sensors/vehicle_angular_velocity: use 3 coefficient backward finite difference for angular acceleration (on FIFO data)

2026-06-19 07:00:35 +08:00 · 2021-05-05 17:46:47 -04:00
40 changed files with 441 additions and 782 deletions
@@ -468,27 +468,26 @@ validate_module_configs:
 .PHONY: clean submodulesclean submodulesupdate gazeboclean distclean

 clean:
-	@find "$(SRC_DIR)/build" -mindepth 1 -maxdepth 1 -type d -exec sh -c "echo {}; cmake --build {} -- clean || rm -rf {}" \; # use generated build system to clean, wipe build directory if it fails
-	@git submodule foreach git clean -dX --force # some submodules generate build artifacts in source
+	@rm -rf "$(SRC_DIR)"/build
+	@git submodule foreach git clean -df

 submodulesclean:
 	@git submodule foreach --quiet --recursive git clean -ff -x -d
 	@git submodule update --quiet --init --recursive --force || true
 	@git submodule sync --recursive
-	@git submodule update --init --recursive --force --jobs 4
+	@git submodule update --init --recursive --force

 submodulesupdate:
-	@git submodule update --quiet --init --recursive --jobs 4 || true
+	@git submodule update --quiet --init --recursive || true
 	@git submodule sync --recursive
-	@git submodule update --init --recursive --jobs 4
+	@git submodule update --init --recursive

 gazeboclean:
 	@rm -rf ~/.gazebo/*

 distclean: gazeboclean
-	@git submodule deinit --force $(SRC_DIR)
-	@rm -rf "$(SRC_DIR)/build"
-	@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"
+	@git submodule deinit -f .
+	@git clean -ff -x -d -e ".cproject" -e ".idea" -e ".project" -e ".settings" -e ".vscode"

 # Help / Error
 # --------------------------------------------------------------------
@@ -63,7 +63,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_IOB_NBUFFERS=48
-CONFIG_IOB_NCHAINS=18
+CONFIG_IOB_NCHAINS=16
 CONFIG_KINETIS_ADC0=y
 CONFIG_KINETIS_ADC1=y
 CONFIG_KINETIS_CRC=y
@@ -82,7 +82,7 @@ CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=n
+CONFIG_LIBC_STRERROR=y
 CONFIG_LIBC_STRERROR_SHORT=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
@@ -530,27 +530,11 @@ bool DShot::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],

 	} else {
 		for (int i = 0; i < (int)num_outputs; i++) {
-
-			uint16_t output = outputs[i];
-
-			// DShot 3D splits the throttle ranges in two.
-			// This is in terms of DShot values, code below is in terms of actuator_output
-			// Direction 1) 48 is the slowest, 1047 is the fastest.
-			// Direction 2) 1049 is the slowest, 2047 is the fastest.
-			if (_param_dshot_3d_enable.get()) {
-				if (output >= _param_dshot_3d_dead_l.get() && output <= _param_dshot_3d_dead_h.get()) {
-					output = DSHOT_DISARM_VALUE;
-
-				} else if (output < 1000 && output > 0) { //Todo: allow actuator 0 or dshot 48 to be used
-					output = 999 - output;
-				}
-			}
-
-			if (output == DSHOT_DISARM_VALUE) {
+			if (outputs[i] == DSHOT_DISARM_VALUE) {
 				up_dshot_motor_command(i, DShot_cmd_motor_stop, i == requested_telemetry_index);

 			} else {
-				up_dshot_motor_data_set(i, math::min(output, static_cast<uint16_t>(DSHOT_MAX_THROTTLE)),
+				up_dshot_motor_data_set(i, math::min(outputs[i], static_cast<uint16_t>(DSHOT_MAX_THROTTLE)),
 							i == requested_telemetry_index);
 			}
 		}
@@ -231,9 +231,6 @@ private:
 	DEFINE_PARAMETERS(
 		(ParamInt<px4::params::DSHOT_CONFIG>)   _param_dshot_config,
 		(ParamFloat<px4::params::DSHOT_MIN>)    _param_dshot_min,
-		(ParamBool<px4::params::DSHOT_3D_ENABLE>) _param_dshot_3d_enable,
-		(ParamInt<px4::params::DSHOT_3D_DEAD_H>) _param_dshot_3d_dead_h,
-		(ParamInt<px4::params::DSHOT_3D_DEAD_L>) _param_dshot_3d_dead_l,
 		(ParamInt<px4::params::MOT_POLE_COUNT>) _param_mot_pole_count
 	)
 };
@@ -14,7 +14,7 @@ parameters:
                long: |
                    This enables/disables DShot. The different modes define different
                    speeds, for example DShot150 = 150kb/s. Not all ESCs support all modes.
-
+                    
                    Note: this enables DShot on the FMU outputs. For boards with an IO it is the
                    AUX outputs.
            type: enum
@@ -40,37 +40,6 @@ parameters:
            decimal: 2
            increment: 0.01
            default: 0.055
-        DSHOT_3D_ENABLE:
-            description:
-                short: Allows for 3d mode when using DShot and suitable mixer
-                long: |
-                    WARNING: ESC must be configured for 3D mode, and DSHOT_MIN set to 0.
-                    This splits the throttle ranges in two.
-                    Direction 1) 48 is the slowest, 1047 is the fastest.
-                    Direction 2) 1049 is the slowest, 2047 is the fastest.
-                    When mixer outputs 1000 or value inside DSHOT 3D deadband, DShot 0 is sent.
-            type: boolean
-            default: 0
-        DSHOT_3D_DEAD_H:
-            description:
-                short: DSHOT 3D deadband high
-                long: |
-                    When the actuator_output is between DSHOT_3D_DEAD_L and DSHOT_3D_DEAD_H, motor will not spin.
-                    This value is with respect to the mixer_module range (0-1999), not the DSHOT values.
-            type: int32
-            min: 1000
-            max: 1999
-            default: 1000
-        DSHOT_3D_DEAD_L:
-            description:
-                short: DSHOT 3D deadband low
-                long: |
-                    When the actuator_output is between DSHOT_3D_DEAD_L and DSHOT_3D_DEAD_H, motor will not spin.
-                    This value is with respect to the mixer_module range (0-1999), not the DSHOT values.
-            type: int32
-            min: 0
-            max: 1000
-            default: 1000
        MOT_POLE_COUNT: # only used by dshot so far, so keep it under the dshot group
            description:
                short: Number of magnetic poles of the motors
@@ -82,3 +51,4 @@ parameters:
                    Typical motors for 5 inch props have 14 poles.
            type: int32
            default: 14
+
@@ -84,6 +84,8 @@ int PAW3902::init()
 		return PX4_ERROR;
 	}

+	Reset();
+
 	// force to low light mode (1) initially
 	ChangeMode(Mode::LowLight, true);

@@ -148,6 +150,24 @@ bool PAW3902::DataReadyInterruptDisable()
 	return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
 }

+bool PAW3902::Reset()
+{
+	DataReadyInterruptDisable();
+
+	// Power on reset
+	RegisterWrite(Register::Power_Up_Reset, 0x5A);
+	usleep(1000);
+
+	// Read from registers 0x02, 0x03, 0x04, 0x05 and 0x06 one time regardless of the motion state
+	RegisterRead(Register::Motion);
+	RegisterRead(Register::Delta_X_L);
+	RegisterRead(Register::Delta_X_H);
+	RegisterRead(Register::Delta_Y_L);
+	RegisterRead(Register::Delta_Y_H);
+
+	return true;
+}
+
 void PAW3902::exit_and_cleanup()
 {
 	DataReadyInterruptDisable();
@@ -163,7 +183,6 @@ bool PAW3902::ChangeMode(Mode newMode, bool force)

 		// Issue a soft reset
 		RegisterWrite(Register::Power_Up_Reset, 0x5A);
-		px4_usleep(1000);

 		uint32_t interval_us = 0;

@@ -187,10 +206,6 @@ bool PAW3902::ChangeMode(Mode newMode, bool force)
 			break;
 		}

-		EnableLed();
-
-		_discard_reading = 3;
-
 		if (DataReadyInterruptConfigure()) {
 			// backup schedule as a watchdog timeout
 			ScheduleDelayed(500_ms);
@@ -199,6 +214,17 @@ bool PAW3902::ChangeMode(Mode newMode, bool force)
 			ScheduleOnInterval(interval_us);
 		}

+		// Discard the first three motion data.
+		for (int i = 0; i < 3; i++) {
+			RegisterRead(Register::Motion);
+			RegisterRead(Register::Delta_X_L);
+			RegisterRead(Register::Delta_X_H);
+			RegisterRead(Register::Delta_Y_L);
+			RegisterRead(Register::Delta_Y_H);
+		}
+
+		EnableLed();
+
 		_mode = newMode;
 	}

@@ -206,6 +232,11 @@ bool PAW3902::ChangeMode(Mode newMode, bool force)
 	_low_to_superlow_counter = 0;
 	_low_to_bright_counter = 0;
 	_superlow_to_low_counter = 0;
+	// Approximate Resolution = (Register Value + 1) * (50 / 8450) ≈ 0.6% of data point in Figure 19
+	// The maximum register value is 0xA8. The minimum register value is 0.
+	uint8_t resolution = RegisterRead(Register::Resolution);
+	PX4_DEBUG("Resolution: %X", resolution);
+	PX4_DEBUG("Resolution is approx: %.3f", (double)((resolution + 1.0f) * (50.0f / 8450.0f)));

 	return true;
 }
@@ -551,9 +582,9 @@ void PAW3902::ModeSuperLowLight()
 void PAW3902::EnableLed()
 {
 	// Enable LED_N controls
-	RegisterWrite(0x7F, 0x14);
-	RegisterWrite(0x6F, 0x1c);
-	RegisterWrite(0x7F, 0x00);
+	RegisterWriteVerified(0x7F, 0x14);
+	RegisterWriteVerified(0x6F, 0x1c);
+	RegisterWriteVerified(0x7F, 0x00);
 }

 uint8_t PAW3902::RegisterRead(uint8_t reg, int retries)
@@ -632,17 +663,11 @@ void PAW3902::RunImpl()
 	// update for next iteration
 	_previous_collect_timestamp = timestamp_sample;

