boards: Holybro H7 boards clear MPU early in board init

- needed if the bootloader configures the memory protection unit (MPU)
boards: CUAV H7 boards clear MPU early in board init
2026-05-26 00:57:34 +08:00 · 2021-08-31 18:01:06 -04:00 · 2021-08-31 17:59:34 -04:00 · 2021-08-31 17:57:23 -04:00 · 2021-08-31 17:56:23 -04:00 · 2021-08-31 17:56:00 -04:00
920 changed files with 16204 additions and 87761 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 = [
@@ -105,8 +106,14 @@ pipeline {
            archive: true
          ]

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

          for (def build_type = 0; build_type < docker_builds.size(); build_type++) {
@@ -126,7 +133,7 @@ pipeline {
    // TODO: actually upload artifacts to S3
    // stage('S3 Upload') {
    //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+    //     docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
    //   }
    //   options {
    //         skipDefaultCheckout()
@@ -158,6 +165,12 @@ pipeline {
 def createBuildNode(Boolean archive, String docker_image, String target) {
  return {

+    // TODO: fix the snapdragon image
+    bypass_entrypoint = ''
+    if (docker_image == 'lorenzmeier/px4-dev-snapdragon:2020-04-01') {
+      bypass_entrypoint = ' --entrypoint=""'
+    }
+
    node {
      docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
        docker.image(docker_image).inside('-e CCACHE_BASEDIR=${WORKSPACE} -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' + bypass_entrypoint) {
@@ -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:
@@ -30,7 +29,7 @@ jobs:
          "parameters_metadata",
        ]
    container:
-      image: px4io/px4-dev-nuttx-focal:2021-05-04
+      image: px4io/px4-dev-nuttx-focal:2021-04-29
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -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 +11,84 @@ 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,
+          ark_can-gps_canbootloader,
+          ark_can-gps_debug,
+          ark_can-gps_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,
+          freefly_can-rtk-gps_canbootloader,
+          freefly_can-rtk-gps_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,
+          modalai_fc-v2_default,
+          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 +117,8 @@ 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 +137,7 @@ jobs:
      run: ccache -s

    - name: Upload px4 package
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v1
      with:
        name: px4_package_${{matrix.config}}
-        path: build/**/*.px4
+        path: build/${{matrix.config}}/${{matrix.config}}.px4
@@ -11,8 +11,7 @@ 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: [
@@ -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:
@@ -11,7 +11,6 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    timeout-minutes: 60
    strategy:
      fail-fast: false
      matrix:
@@ -22,7 +21,7 @@ jobs:
          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",         model: "standard_vtol" } # Zurich

    container:
-      image: px4io/px4-dev-simulation-focal:2021-05-04
+      image: px4io/px4-dev-simulation-focal:2021-04-29
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -18,6 +18,14 @@
 	path = src/lib/matrix
 	url = https://github.com/PX4/PX4-Matrix.git
 	branch = master
+[submodule "src/lib/ecl"]
+	path = src/lib/ecl
+	url = https://github.com/PX4/PX4-ECL.git
+	branch = master
+[submodule "boards/atlflight/cmake_hexagon"]
+	path = boards/atlflight/cmake_hexagon
+	url = https://github.com/PX4/cmake_hexagon.git
+	branch = px4
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/PX4-GPSDrivers.git
@@ -34,6 +42,9 @@
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
 	branch = px4_firmware_nuttx-10.0.0+
+[submodule "platforms/qurt/dspal"]
+	path = platforms/qurt/dspal
+	url = https://github.com/ATLFlight/dspal.git
 [submodule "Tools/flightgear_bridge"]
 	path = Tools/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
@@ -59,10 +70,3 @@
 [submodule "src/lib/crypto/monocypher"]
 	path = src/lib/crypto/monocypher
 	url = https://github.com/PX4/Monocypher.git
-	branch = px4
-[submodule "src/lib/events/libevents"]
-	path = src/lib/events/libevents
-	url = https://github.com/mavlink/libevents.git
-[submodule "Tools/simulation-ignition"]
-	path = Tools/simulation-ignition
-	url = https://github.com/Auterion/px4-simulation-ignition.git
@@ -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
@@ -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')
@@ -174,7 +174,6 @@ endif
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-	$(eval CMAKE_ARGS += -DCONFIG=$(1))
 	@$(eval BUILD_DIR = "$(SRC_DIR)/build/$(1)")
 	@# check if the desired cmake configuration matches the cache then CMAKE_CACHE_CHECK stays empty
 	@$(call cmake-cache-check)
@@ -214,7 +213,7 @@ define colorecho
 endef

