navigator: wrote unit tests for Takeoff navigation mode

Signed-off-by: RomanBapst <bapstroman@gmail.com>
2026-05-24 02:47:35 +08:00 · 2021-05-12 18:39:34 +03:00
1446 changed files with 20954 additions and 113689 deletions
@@ -9,10 +9,11 @@ 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:2021-04-29",
+            arm64: "px4io/px4-dev-aarch64:2021-04-29",
+            base: "px4io/px4-dev-base-bionic:2021-04-29",
+            nuttx: "px4io/px4-dev-nuttx-focal:2021-04-29",
+            snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
          ]

          def armhf_builds = [
@@ -47,8 +48,6 @@ pipeline {
                     "cuav_x7pro_default",
                     "cubepilot_cubeorange_default",
                     "cubepilot_cubeyellow_default",
-                     "freefly_can-rtk-gps_canbootloader",
-                     "freefly_can-rtk-gps_default",
                     "holybro_can-gps-v1_canbootloader",
                     "holybro_can-gps-v1_default",
                     "holybro_durandal-v1_default",
@@ -56,7 +55,6 @@ pipeline {
                     "holybro_pix32v5_default",
                     "modalai_fc-v1_default",
                     "modalai_fc-v1_rtps",
-                     "modalai_fc-v2_default",
                     "mro_ctrl-zero-f7_default",
                     "mro_ctrl-zero-f7-oem_default",
                     "mro_ctrl-zero-h7_default",
@@ -105,8 +103,14 @@ pipeline {
            archive: true
          ]

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

          for (def build_type = 0; build_type < docker_builds.size(); build_type++) {
@@ -126,7 +130,7 @@ pipeline {
    // TODO: actually upload artifacts to S3
    // stage('S3 Upload') {
    //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+    //     docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
    //   }
    //   options {
    //         skipDefaultCheckout()
@@ -151,13 +155,19 @@ pipeline {
  }
  options {
    buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
-    timeout(time: 90, unit: 'MINUTES')
+    timeout(time: 60, unit: 'MINUTES')
  }
 }

 def createBuildNode(Boolean archive, String docker_image, String target) {
  return {

+    // TODO: fix the snapdragon image
+    bypass_entrypoint = ''
+    if (docker_image == 'lorenzmeier/px4-dev-snapdragon:2020-04-01') {
+      bypass_entrypoint = ' --entrypoint=""'
+    }
+
    node {
      docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
        docker.image(docker_image).inside('-e CCACHE_BASEDIR=${WORKSPACE} -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' + bypass_entrypoint) {
@@ -2,7 +2,7 @@
 // https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
 {
 	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2021-05-04",
+	"image": "px4io/px4-dev-nuttx-focal:2021-04-29",

 	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],

@@ -11,7 +11,6 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    timeout-minutes: 60
    strategy:
      fail-fast: false
      matrix:
@@ -24,13 +23,12 @@ jobs:
          "shellcheck_all",
          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
          "NO_NINJA_BUILD=1 px4_sitl_default",
-          "BUILD_MICRORTPS_AGENT=1 px4_sitl_rtps",
          "airframe_metadata",
          "module_documentation",
          "parameters_metadata",
        ]
    container:
-      image: px4io/px4-dev-nuttx-focal:2021-05-04
+      image: px4io/px4-dev-nuttx-focal:2021-04-29
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -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:2021-04-29
    steps:
    - uses: actions/checkout@v1
      with:
@@ -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:2021-04-29
    strategy:
      matrix:
        config: [
@@ -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-aarch64:2021-04-29
    strategy:
      matrix:
        config: [
@@ -11,7 +11,6 @@ on:
 jobs:
  build:
    runs-on: macos-10.15
-    timeout-minutes: 60
    strategy:
      matrix:
        config: [
@@ -11,51 +11,78 @@ 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:2021-04-29
    strategy:
      matrix:
        config: [
-          airmind_mindpx-v2,
-          ark_can-flow,
-          ark_can-gps,
-          av_x-v1,
-          bitcraze_crazyflie,
-          bitcraze_crazyflie21,
-          cuav_can-gps-v1,
-          cuav_nora,
-          cuav_x7pro,
-          cubepilot_cubeorange,
-          cubepilot_cubeyellow,
-          freefly_can-rtk-gps,
-          holybro_can-gps-v1,
-          holybro_durandal-v1,
-          holybro_kakutef7,
-          holybro_pix32v5,
-          modalai_fc-v1,
-          modalai_fc-v2,
-          mro_ctrl-zero-f7,
-          mro_ctrl-zero-f7-oem,
-          mro_ctrl-zero-h7,
-          mro_ctrl-zero-h7-oem,
-          mro_pixracerpro,
-          mro_x21,
-          mro_x21-777,
-          nxp_fmuk66-e,
-          nxp_fmuk66-v3,
-          nxp_fmurt1062-v1,
-          nxp_ucans32k146,
-          omnibus_f4sd,
-          px4_fmu-v2,
-          px4_fmu-v3,
-          px4_fmu-v4,
-          px4_fmu-v4pro,
-          px4_fmu-v5,
-          px4_fmu-v5x,
-          px4_fmu-v6u,
-          px4_fmu-v6x,
-          spracing_h7extreme,
-          uvify_core
+          airmind_mindpx-v2_default,
+          ark_can-flow_canbootloader,
+          ark_can-flow_debug,
+          ark_can-flow_default,
+          av_x-v1_default,
+          bitcraze_crazyflie21_default,
+          bitcraze_crazyflie_default,
+          cuav_can-gps-v1_canbootloader,
+          cuav_can-gps-v1_debug,
+          cuav_can-gps-v1_default,
+          cuav_nora_default,
+          cuav_x7pro_default,
+          cubepilot_cubeorange_default,
+          cubepilot_cubeorange_test,
+          cubepilot_cubeyellow_default,
+          cubepilot_cubeyellow_test,
+          cubepilot_io-v2_default,
+          holybro_can-gps-v1_canbootloader,
+          holybro_can-gps-v1_debug,
+          holybro_can-gps-v1_default,
+          holybro_durandal-v1_default,
+          holybro_kakutef7_default,
+          holybro_pix32v5_default,
+          modalai_fc-v1_default,
+          modalai_fc-v1_rtps,
+          mro_ctrl-zero-f7-oem_default,
+          mro_ctrl-zero-f7_default,
+          mro_ctrl-zero-h7-oem_default,
+          mro_ctrl-zero-h7_default,
+          mro_pixracerpro_default,
+          mro_x21-777_default,
+          mro_x21_default,
+          nxp_fmuk66-e_default,
+          nxp_fmuk66-e_rtps,
+          nxp_fmuk66-e_socketcan,
+          nxp_fmuk66-v3_default,
+          nxp_fmuk66-v3_rtps,
+          nxp_fmuk66-v3_socketcan,
+          nxp_fmurt1062-v1_default,
+          nxp_ucans32k146_canbootloader,
+          nxp_ucans32k146_default,
+          omnibus_f4sd_default,
+          px4_fmu-v2_default,
+          px4_fmu-v2_fixedwing,
+          px4_fmu-v2_multicopter,
+          px4_fmu-v2_rover,
+          px4_fmu-v3_default,
+          px4_fmu-v4_cannode,
+          px4_fmu-v4_default,
+          px4_fmu-v4pro_default,
+          px4_fmu-v5_ctrlalloc,
+          px4_fmu-v5_debug,
+          px4_fmu-v5_default,
+          px4_fmu-v5_fixedwing,
+          px4_fmu-v5_multicopter,
+          px4_fmu-v5_optimized,
+          px4_fmu-v5_rover,
+          px4_fmu-v5_rtps,
+          px4_fmu-v5_stackcheck,
+          px4_fmu-v5_uavcanv0periph,
+          px4_fmu-v5_uavcanv1,
+          px4_fmu-v5x_base_phy_DP83848C,
+          px4_fmu-v5x_default,
+          px4_fmu-v6u_default,
+          px4_fmu-v6x_default,
+          px4_io-v2_default,
+          spracing_h7extreme_default,
+          uvify_core_default
          ]
    steps:
    - uses: actions/checkout@v1
@@ -84,8 +111,8 @@ jobs:
          ccache -s
          ccache -z

-    - name: make all_variants_${{matrix.config}}
-      run: make all_variants_${{matrix.config}}
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
    - name: make ${{matrix.config}} bloaty_compileunits
      run: make ${{matrix.config}} bloaty_compileunits || true
    - name: make ${{matrix.config}} bloaty_inlines
@@ -104,7 +131,7 @@ jobs:
      run: ccache -s

    - name: Upload px4 package
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v1
      with:
        name: px4_package_${{matrix.config}}
-        path: build/**/*.px4
+        path: build/${{matrix.config}}/${{matrix.config}}.px4
@@ -11,14 +11,12 @@ 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:2021-04-29
    strategy:
      matrix:
        config: [
          ark_can-flow_default,
          cuav_can-gps-v1_default,
-          freefly_can-rtk-gps_default,
          holybro_can-gps-v1_default,
          #nxp_ucans32k146_default,
          px4_fmu-v4_cannode
@@ -23,7 +23,7 @@ jobs:
    needs: enumerate_targets
    strategy:
      matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
-    container: px4io/px4-dev-${{ matrix.container }}:2021-05-04
+    container: px4io/px4-dev-${{ matrix.container }}:2021-04-29
    steps:
    - uses: actions/checkout@v1
      with:
@@ -56,13 +56,13 @@ jobs:
    - name: ccache post-run
      run: ccache -s

-    - name: parameter & events metadata
+    - name: parameter metadata
      run: |
-        make ${{matrix.target}} ver_gen events_json
+        make ${{matrix.target}} ver_gen
        ./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
        cd build/${{ matrix.target }}
        mkdir _metadata || true
-        cp parameters.* events/*.xz _metadata
+        cp parameters.* _metadata

