containers/List: fix default add (O(1)) and create new addFront() addBack() methods

.ci/Jenkinsfile-compile

@@ -53,7 +53,6 @@ pipeline {
                      "intel_aerofc-v1_default",
                      "modalai_fc-v1_default",
                      "mro_ctrl-zero-f7_default",
-                     "mro_pixracerpro_default",
                      "mro_x21-777_default",
                      "mro_x21_default",
                      "nxp_fmuk66-v3_default",

.ci/Jenkinsfile-hardware

@@ -7,57 +7,57 @@ pipeline {
 
       parallel {
 
-        // stage("px4_fmu-v2_test") {
-        //   stages {
-        //     stage("build px4_fmu-v2_test") {
-        //       agent {
-        //         docker {
-        //           image 'px4io/px4-dev-nuttx-focal:2020-09-14'
-        //           args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-        //         }
-        //       }
-        //       steps {
-        //         sh 'export'
-        //         sh 'make distclean'
-        //         sh 'ccache -s'
-        //         sh 'git fetch --tags'
-        //         sh 'make px4_fmu-v2_test'
-        //         sh 'make sizes'
-        //         sh 'ccache -s'
-        //         stash includes: 'build/px4_fmu-v2_test/px4_fmu-v2_test.elf', name: 'px4_fmu-v2_test'
-        //       }
-        //       post {
-        //         always {
-        //             sh 'make distclean'
-        //         }
-        //       }
-        //     } // stage build
-        //     stage("test") {
-        //       agent {
-        //         label 'px4_fmu-v2'
-        //       }
-        //       stages {
-        //         stage("flash") {
-        //           steps {
-        //             sh 'export'
-        //             sh 'find /dev/serial'
-        //             unstash 'px4_fmu-v2_test'
-        //             // flash board and watch bootup
-        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
-        //           }
-        //         }
-        //         stage("reset") {
-        //           steps {
-        //             cleanupFTDI();
-        //           }
-        //         }
-        //       }
-        //       options {
-        //         timeout(time: 90, unit: 'MINUTES')
-        //       }
-        //     }
-        //   }
-        // }
+        stage("px4_fmu-v2_test") {
+          stages {
+            stage("build px4_fmu-v2_test") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                sh 'export'
+                sh 'make distclean'
+                sh 'ccache -s'
+                sh 'git fetch --tags'
+                sh 'make px4_fmu-v2_test'
+                sh 'make sizes'
+                sh 'ccache -s'
+                stash includes: 'build/px4_fmu-v2_test/px4_fmu-v2_test.elf', name: 'px4_fmu-v2_test'
+              }
+              post {
+                always {
+                    sh 'make distclean'
+                }
+              }
+            } // stage build
+            stage("test") {
+              agent {
+                label 'px4_fmu-v2'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'px4_fmu-v2_test'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                  }
+                }
+                stage("reset") {
+                  steps {
+                    cleanupFTDI();
+                  }
+                }
+              }
+              options {
+                timeout(time: 90, unit: 'MINUTES')
+              }
+            }
+          }
+        }
 
         stage("px4_fmu-v3_default") {
           stages {
@@ -102,7 +102,6 @@ pipeline {
                   steps {
                     // configure
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
@@ -176,7 +175,6 @@ pipeline {
                   steps {
                     // configure
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                // reboot to apply
@@ -249,7 +247,6 @@ pipeline {
                   steps {
                     // configure
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
@@ -323,7 +320,6 @@ pipeline {
                   steps {
                     // configure
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
@@ -475,7 +471,6 @@ pipeline {
                   steps {
                     // configure
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                // reboot to apply
@@ -625,7 +620,6 @@ pipeline {
                   steps {
                     // configure
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SYS_AUTOCONFIG 2"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SYS_AUTOSTART 4001"'  // generic vtol standardulticopter
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "reboot" || true'                // reboot to apply
@@ -700,7 +694,6 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set DSHOT_CONFIG 600"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 4000"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_USE_IO 0"'          // for dshot
@@ -777,7 +770,6 @@ pipeline {
                   steps {
                     // configure
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                // reboot to apply
@@ -845,7 +837,6 @@ void statusFTDI() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_selector_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_sensor_bias"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_status_flags"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener logger_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel_fifo"'
@@ -924,7 +915,6 @@ void statusSEGGER() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_selector_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_sensor_bias"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_status_flags"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener logger_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_accel"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_accel_fifo"'

.github/workflows/compile_macos.yml

@@ -23,7 +23,7 @@ jobs:
         token: ${{secrets.ACCESS_TOKEN}}
 
     - name: setup
-      run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
+      run: ./Tools/setup/macos.sh
 
     - name: Prepare ccache timestamp
       id: ccache_cache_timestamp

.github/workflows/compile_nuttx.yml

@@ -32,7 +32,6 @@ jobs:
           intel_aerofc-v1_default,
           modalai_fc-v1_default,
           mro_ctrl-zero-f7_default,
-          mro_pixracerpro_default,
           mro_x21-777_default,
           mro_x21_default,
           nxp_fmuk66-v3_default,

.github/workflows/compile_nuttx_cannode.yml

@@ -1,59 +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:2020-11-18
-    strategy:
-      matrix:
-        config: [
-          cuav_can-gps-v1_default,
-          #nxp_ucans32k146_default,
-          px4_fmu-v4_cannode
-          ]
-    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 = 400M" >> ~/.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

.gitignore

@@ -101,6 +101,8 @@ msg/tmp/
 msg/topics_sources/
 platforms/posix/apps.cpp
 platforms/posix/apps.h
+src/lib/flight_tasks/FlightTasks_generated.cpp
+src/lib/flight_tasks/FlightTasks_generated.hpp
 src/lib/parameters/px4_parameters.c
 src/lib/parameters/px4_parameters.h
 src/lib/parameters/px4_parameters_public.h

.vscode/cmake-variants.yaml

@@ -61,21 +61,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: av_x-v1_default
-    bitcraze_crazyflie_default:
-      short: bitcraze_crazyflie
-      buildType: MinSizeRel
-      settings:
-        CONFIG: bitcraze_crazyflie_default
     cuav_can-gps-v1_default:
       short: cuav_can-gps-v1_default
       buildType: MinSizeRel
       settings:
         CONFIG: cuav_can-gps-v1_default
-    cuav_can-gps-v1_canbootloader:
-      short: cuav_can-gps-v1_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_can-gps-v1_canbootloader
     cuav_nora_default:
       short: cuav_nora
       buildType: MinSizeRel

ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane

@@ -16,31 +16,20 @@ then
 	param set FW_LND_ANG 8
 	param set FW_THR_LND_MAX 0
 
+	param set FW_L1_PERIOD 15
+
+	param set FW_P_TC 0.5
+	param set FW_PR_FF 0.40
+	param set FW_PR_I 0.05
+	param set FW_PR_P 0.05
+
+	param set FW_R_TC 0.7
+	param set FW_RR_FF 0.20
+	param set FW_RR_I 0.02
+	param set FW_RR_P 0.22
+
 	param set FW_L1_PERIOD 12
 