-	if (_discard_reading > 0) {
-		_discard_reading--;
-		ResetAccumulatedData();
-		return;
-	}
-
 	// check SQUAL & Shutter values
 	// To suppress false motion reports, discard Delta X and Delta Y values if the SQUAL and Shutter values meet the condition
-	// Bright Mode,          SQUAL < 0x19, Shutter ≥ 0x1FF0
-	// Low Light Mode,       SQUAL < 0x46, Shutter ≥ 0x1FF0
-	// Super Low Light Mode, SQUAL < 0x55, Shutter ≥ 0x0BC0
+	// Bright Mode,			SQUAL < 0x19, Shutter ≥ 0x1FF0
+	// Low Light Mode,		SQUAL < 0x46, Shutter ≥ 0x1FF0
+	// Super Low Light Mode,	SQUAL < 0x55, Shutter ≥ 0x0BC0
 	const uint16_t shutter = (buf.data.Shutter_Upper << 8) | buf.data.Shutter_Lower;

 	bool data_valid = true;
@@ -652,6 +677,7 @@ void PAW3902::RunImpl()
 		if ((buf.data.SQUAL < 0x19) && (shutter >= 0x1FF0)) {
 			// false motion report, discarding
 			perf_count(_false_motion_perf);
+			ResetAccumulatedData();
 			data_valid = false;
 		}

@@ -673,6 +699,7 @@ void PAW3902::RunImpl()
 		if ((buf.data.SQUAL < 0x46) && (shutter >= 0x1FF0)) {
 			// false motion report, discarding
 			perf_count(_false_motion_perf);
+			ResetAccumulatedData();
 			data_valid = false;
 		}

@@ -705,14 +732,11 @@ void PAW3902::RunImpl()
 		if ((buf.data.SQUAL < 0x55) && (shutter >= 0x0BC0)) {
 			// false motion report, discarding
 			perf_count(_false_motion_perf);
+			ResetAccumulatedData();
 			data_valid = false;
 		}

-		if (shutter < 0x01F4) {
-			// should not operate with Shutter < 0x01F4 in Mode 2
-			ChangeMode(Mode::LowLight);
-
-		} else if (shutter < 0x03E8) {
+		if (shutter < 0x03E8) {
 			// SuperLowLight -> LowLight
 			_superlow_to_low_counter++;

@@ -90,6 +90,8 @@ private:
 	void RegisterWrite(uint8_t reg, uint8_t data);
 	bool RegisterWriteVerified(uint8_t reg, uint8_t data, int retries = 5);

+	bool Reset();
+
 	void EnableLed();

 	void ModeBright();
@@ -122,8 +124,6 @@ private:

 	matrix::Dcmf	_rotation;

-	int             _discard_reading{3};
-
 	int		_flow_sum_x{0};
 	int		_flow_sum_y{0};

@@ -126,7 +126,7 @@ int16_t CanardNuttXCDev::receive(CanardFrame *received_frame)
 	// Any recieved CAN messages will cause the poll statement to unblock and run
 	// This way CAN read runs with minimal latency.
 	// Note that multiple messages may be received in a short time, so this will try to read any availible in a loop
-	::poll(&fds, 1, 0);
+	::poll(&fds, 1, 10);

 	// Only execute this part if can0 is changed.
 	if (fds.revents & POLLIN) {
@@ -162,12 +162,12 @@ int16_t CanardSocketCAN::transmit(const CanardFrame &txf, int timeout_ms)
 	_send_tv->tv_usec = txf.timestamp_usec % 1000000ULL;
 	_send_tv->tv_sec = (txf.timestamp_usec - _send_tv->tv_usec) / 1000000ULL;

-	return sendmsg(_fd, &_send_msg, 0);
+	return sendmsg(_fd, &_send_msg, 1000);
 }

 int16_t CanardSocketCAN::receive(CanardFrame *rxf)
 {
-	int32_t result = recvmsg(_fd, &_recv_msg, MSG_DONTWAIT);
+	int32_t result = recvmsg(_fd, &_recv_msg, 1000);

 	if (result < 0) {
 		return result;
@@ -39,20 +39,16 @@
 * @author Peter van der Perk <peter.vanderperk@nxp.com>
 */

-#define RETRY_COUNT 10
-
 #include "NodeManager.hpp"

 bool NodeManager::HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_1_0 &msg)
 {
 	if (msg.allocated_node_id.count == 0) {
-		uint32_t i;
-
 		msg.allocated_node_id.count = 1;
 		msg.allocated_node_id.elements[0].value = CANARD_NODE_ID_UNSET;

 		/* Search for an available NodeID to assign */
-		for (i = 1; i < sizeof(nodeid_registry) / sizeof(nodeid_registry[0]); i++) {
+		for (uint32_t i = 1; i < sizeof(nodeid_registry) / sizeof(nodeid_registry[0]); i++) {
 			if (i == _canard_instance.node_id) {
 				continue; // Don't give our NodeID to a node

@@ -67,10 +63,6 @@ bool NodeManager::HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_1_0 &msg)
 			}
 		}

-		nodeid_registry[i].register_setup = false; // Re-instantiate register setup
-		nodeid_registry[i].register_index = 0;
-		nodeid_registry[i].retry_count = 0;
-
 		if (msg.allocated_node_id.elements[0].value != CANARD_NODE_ID_UNSET) {

 			PX4_INFO("Received NodeID allocation request assigning %i", msg.allocated_node_id.elements[0].value);
@@ -128,15 +120,17 @@ void NodeManager::HandleListResponse(CanardNodeID node_id, uavcan_register_List_
 			if (nodeid_registry[i].node_id == node_id) {
 				nodeid_registry[i].register_index++; // Increment index counter for next update()
 				nodeid_registry[i].register_setup = false;
-				nodeid_registry[i].retry_count = 0;
 			}
 		}

-		if (_access_request.setPortId(node_id, msg.name)) {
-			PX4_INFO("Set portID succesfull");

-		} else {
-			PX4_INFO("Register not found %.*s", msg.name.name.count, msg.name.name.elements);
+		if (strncmp((char *)msg.name.name.elements, gps_uorb_register_name,
+			    msg.name.name.count) == 0) {
+			_access_request.setPortId(node_id, gps_uorb_register_name, 1235); //TODO configurable and combine with ParamManager.
+
+		} else if (strncmp((char *)msg.name.name.elements, bms_status_register_name,
+				   msg.name.name.count) == 0) { //Battery status publisher
+			_access_request.setPortId(node_id, bms_status_register_name, 1234); //TODO configurable and combine with ParamManager.
 		}
 	}
 }
@@ -148,11 +142,7 @@ void NodeManager::update()
 			if (nodeid_registry[i].node_id != 0 && nodeid_registry[i].register_setup == false) {
 				//Setting up registers
 				_list_request.request(nodeid_registry[i].node_id, nodeid_registry[i].register_index);
-				nodeid_registry[i].retry_count++;
-
-				if (nodeid_registry[i].retry_count > RETRY_COUNT) {
-					nodeid_registry[i].register_setup = true; // Don't update anymore
-				}
+				nodeid_registry[i].register_setup = true;
 			}
 		}

@@ -63,14 +63,12 @@ typedef struct {
 	uint8_t   unique_id[16];
 	bool      register_setup;
 	uint16_t  register_index;
-	uint16_t  retry_count;
 } UavcanNodeEntry;

 class NodeManager
 {
 public:
-	NodeManager(CanardInstance &ins, UavcanParamManager &pmgr) : _canard_instance(ins), _access_request(ins, pmgr),
-		_list_request(ins) { };
+	NodeManager(CanardInstance &ins) : _canard_instance(ins), _access_request(ins), _list_request(ins) { };

 	bool HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_1_0 &msg);
 	bool HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_2_0 &msg);
@@ -91,4 +89,8 @@ private:
 	bool nodeRegisterSetup = 0;

 	hrt_abstime _register_request_last{0};
+
+	//TODO work this out
+	const char *gps_uorb_register_name = "uavcan.pub.gnss_uorb.id";
+	const char *bms_status_register_name = "uavcan.pub.battery_status.id";
 };
@@ -40,7 +40,6 @@
 */

 #include "ParamManager.hpp"
-#include <px4_platform_common/defines.h>

 bool UavcanParamManager::GetParamByName(const char *param_name, uavcan_register_Value_1_0 &value)
 {
@@ -57,16 +56,8 @@ bool UavcanParamManager::GetParamByName(const char *param_name, uavcan_register_
 			case PARAM_TYPE_INT32: {
 					int32_t out_val {};
 					param_get(param_handle, &out_val);
-
-					if (uavcan_register_Value_1_0_is_natural16_(&value)) { //FIXME param rewrite
-						value.natural16.value.elements[0] = (uint16_t)out_val;
-						uavcan_register_Value_1_0_select_natural16_(&value);
-
-					} else {
-						value.integer32.value.elements[0] = out_val;
-						uavcan_register_Value_1_0_select_integer32_(&value);
-					}
-
+					value.integer32.value.elements[0] = out_val;
+					uavcan_register_Value_1_0_select_integer32_(&value);
 					break;
 				}

@@ -100,23 +91,15 @@ bool UavcanParamManager::GetParamByName(const uavcan_register_Name_1_0 &name, ua
 			switch (param_type(param_handle)) {
 			case PARAM_TYPE_INT32: {
 					int32_t out_val {};
-					param_get(param_handle, &out_val);
-
-					if (uavcan_register_Value_1_0_is_natural16_(&value)) { //FIXME param rewrite
-						value.natural16.value.elements[0] = (uint16_t)out_val;
-						uavcan_register_Value_1_0_select_natural16_(&value);
-
-					} else {
-						value.integer32.value.elements[0] = out_val;
-						uavcan_register_Value_1_0_select_integer32_(&value);
-					}
-
+					param_set(param_handle, &out_val);
+					value.integer32.value.elements[0] = out_val;
+					uavcan_register_Value_1_0_select_integer32_(&value);
 					break;
 				}

 			case PARAM_TYPE_FLOAT: {
 					float out_val {};
-					param_get(param_handle, &out_val);
+					param_set(param_handle, &out_val);
 					value.real32.value.elements[0] = out_val;
 					uavcan_register_Value_1_0_select_real32_(&value);
 					break;
@@ -63,7 +63,7 @@ public:

 private:

