open(file_name, 'r') as stream:
+        try:
+            return yaml.safe_load(stream)
+        except yaml.YAMLError as exc:
+            print(exc)
+            raise
+
+output_functions_yaml = load_yaml_file(output_functions_file)
+output_functions = output_functions_yaml['functions']
+
+all_params = ""
+
+for yaml_file in args.config_files:
+    yaml_config = load_yaml_file(yaml_file)
+
+    # convert 'output_groups' section into additional params
+    try:
+        actuator_output_params = get_actuator_output_params(yaml_config,
+                output_functions, timer_config_file, verbose)
+    except Exception as e:
+        print('Exception while parsing {:}:'.format(yaml_file))
+        raise e
+    # now add them to the yaml config
+    if not 'parameters' in yaml_config:
+        yaml_config['parameters'] = []
+    group_name = 'Actuator Outputs'
+    yaml_config['parameters'].append({'group': group_name, 'definitions': actuator_output_params})
+
+    all_params += parse_yaml_parameters_config(yaml_config, ethernet_supported)
+
+
+if verbose: print("Generating {:}".format(params_output_file))
+with open(params_output_file, 'w') as fid:
+    fid.write(all_params)
@@ -0,0 +1,201 @@
+#!/usr/bin/env python3
+""" Script to parse board-specific timer_config.cpp and print the output groups
+and timer config params to stdout
+"""
+
+import argparse
+import os
+import sys
+import re
+from itertools import groupby
+from copy import deepcopy
+
+
+def find_matching_brackets(brackets, s, verbose):
+    idx = 0
+    opening = 0
+    first_open = -1
+    while idx < len(s):
+        if s[idx] == brackets[0]:
+            opening += 1
+            if first_open == -1:
+                first_open = idx
+        if s[idx] == brackets[1]:
+            opening -= 1
+            if opening == 0:
+                if verbose: print(first_open, idx, s[first_open:idx+1])
+                return first_open+1, idx
+        idx += 1
+    raise Exception('Failed to find opening/closing brackets in {:}'.format(s))
+
+def extract_timer(line):
+    # Try format: initIOTimer(Timer::Timer5, DMA{DMA::Index1, DMA::Stream0, DMA::Channel6}),
+    search = re.search('Timer::([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
+    if search:
+        return search.group(1)
+
+    # nxp rt1062 format: initIOPWM(PWM::FlexPWM2),
+    search = re.search('PWM::Flex([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
+    if search:
+        return search.group(1)
+
+    return None
+
+def extract_timer_from_channel(line):
+    # Try format: initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
+    search = re.search('Timer::([0-9a-zA-Z_]+), ', line, re.IGNORECASE)
+    if search:
+        return search.group(1)
+
+    # nxp rt1062 format: initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_B0_06),
+    search = re.search('PWM::(PWM[0-9]+)[_,\)]', line, re.IGNORECASE)
+    if search:
+        return search.group(1)
+
+    return None
+
+def get_timer_groups(timer_config_file, verbose=False):
+    with open(timer_config_file, 'r') as f:
+        timer_config = f.read()
+
+    # timers
+    dshot_support = {} # key: timer
+    timers_start_marker = 'io_timers_t io_timers'
+    timers_start = timer_config.find(timers_start_marker)
+    if timers_start == -1:
+        raise Exception('"{:}" not found in {:}'.format(timers_start_marker, timer_config_file))
+    timer_config = timer_config[timers_start:]
+    open_idx, close_idx = find_matching_brackets(('{', '}'), timer_config, verbose)
+    timers_str = timer_config[open_idx:close_idx]
+    timers = []
+    for line in timers_str.splitlines():
+        line = line.strip()
+        if len(line) == 0 or line.startswith('//'):
+            continue
+        timer = extract_timer(line)
+
+        if timer:
+            if verbose: print('found timer def: {:}'.format(timer))
+            dshot_support[timer] = 'DMA' in line
+            timers.append(timer)
+        else:
+            # Make sure we don't miss anything (e.g. for different syntax) or misparse (e.g. multi-line comments)
+            raise Exception('Unparsed timer in line: {:}'.format(line))
+
+
+    # channels
+    channels_start_marker = 'timer_io_channels_t timer_io_channels'
+    channels_start = timer_config.find(channels_start_marker)
+    if channels_start == -1:
+        raise Exception('"{:}" not found in {:}'.format(channels_start_marker, timer_config_file))
+
+    timer_config = timer_config[channels_start:]
+    open_idx, close_idx = find_matching_brackets(('{', '}'), timer_config, verbose)
+    channels = timer_config[open_idx:close_idx]
+    channel_timers = []