-	param set FW_MAN_P_MAX 30
-
-	param set FW_PR_I 0.4
-	param set FW_PR_P 0.9
-	param set FW_PR_FF 0.2
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
-
-	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.3
-
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_THR_CRUISE 0.25
-
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2
-
 	param set FW_W_EN 1
 
 	param set MIS_LTRMIN_ALT 30

ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol

@@ -9,46 +9,40 @@
 
 if [ $AUTOCNF = yes ]
 then
+	param set FW_AIRSPD_MAX 25
+	param set FW_AIRSPD_MIN 14
+	param set FW_AIRSPD_TRIM 16
 	param set FW_L1_PERIOD 12
-	param set FW_MAN_P_MAX 30
-	param set FW_PR_FF 0.2
-	param set FW_PR_I 0.4
-	param set FW_PR_P 0.9
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
+
 	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.3
-	param set FW_THR_CRUISE 0.25
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2
+	param set FW_RR_P 0.01
 
 	param set MC_ROLLRATE_P 0.3
-	param set MC_YAW_P 1.6
 
+	param set MIS_LTRMIN_ALT 10
 	param set MIS_TAKEOFF_ALT 10
+	param set MIS_YAW_TMT 10
 
 	param set MPC_ACC_HOR_MAX 2
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_THR_HOVER 0.58
+	param set MPC_TKO_SPEED 1
 	param set MPC_XY_P 0.8
 	param set MPC_XY_VEL_P_ACC 3
 	param set MPC_XY_VEL_I_ACC 4
 	param set MPC_XY_VEL_D_ACC 0.1
+	param set MPC_Z_VEL_MAX_DN 1.5
 
 	param set NAV_ACC_RAD 5
 	param set NAV_LOITER_RAD 80
 
-	param set VT_FWD_THRUST_EN 4
+	param set VT_F_TRANS_DUR 5
 	param set VT_F_TRANS_THR 0.75
+	param set VT_ARSP_TRANS 16
 	param set VT_MOT_ID 1234
 	param set VT_FW_MOT_OFFID 1234
-	param set VT_B_TRANS_DUR 8
 	param set VT_TYPE 2
+	param set VT_B_TRANS_DUR 8
 
 fi
 

ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter

@@ -9,31 +9,23 @@
 
 if [ $AUTOCNF = yes ]
 then
+	param set FW_AIRSPD_MAX 25
+	param set FW_AIRSPD_MIN 14
+	param set FW_AIRSPD_TRIM 16
 	param set FW_L1_PERIOD 12
-	param set FW_MAN_P_MAX 30
-	param set FW_PR_I 0.2
-	param set FW_PR_P 0.3
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
-	param set FW_RR_P 0.3
-	param set FW_THR_CRUISE 0.33
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2
 
 	param set MC_ROLLRATE_P 0.3
 
+	param set MIS_YAW_TMT 10
+
 	param set MPC_ACC_HOR_MAX 2
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P_ACC 3
-	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_THR_MIN 0.3
+	param set MPC_XY_P 0.15
 	param set MPC_XY_VEL_D_ACC 0.1
+	param set MPC_XY_VEL_P_ACC 1
+	param set MPC_Z_VEL_MAX_DN 1.5
+	param set MPC_Z_VEL_P_ACC 16
 
 	param set NAV_ACC_RAD 5
 	param set NAV_LOITER_RAD 80

ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor

@@ -14,20 +14,9 @@ then
 	param set FW_PR_FF 0.2
 	param set FW_PR_I 0.4
 	param set FW_PR_P 0.9
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
+	param set FW_PSP_OFF 3
 	param set FW_RR_FF 0.1
 	param set FW_RR_P 0.3
-	param set FW_THR_CRUISE 0.38
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2
 
 	param set MC_YAW_P 1.6
 
@@ -39,10 +28,10 @@ then
 	param set MPC_XY_VEL_I_ACC 4
 	param set MPC_XY_VEL_D_ACC 0.1
 
-	param set NAV_ACC_RAD 5
-	param set NAV_LOITER_RAD 80
+	param set NAV_LOITER_RAD 100
 
 	param set VT_B_TRANS_DUR 8
+	param set VT_ELEV_MC_LOCK 0
 	param set VT_FWD_THRUST_EN 4
 	param set VT_MOT_ID 1234
 	param set VT_TILT_TRANS 0.6

ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x

@@ -21,6 +21,7 @@ then
 	param set MPC_XY_VEL_P_ACC 3
 
 	param set RTL_DESCEND_ALT 10
+	param set RTL_LAND_DELAY 0
 
 	param set TRIG_INTERFACE 3
 	param set TRIG_MODE 4

ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480

@@ -9,18 +9,17 @@
 
 if [ $AUTOCNF = yes ]
 then
-	param set MC_PITCHRATE_P 0.1000
-	param set MC_PITCHRATE_I 0.0400
-	param set MC_PITCHRATE_D 0.0010
-	param set MC_PITCH_P 9.0
-	param set MC_ROLLRATE_P 0.1000
-	param set MC_ROLLRATE_I 0.0400
-	param set MC_ROLLRATE_D 0.0010
-	param set MC_ROLL_P 9.0
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCH_P 6.0
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.1
+	param set MC_ROLL_P 6.0
 	param set MPC_XY_VEL_I_ACC 4
 	param set MPC_XY_VEL_P_ACC 3
 
 	param set RTL_DESCEND_ALT 10
+	param set RTL_LAND_DELAY 0
 
 	param set TRIG_INTERFACE 3
 	param set TRIG_MODE 4

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

@@ -19,7 +19,6 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

@@ -17,7 +17,6 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

@@ -19,7 +19,6 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

@@ -19,7 +19,6 @@
 #
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

@@ -7,10 +7,6 @@
 #
 # @maintainer Roman Bapst <roman@auterion.com>
 #
-# @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
-# @board bitcraze_crazyflie exclude
-#
 
 . ${R}etc/init.d/rc.vtol_defaults
 
@@ -55,6 +51,7 @@ then
 	param set NAV_LOITER_RAD 80
 
 	param set RTL_DESCEND_ALT 10
+	param set RTL_LAND_DELAY 0
 	param set RTL_RETURN_ALT 30
 
 	param set SDLOG_DIRS_MAX 7

ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik

@@ -16,7 +16,6 @@
 #
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

@@ -17,10 +17,6 @@
 # @output AUX4 Rudder
 # @output AUX5 Throttle
 #
-# @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
-# @board bitcraze_crazyflie exclude
-#
 
 . ${R}etc/init.d/rc.vtol_defaults
 

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

@@ -12,10 +12,6 @@
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
-# @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
-# @board bitcraze_crazyflie exclude
-#
 
 . ${R}etc/init.d/rc.vtol_defaults
 
@@ -51,4 +47,4 @@ set MAV_TYPE 19
 
 set MIXER vtol_tailsitter_duo
 
-set PWM_OUT 123456
+set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter

@@ -7,10 +7,6 @@
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
-# @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
-# @board bitcraze_crazyflie exclude
-#
 
 . ${R}etc/init.d/rc.vtol_defaults
 
@@ -29,4 +25,4 @@ set MAV_TYPE 20
 
 set MIXER quad_x_vtol
 
-set PWM_OUT 1234
+set PWM_OUT 1234

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

@@ -17,7 +17,6 @@
 # @output AUX4 Rudder
 # @output AUX5 Throttle
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

@@ -15,7 +15,6 @@
 # @output AUX2 Left elevon
 # @output AUX3 Motor
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

@@ -7,7 +7,6 @@
 #
 # @maintainer Sander Smeets <sander@droneslab.com>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger

@@ -7,7 +7,6 @@
 #
 # @maintainer Sander Smeets <sander@droneslab.com>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

@@ -7,7 +7,6 @@
 #
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

@@ -16,7 +16,6 @@
 # @output MAIN7 Elevon right
 # @output MAIN8 Elevon left
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

@@ -16,10 +16,6 @@
 # @output MAIN7 Pusher motor
 # @output MAIN8 Pusher reverse channel
 #
-# @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
-# @board bitcraze_crazyflie exclude
-#
 