-	const UavcanParamBinder _uavcan_params[11] {
+	const UavcanParamBinder _uavcan_params[10] {
 		{"uavcan.pub.esc.0.id",              "UCAN1_ESC_PUB"},
 		{"uavcan.pub.servo.0.id",            "UCAN1_SERVO_PUB"},
 		{"uavcan.pub.gps.0.id",              "UCAN1_GPS_PUB"},
@@ -74,7 +74,6 @@ private:
 		{"uavcan.sub.battery_status.0.id",     "UCAN1_BMS_BS_PID"},
 		{"uavcan.sub.battery_parameters.0.id", "UCAN1_BMS_BP_PID"},
 		{"uavcan.sub.legacy_bms.0.id",         "UCAN1_LG_BMS_PID"},
-		{"uavcan.sub.uorb.sensor_gps.0.id",    "UCAN1_UORB_GPS"},
 		//{"uavcan.sub.bms.0.id",   "UCAN1_BMS0_PID"}, //FIXME instancing
 		//{"uavcan.sub.bms.1.id",   "UCAN1_BMS1_PID"},
 	};
@@ -1,84 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file sensor_gps.hpp
- *
-* Defines uORB over UAVCANv1 sensor_gps publisher
- *
- * @author Peter van der Perk <peter.vanderperk@nxp.com>
- */
-
-#pragma once
-
-#include <uORB/topics/sensor_gps.h>
-
-#include "../Publisher.hpp"
-
-class UORB_over_UAVCAN_sensor_gps_Publisher : public UavcanPublisher
-{
-public:
-	UORB_over_UAVCAN_sensor_gps_Publisher(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) :
-		UavcanPublisher(ins, pmgr, "sensor_gps", instance)
-	{};
-
-	// Update the uORB Subscription and broadcast a UAVCAN message
-	virtual void update() override
-	{
-		// Not sure if actuator_armed is a good indication of readiness but seems close to it
-		if (_sensor_gps_sub.updated() && _port_id != CANARD_PORT_ID_UNSET && _port_id != 0) {
-			sensor_gps_s gps_msg {};
-			_sensor_gps_sub.update(&gps_msg);
-
-			CanardTransfer transfer = {
-				.timestamp_usec = hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
-				.priority       = CanardPriorityNominal,
-				.transfer_kind  = CanardTransferKindMessage,
-				.port_id        = _port_id, // This is the subject-ID.
-				.remote_node_id = CANARD_NODE_ID_UNSET,
-				.transfer_id    = _transfer_id,
-				.payload_size   = sizeof(struct sensor_gps_s),
-				.payload        = &gps_msg,
-			};
-
-			if (result == 0) {
-				// set the data ready in the buffer and chop if needed
-				++_transfer_id;  // The transfer-ID shall be incremented after every transmission on this subject.
-				result = canardTxPush(&_canard_instance, &transfer);
-			}
-		}
-	};
-
-private:
-	uORB::Subscription _sensor_gps_sub{ORB_ID(sensor_gps)};
-};
@@ -52,55 +52,45 @@
 class UavcanAccessServiceRequest
 {
 public:
-	UavcanAccessServiceRequest(CanardInstance &ins, UavcanParamManager &pmgr) :
-		_canard_instance(ins), _param_manager(pmgr) { };
+	UavcanAccessServiceRequest(CanardInstance &ins) :
+		_canard_instance(ins) { };

-	bool setPortId(CanardNodeID node_id, uavcan_register_Name_1_0 &name)
+	void setPortId(CanardNodeID node_id, const char *register_name, uint16_t port_id)
 	{
 		int result {0};

 		uavcan_register_Access_Request_1_0 request_msg;
+		strncpy((char *)&request_msg.name.name.elements[0], register_name, sizeof(uavcan_register_Name_1_0));
+		request_msg.name.name.count = strlen(register_name);
+
+		uavcan_register_Value_1_0_select_natural16_(&request_msg.value);
 		request_msg.value.natural16.value.count = 1;
-		uavcan_register_Value_1_0_select_natural16_(&request_msg.value); // Set to natural16 so that ParamManager casts type
+		request_msg.value.natural16.value.elements[0] = port_id;

-		//FIXME ParamManager only has notion of being either sub/pub have to find a portable way to address trhis
-		name.name.elements[7] = 's'; //HACK Change pub into sub
+		uint8_t request_payload_buffer[uavcan_register_Access_Request_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_];

-		if (_param_manager.GetParamByName(name, request_msg.value)) {
-			name.name.elements[7] = 'p'; //HACK Change sub into pub
-			memcpy(&request_msg.name, &name, sizeof(request_msg.name));
+		CanardTransfer transfer = {
+			.timestamp_usec = hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
+			.priority       = CanardPriorityNominal,
+			.transfer_kind  = CanardTransferKindRequest,
+			.port_id        = uavcan_register_Access_1_0_FIXED_PORT_ID_,                // This is the subject-ID.
+			.remote_node_id = node_id,       // Messages cannot be unicast, so use UNSET.
+			.transfer_id    = access_request_transfer_id,
+			.payload_size   = uavcan_register_Access_Request_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_,
+			.payload        = &request_payload_buffer,
+		};

-			uint8_t request_payload_buffer[uavcan_register_Access_Request_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_];
+		result = uavcan_register_Access_Request_1_0_serialize_(&request_msg, request_payload_buffer, &transfer.payload_size);

-			CanardTransfer transfer = {
-				.timestamp_usec = hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
-				.priority       = CanardPriorityNominal,
-				.transfer_kind  = CanardTransferKindRequest,
-				.port_id        = uavcan_register_Access_1_0_FIXED_PORT_ID_,                // This is the subject-ID.
-				.remote_node_id = node_id,       // Messages cannot be unicast, so use UNSET.
-				.transfer_id    = access_request_transfer_id,
-				.payload_size   = uavcan_register_Access_Request_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_,
-				.payload        = &request_payload_buffer,
-			};
-
-			result = uavcan_register_Access_Request_1_0_serialize_(&request_msg, request_payload_buffer, &transfer.payload_size);
-
-			if (result == 0) {
-				// set the data ready in the buffer and chop if needed
-				++access_request_transfer_id;  // The transfer-ID shall be incremented after every transmission on this subject.
-				result = canardTxPush(&_canard_instance, &transfer);
-			}
-
-			return result > 0;
-
-		} else {
-			return false;
+		if (result == 0) {
+			// set the data ready in the buffer and chop if needed
+			++access_request_transfer_id;  // The transfer-ID shall be incremented after every transmission on this subject.
+			result = canardTxPush(&_canard_instance, &transfer);
 		}
 	};

 private:
 	CanardInstance &_canard_instance;
 	CanardTransferID access_request_transfer_id = 0;
-	UavcanParamManager &_param_manager;

 };
@@ -68,27 +68,25 @@ public:

 			// Set _port_id from _uavcan_param
 			uavcan_register_Value_1_0 value;
+			_param_manager.GetParamByName(uavcan_param, value);
+			int32_t new_id = value.integer32.value.elements[0];

-			if (_param_manager.GetParamByName(uavcan_param, value)) {
-				int32_t new_id = value.integer32.value.elements[0];
+			/* FIXME how about partial subscribing */
+			if (curSubj->_canard_sub._port_id != new_id) {
+				if (new_id == CANARD_PORT_ID_UNSET) {
+					// Cancel subscription
+					unsubscribe();

-				/* FIXME how about partial subscribing */
-				if (curSubj->_canard_sub._port_id != new_id) {
-					if (new_id == CANARD_PORT_ID_UNSET) {
-						// Cancel subscription
+				} else {
+					if (curSubj->_canard_sub._port_id != CANARD_PORT_ID_UNSET) {
+						// Already active; unsubscribe first
 						unsubscribe();
-
-					} else {
-						if (curSubj->_canard_sub._port_id != CANARD_PORT_ID_UNSET) {
-							// Already active; unsubscribe first
-							unsubscribe();
-						}
-
-						// Subscribe on the new port ID
-						curSubj->_canard_sub._port_id = (CanardPortID)new_id;
-						PX4_INFO("Subscribing %s.%d on port %d", curSubj->_subject_name, _instance, curSubj->_canard_sub._port_id);
-						subscribe();
 					}
+
+					// Subscribe on the new port ID
+					curSubj->_canard_sub._port_id = (CanardPortID)new_id;
+					PX4_INFO("Subscribing %s.%d on port %d", curSubj->_subject_name, _instance, curSubj->_canard_sub._port_id);
+					subscribe();
 				}
 			}

@@ -1,83 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file sensor_gps.hpp
- *
- * Defines uORB over UAVCANv1 sensor_gps subscriber
- *
- * @author Peter van der Perk <peter.vanderperk@nxp.com>
- */
-
-#pragma once
-
-#include <uORB/topics/sensor_gps.h>
-#include <uORB/PublicationMulti.hpp>
-
-#include "../DynamicPortSubscriber.hpp"
-
-class UORB_over_UAVCAN_sensor_gps_Subscriber : public UavcanDynamicPortSubscriber
-{
-public:
-	UORB_over_UAVCAN_sensor_gps_Subscriber(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) :
-		UavcanDynamicPortSubscriber(ins, pmgr, "uorb.sensor_gps", instance) { };
-
-	void subscribe() override
-	{
-		// Subscribe to messages uORB sensor_gps payload over UAVCAN
-		canardRxSubscribe(&_canard_instance,
-				  CanardTransferKindMessage,
-				  _subj_sub._canard_sub._port_id,
-				  sizeof(struct sensor_gps_s),
-				  CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC * 10000,
-				  &_subj_sub._canard_sub);
-	};
-
-	void callback(const CanardTransfer &receive) override
-	{
-		//PX4_INFO("uORB sensor_gps Callback");
-
-		if (receive.payload_size == sizeof(struct sensor_gps_s)) {
-			sensor_gps_s *gps_msg = (sensor_gps_s *)receive.payload;
-			_sensor_gps_pub.publish(*gps_msg);
-
-		} else {
-			PX4_ERR("uORB over UAVCAN %s playload size mismatch got %d expected %d",
-				_subj_sub._subject_name, receive.payload_size, sizeof(struct sensor_gps_s));
-		}
-	};
-
-private:
-	uORB::PublicationMulti<sensor_gps_s> _sensor_gps_pub{ORB_ID(sensor_gps)};
-
-};
@@ -56,7 +56,8 @@ static void memFree(CanardInstance *const ins, void *const pointer) { o1heapFree
 UavcanNode::UavcanNode(CanardInterface *interface, uint32_t node_id) :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::uavcan),
-	_can_interface(interface)
+	_can_interface(interface)//,
+	// _subscribers{&_gps0_sub, &_gps1_sub, &_bms0_sub, &_bms1_sub}
 {
 	pthread_mutex_init(&_node_mutex, nullptr);

@@ -167,6 +168,13 @@ void UavcanNode::init()
 					  CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
 					  &_heartbeat_subscription);

+			canardRxSubscribe(&_canard_instance, // uORB over UAVCAN GPS message
+					  CanardTransferKindMessage,
+					  gps_port_id,
+					  sizeof(struct sensor_gps_s),
+					  CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
+					  &_drone_srv_gps_subscription);
+
 			for (auto &subscriber : _subscribers) {
 				subscriber->subscribe();
 			}
@@ -230,69 +238,7 @@ void UavcanNode::Run()

 	_node_manager.update();

-	transmit();
-
-	/* Process received messages */
-
-	uint8_t data[64] {};
-	CanardFrame received_frame{};
-	received_frame.payload = &data;
-
-	while (_can_interface->receive(&received_frame) > 0) {
-		CanardTransfer receive{};
-		int32_t result = canardRxAccept(&_canard_instance, &received_frame, 0, &receive);
-
-		if (result < 0) {
-			// An error has occurred: either an argument is invalid or we've ran out of memory.
-			// It is possible to statically prove that an out-of-memory will never occur for a given application if
-			// the heap is sized correctly; for background, refer to the Robson's Proof and the documentation for O1Heap.
-			// Reception of an invalid frame is NOT an error.
-			PX4_ERR("Receive error %d\n", result);
-
-		} else if (result == 1) {
-			// A transfer has been received, process it.
-			// PX4_INFO("received Port ID: %d", receive.port_id);
-
-			if (receive.port_id > 0) {
-				// If not a fixed port ID, check any subscribers which may have registered it
-				for (auto &subscriber : _subscribers) {
-					if (subscriber->hasPortID(receive.port_id)) {
-						subscriber->callback(receive);
-					}
-				}
-
-				for (auto &subscriber : _dynsubscribers) {
-					if (subscriber->hasPortID(receive.port_id)) {
-						subscriber->callback(receive);
-					}
-				}
-			}
-
-			// Deallocate the dynamic memory afterwards.
-			_canard_instance.memory_free(&_canard_instance, (void *)receive.payload);
-
-		} else {
-			//PX4_INFO("RX canard %d", result);
-		}
-	}
-
-	// Pop canardTx queue to send out responses to requets
-	transmit();
-
-	perf_end(_cycle_perf);
-
-	if (_task_should_exit.load()) {
-		_can_interface->close();
-
-		ScheduleClear();
-		_instance = nullptr;
-	}
-
-	pthread_mutex_unlock(&_node_mutex);
-}
-
-void UavcanNode::transmit()
-{
+	// Transmitting
 	// Look at the top of the TX queue.
 	for (const CanardFrame *txf = nullptr; (txf = canardTxPeek(&_canard_instance)) != nullptr;) {
 		// Attempt transmission only if the frame is not yet timed out while waiting in the TX queue.
@@ -322,6 +268,67 @@ void UavcanNode::transmit()
 			}
 		}
 	}
+
+	/* Process received messages */
+
+	uint8_t data[64] {};
+	CanardFrame received_frame{};
+	received_frame.payload = &data;
+
+	/* FIXME this flawed we've to go through the whole loop to get the next frame in the buffer  */
+
+	if (_can_interface->receive(&received_frame) > 0) {
+
+		CanardTransfer receive{};
+		int32_t result = canardRxAccept(&_canard_instance, &received_frame, 0, &receive);
+
+		if (result < 0) {
+			// An error has occurred: either an argument is invalid or we've ran out of memory.
+			// It is possible to statically prove that an out-of-memory will never occur for a given application if
+			// the heap is sized correctly; for background, refer to the Robson's Proof and the documentation for O1Heap.
+			// Reception of an invalid frame is NOT an error.
+			PX4_ERR("Receive error %d\n", result);
+
+		} else if (result == 1) {
+			// A transfer has been received, process it.
+			// PX4_INFO("received Port ID: %d", receive.port_id);
+
+			if (receive.port_id == gps_port_id) {
+				result = handleUORBSensorGPS(receive);
+
+			} else if (receive.port_id > 0) {
+				// If not a fixed port ID, check any subscribers which may have registered it
+				for (auto &subscriber : _subscribers) {
+					if (subscriber->hasPortID(receive.port_id)) {
+						subscriber->callback(receive);
+					}
+				}
+
+				for (auto &subscriber : _dynsubscribers) {
+					if (subscriber->hasPortID(receive.port_id)) {
+						subscriber->callback(receive);
+					}
+				}
+			}
+
+			// Deallocate the dynamic memory afterwards.
+			_canard_instance.memory_free(&_canard_instance, (void *)receive.payload);
+
+		} else {
+			//PX4_INFO("RX canard %d\r\n", result);
+		}
+	}
+
+	perf_end(_cycle_perf);
+
+	if (_task_should_exit.load()) {
+		_can_interface->close();
+
+		ScheduleClear();
+		_instance = nullptr;
+	}
+
+	pthread_mutex_unlock(&_node_mutex);
 }

 void UavcanNode::print_info()
@@ -331,13 +338,6 @@ void UavcanNode::print_info()
 	perf_print_counter(_cycle_perf);
 	perf_print_counter(_interval_perf);

-	O1HeapDiagnostics heap_diagnostics = o1heapGetDiagnostics(uavcan_allocator);
-
-	PX4_INFO("Heap status %zu/%zu Peak alloc %zu Peak req %zu OOM count %" PRIu64,
-		 heap_diagnostics.allocated, heap_diagnostics.capacity,
-		 heap_diagnostics.peak_allocated, heap_diagnostics.peak_request_size,
-		 heap_diagnostics.oom_count);
-
 	for (auto &publisher : _publishers) {
 		publisher->printInfo();
 	}
@@ -346,10 +346,6 @@ void UavcanNode::print_info()
 		subscriber->printInfo();
 	}

-	for (auto &subscriber : _dynsubscribers) {
-		subscriber->printInfo();
-	}
-
 	_mixing_output.printInfo();
 	_esc_controller.printInfo();

@@ -446,6 +442,16 @@ void UavcanNode::sendHeartbeat()
 	}
 }

+int UavcanNode::handleUORBSensorGPS(const CanardTransfer &receive)
+{
+	PX4_INFO("NodeID %i GPS sensor msg", receive.remote_node_id);
+
+	sensor_gps_s *gps_msg = (sensor_gps_s *)receive.payload;
+
+	return _sensor_gps_pub.publish(*gps_msg) ? 0 : -1;
+}
+
+
 bool UavcanMixingInterface::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
 		unsigned num_control_groups_updated)
 {
@@ -78,9 +78,6 @@
 #include "Subscribers/NodeIDAllocationData.hpp"
 #include "Subscribers/LegacyBatteryInfo.hpp"

-// uORB over UAVCAN subscribers
-#include "Subscribers/uORB/sensor_gps.hpp"
-
 #include "ServiceClients/GetInfo.hpp"
 #include "ServiceClients/Access.hpp"

@@ -165,11 +162,14 @@ private:
 	void Run() override;
 	void fill_node_info();

-	void transmit();
-
 	// Sends a heartbeat at 1s intervals
 	void sendHeartbeat();

+	int handlePnpNodeIDAllocationData(const CanardTransfer &receive);
+	int handleRegisterList(const CanardTransfer &receive);
+	int handleRegisterAccess(const CanardTransfer &receive);
+	int handleUORBSensorGPS(const CanardTransfer &receive);
+
 	void *_uavcan_heap{nullptr};

 	CanardInterface *const _can_interface;
@@ -185,9 +185,14 @@ private:
 	pthread_mutex_t _node_mutex;

 	CanardRxSubscription _heartbeat_subscription;
+	CanardRxSubscription _drone_srv_gps_subscription;

+	uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};
 	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};

+	uORB::Publication<battery_status_s> _battery_status_pub{ORB_ID(battery_status)};
+	uORB::Publication<sensor_gps_s> _sensor_gps_pub{ORB_ID(sensor_gps)};
+
 	perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")};
 	perf_counter_t _interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": cycle interval")};

@@ -196,6 +201,15 @@ private:
 	hrt_abstime _uavcan_node_heartbeat_last{0};
 	CanardTransferID _uavcan_node_heartbeat_transfer_id{0};

+	/* Temporary hardcoded port IDs used by the register interface
+	* for demo purposes untill we have nice interface (QGC or latter)
+	* to configure the nodes
+	*/
+	const uint16_t gps_port_id = 1235;
+
+	CanardTransferID _uavcan_register_list_request_transfer_id{0};
+	CanardTransferID _uavcan_register_access_request_transfer_id{0};
+
 	DEFINE_PARAMETERS(
 		(ParamInt<px4::params::UAVCAN_V1_ENABLE>) _param_uavcan_v1_enable,
 		(ParamInt<px4::params::UAVCAN_V1_ID>) _param_uavcan_v1_id,
@@ -206,7 +220,7 @@ private:

 	UavcanParamManager _param_manager;

-	NodeManager _node_manager {_canard_instance, _param_manager};
+	NodeManager _node_manager {_canard_instance};

 	UavcanGnssPublisher _gps_pub {_canard_instance, _param_manager};

@@ -224,8 +238,6 @@ private:
 	UavcanLegacyBatteryInfoSubscriber  _legacybms_sub {_canard_instance, _param_manager, 0};
 	UavcanNodeIDAllocationDataSubscriber _nodeid_sub {_canard_instance, _node_manager};

-	UORB_over_UAVCAN_sensor_gps_Subscriber _sensor_gps_sub {_canard_instance, _param_manager, 0};
-
 	UavcanGetInfoResponse _getinfo_rsp {_canard_instance};
 	UavcanAccessResponse  _access_rsp {_canard_instance, _param_manager};

@@ -233,7 +245,7 @@ private:
 	UavcanListServiceReply   _list_service {_canard_instance, _node_manager};

 	// Subscriber objects: Any object used to bridge a UAVCAN message to a uORB message
-	UavcanDynamicPortSubscriber *_dynsubscribers[6] {&_gps0_sub, &_gps1_sub, &_bms0_sub, &_esc_sub, &_legacybms_sub, &_sensor_gps_sub}; /// TODO: turn into List<UavcanSubscription*>
+	UavcanDynamicPortSubscriber *_dynsubscribers[5] {&_gps0_sub, &_gps1_sub, &_bms0_sub, &_esc_sub, &_legacybms_sub}; /// TODO: turn into List<UavcanSubscription*>
 	UavcanBaseSubscriber *_subscribers[5] {&_nodeid_sub, &_getinfo_rsp, &_access_rsp, &_access_service, &_list_service}; /// TODO: turn into List<UavcanSubscription*>

 	UavcanMixingInterface _mixing_output {_node_mutex, _esc_controller};
@@ -103,6 +103,3 @@ PARAM_DEFINE_INT32(UCAN1_LG_BMS_PID, 0);
 PARAM_DEFINE_INT32(UCAN1_ESC_PUB, 0);
 PARAM_DEFINE_INT32(UCAN1_GPS_PUB, 0);
 PARAM_DEFINE_INT32(UCAN1_SERVO_PUB, 0);
-
-// uORB over UAVCAN
-PARAM_DEFINE_INT32(UCAN1_UORB_GPS, 0);
@@ -381,7 +381,7 @@ static int canard_daemon(int argc, char *argv[])
 	/* Init UAVCAN register interfaces */
 	uavcan_node_GetInfo_Response_1_0 node_information; // TODO ADD INFO
 	uavcan_register_interface_init(&ins, &node_information);
-	uavcan_register_interface_add_entry("uorb.sensor_gps.0", set_gps_uorb_port_id, get_gps_uorb_port_id);
+	uavcan_register_interface_add_entry("gnss_uorb", set_gps_uorb_port_id, get_gps_uorb_port_id);
 	uavcan_register_interface_add_entry("gnss_fix", set_gps_fix_port_id, get_gps_fix_port_id);
 	uavcan_register_interface_add_entry("gnss_aux", set_gps_aux_port_id, get_gps_aux_port_id);

@@ -238,13 +238,10 @@ int32_t uavcan_register_interface_list_response(CanardInstance *ins, CanardTrans

 	// Reponse magic start

-	if (msg.index < register_list_size) {
+	if (msg.index <= register_list_size) {
 		response_msg.name.name.count = sprintf(response_msg.name.name.elements,
 						       "uavcan.pub.%s.id",
 						       register_list[msg.index].name);
-
-	} else {
-		response_msg.name.name.count = 0;
 	}

 	//TODO more option then pub (sub rate
@@ -65,12 +65,7 @@ bool PreFlightCheck::accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_s

 		device_id = accel.get().device_id;

-		if (status.hil_state == vehicle_status_s::HIL_STATE_ON) {
-			calibration_valid = true;
-
-		} else {
-			calibration_valid = (calibration::FindCalibrationIndex("ACC", device_id) >= 0);
-		}
+		calibration_valid = (calibration::FindCalibrationIndex("ACC", device_id) >= 0);

 		if (!calibration_valid) {
 			if (report_fail) {
@@ -64,12 +64,7 @@ bool PreFlightCheck::gyroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &

 		device_id = gyro.get().device_id;

-		if (status.hil_state == vehicle_status_s::HIL_STATE_ON) {
-			calibration_valid = true;
-
-		} else {
-			calibration_valid = (calibration::FindCalibrationIndex("GYRO", device_id) >= 0);
-		}
+		calibration_valid = (calibration::FindCalibrationIndex("GYRO", device_id) >= 0);

 		if (!calibration_valid) {
 			if (report_fail) {
@@ -66,12 +66,7 @@ bool PreFlightCheck::magnetometerCheck(orb_advert_t *mavlink_log_pub, vehicle_st

 		device_id = magnetometer.get().device_id;

-		if (status.hil_state == vehicle_status_s::HIL_STATE_ON) {
-			calibration_valid = true;
-
-		} else {
-			calibration_valid = (calibration::FindCalibrationIndex("MAG", device_id) >= 0);
-		}
+		calibration_valid = (calibration::FindCalibrationIndex("MAG", device_id) >= 0);

 		if (!calibration_valid) {
 			if (report_fail) {
@@ -63,11 +63,6 @@ bool PreFlightCheck::powerCheck(orb_advert_t *mavlink_log_pub, const vehicle_sta
 		return true;
 	}

-	if (status.hil_state == vehicle_status_s::HIL_STATE_ON) {
-		// Ignore power check in HITL.
-		return true;
-	}
-
 	uORB::SubscriptionData<system_power_s> system_power_sub{ORB_ID(system_power)};
 	system_power_sub.update();
 	const system_power_s &system_power = system_power_sub.get();
@@ -199,7 +199,7 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
 	/* wait 500 ms to ensure parameter propagated through the system */
 	px4_usleep(500 * 1000);

-	calibration_log_critical(mavlink_log_pub, "[cal] Blow into front of pitot without touching");
+	calibration_log_critical(mavlink_log_pub, "[cal] Blow across front of pitot without touching");

 	calibration_counter = 0;

@@ -467,18 +467,6 @@ static calibrate_return mag_calibration_worker(detect_orientation_return orienta

 calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_mask)
 {
-	// We should not try to subscribe if the topic doesn't actually exist and can be counted.
-	const unsigned orb_mag_count = orb_group_count(ORB_ID(sensor_mag));
-
-	// Warn that we will not calibrate more than MAX_GYROS gyroscopes
-	if (orb_mag_count > MAX_MAGS) {
-		calibration_log_critical(mavlink_log_pub, "Detected %u mags, but will calibrate only %u", orb_mag_count, MAX_MAGS);
-
-	} else if (orb_mag_count < 1) {
-		calibration_log_critical(mavlink_log_pub, "No mags found");
-		return calibrate_return_error;
-	}
-
 	calibrate_return result = calibrate_return_ok;

 	mag_worker_data_t worker_data{};
@@ -1742,8 +1742,7 @@ int EKF2::task_spawn(int argc, char *argv[])

 		while ((multi_instances_allocated < multi_instances)
 		       && (vehicle_status_sub.get().arming_state != vehicle_status_s::ARMING_STATE_ARMED)
-		       && ((hrt_elapsed_time(&time_started) < 30_s)
-			   || (vehicle_status_sub.get().hil_state == vehicle_status_s::HIL_STATE_ON))) {
+		       && (hrt_elapsed_time(&time_started) < 30_s)) {

 			vehicle_status_sub.update();

@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -37,6 +37,7 @@ using namespace time_literals;
 using matrix::Quatf;
 using matrix::Vector2f;
 using math::constrain;
+using math::max;
 using math::radians;

 EKF2Selector::EKF2Selector() :
@@ -117,6 +118,12 @@ bool EKF2Selector::SelectInstance(uint8_t ekf_instance)
 			_instance[i].relative_test_ratio = 0;
 		}

+		// publish new data immediately with resets
+		PublishVehicleAttitude(true);
+		PublishVehicleLocalPosition(true);
+		PublishVehicleGlobalPosition(true);
+		PublishWindEstimate(true);
+
 		return true;
 	}

@@ -315,11 +322,6 @@ bool EKF2Selector::UpdateErrorScores()
 				if (error_delta > 0 || error_delta < -threshold) {
 					_instance[i].relative_test_ratio += error_delta;
 					_instance[i].relative_test_ratio = constrain(_instance[i].relative_test_ratio, -_rel_err_score_lim, _rel_err_score_lim);
-
-					if ((error_delta < -threshold) && (_instance[i].relative_test_ratio < 1.f)) {
-						// increase status publication rate if there's movement towards a potential instance change
-						_selector_status_publish = true;
-					}
 				}
 			}
 		}
@@ -328,152 +330,104 @@ bool EKF2Selector::UpdateErrorScores()
 	return (primary_updated || updated);
 }

-void EKF2Selector::PublishVehicleAttitude()
+void EKF2Selector::PublishVehicleAttitude(bool reset)
 {
-	// selected estimator_attitude -> vehicle_attitude
 	vehicle_attitude_s attitude;

-	if (_instance[_selected_instance].estimator_attitude_sub.update(&attitude)) {
-		bool instance_change = false;
+	if (_instance[_selected_instance].estimator_attitude_sub.copy(&attitude)) {
+		if (reset) {
+			// on reset compute deltas from last published data
+			++_quat_reset_counter;

-		if (_instance[_selected_instance].estimator_attitude_sub.get_instance() != _attitude_instance_prev) {
-			_attitude_instance_prev = _instance[_selected_instance].estimator_attitude_sub.get_instance();
-			instance_change = true;
-		}
+			_delta_q_reset = (Quatf(attitude.q) * Quatf(_attitude_last.q).inversed()).normalized();

-		if (_attitude_last.timestamp != 0) {
-			if (!instance_change && (attitude.quat_reset_counter == _attitude_last.quat_reset_counter + 1)) {
-				// propogate deltas from estimator data while maintaining the overall reset counts
-				++_quat_reset_counter;
-				_delta_q_reset = Quatf{attitude.delta_q_reset};
-
-			} else if (instance_change || (attitude.quat_reset_counter != _attitude_last.quat_reset_counter)) {
-				// on reset compute deltas from last published data
-				++_quat_reset_counter;
-				_delta_q_reset = (Quatf(attitude.q) * Quatf(_attitude_last.q).inversed()).normalized();
-			}
+			// ensure monotonically increasing timestamp_sample through reset
+			attitude.timestamp_sample = max(attitude.timestamp_sample, _attitude_last.timestamp_sample);

 		} else {
-			_quat_reset_counter = attitude.quat_reset_counter;
-			_delta_q_reset = Quatf{attitude.delta_q_reset};
+			// otherwise propogate deltas from estimator data while maintaining the overall reset counts
+			if (attitude.quat_reset_counter > _attitude_last.quat_reset_counter) {
+				++_quat_reset_counter;
+				_delta_q_reset = Quatf{attitude.delta_q_reset};
+			}
 		}

-		bool publish = true;
-
-		// ensure monotonically increasing timestamp_sample through reset, don't publish
-		//  estimator's attitude for system (vehicle_attitude) if it's stale
-		if ((attitude.timestamp_sample <= _attitude_last.timestamp_sample)
-		    || (attitude.timestamp_sample < _instance[_selected_instance].timestamp_sample_last)) {
-
-			publish = false;
-		}
-
-		// save last primary estimator_attitude as published with original resets
+		// save last primary estimator_attitude
 		_attitude_last = attitude;

-		if (publish) {
-			// republish with total reset count and current timestamp
-			attitude.quat_reset_counter = _quat_reset_counter;
-			_delta_q_reset.copyTo(attitude.delta_q_reset);
+		// republish with total reset count and current timestamp
+		attitude.quat_reset_counter = _quat_reset_counter;
+		_delta_q_reset.copyTo(attitude.delta_q_reset);

-			attitude.timestamp = hrt_absolute_time();
-			_vehicle_attitude_pub.publish(attitude);
-		}
+		attitude.timestamp = hrt_absolute_time();
+		_vehicle_attitude_pub.publish(attitude);
+
+		_instance[_selected_instance].timestamp_sample_last = attitude.timestamp_sample;
 	}
 }

-void EKF2Selector::PublishVehicleLocalPosition()
+void EKF2Selector::PublishVehicleLocalPosition(bool reset)
 {
-	// selected estimator_local_position -> vehicle_local_position
+	// vehicle_local_position
 	vehicle_local_position_s local_position;

-	if (_instance[_selected_instance].estimator_local_position_sub.update(&local_position)) {
-		bool instance_change = false;
+	if (_instance[_selected_instance].estimator_local_position_sub.copy(&local_position)) {
+		if (reset) {
+			// on reset compute deltas from last published data
+			++_xy_reset_counter;
+			++_z_reset_counter;
+			++_vxy_reset_counter;
+			++_vz_reset_counter;
+			++_heading_reset_counter;

-		if (_instance[_selected_instance].estimator_local_position_sub.get_instance() != _local_position_instance_prev) {
-			_local_position_instance_prev = _instance[_selected_instance].estimator_local_position_sub.get_instance();
-			instance_change = true;
-		}
+			_delta_xy_reset = Vector2f{local_position.x, local_position.y} - Vector2f{_local_position_last.x, _local_position_last.y};
+			_delta_z_reset = local_position.z - _local_position_last.z;
+			_delta_vxy_reset = Vector2f{local_position.vx, local_position.vy} - Vector2f{_local_position_last.vx, _local_position_last.vy};
+			_delta_vz_reset = local_position.vz - _local_position_last.vz;
+			_delta_heading_reset = matrix::wrap_2pi(local_position.heading - _local_position_last.heading);
+
+			// ensure monotonically increasing timestamp_sample through reset
+			local_position.timestamp_sample = max(local_position.timestamp_sample, _local_position_last.timestamp_sample);
+
+		} else {
+			// otherwise propogate deltas from estimator data while maintaining the overall reset counts

-		if (_local_position_last.timestamp != 0) {
 			// XY reset
-			if (!instance_change && (local_position.xy_reset_counter == _local_position_last.xy_reset_counter + 1)) {
+			if (local_position.xy_reset_counter > _local_position_last.xy_reset_counter) {
 				++_xy_reset_counter;
 				_delta_xy_reset = Vector2f{local_position.delta_xy};
-
-			} else if (instance_change || (local_position.xy_reset_counter != _local_position_last.xy_reset_counter)) {
-				++_xy_reset_counter;
-				_delta_xy_reset = Vector2f{local_position.x, local_position.y} - Vector2f{_local_position_last.x, _local_position_last.y};
 			}

 			// Z reset
-			if (!instance_change && (local_position.z_reset_counter == _local_position_last.z_reset_counter + 1)) {
+			if (local_position.z_reset_counter > _local_position_last.z_reset_counter) {
 				++_z_reset_counter;
 				_delta_z_reset = local_position.delta_z;
-
-			} else if (instance_change || (local_position.z_reset_counter != _local_position_last.z_reset_counter)) {
-				++_z_reset_counter;
-				_delta_z_reset = local_position.z - _local_position_last.z;
 			}

 			// VXY reset
-			if (!instance_change && (local_position.vxy_reset_counter == _local_position_last.vxy_reset_counter + 1)) {
+			if (local_position.vxy_reset_counter > _local_position_last.vxy_reset_counter) {
 				++_vxy_reset_counter;
 				_delta_vxy_reset = Vector2f{local_position.delta_vxy};
-
-			} else if (instance_change || (local_position.vxy_reset_counter != _local_position_last.vxy_reset_counter)) {
-				++_vxy_reset_counter;
-				_delta_vxy_reset = Vector2f{local_position.vx, local_position.vy} - Vector2f{_local_position_last.vx, _local_position_last.vy};
 			}

 			// VZ reset
-			if (!instance_change && (local_position.vz_reset_counter == _local_position_last.vz_reset_counter + 1)) {
+			if (local_position.vz_reset_counter > _local_position_last.vz_reset_counter) {
 				++_vz_reset_counter;
 				_delta_vz_reset = local_position.delta_vz;
-
-			} else if (instance_change || (local_position.vz_reset_counter != _local_position_last.vz_reset_counter)) {
-				++_vz_reset_counter;
-				_delta_vz_reset = local_position.vz - _local_position_last.vz;
 			}

 			// heading reset
-			if (!instance_change && (local_position.heading_reset_counter == _local_position_last.heading_reset_counter + 1)) {
+			if (local_position.heading_reset_counter > _local_position_last.heading_reset_counter) {
 				++_heading_reset_counter;
 				_delta_heading_reset = local_position.delta_heading;
-
-			} else if (instance_change || (local_position.heading_reset_counter != _local_position_last.heading_reset_counter)) {
-				++_heading_reset_counter;
-				_delta_heading_reset = matrix::wrap_pi(local_position.heading - _local_position_last.heading);
 			}
-
-		} else {
-			_xy_reset_counter = local_position.xy_reset_counter;
-			_z_reset_counter = local_position.z_reset_counter;
-			_vxy_reset_counter = local_position.vxy_reset_counter;
-			_vz_reset_counter = local_position.vz_reset_counter;
-			_heading_reset_counter = local_position.heading_reset_counter;
-
-			_delta_xy_reset = Vector2f{local_position.delta_xy};
-			_delta_z_reset = local_position.delta_z;
-			_delta_vxy_reset = Vector2f{local_position.delta_vxy};
-			_delta_vz_reset = local_position.delta_vz;
-			_delta_heading_reset = local_position.delta_heading;
 		}

-		bool publish = true;
-
-		// ensure monotonically increasing timestamp_sample through reset, don't publish
-		//  estimator's local position for system (vehicle_local_position) if it's stale
-		if ((local_position.timestamp_sample <= _local_position_last.timestamp_sample)
-		    || (local_position.timestamp_sample < _instance[_selected_instance].timestamp_sample_last)) {
-
-			publish = false;
-		}
-
-		// save last primary estimator_local_position as published with original resets
+		// save last primary estimator_local_position
 		_local_position_last = local_position;

-		if (publish) {
+		// publish estimator's local position for system (vehicle_local_position) unless it's stale
+		if (local_position.timestamp_sample >= _instance[_selected_instance].timestamp_sample_last) {
 			// republish with total reset count and current timestamp
 			local_position.xy_reset_counter = _xy_reset_counter;
 			local_position.z_reset_counter = _z_reset_counter;
@@ -493,92 +447,47 @@ void EKF2Selector::PublishVehicleLocalPosition()
 	}
 }

-void EKF2Selector::PublishVehicleOdometry()
+void EKF2Selector::PublishVehicleGlobalPosition(bool reset)
 {
-	// selected estimator_odometry -> vehicle_odometry
-	vehicle_odometry_s odometry;
-
-	if (_instance[_selected_instance].estimator_odometry_sub.update(&odometry)) {
-		bool publish = true;
-
-		// ensure monotonically increasing timestamp_sample through reset, don't publish
-		//  estimator's odometry for system (vehicle_odometry) if it's stale
-		if ((odometry.timestamp_sample <= _odometry_last.timestamp_sample)
-		    || (odometry.timestamp_sample < _instance[_selected_instance].timestamp_sample_last)) {
-
-			publish = false;
-		}
-
-		// save last primary estimator_odometry
-		_odometry_last = odometry;
-
-		if (publish) {
-			odometry.timestamp = hrt_absolute_time();
-			_vehicle_odometry_pub.publish(odometry);
-		}
-	}
-}
-
-void EKF2Selector::PublishVehicleGlobalPosition()
-{
-	// selected estimator_global_position -> vehicle_global_position
 	vehicle_global_position_s global_position;

-	if (_instance[_selected_instance].estimator_global_position_sub.update(&global_position)) {
-		bool instance_change = false;
+	if (_instance[_selected_instance].estimator_global_position_sub.copy(&global_position)) {
+		if (reset) {
+			// on reset compute deltas from last published data
+			++_lat_lon_reset_counter;
+			++_alt_reset_counter;

-		if (_instance[_selected_instance].estimator_global_position_sub.get_instance() != _global_position_instance_prev) {
-			_global_position_instance_prev = _instance[_selected_instance].estimator_global_position_sub.get_instance();
-			instance_change = true;
-		}
+			_delta_lat_reset = global_position.lat - _global_position_last.lat;
+			_delta_lon_reset = global_position.lon - _global_position_last.lon;
+			_delta_alt_reset = global_position.delta_alt - _global_position_last.delta_alt;
+
+			// ensure monotonically increasing timestamp_sample through reset
+			global_position.timestamp_sample = max(global_position.timestamp_sample, _global_position_last.timestamp_sample);
+
+		} else {
+			// otherwise propogate deltas from estimator data while maintaining the overall reset counts

-		if (_global_position_last.timestamp != 0) {
 			// lat/lon reset
-			if (!instance_change && (global_position.lat_lon_reset_counter == _global_position_last.lat_lon_reset_counter + 1)) {
+			if (global_position.lat_lon_reset_counter > _global_position_last.lat_lon_reset_counter) {
 				++_lat_lon_reset_counter;

 				// TODO: delta latitude/longitude
-				_delta_lat_reset = global_position.lat - _global_position_last.lat;
-				_delta_lon_reset = global_position.lon - _global_position_last.lon;
-
-			} else if (instance_change || (global_position.lat_lon_reset_counter != _global_position_last.lat_lon_reset_counter)) {
-				++_lat_lon_reset_counter;
-
-				_delta_lat_reset = global_position.lat - _global_position_last.lat;
-				_delta_lon_reset = global_position.lon - _global_position_last.lon;
+				//_delta_lat_reset = global_position.delta_lat;
+				//_delta_lon_reset = global_position.delta_lon;
 			}

 			// alt reset
-			if (!instance_change && (global_position.alt_reset_counter == _global_position_last.alt_reset_counter + 1)) {
+			if (global_position.alt_reset_counter > _global_position_last.alt_reset_counter) {
 				++_alt_reset_counter;
 				_delta_alt_reset = global_position.delta_alt;
-
-			} else if (instance_change || (global_position.alt_reset_counter != _global_position_last.alt_reset_counter)) {
-				++_alt_reset_counter;
-				_delta_alt_reset = global_position.delta_alt - _global_position_last.delta_alt;
 			}
-
-		} else {
-			_lat_lon_reset_counter = global_position.lat_lon_reset_counter;
-			_alt_reset_counter = global_position.alt_reset_counter;
-
-			_delta_alt_reset = global_position.delta_alt;
 		}

-		bool publish = true;
-
-		// ensure monotonically increasing timestamp_sample through reset, don't publish
-		//  estimator's global position for system (vehicle_global_position) if it's stale
-		if ((global_position.timestamp_sample <= _global_position_last.timestamp_sample)
-		    || (global_position.timestamp_sample < _instance[_selected_instance].timestamp_sample_last)) {
-
-			publish = false;
-		}
-
-		// save last primary estimator_global_position as published with original resets
+		// save last primary estimator_global_position
 		_global_position_last = global_position;

-		if (publish) {
+		// publish estimator's global position for system (vehicle_global_position) unless it's stale
+		if (global_position.timestamp_sample >= _instance[_selected_instance].timestamp_sample_last) {
 			// republish with total reset count and current timestamp
 			global_position.lat_lon_reset_counter = _lat_lon_reset_counter;
 			global_position.alt_reset_counter = _alt_reset_counter;
@@ -590,31 +499,22 @@ void EKF2Selector::PublishVehicleGlobalPosition()
 	}
 }

-void EKF2Selector::PublishWindEstimate()
+void EKF2Selector::PublishWindEstimate(bool reset)
 {
-	// selected estimator_wind -> wind
 	wind_s wind;

-	if (_instance[_selected_instance].estimator_wind_sub.update(&wind)) {
-		bool publish = true;
-
-		// ensure monotonically increasing timestamp_sample through reset, don't publish
-		//  estimator's wind for system (wind) if it's stale
-		if ((wind.timestamp_sample <= _wind_last.timestamp_sample)
-		    || (wind.timestamp_sample < _instance[_selected_instance].timestamp_sample_last)) {
-
-			publish = false;
+	if (_instance[_selected_instance].estimator_wind_sub.copy(&wind)) {
+		if (reset) {
+			// ensure monotonically increasing timestamp_sample through reset
+			wind.timestamp_sample = max(wind.timestamp_sample, _wind_last.timestamp_sample);
 		}

 		// save last primary wind
 		_wind_last = wind;

-		// publish estimator's wind for system unless it's stale
-		if (publish) {
-			// republish with current timestamp
-			wind.timestamp = hrt_absolute_time();
-			_wind_pub.publish(wind);
-		}
+		// republish with current timestamp
+		wind.timestamp = hrt_absolute_time();
+		_wind_pub.publish(wind);
 	}
 }

@@ -655,6 +555,7 @@ void EKF2Selector::Run()
 	}

 	if (updated) {
+
 		const uint8_t available_instances_prev = _available_instances;
 		const uint8_t selected_instance_prev = _selected_instance;
 		const uint32_t instance_changed_count_prev = _instance_changed_count;
@@ -723,47 +624,69 @@ void EKF2Selector::Run()
 		    || (last_instance_change_prev != _last_instance_change)
 		    || _accel_fault_detected || _gyro_fault_detected) {

-			PublishEstimatorSelectorStatus();
+			estimator_selector_status_s selector_status{};
+			selector_status.primary_instance = _selected_instance;
+			selector_status.instances_available = _available_instances;
+			selector_status.instance_changed_count = _instance_changed_count;
+			selector_status.last_instance_change = _last_instance_change;
+			selector_status.accel_device_id = _instance[_selected_instance].accel_device_id;
+			selector_status.baro_device_id = _instance[_selected_instance].baro_device_id;
+			selector_status.gyro_device_id = _instance[_selected_instance].gyro_device_id;
+			selector_status.mag_device_id = _instance[_selected_instance].mag_device_id;
+			selector_status.gyro_fault_detected = _gyro_fault_detected;
+			selector_status.accel_fault_detected = _accel_fault_detected;
+
+			for (int i = 0; i < EKF2_MAX_INSTANCES; i++) {
+				selector_status.combined_test_ratio[i] = _instance[i].combined_test_ratio;
+				selector_status.relative_test_ratio[i] = _instance[i].relative_test_ratio;
+				selector_status.healthy[i] = _instance[i].healthy;
+			}
+
+			for (int i = 0; i < IMU_STATUS_SIZE; i++) {
+				selector_status.accumulated_gyro_error[i] = _accumulated_gyro_error[i];
+				selector_status.accumulated_accel_error[i] = _accumulated_accel_error[i];
+			}
+
+			selector_status.timestamp = hrt_absolute_time();
+			_estimator_selector_status_pub.publish(selector_status);
+			_last_status_publish = selector_status.timestamp;
 			_selector_status_publish = false;
 		}
 	}

 	// republish selected estimator data for system
-	PublishVehicleAttitude();
-	PublishVehicleLocalPosition();
-	PublishVehicleGlobalPosition();
-	PublishVehicleOdometry();
-	PublishWindEstimate();
-}

-void EKF2Selector::PublishEstimatorSelectorStatus()
-{
-	estimator_selector_status_s selector_status{};
-	selector_status.primary_instance = _selected_instance;
-	selector_status.instances_available = _available_instances;
-	selector_status.instance_changed_count = _instance_changed_count;
-	selector_status.last_instance_change = _last_instance_change;
-	selector_status.accel_device_id = _instance[_selected_instance].accel_device_id;
-	selector_status.baro_device_id = _instance[_selected_instance].baro_device_id;
-	selector_status.gyro_device_id = _instance[_selected_instance].gyro_device_id;
-	selector_status.mag_device_id = _instance[_selected_instance].mag_device_id;
-	selector_status.gyro_fault_detected = _gyro_fault_detected;
-	selector_status.accel_fault_detected = _accel_fault_detected;
-
-	for (int i = 0; i < EKF2_MAX_INSTANCES; i++) {
-		selector_status.combined_test_ratio[i] = _instance[i].combined_test_ratio;
-		selector_status.relative_test_ratio[i] = _instance[i].relative_test_ratio;
-		selector_status.healthy[i] = _instance[i].healthy;
+	// selected estimator_attitude -> vehicle_attitude
+	if (_instance[_selected_instance].estimator_attitude_sub.updated()) {
+		PublishVehicleAttitude();
 	}

-	for (int i = 0; i < IMU_STATUS_SIZE; i++) {
-		selector_status.accumulated_gyro_error[i] = _accumulated_gyro_error[i];
-		selector_status.accumulated_accel_error[i] = _accumulated_accel_error[i];
+	// selected estimator_local_position -> vehicle_local_position
+	if (_instance[_selected_instance].estimator_local_position_sub.updated()) {
+		PublishVehicleLocalPosition();
 	}

-	selector_status.timestamp = hrt_absolute_time();
-	_estimator_selector_status_pub.publish(selector_status);
-	_last_status_publish = selector_status.timestamp;
+	// selected estimator_global_position -> vehicle_global_position
+	if (_instance[_selected_instance].estimator_global_position_sub.updated()) {
+		PublishVehicleGlobalPosition();
+	}
+
+	// selected estimator_wind -> wind
+	if (_instance[_selected_instance].estimator_wind_sub.updated()) {
+		PublishWindEstimate();
+	}
+
+	// selected estimator_odometry -> vehicle_odometry
+	if (_instance[_selected_instance].estimator_odometry_sub.updated()) {
+		vehicle_odometry_s vehicle_odometry;
+
+		if (_instance[_selected_instance].estimator_odometry_sub.update(&vehicle_odometry)) {
+			if (vehicle_odometry.timestamp_sample >= _instance[_selected_instance].timestamp_sample_last) {
+				vehicle_odometry.timestamp = hrt_absolute_time();
+				_vehicle_odometry_pub.publish(vehicle_odometry);
+			}
+		}
+	}
 }

 void EKF2Selector::PrintStatus()
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -78,12 +78,10 @@ private:
 	static constexpr uint64_t FILTER_UPDATE_PERIOD{10_ms};

 	void Run() override;
-	void PublishEstimatorSelectorStatus();
-	void PublishVehicleAttitude();
-	void PublishVehicleLocalPosition();
-	void PublishVehicleGlobalPosition();
-	void PublishVehicleOdometry();
-	void PublishWindEstimate();
+	void PublishVehicleAttitude(bool reset = false);
+	void PublishVehicleLocalPosition(bool reset = false);
+	void PublishVehicleGlobalPosition(bool reset = false);
+	void PublishWindEstimate(bool reset = false);
 	bool SelectInstance(uint8_t instance);

 	// Update the error scores for all available instances
@@ -193,9 +191,6 @@ private:
 	uint8_t _vz_reset_counter{0};
 	uint8_t _heading_reset_counter{0};

-	// vehicle_odometry
-	vehicle_odometry_s _odometry_last{};
-
 	// vehicle_global_position: reset counters
 	vehicle_global_position_s _global_position_last{};
 	double _delta_lat_reset{0};
@@ -207,10 +202,6 @@ private:
 	// wind estimate
 	wind_s _wind_last{};

-	uint8_t _attitude_instance_prev{INVALID_INSTANCE};
-	uint8_t _local_position_instance_prev{INVALID_INSTANCE};
-	uint8_t _global_position_instance_prev{INVALID_INSTANCE};
-
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 	uORB::Subscription _sensors_status_imu{ORB_ID(sensors_status_imu)};

@@ -141,26 +141,19 @@ FixedwingPositionControl::parameters_update()

 	landing_status_publish();

-	int check_ret = PX4_OK;
-
 	// sanity check parameters
-	if (_param_fw_airspd_max.get() < _param_fw_airspd_min.get()) {
-		mavlink_log_critical(&_mavlink_log_pub, "Config invalid: Airspeed max smaller than min");
-		check_ret = PX4_ERROR;
+	if ((_param_fw_airspd_max.get() < _param_fw_airspd_min.get()) ||
+	    (_param_fw_airspd_max.get() < 5.0f) ||
+	    (_param_fw_airspd_min.get() > 100.0f) ||
+	    (_param_fw_airspd_trim.get() < _param_fw_airspd_min.get()) ||
+	    (_param_fw_airspd_trim.get() > _param_fw_airspd_max.get())) {
+
+		mavlink_log_critical(&_mavlink_log_pub, "Airspeed parameters invalid");
+
+		return PX4_ERROR;
 	}

-	if (_param_fw_airspd_max.get() < 5.0f || _param_fw_airspd_min.get() > 100.0f) {
-		mavlink_log_critical(&_mavlink_log_pub, "Config invalid: Airspeed max < 5 m/s or min > 100 m/s");
-		check_ret = PX4_ERROR;
-	}
-
-	if (_param_fw_airspd_trim.get() < _param_fw_airspd_min.get() ||
-	    _param_fw_airspd_trim.get() > _param_fw_airspd_max.get()) {
-		mavlink_log_critical(&_mavlink_log_pub, "Config invalid: Airspeed cruise out of min or max bounds");
-		check_ret = PX4_ERROR;
-	}
-
-	return check_ret;
+	return PX4_OK;
 }

 void
@@ -461,12 +461,11 @@ PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 10.0f);
 PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 20.0f);

 /**
- * Trim/ Cruise Airspeed (CAS)
+ * Cruise Airspeed (CAS)
 *
- * This is the default cruise airspeed setpoint (calibrated airspeed) used by the system in assisted
- * and autonomous control modes if no other airspeed setpoint is given.
- * It is also used for control surface effectiveness scaling.
- * (scaling = FW_AIRSPD_TRIM / calibrated_airspeed).
+ * The trim CAS (calibrated airspeed) of the vehicle. If an airspeed controller is active,
+ * this is the default airspeed setpoint that the controller will try to achieve if
+ * no other airspeed setpoint sources are present (e.g. through non-centered RC sticks).
 *
 * @unit m/s
 * @min 0.5
@@ -148,22 +148,23 @@ void VehicleAngularVelocity::ResetFilters(float new_scale)
 {
 	if ((_filter_sample_rate_hz > 0) && PX4_ISFINITE(_filter_sample_rate_hz)) {

-		const Vector3f angular_velocity{GetResetAngularVelocity(new_scale)};
-		const Vector3f angular_acceleration{GetResetAngularAcceleration(new_scale)};
+		const Vector3f angular_velocity_raw{GetResetAngularVelocity(_angular_velocity, new_scale)};
+		const Vector3f angular_velocity_raw_prev{GetResetAngularVelocity(_angular_velocity_prev, new_scale)};
+		const Vector3f angular_acceleration_raw{GetResetAngularAcceleration(new_scale)};

 		for (int axis = 0; axis < 3; axis++) {
 			// angular velocity low pass
 			_lp_filter_velocity[axis].set_cutoff_frequency(_filter_sample_rate_hz, _param_imu_gyro_cutoff.get());
-			_lp_filter_velocity[axis].reset(angular_velocity(axis));
+			_lp_filter_velocity[axis].reset(angular_velocity_raw(axis));

 			// angular velocity notch
 			_notch_filter_velocity[axis].setParameters(_filter_sample_rate_hz, _param_imu_gyro_nf_freq.get(),
 					_param_imu_gyro_nf_bw.get());
-			_notch_filter_velocity[axis].reset(angular_velocity(axis));
+			_notch_filter_velocity[axis].reset(angular_velocity_raw(axis));

 			// angular acceleration low pass
 			_lp_filter_acceleration[axis].set_cutoff_frequency(_filter_sample_rate_hz, _param_imu_dgyro_cutoff.get());
-			_lp_filter_acceleration[axis].reset(angular_acceleration(axis));
+			_lp_filter_acceleration[axis].reset(angular_acceleration_raw(axis));
 		}

 		// dynamic notch filters, first disable, then force update (if available)
@@ -173,7 +174,8 @@ void VehicleAngularVelocity::ResetFilters(float new_scale)
 		UpdateDynamicNotchEscRpm(new_scale, true);
 		UpdateDynamicNotchFFT(new_scale, true);

-		_angular_velocity_prev = angular_velocity;
+		_angular_velocity_raw_prev = angular_velocity_raw;
+		_angular_velocity_raw_prev_prev = angular_velocity_raw_prev;
 		_last_scale = new_scale;

 		_reset_filters = false;
@@ -350,18 +352,18 @@ void VehicleAngularVelocity::ParametersUpdate(bool force)
 	}
 }

-Vector3f VehicleAngularVelocity::GetResetAngularVelocity(float new_scale) const
+Vector3f VehicleAngularVelocity::GetResetAngularVelocity(const Vector3f &angular_velocity, float new_scale) const
 {
 	if ((_last_publish != 0) && (new_scale > 0.f)) {
 		// angular velocity filtering is performed on raw unscaled data
 		//  start with last valid vehicle body frame angular velocity and compute equivalent raw data (for current sensor selection)
-		Vector3f angular_velocity{_calibration.Uncorrect(_angular_velocity + _bias) / new_scale};
+		Vector3f angular_velocity_raw{_calibration.Uncorrect(angular_velocity + _bias) / new_scale};

-		if (PX4_ISFINITE(angular_velocity(0))
-		    && PX4_ISFINITE(angular_velocity(1))
-		    && PX4_ISFINITE(angular_velocity(2))) {
+		if (PX4_ISFINITE(angular_velocity_raw(0))
+		    && PX4_ISFINITE(angular_velocity_raw(1))
+		    && PX4_ISFINITE(angular_velocity_raw(2))) {

-			return angular_velocity;
+			return angular_velocity_raw;
 		}
 	}

@@ -373,13 +375,13 @@ Vector3f VehicleAngularVelocity::GetResetAngularAcceleration(float new_scale) co
 	if ((_last_publish != 0) && (new_scale > 0.f)) {
 		// angular acceleration filtering is performed on unscaled angular velocity data
 		//  start with last valid vehicle body frame angular acceleration and compute equivalent raw data (for current sensor selection)
-		Vector3f angular_acceleration{_calibration.rotation().I() *_angular_acceleration / new_scale};
+		Vector3f angular_acceleration_raw{_calibration.rotation().I() *_angular_acceleration / new_scale};

-		if (PX4_ISFINITE(angular_acceleration(0))
-		    && PX4_ISFINITE(angular_acceleration(1))
-		    && PX4_ISFINITE(angular_acceleration(2))) {
+		if (PX4_ISFINITE(angular_acceleration_raw(0))
+		    && PX4_ISFINITE(angular_acceleration_raw(1))
+		    && PX4_ISFINITE(angular_acceleration_raw(2))) {

-			return angular_acceleration;
+			return angular_acceleration_raw;
 		}
 	}

@@ -452,7 +454,7 @@ void VehicleAngularVelocity::UpdateDynamicNotchEscRpm(float new_scale, bool forc

 							// only reset if there's sufficient change (> 1%)
 							if (force || (change_percent > 0.01f)) {
-								const Vector3f reset_angular_velocity{GetResetAngularVelocity(new_scale)};
+								const Vector3f reset_angular_velocity{GetResetAngularVelocity(_angular_velocity, new_scale)};

 								for (int axis = 0; axis < 3; axis++) {
 									auto &dnf = _dynamic_notch_filter_esc_rpm[i][harmonic][axis];
@@ -511,7 +513,7 @@ void VehicleAngularVelocity::UpdateDynamicNotchFFT(float new_scale, bool force)

 							// only reset if there's sufficient change
 							if (peak_diff_abs > sensor_gyro_fft.resolution_hz) {
-								dnf.reset(GetResetAngularVelocity(new_scale)(axis));
+								dnf.reset(GetResetAngularVelocity(_angular_velocity, new_scale)(axis));
 							}

 							perf_count(_dynamic_notch_filter_fft_update_perf);
@@ -583,20 +585,6 @@ float VehicleAngularVelocity::FilterAngularVelocity(int axis, float data[], int
 	return data[N - 1];
 }

-float VehicleAngularVelocity::FilterAngularAcceleration(int axis, float dt_s, float data[], int N)
-{
-	// angular acceleration: Differentiate & apply specific angular acceleration (D-term) low-pass (IMU_DGYRO_CUTOFF)
-	float angular_acceleration_filtered = 0.f;
-
-	for (int n = 0; n < N; n++) {
-		const float angular_acceleration = (data[n] - _angular_velocity_prev(axis)) / dt_s;
-		angular_acceleration_filtered = _lp_filter_acceleration[axis].apply(angular_acceleration);
-		_angular_velocity_prev(axis) = data[n];
-	}
-
-	return angular_acceleration_filtered;
-}
-
 void VehicleAngularVelocity::Run()
 {
 	// backup schedule
@@ -656,7 +644,18 @@ void VehicleAngularVelocity::Run()

 					// save last filtered sample
 					angular_velocity_unscaled(axis) = FilterAngularVelocity(axis, data, N);
-					angular_acceleration_unscaled(axis) = FilterAngularAcceleration(axis, dt_s, data, N);
+
+					// angular acceleration: Differentiate & apply specific angular acceleration (D-term) low-pass (IMU_DGYRO_CUTOFF)
+					for (int n = 0; n < N; n++) {
+						// Backward finite difference (1st derivative 3 coffecients [1/2, -2, 3/2])
+						const float angular_acceleration = (+ 0.5f * _angular_velocity_raw_prev_prev(axis)
+										    - 2.0f * _angular_velocity_raw_prev(axis)
+										    + 1.5f * data[n]) / dt_s;
+						_angular_velocity_raw_prev_prev(axis) = _angular_velocity_raw_prev(axis);
+						_angular_velocity_raw_prev(axis) = data[n];
+
+						angular_acceleration_unscaled(axis) = _lp_filter_acceleration[axis].apply(angular_acceleration);
+					}
 				}

 				// Publish
@@ -699,7 +698,11 @@ void VehicleAngularVelocity::Run()

 				// save last filtered sample
 				angular_velocity(axis) = FilterAngularVelocity(axis, data);
-				angular_acceleration(axis) = FilterAngularAcceleration(axis, dt_s, data);
+
+				angular_acceleration(axis) = _lp_filter_acceleration[axis].apply((raw_data_array[axis]
+							     - _angular_velocity_raw_prev(axis)) / dt_s);
+				_angular_velocity_raw_prev_prev(axis) = _angular_velocity_raw_prev(axis);
+				_angular_velocity_raw_prev(axis) = raw_data_array[axis];
 			}

 			// Publish
@@ -712,6 +715,7 @@ void VehicleAngularVelocity::CalibrateAndPublish(bool publish, const hrt_abstime
 		const Vector3f &angular_velocity_unscaled,  const Vector3f &angular_acceleration_unscaled, float scale)
 {
 	// Angular velocity: rotate sensor frame to board, scale raw data to SI, apply calibration, and remove in-run estimated bias
+	_angular_velocity_prev = _angular_velocity;
 	_angular_velocity = _calibration.Correct(angular_velocity_unscaled * scale) - _bias;

 	// Angular acceleration: rotate sensor frame to board, scale raw data to SI, apply any additional configured rotation
@@ -79,7 +79,6 @@ private:
 				 const matrix::Vector3f &angular_acceleration, float scale = 1.f);

 	float FilterAngularVelocity(int axis, float data[], int N = 1);
-	float FilterAngularAcceleration(int axis, float dt_s, float data[], int N = 1);

 	void DisableDynamicNotchEscRpm();
 	void DisableDynamicNotchFFT();
@@ -93,7 +92,7 @@ private:
 	bool UpdateSampleRate();

 	// scaled appropriately for current FIFO mode
-	matrix::Vector3f GetResetAngularVelocity(float new_scale = 1.f) const;
+	matrix::Vector3f GetResetAngularVelocity(const matrix::Vector3f &angular_velocity, float new_scale = 1.f) const;
 	matrix::Vector3f GetResetAngularAcceleration(float new_scale = 1.f) const;

 	static constexpr int MAX_SENSOR_COUNT = 4;
@@ -119,9 +118,11 @@ private:
 	matrix::Vector3f _bias{};

 	matrix::Vector3f _angular_velocity{};
+	matrix::Vector3f _angular_velocity_prev{};
 	matrix::Vector3f _angular_acceleration{};

-	matrix::Vector3f _angular_velocity_prev{};
+	matrix::Vector3f _angular_velocity_raw_prev{};
+	matrix::Vector3f _angular_velocity_raw_prev_prev{};
 	hrt_abstime _timestamp_sample_last{0};

 	hrt_abstime _publish_interval_min_us{0};
@@ -332,7 +332,7 @@ bool VtolType::set_idle_fw()

 	for (int i = 0; i < num_outputs_max; i++) {
 		if (is_channel_set(i, generate_bitmap_from_channel_numbers(_params->vtol_motor_id))) {
-			pwm_values.values[i] = PWM_DEFAULT_MIN;
+			pwm_values.values[i] = PWM_MOTOR_OFF;

 		} else {
 			pwm_values.values[i] = _min_mc_pwm_values.values[i];