+    channel_types = []
+
+    for line in channels.splitlines():
+        line = line.strip()
+        if len(line) == 0 or line.startswith('//'):
+            continue
+
+        if verbose: print('--'+line+'--')
+        timer = extract_timer_from_channel(line)
+
+        if timer:
+            if verbose: print('Found timer: {:} in channel line {:}'.format(timer, line))
+            channel_types.append('cap' if 'capture' in line.lower() else 'pwm')
+            channel_timers.append(timer)
+        else:
+            # Make sure we don't miss anything (e.g. for different syntax) or misparse (e.g. multi-line comments)
+            raise Exception('Unparsed channel in line: {:}'.format(line))
+
+    if len(channel_timers) == 0:
+        raise Exception('No channels found in "{:}"'.format(channels))
+
+    groups = [(timers.index(k), len(list(g)), dshot_support[k]) for k, g in groupby(channel_timers)]
+    outputs = {
+        'types': channel_types,
+        'groups': groups
+        }
+
+    return outputs
+
+def get_output_groups(timer_groups, param_prefix="PWM_MAIN",
+        channel_labels=["PWM Main", "PWM Capture"],
+        standard_params=[],
+        extra_function_groups=[], pwm_timer_param=None,
+        verbose=False):
+    """ convert the timer groups into an output_groups section of module.yaml
+    and extra timer params
+    """
+
+    instance_start = 1
+    output_groups = []
+    timer_params = {}
+    instance_start_label = [ 1, 1 ]
+    for timer_index, group_count, dshot_support in timer_groups['groups']:
+
+        # check for capture vs normal pins for the label
+        types = timer_groups['types'][instance_start-1:instance_start+group_count-1]
+        if not all(types[0] == t for t in types):
+            # Should this ever be needed, we can extend this script to handle that
+            raise Exception('Implementation requires all channel types for a timer to be equal (types: {:})'.format(types))
+        if types[0] == 'pwm':
+            channel_type_idx = 0
+        elif types[0] == 'cap':
+            channel_type_idx = 1
+        else:
+            raise Exception('unsupported channel type: {:}'.format(types[0]))
+
+        channel_label = channel_labels[channel_type_idx]
+        channel_type_instance = instance_start_label[channel_type_idx]
+        group = {
+            'param_prefix': param_prefix,
+            'channel_label': channel_label,
+            'instance_start': instance_start,
+            'instance_start_label': channel_type_instance,
+            'extra_function_groups': deepcopy(extra_function_groups),
+            'num_channels': group_count,
+            'standard_params': deepcopy(standard_params),
+        }
+        output_groups.append(group)
+
+        if pwm_timer_param is not None:
+            timer_channels_label = channel_label + ' ' + str(channel_type_instance)
+            if group_count > 1:
+                timer_channels_label += '-' + str(channel_type_instance+group_count-1)
+            pwm_timer_param_cp = deepcopy(pwm_timer_param)
+
+            if not dshot_support:
+                # remove dshot entries if no dshot support
+                values = pwm_timer_param_cp['values']
+                for key in list(values.keys()):
+                    if 'dshot' in values[key].lower():
+                        del values[key]
+
+            for descr_type in ['short', 'long']:
+                descr = pwm_timer_param_cp['description'][descr_type]
+                pwm_timer_param_cp['description'][descr_type] = \
+                    descr.replace('${label}', timer_channels_label)
+            timer_params[param_prefix+'_TIM'+str(timer_index)] = pwm_timer_param_cp
+        instance_start += group_count
+        instance_start_label[channel_type_idx] += group_count
+    return (output_groups, timer_params)
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser(description='Extract output groups from timer_config.cpp')
+
+    parser.add_argument('--timer-config', type=str, action='store',
+                        help='timer_config.cpp file', required=True)
+    parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
+                        help='Verbose Output')
+
+    args = parser.parse_args()
+    verbose = args.verbose
+    timer_groups = get_timer_groups(args.timer_config, verbose)
+    print('timer groups: {:}'.format(timer_groups))
+    output_groups, timer_params = get_output_groups(timer_groups, verbose=verbose)
+    print('output groups: {:}'.format(output_groups))
+    print('timer params: {:}'.format(timer_params))
@@ -25,7 +25,7 @@ div.frame_common table, div.frame_common table {
 }

 div.frame_common table {
-   float: right; 
+   float: right;
   width: 70%;
 }

@@ -55,4 +55,3 @@ class JsonOutput():
        if need_to_write:
            with codecs.open(filename, 'w', 'utf-8') as f:
                f.write(json.dumps(self.json,indent=2))
-
@@ -1,8 +1,6 @@
 #!/usr/bin/env python3
 """ Script to generate Serial (UART) parameters and the ROMFS startup script """

-from __future__ import print_function
-
 import argparse
 import os
 import sys
@@ -195,7 +193,6 @@ if rc_serial_output_dir is None and serial_params_output_file is None:
 # parse the YAML files
 serial_commands = []
 ethernet_configuration = []
-additional_params = ""

 if ethernet_supported:
    ethernet_configuration.append({
@@ -216,88 +213,12 @@ def parse_yaml_serial_config(yaml_config):
        ret.append(serial_config)
    return ret

-def parse_yaml_parameters_config(yaml_config, ethernet_supported):
-    """ parse the parameters section from the yaml config file """
-    if 'parameters' not in yaml_config:
-        return ''
-    parameters_section_list = yaml_config['parameters']
-    for parameters_section in parameters_section_list:
-        if 'definitions' not in parameters_section:
-            return ''
-        definitions = parameters_section['definitions']
-        ret = ''
-        param_group = parameters_section.get('group', None)
-        for param_name in definitions:
-            param = definitions[param_name]
-            if param.get('requires_ethernet', False) and not ethernet_supported:
-                continue
-            num_instances = param.get('num_instances', 1)
-            instance_start = param.get('instance_start', 0) # offset
-
-            # get the type and extract all tags
-            tags = '@group {:}'.format(param_group)
-            if param['type'] == 'enum':
-                param_type = 'INT32'
-                for key in param['values']:
-                    tags += '\n * @value {:} {:}'.format(key, param['values'][key])
-            elif param['type'] == 'boolean':
-                param_type = 'INT32'
-                tags += '\n * @boolean'
-            elif param['type'] == 'int32':
-                param_type = 'INT32'
-            elif param['type'] == 'float':
-                param_type = 'FLOAT'
-            else:
-                raise Exception("unknown param type {:}".format(param['type']))
-
-            for tag in ['decimal', 'increment', 'category', 'volatile', 'bit',
-                        'min', 'max', 'unit', 'reboot_required']:
-                if tag in param:
-                    tags += '\n * @{:} {:}'.format(tag, param[tag])
-
-            for i in range(num_instances):
-                # default value
-                default_value = 0
-                if 'default' in param:
-                    # default can be a list of num_instances or a single value
-                    if type(param['default']) == list:
-                        assert len(param['default']) == num_instances
-                        default_value = param['default'][i]
-                    else:
-                        default_value = param['default']
-
-                if type(default_value) == bool:
-                    default_value = int(default_value)
-
-                # output the existing C-style format
-                ret += '''
-/**
- * {short_descr}
- *
- * {long_descr}
- *
- * {tags}
- */
-PARAM_DEFINE_{param_type}({name}, {default_value});
-'''.format(short_descr=param['description']['short'].replace("\n", "\n * "),
-           long_descr=param['description']['long'].replace("\n", "\n * "),
-           tags=tags,
-           param_type=param_type,
-           name=param_name,
-           default_value=default_value,
-          ).replace('${i}', str(i+instance_start))
-    return ret
-
 for yaml_file in args.config_files:
    with open(yaml_file, 'r') as stream:
        try:
            yaml_config = yaml.load(stream, Loader=yaml.Loader)
            serial_commands.extend(parse_yaml_serial_config(yaml_config))

-            # TODO: additional params should be parsed in a separate script
-            additional_params += parse_yaml_parameters_config(
-                yaml_config, ethernet_supported)
-
        except yaml.YAMLError as exc:
            print(exc)
            raise
@@ -404,6 +325,5 @@ if serial_params_output_file is not None:
    with open(serial_params_output_file, 'w') as fid:
        fid.write(template.render(serial_devices=serial_devices,
            ethernet_configuration=ethernet_configuration,
-            commands=commands, serial_ports=serial_ports,
-            additional_definitions=additional_params))
+            commands=commands, serial_ports=serial_ports))

--- a/Show More
+++ b/Show More