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

 # ADD CONFIGS HERE
 # --------------------------------------------------------------------
@@ -222,12 +221,16 @@ ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 -name '*.cmake

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

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

 all_config_targets: $(ALL_CONFIG_TARGETS)
 all_default_targets: $(CONFIG_TARGETS_DEFAULT)
@@ -240,6 +243,16 @@ endef
 # All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
 .PHONY: all px4_sitl_default all_config_targets all_default_targets

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

@@ -266,6 +279,7 @@ misc_qgc_extra_firmware: \
 	check_bitcraze_crazyflie_default \
 	check_bitcraze_crazyflie21_default \
 	check_airmind_mindpx-v2_default \
+	check_px4_fmu-v2_lpe \
 	sizes

 # builds with RTPS
@@ -293,11 +307,6 @@ check_%:
 	@$(MAKE) --no-print-directory $(subst check_,,$@)
 	@echo

-all_variants_%:
-	@echo 'Building all $(subst all_variants_,,$@) variants:'  $(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS))
-	@echo
-	$(foreach a,$(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS)), $(call cmake-build,$(a)$(BUILD_DIR_SUFFIX)))
-
 uorb_graphs:
 	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib --file Tools/uorb_graph/graph_full
 	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
@@ -311,21 +320,18 @@ coverity_scan: px4_sitl_default

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

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

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

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

-extract_events:
-	@$(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 +358,7 @@ format:
 .PHONY: rostest python_coverage

 tests:
+	$(eval CMAKE_ARGS += -DCONFIG=px4_sitl_test)
 	$(eval CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
 	$(eval ARGS += test_results)
 	$(eval ASAN_OPTIONS += color=always:check_initialization_order=1:detect_stack_use_after_return=1)
@@ -502,7 +509,7 @@ help:
 	@echo "Where <target> is one of:"
 	@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
 		awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
-		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(Makefile)'
+		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(posix|eagle|Makefile)'
 	@echo
 	@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
 	@echo "Use '$(MAKE) list_config_targets' for a list of configuration targets."
@@ -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)
@@ -1,54 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default EKF2_ARSP_THR 8
-param set-default EKF2_FUSE_BETA 1
-param set-default EKF2_MAG_ACCLIM 0
-param set-default EKF2_MAG_YAWLIM 0
-
-param set-default FW_LND_AIRSPD_SC 1
-param set-default FW_LND_ANG 8
-param set-default FW_THR_LND_MAX 0
-
-param set-default FW_L1_PERIOD 12
-
-param set-default FW_MAN_P_MAX 30
-
-param set-default FW_PR_I 0.4
-param set-default FW_PR_P 0.9
-param set-default FW_PR_FF 0.2
-param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
-param set-default FW_P_LIM_MIN -15
-
-param set-default FW_RR_FF 0.1
-param set-default FW_RR_P 0.3
-
-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-param set-default FW_THR_CRUISE 0.25
-
-param set-default FW_T_ALT_TC 2
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_HRATE_FF 0.5
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
-param set-default FW_T_TAS_TC 2
-
-param set-default FW_W_EN 1
-
-param set-default MIS_LTRMIN_ALT 30
-param set-default MIS_TAKEOFF_ALT 30
-
-param set-default NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 50
-
-param set-default RWTO_TKOFF 1
-
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
@@ -60,7 +60,6 @@ px4_add_romfs_files(
 	1034_rascal-electric
 	1035_techpod
 	1036_malolo
-	1037_believer
 	1040_standard_vtol
 	1041_tailsitter
 	1042_tiltrotor
@@ -48,10 +48,10 @@ else
 	# shellcheck disable=SC2012
 	REQUESTED_AUTOSTART=$(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
@@ -229,7 +229,7 @@ navigator start
 if px4-micrortps_client status > /dev/null 2>&1
 then
 	# shellcheck disable=SC2154
-	micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
+	micrortps_client start -t UDP $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
 fi

 if param greater -s MNT_MODE_IN -1
@@ -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
@@ -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
@@ -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
@@ -128,7 +128,7 @@ else
 	then
 		param reset_all
 	fi
-	if ver hwtypecmp V5X00 V5X90 V5Xa0
+	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X
 	then
 		netman update -i eth0
 	fi
@@ -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"))

@@ -12,16 +12,15 @@ exec find boards msg src platforms test \
    -path platforms/nuttx/NuttX -prune -o \
    -path platforms/qurt/dspal -prune -o \
    -path src/drivers/uavcan/libuavcan -prune -o \
-    -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
    -path src/drivers/uavcan_v1/libcanard -prune -o \
    -path src/drivers/uavcannode_gps_demo/libcanard -prune -o \
-    -path src/lib/crypto/monocypher -prune -o \
-    -path src/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 \
    -path test/mavsdk_tests/catch2 -prune -o \
+    -path src/lib/crypto/monocypher -prune -o \
    -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN
@@ -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)
-
@@ -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
@@ -5,47 +5,17 @@ import html

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

-:::note
-**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))

@@ -1,58 +0,0 @@
-import codecs
-import json
-import sys
-import os
-
-
-class JsonOutput():
-    def __init__(self, groups):
-        all_json = {}
-        all_json['version'] = 1
-        component = {}
-        all_json['components'] = {1: component} #1: autopilot component
-
-        all_events = {}
-        component['namespace'] = "px4"
-        component['event_groups'] = all_events
-
-        for group in groups:
-            current_group = {}
-            current_events = {}
-            current_group['events'] = current_events
-            all_events[group] = current_group
-
-            for e in groups[group]:
-                event_obj = {}
-                event_obj['name'] = e.name
-                event_obj['message'] = e.message
-                if e.description is not None:
-                    event_obj['description'] = e.description
-                args = []
-                for i in range(len(e.arguments)):
-                    arg = {}
-                    arg['type'] = e.arguments[i][0]
-                    arg['name'] = e.arguments[i][1]
-                    args.append(arg)
-                if len(args) > 0:
-                    event_obj['arguments'] = args
-                sub_id = e.sub_id
-                assert sub_id not in current_events, \
-                        "Duplicate event ID for {0} (message: '{1}'), other event message: '{2}'".format(
-                        e.name, e.message, current_events[sub_id]['message'])
-                current_events[sub_id] = event_obj
-
-        self.json = all_json
-
-    def save(self, filename):
-        need_to_write = True
-        # only write if current file is not the same, to avoid updating the file
-        # timestamp
-        if os.path.isfile(filename):
-            with open(filename, 'rb') as json_file:
-                existing_data = json.load(json_file)
-                if existing_data == self.json:
-                    need_to_write = False
-        if need_to_write:
-            with codecs.open(filename, 'w', 'utf-8') as f:
-                f.write(json.dumps(self.json,indent=2))
-
@@ -1,308 +0,0 @@
-import sys
-import re
-import math
-
-def hash_32_fnv1a(data: str):
-    hash_val = 0x811c9dc5
-    prime = 0x1000193
-    for i in range(len(data)):
-        value = ord(data[i])
-        hash_val = hash_val ^ value
-        hash_val *= prime
-        hash_val &= 0xffffffff
-    return hash_val
-
-
-class Event(object):
-    """
-    Single event definition
-    """
-
-    def __init__(self):
-        self.name = None
-        self.message = None
-        self.description = None
-        self.group = "default"
-        self._arguments = []
-
-    @staticmethod
-    def _get_id(name):
-        return 0xffffff & hash_32_fnv1a(name)
-
-    @property
-    def arguments(self):
-        """ list of (type: str, name: str) tuples """
-        return self._arguments
-
-    def set_default_arguments(self, num_args):
-        """ set argument names to default (if not specified) """
-        for i in range(num_args):
-            self.add_argument(None, "arg"+str(i))
-
-    def _shift_printed_arguments(self, msg, offset):
-        """ shift all {<idx> arguments by an offset """
-        i = 0
-        while i < len(msg):
-
-            if msg[i] == '\\': # escaped character
-                i += 2
-                continue
-
-            if msg[i] == '{':
-                m = re.match(r"^(\d+)", msg[i+1:])
-                if m:
-                    arg_idx = int(m.group(1)) + offset
-                    msg = msg[:i+1] + str(arg_idx) + msg[i+1+len(m.group(1)):]
-            i += 1
-        return msg
-
-    def prepend_arguments(self, arguments):
-        """ prepend additional arguments, and shift all '{<index>}' in the
-            description and message
-            :param arguments: list of (type: str, name: str) tuples
-        """
-        self._arguments = arguments + self._arguments
-        num_added = len(arguments)
-        if self.message is not None:
-            self.message = self._shift_printed_arguments(self.message, num_added)
-        if self.description is not None:
-            self.description = self._shift_printed_arguments(self.description, num_added)
-
-    def add_argument(self, arg_type, name):
-        self._arguments.append((arg_type, name))
-
-    @property
-    def sub_id(self):
-        return self._get_id(self.name)
-
-    def validate(self):
-        if self.name is None: raise Exception("missing event name")
-        if self.message is None: raise Exception("missing event message for {}".format(self.name))
-        # just to ensure a common convention
-        assert self.message[-1] != '.', "Avoid event message ending in '.' ({:})".format(self.message)
-        # description is optional
-
-class SourceParser(object):
-    """
-    Parses provided data and stores all found events internally.
-    """
-
-    re_split_lines = re.compile(r'[\r\n]+')
-    re_comment_start = re.compile(r'^\/\*\s*EVENT$')
-    re_events_send = re.compile(r'^events::send[<\(]')
-    re_comment_content = re.compile(r'^\*\s*(.*)')
-    re_comment_tag = re.compile(r'^@([a-zA-Z][a-zA-Z0-9_]*):?\s*(.*)')
-    re_comment_end = re.compile(r'(.*?)\s*\*\/$')
-    re_code_end = re.compile(r'(.*?)\s*;$')
-    re_template_args = re.compile(r'([a-zA-Z0-9_:\.]+)\s*<([a-zA-Z0-9_,\s:]+)\s*>\s*\((.*)\);$')
-    re_no_template_args = re.compile(r'([a-zA-Z0-9_:\.]+)\s*\((.*)\);$')
-    re_event_id = re.compile(r'(events::)?ID\("([a-zA-Z0-9_]+)\"')
-
-    def __init__(self):
-        self._events = {}
-
-    @property
-    def events(self):
-        """ dict of 'group': [Event] list """
-        return self._events
-
-    def Parse(self, contents):
-        """
-        Incrementally parse program contents and append all found events
-        to the list.
-        """
-        # This code is essentially a comment-parsing grammar. "state"
-        # represents parser state. It contains human-readable state
-        # names.
-        state = None
-        def finalize_current_tag(event, tag, value):
-            if tag is None: return
-            if tag == "description":
-                descr = value.strip()
-                # merge continued lines (but not e.g. enumerations)
-                for i in range(1, len(descr)-1):
-                    if descr[i-1] != '\n' and descr[i] == '\n' and descr[i+1].isalpha():
-                        descr = descr[:i] + ' ' + descr[i+1:]
-                event.description = descr
-            elif tag == "group":
-                known_groups = ["calibration", "health", "arming_check", "normal"]
-                event.group = value.strip()
-                if not event.group in known_groups:
-                    raise Exception("Unknown event group: '{}'\nKnown groups: {}\n" \
-                        "If this is not a typo, add the new group to the script".format(event.group, known_groups))
-            elif tag.startswith("arg"):
-                arg_index = int(tag[3:])-1
-                arg_name = value.strip()
-                assert len(event.arguments) == arg_index, "Invalid argument ordering/duplicate ({}, {})".format(tag, value)
-                event.add_argument(None, arg_name)
-            else:
-                raise Exception("Invalid tag: {}\nvalue: {}".format(tag, value))
-
-        for line in self.re_split_lines.split(contents):
-            line = line.strip()
-            # Ignore empty lines
-            if line == "":
-                continue
-
-            assert not line.startswith("using namespace events;"), "Avoid 'using namespace events;', as it prevents proper events extraction"
-
-            # Check for '/* EVENT'
-            if self.re_comment_start.match(line):
-                state = "parse-comments"
-                event = Event()
-                current_tag = None
-                current_value = None
-                current_code = ""
-                continue
-
-            # Check for events::send (allow '/* EVENT' to be optional)
-            if state is None and self.re_events_send.match(line):
-                state = "parse-command"
-                event = Event()
-                current_tag = None
-                current_value = None
-                current_code = ""
-
-            if state is None:
-                assert 'events::ID(' not in line or line.startswith('//'), \
-                    "unmatched 'events::ID(' found in line '{:}'".format(line)
-                continue
-
-            if state == "parse-command":
-                current_code += line
-                m = self.re_code_end.search(line)
-                if m:
-                    # extract template arguments
-                    m = self.re_template_args.search(current_code)
-                    if m:
-                        call, template_args, args = m.group(1, 2, 3)
-                        template_args = template_args.split(',')
-                    else:
-                        m = self.re_no_template_args.search(current_code)
-                        if m:
-                            template_args = []
-                            call, args = m.group(1, 2)
-                        else:
-                            raise Exception("Failed to parse code line {:}".format(current_code))
-
-                    # if event arguments are not specified, use default naming
-                    if len(event.arguments) == 0:
-                        event.set_default_arguments(len(template_args))
-
-                    # get argument types from template arguments
-                    assert len(template_args) == len(event.arguments), \
-                        "Number of arguments mismatch (args: {:})".format(template_args)
-                    num_args = len(template_args)
-                    for i in range(num_args):
-                        arg_name = event.arguments[i][1]
-                        arg_type = template_args[i].strip()
-                        if arg_type.startswith('events::'):
-                            arg_type = arg_type[8:]
-                        arg_type = arg_type.replace('enums::', '')
-                        event.arguments[i] = (arg_type, arg_name)
-                    #print("method: {}, args: {}, template args: {}".format(call, args, event.arguments))
-
-                    ignore_event = False
-
-                    # extract function arguments
-                    args_split = self._parse_arguments(args)
-                    if call == "events::send" or call == "send":
-                        if len(args_split) == 1:
-                            # This is a send call for a generated event
-                            ignore_event = True
-                        else:
-                            assert len(args_split) == num_args + 3, \
-                                "Unexpected Number of arguments for: {:}, " \
-                                "num template args: {:} (missing template args?)" \
-                                .format(args_split, num_args)
-                            m = self.re_event_id.search(args_split[0])
-                            if m:
-                                _, event_name = m.group(1, 2)
-                            else:
-                                raise Exception("Could not extract event ID from {:}".format(args_split[0]))
-                            event.name = event_name
-                            event.message = args_split[2][1:-1]
-                    elif call in ['reporter.healthFailure', 'reporter.armingCheckFailure']:
-                        assert len(args_split) == num_args + 5, \
-                            "Unexpected Number of arguments for: {:}, {:}".format(args_split, num_args)
-                        m = self.re_event_id.search(args_split[2])
-                        if m:
-                            _, event_name = m.group(1, 2)
-                        else:
-                            raise Exception("Could not extract event ID from {:}".format(args_split[2]))
-                        event.name = event_name
-                        event.message = args_split[4][1:-1]
-                        if 'health' in call:
-                            event.group = "health"
-                        else:
-                            event.group = "arming_check"
-                        event.prepend_arguments([('common::navigation_mode_category_t', 'modes'),
-                                ('uint8_t', 'health_component_index')])
-                    else:
-                        raise Exception("unknown event method call: {}, args: {}".format(call, args))
-
-                    if not ignore_event:
-                        event.validate()
-
-                        # insert
-                        if not event.group in self._events:
-                            self._events[event.group] = []
-                        self._events[event.group].append(event)
-
-                    state = None
-
-            else: # parse-comments
-                m = self.re_comment_end.search(line)
-                if m:
-                    line = m.group(1)
-                    last_comment_line = True
-                else:
-                    last_comment_line = False
-                m = self.re_comment_content.match(line)
-                if m:
-                    comment_content = m.group(1)
-                    m = self.re_comment_tag.match(comment_content)
-                    if m:
-                        finalize_current_tag(event, current_tag, current_value)
-                        current_tag, current_value = m.group(1, 2)
-                    elif current_tag is not None:
-                        current_value += "\n"+comment_content
-                    # else: empty line before any tag
-                elif not last_comment_line:
-                    # Invalid comment line (inside comment, but not starting with
-                    # "*" or "*/".
-                    raise Exception("Excpected a comment, got '{}'".format(line))
-                if last_comment_line:
-                    finalize_current_tag(event, current_tag, current_value)
-                    state = "parse-command"
-        return True
-
-    def _parse_arguments(self, args):
-        """
-        given a string of arguments, returns a list of strings split into the
-        arguments, with respecting brackets.
-        args is expected to be a single line.
-        Note: comments are not handled, also template arguments.
-
-        e.g. "32, test(4,4), \"e(c\", ab" -> ["32", "test(4,4)", "\"e(c\"", "ab"]
-        """
-        args_split = []
-        start = 0
-        bracket = 0
-        in_string = False
-        for i in range(len(args)):
-            if in_string and args[i] == "\"" and args[i-1] != "\\":
-                in_string = False
-            elif not in_string and args[i] == "\"":
-                in_string = True
-            if in_string:
-                continue
-            if args[i] in "{([":
-                bracket += 1
-            if args[i] in "})]":
-                bracket -= 1
-            if bracket == 0 and args[i] == ',':
-                args_split.append(args[start:i].strip())
-                start = i + 1
-        args_split.append(args[start:].strip())
-        return args_split
@@ -1,52 +0,0 @@
-import os
-import re
-import codecs
-import sys
-
-class SourceScanner(object):
-    """
-    Traverses directory tree, reads all source files, and passes their contents
-    to the Parser.
-    """
-
-    def ScanDir(self, srcdirs, parser):
-        """
-        Scans provided path and passes all found contents to the parser using
-        parser.Parse method.
-        """
-        extensions = tuple([".cpp"])
-        for srcdir in srcdirs:
-            if os.path.isfile(srcdir):
-                if not self.ScanFile(srcdir, parser):
-                    return False
-            else:
-                for dirname, dirnames, filenames in os.walk(srcdir):
-                    for filename in filenames:
-                        if filename.endswith(extensions):
-                            path = os.path.join(dirname, filename)
-                            try:
-                                if not self.ScanFile(path, parser):
-                                    return False
-                            except:
-                                print(("Exception in file %s" % path))
-                                raise
-        return True
-
-    def ScanFile(self, path, parser):
-        """
-        Scans provided file and passes its contents to the parser using
-        parser.Parse method.
-        """
-
-        with codecs.open(path, 'r', 'utf-8') as f:
-            try:
-                contents = f.read()
-            except:
-                contents = ''
-                print('Failed reading file: %s, skipping content.' % path)
-                pass
-        try:
-            return parser.Parse(contents)
-        except Exception as e:
-            print("Exception while parsing file {}".format(path))
-            raise
@@ -1,102 +0,0 @@
-#!/usr/bin/env python
-############################################################################
-#
-#   Copyright (C) 2020 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# PX4 events processor (main executable file)
-#
-# This tool scans the PX4 source code for definitions of events.
-#
-
-import sys
-import os
-import argparse
-from px4events import srcscanner, srcparser, jsonout
-
-import re
-import codecs
-
-
-def main():
-    # Parse command line arguments
-    parser = argparse.ArgumentParser(description="Process events definitions.")
-    parser.add_argument("-s", "--src-path",
-                        default=["../src"],
-                        metavar="PATH",
-                        nargs='*',
-                        help="one or more paths/files to source files to scan for events")
-    parser.add_argument("-j", "--json",
-                        nargs='?',
-                        const="events.json",
-                        metavar="FILENAME",
-                        help="Create Json output file"
-                             " (default FILENAME: events.json)")
-    parser.add_argument('-v', '--verbose',
-                        action='store_true',
-                        help="verbose output")
-
-    args = parser.parse_args()
-
-    # Check for valid command
-    if not (args.json):
-        print("Error: You need to specify at least one output method!")
-        parser.print_usage()
-        sys.exit(1)
-
-    # Initialize source scanner and parser
-    scanner = srcscanner.SourceScanner()
-    parser = srcparser.SourceParser()
-
-    # Scan directories, and parse the files
-    if args.verbose:
-        print("Scanning source path/files " + str(args.src_path))
-
-    # canonicalize + remove duplicates
-    src_paths = set()
-    for path in args.src_path:
-        src_paths.add(os.path.realpath(path))
-
-    if not scanner.ScanDir(src_paths, parser):
-        sys.exit(1)
-
-    events = parser.events
-
-    # Output to JSON file
-    if args.json:
-        if args.verbose: print("Creating Json file " + args.json)
-        cur_dir = os.path.dirname(os.path.realpath(__file__))
-        out = jsonout.JsonOutput(events)
-        out.save(args.json)
-
-if __name__ == "__main__":
-    main()
@@ -4,7 +4,6 @@ cerberus
 coverage
 empy>=3.3
 jinja2>=2.8
-jsonschema
 matplotlib>=3.0.*
 numpy>=1.13
 nunavut>=1.1.0
@@ -44,7 +44,6 @@ in pkgs.mkShell {
 		coverage
 		empy
 		jinja2
-		jsonschema
 		matplotlib
 		numpy
 		packaging
@@ -1,23 +0,0 @@
-#!/bin/bash
-#
-# Setup environment to make PX4 visible to Gazebo.
-#
-# Note, this is not necessary if using a ROS catkin workspace with the px4
-# package as the paths are exported.
-#
-# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
-
-if [ "$#" != 2 ]; then
-    echo -e "usage: source setup_gazebo.bash src_dir build_dir\n"
-    return 1
-fi
-
-SRC_DIR=$1
-BUILD_DIR=$2
-
-# setup Gazebo env and update package path
-export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${SRC_DIR}/build/px4_sitl_default/build_ign_gazebo
-export IGN_GAZEBO_SYSTEM_PLUGIN_PATH=$IGN_GAZEBO_SYSTEM_PLUGIN_PATH:${SRC_DIR}/build/px4_sitl_default/build_ign_gazebo
-export IGN_GAZEBO_RESOURCE_PATH=$IGN_GAZEBO_RESOURCE_PATH:${SRC_DIR}/Tools/simulation-ignition/models
-
-echo -e "LD_LIBRARY_PATH $LD_LIBRARY_PATH"
@@ -177,10 +177,6 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
 		echo "You need to have gazebo simulator installed!"
 		exit 1
 	fi
-elif [ "$program" == "ignition" ] && [ -z "$no_sim" ]; then
-	echo "Ignition Gazebo"
-	source "$src_path/Tools/setup_ignition.bash" "${src_path}" "${build_path}"
-	ign gazebo -r "${src_path}/Tools/simulation-ignition/worlds/ignition.world"&
 elif [ "$program" == "flightgear" ] && [ -z "$no_sim" ]; then
 	echo "FG setup"
 	cd "${src_path}/Tools/flightgear_bridge/"
@@ -24,10 +24,10 @@ px4_add_board(
 		#sensors
 	SYSTEMCMDS
 		param
-		perf
+		#perf
 		#reboot
 		#system_time
-		top
+		#top
 		#topic_listener
 		#uorb
 		#ver
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Daniel Agar	ba0b512f0d	boards: Holybro H7 boards clear MPU early in board init - needed if the bootloader configures the memory protection unit (MPU)	2021-08-31 18:01:06 -04:00
Daniel Agar	7476a2953e	boards: CUAV H7 boards clear MPU early in board init - needed if the bootloader configures the memory protection unit (MPU)	2021-08-31 17:59:34 -04:00
Lorenz Meier	15e6ca9e1e	MRO: Set up MPU after boot to app This is needed in case the bootloader configured the MPU, which could interfere with the app as the bootloader memory map / configuration is different.	2021-08-31 17:57:23 -04:00
Daniel Agar	b9e7063237	boards: cube orange fully clear any existing MPU configuration as soon as possible	2021-08-31 17:56:23 -04:00
Daniel Agar	0a6045367f	px4io_serial: ensure TX DMA is stopped if exiting early on stream error - otherwise the next retry can happen quickly enough that dma setup hangs waiting for the stream	2021-08-31 17:56:00 -04:00
Daniel Agar	3f88a6d0bf	boards: cubeorange/cubeyellow use amber LED for armed state	2021-08-29 21:31:21 -04:00
Jukka Laitinen	d1c09ec358	Fix memory corruption when work queue is being deleted When the last WorkItem is deleted, it is removed from a work queue and the queue is being stopped. But, the queue itself might get deleted in the middle, in a higher priority thread than where the WorkItem deletion was performed from If the WorkQueue::Detach accesses the member variables after this, there is memory corruption This happens in particular when launching i2c or spi devices in I2CSPIDriverBase::module_start: - The "initializer" is deleted when the instance is not found and the iterator while loop continues. - The workqueue is deleted in the middle of "initializer" deletion when the WorkQueueRunner returns. This prevents deletion of the WorkQueue before the Detach has been finished, in the specific case that the ::Detach triggers the deletion Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2021-08-29 21:31:12 -04:00
Daniel Agar	ca744626cd	boards: io-v2 increase idle thread stack 280 -> 316 bytes	2021-08-26 23:57:10 -04:00
Daniel Agar	ea577f15b9	px4iofirmware: never directly touch mixer from isr	2021-08-26 23:57:10 -04:00
Daniel Agar	d9f3c820ab	sensors: always start baro/GPS/mag aggregators if SYS_HAS_* set - add new SYS_HAS_GPS parameter	2021-08-23 14:14:27 -04:00
David Sidrane	8e57a62c9d	rgbled_ncp5623c:Add comand line mapping of PWM to color	2021-08-21 11:52:15 -04:00
David Sidrane	b961f6a1e1	rgbled_ncp5623c:Needs 2 retries	2021-08-21 11:52:15 -04:00
David Sidrane	09140c01bf	rgbled_ncp5623c:Can change address, return actual	2021-08-21 11:52:15 -04:00
David Sidrane	822ae46235	rgbled_ncp5623c:Document support for ncp5623[c\|b] parts	2021-08-21 11:52:15 -04:00
David Sidrane	f70381dfdd	i2c_spi_buses:Support devices that may change address	2021-08-21 11:52:15 -04:00
David Sidrane	84066f574d	vcm1193l:Bug Fix set default address	2021-08-21 11:52:15 -04:00
David Sidrane	c8426da50d	px4_fmu-v5x:Newer HW Start BARRO on bus 2	2021-08-21 11:52:15 -04:00
David Sidrane	6bab917a3d	px4_fmu-v6x:Use HB 10pin GPS rotation	2021-08-21 11:52:15 -04:00
David Sidrane	531301e176	px4_fmu-v5x:Use HB 10pin GPS rotation	2021-08-21 11:52:15 -04:00
David Sidrane	04f4157828	rcS:Scope netman to all 5X and 6X	2021-08-21 11:52:15 -04:00
Daniel Agar	c5f82ed838	ekf2: fix sensor_combined last_generation	2021-08-12 10:03:25 -04:00
Daniel Agar	99501b4c38	flight_mode_manager: ManualAcceleration support weathervane yaw handler - fixes https://github.com/PX4/PX4-Autopilot/issues/17911	2021-08-12 10:02:13 -04:00
Daniel Agar	9e4a04f58a	mavlink: receiver fix HIL_STATE_QUATERNION map projection init - fixes https://github.com/PX4/PX4-Autopilot/issues/17977	2021-08-02 09:59:41 -04:00
Daniel Agar	1682fd5671	boards: px4_fmu-v2 disable load_mon module to save flash	2021-08-01 13:51:11 -04:00
bresch	a8572f0fdd	ECL: update to include latest bugfixes - fix yaw spin on ground after large mag field change - change covariance prediction for better stability - fix yaw alignment in air for mag-less mode - improve tilt alignment for non-static applications - add momentum drag model	2021-08-01 12:54:15 -04:00
Daniel Agar	a299a3bbd0	sensors: populate sensors_status_imu healthy flags even in multi-EKF mode	2021-08-01 12:54:08 -04:00
Julian Oes	349dd63072	mavlink: fix offboard velocity input This reverts the behavior for offboard velocity setpoint. Back in v1.11, the velocity input in NED_BODY was assumed to be in the world frame but rotated by yaw to the vehicle frame. With the current state the frame is completely fixed to the body. While this might be technically correct, it doesn't seem much intuitive for multicopters and breaks the MAVSDK offboard velocity API. So as an example, with a velocity setpoint of 5 m/s forward, the drone would in - v1.11: fly forward with 5 m/s - v1.12: start to fly forward by pitching down but then descend rapidly as the forward velocity would translate to a setpoint in Z into the ground as it is pitched down. This commit restores the behavior to what we had previously.	2021-07-22 22:09:56 -04:00
David Sidrane	6b51c6390a	Revert "nxp_fmuk66-v3:DMA Poll not needed" This reverts commit `962f02220a`.	2021-07-22 22:08:18 -04:00
David Sidrane	4f7909ee8e	Revert "nxp_fmuk66-e:DMA Poll not needed" This reverts commit `39d684958d`.	2021-07-22 22:08:11 -04:00
David Sidrane	cbb48f9af3	NuttX with Kinetis SerialPoll back in	2021-07-22 22:08:04 -04:00