 . ${R}etc/init.d/rc.vtol_defaults
 
@@ -54,6 +50,7 @@ then
 	param set FW_T_SINK_MAX 3
 	param set FW_T_SINK_MIN 1
 	param set FW_T_VERT_ACC 6
+	param set FW_T_HRATE_P 0.1
 	param set FW_THR_CRUISE 0.70
 	param set FW_THR_SLEW_MAX 1
 	param set FW_MAN_P_MAX 30

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

@@ -49,6 +49,8 @@ then
 	param set FW_T_HRATE_FF 0
 	param set FW_T_SINK_MAX	15
 	param set FW_T_SINK_MIN	3
+	param set FW_T_THRO_CONST	6
+	param set FW_T_TIME_CONST	6
 	param set FW_YR_I	0.1
 	param set FW_YR_P	0.15
 

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

@@ -12,7 +12,6 @@
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

@@ -1,49 +0,0 @@
-#!/bin/sh
-#
-# @name ThunderFly TF-G2
-#
-# @type Autogyro
-# @class Autogyro
-#
-# @output MAIN2 rotor_head_L
-# @output MAIN3 rotor_head_R
-# @output MAIN4 rudder
-# @output MAIN5 throttle
-#
-#
-# @url https://github.com/ThunderFly-aerospace/TF-G2/
-# @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
-#
-# @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set BAT_CAPACITY 3300
-	param set BAT_N_CELLS 3
-
-	param set PWM_AUX_RATE 50
-	param set PWM_RATE 50
-
-	param set SENS_BOARD_ROT 4
-
-	param set FW_AIRSPD_MAX 20
-	param set FW_AIRSPD_MIN 7
-	param set FW_AIRSPD_TRIM 13
-	param set FW_THR_CRUISE 0.8
-
-	param set FW_MAN_P_MAX 25
-	param set FW_MAN_R_MAX 25
-	param set FW_PR_I 0.02
-	param set FW_R_LIM 40
-	param set FW_P_LIM_MAX 25
-	param set FW_P_LIM_MIN -5
-	param set FW_P_RMAX_NEG 20
-fi
-
-set MIXER TF-G2
-set MIXER_AUX pass

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

@@ -42,6 +42,7 @@ then
 	param set PWM_RATE 400
 
 	param set RTL_DESCEND_ALT 10
+	param set RTL_LAND_DELAY 0
 	param set RTL_RETURN_ALT 30
 fi
 

ROMFS/px4fmu_common/init.d/airframes/3031_phantom

@@ -17,7 +17,6 @@
 #
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

@@ -15,7 +15,6 @@
 #
 # @maintainer Julian Oes <julian@px4.io>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

@@ -17,7 +17,6 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

ROMFS/px4fmu_common/init.d/airframes/3035_viper

@@ -14,7 +14,6 @@
 #
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
-# @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/3036_pigeon

@@ -17,7 +17,6 @@
 #
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
-# @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 #
 

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

@@ -7,7 +7,6 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
-# @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 #
 

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

@@ -112,6 +112,7 @@ then
 
 	# RTL Parameters
 	param set RTL_DESCEND_ALT 5
+	param set RTL_LAND_DELAY 0
 	param set RTL_RETURN_ALT 5
 	param set RTL_CONE_ANG 45
 

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

@@ -7,7 +7,6 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

@@ -98,6 +98,7 @@ then
 	param set BAT_V_DIV 10.14
 	param set BAT_A_PER_V 18.18
 	#param set CBRK_IO_SAFETY 22027
+	param set COM_ARM_EKF_AB 0.005
 	param set COM_DISARM_LAND 2
 
 	# Filter settings

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

@@ -77,6 +77,7 @@ then
 
 	param set BAT_SOURCE 0
 	param set CBRK_IO_SAFETY 22027
+	#param set COM_ARM_EKF_AB 0.005
 	#param set COM_DISARM_LAND 3
 
 	# Filter settings

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

@@ -107,6 +107,7 @@ then
 	param set BAT_V_DIV 10.14
 	param set BAT_A_PER_V 18.18
 	#param set CBRK_IO_SAFETY 22027
+	param set COM_ARM_EKF_AB 0.005
 	param set COM_DISARM_LAND 2
 
 	# Filter settings

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

@@ -49,6 +49,7 @@ then
 	# sensor calibration
 	param set CAL_MAG_SIDES 63
 	param set SENS_BOARD_ROT 0
+	param set COM_ARM_EKF_AB 0.0032
 
 	# circuit breakers
 	param set CBRK_IO_SAFETY 22027

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

@@ -5,6 +5,8 @@
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+#
 # @output MAIN2 steering
 # @output MAIN4 throttle
 #

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

@@ -146,9 +146,7 @@ px4_add_romfs_files(
 
 	16001_helicopter
 
-	# [17000, 17999] Autogyro
 	17002_TF-AutoG2
-	17003_TF-G2
 
 	24001_dodeca_cox
 

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -41,7 +41,6 @@ then
 	#
 	param set NAV_ACC_RAD 10
 
-	param set MIS_DIST_WPS 5000
 	param set MIS_LTRMIN_ALT 25
 	param set MIS_TAKEOFF_ALT 25
 

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -62,7 +62,6 @@ mc_att_control start
 # Start Multicopter Position Controller.
 #
 mc_hover_thrust_estimator start
-flight_mode_manager start
 mc_pos_control start
 
 #

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -13,6 +13,7 @@ then
 
 	param set RTL_RETURN_ALT 30
 	param set RTL_DESCEND_ALT 10
+	param set RTL_LAND_DELAY 0
 
 	param set PWM_MAX 1950
 	param set PWM_MIN 1075

ROMFS/px4fmu_common/init.d/rc.vtol_apps

@@ -21,7 +21,6 @@ vtol_att_control start
 
 mc_rate_control start vtol
 mc_att_control start vtol
-flight_mode_manager start
 mc_pos_control start vtol
 mc_hover_thrust_estimator start
 

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -18,8 +18,6 @@ then
 	param set EKF2_ARSP_THR 10
 	param set EKF2_FUSE_BETA 1
 
-	param set MIS_DIST_WPS 5000
-
 	param set MPC_ACC_HOR_MAX 2
 	param set MPC_TKO_SPEED 1
 	param set MPC_VEL_MANUAL 3
@@ -33,6 +31,7 @@ then
 	param set PWM_AUX_RATE 50
 	param set PWM_RATE 400
 
+	param set RTL_LAND_DELAY 0
 	param set RTL_TYPE 1
 
 	param set WV_EN 1

ROMFS/px4fmu_common/init.d/rcS

@@ -183,8 +183,8 @@ else
 	then
 		if param compare SYS_AUTOCONFIG 1
 		then
-			# Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID
-			param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT* SYS_PARAM_VER
+			# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
+			param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT_UUID
 		fi
 
 		set AUTOCNF yes
@@ -271,6 +271,57 @@ else
 		param set SYS_AUTOCONFIG 0
 	fi
 
+	#
+	# Check if PX4IO present and update firmware if needed.
+	# Assumption IOFW set to firmware file and IO_PRESENT = no
+	#
+
+	if [ -f $IOFW ]
+	then
+		# Check for the mini using build with px4io fw file
+		# but not a px4IO
+		if ver hwtypecmp V540 V560
+		then
+			param set SYS_USE_IO 0
+		else
+			if px4io checkcrc ${IOFW}
+			then
+				set IO_PRESENT yes
+			else
+				# tune Program PX4IO
+				tune_control play -t 16 # tune 16 = PROG_PX4IO
+
+				if px4io start
+				then
+					# Try to safety px4 io so motor outputs don't go crazy.
+					if ! px4io safety_on
+					then
+						# px4io did not respond to the safety command.
+						px4io stop
+					fi
+				fi
+
+				if px4io forceupdate 14662 ${IOFW}
+				then
+					usleep 10000
+					tune_control stop
+					if px4io checkcrc ${IOFW}
+					then
+						echo "PX4IO CRC OK after updating"
+						tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
+						set IO_PRESENT yes
+					fi
+				fi
+
+				if [ $IO_PRESENT = no ]
+				then
+					echo "PX4IO update failed"
+					tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
+				fi
+			fi
+		fi
+	fi
+
 	#
 	# Set USE_IO flag.
 	#
@@ -279,54 +330,10 @@ else
 		set USE_IO yes
 	fi
 
