drivers/gps: set system clock more aggressively

Signed-off-by: Claudio Micheli <claudio@auterion.com>

.ci/Jenkinsfile-compile

@@ -9,10 +9,10 @@ pipeline {
         script {
           def build_nodes = [:]
           def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2021-05-04",
-            arm64: "px4io/px4-dev-aarch64:2021-05-04",
-            base: "px4io/px4-dev-base-bionic:2021-05-04",
-            nuttx: "px4io/px4-dev-nuttx-focal:2021-05-04",
+            armhf: "px4io/px4-dev-armhf:2021-09-08",
+            arm64: "px4io/px4-dev-aarch64:2021-09-08",
+            base: "px4io/px4-dev-base-bionic:2021-09-08",
+            nuttx: "px4io/px4-dev-nuttx-focal:2021-09-08",
           ]
 
           def armhf_builds = [
@@ -38,6 +38,7 @@ pipeline {
                      "airmind_mindpx-v2_default",
                      "ark_can-flow_canbootloader",
                      "ark_can-flow_default",
+                     "atl_mantis-edu_default",
                      "av_x-v1_default",
                      "bitcraze_crazyflie_default",
                      "bitcraze_crazyflie21_default",
@@ -71,8 +72,8 @@ pipeline {
                      "nxp_fmuk66-v3_rtps",
                      "nxp_fmuk66-v3_socketcan",
                      "nxp_fmurt1062-v1_default",
-                     "nxp_ucans32k146_default",
                      "nxp_ucans32k146_canbootloader",
+                     "nxp_ucans32k146_default",
                      "omnibus_f4sd_default",
                      "px4_fmu-v2_default",
                      "px4_fmu-v2_fixedwing",
@@ -126,7 +127,7 @@ 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:2021-09-08' }
     //   }
     //   options {
     //         skipDefaultCheckout()
@@ -158,6 +159,8 @@ pipeline {
 def createBuildNode(Boolean archive, String docker_image, String target) {
   return {
 
+    bypass_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) {

.ci/Jenkinsfile-hardware

@@ -12,7 +12,7 @@ pipeline {
             stage("build cubepilot_cubeorange_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -63,7 +63,7 @@ pipeline {
                     sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
                     checkStatus()
                     quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
                   }
                 }
                 stage("print topics") {
@@ -71,7 +71,11 @@ pipeline {
                     printTopics()
                   }
                 }
-
+              }
+              post {
+                always {
+                    resetBoard()
+                }
               }
             } // stage test
           }
@@ -82,7 +86,7 @@ pipeline {
             stage("build cuav_x7pro_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -139,7 +143,11 @@ pipeline {
                     printTopics()
                   }
                 }
-
+              }
+              post {
+                always {
+                    resetBoard()
+                }
               }
             } // stage test
           }
@@ -150,7 +158,7 @@ pipeline {
             stage("build px4_fmu-v3_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -199,8 +207,7 @@ pipeline {
                     sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
                     checkStatus()
                     quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener px4io_status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
                   }
                 }
                 stage("print topics") {
@@ -208,7 +215,11 @@ pipeline {
                     printTopics()
                   }
                 }
-
+              }
+              post {
+                always {
+                    resetBoard()
+                }
               }
             } // stage test
           }
@@ -219,7 +230,7 @@ pipeline {
             stage("build px4_fmu-v4_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -275,7 +286,11 @@ pipeline {
                     printTopics()
                   }
                 }
-
+              }
+              post {
+                always {
+                    resetBoard()
+                }
               }
             } // stage test
           }
@@ -286,7 +301,7 @@ pipeline {
             stage("build px4_fmu-v4pro_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -335,7 +350,7 @@ pipeline {
                     sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
                     checkStatus()
                     quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
                   }
                 }
                 stage("print topics") {
@@ -343,7 +358,11 @@ pipeline {
                     printTopics()
                   }
                 }
-
+              }
+              post {
+                always {
+                    resetBoard()
+                }
               }
             } // stage test
           }
@@ -354,7 +373,7 @@ pipeline {
             stage("build px4_fmu-v5_debug") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -392,14 +411,14 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_bootloader.elf'
                     // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600 || true'
                   }
                 }
                 stage("tests") {
                   steps {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
                   }
                 }
@@ -411,6 +430,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true'        // limit cpu usage
                     checkStatus()
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
                   }
@@ -420,7 +440,11 @@ pipeline {
                     printTopics()
                   }
                 }
-
+              }
+              post {
+                always {
+                    resetBoard()
+                }
               }
             } // stage test
           }
@@ -431,7 +455,7 @@ pipeline {
             stage("build px4_fmu-v5_optimized") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -488,7 +512,11 @@ pipeline {
                     printTopics()
                   }
                 }
-
+              }
+              post {
+                always {
+                    resetBoard()
+                }
               }
             } // stage test
           }
@@ -499,7 +527,7 @@ pipeline {
             stage("build px4_fmu-v5_stackcheck") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -544,7 +572,7 @@ pipeline {
                   steps {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
                   }
                 }
@@ -556,6 +584,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true'        // limit cpu usage
                     checkStatus()
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
                   }
@@ -565,7 +594,11 @@ pipeline {
                     printTopics()
                   }
                 }
-
+              }
+              post {
+                always {
+                    resetBoard()
+                }
               }
             } // stage test
           }
@@ -576,7 +609,7 @@ pipeline {
             stage("build px4_fmu-v5_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -633,85 +666,89 @@ pipeline {
                     printTopics()
                   }
                 }
-
-              }
-            } // stage test
-          }
-        }
-
-        stage("modalai_fc-v1_test") {
-          stages {
-            stage("build modalai_fc-v1_test") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                checkout scm
-                sh 'export'
-                sh 'make distclean'
-                sh 'ccache -s'
-                sh 'git fetch --tags'
-                sh 'make modalai_fc-v1_test'
-                sh 'make modalai_fc-v1_test bootloader_elf'
-                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_test'
               }
               post {
                 always {
-                    sh 'make distclean'
+                    resetBoard()
                 }
               }
-            } // stage build
-            stage("hardware") {
-              agent {
-                label 'modalai_fc-v1'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'modalai_fc-v1_test'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_bootloader.elf'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                  }
-                }
-                stage("tests") {
-                  steps {
-                    runTests()
-                  }
-                }
-                stage("status") {
-                  steps {
-                    // configure
-                    resetParameters()
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    checkStatus()
-                    quickCalibrate()
-                  }
-                }
-                stage("print topics") {
-                  steps {
-                    printTopics()
-                  }
-                }
-
-              }
             } // stage test
           }
         }
 
+        // stage("modalai_fc-v1_test") {
+        //   stages {
+        //     stage("build modalai_fc-v1_test") {
+        //       agent {
+        //         docker {
+        //           image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+        //           args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+        //         }
+        //       }
+        //       steps {
+        //         checkout scm
+        //         sh 'export'
+        //         sh 'make distclean'
+        //         sh 'ccache -s'
+        //         sh 'git fetch --tags'
+        //         sh 'make modalai_fc-v1_test'
+        //         sh 'make modalai_fc-v1_test bootloader_elf'
+        //         sh 'ccache -s'
+        //         stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_test'
+        //       }
+        //       post {
+        //         always {
+        //             sh 'make distclean'
+        //         }
+        //       }
+        //     } // stage build
+        //     stage("hardware") {
+        //       agent {
+        //         label 'modalai_fc-v1'
+        //       }
+        //       stages {
+        //         stage("flash") {
+        //           steps {
+        //             sh 'export'
+        //             sh 'find /dev/serial'
+        //             unstash 'modalai_fc-v1_test'
+        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_bootloader.elf'
+        //             // flash board and watch bootup
+        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+        //           }
+        //         }
+        //         stage("tests") {
+        //           steps {
+        //             runTests()
+        //           }
+        //         }
+        //         stage("status") {
+        //           steps {
+        //             // configure
+        //             resetParameters()
+        //             sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
+        //             sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+        //             checkStatus()
+        //             quickCalibrate()
+        //           }
+        //         }
+        //         stage("print topics") {
+        //           steps {
+        //             printTopics()
+        //           }
+        //         }
+
+        //       }
+        //     } // stage test
+        //   }
+        // }
+
         stage("nxp_fmuk66-v3_test") {
           stages {
             stage("build nxp_fmuk66-v3_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -756,6 +793,7 @@ pipeline {
                   steps {
                     // configure
                     resetParameters()
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "400"'
                     sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
                     sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
                     checkStatus()
@@ -767,7 +805,11 @@ pipeline {
                     printTopics()
                   }
                 }
-
+              }
+              post {
+                always {
+                    resetBoard()
+                }
               }
             } // stage test
           }
@@ -800,12 +842,13 @@ void quickCalibrate() {
 void checkStatus() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
 
   // run logger
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sleep 1"' // sleep before continuing
   // status commands
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/meminfo"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/uptime"'
@@ -817,8 +860,9 @@ void checkStatus() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload; top once; listener cpuload"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /bin"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
@@ -827,7 +871,7 @@ void checkStatus() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf"'
@@ -835,7 +879,6 @@ void checkStatus() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output0"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output1" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm_out status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -r 2"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uavcan status" || true'
@@ -844,7 +887,7 @@ void checkStatus() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
   // stop logger
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off" || true'
 }
 
 void resetParameters() {
@@ -862,12 +905,12 @@ void runTests() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
 
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink_tests" || true' // TODO
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
 
   sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
 
@@ -877,7 +920,24 @@ void runTests() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
 
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'
+
+  // test rebooting multiple times
+  resetParameters()
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
 }
 
 void printTopics() {
@@ -885,90 +945,127 @@ void printTopics() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
 
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_armed"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_0"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_1"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_2"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_3"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_outputs"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_validated"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_wind"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener commander_state"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf_gps_drift"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_global_position"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_test_ratios"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_variances"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovations"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_local_position"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_odometry"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_optical_flow_vel"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_selector_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_sensor_bias"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_states"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status_flags"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_wind"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener event"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener input_rc"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener led_control"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener log_message"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener logger_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener manual_control_setpoint"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mavlink_log"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mission"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener multirotor_motor_limits"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener optical_flow"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener parameter_update"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_controller_landing_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_setpoint_triplet"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener radio_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener rate_ctrl_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener safety"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fft"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_preflight_mag"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_selection"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener task_stack_info"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener test_motor"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener trajectory_setpoint"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener tune_control"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_acceleration"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude_setpoint"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command_ack"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_control_mode"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_global_position"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_land_detected"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position_setpoint"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_magnetometer"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_odometry"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_rates_setpoint"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status_flags"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vtol_vehicle_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener yaw_estimator_status"'
+  // these are for casually inspecting the system, output failure doesn't matter
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_armed" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_0" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_1" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_2" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_3" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_outputs" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_validated" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_wind" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener commander_state" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf_gps_drift" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_global_position" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_test_ratios" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_variances" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovations" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_local_position" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_odometry" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_optical_flow_vel" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_selector_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_sensor_bias" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_states" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status_flags" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_wind" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener event" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener heater_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener input_rc" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener led_control" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener log_message" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener logger_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener manual_control_setpoint" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mavlink_log" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mission" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener multirotor_motor_limits" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener optical_flow" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener parameter_update" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_controller_landing_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_setpoint_triplet" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener radio_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener rate_ctrl_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener safety" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fft" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_preflight_mag" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_selection" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener task_stack_info" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener test_motor" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener trajectory_setpoint" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener tune_control" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_acceleration" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude_setpoint" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command_ack" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_control_mode" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_global_position" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_land_detected" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position_setpoint" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_magnetometer" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_odometry" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_rates_setpoint" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status_flags" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vtol_vehicle_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener yaw_estimator_status" || true'
+}
+
+void resetBoard() {
+  resetParameters()
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true'        // limit cpu usage
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
+
+  // check SD card
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage"'
+  // format
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman stop"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "umount /fs/microsd"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mkfatfs -F 32 /dev/mmcsd0" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount -t vfat /dev/mmcsd0 /fs/microsd"'
+  // check SD card
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage"'
 }

.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:2021-09-08",
 
 	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
 

.github/ISSUE_TEMPLATE/2_Feature_request.md

@@ -4,7 +4,7 @@ about: Suggest an idea for this project
 
 ---
 
-For general questions please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/).
+For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Slack (you can find an invite link on this project README).
 