    - uses: jakejarvis/s3-sync-action@master
      with:
@@ -1,21 +0,0 @@
-name: EKF Change Indicator
-
-on: pull_request
-
-jobs:
-  unit_tests:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
-    steps:
-    - uses: actions/checkout@v2.3.1
-      with:
-        fetch-depth: 0
-    - name: checkout newest version of branch
-      run: |
-        git fetch origin pull/${{github.event.pull_request.number}}/head:${{github.head_ref}}
-        git checkout ${GITHUB_HEAD_REF}
-    - name: main test
-      run: make tests TESTFILTER=EKF
-    - name: Check if there is a functional change
-      run: git diff --exit-code
-      working-directory: src/modules/ekf2/test/change_indication
@@ -1,29 +0,0 @@
-name: EKF Update Change Indicator
-
-on: push
-
-jobs:
-  unit_tests:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
-    env:
-      GIT_COMMITTER_EMAIL: bot@px4.io
-      GIT_COMMITTER_NAME: PX4BuildBot
-    steps:
-    - uses: actions/checkout@v2.3.1
-      with:
-        fetch-depth: 0
-    - name: main test updates change indication files
-      run: make tests TESTFILTER=EKF
-    - name: Check if there exists diff and save result in variable
-      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_ENV
-      working-directory: src/modules/ekf2/test/change_indication
-    - name: auto-commit any changes to change indication
-      uses: stefanzweifel/git-auto-commit-action@v4
-      with:
-        commit_message: '[AUTO COMMIT] update change indication'
-        commit_user_name: ${GIT_COMMITTER_NAME}
-        commit_user_email: ${GIT_COMMITTER_EMAIL}
-    - if: ${{env.CHANGE_INDICATED}}
-      name: if there is a functional change, fail check
-      run: exit 1
@@ -25,7 +25,7 @@ jobs:
          #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}

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

    container:
-      image: px4io/px4-dev-ros-melodic:2021-05-04
+      image: px4io/px4-dev-ros-melodic:2021-04-29
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -11,7 +11,7 @@ jobs:

  airframe:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-04-29
    steps:
    - uses: actions/checkout@v1
      with:
@@ -20,24 +20,13 @@ jobs:
    - name: airframe metadata
      run: |
        make airframe_metadata
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
        cd build/px4_sitl_default/docs
-      # TODO: deploy to userguide gitbook
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/px4_sitl_default/docs/'
-        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
+        ls -ls *
+      # TODO: deploy to userguide gitbook and s3

  module:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-04-29
    steps:
    - uses: actions/checkout@v1
      with:
@@ -52,7 +41,7 @@ jobs:

  parameter:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-04-29
    steps:
    - uses: actions/checkout@v1
      with:
@@ -74,36 +63,9 @@ jobs:
        SOURCE_DIR: 'build/px4_sitl_default/docs/'
        DEST_DIR: 'Firmware/${{ env.version }}/_general/'

-  events:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: events metadata
-      run: |
-        make extract_events
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
-        cd build/px4_sitl_default
-        mkdir _events_full || true
-        cp events/all_events_full.json.xz _events_full/all_events.json.xz
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/px4_sitl_default/_events_full/'
-        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
-
  uorb_graph:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-05-04
+    container: px4io/px4-dev-nuttx-focal:2021-04-29
    steps:
    - uses: actions/checkout@v1
      with:
@@ -118,7 +80,7 @@ jobs:

  micrortps_agent:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-04-29
    steps:
    - uses: actions/checkout@v1
      with:
@@ -132,7 +94,7 @@ jobs:

  ROS_msgs:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-04-29
    steps:
    - uses: actions/checkout@v1
      with:
@@ -145,7 +107,7 @@ jobs:

  ROS2_bridge:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-05-04
+    container: px4io/px4-dev-base-focal:2021-04-29
    steps:
    - uses: actions/checkout@v1
      with:
@@ -18,7 +18,7 @@ jobs:
    - name: Install Python3
      run: sudo apt-get install python3 python3-setuptools python3-pip -y
    - name: Install tools
-      run: pip3 install --user mypy types-requests flake8
+      run: pip3 install --user mypy flake8
    - name: Check MAVSDK test scripts with mypy
      run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
    - name: Check MAVSDK test scripts with flake8
@@ -11,18 +11,16 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    timeout-minutes: 60
    strategy:
      fail-fast: false
      matrix:
        config:
-          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo",   model: "iris"          } # Alaska
-          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer", model: "standard_vtol" } # Australia
-          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo",   model: "tailsitter"    } # Florida
-          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",         model: "standard_vtol" } # Zurich
-
+          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo", model: "iris"          } # Alaska
+          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "RelWithDebInfo", model: "standard_vtol" } # Australia
+          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo", model: "tailsitter"    } # Florida
+          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",       model: "standard_vtol" } # Zurich
    container:
-      image: px4io/px4-dev-simulation-focal:2021-05-04
+      image: px4io/px4-dev-simulation-focal:2021-04-29
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -108,5 +108,3 @@ src/systemcmds/topic_listener/listener_generated.cpp
 # SITL
 dataman
 eeprom/
-
-!src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
@@ -18,6 +18,14 @@
 	path = src/lib/matrix
 	url = https://github.com/PX4/PX4-Matrix.git
 	branch = master
+[submodule "src/lib/ecl"]
+	path = src/lib/ecl
+	url = https://github.com/PX4/PX4-ECL.git
+	branch = master
+[submodule "boards/atlflight/cmake_hexagon"]
+	path = boards/atlflight/cmake_hexagon
+	url = https://github.com/PX4/cmake_hexagon.git
+	branch = px4
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/PX4-GPSDrivers.git
@@ -34,6 +42,9 @@
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
 	branch = px4_firmware_nuttx-10.0.0+
+[submodule "platforms/qurt/dspal"]
+	path = platforms/qurt/dspal
+	url = https://github.com/ATLFlight/dspal.git
 [submodule "Tools/flightgear_bridge"]
 	path = Tools/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
@@ -54,15 +65,5 @@
 	url = https://github.com/UAVCAN/libcanard.git
 [submodule "src/drivers/uavcan_v1/legacy_data_types"]
 	path = src/drivers/uavcan_v1/legacy_data_types
-	url = https://github.com/PX4/public_regulated_data_types.git
+	url = https://github.com/px4/public_regulated_data_types/
 	branch = legacy
-[submodule "src/lib/crypto/monocypher"]
-	path = src/lib/crypto/monocypher
-	url = https://github.com/PX4/Monocypher.git
-	branch = px4
-[submodule "src/lib/events/libevents"]
-	path = src/lib/events/libevents
-	url = https://github.com/mavlink/libevents.git
-[submodule "Tools/simulation-ignition"]
-	path = Tools/simulation-ignition
-	url = https://github.com/Auterion/px4-simulation-ignition.git
@@ -6,16 +6,6 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_default
-    px4_sitl_asan:
-      short: px4_sitl (AddressSanitizer)
-      buildType: AddressSanitizer
-      settings:
-        CONFIG: px4_sitl_default
-    px4_sitl_ubsan:
-      short: px4_sitl (UndefinedBehaviorSanitizer)
-      buildType: UndefinedBehaviorSanitizer
-      settings:
-        CONFIG: px4_sitl_default
    px4_sitl_replay:
      short: px4_sitl_replay
      buildType: RelWithDebInfo
@@ -61,16 +51,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: px4_fmu-v5x_default
-    px4_fmu-v6x_default:
-      short: px4_fmu-v6x
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6x_default
-    px4_fmu-v6x_bootloader:
-      short: px4_fmu-v6x_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6x_bootloader
    airmind_mindpx-v2_default:
      short: airmind_mindpx-v2
      buildType: MinSizeRel
@@ -86,16 +66,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-flow_canbootloader
-    ark_can-gps_default:
-      short: ark_can-gps_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-gps_default
-    ark_can-gps_canbootloader:
-      short: ark_can-gps_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-gps_canbootloader
    av_x-v1_default:
      short: av_x-v1
      buildType: MinSizeRel
@@ -136,16 +106,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: emlid_navio2_default
-    freefly_can-rtk-gps_default:
-      short: freefly_can-rtk-gps_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: freefly_can-rtk-gps_default
-    freefly_can-rtk-gps_canbootloader:
-      short: freefly_can-rtk-gps_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: freefly_can-rtk-gps_canbootloader
    holybro_can-gps-v1_canbootloader:
      short: holybro_can-gps-v1_canbootloader
      buildType: MinSizeRel
@@ -166,11 +126,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: modalai_fc-v1_default
-    modalai_fc-v2_default:
-      short: modalai_fc-v2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: modalai_fc-v2_default
    mro_ctrl-zero-f7_default:
      short: mro_ctrl-zero-f7
      buildType: MinSizeRel
@@ -129,10 +129,6 @@ define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
                 BRIEF_DOCS "PX4 module paths"
                 FULL_DOCS "List of paths to all PX4 modules"
                 )
-define_property(GLOBAL PROPERTY PX4_SRC_FILES
-                 BRIEF_DOCS "src files from all PX4 modules & libs"
-                 FULL_DOCS "SRC files from px4_add_{module,library}"
-                 )

 #=============================================================================
 # configuration
@@ -421,9 +417,6 @@ foreach(module ${config_module_list})
 	add_subdirectory(src/${module})
 endforeach()

-# add events lib after modules and libs as it needs to know all source files (PX4_SRC_FILES)
-add_subdirectory(src/lib/events EXCLUDE_FROM_ALL)
-
 # must be the last module before firmware
 add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
 target_link_libraries(parameters_interface INTERFACE parameters)
@@ -15,7 +15,7 @@ pipeline {
        // stage('Catkin build on ROS workspace') {
        //   agent {
        //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2021-05-04'
+        //       image 'px4io/px4-dev-ros-melodic:2021-04-29'
        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
        //     }
        //   }
@@ -56,7 +56,7 @@ pipeline {
        stage('Colcon build on ROS2 workspace') {
          agent {
            docker {
-              image 'px4io/px4-dev-ros2-foxy:2021-05-04'
+              image 'px4io/px4-dev-ros2-foxy:2021-04-29'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
            }
          }
@@ -85,7 +85,7 @@ pipeline {

        stage('Airframe') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
          }
          steps {
            sh 'make distclean'
@@ -105,7 +105,7 @@ pipeline {

        stage('Parameter') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
          }
          steps {
            sh 'make distclean'
@@ -125,7 +125,7 @@ pipeline {

        stage('Module') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
          }
          steps {
            sh 'make distclean'
@@ -146,7 +146,7 @@ pipeline {
        stage('uORB graphs') {
          agent {
            docker {
-              image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+              image 'px4io/px4-dev-nuttx-focal:2021-04-29'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
            }
          }
@@ -176,7 +176,7 @@ pipeline {

        stage('Userguide') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
          }
          steps {
            sh('export')
@@ -206,7 +206,7 @@ pipeline {

        stage('QGroundControl') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
          }
          steps {
            sh('export')
@@ -234,7 +234,7 @@ pipeline {

        stage('microRTPS agent') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
          }
          steps {
            sh('export')
@@ -264,7 +264,7 @@ pipeline {

        stage('PX4 ROS msgs') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
          }
          steps {
            sh('export')
@@ -293,7 +293,7 @@ pipeline {

        stage('PX4 ROS2 bridge') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
          }
          steps {
            sh('export')
@@ -336,7 +336,7 @@ pipeline {

        stage('S3') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
          }
          steps {
            sh('export')
@@ -374,7 +374,7 @@ pipeline {
    GIT_COMMITTER_NAME = "PX4BuildBot"
  }
  options {
-    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '30'))
-    timeout(time: 90, unit: 'MINUTES')
+    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
+    timeout(time: 60, unit: 'MINUTES')
  }
 }
@@ -63,7 +63,7 @@ all: px4_sitl_default
 space := $(subst ,, )

 define make_list
-     $(shell [ -f .github/workflows/compile_${1}.yml ] && cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
+     $(shell cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
 endef

 # Parsing
@@ -165,16 +165,10 @@ ifdef PYTHON_EXECUTABLE
 	CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
 endif

-# Check if the microRTPS agent is to be built
-ifdef BUILD_MICRORTPS_AGENT
-  CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
-endif
-
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-	$(eval CMAKE_ARGS += -DCONFIG=$(1))
 	@$(eval BUILD_DIR = "$(SRC_DIR)/build/$(1)")
 	@# check if the desired cmake configuration matches the cache then CMAKE_CACHE_CHECK stays empty
 	@$(call cmake-cache-check)
@@ -214,7 +208,7 @@ define colorecho
 endef

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

 # ADD CONFIGS HERE
 # --------------------------------------------------------------------
@@ -222,12 +216,16 @@ ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 -name '*.cmake

 # All targets.
 $(ALL_CONFIG_TARGETS):
-	@$(call cmake-build,$@$(BUILD_DIR_SUFFIX))
+	@$(eval PX4_CONFIG = $@)
+	@$(eval CMAKE_ARGS += -DCONFIG=$(PX4_CONFIG))
+	@$(call cmake-build,$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))

 # Filter for only default targets to allow omiting the "_default" postfix
 CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG_TARGETS)))
 $(CONFIG_TARGETS_DEFAULT):
-	@$(call cmake-build,$@_default$(BUILD_DIR_SUFFIX))
+	@$(eval PX4_CONFIG = $@_default)
+	@$(eval CMAKE_ARGS += -DCONFIG=$(PX4_CONFIG))
+	@$(call cmake-build,$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))

 all_config_targets: $(ALL_CONFIG_TARGETS)
 all_default_targets: $(CONFIG_TARGETS_DEFAULT)
@@ -240,6 +238,16 @@ endef
 # All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
 .PHONY: all px4_sitl_default all_config_targets all_default_targets

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

@@ -266,6 +274,7 @@ misc_qgc_extra_firmware: \
 	check_bitcraze_crazyflie_default \
 	check_bitcraze_crazyflie21_default \
 	check_airmind_mindpx-v2_default \
+	check_px4_fmu-v2_lpe \
 	sizes

 # builds with RTPS
@@ -293,11 +302,6 @@ check_%:
 	@$(MAKE) --no-print-directory $(subst check_,,$@)
 	@echo

-all_variants_%:
-	@echo 'Building all $(subst all_variants_,,$@) variants:'  $(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS))
-	@echo
-	$(foreach a,$(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS)), $(call cmake-build,$(a)$(BUILD_DIR_SUFFIX)))
-
 uorb_graphs:
 	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib --file Tools/uorb_graph/graph_full
 	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
@@ -311,21 +315,18 @@ coverity_scan: px4_sitl_default

 # Documentation
 # --------------------------------------------------------------------
-.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata doxygen
+.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata doxygen

 parameters_metadata:
 	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen

 airframe_metadata:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes ver_gen
+	@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes

 module_documentation:
 	@$(MAKE) --no-print-directory px4_sitl_default metadata_module_documentation

-extract_events:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_extract_events ver_gen
-
-px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events
+px4_metadata: parameters_metadata airframe_metadata module_documentation

 doxygen:
 	@mkdir -p "$(SRC_DIR)"/build/doxygen
@@ -352,6 +353,7 @@ format:
 .PHONY: rostest python_coverage

 tests:
+	$(eval CMAKE_ARGS += -DCONFIG=px4_sitl_test)
 	$(eval CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
 	$(eval ARGS += test_results)
 	$(eval ASAN_OPTIONS += color=always:check_initialization_order=1:detect_stack_use_after_return=1)
@@ -466,7 +468,7 @@ validate_module_configs:
 .PHONY: clean submodulesclean submodulesupdate gazeboclean distclean

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

 submodulesclean:
@@ -502,7 +504,7 @@ help:
 	@echo "Where <target> is one of:"
 	@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
 		awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
-		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(Makefile)'
+		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(posix|eagle|Makefile)'
 	@echo
 	@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
 	@echo "Use '$(MAKE) list_config_targets' for a list of configuration targets."
@@ -8,7 +8,7 @@

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

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

 * Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
 * [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
@@ -110,7 +110,7 @@ This repository contains code supporting Pixhawk standard boards (best supported
  * [Hex Cube Yellow](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_yellow.html)
  * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
  * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
-  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/complete_vehicles/crazyflie2.html)
+  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/flight_controller/crazyflie2.html)
  * [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
  * [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
  * [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)
@@ -0,0 +1,8 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (RTPS)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
@@ -0,0 +1,4 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
@@ -1,54 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default EKF2_ARSP_THR 8
-param set-default EKF2_FUSE_BETA 1
-param set-default EKF2_MAG_ACCLIM 0
-param set-default EKF2_MAG_YAWLIM 0
-
-param set-default FW_LND_AIRSPD_SC 1
-param set-default FW_LND_ANG 8
-param set-default FW_THR_LND_MAX 0
-
-param set-default FW_L1_PERIOD 12
-
-param set-default FW_MAN_P_MAX 30
-
-param set-default FW_PR_I 0.4
-param set-default FW_PR_P 0.9
-param set-default FW_PR_FF 0.2
-param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
-param set-default FW_P_LIM_MIN -15
-
-param set-default FW_RR_FF 0.1
-param set-default FW_RR_P 0.3
-
-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-param set-default FW_THR_CRUISE 0.25
-
-param set-default FW_T_ALT_TC 2
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_HRATE_FF 0.5
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
-param set-default FW_T_TAS_TC 2
-
-param set-default FW_W_EN 1
-
-param set-default MIS_LTRMIN_ALT 30
-param set-default MIS_TAKEOFF_ALT 30
-
-param set-default NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 50
-
-param set-default RWTO_TKOFF 1
-
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
@@ -46,6 +46,8 @@ px4_add_romfs_files(
 	1014_solo
 	1015_iris_obs_avoid
 	1015_iris_obs_avoid.post
+	1016_iris_rtps
+	1016_iris_rtps.post
 	1017_iris_opt_flow_mockup
 	1018_iris_vision_velocity
 	1019_iris_dual_gps
@@ -60,7 +62,6 @@ px4_add_romfs_files(
 	1034_rascal-electric
 	1035_techpod
 	1036_malolo
-	1037_believer
 	1040_standard_vtol
 	1041_tailsitter
 	1042_tiltrotor
@@ -48,10 +48,10 @@ else
 	# shellcheck disable=SC2012
 	REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
 	if [ -z "$REQUESTED_AUTOSTART" ]; then
-		echo "ERROR  [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
+		echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
 		exit 1
 	else
-		echo "INFO  [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
+		echo "Info: found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
 	fi
 fi

@@ -126,7 +126,7 @@ then
 	param set SYS_RESTART_TYPE 2
 fi

-param set-default BAT1_N_CELLS 4
+param set-default BAT_N_CELLS 4

 param set-default CBRK_AIRSPD_CHK 0
 param set-default CBRK_SUPPLY_CHK 894281
@@ -225,12 +225,6 @@ sensors start
 commander start
 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))
-fi

 if param greater -s MNT_MODE_IN -1
 then
@@ -13,13 +13,12 @@
 # @output MAIN6 gear
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
-# @board px4_fmu-v2 exclude
 #

 . ${R}etc/init.d/rc.fw_defaults


-param set-default BAT1_N_CELLS 3
+param set-default BAT_N_CELLS 3

 param set-default FW_AIRSPD_MAX 20
 param set-default FW_AIRSPD_MIN 12
@@ -38,9 +38,8 @@ param set-default MC_YAWRATE_P 0.25
 param set-default MC_YAWRATE_I 0.25
 param set-default MC_YAWRATE_D 0

-param set-default BAT1_V_DIV 12.27559
-param set-default BAT1_A_PER_V 15.39103
-
+param set-default BAT_V_DIV 12.27559
+param set-default BAT_A_PER_V 15.39103
 set MIXER quad_w

 set PWM_OUT 1234
@@ -26,7 +26,7 @@
 . ${R}etc/init.d/rc.mc_defaults


-param set-default BAT1_N_CELLS 4
+param set-default BAT_N_CELLS 4

 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.13
@@ -26,8 +26,8 @@
 . ${R}etc/init.d/rc.mc_defaults


-param set-default BAT1_N_CELLS 6
-param set-default BAT1_V_EMPTY 3.5
+param set-default BAT_N_CELLS 6
+param set-default BAT_V_EMPTY 3.5

 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.08
@@ -45,7 +45,6 @@ param set-default MC_YAWRATE_D 0
 param set-default MPC_XY_VEL_MAX 2

 param set-default PWM_MAIN_MIN 1080
-
 set MIXER quad_w

 set PWM_OUT 1234
@@ -6,7 +6,6 @@
 # @class Copter
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
-# @board px4_fmu-v2 exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -14,7 +14,7 @@
 . ${R}etc/init.d/rc.vtol_defaults


-param set-default BAT1_N_CELLS 3
+param set-default BAT_N_CELLS 3

 param set-default COM_RC_IN_MODE 1

@@ -44,8 +44,7 @@ param set-default MPC_HOLD_MAX_XY 0.25
 param set-default MPC_THR_MIN 0.15
 param set-default MPC_Z_VEL_MAX_DN 2

-param set-default BAT1_N_CELLS 4
-
+param set-default BAT_N_CELLS 4
 set MIXER octo_cox_w

 set PWM_OUT 12345678
@@ -23,9 +23,9 @@
 . ${R}etc/init.d/rc.vtol_defaults


-param set-default BAT1_CAPACITY 23000
-param set-default BAT1_N_CELLS 4
-param set-default BAT1_R_INTERNAL 0.0025
+param set-default BAT_CAPACITY 23000
+param set-default BAT_N_CELLS 4
+param set-default BAT_R_INTERNAL 0.0025

 param set-default CBRK_AIRSPD_CHK 162128
 param set-default CBRK_IO_SAFETY 22027
@@ -23,7 +23,8 @@
 . ${R}etc/init.d/rc.vtol_defaults


-param set-default BAT1_N_CELLS 6
+
+param set-default BAT_N_CELLS 6

 param set-default FW_AIRSPD_MAX 30
 param set-default FW_AIRSPD_MIN 19
@@ -70,6 +71,7 @@ param set-default MPC_JERK_AUTO 4
 param set-default MPC_LAND_SPEED 1
 param set-default MPC_MAN_TILT_MAX 25
 param set-default MPC_MAN_Y_MAX 40
+param set-default MPC_POS_MODE 3
 param set-default MPC_SPOOLUP_TIME 1.5
 param set-default MPC_THR_HOVER 0.45
 param set-default MPC_TILTMAX_AIR 25
@@ -13,7 +13,6 @@
 # @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
 #
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v2 exclude
 #

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

 . ${R}etc/init.d/rc.mc_defaults
@@ -26,8 +26,8 @@
 . ${R}etc/init.d/rc.fw_defaults


-param set-default BAT1_CAPACITY 2500
-param set-default BAT1_N_CELLS 3
+param set-default BAT_CAPACITY 2500
+param set-default BAT_N_CELLS 3

 param set-default PWM_AUX_RATE 50
 param set-default PWM_MAIN_RATE 50
@@ -46,6 +46,5 @@ param set-default FW_R_LIM 40
 param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
-
 set MIXER TF-AutoG2
 set MIXER_AUX pass
@@ -48,7 +48,8 @@ param set-default PWM_MAIN_DISARM 1000
 # the payload bay is pitched up about 7 degrees
 param set-default SENS_BOARD_Y_OFF 7

-set MIXER fw_generic_wing
+
+set MIXER phantom

 # Provide ESC a constant 1000 us pulse
 set PWM_OUT 4
@@ -23,7 +23,7 @@

 . ${R}etc/init.d/rc.fw_defaults

-param set-default BAT1_N_CELLS 2
+param set-default BAT_N_CELLS 2
 param set-default FW_AIRSPD_MAX 15
 param set-default FW_AIRSPD_MIN 10
 param set-default FW_AIRSPD_TRIM 13
@@ -48,7 +48,7 @@ param set-default PWM_MAIN_DISARM 1000
 set MAV_TYPE 1

 # Set mixer.
-set MIXER fw_generic_wing
+set MIXER wingwing

 # Provide ESC a constant 1000 us pulse.
 set PWM_OUT 4
@@ -27,4 +27,5 @@ param set-default FW_AIRSPD_TRIM 15

 param set-default NAV_LOITER_RAD 150

-set MIXER fw_generic_wing
+
+set MIXER FX79
@@ -49,7 +49,8 @@ param set-default PWM_MAIN_DISARM 1000
 # the payload bay is pitched up about 7 degrees
 param set-default SENS_BOARD_Y_OFF 11.9

-set MIXER fw_generic_wing
+
+set MIXER phantom

 # Provide ESC a constant 1000 us pulse
 set PWM_OUT 4
@@ -63,6 +63,6 @@ param set-default PWM_MAIN_REV2 1
 param set-default PWM_MAIN_MIN 900
 param set-default PWM_MAIN_MAX 2100

-set MIXER fw_generic_wing

+set MIXER caipi
 set PWM_OUT 1234
@@ -127,9 +127,9 @@ param set-default IMU_GYRO_CUTOFF 100
 param set-default SENS_EN_PMW3901 1

 # Power Parameters
-param set-default BAT1_N_CELLS 4
-param set-default BAT1_A_PER_V 36.364
-param set-default BAT1_V_DIV 18.182
+param set-default BAT_N_CELLS 4
+param set-default BAT_A_PER_V 36.364
+param set-default BAT_V_DIV 18.182

 # Circuit breakers
 param set-default CBRK_IO_SAFETY 22027
@@ -0,0 +1,38 @@
+#!/bin/sh
+#
+# @name Hobbyking Micro PCB
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Thomas Gubler <thomas@px4.io>
+#
+# @board px4_fmu-v2 exclude
+# @board px4_fmu-v3 exclude
+# @board px4_fmu-v4 exclude
+# @board px4_fmu-v4pro exclude
+# @board px4_fmu-v5 exclude
+# @board px4_fmu-v5x exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER quad_x
+set PWM_OUT 1234
+
+
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_P 0.1
+param set-default MC_ROLLRATE_I 0.05
+param set-default MC_ROLLRATE_D 0.003
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_P 0.1
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCHRATE_D 0.003
+param set-default MC_YAW_P 2.8
+param set-default MC_YAWRATE_P 0.2
+param set-default MC_YAWRATE_I 0.1
+param set-default MC_YAWRATE_D 0
+
+param set-default PWM_MAIN_MIN 1200
@@ -54,7 +54,7 @@ param set-default DSHOT_CONFIG 600
 param set-default SYS_HAS_BARO 0
 param set-default SYS_HAS_MAG 0

-param set-default BAT1_N_CELLS 2
+param set-default BAT_N_CELLS 2
 # The Whoop uses reversed props
 set MIXER quad_h
 set PWM_OUT 1234
@@ -20,7 +20,7 @@ set PWM_OUT 1234


 # The set does not include a battery, but most people will probably use 4S
-param set-default BAT1_N_CELLS 4
+param set-default BAT_N_CELLS 4

 param set-default IMU_GYRO_CUTOFF 120
 param set-default IMU_DGYRO_CUTOFF 45
@@ -17,7 +17,7 @@ set MIXER quad_x
 set PWM_OUT 1234


-param set-default BAT1_N_CELLS 4
+param set-default BAT_N_CELLS 4

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


-param set-default BAT1_N_CELLS 6
+param set-default BAT_N_CELLS 6

 param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.05
@@ -92,10 +92,10 @@ param set-default MPC_TKO_RAMP_T 1
 param set-default MPC_TKO_SPEED 1.1
 param set-default MPC_VEL_MANUAL 3

-param set-default BAT1_SOURCE 0
-param set-default BAT1_N_CELLS 4
-param set-default BAT1_V_DIV 10.14
-param set-default BAT1_A_PER_V 18.18
+param set-default BAT_SOURCE 0
+param set-default BAT_N_CELLS 4
+param set-default BAT_V_DIV 10.14
+param set-default BAT_A_PER_V 18.18
 #param set CBRK_IO_SAFETY 22027
 param set-default COM_DISARM_LAND 2

@@ -73,7 +73,7 @@ param set-default PWM_MAIN_RATE 0

 param set-default SENS_BOARD_ROT 2

-param set-default BAT1_SOURCE 0
+param set-default BAT_SOURCE 0
 param set-default CBRK_IO_SAFETY 22027
 #param set COM_DISARM_LAND 3

@@ -102,10 +102,10 @@ param set-default MPC_TKO_RAMP_T 1
 param set-default MPC_TKO_SPEED 1.1
 param set-default MPC_VEL_MANUAL 3

-param set-default BAT1_SOURCE 0
-param set-default BAT1_N_CELLS 4
-param set-default BAT1_V_DIV 10.14
-param set-default BAT1_A_PER_V 18.18
+param set-default BAT_SOURCE 0
+param set-default BAT_N_CELLS 4
+param set-default BAT_V_DIV 10.14
+param set-default BAT_A_PER_V 18.18
 #param set CBRK_IO_SAFETY 22027
 param set-default COM_DISARM_LAND 2

@@ -21,7 +21,7 @@ set MIXER quad_x
 set PWM_OUT 1234


-param set-default BAT1_N_CELLS 1
+param set-default BAT_N_CELLS 1

 param set-default MC_ROLL_P 8
 param set-default MC_ROLLRATE_P 0.19
@@ -32,18 +32,17 @@ set PWM_OUT 1234
 param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* CAL_MAG* SENS_BOARD* EKF2_MAGBIAS*

 # battery
+param set-default BAT_CAPACITY 2750
 param set-default BAT_CRIT_THR 0.15
 param set-default BAT_EMERGEN_THR 0.075
 param set-default BAT_LOW_THR 0.20
-
-param set-default BAT1_CAPACITY 2750
-param set-default BAT1_N_CELLS 4
-param set-default BAT1_R_INTERNAL 0.06
-param set-default BAT1_SOURCE 1
-param set-default BAT1_V_CHARGED 4.15
-param set-default BAT1_V_DIV 11.1625
-param set-default BAT1_V_EMPTY 3.65
-param set-default BAT1_V_OFFS_CURR -0.0045
+param set-default BAT_N_CELLS 4
+param set-default BAT_R_INTERNAL 0.06
+param set-default BAT_SOURCE 1
+param set-default BAT_V_CHARGED 4.15
+param set-default BAT_V_DIV 11.1625
+param set-default BAT_V_EMPTY 3.65
+param set-default BAT_V_OFFS_CURR -0.0045

 # sensor calibration
 param set-default CAL_MAG_SIDES 63
@@ -19,9 +19,9 @@
 set MIXER quad_x_cw
 set PWM_OUT 1234

-param set-default BAT1_N_CELLS 1
-param set-default BAT1_CAPACITY 240
-param set-default BAT1_SOURCE 1
+param set-default BAT_N_CELLS 1
+param set-default BAT_CAPACITY 240
+param set-default BAT_SOURCE 1

 param set-default CBRK_SUPPLY_CHK 894281
 param set-default CBRK_USB_CHK 197848
@@ -16,7 +16,7 @@
 . ${R}etc/init.d/rc.rover_defaults


-param set-default BAT1_N_CELLS 2
+param set-default BAT_N_CELLS 2

 param set-default EKF2_ANGERR_INIT 0.01
 param set-default EKF2_GBIAS_INIT 0.01
@@ -2,7 +2,7 @@
 #
 # @name Aion Robotics R1 UGV
 #
-# @url https://www.aionrobotics.com/r1
+# @url http://docs.aionrobotics.com/en/latest/r1-ugv.html
 #
 # @type Rover
 # @class Rover
@@ -19,7 +19,7 @@
 . ${R}etc/init.d/rc.rover_defaults


-param set-default BAT1_N_CELLS 4
+param set-default BAT_N_CELLS 4

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


-param set-default BAT1_N_CELLS 2
+param set-default BAT_N_CELLS 2

 param set-default EKF2_GBIAS_INIT 0.01
 param set-default EKF2_ANGERR_INIT 0.01
@@ -116,9 +116,9 @@ param set-default COM_DISARM_LAND 3
 param set-default PWM_MAIN_RATE 0

 # Battery
-param set-default BAT1_SOURCE 0
-param set-default BAT1_N_CELLS 4
-param set-default BAT1_V_DIV 10.133
+param set-default BAT_SOURCE 0
+param set-default BAT_N_CELLS 4
+param set-default BAT_V_DIV 10.133

 # TELEM1 ttyS1
 param set-default MAV_0_CONFIG 101
@@ -71,6 +71,7 @@ px4_add_romfs_files(
 	4016_holybro_px4vision
 	4017_nxp_hovergames
 	4018_s500_ctrlalloc
+	4020_hk_micro_pcb
 	4030_3dr_solo
 	4031_3dr_quad
 	4040_reaper
@@ -226,8 +226,6 @@ then
 	fi
 fi

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

-param set PWM_MAIN_OUT ${PWM_OUT}
-
 if [ $EXTRA_MIXER_MODE != none ]
 then

@@ -26,12 +26,6 @@ then
 	batt_smbus start -X
 fi

-# Start batmon driver if enabled using BATMON_DRIVER_EN
-if param compare -s BATMON_DRIVER_EN 1
-then
-	batmon start -X  #start on external bus
-fi
-
 # Sensors on the PWM interface bank
 if param compare -s SENS_EN_LL40LS 1
 then
@@ -117,14 +111,7 @@ fi
 # ADIS16448 spi external IMU
 if param compare -s SENS_EN_ADIS164X 1
 then
-	if param compare -s SENS_OR_ADIS164X 0
-	then
-		adis16448 -S start
-	fi
-	if param compare -s SENS_OR_ADIS164X 4
-	then
-		adis16448 -S start -R 4
-	fi
+	adis16448 -S start
 fi

 # probe for optional external I2C devices
@@ -81,6 +81,33 @@ then
 			hardfault_log reset
 		fi
 	fi
+
+	# Prevent MacOS and Ubuntu from creating unnecessary temporary files on the microSD card
+
+	# block MacOS Spotlight indexing (.Spotlight-V100 folder)
+	if [ ! -f "/fs/microsd/.metadata_never_index" ]; then
+		cat > /fs/microsd/.metadata_never_index
+	fi
+
+	# block MacOS trashes
+	if [ ! -f "/fs/microsd/.Trashes" ]; then
+		cat > /fs/microsd/.Trashes
+	fi
+
+	# block MacOS logging of filesystem events
+	if [ ! -d "/fs/microsd/.fseventsd" ]; then
+		mkdir /fs/microsd/.fseventsd
+	fi
+
+	if [ ! -f "/fs/microsd/.fseventsd/no_log" ]; then
+		cat > /fs/microsd/.fseventsd/no_log
+	fi
+
+	# block Ubuntu trash
+	if [ ! -f "/fs/microsd/.Trash-1000" ]; then
+		cat > /fs/microsd/.Trash-1000
+	fi
+
 else
 	# tune SD_INIT
 	set STARTUP_TUNE 14 # tune 14 = SD_INIT
@@ -377,30 +404,21 @@ else

 	if param greater -s TRIG_MODE 0
 	then
-		if param compare TRIG_PINS_EX 0
+		# 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
-			# 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
+			# clear pins 5 and 6
+			set FMU_MODE pwm4
+			set AUX_MODE pwm4
 		else
-			if param compare TRIG_PINS_EX 12288
+			if param compare TRIG_PINS 78
 			then
-				set FMU_MODE pwm12
-				set AUX_MODE pwm12
+				# clear pins 7 and 8
+				set FMU_MODE pwm6
+				set AUX_MODE pwm6
+			else
+				set FMU_MODE none
+				set AUX_MODE none
 			fi
 		fi

@@ -39,6 +39,7 @@ px4_add_romfs_files(
 	AETRFG.main.mix
 	babyshark.main.mix
 	blade130.main.mix
+	caipi.main.mix
 	CCPM.main.mix
 	claire.aux.mix
 	claire.main.mix
@@ -52,6 +53,7 @@ px4_add_romfs_files(
 	firefly6.aux.mix
 	firefly6.main.mix
 	fw_generic_wing.main.mix
+	FX79.main.mix
 	generic_diff_rover.main.mix
 	hexa_cox.main.mix
 	hexa_+.main.mix
@@ -64,6 +66,7 @@ px4_add_romfs_files(
 	octo_+.main.mix
 	octo_x.main.mix
 	pass.aux.mix
+	phantom.main.mix
 	quad_dc.main.mix
 	quad_h.main.mix
 	quad_+.main.mix
@@ -91,4 +94,5 @@ px4_add_romfs_files(
 	vtol_convergence.main.mix
 	vtol_delta.aux.mix
 	vtol_tailsitter_duo.main.mix
+	wingwing.main.mix
 )
@@ -0,0 +1,50 @@
+FX-79 Delta-wing mixer for PX4FMU
+=================================
+
+Designed for FX-79.
+
+TODO (sjwilks): Add mixers for flaps.
+
+This file defines mixers suitable for controlling a delta wing aircraft using
+PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
+servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
+assumed to be unused.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+Elevon mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two elevon servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+The scaling factor for roll inputs is adjusted to implement differential travel
+for the elevons.
+
+M: 2
+S: 0 0   8500   8500      0 -10000  10000
+S: 0 1   9500   9500      0 -10000  10000
+
+M: 2
+S: 0 0   8500   8500      0 -10000  10000
+S: 0 1  -9500  -9500      0 -10000  10000
+
+Output 2
+--------
+This mixer is empty.
+
+Z:
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000
@@ -2,7 +2,6 @@
 # 1-4 (main): Ailerons (Y-cable), A-tail left, Pusher, A-tail right
 # 5-8 (main): quad motors
 #=============================
-# @board px4_fmu-v2 exclude


 Aileron mixer (roll)
@@ -0,0 +1,48 @@
+Delta-wing mixer
+===========================
+
+Designed for TBS Caipirinha
+
+This file defines mixers suitable for controlling a delta wing aircraft using
+PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
+servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
+assumed to be unused.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+Elevon mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two elevon servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+The scaling factor for roll inputs is adjusted to implement differential travel
+for the elevons.
+
+M: 2
+S: 0 0   8000   8000      0 -10000  10000
+S: 0 1   9000   9000      0 -10000  10000
+
+M: 2
+S: 0 0   8000   8000      0 -10000  10000
+S: 0 1  -9000  -9000      0 -10000  10000
+
+Output 2
+--------
+This mixer is empty.
+
+Z:
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000
@@ -1,8 +1,6 @@
 Thrust tilt/ Starboard Thrust / Port Thrust / Tail Thrust mixer for PX4FMU
 =======================================================

-# @board px4_fmu-v2 exclude
-
 This file defines mixers suitable for controlling an airship with
 a thrust tilt, starboard and port thruster and a tail thruster using PX4FMU.
 The configuration assumes the starboard thruster is connected to PX4FMU
@@ -1,6 +1,5 @@
 # DeltaQuad mixer for PX4FMU
 #=============================
-# @board px4_fmu-v2 exclude

 Quad motors 1 - 4
 -------------
@@ -1,4 +1,3 @@
 # Dodeca Cox
-# @board px4_fmu-v2 exclude

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

 R: 6m
@@ -1,8 +1,6 @@
 # mixer for the FireFly6 tilt mechansim servo, elevons and landing gear
 =======================================================================

-# @board px4_fmu-v2 exclude
-
 Tilt mechanism servo mixer
 ---------------------------
 M: 1
@@ -1,6 +1,4 @@
 # FireFly6 mixer for PX4FMU
 #
 #===========================
-# @board px4_fmu-v2 exclude
-
 R: 6c
@@ -1,4 +1,3 @@
-# @board px4_fmu-v2 exclude

 # Roll channel for mount
 M: 1
@@ -0,0 +1,45 @@
+Phantom FX-61 mixer
+===================
+
+This file defines mixers suitable for controlling a delta wing aircraft using
+PX4/Pixhawk. The configuration assumes the elevon servos are connected to
+servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
+assumed to be unused.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+Elevon mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two elevon servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+The scaling factor are set so that pitch will have more travel than roll.
+
+M: 2
+S: 0 0  -6000  -6000      0 -10000  10000
+S: 0 1   6500   6500      0 -10000  10000
+
+M: 2
+S: 0 0  -6000  -6000      0 -10000  10000
+S: 0 1  -6500  -6500      0 -10000  10000
+
+Output 2
+--------
+This mixer is empty.
+
+Z:
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000
@@ -1,8 +1,6 @@
 Tilt-Quadrotor mixer for PX4FMU (2/2) V2
 ===========================

-# @board px4_fmu-v2 exclude
-
 This file defines the aux outputs mixer for a Tilt-quadrotor in the + configuration.

 # @output AUX1 Outer servo motor for rotor 2 arm
@@ -1,8 +1,6 @@
 Tilt-Quadrotor mixer for PX4FMU (1/2) V2
 ===========================

-# @board px4_fmu-v2 exclude
-
 This file defines the main outputs mixer for a Tilt-quadrotor in the + configuration.

 # @output MAIN1 motor 1
@@ -1,5 +1,3 @@
-# @board px4_fmu-v2 exclude
-
 # Motor 1
 M: 3
 S: 0 2  -4000  -4000  0   -4000  +4000
@@ -1,8 +1,6 @@
 Mixer for an AAERT VTOL
 =======================

-# @board px4_fmu-v2 exclude
-
 Aileron 1 mixer
 ---------------
 M: 1
@@ -1,8 +1,6 @@
 Aileron/v-tail/throttle VTOL mixer for PX4FMU
 =======================================================

-# @board px4_fmu-v2 exclude
-
 This file defines mixers suitable for controlling a fixed wing aircraft with
 aileron, v-tail (rudder, elevator) and throttle using PX4FMU.
 The configuration assumes the aileron servos are connected to PX4FMU 
@@ -1,7 +1,5 @@
 # Generic quadplane tiltrotor servo mixer

-# @board px4_fmu-v2 exclude
-
 # Tilt mechanism servo mixer
 ---------------------------
 # front left up:2000 down:1000
@@ -1,5 +1,4 @@
 # E-flite Convergence Tricopter Y-Configuration Mixer
-# @board px4_fmu-v2 exclude

 # Motors
 R: 3y
@@ -0,0 +1,48 @@
+Delta-wing mixer for PX4FMU
+===========================
+
+Designed for Wing Wing Z-84
+
+This file defines mixers suitable for controlling a delta wing aircraft using
+PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
+servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
+assumed to be unused.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+Elevon mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two elevon servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+The scaling factor for roll inputs is adjusted to implement differential travel
+for the elevons.
+
+M: 2
+S: 0 0  -6000  -6000      0 -10000  10000
+S: 0 1   6500   6500      0 -10000  10000
+
+M: 2
+S: 0 0  -6000  -6000      0 -10000  10000
+S: 0 1  -6500  -6500      0 -10000  10000
+
+Output 2
+--------
+This mixer is empty.
+
+Z:
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000
@@ -5,62 +5,46 @@ import subprocess
 from subprocess import call, Popen
 from argparse import ArgumentParser
 import re
-import sys
-import datetime
-
-COLOR_RED    = "\x1b[31m"
-COLOR_GREEN  = "\x1b[32m"
-COLOR_YELLOW = "\x1b[33m"
-COLOR_WHITE  = "\x1b[37m"
-COLOR_RESET  = "\x1b[0m"
-
-def print_line(line):
-    if "WARNING" in line:
-        line = line.replace("WARNING", f"{COLOR_YELLOW}WARNING{COLOR_RESET}", 1)
-    elif "WARN" in line:
-        line = line.replace("WARN", f"{COLOR_YELLOW}WARN{COLOR_RESET}", 1)
-    elif "ERROR" in line:
-        line = line.replace("ERROR", f"{COLOR_RED}ERROR{COLOR_RESET}", 1)
-    elif "INFO" in line:
-        line = line.replace("INFO", f"{COLOR_WHITE}INFO{COLOR_RESET}", 1)
-
-    if "PASSED" in line:
-        line = line.replace("PASSED", f"{COLOR_GREEN}PASSED{COLOR_RESET}", 1)
-
-    if "FAILED" in line:
-        line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
-
-    current_time = datetime.datetime.now()
-    print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')

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

-    timeout = 180  # 3 minutes
+    finished = 0
+
+    timeout = 300  # 5 minutes
    timeout_start = time.time()
    timeout_newline = time.time()

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

        if "NuttShell (NSH)" in serial_line:
-            sys.exit(0)
-        elif "nsh>" in serial_line:
-            sys.exit(0)
+            finished = 1
+            break
+
+        if time.time() - timeout_start > 10:
+            if "nsh>" in serial_line:
+                finished = 1
+                break

        if time.time() > timeout_start + timeout:
            print("Error, timeout")
-            sys.exit(-1)
+            finished = 1
+            break

        # newline every 10 seconds if still running
        if time.time() - timeout_newline > 10:
            timeout_newline = time.time()
-            ser.write("\n".encode("ascii"))
+            ser.write('\n'.encode("ascii"))
            ser.flush()

+    ser.close()
+
 def main():
    parser = ArgumentParser(description=__doc__)
    parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
@@ -1,137 +0,0 @@
-#! /usr/bin/env python3
-
-import serial, time
-import subprocess
-from subprocess import call, Popen
-from argparse import ArgumentParser
-import re
-import sys
-
-COLOR_RED    = "\x1b[31m"
-COLOR_GREEN  = "\x1b[32m"
-COLOR_YELLOW = "\x1b[33m"
-COLOR_WHITE  = "\x1b[37m"
-COLOR_RESET  = "\x1b[0m"
-
-def print_line(line):
-    if "WARNING" in line:
-        line = line.replace("WARNING", f"{COLOR_YELLOW}WARNING{COLOR_RESET}", 1)
-    elif "WARN" in line:
-        line = line.replace("WARN", f"{COLOR_YELLOW}WARN{COLOR_RESET}", 1)
-    elif "ERROR" in line:
-        line = line.replace("ERROR", f"{COLOR_RED}ERROR{COLOR_RESET}", 1)
-    elif "INFO" in line:
-        line = line.replace("INFO", f"{COLOR_WHITE}INFO{COLOR_RESET}", 1)
-
-    if "PASSED" in line:
-        line = line.replace("PASSED", f"{COLOR_GREEN}PASSED{COLOR_RESET}", 1)
-
-    if "FAILED" in line:
-        line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
-
-    print(line, end='')
-
-def do_param_set_cmd(port, baudrate, param_name, param_value):
-    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.1, xonxoff=True, rtscts=False, dsrdtr=False)
-
-    timeout_start = time.time()
-    timeout = 10  # 10 seconds
-
-    # wait for nsh prompt
-    while True:
-        ser.write("\n".encode("ascii"))
-        ser.flush()
-
-        serial_line = ser.readline().decode("ascii", errors='ignore')
-
-        if "nsh>" in serial_line:
-            break
-        else:
-            if len(serial_line) > 0:
-                print_line(serial_line)
-
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout waiting for prompt")
-            sys.exit(1)
-
-    # clear
-    ser.readlines()
-
-    # run command
-    timeout_start = time.time()
-    timeout = 10  # 10 seconds
-
-    cmd = "param set " + param_name + " " + param_value
-
-    # write command (param set) and wait for command echo
-    serial_cmd = '{0}\r\n'.format(cmd)
-    ser.write(serial_cmd.encode("ascii"))
-    ser.flush()
-    while True:
-        serial_line = ser.readline().decode("ascii", errors='ignore')
-
-        if cmd in serial_line:
-            print_line(serial_line)
-            break
-        else:
-            if len(serial_line) > 0:
-                print_line(serial_line)
-
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout waiting for command echo")
-            break
-
-    # verify param value
-    cmd = "param show " + param_name
-    serial_cmd = '{0}\r\n'.format(cmd)
-    ser.write(serial_cmd.encode("ascii"))
-    ser.flush()
-
-    param_show_response = param_name + " ["
-
-    timeout_start = time.time()
-    timeout = 2  # 2 seconds
-
-    while True:
-        serial_line = ser.readline().decode("ascii", errors='ignore')
-
-        if param_show_response in serial_line:
-            print_line(serial_line)
-            current_param_value = serial_line.split(":")[-1].strip()
-
-            if (current_param_value == param_value):
-                sys.exit(0)
-            else:
-                sys.exit(1)
-        else:
-            if len(serial_line) > 0:
-                print_line(serial_line)
-
-            if time.time() > timeout_start + timeout:
-                if "nsh>" in serial_line:
-                    sys.exit(1) # error, command didn't complete successfully
-                elif "NuttShell (NSH)" in serial_line:
-                    sys.exit(1) # error, command didn't complete successfully
-
-        if len(serial_line) <= 0:
-            ser.write("\r\n".encode("ascii"))
-            ser.flush()
-
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout")
-            sys.exit(-1)
-
-    ser.close()
-
-def main():
-    parser = ArgumentParser(description=__doc__)
-    parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
-    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
-    parser.add_argument("--name", "-p", dest="param_name", help="Parameter name")
-    parser.add_argument("--value", "-v", dest="param_value", help="Parameter value")
-    args = parser.parse_args()
-
-    do_param_set_cmd(args.device, args.baudrate, args.param_name, args.param_value)
-
-if __name__ == "__main__":
-   main()
@@ -6,89 +6,52 @@ from subprocess import call, Popen
 from argparse import ArgumentParser
 import re
 import sys
-import datetime
-
-COLOR_RED    = "\x1b[31m"
-COLOR_GREEN  = "\x1b[32m"
-COLOR_YELLOW = "\x1b[33m"
-COLOR_WHITE  = "\x1b[37m"
-COLOR_RESET  = "\x1b[0m"
-
-def print_line(line):
-    if "WARNING" in line:
-        line = line.replace("WARNING", f"{COLOR_YELLOW}WARNING{COLOR_RESET}", 1)
-    elif "WARN" in line:
-        line = line.replace("WARN", f"{COLOR_YELLOW}WARN{COLOR_RESET}", 1)
-    elif "ERROR" in line:
-        line = line.replace("ERROR", f"{COLOR_RED}ERROR{COLOR_RESET}", 1)
-    elif "INFO" in line:
-        line = line.replace("INFO", f"{COLOR_WHITE}INFO{COLOR_RESET}", 1)
-
-    if "PASSED" in line:
-        line = line.replace("PASSED", f"{COLOR_GREEN}PASSED{COLOR_RESET}", 1)
-
-    if "FAILED" in line:
-        line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
-
-    current_time = datetime.datetime.now()
-    print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')

 def do_nsh_cmd(port, baudrate, cmd):
-    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.1, xonxoff=True, rtscts=False, dsrdtr=False)
-
-    timeout_start = time.time()
-    timeout = 10  # 10 seconds
-
-    # wait for nsh prompt
-    while True:
-        ser.write("\n".encode("ascii"))
-        ser.flush()
-
-        serial_line = ser.readline().decode("ascii", errors='ignore')
-
-        if "nsh>" in serial_line:
-            break
-        else:
-            if len(serial_line) > 0:
-                print_line(serial_line)
-
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout waiting for prompt")
-            sys.exit(1)
-
-    # clear
-    ser.readlines()
+    databits = serial.EIGHTBITS
+    stopbits = serial.STOPBITS_ONE
+    parity = serial.PARITY_NONE
+    ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=0.1)

    # run command
    timeout_start = time.time()
-    timeout = 1  # 1 second
+    timeout = 10  # 10 seconds
+
+    # clear
+    ser.write("\n".encode("ascii"))
+    ser.flush()
+    ser.readline()

    success_cmd = "cmd succeeded!"

-    # wait for command echo
-    serial_cmd = '{0}; echo "{1}"\r\n'.format(cmd, success_cmd)
+    serial_cmd = '{0}; echo "{1}"\n'.format(cmd, success_cmd)
    ser.write(serial_cmd.encode("ascii"))
    ser.flush()
-    while True:
-        serial_line = ser.readline().decode("ascii", errors='ignore')
+    ser.readline()

-        if cmd in serial_line:
-            break
-        elif serial_line.startswith(success_cmd) and len(serial_line) <= len(success_cmd) + 2:
-            print_line(serial_line)
-            # we missed the echo, but command ran and succeeded
-            sys.exit(0)
-        else:
-            if len(serial_line) > 0:
-                print_line(serial_line)
+    # TODO: require successful command echo
+    # while True:
+    #     serial_cmd = '{0}; echo "{1}"\n'.format(cmd, success_cmd)
+    #     ser.write(serial_cmd.encode("ascii"))
+    #     ser.flush()

-        if time.time() > timeout_start + timeout:
-            print("Error, timeout waiting for command echo")
-            break
+    #     serial_line = ser.readline().decode("ascii", errors='ignore')
+
+    #     if cmd in serial_line:
+    #         break
+    #     else:
+    #         print(serial_line, end='')
+
+    #     if time.time() > timeout_start + timeout:
+    #         print("Error, timeout")
+    #         sys.exit(-1)
+    #         break
+
+    #     time.sleep(1)


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

    while True:
        serial_line = ser.readline().decode("ascii", errors='ignore')
@@ -97,15 +60,17 @@ def do_nsh_cmd(port, baudrate, cmd):
            break
        else:
            if len(serial_line) > 0:
-                print_line(serial_line)
+                print(serial_line, end='')

            if "nsh>" in serial_line:
-                sys.exit(1) # error, command didn't complete successfully
+                #sys.exit(-1) # error, command didn't complete successfully
+                break # TODO: return error on failure
            elif "NuttShell (NSH)" in serial_line:
-                sys.exit(1) # error, command didn't complete successfully
+                #sys.exit(-1) # error, command didn't complete successfully
+                break # TODO: return error on failure

        if len(serial_line) <= 0:
-            ser.write("\r\n".encode("ascii"))
+            ser.write("\n".encode("ascii"))
            ser.flush()

        if time.time() > timeout_start + timeout:
@@ -8,58 +8,12 @@ import re
 import unittest
 import os
 import sys
-import datetime
-
-COLOR_RED    = "\x1b[31m"
-COLOR_GREEN  = "\x1b[32m"
-COLOR_YELLOW = "\x1b[33m"
-COLOR_WHITE  = "\x1b[37m"
-COLOR_RESET  = "\x1b[0m"
-
-def print_line(line):
-    if "WARNING" in line:
-        line = line.replace("WARNING", f"{COLOR_YELLOW}WARNING{COLOR_RESET}", 1)
-    elif "WARN" in line:
-        line = line.replace("WARN", f"{COLOR_YELLOW}WARN{COLOR_RESET}", 1)
-    elif "ERROR" in line:
-        line = line.replace("ERROR", f"{COLOR_RED}ERROR{COLOR_RESET}", 1)
-    elif "INFO" in line:
-        line = line.replace("INFO", f"{COLOR_WHITE}INFO{COLOR_RESET}", 1)
-
-    if "PASSED" in line:
-        line = line.replace("PASSED", f"{COLOR_GREEN}PASSED{COLOR_RESET}", 1)
-
-    if "FAILED" in line:
-        line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
-
-    current_time = datetime.datetime.now()
-    print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')

 def do_test(port, baudrate, test_name):
-    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)
-
-    timeout_start = time.time()
-    timeout = 10  # 10 seconds
-
-    # wait for nsh prompt
-    while True:
-        ser.write("\n".encode("ascii"))
-        ser.flush()
-
-        serial_line = ser.readline().decode("ascii", errors='ignore')
-
-        if "nsh>" in serial_line:
-            break
-        else:
-            if len(serial_line) > 0:
-                print(serial_line, end='')
-
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout waiting for prompt")
-            return False
-
-    # clear
-    ser.readlines()
+    databits = serial.EIGHTBITS
+    stopbits = serial.STOPBITS_ONE
+    parity = serial.PARITY_NONE
+    ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=1)

    success = False

@@ -68,38 +22,48 @@ def do_test(port, baudrate, test_name):
    cmd = 'tests ' + test_name
    print("| Running:", cmd)
    print('|======================================================================')
-
    timeout_start = time.time()
-    timeout = 2  # 2 seconds
+    timeout = 10  # 10 seconds
+
+    # clear
+    ser.write("\n".encode("ascii"))
+    ser.flush()
+    ser.readline()

-    # wait for command echo
    serial_cmd = '{0}\n'.format(cmd)
    ser.write(serial_cmd.encode("ascii"))
    ser.flush()
-    while True:
-        serial_line = ser.readline().decode("ascii", errors='ignore')
+    ser.readline()

-        if cmd in serial_line:
-            break
-        else:
-            if len(serial_line) > 0:
-                print_line(serial_line)
+    # TODO: retry command
+    # while True:
+    #     serial_cmd = '{0}\n'.format(cmd)
+    #     ser.write(serial_cmd.encode("ascii"))
+    #     ser.flush()

-        if time.time() > timeout_start + timeout:
-            print("Error, timeout waiting for command echo")
-            break
+    #     serial_line = ser.readline().decode("ascii", errors='ignore')
+
+    #     if cmd in serial_line:
+    #         break
+    #     else:
+    #         print(serial_line.replace('\n', ''))
+
+    #     if time.time() > timeout_start + timeout:
+    #         print("Error, unable to write cmd")
+    #         return False
+
+    #     time.sleep(1)


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

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

        if test_name + " PASSED" in serial_line:
            success = True
@@ -110,7 +74,7 @@ def do_test(port, baudrate, test_name):

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

@@ -139,30 +103,15 @@ class TestHardwareMethods(unittest.TestCase):
    def test_bson(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))

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

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

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

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

@@ -178,6 +127,21 @@ class TestHardwareMethods(unittest.TestCase):
    def test_matrix(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "matrix"))

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

@@ -12,14 +12,12 @@ exec find boards msg src platforms test \
    -path platforms/nuttx/NuttX -prune -o \
    -path platforms/qurt/dspal -prune -o \
    -path src/drivers/uavcan/libuavcan -prune -o \
-    -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
    -path src/drivers/uavcan_v1/libcanard -prune -o \
    -path src/drivers/uavcannode_gps_demo/libcanard -prune -o \
-    -path src/lib/crypto/monocypher -prune -o \
-    -path src/lib/events/libevents -prune -o \
+    -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
+    -path src/lib/ecl -prune -o \
    -path src/lib/matrix -prune -o \
    -path src/lib/parameters/uthash -prune -o \
-    -path src/modules/ekf2/EKF -prune -o \
    -path src/modules/gyro_fft/CMSIS_5 -prune -o \
    -path src/modules/micrortps_bridge/micro-CDR -prune -o \
    -path src/modules/micrortps_bridge/microRTPS_client -prune -o \
@@ -1,15 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-SCRIPT_DIR=$0
-if [[ ${SCRIPT_DIR:0:1} != '/' ]]; then
-  SCRIPT_DIR=$(dirname $(realpath -s "$PWD/$0"))
-fi
-
-PX4_DIR=$(cd "$(dirname $(dirname $SCRIPT_DIR))" && pwd)
-
-if [ -d $PX4_DIR/build/*_rtps ]; then
-  cd $PX4_DIR/build/*_rtps/src/modules/micrortps_bridge/micrortps_agent/
-  cmake -Bbuild
-  cmake --build build -j$(nproc --all)
-fi
@@ -1,20 +0,0 @@
-#!/usr/bin/env python
-
-import argparse
-import lzma
-
-parser = argparse.ArgumentParser(description="""Compress a file with xz""")
-parser.add_argument('filename', metavar='file', help='Input file (output: file.xz)')
-
-args = parser.parse_args()
-filename = args.filename
-
-def save_compressed(filename):
-    #create xz compressed version
-    xz_filename=filename+'.xz'
-    with lzma.open(xz_filename, 'wt', preset=9) as f:
-        with open(filename, 'r') as content_file:
-            f.write(content_file.read())
-
-save_compressed(filename)
-
@@ -81,8 +81,7 @@ def sign(bin_file_path, key_file_path=None, generated_key_file=None):
        # Align to 4 bytes. Signature always starts at
        # 4 byte aligned address, but the signee size
        # might not be aligned
-        if len(signee_bin)%4 != 0:
-            signee_bin += bytearray(b'\xff')*(4-len(signee_bin)%4)
+        signee_bin += bytearray(b'\xff')*(4-len(signee_bin)%4)

    try:
        with open(key_file_path,mode='r') as f:
@@ -134,7 +133,7 @@ if(__name__ == "__main__"):
    parser.add_argument("signee", help=".bin file to add signature", nargs='?', default=None)
    parser.add_argument("signed", help="signed output .bin", nargs='?', default=None)

-    parser.add_argument("--key", help="key.json file", default="Tools/test_keys/test_keys.json")
+    parser.add_argument("--key", help="key.json file", default="Tools/test_keys.json")
    parser.add_argument("--rdct", help="binary R&D certificate file", default=None)
    parser.add_argument("--genkey", help="new generated key", default=None)
    args = parser.parse_args()
@@ -153,7 +152,7 @@ if(__name__ == "__main__"):
        sys.exit(1)

    # Issue a warning when signing with testing key
-    if args.key=='Tools/test_keys/test_keys.json':
+    if args.key=='Tools/test_keys.json':
        print("WARNING: Signing with PX4 test key")

    # Sign the binary
@@ -4,13 +4,16 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	echo "guessing PX4_DOCKER_REPO based on input";
 	if [[ $@ =~ .*px4_fmu.* ]]; then
 		# nuttx-px4fmu-v{1,2,3,4,5}
-		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-05-04"
+		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-04-29"
 	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
 		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
 		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"
 	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
 		# scumaker_pilotpi_arm64
 		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest"
+	elif [[ $@ =~ .*eagle.* ]] || [[ $@ =~ .*excelsior.* ]]; then
+		# eagle, excelsior
+		PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2020-04-01"
 	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
 		# posix_rpi_cross, posix_bebop_default
 		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"
@@ -27,7 +30,7 @@ fi

 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-05-04"
+	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-04-29"
 fi

 # docker hygiene
@@ -20,7 +20,7 @@ function spawn_model() {
 	X=${X:=0.0}
 	Y=${Y:=$((3*${N}))}

-	SUPPORTED_MODELS=("iris" "plane" "standard_vtol" "rover" "r1_rover" "typhoon_h480")
+	SUPPORTED_MODELS=("iris" "iris_rtps" "plane" "standard_vtol" "rover" "r1_rover" "typhoon_h480")
 	if [[ " ${SUPPORTED_MODELS[*]} " != *"$MODEL"* ]];
 	then
 		echo "ERROR: Currently only vehicle model $MODEL is not supported!"
@@ -12,7 +12,6 @@ import sys, select
 import termios
 from timeit import default_timer as timer
 from argparse import ArgumentParser
-import os

 try:
    from pymavlink import mavutil
@@ -136,20 +135,15 @@ def main():

    mav_serialport.write('\n') # make sure the shell is started

-    # disable echo & avoid buffering on stdin
+    # setup the console, so we can read one char at a time
    fd_in = sys.stdin.fileno()
-    try:
-        old_attr = termios.tcgetattr(fd_in)
-        new_attr = termios.tcgetattr(fd_in)
-        new_attr[3] = new_attr[3] & ~termios.ECHO # lflags
-        new_attr[3] = new_attr[3] & ~termios.ICANON
-        termios.tcsetattr(fd_in, termios.TCSANOW, new_attr)
-    except termios.error:
-        # tcgetattr can fail if stdin is not a tty
-        old_attr = None
-    ubuf_stdin = os.fdopen(fd_in, 'rb', buffering=0)
+    old_attr = termios.tcgetattr(fd_in)
+    new_attr = termios.tcgetattr(fd_in)
+    new_attr[3] = new_attr[3] & ~termios.ECHO # lflags
+    new_attr[3] = new_attr[3] & ~termios.ICANON

    try:
+        termios.tcsetattr(fd_in, termios.TCSANOW, new_attr)
        cur_line = ''
        command_history = []
        cur_history_index = 0
@@ -162,19 +156,11 @@ def main():

        next_heartbeat_time = timer()

-        quit_time = None
-        while quit_time is None or quit_time > timer():
+        while True:
            while True:
-                i, o, e = select.select([ubuf_stdin], [], [], 0)
+                i, o, e = select.select([sys.stdin], [], [], 0)
                if not i: break
-                ch = ubuf_stdin.read(1).decode('utf8')
-
-                if len(ch) == 0: # EOF
-                    if quit_time is None:
-                        # run a bit longer to read the response (we could also
-                        # read until we get a prompt)
-                        quit_time = timer() + 1
-                    break
+                ch = sys.stdin.read(1)

                # provide a simple shell with command history
                if ch == '\n':
@@ -196,8 +182,8 @@ def main():
                        cur_line = cur_line[:-1]
                        sys.stdout.write(ch)
                elif ord(ch) == 27:
-                    ch = ubuf_stdin.read(1).decode('utf8') # skip one
-                    ch = ubuf_stdin.read(1).decode('utf8')
+                    ch = sys.stdin.read(1) # skip one
+                    ch = sys.stdin.read(1)
                    if ch == 'A': # arrow up
                        if cur_history_index > 0:
                            cur_history_index -= 1
@@ -237,8 +223,7 @@ def main():
        mav_serialport.close()

    finally:
-        if old_attr:
-            termios.tcsetattr(fd_in, termios.TCSADRAIN, old_attr)
+        termios.tcsetattr(fd_in, termios.TCSADRAIN, old_attr)


 if __name__ == '__main__':
@@ -5,47 +5,17 @@ import html

 class MarkdownTablesOutput():
    def __init__(self, groups, board, image_path):
-        result = """# Airframes Reference
+        result = ("# Airframes Reference\n"
+                  "> **Note** **This list is [auto-generated](https://github.com/PX4/Firmware/edit/master/Tools/px4airframes/markdownout.py) from the source code**.\n"
+                  "> \n"
+                  "> **AUX** channels may not be present on some flight controllers.\n"
+                  "> If present, PWM AUX channels are commonly labelled **AUX OUT**.\n"
+                  "> \n"
+                  "\n")

-:::note
-**This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/master/Tools/px4airframes/markdownout.py) from the source code** using the build command: `make airframe_metadata`.
-:::
-
-This page lists all supported airframes and types including the motor assignment and numbering.
-The motors in **green** rotate clockwise, the ones in **blue** counterclockwise.
-
-**AUX** channels may not be present on some flight controllers.
-If present, PWM AUX channels are commonly labelled **AUX OUT**.
-
-<style>
-table {
-   display: table;
-   table-layout: fixed;
-   margin-bottom: 5px;
-}
-table.common {
-   float: right; 
-   width: 70%;
-}
-table.airframes {
-   width: 100%;
-}
-table.airframes th:nth-child(1) {
-  width: 30%;
-  }
-
-tr > * {
-    vertical-align : top;
-}
-td, th {
-  text-align : left;
-  }
-img {
-  max-height: 180px;
-  width: 29%;
-  padding-top: 10px;
-}
-</style>\n\n"""
+        result += """This page lists all supported airframes and types including
+ the motor assignment and numbering. The motors in **green** rotate clockwise,
+ the ones in **blue** counterclockwise.\n\n"""
 
        type_set = set()
        
@@ -63,7 +33,7 @@ img {
            image_name = group.GetImageName()
            result += '<div>\n'
            image_name = image_path + image_name
-            result += '<img src="%s.svg"/>\n' % (image_name)
+            result += '<img src="%s.svg" width="29%%" style="max-height: 180px;"/>\n' % (image_name)

            # check if all outputs are equal for the group: if so, show them
            # only once
@@ -93,17 +63,19 @@ img {
                    outputs_prev[i] = ''

            if outputs_match[0] or outputs_match[1]:
-                result += '<table class="common">\n'
+                result += '<table style="float: right; width: 70%; font-size:1.5rem;">\n'
+                result += ' <colgroup><col></colgroup>\n'
                result += ' <thead>\n'
                result += '   <tr><th>Common Outputs</th></tr>\n'
                result += ' </thead>\n'
-                result += ' <tbody>\n'
-                result += '<tr>\n <td><ul>%s%s</ul></td>\n</tr>\n' % (outputs_prev[0], outputs_prev[1])
+                result += '<tbody>\n'
+                result += '<tr>\n <td style="vertical-align: top;"><ul>%s%s</ul></td>\n</tr>\n' % (outputs_prev[0], outputs_prev[1])
                result += '</tbody></table>\n'

            result += '</div>\n\n'

-            result += '<table class="generic">\n'
+            result += '<table style="width: 100%; table-layout:fixed; font-size:1.5rem;">\n'
+            result += ' <colgroup><col style="width: 30%"><col style="width: 70%"></colgroup>\n'
            result += ' <thead>\n'
            result += '   <tr><th>Name</th><th></th></tr>\n'
            result += ' </thead>\n'
@@ -118,12 +90,10 @@ img {
                    maintainer = param.GetMaintainer()
                    maintainer_entry = ''
                    if maintainer != '':
-                        maintainer_entry = 'Maintainer: %s' % (html.escape(maintainer))
+                        maintainer_entry = '<p>Maintainer: %s</p>' % (html.escape(maintainer))
                    url = param.GetFieldValue('url')
-                    name_anchor='%s_%s_%s' % (group.GetClass(),group.GetName(),name)
+                    name_anchor='id="%s_%s_%s"' % (group.GetClass(),group.GetName(),name)
                    name_anchor=name_anchor.replace(' ','_').lower()
-                    name_anchor=name_anchor.replace('"','_').lower()
-                    name_anchor='id="%s"' % name_anchor
                    name_entry = name
                    if url != '':
                        name_entry = '<a href="%s">%s</a>' % (url, name)
@@ -150,7 +120,7 @@ img {
                    else:
                        outputs_entry = ''

-                    result += ('<tr %s>\n <td>%s</td>\n <td>%s%s%s</td>\n</tr>\n' %
+                    result += ('<tr %s>\n <td style="vertical-align: top;">%s</td>\n <td style="vertical-align: top;">%s%s%s</td>\n\n</tr>\n' %
                        (name_anchor, name_entry, maintainer_entry, airframe_id_entry,
                        outputs_entry))

--- a/Show More
+++ b/Show More