-	#
-	# Check if PX4IO present and update firmware if needed.
-	# Assumption IOFW set to firmware file and IO_PRESENT = no
-	#
-
-	if [ -f $IOFW -a $USE_IO = yes ]
+	if [ $USE_IO = yes -a $IO_PRESENT = no ]
 	then
-		if px4io checkcrc ${IOFW}
-		then
-			set IO_PRESENT yes
-		else
-			# tune Program PX4IO
-			tune_control play -t 16 # tune 16 = PROG_PX4IO
-
-			if px4io start
-			then
-				# Try to safety px4 io so motor outputs don't go crazy.
-				if ! px4io safety_on
-				then
-					# px4io did not respond to the safety command.
-					px4io stop
-				fi
-			fi
-
-			if px4io forceupdate 14662 ${IOFW}
-			then
-				usleep 10000
-				tune_control stop
-				if px4io checkcrc ${IOFW}
-				then
-					echo "PX4IO CRC OK after updating"
-					tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
-					set IO_PRESENT yes
-				fi
-			fi
-
-			if [ $IO_PRESENT = no ]
-			then
-				echo "PX4IO update failed"
-				tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
-			fi
-		fi
-
-		if [ $USE_IO = yes -a $IO_PRESENT = no ]
-		then
-			echo "PX4IO not found"
-			tune_control play error
-		fi
+		echo "PX4IO not found"
+		tune_control play error
 	fi
 
 	#

ROMFS/px4fmu_common/mixers/TF-G2.main.mix

@@ -1,39 +0,0 @@
-TF-G2 autogyro mixer
-==================================================
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
-
-CH1: empty - fixing cuav nano jittering of 1st output. 
-Z:
-
-
-CH2, 3: rotor-head mixer
--------------
-Two scalers total (output, roll).
-
-M: 2
-O: 10000 10000 0 -10000 10000
-S: 0 0 -10000 -10000 0 -10000 10000
-S: 0 1  10000  10000      0 -10000  10000
-
-M: 2
-O: 10000 10000 0 -10000 10000
-S: 0 0 -10000 -10000 0 -10000 10000
-S: 0 1 -10000 -10000      0 -10000  10000
-
-
-CH4: Rudder mixer
-------------
-Two scalers total (output, yaw).
-
-M: 1
-S: 0 2  10000  10000      0 -10000  10000
-
-
-CH5: Motor speed mixer
------------------
-Two scalers total (output, thrust).
-
-M: 1
-S: 0 3      0  20000 -10000 -10000  10000

Tools/gazebo_sitl_multiple_run.sh

@@ -31,7 +31,7 @@ function spawn_model() {
 	pushd "$working_dir" &>/dev/null
 	echo "starting instance $N in $(pwd)"
 	../bin/px4 -i $N -d "$build_path/etc" -w sitl_${MODEL}_${N} -s etc/init.d-posix/rcS >out.log 2>err.log &
-	python3 ${src_path}/Tools/sitl_gazebo/scripts/jinja_gen.py ${src_path}/Tools/sitl_gazebo/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/sitl_gazebo --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf
+	python3 ${src_path}/Tools/sitl_gazebo/scripts/jinja_gen.py ${src_path}/Tools/sitl_gazebo/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/sitl_gazebo --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --output-file /tmp/${MODEL}_${N}.sdf
 
 	echo "Spawning ${MODEL}_${N}"
 

Tools/make_can_boot_descriptor.py

@@ -182,7 +182,7 @@ class FirmwareImage(object):
             self._contents.seek(0, os.SEEK_END)
             self._length = self._contents.tell()
             if self._padding:
-                fill = self._padding - (self._length % self._padding)
+                fill = self._length % self._padding
                 if fill:
                     self._length += fill
                 self._padding = fill

Tools/px_uploader.py

@@ -344,9 +344,8 @@ class uploader(object):
         try:
             self.__getSync(False)
         except:
-            # if it fails we are on a real serial port - only leave this enabled on Windows
-            if _platform.system() == 'Windows':
-                self.ackWindowedMode = True
+            # if it fails we are on a real Serial Port
+            self.ackWindowedMode = True
 
         self.port.baudrate = self.baudrate_bootloader
 

Tools/serial/generate_config.py

@@ -130,14 +130,6 @@ serial_ports = {
         "default_baudrate": 0,
         },
 
-    # WIFI Port (PixRacer)
-    "WIFI": {
-        "label": "Wifi Port",
-        "index": 301,
-        "default_baudrate": 1, # set default to an unusable value to detect that this serial port has not been configured
-        },
-
-
     }
 
 parser = argparse.ArgumentParser(description='Generate Serial params & startup script')

Tools/setup/arch.sh

@@ -1,7 +1,7 @@
 #! /usr/bin/env bash
 
 ## Bash script to setup PX4 development environment on Arch Linux.
-## Tested on Manjaro 20.2.1.
+## Tested on Manjaro 18.0.1.
 ##
 ## Installs:
 ## - Common dependencies and tools for nuttx, jMAVSim
@@ -33,7 +33,7 @@ do
 done
 
 # script directory
-DIR=$(dirname $0)
+DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
 
 # check requirements.txt exists (script not run in source tree)
 REQUIREMENTS_FILE="requirements.txt"
@@ -90,27 +90,22 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 	sudo pacman -R modemmanager --noconfirm
 
 	# arm-none-eabi-gcc
-	NUTTX_GCC_VERSION="10-2020-q4-major"
-	NUTTX_GCC_VERSION_SHORT="10-2020q4"
+	NUTTX_GCC_VERSION="7-2017-q4-major"
+	GCC_VER_STR=$(arm-none-eabi-gcc --version)
+	STATUSRETVAL=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}")
 
-	source $HOME/.profile # load changed path for the case the script is reran before relogin
-	if [ $(which arm-none-eabi-gcc) ]; then
-		GCC_VER_STR=$(arm-none-eabi-gcc --version)
-		GCC_FOUND_VER=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}")
-	fi
-
-	if [[ "$GCC_FOUND_VER" == "1" ]]; then
+	if [ $STATUSRETVAL -eq "1" ]; then
 		echo "arm-none-eabi-gcc-${NUTTX_GCC_VERSION} found, skipping installation"
-
 	else
 		echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
-		wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-x86_64-linux.tar.bz2 && \
+		wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/7-2017q4/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 && \
 			sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/;
 
 		# add arm-none-eabi-gcc to user's PATH
 		exportline="export PATH=/opt/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}/bin:\$PATH"
 
-		if grep -Fxq "$exportline" $HOME/.profile; then
+		if grep -Fxq "$exportline" $HOME/.profile;
+		then
 			echo "${NUTTX_GCC_VERSION} path already set.";
 		else
 			echo $exportline >> $HOME/.profile;
@@ -137,28 +132,27 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		# PX4 gazebo simulation dependencies
 		sudo pacman -S --noconfirm --needed \
 			dmidecode \
-			eigen \
+			eigen3 \
 			hdf5 \
 			opencv \
 			protobuf \
 			vtk \
-			yay \
 			;
 