 **Describe problem solved by the proposed feature**
 A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...

.github/slack.svg

@@ -0,0 +1,24 @@
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="90" height="20">
+  <linearGradient id="smooth" x2="0" y2="100%">
+    <stop offset="0" stop-color="#bbb" stop-opacity=".1"/>
+    <stop offset="1" stop-opacity=".1"/>
+  </linearGradient>
+
+  <mask id="round">
+    <rect width="90" height="20" rx="3" fill="#fff"/>
+  </mask>
+
+  <g mask="url(#round)">
+    <rect width="42" height="20" fill="#555"/>
+    <rect x="42" width="48" height="20" fill="#E01563"/>
+    <rect width="90" height="20" fill="url(#smooth)"/>
+  </g>
+
+  <g fill="#fff" text-anchor="middle" font-family="DejaVu Sans,Verdana,Geneva,sans-serif" font-size="11">
+    <text x="22" y="15" fill="#010101" fill-opacity=".3">slack</text>
+    <text x="22" y="14">slack</text>
+    <text x="65" y="15" fill="#010101" fill-opacity=".3">Join us!</text>
+    <text x="65" y="14">Join us!</text>
+  </g>
+</svg>
+

.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:2021-09-08
       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
-    timeout-minutes: 60
+    container: px4io/px4-dev-clang:2021-09-08
     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
-    timeout-minutes: 60
+    container: px4io/px4-dev-armhf:2021-09-08
     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
-    timeout-minutes: 60
+    container: px4io/px4-dev-aarch64:2021-09-08
     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

@@ -11,14 +11,14 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-05-04
-    timeout-minutes: 60
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
     strategy:
       matrix:
         config: [
           airmind_mindpx-v2,
           ark_can-flow,
           ark_can-gps,
+          atl_mantis-edu,
           av_x-v1,
           bitcraze_crazyflie,
           bitcraze_crazyflie21,

.github/workflows/compile_nuttx_cannode.yml

@@ -11,16 +11,16 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-05-04
-    timeout-minutes: 60
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
     strategy:
       matrix:
         config: [
           ark_can-flow_default,
+          ark_can-gps_default,
           cuav_can-gps-v1_default,
           freefly_can-rtk-gps_default,
           holybro_can-gps-v1_default,
-          #nxp_ucans32k146_default,
+          nxp_ucans32k146_default,
           px4_fmu-v4_cannode
           ]
     steps:

.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 }}:2021-09-08
     steps:
     - uses: actions/checkout@v1
       with:

.github/workflows/ekf_functional_change_indicator.yml

@@ -5,7 +5,7 @@ on: pull_request
 jobs:
   unit_tests:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
     steps:
     - uses: actions/checkout@v2.3.1
       with:

.github/workflows/ekf_update_change_indicator.yml

@@ -5,7 +5,7 @@ on: push
 jobs:
   unit_tests:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
     env:
       GIT_COMMITTER_EMAIL: bot@px4.io
       GIT_COMMITTER_NAME: PX4BuildBot

.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:2021-09-08
       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:2021-09-08
       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:2021-09-08
     steps:
     - uses: actions/checkout@v1
       with:
@@ -37,7 +37,7 @@ jobs:
 
   module:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
     steps:
     - uses: actions/checkout@v1
       with:
@@ -52,7 +52,7 @@ jobs:
 
   parameter:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
     steps:
     - uses: actions/checkout@v1
       with:
@@ -76,7 +76,7 @@ jobs:
 
   events:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
     steps:
     - uses: actions/checkout@v1
       with:
@@ -103,7 +103,7 @@ jobs:
 
   uorb_graph:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-05-04
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
     steps:
     - uses: actions/checkout@v1
       with:
@@ -118,7 +118,7 @@ jobs:
 
   micrortps_agent:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
     steps:
     - uses: actions/checkout@v1
       with:
@@ -132,7 +132,7 @@ jobs:
 
   ROS_msgs:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
     steps:
     - uses: actions/checkout@v1
       with:
@@ -145,7 +145,7 @@ jobs:
 
   ROS2_bridge:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-09-08
     steps:
     - uses: actions/checkout@v1
       with:
@@ -154,4 +154,4 @@ jobs:
     - name: PX4 ROS2 bridge
       run: |
         git clone https://github.com/PX4/px4_ros_com.git
-        ./msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml
+        ./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml

.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:2021-09-08
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1

.gitmodules

@@ -29,11 +29,11 @@
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.0.0+
+	branch = px4_firmware_nuttx-10.1.0+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-10.0.0+
+	branch = px4_firmware_nuttx-10.1.0+
 [submodule "Tools/flightgear_bridge"]
 	path = Tools/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
@@ -65,4 +65,4 @@
 	url = https://github.com/mavlink/libevents.git
 [submodule "Tools/simulation-ignition"]
 	path = Tools/simulation-ignition
-	url = https://github.com/Auterion/px4-simulation-ignition.git
+	url = https://github.com/Auterion/px4-simulation-ignition.git

.vscode/cmake-variants.yaml

@@ -96,6 +96,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_can-gps_canbootloader
+    atl_mantis-edu_default:
+      short: atl_mantis-edu
+      buildType: MinSizeRel
+      settings:
+        CONFIG: atl_mantis-edu_default
     av_x-v1_default:
       short: av_x-v1
       buildType: MinSizeRel

CMakeLists.txt

@@ -443,8 +443,10 @@ endforeach()
 
 add_custom_command(OUTPUT ${uorb_graph_config}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
-		${graph_module_list}
+		${graph_module_list} --src-path src/lib
+		--merge-depends
 		--exclude-path src/examples
+		--exclude-path src/lib/parameters # FIXME: enable & fix
 		--file ${PX4_SOURCE_DIR}/Tools/uorb_graph/graph_${uorb_graph_config}
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	COMMENT "Generating uORB graph"

Jenkinsfile

@@ -143,6 +143,24 @@ pipeline {
           }
         }
 
+        stage('msg file docs') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+          }
+          steps {
+            sh 'mkdir -p build/msg_docs; ./msg/tools/generate_msg_docs.py -d build/msg_docs'
+            dir('build') {
+              archiveArtifacts(artifacts: 'msg_docs/*.md')
+              stash includes: 'msg_docs/*.md', name: 'msg_documentation'
+            }
+          }
+          post {
+            always {
+              sh 'make distclean'
+            }
+          }
+        }
+
         stage('uORB graphs') {
           agent {
             docker {
@@ -156,8 +174,8 @@ pipeline {
             sh 'git fetch --all --tags'
             sh 'make uorb_graphs'
             dir('Tools/uorb_graph') {
-              archiveArtifacts(artifacts: 'graph_px4_sitl.json')
-              stash includes: 'graph_px4_sitl.json', name: 'uorb_graph'
+              archiveArtifacts(artifacts: 'graph_*.json')
+              stash includes: 'graph_*.json', name: 'uorb_graph'
             }
           }
           post {
@@ -183,11 +201,15 @@ pipeline {
             unstash 'metadata_airframes'
             unstash 'metadata_parameters'
             unstash 'metadata_module_documentation'
+            unstash 'msg_documentation'
+            unstash 'uorb_graph'
             withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
               sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_user_guide.git')
               sh('cp airframes.md px4_user_guide/en/airframes/airframe_reference.md')
               sh('cp parameters.md px4_user_guide/en/advanced_config/parameter_reference.md')
               sh('cp -R modules/*.md px4_user_guide/en/modules/')
+              sh('cp -R graph_*.json px4_user_guide/.vuepress/public/en/middleware/')
+              sh('cp -R msg_docs/*.md px4_user_guide/en/msg_docs/')
               sh('cd px4_user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
               sh('cd px4_user_guide; git push origin master || true')
               sh('rm -rf px4_user_guide')
@@ -301,7 +323,7 @@ pipeline {
             withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
               sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
               // deploy uORB RTPS ID map
-              sh('./msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml')
+              sh('./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml')
               sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
               sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
               // deploy uORB RTPS required tools

Makefile

@@ -299,9 +299,11 @@ all_variants_%:
 	$(foreach a,$(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
+	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --merge-depends --file Tools/uorb_graph/graph_full
+	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --exclude-path src/modules/mavlink --merge-depends --file Tools/uorb_graph/graph_full_no_mavlink
 	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
 	@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
+	@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
 	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
 
 
@@ -479,6 +481,7 @@ submodulesupdate:
 	@git submodule update --quiet --init --recursive --jobs 4 || true
 	@git submodule sync --recursive
 	@git submodule update --init --recursive --jobs 4
+	@git fetch --all --tags --recurse-submodules=yes --jobs=4
 
 gazeboclean:
 	@rm -rf ~/.gazebo/*
@@ -488,7 +491,7 @@ distclean: gazeboclean
 	@rm -rf "$(SRC_DIR)/build"
 	@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"
 
-# Help / Error
+# Help / Error / Misc
 # --------------------------------------------------------------------
 
 # All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
@@ -522,3 +525,18 @@ check_px4: $(call make_list,nuttx,"px4") \
 
 check_nxp: $(call make_list,nuttx,"nxp") \
 	sizes
+
+ifneq ($(ROS2_WS_DIR),)
+  ROS2_WS_DIR := $(basename ${ROS2_WS_DIR})
+else
+  ROS2_WS_DIR := ~/colcon_ws
+endif
+
+update_ros2_bridge:
+	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --all
+
+update_px4_ros_com:
+	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_ros_com
+
+update_px4_msgs:
+	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_msgs

README.md

@@ -4,7 +4,7 @@
 
 [![Nuttx Targets](https://github.com/PX4/PX4-Autopilot/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)
 
-[![Slack](https://px4-slack.herokuapp.com/badge.svg)](http://slack.px4.io)
+[![Slack](/.github/slack.svg)](https://join.slack.com/t/px4/shared_invite/zt-si4xo5qs-R4baYFmMjlrT4rQK5yUnaA)
 
 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.
 

ROMFS/CMakeLists.txt

@@ -120,6 +120,7 @@ add_custom_command(
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
 	WORKING_DIRECTORY ${romfs_gen_root_dir}
 	DEPENDS ${romfs_tar_file}
+	VERBATIM
 	)
 
 add_custom_command(

ROMFS/cannode/init.d/rcS

@@ -15,10 +15,6 @@ set +e
 #
 #------------------------------------------------------------------------------
 set R /
-#
-# Mount the procfs.
-#
-mount -t procfs /proc
 
 #
 # Start CDC/ACM serial driver.

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

@@ -34,9 +34,10 @@
 add_subdirectory(airframes)
 
 px4_add_romfs_files(
-	px4-rc.params
-	px4-rc.simulator
 	px4-rc.mavlink
+	px4-rc.params
+	px4-rc.rtps
+	px4-rc.simulator
 	rc.replay
 	rcS
 )

ROMFS/px4fmu_common/init.d-posix/airframes/1014_solo

@@ -8,6 +8,6 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 param set-default MC_PITCHRATE_P 0.1
-param set-default MC_ROLLRATE_P 0.1
+param set-default MC_ROLLRATE_P 0.05
 
 set MIXER quad_x

ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic

@@ -11,8 +11,6 @@ param set-default NAV_DLL_ACT 0
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
 
-#param set CBRK_GPSFAIL 240024
-
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}
 

ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus

@@ -11,8 +11,6 @@ param set-default NAV_DLL_ACT 0
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
 
-#param set CBRK_GPSFAIL 240024
-
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}
 

ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal

@@ -42,15 +42,9 @@ param set-default NAV_LOITER_RAD 50
 
 param set-default RWTO_TKOFF 1
 
-# fix takeoff failure for JSBsim in autonomous mission mode.
-#param set FW_THR_SLEW_MAX 0.3
-
 param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_MAX_ROLL 10
 
-# fix takeoff failure for JSBsim in autonomous mission mode.
-#param set-default RWTO_MAX_THR 0.6
-
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8
 

ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric

@@ -42,15 +42,9 @@ param set-default NAV_LOITER_RAD 50
 
 param set-default RWTO_TKOFF 1
 
-# fix takeoff failure for JSBsim in autonomous mission mode.
-#param set FW_THR_SLEW_MAX 0.3
-
 param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_MAX_ROLL 10
 
-# fix takeoff failure for JSBsim in autonomous mission mode.
-#param set RWTO_MAX_THR 0.6
-
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8
 

ROMFS/px4fmu_common/init.d-posix/px4-rc.params

@@ -1,5 +1,5 @@
 #!/bin/sh
 # shellcheck disable=SC2154
 
-#param set MAV_SYS_ID $((px4_instance+1))
-#param set IMU_INTEG_RATE 250
+#param set-default MAV_SYS_ID $((px4_instance+1))
+#param set-default IMU_INTEG_RATE 250

ROMFS/px4fmu_common/init.d-posix/px4-rc.rtps

@@ -0,0 +1,4 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -21,8 +21,6 @@ then
 fi
 
 # initialize script variables
-set AUX_MODE                    none
-set AUX_BANK2			none
 set IO_PRESENT                  no
 set MAV_TYPE                    none
 set MIXER                       none
@@ -228,8 +226,7 @@ navigator start
 # Try to start the micrortps_client with UDP transport if module exists
 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))
+	. px4-rc.rtps
 fi
 
 if param greater -s MNT_MODE_IN -1

ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox

@@ -19,6 +19,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v2 exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil

@@ -26,3 +26,5 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027
+
+param set SIH_VEHICLE_TYPE 0

ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil

@@ -0,0 +1,40 @@
+#!/bin/sh
+#
+# @name SIH plane AERT
+#
+# @type Simulation
+# @class Plane
+#
+# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+set MIXER AERT
+set PWM_OUT 1234
+
+# set SYS_HITL to 2 to start the SIH and avoid sensors startup
+param set-default SYS_HITL 2
+
+# disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default COM_PREARM_MODE 0
+param set-default CBRK_IO_SAFETY 22027
+
+param set-default BAT_N_CELLS 3
+
+param set SIH_T_MAX 6.0
+param set SIH_MASS 0.3
+param set SIH_IXX 0.00402
+param set SIH_IYY 0.0144
+param set SIH_IZZ 0.0177
+param set SIH_IXZ 0.00046
+param set SIH_KDV 0.2
+
+param set SIH_VEHICLE_TYPE 1 	# sih as fixed wing

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

@@ -21,8 +21,8 @@
 . ${R}etc/init.d/rc.fw_defaults
 
 
-param set-default BAT_CAPACITY 3300
-param set-default BAT_N_CELLS 3
+param set-default BAT1_CAPACITY 3300
+param set-default BAT1_N_CELLS 3
 
 param set-default PWM_AUX_RATE 50
 param set-default PWM_MAIN_RATE 50

ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1

@@ -26,7 +26,8 @@ param set-default GPS_UBX_DYNMODEL 8
 param set-default SER_TEL2_BAUD 9600
 
 param set-default SENS_BOARD_ROT 0
-        param set MAV_TYPE 8  # MAV_TYPE_FREE_BALLOON
+set MAV_TYPE 8
+param set MAV_TYPE ${MAV_TYPE}
 
 
 set MIXER IO_pass

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

@@ -23,6 +23,7 @@
 # @maintainer William Peale <develop707@gmail.com>
 #
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v2 exclude
 #
 
 set VEHICLE_TYPE mc

ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330

@@ -6,6 +6,7 @@
 # @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/4061_atl_mantis_edu

@@ -0,0 +1,207 @@
+#!/bin/sh
+#
+# @name Advanced Technology Labs (ATL) Mantis EDU
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+#
+# @maintainer
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER none
+set MIXER_AUX none
+
+
+# Battery settings
+param set-default BAT_CRIT_THR 0.20
+param set-default BAT_EMERGEN_THR 0.05
+param set-default BAT_LOW_THR 0.25
+
+param set-default BAT1_CAPACITY 2800.0
+param set-default BAT1_N_CELLS 3
+param set-default BAT1_R_INTERNAL 0.02
+param set-default BAT1_V_CHARGED 4.26
+param set-default BAT1_V_EMPTY 3.45
+
+param set-default CBRK_SUPPLY_CHK 894281
+
+param set-default COM_DISARM_LAND 0.1
+param set-default COM_DISARM_PRFLT 3
+param set-default COM_DL_LOSS_T 10
+param set-default COM_FLTMODE1 -1
+param set-default COM_FLTMODE2 -1
+param set-default COM_FLTMODE3 -1
+param set-default COM_FLTMODE4  2
+param set-default COM_FLTMODE5 -1
+param set-default COM_FLTMODE6  6
+param set-default COM_RC_LOSS_T 3
+param set-default COM_RC_OVERRIDE 1
+
+
+# ekf2
+param set-default EKF2_AID_MASK 35
+param set-default EKF2_BARO_DELAY 0
+param set-default EKF2_BARO_NOISE 2.0
+
+param set-default EKF2_BCOEF_X 31.5
+param set-default EKF2_BCOEF_Y 25.5
+
+param set-default EKF2_GPS_DELAY 100
+param set-default EKF2_GPS_POS_X 0.06
+param set-default EKF2_GPS_POS_Y 0.0
+param set-default EKF2_GPS_POS_Z 0.0
+param set-default EKF2_GPS_V_NOISE 0.5
+
+param set-default EKF2_IMU_POS_X 0.06
+param set-default EKF2_IMU_POS_Y 0.0
+param set-default EKF2_IMU_POS_Z 0.0
+
+param set-default EKF2_MAG_DELAY 0
+param set-default EKF2_MAG_NOISE 0.1
+
+param set-default EKF2_MIN_RNG 0.15
+
+param set-default EKF2_OF_DELAY 38
+param set-default EKF2_OF_GATE 2.0
+param set-default EKF2_OF_POS_X -0.035
+param set-default EKF2_OF_POS_Y 0.0
+param set-default EKF2_OF_POS_Z 0.033
+
+param set-default EKF2_PCOEF_XN -0.3
+param set-default EKF2_PCOEF_XP -0.4
+param set-default EKF2_PCOEF_YN -0.4
+param set-default EKF2_PCOEF_YP -0.4
+param set-default EKF2_PCOEF_Z 0.0
+
+param set-default EKF2_RNG_A_VMAX 1.0
+param set-default EKF2_RNG_AID 0
+param set-default EKF2_RNG_DELAY 55
+param set-default EKF2_RNG_POS_X -0.035
+param set-default EKF2_RNG_POS_Y 0.0
+param set-default EKF2_RNG_POS_Z 0.033
+
+param set-default EKF2_TERR_NOISE 1.0
+
+
+# Maximum allowed angle velocity in the landed state
+param set-default LNDMC_ROT_MAX 40.0
+
+# Maximum vertical velocity allowed in the landed state
+param set-default LNDMC_Z_VEL_MAX 0.7
+
+
+# filtering
+param set-default IMU_DGYRO_CUTOFF 50
+param set-default IMU_GYRO_CUTOFF 65
+
+
+# Pitch angle & rate setting
+param set-default MC_PITCHRATE_P 0.075
+param set-default MC_PITCHRATE_I 0.1
+param set-default MC_PITCHRATE_D 0.0005
+param set-default MC_PITCHRATE_MAX 360.0
+param set-default MC_PITCH_P 8.0
+
+# Roll angle & rate setting
+param set-default MC_ROLLRATE_P 0.055
+param set-default MC_ROLLRATE_I 0.1
+param set-default MC_ROLLRATE_D 0.0005
+param set-default MC_ROLLRATE_MAX 360.0
+param set-default MC_ROLL_P 8.0
+
+# Yaw angle & rate setting
+param set-default MC_YAWRATE_P 0.1
+param set-default MC_YAWRATE_I 0.1
+param set-default MC_YAWRATE_MAX 120.0
+param set-default MC_YAW_P 2.5
+
+param set-default MPC_ACC_DOWN_MAX 2.0
+param set-default MPC_ACC_HOR 3.0
+param set-default MPC_ACC_HOR_MAX 10.0
+param set-default MPC_ACC_UP_MAX 3.0
+param set-default MPC_ALT_MODE 0
+param set-default MPC_LAND_SPEED 0.5
+param set-default MPC_LAND_VEL_XY 10
+param set-default MPC_MAN_TILT_MAX 20
+param set-default MPC_YAWRAUTO_MAX 80.0
+param set-default MPC_POS_MODE 4
+param set-default MPC_THR_HOVER 0.54
+param set-default MPC_THR_MAX 0.9
+param set-default MPC_THR_MIN 0.06
+param set-default MPC_TILTMAX_AIR 30
+param set-default MPC_XY_P 1.0
+param set-default MPC_XY_VEL_D 0.005
+param set-default MPC_XY_VEL_I 0.02
+param set-default MPC_XY_VEL_P 0.15
+param set-default MPC_Z_P 2.0
+param set-default MPC_Z_VEL_D 0.0
+param set-default MPC_Z_VEL_I 0.02
+param set-default MPC_Z_VEL_MAX_DN 2.0
+param set-default MPC_Z_VEL_MAX_UP 3.0
+param set-default MPC_Z_VEL_P 0.27
+
+
+# gimbal configuration
+param set-default MNT_MODE_IN 1
+param set-default MNT_MODE_OUT 2
+param set-default MNT_MAN_PITCH 1
+
+
+# RC
+param set-default RC_CHAN_CNT       12
+
+param set-default RC_MAP_THROTTLE   1
+param set-default RC_MAP_ROLL       2
+param set-default RC_MAP_PITCH      3
+param set-default RC_MAP_YAW        4
+param set-default RC_MAP_FLTMODE    5
+param set-default RC_MAP_AUX1       7
+
+param set-default RC1_DZ            10
+param set-default RC1_MAX           3413
+param set-default RC1_MIN           683
+param set-default RC1_REV           1
+param set-default RC1_TRIM          683
+param set-default RC2_DZ            10
+param set-default RC2_MAX           3413
+param set-default RC2_MIN           683
+param set-default RC2_REV           -1
+param set-default RC2_TRIM          2048
+param set-default RC3_DZ            10
+param set-default RC3_MAX           3413
+param set-default RC3_MIN           683
+param set-default RC3_REV           1
+param set-default RC3_TRIM          2048
+param set-default RC4_DZ            10
+param set-default RC4_MAX           3413
+param set-default RC4_MIN           683
+param set-default RC4_REV           -1
+param set-default RC4_TRIM          2048
+param set-default RC5_DZ            10
+param set-default RC5_MAX           3414
+param set-default RC5_MIN           2048
+param set-default RC5_REV           1
+param set-default RC5_TRIM          2048
+param set-default RC7_DZ            10
+param set-default RC7_MAX           3413
+param set-default RC7_MIN           683
+param set-default RC7_REV           1
+param set-default RC7_TRIM          2048
+
+
+# optical flow
+param set-default SENS_FLOW_MAXR   7.4
+param set-default SENS_FLOW_MINHGT 0.15
+param set-default SENS_FLOW_MAXHGT 5.0
+param set-default SENS_FLOW_ROT    4
+
+
+mixer load /dev/tap_esc /etc/mixers/quad_x.main.mix

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

@@ -27,48 +27,29 @@ set PWM_OUT 1234
 
 
 # Attitude & rate gains
-#param set MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.15
-#param set MC_ROLLRATE_I 0.9
 param set-default MC_ROLLRATE_D 0.0013
 
-#param set MC_PITCH_P 7
 param set-default MC_PITCHRATE_P 0.15
-#param set MC_PITCHRATE_I 1.1
 param set-default MC_PITCHRATE_D 0.0016
 
 param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.2
-#param set MC_YAWRATE_I 0.15
 param set-default MC_YAWRATE_D 0
 param set-default MC_YAW_FF 0.5
 
-#param set MC_ROLL_TC 0.19
-#param set MC_PITCH_TC 0.16
-
-# Manual mode settings: Unleash Draco R's power :)
-#param set MPC_MAN_TILT_MAX 70
-#param set MC_PITCHRATE_MAX 1600
-#param set MC_ROLLRATE_MAX 1600
-#param set MC_YAWRATE_MAX 700
 param set-default MPC_MANTHR_MAX 0.9
 param set-default MPC_MANTHR_MIN 0.08
-#param set MPC_MAN_TILT_MAX 35
-#param set MPC_TILTMAX_AIR 20
 
 # Filter settings
 param set-default IMU_DGYRO_CUTOFF 90
 param set-default IMU_GYRO_CUTOFF 100
 
-# Thrust curve (avoids the need for TPA)
-#param set THR_MDL_FAC 0.25
-
 # System
 param set-default PWM_MAIN_MAX 1950
 param set-default PWM_MAIN_MIN 1100
 param set-default PWM_MAIN_RATE 0
 
-#param set SYS_FMU_TASK 1
 param set-default SENS_BOARD_ROT 10
 
 # EKF2
@@ -96,7 +77,6 @@ param set-default BAT1_SOURCE 0
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_V_DIV 10.14
 param set-default BAT1_A_PER_V 18.18
-#param set CBRK_IO_SAFETY 22027
 param set-default COM_DISARM_LAND 2
 
 # Filter settings
@@ -106,9 +86,6 @@ param set-default IMU_DGYRO_CUTOFF 70
 # Don't try to be intelligent on RC loss: just cut the motors
 param set-default NAV_RCL_ACT 6
 
-# enable to use high-rate logging for better rate tracking analysis
-# param set SDLOG_PROFILE 19
-
 # TELEM1 ttyS1 - Wifi module
 param set-default MAV_0_CONFIG 101
 param set-default MAV_0_RATE 0

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

@@ -75,23 +75,11 @@ param set-default SENS_BOARD_ROT 2
 
 param set-default BAT1_SOURCE 0
 param set-default CBRK_IO_SAFETY 22027
-#param set COM_DISARM_LAND 3
 
 # Filter settings
 param set-default IMU_GYRO_CUTOFF 90
 param set-default IMU_DGYRO_CUTOFF 100
 
-# Don't try to be intelligent on RC loss: just cut the motors
-#param set NAV_RCL_ACT 6
-
 # enable to use high-rate logging for better rate tracking analysis
 param set-default SDLOG_PROFILE 27
 
-# TELEM1 ttyS1
-#param set MAV_0_CONFIG 101
-#param set MAV_0_MODE 2  # onboard
-#param set MAV_0_RATE 20000
-#param set SER_TEL1_BAUD 921600
-
-# TELEM2 ttyS2
-#param set MAV_1_CONFIG 0

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

@@ -27,44 +27,21 @@ set PWM_OUT 1234
 
 
 # Attitude & rate gains
-#param set MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.15
-#param set MC_ROLLRATE_I 0.9
 param set-default MC_ROLLRATE_D 0.0013
 
-#param set MC_PITCH_P 7
 param set-default MC_PITCHRATE_P 0.15
-#param set MC_PITCHRATE_I 1.1
 param set-default MC_PITCHRATE_D 0.0016
 
 param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.2
-#param set MC_YAWRATE_I 0.15
 param set-default MC_YAWRATE_D 0
 
-#param set MC_ROLL_TC 0.19
-#param set MC_PITCH_TC 0.16
-
-# Manual mode settings: Unleash Draco R's power :)
-#param set MPC_MAN_TILT_MAX 70
-#param set MC_PITCHRATE_MAX 1600
-#param set MC_ROLLRATE_MAX 1600
-#param set MC_YAWRATE_MAX 700
 param set-default MPC_MANTHR_MIN 0.08
-#param set MPC_MAN_TILT_MAX 35
-#param set MPC_TILTMAX_AIR 20
 
 # Filter settings
 param set-default IMU_GYRO_CUTOFF 100
 
-# Thrust curve (avoids the need for TPA)
-#param set THR_MDL_FAC 0.25
-
-# Obsolete
-#param set PWM_MAIN_MAX 1950
-#param set PWM_MAIN_MIN 1100
-#param set PWM_MAIN_RATE 0
-
 # Sensors
 param set-default SENS_BOARD_ROT 10
 # Yaw 180
@@ -106,7 +83,6 @@ param set-default BAT1_SOURCE 0
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_V_DIV 10.14
 param set-default BAT1_A_PER_V 18.18
-#param set CBRK_IO_SAFETY 22027
 param set-default COM_DISARM_LAND 2
 
 # Filter settings
@@ -115,9 +91,6 @@ param set-default IMU_GYRO_CUTOFF 90
 # Don't try to be intelligent on RC loss: just cut the motors
 param set-default NAV_RCL_ACT 6
 
-# enable to use high-rate logging for better rate tracking analysis
-# param set SDLOG_PROFILE 19
-
 # TELEM1 ttyS1 - Wifi module
 param set-default MAV_0_CONFIG 101
 param set-default MAV_0_RATE 0

ROMFS/px4fmu_common/init.d/airframes/4080_zmr250

@@ -38,8 +38,6 @@ param set-default MC_ACRO_R_MAX 1000
 param set-default MC_ACRO_P_MAX 1000
 param set-default MC_ACRO_Y_MAX 1000
 
-# param set NAV_RCL_ACT 6 # Lockdown
-
 param set-default PWM_MAIN_MIN 1075
 param set-default PWM_MAIN_RATE 400
 param set-default PWM_MAIN_DISARM 900

ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor

@@ -24,9 +24,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-#Parameters here:
-param set LED_RGB_MAXBRT 8
-
 
 # Configure this as Quadrotor
 # set MAV_TYPE 14

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

@@ -189,7 +189,7 @@ param set-default CAL_ACC1_PRIO 0
 param set-default CAL_GYRO0_PRIO 255
 param set-default CAL_GYRO1_PRIO 0
 # Logger mode. Default(1) + estimator replay(2) + thermal calibration(4)
-param set SDLOG_PROFILE 6
+param set-default SDLOG_PROFILE 6
 
 # Do not start frsky_telemetry on port ttyS6 by default, PGA460 lives there. 500 is in arbitrary unused number.
 param set TEL_FRSKY_CONFIG 500

ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21

@@ -24,7 +24,6 @@ param set-default SYS_HAS_MAG 0
 param set-default EKF2_AID_MASK 2
 param set-default EKF2_MAG_TYPE 5
 
-param set-default BAT_N_CELLS 1
 param set-default BAT1_N_CELLS 1
 param set-default BAT1_SOURCE 1
 
@@ -54,8 +53,6 @@ param set-default MPC_Z_VEL_P_ACC 8
 param set-default MPC_Z_VEL_I_ACC 6
 param set-default MPC_HOLD_MAX_XY 0.1
 param set-default MPC_MAX_FLOW_HGT 3
-#param set IMU_GYRO_NF_FREQ 10
-#param set IMU_GYRO_NF_BW 20
 
 param set-default NAV_RCL_ACT 3
 

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

@@ -72,7 +72,6 @@ param set-default GND_MAX_ANG 3.1415
 param set-default RBCLW_BAUD 8
 param set-default RBCLW_COUNTS_REV 1200
 param set-default RBCLW_ADDRESS 128
-# param set SER_TEL4_BAUD 115200
 # 104 corresponds to Telem 4
 param set-default RBCLW_SER_CFG 104
 # Start this driver after setting parameters, because the driver uses some of those parameters.

ROMFS/px4fmu_common/init.d/airframes/5001_quad_+

@@ -20,6 +20,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v2 exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic

@@ -20,7 +20,6 @@ param set-default NAV_DLL_ACT 0
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
 
-#param set CBRK_GPSFAIL 240024
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}
 

ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus

@@ -20,7 +20,6 @@ param set-default NAV_DLL_ACT 0
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
 
-#param set CBRK_GPSFAIL 240024
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}
 

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

@@ -39,6 +39,7 @@ px4_add_romfs_files(
 	1001_rc_quad_x.hil
 	1002_standard_vtol.hil
 	1100_rc_quad_x_sih.hil
+	1101_rc_plane_sih.hil
 
 	# [2000, 2999] Standard planes"
 	2100_standard_plane
@@ -80,6 +81,7 @@ px4_add_romfs_files(
 	4052_holybro_qav250
 	4053_holybro_kopis2
 	4060_dji_matrice_100
+	4061_atl_mantis_edu
 	4071_ifo
 	4072_draco
 	4073_ifo-s

ROMFS/px4fmu_common/init.d/rc.interface

@@ -29,12 +29,6 @@ then
         fi
 fi
 
-# USE_IO is set to 'no' for all boards w/o px4io driver or SYS_USE_IO disabled
-if [ $USE_IO = no -a $AUX_BANK2 = none ]
-then
-	set AUX_MODE none
-fi
-
 #
 # Set the default output mode if none was set.
 #
@@ -76,15 +70,6 @@ then
 		fi
 	fi
 
-	if [ $OUTPUT_MODE = $OUTPUT_CMD ]
-	then
-		if ! $OUTPUT_CMD mode_$FMU_MODE
-		then
-			echo "$OUTPUT_CMD start failed"
-			tune_control play error
-		fi
-	fi
-
 	if [ $OUTPUT_MODE = uavcan_esc ]
 	then
 		if param compare UAVCAN_ENABLE 0
@@ -98,6 +83,15 @@ then
 		. ${R}etc/init.d/rc.io
 	fi
 
+	if [ $OUTPUT_MODE = $OUTPUT_CMD -o $OUTPUT_MODE = io ]
+	then
+		if ! $OUTPUT_CMD start
+		then
+			echo "$OUTPUT_CMD start failed"
+			tune_control play error
+		fi
+	fi
+
 	#
 	# Start IO for RC input if needed.
 	#
@@ -161,7 +155,7 @@ else
 	fi
 fi
 
-if [ $MIXER_AUX != none -a $AUX_MODE != none ]
+if [ $MIXER_AUX != none ]
 then
 	#
 	# Load aux mixer.
@@ -179,34 +173,26 @@ then
 
 	if [ $MIXER_AUX_FILE != none ]
 	then
-		# Start the output module
-		if $OUTPUT_CMD mode_${AUX_MODE}
+		# Append aux mixer to main device.
+		if param greater SYS_HITL 0
 		then
-			# Append aux mixer to main device.
-			if param greater SYS_HITL 0
+			if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
 			then
-				if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
-				then
-					echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
-				else
-					echo "ERROR  [init] Failed appending mixer: ${MIXER_AUX_FILE}"
-				fi
-			fi
-			if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
-			then
-				if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
-				then
-					echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
-				else
-					echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
-				fi
+				echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
 			else
-				echo "INFO  [init] setting PWM_AUX_OUT none"
-				set PWM_AUX_OUT none
+				echo "ERROR  [init] Failed appending mixer: ${MIXER_AUX_FILE}"
+			fi
+		fi
+		if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
+		then
+			if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
+			then
+				echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
+			else
+				echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
 			fi
 		else
-			echo "ERROR: Could not start: pwm_out mode_pwm"
-			tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
+			echo "INFO  [init] setting PWM_AUX_OUT none"
 			set PWM_AUX_OUT none
 		fi
 
@@ -228,36 +214,6 @@ fi
 
 param set PWM_AUX_OUT ${PWM_AUX_OUT}
 
-if [ $MIXER_AUX != none -a $AUX_MODE = none -a -e $OUTPUT_AUX_DEV ]
-then
-	#
-	# Load aux mixer.
-	#
-	if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix ]
-	then
-		set MIXER_AUX_FILE ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix
-	else
-
-		if [ -f /etc/mixers/${MIXER_AUX}.aux.mix ]
-		then
-			set MIXER_AUX_FILE /etc/mixers/${MIXER_AUX}.aux.mix
-		fi
-	fi
-
-	if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
-	then
-		echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
-
-		# Set PWM_AUX output frequency.
-		if [ $PWM_AUX_RATE != none ]
-		then
-			pwm rate -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
-		fi
-	else
-		echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
-	fi
-fi
-
 if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
 then
 	if [ $PWM_OUT != none ]

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -127,6 +127,34 @@ then
 	fi
 fi
 
+# Eagle Tree airspeed sensor external I2C
+if param compare -s SENS_EN_ETSASPD 1
+then
+	ets_airspeed start -X
+fi
+
+# Sensirion SDP3X differential pressure sensor external I2C
+if param compare -s SENS_EN_SDP3X 1
+then
+	if ! sdp3x_airspeed start -X
+	then
+		# try another common address
+		sdp3x_airspeed start -X -a 0x22
+	fi
+fi
+
+# TE MS4525 differential pressure sensor external I2C
+if param compare -s SENS_EN_MS4525 1
+then
+	ms4525_airspeed start -X
+fi
+
+# TE MS5525 differential pressure sensor external I2C
+if param compare -s SENS_EN_MS5525 1
+then
+	ms5525_airspeed start -X
+fi
+
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
@@ -143,30 +171,6 @@ then
 
 	# start last (wait for possible icm20948 passthrough mode)
 	ak09916 -X -q start
-
-	# differential pressure sensors
-	if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ]
-	then
-		# Always try to start the airspeed sensors
-		# even if their usage might be disabled
-		sdp3x_airspeed start -X -q
-		sdp3x_airspeed start -X -a 0x22 -q
-
-		# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
-		# detected as MS5525 because the chip manufacturer was so
-		# clever to assign the same I2C address and skip a WHO_AM_I
-		# register.
-		if [ $BOARD_FMUV3 = 21 ]
-		then
-			ms5525_airspeed start -X -b 2 -q
-		else
-			ms5525_airspeed start -X -q
-		fi
-
-		ms4525_airspeed start -X -q
-
-		ets_airspeed start -X -q
-	fi
 fi
 
 ###############################################################################

ROMFS/px4fmu_common/init.d/rcS

@@ -22,10 +22,8 @@ set +e
 #
 set R /
 set AUTOCNF no
-set AUX_MODE pwm
 set FCONFIG /fs/microsd/etc/config.txt
 set FEXTRAS /fs/microsd/etc/extras.txt
-set FMU_MODE pwm
 set FRC /fs/microsd/etc/rc.txt
 set IOFW "/etc/extras/px4_io-v2_default.bin"
 set IO_PRESENT no
@@ -51,11 +49,6 @@ set STARTUP_TUNE 1
 set USE_IO no
 set VEHICLE_TYPE none
 
-#
-# Mount the procfs.
-#
-mount -t procfs /proc
-
 #
 # Start CDC/ACM serial driver.
 #
@@ -69,8 +62,43 @@ ver all
 #
 # Try to mount the microSD card.
 #
+set SDCARD_AVAILABLE no
 # REBOOTWORK this needs to start after the flight control loop.
 if mount -t vfat /dev/mmcsd0 /fs/microsd
+then
+	set PX4_INIT_TEST_FILE "/fs/microsd/.px4_init_test_file"
+	date >> $PX4_INIT_TEST_FILE
+
+	if [ -f $PX4_INIT_TEST_FILE ]
+	then
+		cat $PX4_INIT_TEST_FILE
+		rm $PX4_INIT_TEST_FILE
+
+		if [ ! -f $PX4_INIT_TEST_FILE ]
+		then
+			set SDCARD_AVAILABLE yes
+		fi
+	fi
+fi
+
+if [ $SDCARD_AVAILABLE = no ]
+then
+	set STARTUP_TUNE 14 # tune 14 = SD_INIT
+	if mkfatfs -F 32 /dev/mmcsd0
+	then
+		if mount -t vfat /dev/mmcsd0 /fs/microsd
+		then
+			set SDCARD_AVAILABLE yes
+			echo "INFO [init] card formatted"
+
+		else
+			set STARTUP_TUNE 15 # tune 15 = SD_ERROR
+			echo "ERROR [init] format failed"
+		fi
+	fi
+fi
+
+if [ $SDCARD_AVAILABLE = yes ]
 then
 	if hardfault_log check
 	then
@@ -81,20 +109,8 @@ then
 			hardfault_log reset
 		fi
 	fi
-else
-	# tune SD_INIT
-	set STARTUP_TUNE 14 # tune 14 = SD_INIT
-	if mkfatfs /dev/mmcsd0
-	then
-		if mount -t vfat /dev/mmcsd0 /fs/microsd
-		then
-			echo "INFO [init] card formatted"
-		else
-			set STARTUP_TUNE 15 # tune 15 = SD_ERROR
-			echo "ERROR [init] format failed"
-		fi
-	fi
 fi
+unset SDCARD_AVAILABLE
 
 #
 # Look for an init script on the microSD card.
@@ -128,7 +144,7 @@ else
 	then
 		param reset_all
 	fi
-	if ver hwtypecmp V5X00 V5X90 V5Xa0
+	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X
 	then
 		netman update -i eth0
 	fi
@@ -358,52 +374,9 @@ else
 		commander start
 	fi
 
-	# Sensors on the PWM interface bank.
-	if param compare -s SENS_EN_LL40LS 1
-	then
-		# Clear pins 5 and 6.
-		set FMU_MODE pwm4
-		set AUX_MODE pwm4
-	fi
-
-
-	# Check if ATS is enabled
-	if param compare FD_EXT_ATS_EN 1
-	then
-		# Clear pins 5 and 6.
-		set FMU_MODE pwm4
-		set AUX_MODE pwm4
-	fi
 
 	if param greater -s TRIG_MODE 0
 	then
-		if param compare TRIG_PINS_EX 0
-		then
-			# We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
-			if param compare TRIG_PINS 56
-			then
-				# clear pins 5 and 6
-				set FMU_MODE pwm4
-				set AUX_MODE pwm4
-			else
-				if param compare TRIG_PINS 78
-				then
-					# clear pins 7 and 8
-					set FMU_MODE pwm6
-					set AUX_MODE pwm6
-				else
-					set FMU_MODE none
-					set AUX_MODE none
-				fi
-			fi
-		else
-			if param compare TRIG_PINS_EX 12288
-			then
-				set FMU_MODE pwm12
-				set AUX_MODE pwm12
-			fi
-		fi
-
 		camera_trigger start
 		camera_feedback start
 	fi
@@ -431,14 +404,7 @@ else
 		rc_input start $RC_INPUT_ARGS
 	fi
 
-	#
-	# Configure vehicle type specific parameters.
-	# Note: rc.vehicle_setup is the entry point for rc.interface,
-	#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
-	#
-	. ${R}etc/init.d/rc.vehicle_setup
-
-	# Camera capture driver
+	# Camera capture driver (before pwm_out)
 	if param greater -s CAM_CAP_FBACK 0
 	then
 		if camera_capture start
@@ -447,6 +413,13 @@ else
 		fi
 	fi
 
+	#
+	# Configure vehicle type specific parameters.
+	# Note: rc.vehicle_setup is the entry point for rc.interface,
+	#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
+	#
+	. ${R}etc/init.d/rc.vehicle_setup
+
 	#
 	# Start the navigator.
 	#
@@ -546,10 +519,8 @@ fi
 #
 unset R
 unset AUTOCNF
-unset AUX_MODE
 unset FCONFIG
 unset FEXTRAS
-unset FMU_MODE
 unset FRC
 unset IO_PRESENT
 unset IOFW

ROMFS/px4fmu_common/mixers/TF-AutoG2.main.mix

@@ -1,5 +1,6 @@
 Aileron/rudder/elevator/throttle mixer for PX4FMU
 ==================================================
+# @board px4_fmu-v2 exclude
 
 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
 (roll), 1 (pitch) and 3 (thrust).

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

@@ -1,5 +1,6 @@
 TF-G2 autogyro mixer
 ==================================================
+# @board px4_fmu-v2 exclude
 
 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
 (roll), 1 (pitch) and 3 (thrust).

ROMFS/px4fmu_common/mixers/Viper.main.mix

@@ -1,5 +1,6 @@
 Viper Delta-wing mixer
 =================================
+# @board px4_fmu-v2 exclude
 
 Designed for Viper.
 

ROMFS/px4fmu_common/mixers/claire.main.mix

@@ -1,4 +1,5 @@
 # CruiseAder Claire Main Multirotor mixer for PX4FMU
+# @board px4_fmu-v2 exclude
 
 #
 

ROMFS/px4fmu_common/mixers/delta.main.mix

@@ -1,5 +1,6 @@
 Delta-wing mixer for PX4FMU
 ===========================
+# @board px4_fmu-v2 exclude
 
 This file defines mixers suitable for controlling a delta wing aircraft using
 PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU

ROMFS/px4fmu_common/mixers/direct.main.mix

@@ -1,4 +1,5 @@
 # Direct mixer
+# @board px4_fmu-v2 exclude
 
 A: 0
 A: 1

ROMFS/px4fmu_common/mixers/octo_cox_w.main.mix

@@ -1,3 +1,4 @@
 # Octo coaxial with wide arms
+# @board px4_fmu-v2 exclude
 
 R: 8cw

ROMFS/px4fmu_common/mixers/vtol_delta.aux.mix

@@ -1,5 +1,6 @@
 Delta-wing VTOL mixer
 =====================
+# @board px4_fmu-v2 exclude
 
 This file defines mixers suitable for controlling a delta wing VTOL aircraft using
 PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU

ROMFS/px4fmu_common/mixers/vtol_tailsitter_duo.main.mix

@@ -1,5 +1,6 @@
 Tailsitter duo mixer
 ============================
+# @board px4_fmu-v2 exclude
 
 This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
 has two motors in total, one attached to each wing. It also has two elevons which

Tools/HIL/monitor_firmware_upload.py

@@ -30,8 +30,11 @@ def print_line(line):
     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='')
+    if "\n" in line:
+        current_time = datetime.datetime.now()
+        print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
+    else:
+        print('{0}'.format(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)
@@ -40,16 +43,21 @@ def monitor_firmware_upload(port, baudrate):
     timeout_start = time.time()
     timeout_newline = time.time()
 
+    return_code = 0
+
     while True:
         serial_line = ser.readline().decode("ascii", errors='ignore')
 
         if len(serial_line) > 0:
+            if "ERROR" in serial_line:
+                return_code = -1
+
             print_line(serial_line)
 
         if "NuttShell (NSH)" in serial_line:
-            sys.exit(0)
+            sys.exit(return_code)
         elif "nsh>" in serial_line:
-            sys.exit(0)
+            sys.exit(return_code)
 
         if time.time() > timeout_start + timeout:
             print("Error, timeout")

Tools/HIL/nsh_param_set.py

@@ -35,7 +35,7 @@ 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
+    timeout = 30  # 30 seconds
 
     # wait for nsh prompt
     while True:

Tools/HIL/run_nsh_cmd.py

@@ -30,14 +30,18 @@ def print_line(line):
     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='')
+    if "\n" in line:
+        current_time = datetime.datetime.now()
+        print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
+    else:
+        print('{0}'.format(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)
+    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)
 
     timeout_start = time.time()
-    timeout = 10  # 10 seconds
+    timeout = 30  # 30 seconds
 
     # wait for nsh prompt
     while True:
@@ -90,13 +94,19 @@ def do_nsh_cmd(port, baudrate, cmd):
     timeout_start = time.time()
     timeout = 180 # 3 minutes
 
+    return_code = 0
+
     while True:
         serial_line = ser.readline().decode("ascii", errors='ignore')
 
         if success_cmd in serial_line:
+            sys.exit(return_code)
             break
         else:
             if len(serial_line) > 0:
+                if "ERROR " in serial_line:
+                    return_code = -1
+
                 print_line(serial_line)
 
             if "nsh>" in serial_line:

Tools/HIL/run_tests.py

@@ -32,14 +32,17 @@ def print_line(line):
     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='')
+    if "\n" in line:
+        current_time = datetime.datetime.now()
+        print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
+    else:
+        print('{0}'.format(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)
 
     timeout_start = time.time()
-    timeout = 10  # 10 seconds
+    timeout = 30  # 30 seconds
 
     # wait for nsh prompt
     while True:

Tools/docker_run.sh

@@ -4,16 +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:2021-09-08"
 	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"
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
 	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
 		# scumaker_pilotpi_arm64
 		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest"
 	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
 		# posix_rpi_cross, posix_bebop_default
-		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
 	elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
 		# clang tools
 		PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
@@ -27,7 +27,7 @@ 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:2021-09-08"
 fi
 
 # docker hygiene

Tools/gazebo_sitl_multiple_run.sh

@@ -86,8 +86,15 @@ sleep 1
 
 source ${src_path}/Tools/setup_gazebo.bash ${src_path} ${src_path}/build/${target}
 
+# To use gazebo_ros ROS2 plugins
+if [[ -n "$ROS_VERSION" ]] && [ "$ROS_VERSION" == "2" ]; then
+	ros_args="-s libgazebo_ros_init.so -s libgazebo_ros_factory.so"
+else
+	ros_args=""
+fi
+
 echo "Starting gazebo"
-gzserver ${src_path}/Tools/sitl_gazebo/worlds/${world}.world --verbose &
+gzserver ${src_path}/Tools/sitl_gazebo/worlds/${world}.world --verbose $ros_args &
 sleep 5
 
 n=0

Tools/jmavsim_run.sh

@@ -10,7 +10,7 @@ extra_args=
 baudrate=921600
 device=
 ip="127.0.0.1"
-while getopts ":b:d:p:qsr:f:i:lo" opt; do
+while getopts ":b:d:p:qsr:f:i:loa" opt; do
 	case $opt in
 		b)
 			baudrate=$OPTARG
@@ -39,6 +39,9 @@ while getopts ":b:d:p:qsr:f:i:lo" opt; do
 		o)
 			extra_args="$extra_args -disponly"
 			;;
+		a)
+			extra_args="$extra_args -fw" # aircraft
+			;;
 		\?)
 			echo "Invalid option: -$OPTARG" >&2
 			exit 1

Tools/mavlink_ulog_streaming.py

@@ -13,6 +13,7 @@ import datetime
 from timeit import default_timer as timer
 os.environ['MAVLINK20'] = '1' # The commands require mavlink 2
 from argparse import ArgumentParser
+import signal
 
 try:
     from pymavlink import mavutil
@@ -24,6 +25,8 @@ except ImportError as e:
     print("")
     sys.exit(1)
 
+class LoggingCompleted(Exception):
+    pass
 
 class MavlinkLogStreaming():
     '''Streams log data via MAVLink.
@@ -49,6 +52,7 @@ class MavlinkLogStreaming():
         self.logging_started = False
         self.num_dropouts = 0
         self.target_component = 1
+        self.got_sig_int = False
 
     def debug(self, s, level=1):
         '''write some debug text'''
@@ -67,13 +71,24 @@ class MavlinkLogStreaming():
                 mavutil.mavlink.MAV_CMD_LOGGING_STOP, 0,
                 0, 0, 0, 0, 0, 0, 0)
 
+    def _int_handler(self, sig, frame):
+        self.got_sig_int = True
+
     def read_messages(self):
         ''' main loop reading messages '''
         measure_time_start = timer()
         measured_data = 0
 
         next_heartbeat_time = timer()
+        old_handler = signal.signal(signal.SIGINT, self._int_handler)
+
         while True:
+            if self.got_sig_int:
+                signal.signal(signal.SIGINT, old_handler)
+                self.got_sig_int = False
+                print('\nStopping log...')
+                self.stop_log()
+                # Continue reading until we get an ACK
 
             # handle heartbeat sending
             heartbeat_time = timer()
@@ -120,6 +135,9 @@ class MavlinkLogStreaming():
                         print('Logging started. Waiting for Header...')
                     else:
                         raise Exception('Logging start failed', m.result)
+                elif m.command == mavutil.mavlink.MAV_CMD_LOGGING_STOP and \
+                        m.result == mavutil.mavlink.MAV_RESULT_ACCEPTED:
+                    raise LoggingCompleted()
                 return None, 0, 0
 
             # m is either 'LOGGING_DATA_ACKED' or 'LOGGING_DATA':
@@ -137,7 +155,8 @@ class MavlinkLogStreaming():
 
                 if m.get_type() == 'LOGGING_DATA':
                     if not self.got_header_section:
-                        print('Header received in {:0.2f}s'.format(timer()-self.start_time))
+                        print('Header received in {:0.2f}s (size: {:.1f} KB)'.format(
+                              timer()-self.start_time, self.file.tell()/1024))
                         self.logging_started = True
                         self.got_header_section = True
                 self.last_sequence = m.sequence
@@ -256,14 +275,10 @@ def main():
         print('Starting log...')
         mav_log_streaming.start_log()
         mav_log_streaming.read_messages()
-
-        print('Stopping log')
-        mav_log_streaming.stop_log()
-
     except KeyboardInterrupt:
-        print('Stopping log')
-        mav_log_streaming.stop_log()
-
+        print('Aborting')
+    except LoggingCompleted:
+        print('Done')
 
 if __name__ == '__main__':
     main()

Tools/px4airframes/markdownout.py

@@ -18,33 +18,38 @@ The motors in **green** rotate clockwise, the ones in **blue** counterclockwise.
 If present, PWM AUX channels are commonly labelled **AUX OUT**.
 
 <style>
-table {
+div.frame_common table, div.frame_common table {
    display: table;
    table-layout: fixed;
    margin-bottom: 5px;
 }
-table.common {
+
+div.frame_common table {
    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 {
+div.frame_common img {
   max-height: 180px;
   width: 29%;
   padding-top: 10px;
 }
+
+div.frame_variant table {
+   width: 100%;
+}
+
+div.frame_variant th:nth-child(1) {
+  width: 30%;
+  }
+
+div.frame_variant tr > * {
+    vertical-align : top;
+}
+
+div.frame_variant td, div.frame_variant th {
+  text-align : left;
+}
 </style>\n\n"""
  
         type_set = set()
@@ -61,7 +66,7 @@ img {
 
             # Display an image of the frame
             image_name = group.GetImageName()
-            result += '<div>\n'
+            result += '<div class="frame_common">\n'
             image_name = image_path + image_name
             result += '<img src="%s.svg"/>\n' % (image_name)
 
@@ -93,7 +98,7 @@ img {
                     outputs_prev[i] = ''
 
             if outputs_match[0] or outputs_match[1]:
-                result += '<table class="common">\n'
+                result += '<table>\n'
                 result += ' <thead>\n'
                 result += '   <tr><th>Common Outputs</th></tr>\n'
                 result += ' </thead>\n'
@@ -103,7 +108,8 @@ img {
 
             result += '</div>\n\n'
 
-            result += '<table class="generic">\n'
+            result += '<div class="frame_variant">\n'
+            result += '<table>\n'
             result += ' <thead>\n'
             result += '   <tr><th>Name</th><th></th></tr>\n'
             result += ' </thead>\n'
@@ -156,7 +162,7 @@ img {
 
 
             #Close the table.
-            result += '</tbody></table>\n\n'
+            result += '</tbody>\n</table>\n</div>\n\n'
 
         self.output = result
 

Tools/px4events/srcparser.py

@@ -221,7 +221,8 @@ class SourceParser(object):
                             else:
                                 raise Exception("Could not extract event ID from {:}".format(args_split[0]))
                             event.name = event_name
-                            event.message = args_split[2][1:-1]
+                            # unescape \x, to treat the string the same as the C++ compiler
+                            event.message = args_split[2][1:-1].encode("utf-8").decode('unicode_escape')
                     elif call in ['reporter.healthFailure', 'reporter.armingCheckFailure']:
                         assert len(args_split) == num_args + 5, \
                             "Unexpected Number of arguments for: {:}, {:}".format(args_split, num_args)

Tools/px_uploader.py

@@ -682,7 +682,28 @@ class uploader(object):
 
         return True
 
-    def send_reboot(self):
+    def send_protocol_splitter_format(self, data):
+        # Header Structure:
+        #      bits:   1 2 3 4 5 6 7 8
+        # header[0] - |     Magic     | (='S')
+        # header[1] - |T|   LenH      | (T - 0: mavlink; 1: rtps)
+        # header[2] - |     LenL      |
+        # header[3] - |   Checksum    |
+
+        MAGIC = 83
+
+        len_bytes = len(data).to_bytes(2, "big")
+        LEN_H = len_bytes[0] & 127
+        LEN_L = len_bytes[1] & 255
+        CHECKSUM = MAGIC ^ LEN_H ^ LEN_L
+
+        header_ints = [MAGIC, LEN_H, LEN_L, CHECKSUM]
+        header_bytes = struct.pack("{}B".format(len(header_ints)), *header_ints)
+
+        self.__send(header_bytes)
+        self.__send(data)
+
+    def send_reboot(self, use_protocol_splitter_format=False):
         if (not self.__next_baud_flightstack()):
             return False
 
@@ -693,15 +714,19 @@ class uploader(object):
             print("If the board does not respond, unplug and re-plug the USB connector.", file=sys.stderr)
 
         try:
+            send_fct = self.__send
+            if use_protocol_splitter_format:
+                send_fct = self.send_protocol_splitter_format
+
             # try MAVLINK command first
             self.port.flush()
-            self.__send(uploader.MAVLINK_REBOOT_ID1)
-            self.__send(uploader.MAVLINK_REBOOT_ID0)
+            send_fct(uploader.MAVLINK_REBOOT_ID1)
+            send_fct(uploader.MAVLINK_REBOOT_ID0)
             # then try reboot via NSH
-            self.__send(uploader.NSH_INIT)
-            self.__send(uploader.NSH_REBOOT_BL)
-            self.__send(uploader.NSH_INIT)
-            self.__send(uploader.NSH_REBOOT)
+            send_fct(uploader.NSH_INIT)
+            send_fct(uploader.NSH_REBOOT_BL)
+            send_fct(uploader.NSH_INIT)
+            send_fct(uploader.NSH_REBOOT)
             self.port.flush()
             self.port.baudrate = self.baudrate_bootloader
         except Exception:
@@ -726,9 +751,13 @@ def main():
     parser.add_argument('--baud-flightstack', action="store", default="57600", help="Comma-separated list of baud rate of the serial port (default is 57600) when communicating with flight stack (Mavlink or NSH), only required for true serial ports.")
     parser.add_argument('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading')
     parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
+    parser.add_argument('--use-protocol-splitter-format', action='store_true', help='use protocol splitter format for reboot')
     parser.add_argument('firmware', action="store", help="Firmware file to be uploaded")
     args = parser.parse_args()
 
+    if args.use_protocol_splitter_format:
+        print("Using protocol splitter format to reboot pixhawk!")
+
     # warn people about ModemManager which interferes badly with Pixhawk
     if os.path.exists("/usr/sbin/ModemManager"):
         print("==========================================================================================================")
@@ -830,7 +859,7 @@ def main():
 
                     except Exception:
 
-                        if not up.send_reboot():
+                        if not up.send_reboot(args.use_protocol_splitter_format):
                             break
 
                         # wait for the reboot, without we might run into Serial I/O Error 5

Tools/sitl_run.sh

@@ -56,6 +56,13 @@ else
     follow_mode=""
 fi
 
+# To use gazebo_ros ROS2 plugins
+if [[ -n "$ROS_VERSION" ]] && [ "$ROS_VERSION" == "2" ]; then
+	ros_args="-s libgazebo_ros_init.so -s libgazebo_ros_factory.so"
+else
+	ros_args=""
+fi
+
 if [ "$program" == "jmavsim" ]; then
 	jmavsim_pid=`ps aux | grep java | grep "\-jar jmavsim_run.jar" | awk '{ print $2 }'`
 	if [ -n "$jmavsim_pid" ]; then
@@ -133,7 +140,7 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
 				world_path="$PX4_SITL_WORLD"
 			fi
 		fi
-		gzserver $verbose $world_path &
+		gzserver $verbose $world_path $ros_args &
 		SIM_PID=$!
 
 		# Check all paths in ${GAZEBO_MODEL_PATH} for specified model
@@ -179,8 +186,13 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
 	fi
 elif [ "$program" == "ignition" ] && [ -z "$no_sim" ]; then
 	echo "Ignition Gazebo"
+	if [[ -n "$HEADLESS" ]]; then
+		ignition_headless="-s"
+	else
+		ignition_headless=""
+	fi
 	source "$src_path/Tools/setup_ignition.bash" "${src_path}" "${build_path}"
-	ign gazebo -r "${src_path}/Tools/simulation-ignition/worlds/ignition.world"&
+	ign gazebo ${verbose} ${ignition_headless} -r "${src_path}/Tools/simulation-ignition/worlds/${model}.world"&
 elif [ "$program" == "flightgear" ] && [ -z "$no_sim" ]; then
 	echo "FG setup"
 	cd "${src_path}/Tools/flightgear_bridge/"

Tools/uorb_graph/create.py

@@ -23,7 +23,7 @@ parser.add_argument('-e', '--exclude-path', action='append',
                     help='Excluded path(s), can be specified multiple times',
                     default=[])
 parser.add_argument('--merge-depends', action='store_true',
-                    help='Merge library topics inte the modules that depend on them.')
+                    help='Merge library topics in the modules that depend on them.')
 parser.add_argument('-v','--verbosity', action='count',
                     help='increase output verbosity; primarily for debugging; repeat for more detail',
                     default=0)
@@ -422,6 +422,7 @@ class Graph(object):
         found_module_def = False
         found_module_depends = False
         found_library_def = False
+        scope_added = False
         for line in datafile:
             if 'px4_add_module' in line: # must contain 'px4_add_module'
                 found_module_def = True
@@ -432,6 +433,7 @@ class Graph(object):
                     library_name = tokens[1].split()[0].strip().rstrip(')')
                     library_scope = LibraryScope(library_name)
                     self._current_scope.append(library_scope)
+                    scope_added = True
                     self._found_libraries[library_name] = library_scope
                     if self._in_scope():
                         log.debug('    >> found library: ' + library_name)
@@ -443,16 +445,18 @@ class Graph(object):
             elif found_module_depends:
                 # two tabs is a *sketchy* heuristic -- spacing isn't guaranteed by cmake;
                 # ... but the hard-tabs *is* specified by PX4 coding standards, so it's likely to be consistent
-                if line.startswith('\t\t'):
+                if line.startswith('\t\t') and not line.strip().startswith('#'):
                     depends = [dep.strip() for dep in line.split()]
                     for name in depends:
+                        log.debug('        >> {:}: found module dep: {:}'
+                            .format(self._current_scope[-1].name, name))
                         self._current_scope[-1].add_dependency(name)
                         if kwargs['merge_depends']:
                             if (0 < len(self._scope_whitelist)) and self._current_scope[-1].name in self._scope_whitelist:
                                 # if we whitelist a module with dependencies, whitelist the dependencies, too
                                 self._scope_whitelist.add(name)
 
-                else:
+                elif line.strip() != "":
                     found_module_depends = False  ## done with the 'DEPENDS' section.
 
             words = line.split()
@@ -461,17 +465,21 @@ class Graph(object):
                 module_name = words[1]
                 module_scope = ModuleScope(module_name)
                 self._current_scope.append(module_scope)
+                scope_added = True
                 self._found_modules[module_name] = module_scope
                 if self._in_scope():
                     log.debug('    >> Found module name: ' + module_scope.name)
 
-        return (found_library_def or found_module_def)
+        return scope_added
 
 
     def _process_source_file(self, file_name):
         """ extract information from a single source file """
 
-        log.debug( "        >> extracting topics from file: " + file_name )
+        current_scope = self._get_current_scope()
+        log.debug( "        >> {:}extracting topics from file: {:}"
+            .format(current_scope.name+": " if current_scope is not None else "",
+            file_name))
 
         with codecs.open(file_name, 'r', 'utf-8') as f:
             try:
@@ -481,7 +489,6 @@ class Graph(object):
                 return
 
 
-            current_scope = self._get_current_scope()
             if current_scope:
                 if current_scope.name in self._scope_blacklist:
                     return
@@ -673,7 +680,7 @@ class OutputJSON(object):
             node['color'] = topic_colors[topic]
             # url is opened when double-clicking on the node
             # TODO: does not work for multi-topics
-            node['url'] = 'https://github.com/PX4/Firmware/blob/master/msg/'+topic+'.msg'
+            node['url'] = 'https://github.com/PX4/PX4-Autopilot/blob/master/msg/'+topic+'.msg'
             nodes.append(node)
 
         data['nodes'] = nodes

Tools/update_px4_ros2_bridge.sh

@@ -0,0 +1,135 @@
+#!/usr/bin/env bash
+set -e
+
+agent_template_files_updated=0
+code_generator_files_updated=0
+
+# parse help argument
+if [[ $1 == "-h" ]] || [[ $1 == "--help" ]]; then
+  echo -e "Usage: update_px4_ros2_bridge.bash [options...] \t This script allows to update px4_ros_com and px4_msgs in a specified directory." >&2
+  echo
+  echo -e "\t--ws_dir \t\t Location of the ament/colcon workspace. Default: $HOME/colcon_ws."
+  echo -e "\t--px4_ros_com \t\t Updates px4_ros_com microRTPS agent code generation and templates."
+  echo -e "\t--px4_msgs \t\t Updates px4_msgs messages definition files."
+  echo -e "\t--all \t\t Updates both px4_ros_com and px4_msgs."
+  echo
+  exit 0
+fi
+
+# parse the arguments
+while [ $# -gt 0 ]; do
+  if [[ $1 == *"--"* ]]; then
+    v="${1/--/}"
+    if [ ! -z $2 ]; then
+      declare $v="$2"
+    else
+      declare $v=1
+    fi
+  fi
+  shift
+done
+
+# get script directory
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+
+# get PX4-Autopilot directory
+PX4_DIR=$(cd "$(dirname "$SCRIPT_DIR")" && pwd)
+
+function compare_and_update () {
+  cmp -s "$1" "$2"
+  if [ $? -eq 1 ]; then
+    cp "$1" "$2"
+    return 0
+  fi
+
+  return 1;
+}
+
+# update microRTPS agent code generators / helpers
+function update_agent_code {
+  declare -a templates=( \
+    "microRTPS_agent.cpp.em" \
+    "microRTPS_timesync.cpp.em" \
+    "microRTPS_timesync.h.em" \
+    "microRTPS_transport.cpp" \
+    "microRTPS_transport.h" \
+    "Publisher.cpp.em" \
+    "Publisher.h.em" \
+    "Subscriber.cpp.em" \
+    "Subscriber.h.em" \
+    "RtpsTopics.cpp.em" \
+    "RtpsTopics.h.em" \
+    )
+
+  for file in ${templates[@]}; do
+    compare_and_update "$PX4_DIR/msg/templates/urtps/$file" "$ws_dir/src/px4_ros_com/templates/$file" \
+      && echo -e "--\t\t- '$ws_dir/src/px4_ros_com/templates/$file' updated" && ((agent_template_files_updated+=1))
+  done
+  if [ $agent_template_files_updated -eq 0 ]; then
+    echo -e "--\t\t- No template files updated"
+  elif [ $agent_template_files_updated -eq 1 ]; then
+    echo -e "--\t\t  - 1 template file updated"
+  else
+    echo -e "--\t\t  - $agent_template_files_updated template files updated"
+  fi
+}
+
+# update microRTPS agent code templates
+function update_agent_templates {
+  declare -a code_generators=( \
+    "uorb_rtps_classifier.py" \
+    "generate_microRTPS_bridge.py" \
+    "px_generate_uorb_topic_files.py" \
+    )
+  for file in ${code_generators[@]}; do
+    compare_and_update "$PX4_DIR/msg/tools/$file $ws_dir/src/px4_ros_com/scripts/$file" \
+      && echo -e "--\t\t- '$ws_dir/src/px4_ros_com/scripts/$file' updated" && ((code_generator_files_updated+=1))
+  done
+  if [ $code_generator_files_updated -eq 0 ]; then
+    echo -e "--\t\t- No code generators / helpers files updated"
+  elif [ $code_generator_files_updated -eq 1 ]; then
+    echo -e "--\t\t  - 1 code generator / helper file updated"
+  else
+    echo -e "--\t\t  - $code_generator_files_updated code generator / helper files updated"
+  fi
+}
+
+# update px4_ros_com files
+function update_px4_ros_com {
+  python3 $PX4_DIR/msg/tools/uorb_to_ros_urtps_topics.py -i $PX4_DIR/msg/tools/urtps_bridge_topics.yaml -o $ws_dir/src/px4_ros_com/templates/urtps_bridge_topics.yaml
+  echo -e "---------------          \033[1mmicroRTPS agent code generation and templates update\033[0m          ----------------"
+  echo "-------------------------------------------------------------------------------------------------------"
+  update_agent_code
+  update_agent_templates
+  return 0
+}
+
+# function to update px4_msgs
+function update_px4_msgs {
+  find "$ws_dir/src/px4_msgs/msg/" -maxdepth 1 -type f -delete
+  python3 $PX4_DIR/msg/tools/uorb_to_ros_msgs.py $PX4_DIR/msg/ $ws_dir/src/px4_msgs/msg/
+}
+
+# decisor
+echo "-------------------------------------------------------------------------------------------------------"
+if [ -d "${ws_dir}" ]; then
+  ws_dir=$(cd "$ws_dir" && pwd)
+  if [ ! -z ${all} ]; then
+    update_px4_ros_com
+    echo "-------------------------------------------------------------------------------------------------------"
+    update_px4_msgs
+  elif [ ! -z ${px4_ros_com} ]; then
+    update_px4_ros_com
+    echo "-------------------------------------------------------------------------------------------------------"
+  elif [ ! -z ${px4_msgs} ]; then
+    update_px4_msgs
+  fi
+  echo -e "--------------------------------          \033[0;32mUpdate successful!\033[0m          ---------------------------------"
+  echo "-------------------------------------------------------------------------------------------------------"
+  exit 0
+else
+  echo -e "-- \033[0;31mWorkspace directory doesn't exist...\033[0m"
+  echo -e "----------------------------------          \033[0;31mUpdate failed!\033[0m          -----------------------------------"
+  echo "-------------------------------------------------------------------------------------------------------"
+  exit $ERRCODE
+fi

boards/airmind/mindpx-v2/default.cmake

@@ -1,9 +1,6 @@
 
 px4_add_board(
 	PLATFORM nuttx
-	VENDOR airmind
-	MODEL mindpx-v2
-	LABEL default
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY

boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig

@@ -19,6 +19,7 @@
 # CONFIG_NSH_DISABLE_GET is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_TIME is not set
 # CONFIG_STM32_CCMEXCLUDE is not set
@@ -90,7 +91,6 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
-CONFIG_NFILE_DESCRIPTORS=12
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -99,9 +99,6 @@ CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
 CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_MB=y
-CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15

boards/airmind/mindpx-v2/src/board_config.h

@@ -95,7 +95,6 @@
 /* AUX PWMs
  */
 #define DIRECT_PWM_OUTPUT_CHANNELS	8
-#define DIRECT_INPUT_TIMER_CHANNELS	8
 
 /* USB OTG FS
  *
@@ -153,7 +152,6 @@
 #define BOARD_ADC_PERIPH_5V_OC  (0)
 #define BOARD_ADC_HIPOWER_5V_OC (0)
 
-#define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS
 
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120

boards/ark/can-flow/canbootloader.cmake

@@ -2,9 +2,6 @@ include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
 
 px4_add_board(
 	PLATFORM nuttx
-	VENDOR ark
-	MODEL can-flow
-	LABEL canbootloader
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY

boards/ark/can-flow/debug.cmake

@@ -2,9 +2,6 @@ include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
 
 px4_add_board(
 	PLATFORM nuttx
-	VENDOR ark
-	MODEL can-flow
-	LABEL debug
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY

boards/ark/can-flow/default.cmake

@@ -2,9 +2,6 @@ include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
 
 px4_add_board(
 	PLATFORM nuttx
-	VENDOR ark
-	MODEL can-flow
-	LABEL default
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_FLASH

boards/ark/can-flow/nuttx-config/canbootloader/defconfig

@@ -36,7 +36,7 @@ CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_LIB_BOARDCTL=y
-CONFIG_MAX_TASKS=0
+CONFIG_FS_PROCFS_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
 CONFIG_NUNGET_CHARS=0

boards/ark/can-flow/nuttx-config/nsh/defconfig

@@ -15,6 +15,7 @@
 # CONFIG_NSH_DISABLE_GET is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_TIME is not set
 # CONFIG_STM32_DMACAPABLE is not set
@@ -70,7 +71,6 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
-CONFIG_NFILE_DESCRIPTORS=12
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -79,9 +79,6 @@ CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
 CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_MB=y
-CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15

boards/ark/can-gps/canbootloader.cmake

@@ -2,9 +2,6 @@ include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
 
 px4_add_board(
 	PLATFORM nuttx
-	VENDOR ark
-	MODEL can-gps
-	LABEL canbootloader
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY

boards/ark/can-gps/debug.cmake

@@ -2,9 +2,6 @@ include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
 
 px4_add_board(
 	PLATFORM nuttx
-	VENDOR ark
-	MODEL can-gps
-	LABEL debug
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
@@ -25,8 +22,8 @@ px4_add_board(
 		#load_mon
 		#sensors
 	SYSTEMCMDS
-		i2cdetect
-		led_control
+		#i2cdetect
+		#led_control
 		param
 		perf
 		reboot

boards/ark/can-gps/default.cmake

@@ -2,9 +2,6 @@ include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
 
 px4_add_board(
 	PLATFORM nuttx
-	VENDOR ark
-	MODEL can-gps
-	LABEL default
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	#CONSTRAINED_FLASH

boards/ark/can-gps/nuttx-config/canbootloader/defconfig

@@ -36,7 +36,7 @@ CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_LIB_BOARDCTL=y
-CONFIG_MAX_TASKS=0
+CONFIG_FS_PROCFS_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
 CONFIG_NUNGET_CHARS=0

boards/ark/can-gps/nuttx-config/nsh/defconfig

@@ -15,6 +15,7 @@
 # CONFIG_NSH_DISABLE_GET is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_TIME is not set
 # CONFIG_STM32_DMACAPABLE is not set
@@ -70,7 +71,6 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
-CONFIG_NFILE_DESCRIPTORS=12
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -79,9 +79,6 @@ CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
 CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_MB=y
-CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15