WIP: afbrs50 try SPI_LOCK

.ci/Jenkinsfile-compile

@@ -9,10 +9,11 @@ pipeline {
         script {
           def build_nodes = [:]
           def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2021-05-04",
+            armhf: "px4io/px4-dev-armhf:2021-04-29",
-            arm64: "px4io/px4-dev-aarch64:2021-05-04",
+            arm64: "px4io/px4-dev-aarch64:2021-04-29",
-            base: "px4io/px4-dev-base-bionic:2021-05-04",
+            base: "px4io/px4-dev-base-bionic:2021-04-29",
-            nuttx: "px4io/px4-dev-nuttx-focal:2021-05-04",
+            nuttx: "px4io/px4-dev-nuttx-focal:2021-04-29",
+            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++) {
@@ -126,7 +133,7 @@ pipeline {
     // TODO: actually upload artifacts to S3
     // stage('S3 Upload') {
     //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+    //     docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
     //   }
     //   options {
     //         skipDefaultCheckout()
@@ -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) {

.devcontainer/devcontainer.json

@@ -2,7 +2,7 @@
 // https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
 {
 	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2021-05-04",
+	"image": "px4io/px4-dev-nuttx-focal:2021-04-29",
 
 	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
 

.github/workflows/checks.yml

@@ -11,7 +11,6 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    timeout-minutes: 60
     strategy:
       fail-fast: false
       matrix:
@@ -30,7 +29,7 @@ jobs:
           "parameters_metadata",
         ]
     container:
-      image: px4io/px4-dev-nuttx-focal:2021-05-04
+      image: px4io/px4-dev-nuttx-focal:2021-04-29
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1

.github/workflows/clang-tidy.yml

@@ -11,8 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2021-05-04
+    container: px4io/px4-dev-clang:2021-04-29
-    timeout-minutes: 60
     steps:
     - uses: actions/checkout@v1
       with:

.github/workflows/compile_linux.yml

@@ -11,8 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2021-05-04
+    container: px4io/px4-dev-armhf:2021-04-29
-    timeout-minutes: 60
     strategy:
       matrix:
         config: [

.github/workflows/compile_linux_arm64.yml

@@ -11,8 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2021-05-04
+    container: px4io/px4-dev-aarch64:2021-04-29
-    timeout-minutes: 60
     strategy:
       matrix:
         config: [

.github/workflows/compile_macos.yml

@@ -11,7 +11,6 @@ on:
 jobs:
   build:
     runs-on: macos-10.15
-    timeout-minutes: 60
     strategy:
       matrix:
         config: [

.github/workflows/compile_nuttx.yml

@@ -11,51 +11,84 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-05-04
+    container: px4io/px4-dev-nuttx-focal:2021-04-29
-    timeout-minutes: 60
     strategy:
       matrix:
         config: [
-          airmind_mindpx-v2,
+          airmind_mindpx-v2_default,
-          ark_can-flow,
+          ark_can-flow_canbootloader,
-          ark_can-gps,
+          ark_can-flow_debug,
-          av_x-v1,
+          ark_can-flow_default,
-          bitcraze_crazyflie,
+          ark_can-gps_canbootloader,
-          bitcraze_crazyflie21,
+          ark_can-gps_debug,
-          cuav_can-gps-v1,
+          ark_can-gps_default,
-          cuav_nora,
+          av_x-v1_default,
-          cuav_x7pro,
+          bitcraze_crazyflie21_default,
-          cubepilot_cubeorange,
+          bitcraze_crazyflie_default,
-          cubepilot_cubeyellow,
+          cuav_can-gps-v1_canbootloader,
-          freefly_can-rtk-gps,
+          cuav_can-gps-v1_debug,
-          holybro_can-gps-v1,
+          cuav_can-gps-v1_default,
-          holybro_durandal-v1,
+          cuav_nora_default,
-          holybro_kakutef7,
+          cuav_x7pro_default,
-          holybro_pix32v5,
+          cubepilot_cubeorange_default,
-          modalai_fc-v1,
+          cubepilot_cubeorange_test,
-          modalai_fc-v2,
+          cubepilot_cubeyellow_default,
-          mro_ctrl-zero-f7,
+          cubepilot_cubeyellow_test,
-          mro_ctrl-zero-f7-oem,
+          cubepilot_io-v2_default,
-          mro_ctrl-zero-h7,
+          freefly_can-rtk-gps_canbootloader,
-          mro_ctrl-zero-h7-oem,
+          freefly_can-rtk-gps_default,
-          mro_pixracerpro,
+          holybro_can-gps-v1_canbootloader,
-          mro_x21,
+          holybro_can-gps-v1_debug,
-          mro_x21-777,
+          holybro_can-gps-v1_default,
-          nxp_fmuk66-e,
+          holybro_durandal-v1_default,
-          nxp_fmuk66-v3,
+          holybro_kakutef7_default,
-          nxp_fmurt1062-v1,
+          holybro_pix32v5_default,
-          nxp_ucans32k146,
+          modalai_fc-v1_default,
-          omnibus_f4sd,
+          modalai_fc-v1_rtps,
-          px4_fmu-v2,
+          modalai_fc-v2_default,
-          px4_fmu-v3,
+          mro_ctrl-zero-f7-oem_default,
-          px4_fmu-v4,
+          mro_ctrl-zero-f7_default,
-          px4_fmu-v4pro,
+          mro_ctrl-zero-h7-oem_default,
-          px4_fmu-v5,
+          mro_ctrl-zero-h7_default,
-          px4_fmu-v5x,
+          mro_pixracerpro_default,
-          px4_fmu-v6u,
+          mro_x21-777_default,
-          px4_fmu-v6x,
+          mro_x21_default,
-          spracing_h7extreme,
+          nxp_fmuk66-e_default,
-          uvify_core
+          nxp_fmuk66-e_rtps,
+          nxp_fmuk66-e_socketcan,
+          nxp_fmuk66-v3_default,
+          nxp_fmuk66-v3_rtps,
+          nxp_fmuk66-v3_socketcan,
+          nxp_fmurt1062-v1_default,
+          nxp_ucans32k146_canbootloader,
+          nxp_ucans32k146_default,
+          omnibus_f4sd_default,
+          px4_fmu-v2_default,
+          px4_fmu-v2_fixedwing,
+          px4_fmu-v2_multicopter,
+          px4_fmu-v2_rover,
+          px4_fmu-v3_default,
+          px4_fmu-v4_cannode,
+          px4_fmu-v4_default,
+          px4_fmu-v4pro_default,
+          px4_fmu-v5_ctrlalloc,
+          px4_fmu-v5_debug,
+          px4_fmu-v5_default,
+          px4_fmu-v5_fixedwing,
+          px4_fmu-v5_multicopter,
+          px4_fmu-v5_optimized,
+          px4_fmu-v5_rover,
+          px4_fmu-v5_rtps,
+          px4_fmu-v5_stackcheck,
+          px4_fmu-v5_uavcanv0periph,
+          px4_fmu-v5_uavcanv1,
+          px4_fmu-v5x_base_phy_DP83848C,
+          px4_fmu-v5x_default,
+          px4_fmu-v6u_default,
+          px4_fmu-v6x_default,
+          px4_io-v2_default,
+          spracing_h7extreme_default,
+          uvify_core_default
           ]
     steps:
     - uses: actions/checkout@v1
@@ -84,8 +117,8 @@ jobs:
           ccache -s
           ccache -z
 
-    - name: make all_variants_${{matrix.config}}
+    - name: make ${{matrix.config}}
-      run: make all_variants_${{matrix.config}}
+      run: make ${{matrix.config}}
     - name: make ${{matrix.config}} bloaty_compileunits
       run: make ${{matrix.config}} bloaty_compileunits || true
     - name: make ${{matrix.config}} bloaty_inlines
@@ -104,7 +137,7 @@ jobs:
       run: ccache -s
 
     - name: Upload px4 package
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v1
       with:
         name: px4_package_${{matrix.config}}
-        path: build/**/*.px4
+        path: build/${{matrix.config}}/${{matrix.config}}.px4

.github/workflows/compile_nuttx_cannode.yml

@@ -11,8 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-05-04
+    container: px4io/px4-dev-nuttx-focal:2021-04-29
-    timeout-minutes: 60
     strategy:
       matrix:
         config: [

.github/workflows/deploy_all.yml

@@ -23,7 +23,7 @@ jobs:
     needs: enumerate_targets
     strategy:
       matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
-    container: px4io/px4-dev-${{ matrix.container }}:2021-05-04
+    container: px4io/px4-dev-${{ matrix.container }}:2021-04-29
     steps:
     - uses: actions/checkout@v1
       with:
@@ -56,13 +56,13 @@ jobs:
     - name: ccache post-run
       run: ccache -s
 
-    - name: parameter & events metadata
+    - name: parameter metadata
       run: |
-        make ${{matrix.target}} ver_gen events_json
+        make ${{matrix.target}} ver_gen
         ./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
         cd build/${{ matrix.target }}
         mkdir _metadata || true
-        cp parameters.* events/*.xz _metadata
+        cp parameters.* _metadata
 
     - uses: jakejarvis/s3-sync-action@master
       with:

.github/workflows/ekf_functional_change_indicator.yml

@@ -1,21 +0,0 @@
-name: EKF Change Indicator
-
-on: pull_request
-
-jobs:
-  unit_tests:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
-    steps:
-    - uses: actions/checkout@v2.3.1
-      with:
-        fetch-depth: 0
-    - name: checkout newest version of branch
-      run: |
-        git fetch origin pull/${{github.event.pull_request.number}}/head:${{github.head_ref}}
-        git checkout ${GITHUB_HEAD_REF}
-    - name: main test
-      run: make tests TESTFILTER=EKF
-    - name: Check if there is a functional change
-      run: git diff --exit-code
-      working-directory: src/modules/ekf2/test/change_indication

.github/workflows/ekf_update_change_indicator.yml

@@ -1,29 +0,0 @@
-name: EKF Update Change Indicator
-
-on: push
-
-jobs:
-  unit_tests:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
-    env:
-      GIT_COMMITTER_EMAIL: bot@px4.io
-      GIT_COMMITTER_NAME: PX4BuildBot
-    steps:
-    - uses: actions/checkout@v2.3.1
-      with:
-        fetch-depth: 0
-    - name: main test updates change indication files
-      run: make tests TESTFILTER=EKF
-    - name: Check if there exists diff and save result in variable
-      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_ENV
-      working-directory: src/modules/ekf2/test/change_indication
-    - name: auto-commit any changes to change indication
-      uses: stefanzweifel/git-auto-commit-action@v4
-      with:
-        commit_message: '[AUTO COMMIT] update change indication'
-        commit_user_name: ${GIT_COMMITTER_NAME}
-        commit_user_email: ${GIT_COMMITTER_EMAIL}
-    - if: ${{env.CHANGE_INDICATED}}
-      name: if there is a functional change, fail check
-      run: exit 1

.github/workflows/mavros_mission_tests.yml

@@ -25,7 +25,7 @@ jobs:
           #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
 
     container:
-      image: px4io/px4-dev-ros-melodic:2021-05-04
+      image: px4io/px4-dev-ros-melodic:2021-04-29
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1

.github/workflows/mavros_offboard_tests.yml

@@ -20,7 +20,7 @@ jobs:
           #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
 
     container:
-      image: px4io/px4-dev-ros-melodic:2021-05-04
+      image: px4io/px4-dev-ros-melodic:2021-04-29
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1

.github/workflows/metadata.yml

@@ -11,7 +11,7 @@ jobs:
 
   airframe:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-04-29
     steps:
     - uses: actions/checkout@v1
       with:
@@ -20,24 +20,13 @@ jobs:
     - name: airframe metadata
       run: |
         make airframe_metadata
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
         cd build/px4_sitl_default/docs
-      # TODO: deploy to userguide gitbook
+        ls -ls *
-
+      # TODO: deploy to userguide gitbook and s3
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/px4_sitl_default/docs/'
-        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
 
   module:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-04-29
     steps:
     - uses: actions/checkout@v1
       with:
@@ -52,7 +41,7 @@ jobs:
 
   parameter:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-04-29
     steps:
     - uses: actions/checkout@v1
       with:
@@ -74,36 +63,9 @@ jobs:
         SOURCE_DIR: 'build/px4_sitl_default/docs/'
         DEST_DIR: 'Firmware/${{ env.version }}/_general/'
 
-  events:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: events metadata
-      run: |
-        make extract_events
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
-        cd build/px4_sitl_default
-        mkdir _events_full || true
-        cp events/all_events_full.json.xz _events_full/all_events.json.xz
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/px4_sitl_default/_events_full/'
-        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
-
   uorb_graph:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-05-04
+    container: px4io/px4-dev-nuttx-focal:2021-04-29
     steps:
     - uses: actions/checkout@v1
       with:
@@ -118,7 +80,7 @@ jobs:
 
   micrortps_agent:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-04-29
     steps:
     - uses: actions/checkout@v1
       with:
@@ -132,7 +94,7 @@ jobs:
 
   ROS_msgs:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-04-29
     steps:
     - uses: actions/checkout@v1
       with:
@@ -145,7 +107,7 @@ jobs:
 
   ROS2_bridge:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-04-29
     steps:
     - uses: actions/checkout@v1
       with:

.github/workflows/sitl_tests.yml

@@ -11,7 +11,6 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    timeout-minutes: 60
     strategy:
       fail-fast: false
       matrix:
@@ -22,7 +21,7 @@ jobs:
           - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",         model: "standard_vtol" } # Zurich
 
     container:
-      image: px4io/px4-dev-simulation-focal:2021-05-04
+      image: px4io/px4-dev-simulation-focal:2021-04-29
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1

.gitmodules

@@ -18,6 +18,14 @@
 	path = src/lib/matrix
 	url = https://github.com/PX4/PX4-Matrix.git
 	branch = master
+[submodule "src/lib/ecl"]
+	path = src/lib/ecl
+	url = https://github.com/PX4/PX4-ECL.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 +42,9 @@
 	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
@@ -59,10 +70,3 @@
 [submodule "src/lib/crypto/monocypher"]
 	path = src/lib/crypto/monocypher
 	url = https://github.com/PX4/Monocypher.git
-	branch = px4
-[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

.vscode/cmake-variants.yaml

@@ -6,16 +6,6 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_default
-    px4_sitl_asan:
-      short: px4_sitl (AddressSanitizer)
-      buildType: AddressSanitizer
-      settings:
-        CONFIG: px4_sitl_default
-    px4_sitl_ubsan:
-      short: px4_sitl (UndefinedBehaviorSanitizer)
-      buildType: UndefinedBehaviorSanitizer
-      settings:
-        CONFIG: px4_sitl_default
     px4_sitl_replay:
       short: px4_sitl_replay
       buildType: RelWithDebInfo
@@ -61,16 +51,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: px4_fmu-v5x_default
-    px4_fmu-v6x_default:
-      short: px4_fmu-v6x
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6x_default
-    px4_fmu-v6x_bootloader:
-      short: px4_fmu-v6x_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6x_bootloader
     airmind_mindpx-v2_default:
       short: airmind_mindpx-v2
       buildType: MinSizeRel

CMakeLists.txt

@@ -129,10 +129,6 @@ define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
                  BRIEF_DOCS "PX4 module paths"
                  FULL_DOCS "List of paths to all PX4 modules"
                  )
-define_property(GLOBAL PROPERTY PX4_SRC_FILES
-                 BRIEF_DOCS "src files from all PX4 modules & libs"
-                 FULL_DOCS "SRC files from px4_add_{module,library}"
-                 )
 
 #=============================================================================
 # configuration
@@ -421,9 +417,6 @@ foreach(module ${config_module_list})
 	add_subdirectory(src/${module})
 endforeach()
 
-# add events lib after modules and libs as it needs to know all source files (PX4_SRC_FILES)
-add_subdirectory(src/lib/events EXCLUDE_FROM_ALL)
-
 # must be the last module before firmware
 add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
 target_link_libraries(parameters_interface INTERFACE parameters)

Jenkinsfile

@@ -15,7 +15,7 @@ pipeline {
         // stage('Catkin build on ROS workspace') {
         //   agent {
         //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2021-05-04'
+        //       image 'px4io/px4-dev-ros-melodic:2021-04-29'
         //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
         //     }
         //   }
@@ -56,7 +56,7 @@ pipeline {
         stage('Colcon build on ROS2 workspace') {
           agent {
             docker {
-              image 'px4io/px4-dev-ros2-foxy:2021-05-04'
+              image 'px4io/px4-dev-ros2-foxy:2021-04-29'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
             }
           }
@@ -85,7 +85,7 @@ pipeline {
 
         stage('Airframe') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh 'make distclean'
@@ -105,7 +105,7 @@ pipeline {
 
         stage('Parameter') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh 'make distclean'
@@ -125,7 +125,7 @@ pipeline {
 
         stage('Module') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh 'make distclean'
@@ -146,7 +146,7 @@ pipeline {
         stage('uORB graphs') {
           agent {
             docker {
-              image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+              image 'px4io/px4-dev-nuttx-focal:2021-04-29'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
@@ -176,7 +176,7 @@ pipeline {
 
         stage('Userguide') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh('export')
@@ -206,7 +206,7 @@ pipeline {
 
         stage('QGroundControl') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh('export')
@@ -234,7 +234,7 @@ pipeline {
 
         stage('microRTPS agent') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh('export')
@@ -264,7 +264,7 @@ pipeline {
 
         stage('PX4 ROS msgs') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh('export')
@@ -293,7 +293,7 @@ pipeline {
 
         stage('PX4 ROS2 bridge') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh('export')
@@ -336,7 +336,7 @@ pipeline {
 
         stage('S3') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh('export')

Makefile

@@ -174,7 +174,6 @@ endif
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-	$(eval CMAKE_ARGS += -DCONFIG=$(1))
 	@$(eval BUILD_DIR = "$(SRC_DIR)/build/$(1)")
 	@# check if the desired cmake configuration matches the cache then CMAKE_CACHE_CHECK stays empty
 	@$(call cmake-cache-check)
@@ -214,7 +213,7 @@ 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
 # --------------------------------------------------------------------
@@ -222,12 +221,16 @@ ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 -name '*.cmake
 
 # All targets.
 $(ALL_CONFIG_TARGETS):
-	@$(call cmake-build,$@$(BUILD_DIR_SUFFIX))
+	@$(eval PX4_CONFIG = $@)
+	@$(eval CMAKE_ARGS += -DCONFIG=$(PX4_CONFIG))
+	@$(call cmake-build,$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))
 
 # Filter for only default targets to allow omiting the "_default" postfix
 CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG_TARGETS)))
 $(CONFIG_TARGETS_DEFAULT):
-	@$(call cmake-build,$@_default$(BUILD_DIR_SUFFIX))
+	@$(eval PX4_CONFIG = $@_default)
+	@$(eval CMAKE_ARGS += -DCONFIG=$(PX4_CONFIG))
+	@$(call cmake-build,$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))
 
 all_config_targets: $(ALL_CONFIG_TARGETS)
 all_default_targets: $(CONFIG_TARGETS_DEFAULT)
@@ -240,6 +243,16 @@ 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
 # --------------------------------------------------------------------
 
@@ -266,6 +279,7 @@ misc_qgc_extra_firmware: \
 	check_bitcraze_crazyflie_default \
 	check_bitcraze_crazyflie21_default \
 	check_airmind_mindpx-v2_default \
+	check_px4_fmu-v2_lpe \
 	sizes
 
 # builds with RTPS
@@ -293,11 +307,6 @@ check_%:
 	@$(MAKE) --no-print-directory $(subst check_,,$@)
 	@echo
 
-all_variants_%:
-	@echo 'Building all $(subst all_variants_,,$@) variants:'  $(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS))
-	@echo
-	$(foreach a,$(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS)), $(call cmake-build,$(a)$(BUILD_DIR_SUFFIX)))
-
 uorb_graphs:
 	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib --file Tools/uorb_graph/graph_full
 	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
@@ -311,21 +320,18 @@ coverity_scan: px4_sitl_default
 
 # Documentation
 # --------------------------------------------------------------------
-.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata doxygen
+.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata doxygen
 
 parameters_metadata:
 	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen
 
 airframe_metadata:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes ver_gen
+	@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes
 
 module_documentation:
 	@$(MAKE) --no-print-directory px4_sitl_default metadata_module_documentation
 
-extract_events:
+px4_metadata: parameters_metadata airframe_metadata module_documentation
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_extract_events ver_gen
-
-px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events
 
 doxygen:
 	@mkdir -p "$(SRC_DIR)"/build/doxygen
@@ -352,6 +358,7 @@ format:
 .PHONY: rostest python_coverage
 
 tests:
+	$(eval CMAKE_ARGS += -DCONFIG=px4_sitl_test)
 	$(eval CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
 	$(eval ARGS += test_results)
 	$(eval ASAN_OPTIONS += color=always:check_initialization_order=1:detect_stack_use_after_return=1)
@@ -502,7 +509,7 @@ help:
 	@echo "Where <target> is one of:"
 	@$(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."

README.md

@@ -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)):
@@ -110,7 +110,7 @@ This repository contains code supporting Pixhawk standard boards (best supported
   * [Hex Cube Yellow](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_yellow.html)
   * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
   * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
-  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/complete_vehicles/crazyflie2.html)
+  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/flight_controller/crazyflie2.html)
   * [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
   * [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
   * [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)

ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer

@@ -1,54 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default EKF2_ARSP_THR 8
-param set-default EKF2_FUSE_BETA 1
-param set-default EKF2_MAG_ACCLIM 0
-param set-default EKF2_MAG_YAWLIM 0
-
-param set-default FW_LND_AIRSPD_SC 1
-param set-default FW_LND_ANG 8
-param set-default FW_THR_LND_MAX 0
-
-param set-default FW_L1_PERIOD 12
-
-param set-default FW_MAN_P_MAX 30
-
-param set-default FW_PR_I 0.4
-param set-default FW_PR_P 0.9
-param set-default FW_PR_FF 0.2
-param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
-param set-default FW_P_LIM_MIN -15
-
-param set-default FW_RR_FF 0.1
-param set-default FW_RR_P 0.3
-
-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-param set-default FW_THR_CRUISE 0.25
-
-param set-default FW_T_ALT_TC 2
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_HRATE_FF 0.5
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
-param set-default FW_T_TAS_TC 2
-
-param set-default FW_W_EN 1
-
-param set-default MIS_LTRMIN_ALT 30
-param set-default MIS_TAKEOFF_ALT 30
-
-param set-default NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 50
-
-param set-default RWTO_TKOFF 1
-
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom

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

@@ -60,7 +60,6 @@ px4_add_romfs_files(
 	1034_rascal-electric
 	1035_techpod
 	1036_malolo
-	1037_believer
 	1040_standard_vtol
 	1041_tailsitter
 	1042_tiltrotor

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -48,10 +48,10 @@ else
 	# shellcheck disable=SC2012
 	REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
 	if [ -z "$REQUESTED_AUTOSTART" ]; then
-		echo "ERROR  [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
+		echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
 		exit 1
 	else
-		echo "INFO  [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
+		echo "Info: found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
 	fi
 fi
 
@@ -126,7 +126,7 @@ then
 	param set SYS_RESTART_TYPE 2
 fi
 
-param set-default BAT1_N_CELLS 4
+param set-default BAT_N_CELLS 4
 
 param set-default CBRK_AIRSPD_CHK 0
 param set-default CBRK_SUPPLY_CHK 894281
@@ -229,7 +229,7 @@ navigator start
 if px4-micrortps_client status > /dev/null 2>&1
 then
 	# shellcheck disable=SC2154
-	micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
+	micrortps_client start -t UDP $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
 fi
 
 if param greater -s MNT_MODE_IN -1

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

@@ -13,13 +13,12 @@
 # @output MAIN6 gear
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
-# @board px4_fmu-v2 exclude
 #
 
 . ${R}etc/init.d/rc.fw_defaults
 
 
-param set-default BAT1_N_CELLS 3
+param set-default BAT_N_CELLS 3
 
 param set-default FW_AIRSPD_MAX 20
 param set-default FW_AIRSPD_MIN 12

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

@@ -38,9 +38,8 @@ param set-default MC_YAWRATE_P 0.25
 param set-default MC_YAWRATE_I 0.25
 param set-default MC_YAWRATE_D 0
 
-param set-default BAT1_V_DIV 12.27559
+param set-default BAT_V_DIV 12.27559
-param set-default BAT1_A_PER_V 15.39103
+param set-default BAT_A_PER_V 15.39103
-
 set MIXER quad_w
 
 set PWM_OUT 1234

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

@@ -26,7 +26,7 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 
-param set-default BAT1_N_CELLS 4
+param set-default BAT_N_CELLS 4
 
 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.13

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

@@ -26,8 +26,8 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 
-param set-default BAT1_N_CELLS 6
+param set-default BAT_N_CELLS 6
-param set-default BAT1_V_EMPTY 3.5
+param set-default BAT_V_EMPTY 3.5
 
 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.08
@@ -45,7 +45,6 @@ param set-default MC_YAWRATE_D 0
 param set-default MPC_XY_VEL_MAX 2
 
 param set-default PWM_MAIN_MIN 1080
-
 set MIXER quad_w
 
 set PWM_OUT 1234

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

@@ -6,7 +6,6 @@
 # @class Copter
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
-# @board px4_fmu-v2 exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults

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

@@ -14,7 +14,7 @@
 . ${R}etc/init.d/rc.vtol_defaults
 
 
-param set-default BAT1_N_CELLS 3
+param set-default BAT_N_CELLS 3
 
 param set-default COM_RC_IN_MODE 1
 

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

@@ -44,8 +44,7 @@ param set-default MPC_HOLD_MAX_XY 0.25
 param set-default MPC_THR_MIN 0.15
 param set-default MPC_Z_VEL_MAX_DN 2
 
-param set-default BAT1_N_CELLS 4
+param set-default BAT_N_CELLS 4
-
 set MIXER octo_cox_w
 
 set PWM_OUT 12345678

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

@@ -23,9 +23,9 @@
 . ${R}etc/init.d/rc.vtol_defaults
 
 
-param set-default BAT1_CAPACITY 23000
+param set-default BAT_CAPACITY 23000
-param set-default BAT1_N_CELLS 4
+param set-default BAT_N_CELLS 4
-param set-default BAT1_R_INTERNAL 0.0025
+param set-default BAT_R_INTERNAL 0.0025
 
 param set-default CBRK_AIRSPD_CHK 162128
 param set-default CBRK_IO_SAFETY 22027

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

@@ -23,7 +23,8 @@
 . ${R}etc/init.d/rc.vtol_defaults
 
 
-param set-default BAT1_N_CELLS 6
+
+param set-default BAT_N_CELLS 6
 
 param set-default FW_AIRSPD_MAX 30
 param set-default FW_AIRSPD_MIN 19

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

@@ -13,7 +13,6 @@
 # @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
 #
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v2 exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults

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

@@ -13,7 +13,6 @@
 # @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
 #
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v2 exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2

@@ -26,8 +26,8 @@
 . ${R}etc/init.d/rc.fw_defaults
 
 
-param set-default BAT1_CAPACITY 2500
+param set-default BAT_CAPACITY 2500
-param set-default BAT1_N_CELLS 3
+param set-default BAT_N_CELLS 3
 
 param set-default PWM_AUX_RATE 50
 param set-default PWM_MAIN_RATE 50
@@ -46,6 +46,5 @@ param set-default FW_R_LIM 40
 param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
-
 set MIXER TF-AutoG2
 set MIXER_AUX pass

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

@@ -48,7 +48,8 @@ param set-default PWM_MAIN_DISARM 1000
 # the payload bay is pitched up about 7 degrees
 param set-default SENS_BOARD_Y_OFF 7
 
-set MIXER fw_generic_wing
+
+set MIXER phantom
 
 # Provide ESC a constant 1000 us pulse
 set PWM_OUT 4

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

@@ -23,7 +23,7 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default BAT1_N_CELLS 2
+param set-default BAT_N_CELLS 2
 param set-default FW_AIRSPD_MAX 15
 param set-default FW_AIRSPD_MIN 10
 param set-default FW_AIRSPD_TRIM 13
@@ -48,7 +48,7 @@ param set-default PWM_MAIN_DISARM 1000
 set MAV_TYPE 1
 
 # Set mixer.
-set MIXER fw_generic_wing
+set MIXER wingwing
 
 # Provide ESC a constant 1000 us pulse.
 set PWM_OUT 4

ROMFS/px4fmu_common/init.d/airframes/3034_fx79

@@ -27,4 +27,5 @@ param set-default FW_AIRSPD_TRIM 15
 
 param set-default NAV_LOITER_RAD 150
 
-set MIXER fw_generic_wing
+
+set MIXER FX79

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

@@ -49,7 +49,8 @@ param set-default PWM_MAIN_DISARM 1000
 # the payload bay is pitched up about 7 degrees
 param set-default SENS_BOARD_Y_OFF 11.9
 
-set MIXER fw_generic_wing
+
+set MIXER phantom
 
 # Provide ESC a constant 1000 us pulse
 set PWM_OUT 4

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

@@ -63,6 +63,6 @@ param set-default PWM_MAIN_REV2 1
 param set-default PWM_MAIN_MIN 900
 param set-default PWM_MAIN_MAX 2100
 
-set MIXER fw_generic_wing
 
+set MIXER caipi
 set PWM_OUT 1234

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

@@ -127,9 +127,9 @@ param set-default IMU_GYRO_CUTOFF 100
 param set-default SENS_EN_PMW3901 1
 
 # Power Parameters
-param set-default BAT1_N_CELLS 4
+param set-default BAT_N_CELLS 4
-param set-default BAT1_A_PER_V 36.364
+param set-default BAT_A_PER_V 36.364
-param set-default BAT1_V_DIV 18.182
+param set-default BAT_V_DIV 18.182
 
 # Circuit breakers
 param set-default CBRK_IO_SAFETY 22027

ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb

@@ -0,0 +1,38 @@
+#!/bin/sh
+#
+# @name Hobbyking Micro PCB
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Thomas Gubler <thomas@px4.io>
+#
+# @board px4_fmu-v2 exclude
+# @board px4_fmu-v3 exclude
+# @board px4_fmu-v4 exclude
+# @board px4_fmu-v4pro exclude
+# @board px4_fmu-v5 exclude
+# @board px4_fmu-v5x exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER quad_x
+set PWM_OUT 1234
+
+
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_P 0.1
+param set-default MC_ROLLRATE_I 0.05
+param set-default MC_ROLLRATE_D 0.003
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_P 0.1
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCHRATE_D 0.003
+param set-default MC_YAW_P 2.8
+param set-default MC_YAWRATE_P 0.2
+param set-default MC_YAWRATE_I 0.1
+param set-default MC_YAWRATE_D 0
+
+param set-default PWM_MAIN_MIN 1200

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

@@ -54,7 +54,7 @@ param set-default DSHOT_CONFIG 600
 param set-default SYS_HAS_BARO 0
 param set-default SYS_HAS_MAG 0
 
-param set-default BAT1_N_CELLS 2
+param set-default BAT_N_CELLS 2
 # The Whoop uses reversed props
 set MIXER quad_h
 set PWM_OUT 1234

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

@@ -20,7 +20,7 @@ set PWM_OUT 1234
 
 
 # The set does not include a battery, but most people will probably use 4S
-param set-default BAT1_N_CELLS 4
+param set-default BAT_N_CELLS 4
 
 param set-default IMU_GYRO_CUTOFF 120
 param set-default IMU_DGYRO_CUTOFF 45

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

@@ -17,7 +17,7 @@ set MIXER quad_x
 set PWM_OUT 1234
 
 
-param set-default BAT1_N_CELLS 4
+param set-default BAT_N_CELLS 4
 
 param set-default GPS_1_CONFIG 0
 param set-default RC_PORT_CONFIG 201

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

@@ -17,7 +17,7 @@ set MIXER quad_x
 set PWM_OUT 1234
 
 
-param set-default BAT1_N_CELLS 6
+param set-default BAT_N_CELLS 6
 
 param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.05

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

@@ -92,10 +92,10 @@ param set-default MPC_TKO_RAMP_T 1
 param set-default MPC_TKO_SPEED 1.1
 param set-default MPC_VEL_MANUAL 3
 
-param set-default BAT1_SOURCE 0
+param set-default BAT_SOURCE 0
-param set-default BAT1_N_CELLS 4
+param set-default BAT_N_CELLS 4
-param set-default BAT1_V_DIV 10.14
+param set-default BAT_V_DIV 10.14
-param set-default BAT1_A_PER_V 18.18
+param set-default BAT_A_PER_V 18.18
 #param set CBRK_IO_SAFETY 22027
 param set-default COM_DISARM_LAND 2
 

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

@@ -73,7 +73,7 @@ param set-default PWM_MAIN_RATE 0
 
 param set-default SENS_BOARD_ROT 2
 
-param set-default BAT1_SOURCE 0
+param set-default BAT_SOURCE 0
 param set-default CBRK_IO_SAFETY 22027
 #param set COM_DISARM_LAND 3
 

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

@@ -102,10 +102,10 @@ param set-default MPC_TKO_RAMP_T 1
 param set-default MPC_TKO_SPEED 1.1
 param set-default MPC_VEL_MANUAL 3
 
-param set-default BAT1_SOURCE 0
+param set-default BAT_SOURCE 0
-param set-default BAT1_N_CELLS 4
+param set-default BAT_N_CELLS 4
-param set-default BAT1_V_DIV 10.14
+param set-default BAT_V_DIV 10.14
-param set-default BAT1_A_PER_V 18.18
+param set-default BAT_A_PER_V 18.18
 #param set CBRK_IO_SAFETY 22027
 param set-default COM_DISARM_LAND 2
 

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

@@ -21,7 +21,7 @@ set MIXER quad_x
 set PWM_OUT 1234
 
 
-param set-default BAT1_N_CELLS 1
+param set-default BAT_N_CELLS 1
 
 param set-default MC_ROLL_P 8
 param set-default MC_ROLLRATE_P 0.19

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

@@ -32,18 +32,17 @@ set PWM_OUT 1234
 param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* CAL_MAG* SENS_BOARD* EKF2_MAGBIAS*
 
 # battery
+param set-default BAT_CAPACITY 2750
 param set-default BAT_CRIT_THR 0.15
 param set-default BAT_EMERGEN_THR 0.075
 param set-default BAT_LOW_THR 0.20
-
+param set-default BAT_N_CELLS 4
-param set-default BAT1_CAPACITY 2750
+param set-default BAT_R_INTERNAL 0.06
-param set-default BAT1_N_CELLS 4
+param set-default BAT_SOURCE 1
-param set-default BAT1_R_INTERNAL 0.06
+param set-default BAT_V_CHARGED 4.15
-param set-default BAT1_SOURCE 1
+param set-default BAT_V_DIV 11.1625
-param set-default BAT1_V_CHARGED 4.15
+param set-default BAT_V_EMPTY 3.65
-param set-default BAT1_V_DIV 11.1625
+param set-default BAT_V_OFFS_CURR -0.0045
-param set-default BAT1_V_EMPTY 3.65
-param set-default BAT1_V_OFFS_CURR -0.0045
 
 # sensor calibration
 param set-default CAL_MAG_SIDES 63

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

@@ -19,9 +19,9 @@
 set MIXER quad_x_cw
 set PWM_OUT 1234
 
-param set-default BAT1_N_CELLS 1
+param set-default BAT_N_CELLS 1
-param set-default BAT1_CAPACITY 240
+param set-default BAT_CAPACITY 240
-param set-default BAT1_SOURCE 1
+param set-default BAT_SOURCE 1
 
 param set-default CBRK_SUPPLY_CHK 894281
 param set-default CBRK_USB_CHK 197848

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

@@ -16,7 +16,7 @@
 . ${R}etc/init.d/rc.rover_defaults
 
 
-param set-default BAT1_N_CELLS 2
+param set-default BAT_N_CELLS 2
 
 param set-default EKF2_ANGERR_INIT 0.01
 param set-default EKF2_GBIAS_INIT 0.01

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

@@ -19,7 +19,7 @@
 . ${R}etc/init.d/rc.rover_defaults
 
 
-param set-default BAT1_N_CELLS 4
+param set-default BAT_N_CELLS 4
 
 param set-default EKF2_GBIAS_INIT 0.01
 param set-default EKF2_ANGERR_INIT 0.01

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

@@ -21,7 +21,7 @@
 . ${R}etc/init.d/rc.rover_defaults
 
 
-param set-default BAT1_N_CELLS 2
+param set-default BAT_N_CELLS 2
 
 param set-default EKF2_GBIAS_INIT 0.01
 param set-default EKF2_ANGERR_INIT 0.01

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

@@ -116,9 +116,9 @@ param set-default COM_DISARM_LAND 3
 param set-default PWM_MAIN_RATE 0
 
 # Battery
-param set-default BAT1_SOURCE 0
+param set-default BAT_SOURCE 0
-param set-default BAT1_N_CELLS 4
+param set-default BAT_N_CELLS 4
-param set-default BAT1_V_DIV 10.133
+param set-default BAT_V_DIV 10.133
 
 # TELEM1 ttyS1
 param set-default MAV_0_CONFIG 101

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

@@ -71,6 +71,7 @@ px4_add_romfs_files(
 	4016_holybro_px4vision
 	4017_nxp_hovergames
 	4018_s500_ctrlalloc
+	4020_hk_micro_pcb
 	4030_3dr_solo
 	4031_3dr_quad
 	4040_reaper

ROMFS/px4fmu_common/init.d/rc.interface

@@ -226,8 +226,6 @@ then
 	fi
 fi
 
-param set PWM_AUX_OUT ${PWM_AUX_OUT}
-
 if [ $MIXER_AUX != none -a $AUX_MODE = none -a -e $OUTPUT_AUX_DEV ]
 then
 	#
@@ -270,8 +268,6 @@ then
 	fi
 fi
 
-param set PWM_MAIN_OUT ${PWM_OUT}
-
 if [ $EXTRA_MIXER_MODE != none ]
 then
 

ROMFS/px4fmu_common/mixers/CMakeLists.txt

@@ -39,6 +39,7 @@ px4_add_romfs_files(
 	AETRFG.main.mix
 	babyshark.main.mix
 	blade130.main.mix
+	caipi.main.mix
 	CCPM.main.mix
 	claire.aux.mix
 	claire.main.mix
@@ -52,6 +53,7 @@ px4_add_romfs_files(
 	firefly6.aux.mix
 	firefly6.main.mix
 	fw_generic_wing.main.mix
+	FX79.main.mix
 	generic_diff_rover.main.mix
 	hexa_cox.main.mix
 	hexa_+.main.mix
@@ -64,6 +66,7 @@ px4_add_romfs_files(
 	octo_+.main.mix
 	octo_x.main.mix
 	pass.aux.mix
+	phantom.main.mix
 	quad_dc.main.mix
 	quad_h.main.mix
 	quad_+.main.mix
@@ -91,4 +94,5 @@ px4_add_romfs_files(
 	vtol_convergence.main.mix
 	vtol_delta.aux.mix
 	vtol_tailsitter_duo.main.mix
+	wingwing.main.mix
 )

ROMFS/px4fmu_common/mixers/FX79.main.mix

@@ -0,0 +1,50 @@
+FX-79 Delta-wing mixer for PX4FMU
+=================================
+
+Designed for FX-79.
+
+TODO (sjwilks): Add mixers for flaps.
+
+This file defines mixers suitable for controlling a delta wing aircraft using
+PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
+servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
+assumed to be unused.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+Elevon mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two elevon servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+The scaling factor for roll inputs is adjusted to implement differential travel
+for the elevons.
+
+M: 2
+S: 0 0   8500   8500      0 -10000  10000
+S: 0 1   9500   9500      0 -10000  10000
+
+M: 2
+S: 0 0   8500   8500      0 -10000  10000
+S: 0 1  -9500  -9500      0 -10000  10000
+
+Output 2
+--------
+This mixer is empty.
+
+Z:
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000

ROMFS/px4fmu_common/mixers/babyshark.main.mix

@@ -2,7 +2,6 @@
 # 1-4 (main): Ailerons (Y-cable), A-tail left, Pusher, A-tail right
 # 5-8 (main): quad motors
 #=============================
-# @board px4_fmu-v2 exclude
 
 
 Aileron mixer (roll)

ROMFS/px4fmu_common/mixers/caipi.main.mix

@@ -0,0 +1,48 @@
+Delta-wing mixer
+===========================
+
+Designed for TBS Caipirinha
+
+This file defines mixers suitable for controlling a delta wing aircraft using
+PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
+servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
+assumed to be unused.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+Elevon mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two elevon servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+The scaling factor for roll inputs is adjusted to implement differential travel
+for the elevons.
+
+M: 2
+S: 0 0   8000   8000      0 -10000  10000
+S: 0 1   9000   9000      0 -10000  10000
+
+M: 2
+S: 0 0   8000   8000      0 -10000  10000
+S: 0 1  -9000  -9000      0 -10000  10000
+
+Output 2
+--------
+This mixer is empty.
+
+Z:
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000

ROMFS/px4fmu_common/mixers/cloudship.main.mix

@@ -1,8 +1,6 @@
 Thrust tilt/ Starboard Thrust / Port Thrust / Tail Thrust mixer for PX4FMU
 =======================================================
 
-# @board px4_fmu-v2 exclude
-
 This file defines mixers suitable for controlling an airship with
 a thrust tilt, starboard and port thruster and a tail thruster using PX4FMU.
 The configuration assumes the starboard thruster is connected to PX4FMU

ROMFS/px4fmu_common/mixers/deltaquad.main.mix

@@ -1,6 +1,5 @@
 # DeltaQuad mixer for PX4FMU
 #=============================
-# @board px4_fmu-v2 exclude
 
 Quad motors 1 - 4
 -------------

ROMFS/px4fmu_common/mixers/dodeca_bottom_cox.aux.mix

@@ -1,4 +1,3 @@
 # Dodeca Cox
-# @board px4_fmu-v2 exclude
 
 R: 6a

ROMFS/px4fmu_common/mixers/dodeca_top_cox.main.mix

@@ -1,4 +1,3 @@
 # Dodeca Cox
-# @board px4_fmu-v2 exclude
 
 R: 6m

ROMFS/px4fmu_common/mixers/firefly6.aux.mix

@@ -1,8 +1,6 @@
 # mixer for the FireFly6 tilt mechansim servo, elevons and landing gear
 =======================================================================
 
-# @board px4_fmu-v2 exclude
-
 Tilt mechanism servo mixer
 ---------------------------
 M: 1

ROMFS/px4fmu_common/mixers/firefly6.main.mix

@@ -1,6 +1,4 @@
 # FireFly6 mixer for PX4FMU
 #
 #===========================
-# @board px4_fmu-v2 exclude
-
 R: 6c

ROMFS/px4fmu_common/mixers/mount_legs.aux.mix

@@ -1,4 +1,3 @@
-# @board px4_fmu-v2 exclude
 
 # Roll channel for mount
 M: 1

ROMFS/px4fmu_common/mixers/phantom.main.mix

@@ -0,0 +1,45 @@
+Phantom FX-61 mixer
+===================
+
+This file defines mixers suitable for controlling a delta wing aircraft using
+PX4/Pixhawk. The configuration assumes the elevon servos are connected to
+servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
+assumed to be unused.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+Elevon mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two elevon servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+The scaling factor are set so that pitch will have more travel than roll.
+
+M: 2
+S: 0 0  -6000  -6000      0 -10000  10000
+S: 0 1   6500   6500      0 -10000  10000
+
+M: 2
+S: 0 0  -6000  -6000      0 -10000  10000
+S: 0 1  -6500  -6500      0 -10000  10000
+
+Output 2
+--------
+This mixer is empty.
+
+Z:
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000

ROMFS/px4fmu_common/mixers/tilt_quad.aux.mix

@@ -1,8 +1,6 @@
 Tilt-Quadrotor mixer for PX4FMU (2/2) V2
 ===========================
 
-# @board px4_fmu-v2 exclude
-
 This file defines the aux outputs mixer for a Tilt-quadrotor in the + configuration.
 
 # @output AUX1 Outer servo motor for rotor 2 arm

ROMFS/px4fmu_common/mixers/tilt_quad.main.mix

@@ -1,8 +1,6 @@
 Tilt-Quadrotor mixer for PX4FMU (1/2) V2
 ===========================
 
-# @board px4_fmu-v2 exclude
-
 This file defines the main outputs mixer for a Tilt-quadrotor in the + configuration.
 
 # @output MAIN1 motor 1

ROMFS/px4fmu_common/mixers/vectored6dof.main.mix

@@ -1,5 +1,3 @@
-# @board px4_fmu-v2 exclude
-
 # Motor 1
 M: 3
 S: 0 2  -4000  -4000  0   -4000  +4000

ROMFS/px4fmu_common/mixers/vtol_AAERT.aux.mix

@@ -1,8 +1,6 @@
 Mixer for an AAERT VTOL
 =======================
 
-# @board px4_fmu-v2 exclude
-
 Aileron 1 mixer
 ---------------
 M: 1

ROMFS/px4fmu_common/mixers/vtol_AAVVT.aux.mix

@@ -1,8 +1,6 @@
 Aileron/v-tail/throttle VTOL mixer for PX4FMU
 =======================================================
 
-# @board px4_fmu-v2 exclude
-
 This file defines mixers suitable for controlling a fixed wing aircraft with
 aileron, v-tail (rudder, elevator) and throttle using PX4FMU.
 The configuration assumes the aileron servos are connected to PX4FMU 

ROMFS/px4fmu_common/mixers/vtol_TTTTAAER.aux.mix

@@ -1,7 +1,5 @@
 # Generic quadplane tiltrotor servo mixer
 
-# @board px4_fmu-v2 exclude
-
 # Tilt mechanism servo mixer
 ---------------------------
 # front left up:2000 down:1000

ROMFS/px4fmu_common/mixers/vtol_convergence.main.mix

@@ -1,5 +1,4 @@
 # E-flite Convergence Tricopter Y-Configuration Mixer
-# @board px4_fmu-v2 exclude
 
 # Motors
 R: 3y

ROMFS/px4fmu_common/mixers/wingwing.main.mix

@@ -0,0 +1,48 @@
+Delta-wing mixer for PX4FMU
+===========================
+
+Designed for Wing Wing Z-84
+
+This file defines mixers suitable for controlling a delta wing aircraft using
+PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
+servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
+assumed to be unused.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+Elevon mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two elevon servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+The scaling factor for roll inputs is adjusted to implement differential travel
+for the elevons.
+
+M: 2
+S: 0 0  -6000  -6000      0 -10000  10000
+S: 0 1   6500   6500      0 -10000  10000
+
+M: 2
+S: 0 0  -6000  -6000      0 -10000  10000
+S: 0 1  -6500  -6500      0 -10000  10000
+
+Output 2
+--------
+This mixer is empty.
+
+Z:
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000

Tools/HIL/monitor_firmware_upload.py

@@ -5,62 +5,46 @@ import subprocess
 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)
+    databits = serial.EIGHTBITS
+    stopbits = serial.STOPBITS_ONE
+    parity = serial.PARITY_NONE
+    ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=1)
 
-    timeout = 180  # 3 minutes
+    finished = 0
+
+    timeout = 300  # 5 minutes
     timeout_start = time.time()
     timeout_newline = time.time()
 
-    while True:
+    while finished == 0:
         serial_line = ser.readline().decode("ascii", errors='ignore')
-
+        if (len(serial_line) > 0):
-        if len(serial_line) > 0:
+            print(serial_line.replace('\n', ''))
-            print_line(serial_line)
 
         if "NuttShell (NSH)" in serial_line:
-            sys.exit(0)
+            finished = 1
-        elif "nsh>" in serial_line:
+            break
-            sys.exit(0)
+
+        if time.time() - timeout_start > 10:
+            if "nsh>" in serial_line:
+                finished = 1
+                break
 
         if time.time() > timeout_start + timeout:
             print("Error, timeout")
-            sys.exit(-1)
+            finished = 1
+            break
 
         # newline every 10 seconds if still running
         if time.time() - timeout_newline > 10:
             timeout_newline = time.time()
-            ser.write("\n".encode("ascii"))
+            ser.write('\n'.encode("ascii"))
             ser.flush()
 
+    ser.close()
+
 def main():
     parser = ArgumentParser(description=__doc__)
     parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)

Tools/HIL/nsh_param_set.py

@@ -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()

Tools/HIL/run_nsh_cmd.py

@@ -6,89 +6,52 @@ 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)
+    databits = serial.EIGHTBITS
-
+    stopbits = serial.STOPBITS_ONE
-    timeout_start = time.time()
+    parity = serial.PARITY_NONE
-    timeout = 10  # 10 seconds
+    ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=0.1)
-
-    # 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 = 1  # 1 second
+    timeout = 10  # 10 seconds
+
+    # clear
+    ser.write("\n".encode("ascii"))
+    ser.flush()
+    ser.readline()
 
     success_cmd = "cmd succeeded!"
 
-    # wait for command echo
+    serial_cmd = '{0}; echo "{1}"\n'.format(cmd, success_cmd)
-    serial_cmd = '{0}; echo "{1}"\r\n'.format(cmd, success_cmd)
     ser.write(serial_cmd.encode("ascii"))
     ser.flush()
-    while True:
+    ser.readline()
-        serial_line = ser.readline().decode("ascii", errors='ignore')
 
-        if cmd in serial_line:
+    # TODO: require successful command echo
-            break
+    # while True:
-        elif serial_line.startswith(success_cmd) and len(serial_line) <= len(success_cmd) + 2:
+    #     serial_cmd = '{0}; echo "{1}"\n'.format(cmd, success_cmd)
-            print_line(serial_line)
+    #     ser.write(serial_cmd.encode("ascii"))
-            # we missed the echo, but command ran and succeeded
+    #     ser.flush()
-            sys.exit(0)
-        else:
-            if len(serial_line) > 0:
-                print_line(serial_line)
 
-        if time.time() > timeout_start + timeout:
+    #     serial_line = ser.readline().decode("ascii", errors='ignore')
-            print("Error, timeout waiting for command echo")
+
-            break
+    #     if cmd in serial_line:
+    #         break
+    #     else:
+    #         print(serial_line, end='')
+
+    #     if time.time() > timeout_start + timeout:
+    #         print("Error, timeout")
+    #         sys.exit(-1)
+    #         break
+
+    #     time.sleep(1)
 
 
     timeout_start = time.time()
-    timeout = 180 # 3 minutes
+    timeout = 30  # 30 seconds
 
     while True:
         serial_line = ser.readline().decode("ascii", errors='ignore')
@@ -97,15 +60,17 @@ 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
+                #sys.exit(-1) # error, command didn't complete successfully
+                break # TODO: return error on failure
             elif "NuttShell (NSH)" in serial_line:
-                sys.exit(1) # error, command didn't complete successfully
+                #sys.exit(-1) # error, command didn't complete successfully
+                break # TODO: return error on failure
 
         if len(serial_line) <= 0:
-            ser.write("\r\n".encode("ascii"))
+            ser.write("\n".encode("ascii"))
             ser.flush()
 
         if time.time() > timeout_start + timeout:

Tools/HIL/run_tests.py

@@ -8,58 +8,12 @@ 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)
+    databits = serial.EIGHTBITS
-
+    stopbits = serial.STOPBITS_ONE
-    timeout_start = time.time()
+    parity = serial.PARITY_NONE
-    timeout = 10  # 10 seconds
+    ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=1)
-
-    # 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(serial_line, end='')
-
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout waiting for prompt")
-            return False
-
-    # clear
-    ser.readlines()
 
     success = False
 
@@ -68,38 +22,48 @@ def do_test(port, baudrate, test_name):
     cmd = 'tests ' + test_name
     print("| Running:", cmd)
     print('|======================================================================')
-
     timeout_start = time.time()
-    timeout = 2  # 2 seconds
+    timeout = 10  # 10 seconds
+
+    # clear
+    ser.write("\n".encode("ascii"))
+    ser.flush()
+    ser.readline()
 
-    # wait for command echo
     serial_cmd = '{0}\n'.format(cmd)
     ser.write(serial_cmd.encode("ascii"))
     ser.flush()
-    while True:
+    ser.readline()
-        serial_line = ser.readline().decode("ascii", errors='ignore')
 
-        if cmd in serial_line:
+    # TODO: retry command
-            break
+    # while True:
-        else:
+    #     serial_cmd = '{0}\n'.format(cmd)
-            if len(serial_line) > 0:
+    #     ser.write(serial_cmd.encode("ascii"))
-                print_line(serial_line)
+    #     ser.flush()
 
-        if time.time() > timeout_start + timeout:
+    #     serial_line = ser.readline().decode("ascii", errors='ignore')
-            print("Error, timeout waiting for command echo")
+
-            break
+    #     if cmd in serial_line:
+    #         break
+    #     else:
+    #         print(serial_line.replace('\n', ''))
+
+    #     if time.time() > timeout_start + timeout:
+    #         print("Error, unable to write cmd")
+    #         return False
+
+    #     time.sleep(1)
 
 
     # 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):
-        if len(serial_line) > 0:
+            print(serial_line, end='')
-            print_line(serial_line)
 
         if test_name + " PASSED" in serial_line:
             success = True
@@ -110,7 +74,7 @@ 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 +103,15 @@ class TestHardwareMethods(unittest.TestCase):
     def test_bson(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))
 
-    def test_conv(self):
+    # def test_dataman(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "conv"))
+    #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
 
-    def test_dataman(self):
+    def floattest_float(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):
         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 +127,21 @@ 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"))
 

Tools/astyle/files_to_check_code_style.sh

@@ -12,16 +12,15 @@ exec find boards msg src platforms test \
     -path platforms/nuttx/NuttX -prune -o \
     -path platforms/qurt/dspal -prune -o \
     -path src/drivers/uavcan/libuavcan -prune -o \
-    -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
     -path src/drivers/uavcan_v1/libcanard -prune -o \
     -path src/drivers/uavcannode_gps_demo/libcanard -prune -o \
-    -path src/lib/crypto/monocypher -prune -o \
+    -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
-    -path src/lib/events/libevents -prune -o \
+    -path src/lib/ecl -prune -o \
     -path src/lib/matrix -prune -o \
     -path src/lib/parameters/uthash -prune -o \
-    -path src/modules/ekf2/EKF -prune -o \
     -path src/modules/gyro_fft/CMSIS_5 -prune -o \
     -path src/modules/micrortps_bridge/micro-CDR -prune -o \
     -path src/modules/micrortps_bridge/microRTPS_client -prune -o \
     -path test/mavsdk_tests/catch2 -prune -o \
+    -path src/lib/crypto/monocypher -prune -o \
     -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN

Tools/compress.py

@@ -1,20 +0,0 @@
-#!/usr/bin/env python
-
-import argparse
-import lzma
-
-parser = argparse.ArgumentParser(description="""Compress a file with xz""")
-parser.add_argument('filename', metavar='file', help='Input file (output: file.xz)')
-
-args = parser.parse_args()
-filename = args.filename
-
-def save_compressed(filename):
-    #create xz compressed version
-    xz_filename=filename+'.xz'
-    with lzma.open(xz_filename, 'wt', preset=9) as f:
-        with open(filename, 'r') as content_file:
-            f.write(content_file.read())
-
-save_compressed(filename)
-

Tools/docker_run.sh

@@ -4,13 +4,16 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	echo "guessing PX4_DOCKER_REPO based on input";
 	if [[ $@ =~ .*px4_fmu.* ]]; then
 		# nuttx-px4fmu-v{1,2,3,4,5}
-		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-05-04"
+		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-04-29"
 	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
 		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
 		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"
 	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"
@@ -27,7 +30,7 @@ fi
 
 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-05-04"
+	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-04-29"
 fi
 
 # docker hygiene

Tools/px4airframes/markdownout.py

@@ -5,47 +5,17 @@ import html
 
 class MarkdownTablesOutput():
     def __init__(self, groups, board, image_path):
-        result = """# Airframes Reference
+        result = ("# Airframes Reference\n"
+                  "> **Note** **This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/master/Tools/px4airframes/markdownout.py) from the source code**.\n"
+                  "> \n"
+                  "> **AUX** channels may not be present on some flight controllers.\n"
+                  "> If present, PWM AUX channels are commonly labelled **AUX OUT**.\n"
+                  "> \n"
+                  "\n")
 
-:::note
+        result += """This page lists all supported airframes and types including
-**This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/master/Tools/px4airframes/markdownout.py) from the source code** using the build command: `make airframe_metadata`.
+ the motor assignment and numbering. The motors in **green** rotate clockwise,
-:::
+ the ones in **blue** counterclockwise.\n\n"""
-
-This page lists all supported airframes and types including the motor assignment and numbering.
-The motors in **green** rotate clockwise, the ones in **blue** counterclockwise.
-
-**AUX** channels may not be present on some flight controllers.
-If present, PWM AUX channels are commonly labelled **AUX OUT**.
-
-<style>
-table {
-   display: table;
-   table-layout: fixed;
-   margin-bottom: 5px;
-}
-table.common {
-   float: right; 
-   width: 70%;
-}
-table.airframes {
-   width: 100%;
-}
-table.airframes th:nth-child(1) {
-  width: 30%;
-  }
-
-tr > * {
-    vertical-align : top;
-}
-td, th {
-  text-align : left;
-  }
-img {
-  max-height: 180px;
-  width: 29%;
-  padding-top: 10px;
-}
-</style>\n\n"""
  
         type_set = set()
         
@@ -63,7 +33,7 @@ img {
             image_name = group.GetImageName()
             result += '<div>\n'
             image_name = image_path + image_name
-            result += '<img src="%s.svg"/>\n' % (image_name)
+            result += '<img src="%s.svg" width="29%%" style="max-height: 180px;"/>\n' % (image_name)
 
             # check if all outputs are equal for the group: if so, show them
             # only once
@@ -93,17 +63,19 @@ img {
                     outputs_prev[i] = ''
 
             if outputs_match[0] or outputs_match[1]:
-                result += '<table class="common">\n'
+                result += '<table style="float: right; width: 70%; font-size:1.5rem;">\n'
+                result += ' <colgroup><col></colgroup>\n'
                 result += ' <thead>\n'
                 result += '   <tr><th>Common Outputs</th></tr>\n'
                 result += ' </thead>\n'
-                result += ' <tbody>\n'
+                result += '<tbody>\n'
-                result += '<tr>\n <td><ul>%s%s</ul></td>\n</tr>\n' % (outputs_prev[0], outputs_prev[1])
+                result += '<tr>\n <td style="vertical-align: top;"><ul>%s%s</ul></td>\n</tr>\n' % (outputs_prev[0], outputs_prev[1])
                 result += '</tbody></table>\n'
 
             result += '</div>\n\n'
 
-            result += '<table class="generic">\n'
+            result += '<table style="width: 100%; table-layout:fixed; font-size:1.5rem;">\n'
+            result += ' <colgroup><col style="width: 30%"><col style="width: 70%"></colgroup>\n'
             result += ' <thead>\n'
             result += '   <tr><th>Name</th><th></th></tr>\n'
             result += ' </thead>\n'
@@ -118,12 +90,10 @@ img {
                     maintainer = param.GetMaintainer()
                     maintainer_entry = ''
                     if maintainer != '':
-                        maintainer_entry = 'Maintainer: %s' % (html.escape(maintainer))
+                        maintainer_entry = '<p>Maintainer: %s</p>' % (html.escape(maintainer))
                     url = param.GetFieldValue('url')
-                    name_anchor='%s_%s_%s' % (group.GetClass(),group.GetName(),name)
+                    name_anchor='id="%s_%s_%s"' % (group.GetClass(),group.GetName(),name)
                     name_anchor=name_anchor.replace(' ','_').lower()
-                    name_anchor=name_anchor.replace('"','_').lower()
-                    name_anchor='id="%s"' % name_anchor
                     name_entry = name
                     if url != '':
                         name_entry = '<a href="%s">%s</a>' % (url, name)
@@ -150,7 +120,7 @@ img {
                     else:
                         outputs_entry = ''
 
-                    result += ('<tr %s>\n <td>%s</td>\n <td>%s%s%s</td>\n</tr>\n' %
+                    result += ('<tr %s>\n <td style="vertical-align: top;">%s</td>\n <td style="vertical-align: top;">%s%s%s</td>\n\n</tr>\n' %
                         (name_anchor, name_entry, maintainer_entry, airframe_id_entry,
                         outputs_entry))
 

Tools/px4events/jsonout.py

@@ -1,58 +0,0 @@
-import codecs
-import json
-import sys
-import os
-
-
-class JsonOutput():
-    def __init__(self, groups):
-        all_json = {}
-        all_json['version'] = 1
-        component = {}
-        all_json['components'] = {1: component} #1: autopilot component
-
-        all_events = {}
-        component['namespace'] = "px4"
-        component['event_groups'] = all_events
-
-        for group in groups:
-            current_group = {}
-            current_events = {}
-            current_group['events'] = current_events
-            all_events[group] = current_group
-
-            for e in groups[group]:
-                event_obj = {}
-                event_obj['name'] = e.name
-                event_obj['message'] = e.message
-                if e.description is not None:
-                    event_obj['description'] = e.description
-                args = []
-                for i in range(len(e.arguments)):
-                    arg = {}
-                    arg['type'] = e.arguments[i][0]
-                    arg['name'] = e.arguments[i][1]
-                    args.append(arg)
-                if len(args) > 0:
-                    event_obj['arguments'] = args
-                sub_id = e.sub_id
-                assert sub_id not in current_events, \
-                        "Duplicate event ID for {0} (message: '{1}'), other event message: '{2}'".format(
-                        e.name, e.message, current_events[sub_id]['message'])
-                current_events[sub_id] = event_obj
-
-        self.json = all_json
-
-    def save(self, filename):
-        need_to_write = True
-        # only write if current file is not the same, to avoid updating the file
-        # timestamp
-        if os.path.isfile(filename):
-            with open(filename, 'rb') as json_file:
-                existing_data = json.load(json_file)
-                if existing_data == self.json:
-                    need_to_write = False
-        if need_to_write:
-            with codecs.open(filename, 'w', 'utf-8') as f:
-                f.write(json.dumps(self.json,indent=2))
-

Tools/px4events/srcparser.py

@@ -1,308 +0,0 @@
-import sys
-import re
-import math
-
-def hash_32_fnv1a(data: str):
-    hash_val = 0x811c9dc5
-    prime = 0x1000193
-    for i in range(len(data)):
-        value = ord(data[i])
-        hash_val = hash_val ^ value
-        hash_val *= prime
-        hash_val &= 0xffffffff
-    return hash_val
-
-
-class Event(object):
-    """
-    Single event definition
-    """
-
-    def __init__(self):
-        self.name = None
-        self.message = None
-        self.description = None
-        self.group = "default"
-        self._arguments = []
-
-    @staticmethod
-    def _get_id(name):
-        return 0xffffff & hash_32_fnv1a(name)
-
-    @property
-    def arguments(self):
-        """ list of (type: str, name: str) tuples """
-        return self._arguments
-
-    def set_default_arguments(self, num_args):
-        """ set argument names to default (if not specified) """
-        for i in range(num_args):
-            self.add_argument(None, "arg"+str(i))
-
-    def _shift_printed_arguments(self, msg, offset):
-        """ shift all {<idx> arguments by an offset """
-        i = 0
-        while i < len(msg):
-
-            if msg[i] == '\\': # escaped character
-                i += 2
-                continue
-
-            if msg[i] == '{':
-                m = re.match(r"^(\d+)", msg[i+1:])
-                if m:
-                    arg_idx = int(m.group(1)) + offset
-                    msg = msg[:i+1] + str(arg_idx) + msg[i+1+len(m.group(1)):]
-            i += 1
-        return msg
-
-    def prepend_arguments(self, arguments):
-        """ prepend additional arguments, and shift all '{<index>}' in the
-            description and message
-            :param arguments: list of (type: str, name: str) tuples
-        """
-        self._arguments = arguments + self._arguments
-        num_added = len(arguments)
-        if self.message is not None:
-            self.message = self._shift_printed_arguments(self.message, num_added)
-        if self.description is not None:
-            self.description = self._shift_printed_arguments(self.description, num_added)
-
-    def add_argument(self, arg_type, name):
-        self._arguments.append((arg_type, name))
-
-    @property
-    def sub_id(self):
-        return self._get_id(self.name)
-
-    def validate(self):
-        if self.name is None: raise Exception("missing event name")
-        if self.message is None: raise Exception("missing event message for {}".format(self.name))
-        # just to ensure a common convention
-        assert self.message[-1] != '.', "Avoid event message ending in '.' ({:})".format(self.message)
-        # description is optional
-
-class SourceParser(object):
-    """
-    Parses provided data and stores all found events internally.
-    """
-
-    re_split_lines = re.compile(r'[\r\n]+')
-    re_comment_start = re.compile(r'^\/\*\s*EVENT$')
-    re_events_send = re.compile(r'^events::send[<\(]')
-    re_comment_content = re.compile(r'^\*\s*(.*)')
-    re_comment_tag = re.compile(r'^@([a-zA-Z][a-zA-Z0-9_]*):?\s*(.*)')
-    re_comment_end = re.compile(r'(.*?)\s*\*\/$')
-    re_code_end = re.compile(r'(.*?)\s*;$')
-    re_template_args = re.compile(r'([a-zA-Z0-9_:\.]+)\s*<([a-zA-Z0-9_,\s:]+)\s*>\s*\((.*)\);$')
-    re_no_template_args = re.compile(r'([a-zA-Z0-9_:\.]+)\s*\((.*)\);$')
-    re_event_id = re.compile(r'(events::)?ID\("([a-zA-Z0-9_]+)\"')
-
-    def __init__(self):
-        self._events = {}
-
-    @property
-    def events(self):
-        """ dict of 'group': [Event] list """
-        return self._events
-
-    def Parse(self, contents):
-        """
-        Incrementally parse program contents and append all found events
-        to the list.
-        """
-        # This code is essentially a comment-parsing grammar. "state"
-        # represents parser state. It contains human-readable state
-        # names.
-        state = None
-        def finalize_current_tag(event, tag, value):
-            if tag is None: return
-            if tag == "description":
-                descr = value.strip()
-                # merge continued lines (but not e.g. enumerations)
-                for i in range(1, len(descr)-1):
-                    if descr[i-1] != '\n' and descr[i] == '\n' and descr[i+1].isalpha():
-                        descr = descr[:i] + ' ' + descr[i+1:]
-                event.description = descr
-            elif tag == "group":
-                known_groups = ["calibration", "health", "arming_check", "normal"]
-                event.group = value.strip()
-                if not event.group in known_groups:
-                    raise Exception("Unknown event group: '{}'\nKnown groups: {}\n" \
-                        "If this is not a typo, add the new group to the script".format(event.group, known_groups))
-            elif tag.startswith("arg"):
-                arg_index = int(tag[3:])-1
-                arg_name = value.strip()
-                assert len(event.arguments) == arg_index, "Invalid argument ordering/duplicate ({}, {})".format(tag, value)
-                event.add_argument(None, arg_name)
-            else:
-                raise Exception("Invalid tag: {}\nvalue: {}".format(tag, value))
-
-        for line in self.re_split_lines.split(contents):
-            line = line.strip()
-            # Ignore empty lines
-            if line == "":
-                continue
-
-            assert not line.startswith("using namespace events;"), "Avoid 'using namespace events;', as it prevents proper events extraction"
-
-            # Check for '/* EVENT'
-            if self.re_comment_start.match(line):
-                state = "parse-comments"
-                event = Event()
-                current_tag = None
-                current_value = None
-                current_code = ""
-                continue
-
-            # Check for events::send (allow '/* EVENT' to be optional)
-            if state is None and self.re_events_send.match(line):
-                state = "parse-command"
-                event = Event()
-                current_tag = None
-                current_value = None
-                current_code = ""
-
-            if state is None:
-                assert 'events::ID(' not in line or line.startswith('//'), \
-                    "unmatched 'events::ID(' found in line '{:}'".format(line)
-                continue
-
-            if state == "parse-command":
-                current_code += line
-                m = self.re_code_end.search(line)
-                if m:
-                    # extract template arguments
-                    m = self.re_template_args.search(current_code)
-                    if m:
-                        call, template_args, args = m.group(1, 2, 3)
-                        template_args = template_args.split(',')
-                    else:
-                        m = self.re_no_template_args.search(current_code)
-                        if m:
-                            template_args = []
-                            call, args = m.group(1, 2)
-                        else:
-                            raise Exception("Failed to parse code line {:}".format(current_code))
-
-                    # if event arguments are not specified, use default naming
-                    if len(event.arguments) == 0:
-                        event.set_default_arguments(len(template_args))
-
-                    # get argument types from template arguments
-                    assert len(template_args) == len(event.arguments), \
-                        "Number of arguments mismatch (args: {:})".format(template_args)
-                    num_args = len(template_args)
-                    for i in range(num_args):
-                        arg_name = event.arguments[i][1]
-                        arg_type = template_args[i].strip()
-                        if arg_type.startswith('events::'):
-                            arg_type = arg_type[8:]
-                        arg_type = arg_type.replace('enums::', '')
-                        event.arguments[i] = (arg_type, arg_name)
-                    #print("method: {}, args: {}, template args: {}".format(call, args, event.arguments))
-
-                    ignore_event = False
-
-                    # extract function arguments
-                    args_split = self._parse_arguments(args)
-                    if call == "events::send" or call == "send":
-                        if len(args_split) == 1:
-                            # This is a send call for a generated event
-                            ignore_event = True
-                        else:
-                            assert len(args_split) == num_args + 3, \
-                                "Unexpected Number of arguments for: {:}, " \
-                                "num template args: {:} (missing template args?)" \
-                                .format(args_split, num_args)
-                            m = self.re_event_id.search(args_split[0])
-                            if m:
-                                _, event_name = m.group(1, 2)
-                            else:
-                                raise Exception("Could not extract event ID from {:}".format(args_split[0]))
-                            event.name = event_name
-                            event.message = args_split[2][1:-1]
-                    elif call in ['reporter.healthFailure', 'reporter.armingCheckFailure']:
-                        assert len(args_split) == num_args + 5, \
-                            "Unexpected Number of arguments for: {:}, {:}".format(args_split, num_args)
-                        m = self.re_event_id.search(args_split[2])
-                        if m:
-                            _, event_name = m.group(1, 2)
-                        else:
-                            raise Exception("Could not extract event ID from {:}".format(args_split[2]))
-                        event.name = event_name
-                        event.message = args_split[4][1:-1]
-                        if 'health' in call:
-                            event.group = "health"
-                        else:
-                            event.group = "arming_check"
-                        event.prepend_arguments([('common::navigation_mode_category_t', 'modes'),
-                                ('uint8_t', 'health_component_index')])
-                    else:
-                        raise Exception("unknown event method call: {}, args: {}".format(call, args))
-
-                    if not ignore_event:
-                        event.validate()
-
-                        # insert
-                        if not event.group in self._events:
-                            self._events[event.group] = []
-                        self._events[event.group].append(event)
-
-                    state = None
-
-            else: # parse-comments
-                m = self.re_comment_end.search(line)
-                if m:
-                    line = m.group(1)
-                    last_comment_line = True
-                else:
-                    last_comment_line = False
-                m = self.re_comment_content.match(line)
-                if m:
-                    comment_content = m.group(1)
-                    m = self.re_comment_tag.match(comment_content)
-                    if m:
-                        finalize_current_tag(event, current_tag, current_value)
-                        current_tag, current_value = m.group(1, 2)
-                    elif current_tag is not None:
-                        current_value += "\n"+comment_content
-                    # else: empty line before any tag
-                elif not last_comment_line:
-                    # Invalid comment line (inside comment, but not starting with
-                    # "*" or "*/".
-                    raise Exception("Excpected a comment, got '{}'".format(line))
-                if last_comment_line:
-                    finalize_current_tag(event, current_tag, current_value)
-                    state = "parse-command"
-        return True
-
-    def _parse_arguments(self, args):
-        """
-        given a string of arguments, returns a list of strings split into the
-        arguments, with respecting brackets.
-        args is expected to be a single line.
-        Note: comments are not handled, also template arguments.
-
-        e.g. "32, test(4,4), \"e(c\", ab" -> ["32", "test(4,4)", "\"e(c\"", "ab"]
-        """
-        args_split = []
-        start = 0
-        bracket = 0
-        in_string = False
-        for i in range(len(args)):
-            if in_string and args[i] == "\"" and args[i-1] != "\\":
-                in_string = False
-            elif not in_string and args[i] == "\"":
-                in_string = True
-            if in_string:
-                continue
-            if args[i] in "{([":
-                bracket += 1
-            if args[i] in "})]":
-                bracket -= 1
-            if bracket == 0 and args[i] == ',':
-                args_split.append(args[start:i].strip())
-                start = i + 1
-        args_split.append(args[start:].strip())
-        return args_split

Tools/px4events/srcscanner.py

@@ -1,52 +0,0 @@
-import os
-import re
-import codecs
-import sys
-
-class SourceScanner(object):
-    """
-    Traverses directory tree, reads all source files, and passes their contents
-    to the Parser.
-    """
-
-    def ScanDir(self, srcdirs, parser):
-        """
-        Scans provided path and passes all found contents to the parser using
-        parser.Parse method.
-        """
-        extensions = tuple([".cpp"])
-        for srcdir in srcdirs:
-            if os.path.isfile(srcdir):
-                if not self.ScanFile(srcdir, parser):
-                    return False
-            else:
-                for dirname, dirnames, filenames in os.walk(srcdir):
-                    for filename in filenames:
-                        if filename.endswith(extensions):
-                            path = os.path.join(dirname, filename)
-                            try:
-                                if not self.ScanFile(path, parser):
-                                    return False
-                            except:
-                                print(("Exception in file %s" % path))
-                                raise
-        return True
-
-    def ScanFile(self, path, parser):
-        """
-        Scans provided file and passes its contents to the parser using
-        parser.Parse method.
-        """
-
-        with codecs.open(path, 'r', 'utf-8') as f:
-            try:
-                contents = f.read()
-            except:
-                contents = ''
-                print('Failed reading file: %s, skipping content.' % path)
-                pass
-        try:
-            return parser.Parse(contents)
-        except Exception as e:
-            print("Exception while parsing file {}".format(path))
-            raise

Tools/px_process_events.py

@@ -1,102 +0,0 @@
-#!/usr/bin/env python
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-#
-# PX4 events processor (main executable file)
-#
-# This tool scans the PX4 source code for definitions of events.
-#
-
-import sys
-import os
-import argparse
-from px4events import srcscanner, srcparser, jsonout
-
-import re
-import codecs
-
-
-def main():
-    # Parse command line arguments
-    parser = argparse.ArgumentParser(description="Process events definitions.")
-    parser.add_argument("-s", "--src-path",
-                        default=["../src"],
-                        metavar="PATH",
-                        nargs='*',
-                        help="one or more paths/files to source files to scan for events")
-    parser.add_argument("-j", "--json",
-                        nargs='?',
-                        const="events.json",
-                        metavar="FILENAME",
-                        help="Create Json output file"
-                             " (default FILENAME: events.json)")
-    parser.add_argument('-v', '--verbose',
-                        action='store_true',
-                        help="verbose output")
-
-    args = parser.parse_args()
-
-    # Check for valid command
-    if not (args.json):
-        print("Error: You need to specify at least one output method!")
-        parser.print_usage()
-        sys.exit(1)
-
-    # Initialize source scanner and parser
-    scanner = srcscanner.SourceScanner()
-    parser = srcparser.SourceParser()
-
-    # Scan directories, and parse the files
-    if args.verbose:
-        print("Scanning source path/files " + str(args.src_path))
-
-    # canonicalize + remove duplicates
-    src_paths = set()
-    for path in args.src_path:
-        src_paths.add(os.path.realpath(path))
-
-    if not scanner.ScanDir(src_paths, parser):
-        sys.exit(1)
-
-    events = parser.events
-
-    # Output to JSON file
-    if args.json:
-        if args.verbose: print("Creating Json file " + args.json)
-        cur_dir = os.path.dirname(os.path.realpath(__file__))
-        out = jsonout.JsonOutput(events)
-        out.save(args.json)
-
-if __name__ == "__main__":
-    main()

Tools/setup/requirements.txt

@@ -4,7 +4,6 @@ cerberus
 coverage
 empy>=3.3
 jinja2>=2.8
-jsonschema
 matplotlib>=3.0.*
 numpy>=1.13
 nunavut>=1.1.0

Tools/setup/shell.nix

@@ -44,7 +44,6 @@ in pkgs.mkShell {
 		coverage
 		empy
 		jinja2
-		jsonschema
 		matplotlib
 		numpy
 		packaging

Tools/setup_ignition.bash

@@ -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"

Tools/sitl_run.sh

@@ -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/"

boards/ark/can-flow/default.cmake

@@ -24,10 +24,10 @@ px4_add_board(
 		#sensors
 	SYSTEMCMDS
 		param
-		perf
+		#perf
 		#reboot
 		#system_time
-		top
+		#top
 		#topic_listener
 		#uorb
 		#ver