-		# enable multicore gazebo compilation
-		sudo sed -i '/MAKEFLAGS=/c\MAKEFLAGS="-j4"' /etc/makepkg.conf
+		# add community binary repository for gazebo and ROS
+		# https://wiki.archlinux.org/index.php/Unofficial_user_repositories#oscloud
+		if ! grep -q oscloud /etc/pacman.conf; then
+			echo "# ROS gazebo repository for PX4
+[oscloud]
+SigLevel = Never
+Server = http://repo.oscloud.info/" | sudo tee -a /etc/pacman.conf > /dev/null
+		fi
 
-		# install gazebo from AUR
-		yay -S gazebo --noconfirm
+		sudo pacman -Sy --noconfirm --needed gazebo
 
 		if sudo dmidecode -t system | grep -q "Manufacturer: VMware, Inc." ; then
 			# fix VMWare 3D graphics acceleration for gazebo
-			exportline="export SVGA_VGPU10=0"
-
-			if grep -Fxq "$exportline" $HOME/.profile; then
-			else
-				echo $exportline >> $HOME/.profile;
-			fi
+			echo "export SVGA_VGPU10=0" >> ~/.profile
 		fi
 	fi
 fi

Tools/sitl_run.sh

@@ -84,8 +84,6 @@ for file in "$@"; do
 	cp "$file" $rootfs/
 done
 
-export PX4_SIM_MODEL=${model}
-
 SIM_PID=0
 
 if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]; then
@@ -163,7 +161,7 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
 			# gzserver needs to be running to avoid a race. Since the launch
 			# is putting it into the background we need to avoid it by backing off
 			sleep 3
-			nice -n 20 gzclient --verbose --gui-client-plugin libgazebo_user_camera_plugin.so &
+			nice -n 20 gzclient --verbose &
 			GUI_PID=$!
 		fi
 	else
@@ -206,6 +204,9 @@ fi
 
 echo SITL COMMAND: $sitl_command
 
+export PX4_SIM_MODEL=${model}
+
+
 if [ "$debugger" == "lldb" ]; then
 	eval lldb -- $sitl_command
 elif [ "$debugger" == "gdb" ]; then

Tools/uorb_graph/create.py

@@ -238,7 +238,7 @@ class Graph(object):
         special_cases_pub = [
     ('replay', r'Replay\.cpp$', None, r'^sub\.orb_meta$'),
 
-    ('uavcan', r'sensors/.*\.cpp$', None, r'^_orb_topic$'),
+    ('uavcan', r'sensors/.*\.cpp$', r'\bUavcanCDevSensorBridgeBase\([^{]*DEVICE_PATH,([^,)]+)', r'^_orb_topic$'),
     ]
         special_cases_pub = [(a, re.compile(b), re.compile(c) if c is not None else None, re.compile(d))
                                    for a,b,c,d in special_cases_pub]

boards/aerotenna/ocpoc/default.cmake

@@ -45,7 +45,6 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector

boards/airmind/mindpx-v2/default.cmake

@@ -59,7 +59,6 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector

boards/atlflight/eagle/default.cmake

@@ -64,7 +64,6 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector

boards/atlflight/eagle/qurt.cmake

@@ -56,7 +56,6 @@ px4_add_board(
 		attitude_estimator_q
 		commander
 		ekf2
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector

boards/atlflight/excelsior/default.cmake

@@ -63,7 +63,6 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector

boards/atlflight/excelsior/qurt.cmake

@@ -56,7 +56,6 @@ px4_add_board(
 		attitude_estimator_q
 		commander
 		ekf2
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector

boards/av/x-v1/default.cmake

@@ -59,7 +59,6 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector

boards/av/x-v1/init/rc.board_defaults

@@ -8,9 +8,7 @@ param set CBRK_SUPPLY_CHK 894281
 
 if [ $AUTOCNF = yes ]
 then
-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
+
 fi
 
 set LOGGER_BUF 64

boards/beaglebone/blue/default.cmake

@@ -24,7 +24,7 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		gps
 		#imu # all available imu drivers
-		imu/invensense/mpu9250
+		imu/mpu9250
 		linux_pwm_out
 		#magnetometer # all available magnetometer drivers
 		magnetometer/hmc5883
@@ -40,7 +40,6 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector

boards/bitcraze/crazyflie/default.cmake

@@ -11,8 +11,7 @@ px4_add_board(
 		barometer/lps25h
 		distance_sensor/vl53l0x
 		gps
-		magnetometer/akm/ak8963
-		imu/invensense/mpu9250
+		imu/mpu9250
 		optical_flow/pmw3901
 		pwm_out
 	MODULES
@@ -22,11 +21,10 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		flight_mode_manager
 		land_detector
-		#landing_target_estimator
+		landing_target_estimator
 		load_mon
-		#local_position_estimator
+		local_position_estimator
 		logger
 		mavlink
 		mc_att_control
@@ -38,7 +36,7 @@ px4_add_board(
 		sensors
 		#temperature_compensation
 	SYSTEMCMDS
-		#bl_update
+		bl_update
 		dmesg
 		dumpfile
 		esc_calib

boards/bitcraze/crazyflie/init/rc.board_sensors

@@ -6,11 +6,10 @@
 board_adc start
 
 # Onboard I2C
-if mpu9250_i2c -I -b 3 -a 0x69 -R 6 start; then
-	sleep 1 # wait for mpu9250 to be configured with bypass enabled
-	ak8963 -I -b 3 -R 4 start
-	lps25h -I -b 3 start
-fi
+mpu9250 -I -R 12 start
+
+# I2C bypass of mpu
+lps25h -I start
 
 # Optical flow deck
 vl53l0x start -X

boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig

@@ -12,7 +12,6 @@
 # CONFIG_MMCSD_MMCSUPPORT is not set
 # CONFIG_NSH_DISABLEBG is not set
 # CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_DF is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
 # CONFIG_NSH_DISABLE_GET is not set
@@ -43,11 +42,10 @@ CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_PRODUCTID=0x0016
 CONFIG_CDCACM_PRODUCTSTR="PX4 Crazyflie v2.0"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=2000
+CONFIG_CDCACM_RXBUFSIZE=300
+CONFIG_CDCACM_TXBUFSIZE=1000
 CONFIG_CDCACM_VENDORID=0x26ac
 CONFIG_CDCACM_VENDORSTR="Bitcraze AB"
-CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
@@ -55,7 +53,6 @@ CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
 CONFIG_FAT_DIRECT_RETRY=y
 CONFIG_FAT_LCNAMES=y
 CONFIG_FAT_LFN=y
@@ -64,10 +61,11 @@ CONFIG_FDCLONE_STDIO=y
 CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_PROCFS_EXCLUDE_BLOCKS=y
+CONFIG_FS_PROCFS_EXCLUDE_MEMINFO=y
+CONFIG_FS_PROCFS_EXCLUDE_MOUNT=y
+CONFIG_FS_PROCFS_EXCLUDE_USAGE=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
 CONFIG_GRAN_INTR=y
@@ -93,6 +91,7 @@ CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_EXPORT=y
 CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
@@ -177,8 +176,7 @@ CONFIG_USART2_BAUD=57600
 CONFIG_USART2_RXBUFSIZE=300
 CONFIG_USART2_RXDMA=y
 CONFIG_USART2_TXBUFSIZE=300
-CONFIG_USART3_BAUD=57600
-CONFIG_USART3_SERIAL_CONSOLE=y
+CONFIG_USART3_RXDMA=y
 CONFIG_USART6_BAUD=57600
 CONFIG_USART6_RXBUFSIZE=128
 CONFIG_USART6_RXDMA=y

