Add new Airspeed flight mode (only fixed-wing)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2026-05-28 12:10:04 +08:00 · 2021-07-16 13:40:07 +02:00
304 changed files with 18837 additions and 8293 deletions
@@ -13,6 +13,7 @@ pipeline {
            arm64: "px4io/px4-dev-aarch64:2021-05-04",
            base: "px4io/px4-dev-base-bionic:2021-05-04",
            nuttx: "px4io/px4-dev-nuttx-focal:2021-05-04",
+            snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
          ]

          def armhf_builds = [
@@ -105,8 +106,14 @@ pipeline {
            archive: true
          ]

+          def snapdragon_builds = [
+            target: ["atlflight_eagle_qurt", "atlflight_eagle_default"],
+            image: docker_images.snapdragon,
+            archive: false
+          ]
+
          def docker_builds = [
-            armhf_builds, base_builds, nuttx_builds_archive
+            armhf_builds, base_builds, nuttx_builds_archive//, snapdragon_builds
          ]

          for (def build_type = 0; build_type < docker_builds.size(); build_type++) {
@@ -158,6 +165,12 @@ pipeline {
 def createBuildNode(Boolean archive, String docker_image, String target) {
  return {

+    // TODO: fix the snapdragon image
+    bypass_entrypoint = ''
+    if (docker_image == 'lorenzmeier/px4-dev-snapdragon:2020-04-01') {
+      bypass_entrypoint = ' --entrypoint=""'
+    }
+
    node {
      docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
        docker.image(docker_image).inside('-e CCACHE_BASEDIR=${WORKSPACE} -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' + bypass_entrypoint) {
@@ -11,7 +11,6 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    timeout-minutes: 60
    strategy:
      fail-fast: false
      matrix:
@@ -12,7 +12,6 @@ jobs:
  build:
    runs-on: ubuntu-latest
    container: px4io/px4-dev-clang:2021-05-04
-    timeout-minutes: 60
    steps:
    - uses: actions/checkout@v1
      with:
@@ -12,7 +12,6 @@ jobs:
  build:
    runs-on: ubuntu-latest
    container: px4io/px4-dev-armhf:2021-05-04
-    timeout-minutes: 60
    strategy:
      matrix:
        config: [
@@ -12,7 +12,6 @@ jobs:
  build:
    runs-on: ubuntu-latest
    container: px4io/px4-dev-aarch64:2021-05-04
-    timeout-minutes: 60
    strategy:
      matrix:
        config: [
@@ -11,7 +11,6 @@ on:
 jobs:
  build:
    runs-on: macos-10.15
-    timeout-minutes: 60
    strategy:
      matrix:
        config: [
@@ -12,7 +12,6 @@ jobs:
  build:
    runs-on: ubuntu-latest
    container: px4io/px4-dev-nuttx-focal:2021-05-04
-    timeout-minutes: 60
    strategy:
      matrix:
        config: [
@@ -12,7 +12,6 @@ jobs:
  build:
    runs-on: ubuntu-latest
    container: px4io/px4-dev-nuttx-focal:2021-05-04
-    timeout-minutes: 60
    strategy:
      matrix:
        config: [
@@ -11,7 +11,6 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    timeout-minutes: 60
    strategy:
      fail-fast: false
      matrix:
@@ -18,6 +18,10 @@
 	path = src/lib/matrix
 	url = https://github.com/PX4/PX4-Matrix.git
 	branch = master
+[submodule "boards/atlflight/cmake_hexagon"]
+	path = boards/atlflight/cmake_hexagon
+	url = https://github.com/PX4/cmake_hexagon.git
+	branch = px4
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/PX4-GPSDrivers.git
@@ -34,6 +38,9 @@
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
 	branch = px4_firmware_nuttx-10.0.0+
+[submodule "platforms/qurt/dspal"]
+	path = platforms/qurt/dspal
+	url = https://github.com/ATLFlight/dspal.git
 [submodule "Tools/flightgear_bridge"]
 	path = Tools/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
@@ -63,6 +70,3 @@
 [submodule "src/lib/events/libevents"]
 	path = src/lib/events/libevents
 	url = https://github.com/mavlink/libevents.git
-[submodule "Tools/simulation-ignition"]
-	path = Tools/simulation-ignition
-	url = https://github.com/Auterion/px4-simulation-ignition.git
@@ -214,7 +214,7 @@ define colorecho
 endef

 # Get a list of all config targets boards/*/*.cmake
-ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 -name '*.cmake' -print | sed -e 's|boards\/||' | sed -e 's|\.cmake||' | sed -e 's|\/|_|g' | sort)
+ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 ! -name '*common*' ! -name '*sdflight*' -name '*.cmake' -print | sed -e 's|boards\/||' | sed -e 's|\.cmake||' | sed -e 's|\/|_|g' | sort)

 # ADD CONFIGS HERE
 # --------------------------------------------------------------------
@@ -240,6 +240,16 @@ endef
 # All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
 .PHONY: all px4_sitl_default all_config_targets all_default_targets

+# Multi- config targets.
+eagle_default: atlflight_eagle_default atlflight_eagle_qurt
+eagle_rtps: atlflight_eagle_rtps atlflight_eagle_qurt-rtps
+
+excelsior_default: atlflight_excelsior_default atlflight_excelsior_qurt
+excelsior_rtps: atlflight_excelsior_rtps atlflight_excelsior_qurt-rtps
+
+.PHONY: eagle_default eagle_rtps
+.PHONY: excelsior_default excelsior_rtps
+
 # Other targets
 # --------------------------------------------------------------------

@@ -502,7 +512,7 @@ help:
 	@echo "Where <target> is one of:"
 	@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
 		awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
-		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(Makefile)'
+		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(posix|eagle|Makefile)'
 	@echo
 	@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
 	@echo "Use '$(MAKE) list_config_targets' for a list of configuration targets."
@@ -8,7 +8,7 @@

 This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.

-PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.
+PX4 is highly portable, OS-independent and supports Linux, NuttX and QuRT out of the box.

 * Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
 * [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
@@ -6,32 +6,6 @@ from subprocess import call, Popen
 from argparse import ArgumentParser
 import re
 import sys
-import datetime
-
-COLOR_RED    = "\x1b[31m"
-COLOR_GREEN  = "\x1b[32m"
-COLOR_YELLOW = "\x1b[33m"
-COLOR_WHITE  = "\x1b[37m"
-COLOR_RESET  = "\x1b[0m"
-
-def print_line(line):
-    if "WARNING" in line:
-        line = line.replace("WARNING", f"{COLOR_YELLOW}WARNING{COLOR_RESET}", 1)
-    elif "WARN" in line:
-        line = line.replace("WARN", f"{COLOR_YELLOW}WARN{COLOR_RESET}", 1)
-    elif "ERROR" in line:
-        line = line.replace("ERROR", f"{COLOR_RED}ERROR{COLOR_RESET}", 1)
-    elif "INFO" in line:
-        line = line.replace("INFO", f"{COLOR_WHITE}INFO{COLOR_RESET}", 1)
-
-    if "PASSED" in line:
-        line = line.replace("PASSED", f"{COLOR_GREEN}PASSED{COLOR_RESET}", 1)
-
-    if "FAILED" in line:
-        line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
-
-    current_time = datetime.datetime.now()
-    print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')

 def monitor_firmware_upload(port, baudrate):
    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=True, rtscts=False, dsrdtr=False)
@@ -43,13 +17,13 @@ def monitor_firmware_upload(port, baudrate):
    while True:
        serial_line = ser.readline().decode("ascii", errors='ignore')

-        if len(serial_line) > 0:
-            print_line(serial_line)
-
        if "NuttShell (NSH)" in serial_line:
            sys.exit(0)
        elif "nsh>" in serial_line:
            sys.exit(0)
+        else:
+            if len(serial_line) > 0:
+                print(serial_line, end='')

        if time.time() > timeout_start + timeout:
            print("Error, timeout")
@@ -1,137 +0,0 @@
-#! /usr/bin/env python3
-
-import serial, time
-import subprocess
-from subprocess import call, Popen
-from argparse import ArgumentParser
-import re
-import sys
-
-COLOR_RED    = "\x1b[31m"
-COLOR_GREEN  = "\x1b[32m"
-COLOR_YELLOW = "\x1b[33m"
-COLOR_WHITE  = "\x1b[37m"
-COLOR_RESET  = "\x1b[0m"
-
-def print_line(line):
-    if "WARNING" in line:
-        line = line.replace("WARNING", f"{COLOR_YELLOW}WARNING{COLOR_RESET}", 1)
-    elif "WARN" in line:
-        line = line.replace("WARN", f"{COLOR_YELLOW}WARN{COLOR_RESET}", 1)
-    elif "ERROR" in line:
-        line = line.replace("ERROR", f"{COLOR_RED}ERROR{COLOR_RESET}", 1)
-    elif "INFO" in line:
-        line = line.replace("INFO", f"{COLOR_WHITE}INFO{COLOR_RESET}", 1)
-
-    if "PASSED" in line:
-        line = line.replace("PASSED", f"{COLOR_GREEN}PASSED{COLOR_RESET}", 1)
-
-    if "FAILED" in line:
-        line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
-
-    print(line, end='')
-
-def do_param_set_cmd(port, baudrate, param_name, param_value):
-    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.1, xonxoff=True, rtscts=False, dsrdtr=False)
-
-    timeout_start = time.time()
-    timeout = 10  # 10 seconds
-
-    # wait for nsh prompt
-    while True:
-        ser.write("\n".encode("ascii"))
-        ser.flush()
-
-        serial_line = ser.readline().decode("ascii", errors='ignore')
-
-        if "nsh>" in serial_line:
-            break
-        else:
-            if len(serial_line) > 0:
-                print_line(serial_line)
-
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout waiting for prompt")
-            sys.exit(1)
-
-    # clear
-    ser.readlines()
-
-    # run command
-    timeout_start = time.time()
-    timeout = 10  # 10 seconds
-
-    cmd = "param set " + param_name + " " + param_value
-
-    # write command (param set) and wait for command echo
-    serial_cmd = '{0}\r\n'.format(cmd)
-    ser.write(serial_cmd.encode("ascii"))
-    ser.flush()
-    while True:
-        serial_line = ser.readline().decode("ascii", errors='ignore')
-
-        if cmd in serial_line:
-            print_line(serial_line)
-            break
-        else:
-            if len(serial_line) > 0:
-                print_line(serial_line)
-
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout waiting for command echo")
-            break
-
-    # verify param value
-    cmd = "param show " + param_name
-    serial_cmd = '{0}\r\n'.format(cmd)
-    ser.write(serial_cmd.encode("ascii"))
-    ser.flush()
-
-    param_show_response = param_name + " ["
-
-    timeout_start = time.time()
-    timeout = 2  # 2 seconds
-
-    while True:
-        serial_line = ser.readline().decode("ascii", errors='ignore')
-
-        if param_show_response in serial_line:
-            print_line(serial_line)
-            current_param_value = serial_line.split(":")[-1].strip()
-
-            if (current_param_value == param_value):
-                sys.exit(0)
-            else:
-                sys.exit(1)
-        else:
-            if len(serial_line) > 0:
-                print_line(serial_line)
-
-            if time.time() > timeout_start + timeout:
-                if "nsh>" in serial_line:
-                    sys.exit(1) # error, command didn't complete successfully
-                elif "NuttShell (NSH)" in serial_line:
-                    sys.exit(1) # error, command didn't complete successfully
-
-        if len(serial_line) <= 0:
-            ser.write("\r\n".encode("ascii"))
-            ser.flush()
-
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout")
-            sys.exit(-1)
-
-    ser.close()
-
-def main():
-    parser = ArgumentParser(description=__doc__)
-    parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
-    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
-    parser.add_argument("--name", "-p", dest="param_name", help="Parameter name")
-    parser.add_argument("--value", "-v", dest="param_value", help="Parameter value")
-    args = parser.parse_args()
-
-    do_param_set_cmd(args.device, args.baudrate, args.param_name, args.param_value)
-
-if __name__ == "__main__":
-   main()
@@ -6,32 +6,6 @@ from subprocess import call, Popen
 from argparse import ArgumentParser
 import re
 import sys
-import datetime
-
-COLOR_RED    = "\x1b[31m"
-COLOR_GREEN  = "\x1b[32m"
-COLOR_YELLOW = "\x1b[33m"
-COLOR_WHITE  = "\x1b[37m"
-COLOR_RESET  = "\x1b[0m"
-
-def print_line(line):
-    if "WARNING" in line:
-        line = line.replace("WARNING", f"{COLOR_YELLOW}WARNING{COLOR_RESET}", 1)
-    elif "WARN" in line:
-        line = line.replace("WARN", f"{COLOR_YELLOW}WARN{COLOR_RESET}", 1)
-    elif "ERROR" in line:
-        line = line.replace("ERROR", f"{COLOR_RED}ERROR{COLOR_RESET}", 1)
-    elif "INFO" in line:
-        line = line.replace("INFO", f"{COLOR_WHITE}INFO{COLOR_RESET}", 1)
-
-    if "PASSED" in line:
-        line = line.replace("PASSED", f"{COLOR_GREEN}PASSED{COLOR_RESET}", 1)
-
-    if "FAILED" in line:
-        line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
-
-    current_time = datetime.datetime.now()
-    print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')

 def do_nsh_cmd(port, baudrate, cmd):
    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.1, xonxoff=True, rtscts=False, dsrdtr=False)
@@ -50,18 +24,15 @@ def do_nsh_cmd(port, baudrate, cmd):
            break
        else:
            if len(serial_line) > 0:
-                print_line(serial_line)
+                print(serial_line, end='')

        if time.time() > timeout_start + timeout:
            print("Error, timeout waiting for prompt")
            sys.exit(1)

-    # clear
-    ser.readlines()
-
    # run command
    timeout_start = time.time()
-    timeout = 1  # 1 second
+    timeout = 10  # 10 seconds

    success_cmd = "cmd succeeded!"

@@ -74,13 +45,9 @@ def do_nsh_cmd(port, baudrate, cmd):

        if cmd in serial_line:
            break
-        elif serial_line.startswith(success_cmd) and len(serial_line) <= len(success_cmd) + 2:
-            print_line(serial_line)
-            # we missed the echo, but command ran and succeeded
-            sys.exit(0)
        else:
            if len(serial_line) > 0:
-                print_line(serial_line)
+                print(serial_line, end='')

        if time.time() > timeout_start + timeout:
            print("Error, timeout waiting for command echo")
@@ -88,7 +55,7 @@ def do_nsh_cmd(port, baudrate, cmd):


    timeout_start = time.time()
-    timeout = 180 # 3 minutes
+    timeout = 30  # 30 seconds

    while True:
        serial_line = ser.readline().decode("ascii", errors='ignore')
@@ -97,7 +64,7 @@ def do_nsh_cmd(port, baudrate, cmd):
            break
        else:
            if len(serial_line) > 0:
-                print_line(serial_line)
+                print(serial_line, end='')

            if "nsh>" in serial_line:
                sys.exit(1) # error, command didn't complete successfully
@@ -8,35 +8,9 @@ import re
 import unittest
 import os
 import sys
-import datetime
-
-COLOR_RED    = "\x1b[31m"
-COLOR_GREEN  = "\x1b[32m"
-COLOR_YELLOW = "\x1b[33m"
-COLOR_WHITE  = "\x1b[37m"
-COLOR_RESET  = "\x1b[0m"
-
-def print_line(line):
-    if "WARNING" in line:
-        line = line.replace("WARNING", f"{COLOR_YELLOW}WARNING{COLOR_RESET}", 1)
-    elif "WARN" in line:
-        line = line.replace("WARN", f"{COLOR_YELLOW}WARN{COLOR_RESET}", 1)
-    elif "ERROR" in line:
-        line = line.replace("ERROR", f"{COLOR_RED}ERROR{COLOR_RESET}", 1)
-    elif "INFO" in line:
-        line = line.replace("INFO", f"{COLOR_WHITE}INFO{COLOR_RESET}", 1)
-
-    if "PASSED" in line:
-        line = line.replace("PASSED", f"{COLOR_GREEN}PASSED{COLOR_RESET}", 1)
-
-    if "FAILED" in line:
-        line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
-
-    current_time = datetime.datetime.now()
-    print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')

 def do_test(port, baudrate, test_name):
-    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)
+    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=True, rtscts=False, dsrdtr=False)

    timeout_start = time.time()
    timeout = 10  # 10 seconds
@@ -58,9 +32,6 @@ def do_test(port, baudrate, test_name):
            print("Error, timeout waiting for prompt")
            return False

-    # clear
-    ser.readlines()
-
    success = False

    # run test cmd
@@ -70,7 +41,7 @@ def do_test(port, baudrate, test_name):
    print('|======================================================================')

    timeout_start = time.time()
-    timeout = 2  # 2 seconds
+    timeout = 10  # 10 seconds

    # wait for command echo
    serial_cmd = '{0}\n'.format(cmd)
@@ -83,7 +54,7 @@ def do_test(port, baudrate, test_name):
            break
        else:
            if len(serial_line) > 0:
-                print_line(serial_line)
+                print(serial_line, end='')

        if time.time() > timeout_start + timeout:
            print("Error, timeout waiting for command echo")
@@ -91,15 +62,14 @@ def do_test(port, baudrate, test_name):


    # print results, wait for final result (PASSED or FAILED)
-    timeout = 300  # 5 minutes
+    timeout = 180  # 3 minutes
    timeout_start = time.time()
    timeout_newline = timeout_start

    while True:
        serial_line = ser.readline().decode("ascii", errors='ignore')
-
-        if len(serial_line) > 0:
-            print_line(serial_line)
+        if (len(serial_line) > 0):
+            print(serial_line, end='')

        if test_name + " PASSED" in serial_line:
            success = True
@@ -110,7 +80,7 @@ def do_test(port, baudrate, test_name):

        if time.time() > timeout_start + timeout:
            print("Error, timeout")
-            print(test_name + f" {COLOR_RED}FAILED{COLOR_RESET}")
+            print(test_name + " FAILED")
            success = False
            break

@@ -139,30 +109,15 @@ class TestHardwareMethods(unittest.TestCase):
    def test_bson(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))

-    def test_conv(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "conv"))
+    # def test_dataman(self):
+    #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))

-    def test_dataman(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
-
-    # def test_file(self):
-    #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "file"))
-
-    def test_file2(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "file2"))
-
-    def test_float(self):
+    def floattest_float(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "float"))

    def test_hrt(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "hrt"))

-    def test_int(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "int"))
-
-    def test_i2c_spi_cli(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "i2c_spi_cli"))
-
    def test_IntrusiveQueue(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "IntrusiveQueue"))

@@ -178,6 +133,21 @@ class TestHardwareMethods(unittest.TestCase):
    def test_matrix(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "matrix"))

+    def test_microbench_atomic(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_atomic"))
+
+    def test_microbench_hrt(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_hrt"))
+
+    def test_microbench_math(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_math"))
+
+    def test_microbench_matrix(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_matrix"))
+
+    def test_microbench_uorb(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_uorb"))
+
    # def test_mixer(self):
    #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "mixer"))

@@ -11,6 +11,9 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
 		# scumaker_pilotpi_arm64
 		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest"
+	elif [[ $@ =~ .*eagle.* ]] || [[ $@ =~ .*excelsior.* ]]; then
+		# eagle, excelsior
+		PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2020-04-01"
 	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
 		# posix_rpi_cross, posix_bebop_default
 		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"
@@ -1,23 +0,0 @@
-#!/bin/bash
-#
-# Setup environment to make PX4 visible to Gazebo.
-#
-# Note, this is not necessary if using a ROS catkin workspace with the px4
-# package as the paths are exported.
-#
-# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
-
-if [ "$#" != 2 ]; then
-    echo -e "usage: source setup_gazebo.bash src_dir build_dir\n"
-    return 1
-fi
-
-SRC_DIR=$1
-BUILD_DIR=$2
-
-# setup Gazebo env and update package path
-export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${SRC_DIR}/build/px4_sitl_default/build_ign_gazebo
-export IGN_GAZEBO_SYSTEM_PLUGIN_PATH=$IGN_GAZEBO_SYSTEM_PLUGIN_PATH:${SRC_DIR}/build/px4_sitl_default/build_ign_gazebo
-export IGN_GAZEBO_RESOURCE_PATH=$IGN_GAZEBO_RESOURCE_PATH:${SRC_DIR}/Tools/simulation-ignition/models
-
-echo -e "LD_LIBRARY_PATH $LD_LIBRARY_PATH"
@@ -177,10 +177,6 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
 		echo "You need to have gazebo simulator installed!"
 		exit 1
 	fi
-elif [ "$program" == "ignition" ] && [ -z "$no_sim" ]; then
-	echo "Ignition Gazebo"
-	source "$src_path/Tools/setup_ignition.bash" "${src_path}" "${build_path}"
-	ign gazebo -r "${src_path}/Tools/simulation-ignition/worlds/ignition.world"&
 elif [ "$program" == "flightgear" ] && [ -z "$no_sim" ]; then
 	echo "FG setup"
 	cd "${src_path}/Tools/flightgear_bridge/"
@@ -0,0 +1,32 @@
+############################################################################
+#
+#   Copyright (c) 2018 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.
+#
+############################################################################
@@ -0,0 +1,64 @@
+############################################################################
+#
+#   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
+# 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.
+#
+############################################################################
+
+if("${PX4_PLATFORM}" MATCHES "qurt")
+
+	add_custom_target(upload
+		COMMAND ${PX4_BOARD_DIR}/scripts/adb_upload.sh
+				${PX4_BINARY_DIR}/platforms/qurt/libpx4.so ${PX4_BINARY_DIR}/platforms/qurt/libpx4muorb_skel.so ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/px4.config # source
+				/usr/share/data/adsp # destination
+		DEPENDS px4 px4muorb_skel ${PX4_BOARD_DIR}/scripts/adb_upload.sh
+		COMMENT "uploading px4"
+		USES_TERMINAL
+	)
+
+else()
+
+	add_custom_target(upload
+		COMMAND ${PX4_BOARD_DIR}/scripts/adb_upload.sh
+				${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config ${PX4_BINARY_DIR}/etc # source
+				/home/linaro # destination
+		DEPENDS px4 ${PX4_BOARD_DIR}/scripts/adb_upload.sh
+		COMMENT "uploading px4"
+		USES_TERMINAL
+	)
+
+	add_custom_target(sanity
+		COMMAND ./px4_snapflight_sanitytest.sh -i -t
+		DEPENDS px4
+		WORKING_DIRECTORY ${PX4_BOARD_DIR}/scripts
+		COMMENT "uploading px4"
+		USES_TERMINAL
+	)
+
+endif()
@@ -0,0 +1,128 @@
+
+# The Eagle board is the first generation Snapdragon Flight board by Qualcomm.
+
+include(px4_git)
+px4_add_git_submodule(TARGET git_cmake_hexagon PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
+list(APPEND CMAKE_MODULE_PATH
+	"${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon"
+	"${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon/toolchain"
+	)
+
+# Get $QC_SOC_TARGET from environment if existing.
+if (DEFINED ENV{QC_SOC_TARGET})
+	set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
+else()
+	set(QC_SOC_TARGET "APQ8074")
+endif()
+
+# Disable the creation of the parameters.xml file by scanning individual
+# source files, and scan all source files.  This will create a parameters.xml
+# file that contains all possible parameters, even if the associated module
+# is not used.  This is necessary for parameter synchronization between the
+# ARM and DSP processors.
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
+
+set(CONFIG_SHMEM "1")
+add_definitions(-DORB_COMMUNICATOR)
+
+# atlflight toolchain doesn't properly set the compiler, so these aren't set automatically
+add_compile_options($<$<COMPILE_LANGUAGE:C>:-std=gnu99>)
+add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-std=gnu++11>)
+
+add_definitions(
+	-D__PX4_POSIX_EAGLE
+	-D__PX4_LINUX
+)
+
+px4_add_board(
+	PLATFORM posix
+	VENDOR atlflight
+	MODEL eagle
+	LABEL default
+	TOOLCHAIN arm-linux-gnueabihf
+	ROMFSROOT px4fmu_common
+	DRIVERS
+		#barometer # all available barometer drivers
+		batt_smbus
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		gps
+		#imu # all available imu drivers
+		#lights/rgbled
+		#magnetometer # all available magnetometer drivers
+		pwm_out_sim
+		qshell/posix
+		rc_input
+		smart_battery/batmon
+		#telemetry # all available telemetry drivers
+	MODULES
+		airspeed_selector
+		attitude_estimator_q
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		flight_mode_manager
+		fw_att_control
+		fw_pos_control_l1
+		gyro_calibration
+		gyro_fft
+		land_detector
+		landing_target_estimator
+		#load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_hover_thrust_estimator
+		mc_pos_control
+		mc_rate_control
+		#micrortps_bridge
+		muorb/krait
+		muorb/test
+		navigator
+		rc_update
+		rover_pos_control
+		sensors
+		#sih
+		temperature_compensation
+		simulator
+		vmount
+		vtol_att_control
+	SYSTEMCMDS
+		#bl_update
+		#dumpfile
+		esc_calib
+		#hardfault_log
+		led_control
+		mixer
+		motor_ramp
+		motor_test
+		#mtd
+		#nshterm
+		param
+		perf
+		pwm
+		sd_bench
+		shutdown
+		system_time
+		#top
+		topic_listener
+		tune_control
+		uorb
+		ver
+		work_queue
+	EXAMPLES
+		#fake_gps
+		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		#hello
+		#hwtest # Hardware test
+		#matlab_csv_serial
+		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		#rover_steering_control # Rover example app
+		#uuv_example_app
+		#work_item
+	)
@@ -0,0 +1,88 @@
+
+# The Eagle board is the first generation Snapdragon Flight board by Qualcomm.
+#
+# This cmake config builds for QURT which is the operating system running on
+# the DSP side.
+
+# Get $QC_SOC_TARGET from environment if existing.
+if (DEFINED ENV{QC_SOC_TARGET})
+	set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
+else()
+	set(QC_SOC_TARGET "APQ8074")
+endif()
+
+include(px4_git)
+px4_add_git_submodule(TARGET git_cmake_hexagon PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
+list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
+
+if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
+	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
+else()
+	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
+endif()
+
+include(toolchain/Toolchain-qurt)
+include(qurt_flags)
+include_directories(${HEXAGON_SDK_INCLUDES})
+
+set(CONFIG_SHMEM "1")
+add_definitions(-DORB_COMMUNICATOR)
+
+# Disable the creation of the parameters.xml file by scanning individual
+# source files, and scan all source files.  This will create a parameters.xml
+# file that contains all possible parameters, even if the associated module
+# is not used.  This is necessary for parameter synchronization between the
+# ARM and DSP processors.
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
+
+# This definition allows to differentiate the specific board.
+add_definitions(-D__PX4_QURT_EAGLE)
+
+px4_add_board(
+	PLATFORM qurt
+	VENDOR atlflight
+	MODEL eagle
+	LABEL qurt
+	DRIVERS
+		barometer/bmp280
+		gps
+		imu/invensense/mpu9250
+		#magnetometer/hmc5883
+		qshell/qurt
+		snapdragon_spektrum_rc
+	MODULES
+		airspeed_selector
+		attitude_estimator_q
+		commander
+		ekf2
+		flight_mode_manager
+		fw_att_control
+		fw_pos_control_l1
+		gyro_calibration
+		gyro_fft
+		land_detector
+		landing_target_estimator
+		local_position_estimator
+		mc_att_control
+		mc_hover_thrust_estimator
+		mc_pos_control
+		mc_rate_control
+		muorb/adsp
+		rc_update
+		rover_pos_control
+		sensors
+		temperature_compensation
+		vmount
+		vtol_att_control
+	SYSTEMCMDS
+		led_control
+		mixer
+		#motor_ramp
+		motor_test
+		param
+		perf
+		#pwm
+		#topic_listener
+		ver
+		work_queue
+	)
@@ -0,0 +1,2 @@
+minidm.log
+px4.log
@@ -0,0 +1,32 @@
+#!/bin/bash
+
+if [[ "$#" < 2 ]]; then
+	echo "usage: adb_upload.sh SRC1 [SRC2 ...] DEST"
+	exit
+fi
+
+# Get last argument
+for last; do true; done
+
+echo "Wait for device..."
+adb wait-for-device
+
+echo "Creating folder structure..."
+adb shell mkdir -p $last
+
+echo "Uploading..."
+# Go through source files and push them one by one.
+i=0
+for arg
+do
+	if [[ $((i+1)) == "$#" ]]; then
+		break
+	fi
+	# echo "Pushing $arg to $last"
+	adb push $arg $last
+	((i+=1))
+done
+
+# Make sure they are synced to the file system
+echo "Syncing FS..."
+adb shell sync
@@ -0,0 +1,288 @@
+#!/bin/bash
+
+#################################################################################################
+#
+# This script loads PX4 binaries to the Snapdragon Flight target and does a quick on-target sanity test.
+#
+# Pre-requisites:
+#  - Snapdragon Flight board connected to the host computer via USB cable
+#  - Snapdragon Flight board must have the latest platform BSP and flight controller addon installed"
+#  - mini-dm installed on host computer (see https://github.com/ATLFlight/ATLFlightDocs/blob/master/UserGuide.md#adsp)
+#  - PX4 software was built and binaries are in their usual locations in the Firmware tree.
+#
+# This script supports two modes:
+#  - Default mode (supported by PX4 community)
+#  - Legacy mode (uses proprietary drivers for ESC and RC Receiver, supported by Qualcomm)
+#
+# For help and cmd line options, run the script with the -h option
+#
+#################################################################################################
+
+# Halt on error
+set -e
+
+# Verbose mode
+## set -x
+
+# Mode of operation
+readonly MODE_DEFAULT=0
+readonly MODE_LEGACY=1
+readonly MODE_8x96=2
+readonly MODE_MAX=$MODE_8x96
+
+readonly RESULT_PASS=0
+readonly RESULT_FAIL=3
+readonly EXIT_ERROR=3
+
+
+# List of expected strings from the apps proc
+declare -a appsproc_strings_present=(
+   "on udp port 14556 remote port 14550"
+   )
+
+# List of unexpected strings from the apps proc
+declare -a appsproc_strings_absent=(
+   "ERROR"
+   "Getting Bulk data from fastRPC link"
+   "Segmentation fault"
+   )
+
+# List of expected strings from the DSP
+declare -a dsp_strings_present=(
+    "EKF aligned"
+   )
+
+# List of unexpected strings from the DSP
+declare -a dsp_strings_absent=(
+   "Segmentation fault"
+   )
+
+
+install=0
+test=0
+mode=0
+result=$RESULT_PASS
+
+# Default mini-dm path (needs to be installed in this location or overriden through cmd line
+minidmPath=~/Qualcomm/Hexagon_SDK/3.0/tools/debug/mini-dm/Linux_Debug
+
+# Default workspace path (parent directory of the script location)
+workspace=`pwd`/../../../..
+
+
+verifypx4test() {
+
+   #TODO: This needs to be fixed. For now, skip string checks for 8x96 platform.
+   if [ $mode == 2 ]; then
+      echo -e "[WARNING] Skipping string checks for 8x96 platform"
+      return
+   fi
+
+   echo -e "Verifying test results..."
+
+   # verify the presence of expected stings in the apps proc console log
+   for lineString in "${appsproc_strings_present[@]}"
+   do
+   	if ! grep -Fq "$lineString" px4.log
+   	then
+         # code if not found
+         echo -e "[ERROR] Missing expected string in apps proc log: $lineString"
+         result=$RESULT_FAIL
+      fi
+   done
+
+   # verify the absence of unexpected stings in the apps proc console log
+   for lineString in "${appsproc_strings_absent[@]}"
+   do
+   	if grep -Fq "$lineString" px4.log
+   	then
+         # code if not found
+         echo -e "[ERROR] Found unexpected string in apps proc log: $lineString"
+         result=$RESULT_FAIL
+      fi
+   done
+
+   echo -e "Displaying the content of the minidm.log"
+   cat minidm.log
+   echo -e "Analyzing the log for success and failure indications."
+
+   # verify the presence of expected stings in the DSP console log
+   for lineString in "${dsp_strings_present[@]}"
+   do
+   	if ! grep -Fq "$lineString" minidm.log
+   	then
+         # code if not found
+         echo -e "[ERROR] Missing expected string in DSP log: $lineString"
+         result=$RESULT_FAIL
+      fi
+   done
+
+   # verify the absence of unexpected stings in the DSP console log
+   for lineString in "${dsp_strings_absent[@]}"
+   do
+   	if grep -Fq "$lineString" minidm.log
+   	then
+         # code if not found
+         echo -e "[ERROR] Found unexpected string in DSP log: $lineString"
+         result=$RESULT_FAIL
+      fi
+   done
+
+   echo -e "Verification complete."
+
+   if [ $result -eq $RESULT_FAIL ]; then
+      echo -e "PX4 test result: FAIL"
+   else
+      echo -e "PX4 test result: PASS"
+   fi
+}
+
+installpx4() {
+
+   if [ $install -eq 0 ]; then
+      echo -e "SKIPPING install"
+      return 0;
+   fi
+
+   # Reboot the target before beginning the installation
+   echo -e "Rebooting the target..."
+   adb reboot
+   adb wait-for-usb-device
+   # Wait a bit longer after bootup, before copying binaries to the target.
+   sleep 30
+   adb devices
+
+   echo -e "Now installing PX4 binaries..."
+   # Copy binaries to the target
+   if [ $mode == 0 ]; then
+      # copy default binaries
+      echo -e "Copying the PX4 binaries from the eagle_default build tree..."
+      adb push $workspace/build/atlflight_eagle_qurt/platforms/qurt/libpx4.so /usr/share/data/adsp
+      adb push $workspace/build/atlflight_eagle_qurt/platforms/qurt/libpx4muorb_skel.so /usr/share/data/adsp
+      adb push $workspace/build/atlflight_eagle_default/bin/px4 /home/linaro
+      adb push $workspace/posix-configs/eagle/flight/px4.config /usr/share/data/adsp
+      adb push $workspace/posix-configs/eagle/flight/mainapp.config /home/linaro
+   fi
+
+   echo -e "Installation complete."
+}
+
+
+testpx4() {
+
+   if [ $test -eq 0 ]; then
+      echo -e "SKIPPING test"
+      return 0;
+   fi
+
+   echo -e "Starting PX4 test..."
+
+   # Remove previous instances of the file
+   rm px4.log | true
+   rm minidm.log | true
+
+   # Start mini-dm
+   echo -e "Starting mini-dm..."
+   ${minidmPath}/mini-dm > minidm.log &
+   sleep 5
+   # Verify that mini-dm is running
+   checkProc=$(ps -aef | grep mini-dm | grep -v grep)
+
+   if [ -z "${checkProc}" ]; then
+      echo "[ERROR] Unable to start mini-dm from path: ${minidmPath}"
+      exit $EXIT_ERROR
+   fi
+
+
+   # Start PX4
+   echo -e "Starting PX4..."
+   if [ $mode == 2 ]; then
+      # 8x96 platform
+      adb shell "/home/root/px4 /home/root/mainapp.config" > px4.log 2>&1 &
+   else
+      # 8x74 platform
+      adb shell "/home/linaro/px4 /home/linaro/mainapp.config" > px4.log 2>&1 &
+   fi
+   sleep 20
+   # Verify that PX4 is still running
+   checkProc=$(adb shell "ps -aef | grep px4 | grep -v grep")
+   if [ -z "${checkProc}" ]; then
+      echo "[ERROR] PX4 is not running on target!"
+      exit $EXIT_ERROR
+   fi
+
+   # Stop the PX4 process on target
+   adb shell "ps -eaf | grep px4 | grep -v grep | awk '{print $2}' | tr -s ' ' | cut -d' ' -f2 | xargs kill"
+   sleep 5
+
+   # Stop the mini-dm
+   killall mini-dm
+
+   echo -e "PX4 test complete."
+
+   # Verify the results
+   verifypx4test
+
+   echo -e "For more information, see px4.log and minidm.log."
+}
+
+
+usage() {
+  echo -e "\nThis script can copy PX4 binaries to the Snapdragon Flight target and do a quick on-target sanity test.\n"
+  echo -e "Pre-requisites:"
+  echo -e "- Snapdragon Flight board must be connected to host computer via USB"
+  echo -e "- Snapdragon Flight board must have the latest platform BSP and flight controller addon installed"
+  echo -e "- mini-dm must be installed on host computer (see https://github.com/ATLFlight/ATLFlightDocs/blob/master/UserGuide.md#adsp)"
+  echo -e "- PX4 software was built and binaries are in their usual locations in the tree\n"
+  echo -e "USAGE:\n ${0} [-m mode] [-i] [-t] [-l <minidm-path>]"
+  echo -e "    -m --> Build mode (0 = default mode, 1 = legacy mode)"
+  echo -e "    -i --> Install the PX4 binaries"
+  echo -e "    -t --> Test PX4 on target"
+  echo -e "    -l --> location of the mini-dm executable (Default: ${minidmPath})"
+  echo -e "    -h --> Display this help information"
+}
+
+# Parse the command line options
+while getopts "m:l:ith" opt;
+   do
+      case $opt in
+         m)
+            if [ $OPTARG -gt $MODE_MAX ]; then
+               echo "Invalid mode: $OPTARG (max allowed is $MODE_MAX)"
+               exit $EXIT_ERROR
+            fi
+            mode=$OPTARG
+            echo "Will run the script in mode $mode."
+            ;;
+         i)
+            install=1
+            ;;
+         t)
+            test=1
+            ;;
+         l)
+            minidmPath=$OPTARG
+            ;;
+         h)
+            usage
+            exit 0
+            ;;
+         :)
+            echo "Option -$OPTARG requires an argument" >&2
+            exit 1;;
+         ?)
+            echo "Unknown arg $opt"
+            usage
+            exit 1
+            ;;
+      esac
+done
+
+# Install the PX4 binaries
+installpx4
+
+# Run the sanity test
+testpx4
+
+exit $result
+
@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_library(drivers_board
+	board_config.h
+	i2c.cpp
+	init.c
+	spi.cpp
+)
@@ -0,0 +1,53 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2017 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 board_config.h
+ *
+ * EAGLE internal definitions
+ */
+
+#pragma once
+
+#define BOARD_OVERRIDE_UUID "EAGLEID000000000" // must be of length 16
+#define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_EAGLE
+
+/*
+ * I2C busses
+ */
+#define PX4_NUMBER_I2C_BUSES    3
+
+// Battery ADC channels
+
+#include <system_config.h>
+#include <px4_platform_common/board_common.h>
@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ *   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
+ * 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.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusExternal(2),
+	initI2CBusExternal(3),
+	initI2CBusExternal(9),
+};
@@ -0,0 +1,41 @@
+/****************************************************************************
+ *
+ *   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
+ * 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.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(1, {
+		initSPIDevice(DRV_IMU_DEVTYPE_MPU9250),
+	}),
+};
@@ -0,0 +1,126 @@
+
+# Excelsior is the code name of a board currently in development.
+
+include(px4_git)
+px4_add_git_submodule(TARGET git_cmake_hexagon PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
+list(APPEND CMAKE_MODULE_PATH
+	"${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon"
+	"${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon/toolchain"
+	)
+
+# Get $QC_SOC_TARGET from environment if existing.
+if (DEFINED ENV{QC_SOC_TARGET})
+	set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
+else()
+	set(QC_SOC_TARGET "APQ8074")
+endif()
+
+# Disable the creation of the parameters.xml file by scanning individual
+# source files, and scan all source files.  This will create a parameters.xml
+# file that contains all possible parameters, even if the associated module
+# is not used.  This is necessary for parameter synchronization between the
+# ARM and DSP processors.
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
+
+set(CONFIG_SHMEM "1")
+add_definitions(-DORB_COMMUNICATOR)
+
+# atlflight toolchain doesn't properly set the compiler, so these aren't set automatically
+add_compile_options($<$<COMPILE_LANGUAGE:C>:-std=gnu99>)
+add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-std=gnu++11>)
+
+add_definitions(
+	-D__PX4_POSIX_EXCELSIOR
+	-D__PX4_LINUX
+)
+
+px4_add_board(
+	PLATFORM posix
+	VENDOR atlflight
+	MODEL excelsior
+	LABEL default
+	TOOLCHAIN arm-oemllib32-linux-gnueabi
+	DRIVERS
+		#barometer # all available barometer drivers
+		batt_smbus
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		gps
+		#imu # all available imu drivers
+		#lights/rgbled
+		#magnetometer # all available magnetometer drivers
+		pwm_out_sim
+		qshell/posix
+		rc_input
+		smart_battery/batmon
+		#telemetry # all available telemetry drivers
+	MODULES
+		airspeed_selector
+		attitude_estimator_q
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		flight_mode_manager
+		fw_att_control
+		fw_pos_control_l1
+		gyro_calibration
+		gyro_fft
+		land_detector
+		landing_target_estimator
+		#load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_hover_thrust_estimator
+		mc_pos_control
+		mc_rate_control
+		#micrortps_bridge
+		muorb/krait
+		muorb/test
+		navigator
+		rc_update
+		rover_pos_control
+		sensors
+		#sih
+		simulator
+		vmount
+		vtol_att_control
+	SYSTEMCMDS
+		#bl_update
+		#dumpfile
+		esc_calib
+		#hardfault_log
+		led_control
+		mixer
+		motor_ramp
+		motor_test
+		#mtd
+		#nshterm
+		param
+		perf
+		pwm
+		sd_bench
+		shutdown
+		system_time
+		#top
+		topic_listener
+		tune_control
+		uorb
+		ver
+		work_queue
+	EXAMPLES
+		#fake_gps
+		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		#hello
+		#hwtest # Hardware test
+		#matlab_csv_serial
+		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		#rover_steering_control # Rover example app
+		#uuv_example_app
+		#work_item
+	)
@@ -0,0 +1,88 @@
+
+# Excelsior is the code name of a board currently in development.
+#
+# This cmake config builds for QURT which is the operating system running on
+# the DSP side.
+
+# Get $QC_SOC_TARGET from environment if existing.
+if (DEFINED ENV{QC_SOC_TARGET})
+	set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
+else()
+	set(QC_SOC_TARGET "APQ8074")
+endif()
+
+include(px4_git)
+px4_add_git_submodule(TARGET git_cmake_hexagon PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
+list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
+
+if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
+	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
+else()
+	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
+endif()
+
+include(toolchain/Toolchain-qurt)
+include(qurt_flags)
+include_directories(${HEXAGON_SDK_INCLUDES})
+
+set(CONFIG_SHMEM "1")
+add_definitions(-DORB_COMMUNICATOR)
+
+# Disable the creation of the parameters.xml file by scanning individual
+# source files, and scan all source files.  This will create a parameters.xml
+# file that contains all possible parameters, even if the associated module
+# is not used.  This is necessary for parameter synchronization between the
+# ARM and DSP processors.
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
+
+# This definition allows to differentiate the specific board.
+add_definitions(-D__PX4_QURT_EXCELSIOR)
+
+px4_add_board(
+	PLATFORM qurt
+	VENDOR atlflight
+	MODEL excelsior
+	LABEL qurt
+	DRIVERS
+		barometer/bmp280
+		gps
+		imu/invensense/mpu9250
+		magnetometer/hmc5883
+		qshell/qurt
+		snapdragon_spektrum_rc
+	MODULES
+		airspeed_selector
+		attitude_estimator_q
+		commander
+		ekf2
+		flight_mode_manager
+		fw_att_control
+		fw_pos_control_l1
+		gyro_calibration
+		gyro_fft
+		land_detector
+		landing_target_estimator
+		local_position_estimator
+		mc_att_control
+		mc_hover_thrust_estimator
+		mc_pos_control
+		mc_rate_control
+		muorb/adsp
+		rc_update
+		rover_pos_control
+		sensors
+		temperature_compensation
+		vmount
+		vtol_att_control
+	SYSTEMCMDS
+		led_control
+		mixer
+		#motor_ramp
+		motor_test
+		param
+		perf
+		#pwm
+		#topic_listener
+		ver
+		work_queue
+	)
@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_library(drivers_board
+	board_config.h
+	init.c
+	spi.cpp
+	i2c.cpp
+)
@@ -0,0 +1,51 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2017 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 board_config.h
+ *
+ * EXCELSIOR internal definitions
+ */
+
+#pragma once
+
+#define BOARD_OVERRIDE_UUID "EAGLEID000000000" // must be of length 16
+#define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_EAGLE
+
+/*
+ * I2C busses
+ */
+#define PX4_NUMBER_I2C_BUSES    3
+
+#include <system_config.h>
+#include <px4_platform_common/board_common.h>
@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ *   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
+ * 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.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusExternal(2),
+	initI2CBusExternal(3),
+	initI2CBusExternal(9),
+};
@@ -0,0 +1,41 @@
+/****************************************************************************
+ *
+ *   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
+ * 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.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(1, {
+		initSPIDevice(DRV_IMU_DEVTYPE_MPU9250),
+	}),
+};
@@ -244,6 +244,22 @@ RingBuffer::force(double val)
 	return force(&val, sizeof(val));
 }

+// FIXME - clang crashes on this get() call
+#ifdef __PX4_QURT
+#define __PX4_SBCAP my_sync_bool_compare_and_swap
+static inline bool my_sync_bool_compare_and_swap(volatile unsigned *a, unsigned b, unsigned c)
+{
+	if (*a == b) {
+		*a = c;
+		return true;
+	}
+
+	return false;
+}
+
+#else
+#define __PX4_SBCAP __sync_bool_compare_and_swap
+#endif
 bool
 RingBuffer::get(void *val, size_t val_size)
 {
@@ -268,7 +284,7 @@ RingBuffer::get(void *val, size_t val_size)
 			}

 			/* if the tail pointer didn't change, we got our item */
-		} while (!__sync_bool_compare_and_swap(&_tail, candidate, next));
+		} while (!__PX4_SBCAP(&_tail, candidate, next));

 		return true;

@@ -105,7 +105,6 @@

 /* HEATER */
 #define GPIO_HEATER_OUTPUT   /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
-#define HEATER_OUTPUT_EN(on_true)      px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* PWM */
 #define DIRECT_PWM_OUTPUT_CHANNELS   14
@@ -102,7 +102,6 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
-		microbench
 		mixer
 		motor_ramp
 		motor_test
@@ -105,7 +105,6 @@

 /* HEATER */
 #define GPIO_HEATER_OUTPUT   /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
-#define HEATER_OUTPUT_EN(on_true)      px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* PWM */
 #define DIRECT_PWM_OUTPUT_CHANNELS   14
@@ -118,8 +117,8 @@
 #define GPIO_nPOWER_IN_CAN              /* PG2  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2)
 #define GPIO_nPOWER_IN_C                /* PG0  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN0)

-#define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_ADC /* Brick 1 is Chosen */
-#define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_CAN /* Brick 2 is Chosen  */
+#define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_CAN /* Brick 1 is Chosen */
+#define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_ADC /* Brick 2 is Chosen  */
 #define GPIO_nVDD_USB_VALID             GPIO_nPOWER_IN_C   /* USB     is Chosen */

 #define GPIO_VDD_5V_HIPOWER_EN          /* PD11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)
@@ -103,7 +103,6 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
-		microbench
 		mixer
 		motor_ramp
 		motor_test
@@ -100,7 +100,6 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
-		microbench
 		mixer
 		motor_ramp
 		motor_test
@@ -98,7 +98,6 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
-		microbench
 		mixer
 		motor_ramp
 		motor_test
@@ -174,7 +174,6 @@
 * PWM in future
 */
 #define GPIO_HEATER_OUTPUT   /* PA7  T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
-#define HEATER_OUTPUT_EN(on_true)              px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* PWM Capture
 *
@@ -98,7 +98,6 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
-		microbench
 		mixer
 		motor_ramp
 		motor_test
@@ -209,7 +209,6 @@
 * PWM in future
 */
 #define GPIO_HEATER_OUTPUT   /* PA7  T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
-#define HEATER_OUTPUT_EN(on_true)              px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* PWM Capture
 *
@@ -102,7 +102,6 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
-		microbench
 		mixer
 		motor_ramp
 		motor_test
@@ -95,7 +95,6 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
-		microbench
 		mixer
 		motor_ramp
 		motor_test
@@ -100,7 +100,6 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
-		microbench
 		mixer
 		motor_ramp
 		motor_test
@@ -80,7 +80,6 @@ CONFIG_KINETIS_I2C0=y
 CONFIG_KINETIS_I2C1=y
 CONFIG_KINETIS_LPTMR0=y
 CONFIG_KINETIS_LPUART0=y
-CONFIG_KINETIS_LPUART0_RXDMA=y
 CONFIG_KINETIS_MERGE_TTY=y
 CONFIG_KINETIS_PDB=y
 CONFIG_KINETIS_PIT=y
@@ -81,7 +81,6 @@ CONFIG_KINETIS_I2C0=y
 CONFIG_KINETIS_I2C1=y
 CONFIG_KINETIS_LPTMR0=y
 CONFIG_KINETIS_LPUART0=y
-CONFIG_KINETIS_LPUART0_RXDMA=y
 CONFIG_KINETIS_MERGE_TTY=y
 CONFIG_KINETIS_PDB=y
 CONFIG_KINETIS_PIT=y
@@ -64,7 +64,8 @@

 #include <kinetis.h>
 #include <kinetis_uart.h>
-#include <kinetis_lpuart.h>
+#include <hardware/kinetis_uart.h>
+#include <hardware/kinetis_sim.h>
 #include "board_config.h"

 #include "arm_arch.h"
@@ -188,26 +189,6 @@ kinetis_boardinitialize(void)

 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 }
-/****************************************************************************
- * Name: kinetis_serial_dma_poll_all
- *
- * Description:
- *   Checks receive DMA buffers for received bytes that have not accumulated
- *   to the point where the DMA half/full interrupt has triggered.
- *
- *   This function should be called from a timer or other periodic context.
- *
- ****************************************************************************/
-
-void kinetis_lpserial_dma_poll_all(void)
-{
-#if defined(LPSERIAL_HAVE_DMA)
-	kinetis_lpserial_dma_poll();
-#endif
-#if defined(SERIAL_HAVE_DMA)
-	kinetis_serial_dma_poll();
-#endif
-}

 /****************************************************************************
 * Name: board_app_initialize
@@ -254,25 +235,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "DMA alloc FAILED\n");
 	}

-	/* set up the serial DMA polling */
-#if defined(SERIAL_HAVE_DMA) || defined(LPSERIAL_HAVE_DMA)
-	static struct hrt_call serial_dma_call;
-	struct timespec ts;
-
-	/*
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	ts.tv_sec = 0;
-	ts.tv_nsec = 1000000;
-
-	hrt_call_every(&serial_dma_call,
-		       ts_to_abstime(&ts),
-		       ts_to_abstime(&ts),
-		       (hrt_callout)kinetis_lpserial_dma_poll_all,
-		       NULL);
-#endif
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
@@ -81,7 +81,6 @@ CONFIG_KINETIS_I2C0=y
 CONFIG_KINETIS_I2C1=y
 CONFIG_KINETIS_LPTMR0=y
 CONFIG_KINETIS_LPUART0=y
-CONFIG_KINETIS_LPUART0_RXDMA=y
 CONFIG_KINETIS_MERGE_TTY=y
 CONFIG_KINETIS_PDB=y
 CONFIG_KINETIS_PIT=y
@@ -82,7 +82,6 @@ CONFIG_KINETIS_I2C0=y
 CONFIG_KINETIS_I2C1=y
 CONFIG_KINETIS_LPTMR0=y
 CONFIG_KINETIS_LPUART0=y
-CONFIG_KINETIS_LPUART0_RXDMA=y
 CONFIG_KINETIS_MERGE_TTY=y
 CONFIG_KINETIS_PDB=y
 CONFIG_KINETIS_PIT=y
@@ -64,7 +64,8 @@

 #include <kinetis.h>
 #include <kinetis_uart.h>
-#include <kinetis_lpuart.h>
+#include <hardware/kinetis_uart.h>
+#include <hardware/kinetis_sim.h>
 #include "board_config.h"

 #include "arm_arch.h"
@@ -188,26 +189,6 @@ kinetis_boardinitialize(void)

 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 }
-/****************************************************************************
- * Name: kinetis_serial_dma_poll_all
- *
- * Description:
- *   Checks receive DMA buffers for received bytes that have not accumulated
- *   to the point where the DMA half/full interrupt has triggered.
- *
- *   This function should be called from a timer or other periodic context.
- *
- ****************************************************************************/
-
-void kinetis_lpserial_dma_poll_all(void)
-{
-#if defined(LPSERIAL_HAVE_DMA)
-	kinetis_lpserial_dma_poll();
-#endif
-#if defined(SERIAL_HAVE_DMA)
-	kinetis_serial_dma_poll();
-#endif
-}

 /****************************************************************************
 * Name: board_app_initialize
@@ -254,25 +235,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "DMA alloc FAILED\n");
 	}

-	/* set up the serial DMA polling */
-#if defined(SERIAL_HAVE_DMA) || defined(LPSERIAL_HAVE_DMA)
-	static struct hrt_call serial_dma_call;
-	struct timespec ts;
-
-	/*
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	ts.tv_sec = 0;
-	ts.tv_nsec = 1000000;
-
-	hrt_call_every(&serial_dma_call,
-		       ts_to_abstime(&ts),
-		       ts_to_abstime(&ts),
-		       (hrt_callout)kinetis_lpserial_dma_poll_all,
-		       NULL);
-#endif
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
@@ -94,7 +94,6 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
-		microbench
 		mixer
 		motor_ramp
 		motor_test
@@ -215,7 +215,6 @@
 */
 #define HEATER_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_50OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST)
 #define GPIO_HEATER_OUTPUT   /* GPIO_B1_09 QTIMER2_TIMER3 GPIO2_IO25 */ (GPIO_QTIMER2_TIMER3_1 | HEATER_IOMUX)
-#define HEATER_OUTPUT_EN(on_true)	px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* PWM Capture
 *
@@ -97,7 +97,6 @@ px4_add_board(
 		#i2cdetect
 		#led_control
 		mft
-		microbench
 		mixer
 		#motor_ramp
 		#motor_test
@@ -101,7 +101,6 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
-		microbench
 		mixer
 		motor_ramp
 		motor_test
@@ -147,7 +147,6 @@
 /* Heater pins */
 #define GPIO_HEATER_INPUT            (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN6)
 #define GPIO_HEATER_OUTPUT           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6)
-#define HEATER_OUTPUT_EN(on_true)    px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* Power switch controls */

@@ -100,7 +100,6 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
-		microbench
 		mixer
 		motor_ramp
 		motor_test
@@ -100,7 +100,6 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
-		microbench
 		mixer
 		motor_ramp
 		motor_test
@@ -69,7 +69,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
-		#gyro_calibration
+		gyro_calibration
 		#gyro_fft
 		land_detector
 		#landing_target_estimator
@@ -42,13 +42,13 @@ px4_add_board(
 		#lights/rgbled_pwm
 		#magnetometer # all available magnetometer drivers
 		magnetometer/isentek/ist8310
-		#optical_flow # all available optical flow drivers
+		optical_flow # all available optical flow drivers
 		#osd
 		#pca9685
 		#pca9685_pwm_out
 		#power_monitor/ina226
 		#protocol_splitter
-		#pwm_input
+		pwm_input
 		pwm_out_sim
 		pwm_out
 		px4io
@@ -98,7 +98,7 @@ px4_add_board(
 		#vmount
 		#vtol_att_control
 	SYSTEMCMDS
-		bl_update
+		#bl_update
 		dmesg
 		#dumpfile
 		#esc_calib
@@ -107,7 +107,6 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
-		microbench
 		mixer
 		#motor_ramp
 		motor_test
@@ -209,8 +209,6 @@
 * PWM in future
 */
 #define GPIO_HEATER_OUTPUT   /* PA7  T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
-#define HEATER_OUTPUT_EN(on_true)              px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
-

 /* PWM Capture
 *
@@ -71,8 +71,8 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
-		#gyro_calibration
-		#gyro_fft
+		gyro_calibration
+		gyro_fft
 		land_detector
 		#landing_target_estimator
 		load_mon
@@ -101,7 +101,6 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
-		microbench
 		mixer
 		motor_ramp
 		motor_test
@@ -202,7 +202,6 @@
 * PWM in future
 */
 #define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* PWM Capture
 *
@@ -103,7 +103,6 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
-		microbench
 		mixer
 		motor_ramp
 		motor_test
@@ -189,7 +189,6 @@
 * PWM in future
 */
 #define GPIO_HEATER_OUTPUT   /* PA2  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)
-#define HEATER_OUTPUT_EN(on_true)	      px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* PWM Capture
 *
@@ -99,7 +99,6 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
-		microbench
 		mixer
 		motor_ramp
 		motor_test
@@ -227,7 +227,6 @@
 * PWM in future
 */
 #define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* PWM Capture
 *
@@ -73,7 +73,7 @@ px4_add_board(
 		land_detector
 		landing_target_estimator
 		load_mon
-		#local_position_estimator
+		local_position_estimator
 		logger
 		mavlink
 		mc_att_control
@@ -100,7 +100,6 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mft
-		microbench
 		mixer
 		motor_test
 		mtd
@@ -145,7 +145,6 @@
 /* Heater pins (reserved) */
 #define GPIO_HEATER_INPUT            (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN6)
 #define GPIO_HEATER_OUTPUT           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6)
-#define HEATER_OUTPUT_EN(on_true)    px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* Power switch controls */

@@ -179,7 +179,9 @@ function(px4_add_module)
 	endif()
 	set_target_properties(${MODULE} PROPERTIES STACK_MAX ${STACK_MAX})

-	if(${PX4_PLATFORM} STREQUAL "nuttx")
+	if(${PX4_PLATFORM} STREQUAL "qurt")
+		set_property(TARGET ${MODULE} PROPERTY POSITION_INDEPENDENT_CODE TRUE)
+	elseif(${PX4_PLATFORM} STREQUAL "nuttx")
 		target_compile_options(${MODULE} PRIVATE -Wframe-larger-than=${STACK_MAX})
 	endif()

@@ -44,7 +44,6 @@ set(msg_files
 	airspeed.msg
 	airspeed_validated.msg
 	airspeed_wind.msg
-	baro_bias_estimate.msg
 	battery_status.msg
 	camera_capture.msg
 	camera_trigger.msg
@@ -1,10 +0,0 @@
-uint64 timestamp                # time since system start (microseconds)
-uint64 timestamp_sample         # the timestamp of the raw data (microseconds)
-
-uint32 baro_device_id		# unique device ID for the sensor that does not change between power cycles
-float32 bias			# estimated barometric altitude bias (m)
-float32 bias_var		# estimated barometric altitude bias variance (m^2)
-
-float32 innov			# innovation of the last measurement fusion (m)
-float32 innov_var		# innovation variance of the last measurement fusion (m^2)
-float32 innov_test_ratio	# normalized innovation squared test ratio
@@ -16,7 +16,8 @@ uint8 MAIN_STATE_AUTO_LAND          = 11
 uint8 MAIN_STATE_AUTO_FOLLOW_TARGET = 12
 uint8 MAIN_STATE_AUTO_PRECLAND      = 13
 uint8 MAIN_STATE_ORBIT              = 14
-uint8 MAIN_STATE_MAX                = 15
+uint8 MAIN_STATE_AIRSPEED           = 15
+uint8 MAIN_STATE_MAX                = 16

 uint8 main_state		    	# main state machine

@@ -331,16 +331,16 @@ int UART_node::init()
 	}

 	// Set up the UART for non-canonical binary communication: 8 bits, 1 stop bit, no parity.
-	uart_config.c_iflag &= ~(INPCK | ISTRIP | INLCR | IGNCR | ICRNL | IXON | IXANY | IXOFF);
+	uart_config.c_iflag &= !(INPCK | ISTRIP | INLCR | IGNCR | ICRNL | IXON | IXANY | IXOFF);
 	uart_config.c_iflag |= IGNBRK | IGNPAR;

-	uart_config.c_oflag &= ~(OPOST | ONLCR | OCRNL | ONOCR | ONLRET | OFILL | NLDLY | VTDLY);
+	uart_config.c_oflag &= !(OPOST | ONLCR | OCRNL | ONOCR | ONLRET | OFILL | NLDLY | VTDLY);
 	uart_config.c_oflag |= NL0 | VT0;

-	uart_config.c_cflag &= ~(CSIZE | CSTOPB | PARENB);
+	uart_config.c_cflag &= !(CSIZE | CSTOPB | PARENB);
 	uart_config.c_cflag |= CS8 | CREAD | CLOCAL;

-	uart_config.c_lflag &= ~(ISIG | ICANON | ECHO | TOSTOP | IEXTEN);
+	uart_config.c_lflag &= !(ISIG | ICANON | ECHO | TOSTOP | IEXTEN);

 	// Flow control
 	if (hw_flow_control) {
@@ -343,8 +343,6 @@ rtps:
    id: 159
  - msg: event
    id: 160
-  - msg: baro_bias_estimate
-    id: 161
  ########## multi topics: begin ##########
  - msg: actuator_controls_0
    id: 180
@@ -15,3 +15,4 @@ bool flag_control_position_enabled		# true if position is controlled
 bool flag_control_altitude_enabled		# true if altitude is controlled
 bool flag_control_climb_rate_enabled		# true if climb rate is controlled
 bool flag_control_termination_enabled		# true if flighttermination is enabled
+bool flag_control_airspeed_enabled		# true if airspeed is controlled (only fixed-wing)
@@ -32,7 +32,7 @@ uint8 NAVIGATION_STATE_AUTO_RTL = 5		# Auto return to launch mode
 uint8 NAVIGATION_STATE_AUTO_LANDENGFAIL = 8 	# Auto land on engine failure
 uint8 NAVIGATION_STATE_AUTO_LANDGPSFAIL = 9	# Auto land on gps failure (e.g. open loop loiter down)
 uint8 NAVIGATION_STATE_ACRO = 10		# Acro mode
-uint8 NAVIGATION_STATE_UNUSED = 11		# Free slot
+uint8 NAVIGATION_STATE_AIRSPEED = 11		# Airspeed control mode (only fixed-wing)
 uint8 NAVIGATION_STATE_DESCEND = 12		# Descend mode (no position control)
 uint8 NAVIGATION_STATE_TERMINATION = 13		# Termination mode
 uint8 NAVIGATION_STATE_OFFBOARD = 14
@@ -14,6 +14,7 @@ bool condition_local_position_valid		# set to true by the commander app if the q
 bool condition_local_velocity_valid		# set to true by the commander app if the quality of the local horizontal velocity data is good enough to use for navigation
 bool condition_global_position_valid		# set to true by the commander app if the quality of the global position estimate is good enough to use for navigation
 bool condition_home_position_valid		# indicates a valid home position (a valid home position is not always a valid launch)
+bool condition_airspeed_valid			# set to true if airspeed mesurements are valid
 bool condition_power_input_valid                # set if input power is valid
 bool condition_battery_healthy                # set if battery is available and not low
 bool condition_escs_error		      # set to true if one or more ESCs reporting esc_status are offline
@@ -33,7 +33,7 @@

 set(SRCS)

-if(NOT "${PX4_BOARD}" MATCHES "io-v2" AND NOT "${PX4_BOARD_LABEL}" MATCHES "bootloader")
+if (NOT "${PX4_PLATFORM}" MATCHES "qurt" AND NOT "${PX4_BOARD}" MATCHES "io-v2" AND NOT "${PX4_BOARD_LABEL}" MATCHES "bootloader")
 	list(APPEND SRCS
 		px4_log.cpp
 	)
@@ -84,6 +84,10 @@ public:
 	 */
 	inline T load() const
 	{
+#ifdef __PX4_QURT
+		return _value;
+#else
+
 #if defined(__PX4_NUTTX)

 		if (!__atomic_always_lock_free(sizeof(T), 0)) {
@@ -97,6 +101,8 @@ public:
 		{
 			return __atomic_load_n(&_value, __ATOMIC_SEQ_CST);
 		}
+
+#endif
 	}

 	/**
@@ -104,6 +110,10 @@ public:
 	 */
 	inline void store(T value)
 	{
+#ifdef __PX4_QURT
+		_value = value;
+#else
+
 #if defined(__PX4_NUTTX)

 		if (!__atomic_always_lock_free(sizeof(T), 0)) {
@@ -116,6 +126,8 @@ public:
 		{
 			__atomic_store(&_value, &value, __ATOMIC_SEQ_CST);
 		}
+
+#endif
 	}

 	/**
@@ -124,6 +136,11 @@ public:
 	 */
 	inline T fetch_add(T num)
 	{
+#ifdef __PX4_QURT
+		// TODO: fix
+		return _value++;
+#else
+
 #if defined(__PX4_NUTTX)

 		if (!__atomic_always_lock_free(sizeof(T), 0)) {
@@ -137,6 +154,8 @@ public:
 		{
 			return __atomic_fetch_add(&_value, num, __ATOMIC_SEQ_CST);
 		}
+
+#endif
 	}

 	/**
@@ -282,7 +301,13 @@ public:
 	}

 private:
+#ifdef __PX4_QURT
+	// It seems that __atomic_store  and __atomic_load are not supported on Qurt,
+	// so the best that we can do is to use volatile.
+	volatile T _value{};
+#else
 	T _value {};
+#endif
 };

 using atomic_int = atomic<int>;
@@ -89,14 +89,33 @@ constexpr bool PX4_ISFINITE(double x) { return __builtin_isfinite(x); }
 #define USEC_PER_TICK (1000000/PX4_TICKS_PER_SEC)
 #define USEC2TICK(x) (((x)+(USEC_PER_TICK/2))/USEC_PER_TICK)

+#ifdef __PX4_QURT
+
+// QURT specific
+#  include "dspal_math.h"
+#  define PX4_ROOTFSDIR "."
+#  define PX4_TICKS_PER_SEC 1000L
+
+#else // __PX4_QURT
+
+// All POSIX except QURT.
+
 __BEGIN_DECLS
 extern long PX4_TICKS_PER_SEC;
 __END_DECLS

-#define PX4_ROOTFSDIR "."
+#  if defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_EXCELSIOR)
+#    define PX4_ROOTFSDIR "/home/linaro"
+#  else
+#    define PX4_ROOTFSDIR "."
+#  endif
+
+#endif // __PX4_QURT

 #define PX4_STORAGEDIR PX4_ROOTFSDIR
+#endif // __PX4_POSIX

+#if defined(__PX4_POSIX)
 /****************************************************************************
 * Defines for POSIX and ROS
 ****************************************************************************/
@@ -0,0 +1,82 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2015 Ramakrishna Kintada. 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <parameters/param.h>
+
+#define MAX_SHMEM_PARAMS 2000 //MAP_SIZE - (LOCK_SIZE - sizeof(struct shmem_info))
+
+#define PARAM_BUFFER_SIZE (MAX_SHMEM_PARAMS / 8 + 1)
+
+struct shmem_info {
+	union param_value_u params_val[MAX_SHMEM_PARAMS];
+	unsigned char krait_changed_index[MAX_SHMEM_PARAMS / 8 + 1]; /*bit map of all params changed by krait*/
+	unsigned char adsp_changed_index[MAX_SHMEM_PARAMS / 8 + 1]; /*bit map of all params changed by adsp*/
+
+#ifdef __PX4_NUTTX
+};
+#else
+} __attribute__((packed));
+#endif
+
+#if (defined(__PX4_POSIX_EXCELSIOR) || defined(__PX4_QURT_EXCELSIOR))
+#define MAP_ADDRESS    0x861FC000
+#else
+#define MAP_ADDRESS	0xfbfc000
+#endif
+#define MAP_SIZE 	16384
+#define MAP_MASK 	(MAP_SIZE - 1)
+
+#define LOCK_OFFSET	0
+#define LOCK_SIZE	4
+#define LOCK_MEM        1
+#define UNLOCK_MEM      2
+
+#define TYPE_MASK 	0x1
+
+extern bool handle_in_range(param_t);
+
+#ifdef __PX4_QURT
+extern struct shmem_info *shmem_info_p;
+
+int get_shmem_lock(const char *caller_file_name, int caller_line_number);
+void release_shmem_lock(const char *caller_file_name, int caller_line_number);
+void init_shared_memory(void);
+
+void copy_params_to_shmem(const param_info_s *param_info_base);
+#endif
+
+void update_to_shmem(param_t param, union param_value_u value);
+int update_from_shmem(param_t param, union param_value_u *value);
+void update_index_from_shmem(void);
@@ -45,6 +45,10 @@
 #include <queue.h>
 #include <px4_platform_types.h>

+#ifdef __PX4_QURT
+#include <dspal_types.h>
+#endif
+
 __BEGIN_DECLS

 #define HPWORK 0
@@ -49,7 +49,7 @@ WorkQueue::WorkQueue(const wq_config_t &config) :
 	// set the threads name
 #ifdef __PX4_DARWIN
 	pthread_setname_np(_config.name);
-#else
+#elif !defined(__PX4_QURT)
 	pthread_setname_np(pthread_self(), _config.name);
 #endif

@@ -156,9 +156,9 @@ if((DEFINED ENV{SIGNING_TOOL}) AND (NOT NUTTX_DIR MATCHES "external"))
 		COMMAND $ENV{SIGNING_TOOL} $ENV{SIGNING_ARGS} ${PX4_BINARY_OUTPUT} ${PX4_BINARY_DIR}/${PX4_BOARD}.bin
 		DEPENDS ${PX4_BINARY_OUTPUT}
 		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-	)
+)
 else()
-	set(PX4_BINARY_OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_BOARD}.bin)
+set(PX4_BINARY_OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_BOARD}.bin)
 endif()

 add_custom_command(OUTPUT ${PX4_BINARY_OUTPUT}
@@ -83,34 +83,18 @@ if(Ozone_PATH)
 endif()

 if(bootloader_bin OR (EXISTS "${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin"))
-
-	if(bootloader_bin)
-		set(BOARD_BL_FIRMWARE_BIN ${bootloader_bin})
-	else()
-		set(BOARD_BL_FIRMWARE_BIN ${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)
-	endif()
-
-	# jlink_upload_bootloader
-	if(JLinkGDBServerCLExe_PATH)
-		add_custom_target(jlink_upload_bootloader
-			COMMAND ${PX4_BINARY_DIR}/jlink_gdb_start.sh
-			COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/upload_jlink_gdb.sh ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf
-			DEPENDS
-				${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.elf
-				${PX4_BINARY_DIR}/jlink_gdb_start.sh
-				${CMAKE_CURRENT_SOURCE_DIR}/Debug/upload_jlink_gdb.sh
-			WORKING_DIRECTORY ${PX4_BINARY_DIR}
-			USES_TERMINAL
-		)
-	endif()
-
-	# jlink_flash_bootloader_bin
+	# jlink_flash_bootloader
 	find_program(JLinkExe_PATH JLinkExe)
 	if(JLinkExe_PATH)
-		file(RELATIVE_PATH BOARD_BL_FIRMWARE_BIN ${PX4_BINARY_DIR} ${BOARD_BL_FIRMWARE_BIN})
+
+		if(bootloader_bin)
+			set(BOARD_BL_FIRMWARE_BIN ${bootloader_bin})
+		else()
+			set(BOARD_BL_FIRMWARE_BIN ${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)
+		endif()

 		configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/flash_bootloader.jlink.in ${PX4_BINARY_DIR}/flash_bootloader.jlink @ONLY)
-		add_custom_target(jlink_flash_bootloader_bin
+		add_custom_target(jlink_flash_bootloader
 			COMMAND ${JLinkExe_PATH} -CommandFile ${PX4_BINARY_DIR}/flash_bootloader.jlink
 			DEPENDS
 				px4
@@ -25,46 +25,73 @@ px4_posix_generate_alias(
 	PREFIX ${PX4_SHELL_COMMAND_PREFIX}
 )

-add_executable(px4
-	src/px4/common/main.cpp
-	apps.cpp
+if (("${PX4_BOARD}" MATCHES "atlflight_eagle") OR ("${PX4_BOARD}" MATCHES "atlflight_excelsior"))
+	include(fastrpc)
+	include(linux_app)
+
+	FASTRPC_STUB_GEN(../qurt/px4muorb.idl)
+
+	LINUX_APP(
+		APP_NAME px4
+		IDL_NAME px4muorb
+		APPS_DEST "/home/linaro"
+		SOURCES
+			px4muorb_stub.c
+			src/px4/common/main.cpp
+			apps.cpp
+		LINK_LIBS
+			-Wl,--start-group
+				px4_layer
+				parameters
+				${module_libraries}
+				${FASTRPC_ARM_LIBS}
+				pthread m rt
+			-Wl,--end-group
+		)
+
+else()
+	add_executable(px4
+		src/px4/common/main.cpp
+		apps.cpp
+		)
+
+	target_link_libraries(px4
+		PRIVATE
+			${module_libraries}
+			pthread m
+
+			# horrible circular dependencies that need to be teased apart
+			px4_layer px4_platform
+			work_queue
+			parameters
 	)

-target_link_libraries(px4
-	PRIVATE
-		${module_libraries}
-		pthread m
+	if(NOT APPLE)
+		target_link_libraries(px4 PRIVATE rt)
+	endif()

-		# horrible circular dependencies that need to be teased apart
-		px4_layer px4_platform
-		work_queue
-		parameters
-)
+	target_link_libraries(px4 PRIVATE uORB)
+
+	#=============================================================================
+	# install
+	#
+
+	# TODO: extend to snapdragon
+
+	# px4 dirs
+	install(
+		DIRECTORY
+			${PROJECT_SOURCE_DIR}/posix-configs
+			${PROJECT_SOURCE_DIR}/test
+			${CMAKE_BINARY_DIR}/etc
+			${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
+		DESTINATION
+			${PROJECT_NAME}
+		USE_SOURCE_PERMISSIONS
+		)

-if(NOT APPLE)
-	target_link_libraries(px4 PRIVATE rt)
 endif()

-target_link_libraries(px4 PRIVATE uORB)
-
-#=============================================================================
-# install
-#
-
-# TODO: extend to snapdragon
-
-# px4 dirs
-install(
-	DIRECTORY
-		${PROJECT_SOURCE_DIR}/posix-configs
-		${PROJECT_SOURCE_DIR}/test
-		${CMAKE_BINARY_DIR}/etc
-		${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
-	DESTINATION
-		${PROJECT_NAME}
-	USE_SOURCE_PERMISSIONS
-)
-
 # Module Symlinks
 px4_posix_generate_symlinks(
 	MODULE_LIST ${module_libraries}
@@ -48,20 +48,6 @@ ExternalProject_Add(sitl_gazebo
 	BUILD_COMMAND ${CMAKE_COMMAND} --build <BINARY_DIR> -- -j ${build_cores}
 )

-px4_add_git_submodule(TARGET git_ign_gazebo PATH "${PX4_SOURCE_DIR}/Tools/simulation-ignition")
-ExternalProject_Add(simulation-ignition
-	SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation-ignition
-	CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
-	BINARY_DIR ${PX4_BINARY_DIR}/build_ign_gazebo
-	INSTALL_COMMAND ""
-	DEPENDS git_ign_gazebo
-	USES_TERMINAL_CONFIGURE true
-	USES_TERMINAL_BUILD true
-	EXCLUDE_FROM_ALL true
-	BUILD_ALWAYS 1
-	BUILD_COMMAND ${CMAKE_COMMAND} --build <BINARY_DIR> -- -j ${build_cores}
-)
-
 ExternalProject_Add(mavsdk_tests
 	SOURCE_DIR ${PX4_SOURCE_DIR}/test/mavsdk_tests
 	CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
@@ -104,7 +90,6 @@ set(viewers
 	none
 	jmavsim
 	gazebo
-	ignition
 )

 set(debuggers
@@ -194,8 +179,6 @@ foreach(viewer ${viewers})
 						add_dependencies(${_targ_name} px4 sitl_gazebo)
 					elseif(viewer STREQUAL "jmavsim")
 						add_dependencies(${_targ_name} px4 git_jmavsim)
-					elseif(viewer STREQUAL "ignition")
-						add_dependencies(${_targ_name} px4 simulation-ignition)
 					endif()
 				else()
 					if(viewer STREQUAL "gazebo")
--- a/Show More
+++ b/Show More