boards/cuav/can-gps-v1/default.cmake

@@ -27,25 +27,45 @@ px4_add_board(
 	ARCHITECTURE cortex-m4
 	ROMFSROOT cannode
 	UAVCAN_INTERFACES 1
+	SERIAL_PORTS
+		GPS1:/dev/ttyS1
 	DRIVERS
+		#adc
 		barometer/ms5611
 		bootloaders
 		gps
 		magnetometer/rm3100
-		safety_button
-		tone_alarm
+		#safety_button
+		#tone_alarm
 		uavcannode
 	MODULES
-		load_mon
+		#ekf2
+		#load_mon
+		#sensors
+		#temperature_compensation
 	SYSTEMCMDS
-		i2cdetect
-		led_control
+		#bl_update
+		#dmesg
+		#dumpfile
+		#esc_calib
+		#hardfault_log
+		#i2cdetect
+		#led_control
+		#mft
+		#mixer
+		#motor_ramp
+		#motor_test
+		#mtd
+		#nshterm
 		param
 		perf
 		reboot
+		#reflect
+		#sd_bench
+		#shutdown
 		top
 		topic_listener
-		tune_control
+		#tune_control
 		ver
 		work_queue
 )

boards/cuav/can-gps-v1/init/rc.board_sensors

@@ -3,7 +3,7 @@
 # board sensors init
 #------------------------------------------------------------------------------
 
-gps start -d /dev/ttyS1 -g 38400 -p ubx
+#board_adc start
 
 # Internal SPI
 ms5611 -s start

boards/cuav/can-gps-v1/nuttx-config/include/board.h

@@ -58,8 +58,8 @@
  * LSE - not installed
  */
 
-#define STM32_BOARD_USEHSE      1
-#define STM32_BOARD_XTAL        16000000
+#define STM32_BOARD_USEHSE		1
+#define STM32_BOARD_XTAL		8000000
 #define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
 
 #define STM32_HSI_FREQUENCY     16000000ul
@@ -128,22 +128,40 @@
 
 /* Alternate function pin selections ************************************************/
 
-/* UARTs */
+/*
+ * UARTs.
+ */
 #define GPIO_USART1_RX	GPIO_USART1_RX_2
 #define GPIO_USART1_TX	GPIO_USART1_TX_2
 
 #define GPIO_USART2_RX	GPIO_USART2_RX_1
 #define GPIO_USART2_TX	GPIO_USART2_TX_1
 
-/* CAN */
+/*
+ * CAN
+ *
+ * CAN1 is routed to the onboard transceiver.
+ */
 #define GPIO_CAN1_RX	GPIO_CAN1_RX_2
 #define GPIO_CAN1_TX	GPIO_CAN1_TX_2
 
-/* I2C */
+/*
+ * I2C
+ *
+ * The optional _GPIO configurations allow the I2C driver to manually
+ * reset the bus to clear stuck slaves.  They match the pin configuration,
+ * but are normally-high GPIOs.
+ */
 #define GPIO_I2C3_SCL		GPIO_I2C3_SCL_2
 #define GPIO_I2C3_SDA		GPIO_I2C3_SDA_2
+#define GPIO_I2C3_SCL_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)
+#define GPIO_I2C3_SDA_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4)
 
-/* SPI */
+/*
+ * SPI
+ *
+ * There are sensors on SPI1, and SPI2 is connected to the FRAM.
+ */
 #define GPIO_SPI1_MISO  (GPIO_SPI1_MISO_1|GPIO_SPEED_50MHz)
 #define GPIO_SPI1_MOSI  (GPIO_SPI1_MOSI_1|GPIO_SPEED_50MHz)
 #define GPIO_SPI1_SCK   (GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz)

boards/cuav/can-gps-v1/nuttx-config/scripts/script.ld

@@ -71,15 +71,13 @@ SECTIONS
 	.text : {
 		_stext = ABSOLUTE(.);
 		*(.vectors)
-		. = ALIGN(8);
-      /*
-       * This section positions the app_descriptor_t used
-       * by the make_can_boot_descriptor.py tool to set
-       * the application image's descriptor so that the
-       * uavcan bootloader has the ability to validate the
-       * image crc, size etc
-      */
-    KEEP(*(.app_descriptor))
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
 		*(.text .text.*)
 		*(.fixup)
 		*(.gnu.warning)

boards/cuav/can-gps-v1/src/CMakeLists.txt

@@ -32,7 +32,6 @@
 ############################################################################
 
 if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
-
 	add_library(drivers_board
 		boot_config.h
 		boot.c

boards/cuav/can-gps-v1/src/board_config.h

@@ -48,17 +48,16 @@
 #include <stdint.h>
 
 /* BUTTON *************************************************************************** */
-#define BUTTON_SAFETY         /* PB3  */  (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN3|GPIO_EXTI)
+#define BUTTON_BOOT0n   (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTB|GPIO_PIN3|GPIO_EXTI)
+#define IRQBUTTON       BUTTON_BOOT0_BIT
 
-#define GPIO_RGB_S            /* PB0  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
 /* CAN Silence
  *
  * Silent mode control \ ESC Mux select
  */
 #define GPIO_CAN1_SILENT_S0  /* PB5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)
+#define GPIO_CAN_CTRL  /* PB5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN5|GPIO_OUTPUT_CLEAR)
 
-#define GPIO_LED_SAFETY              (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
-#define GPIO_BTN_SAFETY              (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN3)
 
 /* Tone alarm output. */
 #define TONE_ALARM_TIMER             2    /* timer 2 */

boards/cuav/can-gps-v1/src/boot.c

@@ -65,7 +65,7 @@ __EXPORT void stm32_boardinitialize(void)
 	putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
 	stm32_configgpio(GPIO_CAN1_RX);
 	stm32_configgpio(GPIO_CAN1_TX);
-	stm32_configgpio(GPIO_CAN1_SILENT_S0);
+	stm32_configgpio(GPIO_CAN_CTRL);
 	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
 	putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
 
@@ -155,33 +155,33 @@ size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
 #define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
 
 typedef begin_packed_struct struct led_t {
-	uint8_t red;
-	uint8_t green;
-	uint8_t blue;
+	uint16_t red    :       5;
+	uint16_t green  :       6;
+	uint16_t blue   :       5;
 	uint8_t hz;
 } end_packed_struct led_t;
 
 static const  led_t i2l[] = {
 
-	led(0, off,                             0,     0,     0,     0),
-	led(1, reset,                          128,   128,   128,   30),
-	led(2, autobaud_start,                  0,   128,     0,     1),
-	led(3, autobaud_end,                    0,   128,     0,     2),
-	led(4, allocation_start,                0,     0,    64,     2),
-	led(5, allocation_end,                  0,   128,    64,     3),
-	led(6, fw_update_start,                32,   128,    64,     3),
-	led(7, fw_update_erase_fail,           32,   128,    32,     3),
-	led(8, fw_update_invalid_response,     64,     0,     0,     1),
-	led(9, fw_update_timeout,              64,     0,     0,     2),
-	led(a, fw_update_invalid_crc,          64,     0,     0,     4),
-	led(b, jump_to_app,                     0,   128,     0,    10),
+	led(0, off,                             0,    0,    0,     0),
+	led(1, reset,                          10,   63,   31,   255),
+	led(2, autobaud_start,                  0,   63,    0,     1),
+	led(3, autobaud_end,                    0,   63,    0,     2),
+	led(4, allocation_start,                0,    0,   31,     2),
+	led(5, allocation_end,                  0,   63,   31,     3),
+	led(6, fw_update_start,                15,   63,   31,     3),
+	led(7, fw_update_erase_fail,           15,   63,   15,     3),
+	led(8, fw_update_invalid_response,     31,    0,    0,     1),
+	led(9, fw_update_timeout,              31,    0,    0,     2),
+	led(a, fw_update_invalid_crc,          31,    0,    0,     4),
+	led(b, jump_to_app,                     0,   63,    0,    10),
 
 };
 
 void board_indicate(uiindication_t indication)
 {
-	rgb_led(i2l[indication].red,
-		i2l[indication].green,
-		i2l[indication].blue,
+	rgb_led(i2l[indication].red << 3,
+		i2l[indication].green << 2,
+		i2l[indication].blue << 3,
 		i2l[indication].hz);
 }

boards/cuav/can-gps-v1/src/boot_config.h

@@ -101,7 +101,7 @@
 #define OPT_RESTART_TIMEOUT_MS          20000
 
 /* Reserved for the Booloader */
-#define OPT_BOOTLOADER_SIZE_IN_K        (1024*64)
+#define OPT_BOOTLOADER_SIZE_IN_K        (1024*8)
 
 /* Reserved for the application out of the total
  * system flash minus the BOOTLOADER_SIZE_IN_K
@@ -132,5 +132,9 @@
 
 /* Bootloader Option*****************************************************************
  *
+ *   GPIO      Function                                     MPU        Board
+ *                                                          Pin #      Name
+ * -- ----- --------------------------------             ----------------------------
+ *  *  PC[09] PC9/TIM3_CH4                                     40       BOOT0
  */
-#define GPIO_GETNODEINFO_JUMPER (BUTTON_SAFETY & ~GPIO_EXTI)
+#define GPIO_GETNODEINFO_JUMPER (BUTTON_BOOT0n&~(GPIO_EXTI))

boards/cuav/can-gps-v1/src/init.c

@@ -90,9 +90,6 @@ stm32_boardinitialize(void)
 
 	stm32_configgpio(GPIO_CAN1_SILENT_S0);
 
-	stm32_configgpio(GPIO_LED_SAFETY);
-	stm32_configgpio(GPIO_BTN_SAFETY);
-
 	// Configure SPI all interfaces GPIO & enable power.
 	stm32_spiinitialize();
 }

boards/cuav/can-gps-v1/src/led.c

@@ -39,83 +39,17 @@
 #include <arch/board/board.h>
 
 #include <hardware/stm32_tim.h>
-#include <dwt.h>
-#include <nvic.h>
 
 #include "led.h"
 
-#define TMR_BASE        STM32_TIM1_BASE
-#define TMR_FREQUENCY   STM32_APB2_TIM1_CLKIN
+#define TMR_BASE        STM32_TIM3_BASE
+#define TMR_FREQUENCY   STM32_APB1_TIM3_CLKIN
 #define TMR_REG(o)      (TMR_BASE+(o))
 
-#define LED_COUNT       8 // Eight LEDs in ring
-
-typedef union {
-	uint8_t  grb[3];
-	uint32_t l;
-} led_data_t;
-
-static  uint8_t off[] =  {0, 0, 0};
-
-#define REG(_addr)       (*(volatile uint32_t *)(_addr))
-#define rDEMCR           REG(NVIC_DEMCR)
-#define rDWT_CTRL        REG(DWT_CTRL)
-#define rDWT_CNT         REG(DWT_CYCCNT)
-#define PORT_B           REG(STM32_GPIOB_ODR)
-#define D0               REG(STM32_GPIOB_ODR) &= ~1;
-#define D1               REG(STM32_GPIOB_ODR) |= 1;
-
-#define DWT_DEADLINE(t)  rDWT_CNT + (t)
-#define DWT_WAIT(v, D)   while((rDWT_CNT - (v)) < (D));
-
-#define T0H              (STM32_SYSCLK_FREQUENCY/3333333)
-#define T1H              (STM32_SYSCLK_FREQUENCY/1666666)
-#define TW               (STM32_SYSCLK_FREQUENCY/800000)
-
-static void setled(uint8_t *p, int count)
-{
-	rDEMCR    |= NVIC_DEMCR_TRCENA;
-	rDWT_CTRL |= DWT_CTRL_CYCCNTENA_MASK;
-
-	while (count--) {
-		uint8_t l = *p++;
-		uint32_t  deadline = DWT_DEADLINE(TW);
-
-		for (uint32_t mask = (1 << 7);  mask != 0;  mask >>= 1) {
-			DWT_WAIT(deadline, TW);
-			deadline = rDWT_CNT;
-			D1;
-
-			if (l & mask) {
-				DWT_WAIT(deadline, T1H);
-
-			} else {
-				DWT_WAIT(deadline, T0H);
-			}
-
-			D0;
-		}
-
-		DWT_WAIT(deadline, TW);
-	}
-}
-
-
-static led_data_t led_data = {0};
-
-static int timerInterrupt(int irq, void *context, void *arg)
-{
-	putreg16(~getreg16(TMR_REG(STM32_GTIM_SR_OFFSET)), TMR_REG(STM32_GTIM_SR_OFFSET));
-
-	static int d2 = 1;
-	setled((d2++ & 1) ? led_data.grb : off, sizeof(led_data.grb));
-	return 0;
-}
-
 void rgb_led(int r, int g, int b, int freqs)
 {
 	long fosc = TMR_FREQUENCY;
-	long prescale = 1536;
+	long prescale = 2048;
 	long p1s = fosc / prescale;
 	long p0p5s  = p1s / 2;
 	uint16_t val;
@@ -124,15 +58,8 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;
 
-		stm32_configgpio(GPIO_RGB_S);
-
-		for (int i = 0; i < LED_COUNT; i++) {
-			setled(off, sizeof(off));
-		}
-
-		/* Enable Clock to Block */
-
-		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
+		/* Enabel Clock to Block */
+		modifyreg32(STM32_RCC_APB1ENR, 0, RCC_APB1ENR_TIM3EN);
 
 		/* Reload */
 		val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET));
@@ -145,21 +72,28 @@ void rgb_led(int r, int g, int b, int freqs)
 		/* Enable STM32_TIM_SETMODE*/
 		putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));
 
-		putreg32(p0p5s + 1, TMR_REG(STM32_BTIM_ARR_OFFSET));
 
+		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC1M_SHIFT) | ATIM_CCMR1_OC1PE |
+			 (ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE, TMR_REG(STM32_GTIM_CCMR1_OFFSET));
+		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE, TMR_REG(STM32_GTIM_CCMR2_OFFSET));
+		putreg16(ATIM_CCER_CC3E | ATIM_CCER_CC3P |
+			 ATIM_CCER_CC2E | ATIM_CCER_CC2P |
+			 ATIM_CCER_CC1E | ATIM_CCER_CC1P, TMR_REG(STM32_GTIM_CCER_OFFSET));
 
-		irq_attach(STM32_IRQ_TIM1CC, timerInterrupt, NULL);
-		up_enable_irq(STM32_IRQ_TIM1CC);
-		putreg16(GTIM_DIER_CC1IE, TMR_REG(STM32_GTIM_DIER_OFFSET));
+		// TODO: verify
+		stm32_configgpio(GPIO_TIM3_CH1OUT_1);
+		stm32_configgpio(GPIO_TIM3_CH2OUT_1);
+		stm32_configgpio(GPIO_TIM3_CH3OUT_1);
 	}
 
-	long p  = freqs == 0 ? p1s + 1 : p0p5s / freqs;
-	putreg32(p + 1, TMR_REG(STM32_BTIM_ARR_OFFSET));
-	putreg32(p, TMR_REG(STM32_GTIM_CCR1_OFFSET));
-	led_data.grb[0] = g;
-	led_data.grb[1] = r;
-	led_data.grb[2] = b;
-	setled(led_data.grb, sizeof(led_data.grb));
+	long p  = freqs == 0 ? p1s : p1s / freqs;
+	putreg32(p, TMR_REG(STM32_BTIM_ARR_OFFSET));
+
+	p  = freqs == 0 ? p1s + 1 : p0p5s / freqs;
+
+	putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR1_OFFSET));
+	putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET));
+	putreg32((b * p) / 255, TMR_REG(STM32_GTIM_CCR3_OFFSET));
 
 	val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET));
 

boards/cuav/can-gps-v1/src/ostubs.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2017-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
  *       Author: David Sidrane <david_s5@nscdg.com>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -37,67 +37,28 @@
  ****************************************************************************/
 
 #include <nuttx/config.h>
-#include "nuttx/arch.h"
-#include "arm_internal.h"
 
+#include <nuttx/init.h>
+#include <nuttx/arch.h>
+#include <nuttx/kmalloc.h>
 
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
+#include <stdbool.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <syslog.h>
+#include <errno.h>
 
-/****************************************************************************
- * Private Types
- ****************************************************************************/
+#include <nuttx/board.h>
 
-/****************************************************************************
- * Private Function Prototypes
- ****************************************************************************/
+#include "up_internal.h"
 
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-__EXPORT int __wrap_nxsem_wait(void *sem);
-__EXPORT int __wrap_nxsem_post(void *sem);
-
-int main(int argc, char **argv);
-/****************************************************************************
- * Name: nxsem_wait and nxsem_post
- *
- * Description:
- *   These functions hijacks by the way of a compile time wrapper the systems
- *   sem_wait and sem_post functions.
- *
- ****************************************************************************/
-
-int __wrap_nxsem_wait(void *sem)
-{
-	return 0;
-}
-
-int __wrap_nxsem_post(void *sem)
-{
-	return 0;
-}
+volatile dq_queue_t g_readytorun;
 
 /****************************************************************************
  * Public Functions
  ****************************************************************************/
 void timer_init(void);
-int __wrap_arm_svcall(int irq, FAR void *context);
-__EXPORT void __wrap_exit(int status);
-
+int __wrap_up_svcall(int irq, FAR void *context);
 
 /****************************************************************************
  * Name: os_start
@@ -144,7 +105,7 @@ inline static void irq_stack_collor(void *pv, unsigned int nwords)
 }
 #endif
 
-void __wrap_nx_start(void)
+void os_start(void)
 {
 #ifdef CONFIG_STACK_COLORATION
 	/* Color the irq stack */
@@ -161,7 +122,7 @@ void __wrap_nx_start(void)
 #if !defined(CONFIG_SUPPRESS_INTERRUPTS) && !defined(CONFIG_SUPPRESS_TIMER_INTS) && \
     !defined(CONFIG_SYSTEMTICK_EXTCLK)
 	/* Initialize the OS's timer subsystem */
-	up_timer_initialize();
+	arm_timer_initialize();
 #endif
 
 	/* Keep the compiler happy for a no return function */
@@ -190,7 +151,7 @@ FAR void *malloc(size_t size)
  *   This function hijacks the systems exit
  *
  ****************************************************************************/
-void __wrap_exit(int status)
+void exit(int status)
 {
 	while (1);
 }
@@ -218,7 +179,7 @@ void sched_ufree(FAR void *address)
  *
  ****************************************************************************/
 
-int __wrap_arm_svcall(int irq, FAR void *context)
+int __wrap_up_svcall(int irq, FAR void *context)
 {
 	return 0;
 }

boards/cuav/nora/default.cmake

@@ -64,7 +64,6 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector

boards/cuav/nora/init/rc.board_defaults

@@ -31,12 +31,6 @@ then
 	param set BAT1_A_PER_V 24
 	param set BAT2_A_PER_V 24
 
-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
-	param set EKF2_MULTI_MAG 3
-	param set SENS_MAG_MODE 0
-
 	# Enable IMU thermal control
 	param set SENS_EN_THERMAL 1
 fi

boards/cuav/nora/init/rc.board_sensors

@@ -4,18 +4,16 @@
 #------------------------------------------------------------------------------
 board_adc start
 
-# SPI1
-icm20689 -s -b 1 -R 2 start
+# SPI1 (internal)
+rm3100 -s start
+icm20689 -s -R 2 start
 
-# SPI2
-rm3100 -s -b 2 start
-
-# SPI4
-bmi088 -s -b 4 -A -R 2 start
-bmi088 -s -b 4 -G -R 2 start
+# SPI4 (internal)
+bmi088 -A -s -R 10 start
+bmi088 -G -s -R 10 start
 ms5611 -s -b 4 start
 
-# SPI6
+# SPI6 (internal)
 icm20649 -s -b 6 -R 2 start
 ms5611 -s -b 6 start
 

boards/cuav/nora/src/spi.cpp

@@ -37,6 +37,7 @@
 
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortE, GPIO::Pin7}), // ADIS16470
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortG, GPIO::Pin6}, SPI::DRDY{GPIO::PortJ, GPIO::Pin0}),
 	}, {GPIO::PortE, GPIO::Pin3}),
 	initSPIBus(SPI::Bus::SPI2, {

boards/cuav/x7pro/default.cmake

@@ -67,7 +67,6 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector

boards/cuav/x7pro/init/rc.board_defaults

@@ -31,12 +31,6 @@ then
 	param set BAT1_A_PER_V 24
 	param set BAT2_A_PER_V 24
 
-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
-	param set EKF2_MULTI_MAG 3
-	param set SENS_MAG_MODE 0
-
 	# Enable IMU thermal control
 	param set SENS_EN_THERMAL 1
 fi

boards/cubepilot/cubeorange/console.cmake

@@ -67,7 +67,6 @@ px4_add_board(
 		ekf2
 		esc_battery
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector

boards/cubepilot/cubeorange/default.cmake

@@ -67,7 +67,6 @@ px4_add_board(
 		ekf2
 		esc_battery
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector

boards/cubepilot/cubeorange/init/rc.board_defaults

@@ -31,12 +31,6 @@ then
 	param set BAT1_A_PER_V 17
 	param set BAT2_A_PER_V 17
 
-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
-	param set EKF2_MULTI_MAG 3
-	param set SENS_MAG_MODE 0
-
 	# Disable IMU thermal control
 	param set SENS_EN_THERMAL 0
 fi

boards/cubepilot/cubeyellow/console.cmake

@@ -66,7 +66,6 @@ px4_add_board(
 		ekf2
 		esc_battery
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector

boards/cubepilot/cubeyellow/default.cmake

@@ -66,7 +66,6 @@ px4_add_board(
 		ekf2
 		esc_battery
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector

boards/cubepilot/cubeyellow/init/rc.board_defaults

@@ -14,10 +14,6 @@ then
 	param set BAT1_A_PER_V 17
 	param set BAT2_A_PER_V 17
 
-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
-
 	# Disable IMU thermal control
 	param set SENS_EN_THERMAL 0
 fi

boards/emlid/navio2/default.cmake

@@ -40,7 +40,6 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector

boards/holybro/durandal-v1/default.cmake

@@ -65,7 +65,6 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector