ADD TODO

Add dob rate control module
Fixedwing rate control into a separate module
2026-06-19 10:40:35 +08:00 · 2022-10-26 16:40:54 +02:00 · 2022-10-26 14:54:30 +02:00 · 2022-10-14 10:11:30 +02:00 · 2022-10-13 16:05:25 -04:00 · 2022-10-13 16:05:25 -04:00
294 changed files with 12897 additions and 6267 deletions
@@ -937,7 +937,7 @@ void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_odometry" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_rates_setpoint" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status_flags" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener failsafe_flags" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vtol_vehicle_status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener yaw_estimator_status" || true'
 }
@@ -0,0 +1,44 @@
+name: Failsafe Simulator Build
+
+on:
+  push:
+    branches:
+    - 'main'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    defaults:
+      run:
+        shell: bash
+    strategy:
+      fail-fast: false
+      matrix:
+        check: [
+          "failsafe_web",
+        ]
+    container:
+      image: px4io/px4-dev-nuttx-focal:2021-09-08
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: check environment
+      run: |
+          export
+          ulimit -a
+    - name: install emscripten
+      run: |
+        git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
+        cd _emscripten_sdk
+        ./emsdk install latest
+        ./emsdk activate latest
+    - name: ${{matrix.check}}
+      run: |
+        . ./_emscripten_sdk/emsdk_env.sh
+        make ${{matrix.check}}
@@ -9,15 +9,15 @@
 [submodule "Tools/simulation/jmavsim/jMAVSim"]
 	path = Tools/simulation/jmavsim/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
-	branch = master
+	branch = main
 [submodule "Tools/simulation/gazebo/sitl_gazebo"]
 	path = Tools/simulation/gazebo/sitl_gazebo
 	url = https://github.com/PX4/PX4-SITL_gazebo.git
-	branch = master
+	branch = main
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/PX4-GPSDrivers.git
-	branch = master
+	branch = main
 [submodule "src/modules/micrortps_bridge/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
 	url = https://github.com/PX4/Micro-CDR.git
@@ -53,6 +53,7 @@
 [submodule "src/lib/events/libevents"]
 	path = src/lib/events/libevents
 	url = https://github.com/mavlink/libevents.git
+	branch = main
 [submodule "src/lib/crypto/libtomcrypt"]
 	path = src/lib/crypto/libtomcrypt
 	url = https://github.com/PX4/libtomcrypt.git
@@ -162,6 +162,35 @@ pipeline {
          }
        }

+        stage('failsafe docs') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+          }
+          steps {
+            sh '''#!/bin/bash -l
+			echo $0;
+            git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk;
+            cd _emscripten_sdk;
+            ./emsdk install latest;
+            ./emsdk activate latest;
+            . ./_emscripten_sdk/emsdk_env.sh;
+			make failsafe_web;
+			cd build/px4_sitl_default_failsafe_web;
+			mkdir -p failsafe_sim;
+			cp index.* parameters.json failsafe_sim;
+			'''
+            dir('build/px4_sitl_default_failsafe_web') {
+              archiveArtifacts(artifacts: 'failsafe_sim/*')
+              stash includes: 'failsafe_sim/*', name: 'failsafe_sim'
+            }
+          }
+          post {
+            always {
+              sh 'make distclean; git clean -ff -x -d .'
+            }
+          }
+        }
+
        stage('uORB graphs') {
          agent {
            docker {
@@ -203,6 +232,7 @@ pipeline {
            unstash 'metadata_parameters'
            unstash 'metadata_module_documentation'
            unstash 'msg_documentation'
+            unstash 'failsafe_sim'
            unstash 'uorb_graph'
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/PX4-user_guide.git')
@@ -211,6 +241,7 @@ pipeline {
              sh('cp -R modules/*.md PX4-user_guide/en/modules/')
              sh('cp -R graph_*.json PX4-user_guide/.vuepress/public/en/middleware/')
              sh('cp -R msg_docs/*.md PX4-user_guide/en/msg_docs/')
+              sh('cp -R failsafe_sim/* PX4-user_guide/.vuepress/public/en/config/failsafe')
              sh('cd PX4-user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
              sh('cd PX4-user_guide; git push origin main || true')
              sh('rm -rf PX4-user_guide')
@@ -575,3 +575,13 @@ update_px4_ros_com:

 update_px4_msgs:
 	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_msgs
+
+.PHONY: failsafe_web run_failsafe_web_server
+failsafe_web:
+	@if ! command -v emcc; then echo -e "Install emscripten first: https://emscripten.org/docs/getting_started/downloads.html\nAnd source the env: source <path>/emsdk_env.sh"; exit 1; fi
+	@$(MAKE) --no-print-directory px4_sitl_default failsafe_test parameters_xml \
+		PX4_CMAKE_BUILD_TYPE=Release BUILD_DIR_SUFFIX=_failsafe_web \
+		CMAKE_ARGS="-DCMAKE_CXX_COMPILER=em++ -DCMAKE_C_COMPILER=emcc"
+run_failsafe_web_server: failsafe_web
+	@cd build/px4_sitl_default_failsafe_web && \
+		python3 -m http.server
@@ -4,7 +4,7 @@

 [![Nuttx Targets](https://github.com/PX4/PX4-Autopilot/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)

-[![Slack](/.github/slack.svg)](https://join.slack.com/t/px4/shared_invite/zt-si4xo5qs-R4baYFmMjlrT4rQK5yUnaA)
+[![Discord Shield](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.gg/dronecode)

 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/main/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.

@@ -41,6 +41,20 @@ elif [ "$PX4_SIMULATOR" = "gz" ]; then
 	fi

 	gz_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+	
+	gz_version_major=$( ign gazebo --versions | sed 's/\..*//g' )
+	gz_version_minor=$( ign gazebo --versions | sed 's/'"${gz_version_major}"\.'//; s/\..*//g' )
+	gz_version_point=$( ign gazebo --versions | sed 's/'"${gz_version_major}"\.'//; s/'"${gz_version_minor}"\.'//')
+
+	if [ "$gz_version_major" -gt "6" ] || { [ "$gz_version_major" -eq "6" ] && [ "$gz_version_minor" -gt "12" ]; } || { [ "$gz_version_major" -eq "6" ] && [ "$gz_version_minor" -eq "12" ] && [ "$gz_version_point" -gt "0" ]; }; then
+		echo "INFO  [init] using latest version of MultiCopterMotor plugin."
+	else
+		echo "WARN  [init] using older version of MultiCopterMotor plugin, please update to latest gazebo > 6.12.0."
+		if [ "$PX4_SIM_MODEL" = "x500" ]; then
+			PX4_SIM_MODEL="x500-Legacy"
+			echo "WARN  [init] setting PX4_SIM_MODEL -> $PX4_SIM_MODEL from x500 till gazebo > 6.12.0"
+		fi
+	fi

 	if [ -z $gz_world ]; then

@@ -38,7 +38,6 @@ param set-default MIS_YAW_TMT 10
 param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_THR_MIN 0.1
-param set-default MPC_TKO_SPEED 1
 param set-default MPC_XY_P 0.8
 param set-default MPC_XY_VEL_D_ACC 0.1
 param set-default MPC_XY_VEL_I_ACC 4
@@ -65,7 +65,6 @@ param set-default COM_SPOOLUP_TIME 1.5
 param set-default MPC_THR_HOVER 0.45
 param set-default MPC_TILTMAX_AIR 25
 param set-default MPC_TKO_RAMP_T 1.8
-param set-default MPC_TKO_SPEED 1
 param set-default MPC_VEL_MANUAL 3
 param set-default MPC_XY_CRUISE 3
 param set-default MPC_XY_VEL_MAX 3.5
@@ -63,7 +63,6 @@ param set-default MPC_ACC_UP_MAX 4
 param set-default MPC_MAN_Y_MAX 120
 param set-default MPC_TILTMAX_AIR 45
 param set-default MPC_THR_HOVER 0.3
-param set-default MPC_TKO_SPEED 1
 param set-default MPC_VEL_MANUAL 5
 param set-default MPC_XY_CRUISE 5
 param set-default MPC_XY_VEL_MAX 5
@@ -64,7 +64,6 @@ param set-default MPC_MANTHR_MIN 0
 param set-default MPC_MAN_Y_MAX 120
 param set-default MPC_TILTMAX_AIR 45
 param set-default MPC_THR_HOVER 0.3
-param set-default MPC_TKO_SPEED 1
 param set-default MPC_VEL_MANUAL 5
 param set-default MPC_XY_CRUISE 5
 param set-default MPC_XY_VEL_MAX 5
@@ -53,7 +53,6 @@ param set-default MPC_XY_VEL_P_ACC 2.6
 param set-default MPC_XY_VEL_I_ACC 1.2
 param set-default MPC_XY_VEL_D_ACC 0.2
 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
@@ -62,7 +62,6 @@ param set-default MPC_XY_VEL_P_ACC 2.6
 param set-default MPC_XY_VEL_I_ACC 1.2
 param set-default MPC_XY_VEL_D_ACC 0.2
 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
@@ -0,0 +1,75 @@
+#!/bin/sh
+#
+# @name Aion Robotics R1 UGV
+#
+# @url https://www.aionrobotics.com/r1
+#
+# @type Rover
+# @class Rover
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.rover_defaults
+
+param set-default BAT1_N_CELLS 4
+
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_ANGERR_INIT 0.01
+param set-default EKF2_MAG_TYPE 1
+
+param set-default FW_AIRSPD_MIN 0
+param set-default FW_AIRSPD_TRIM 1
+param set-default FW_AIRSPD_MAX 3
+
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_L1_DIST 5
+param set-default GND_L1_PERIOD 3
+param set-default GND_THR_CRUISE 0.7
+param set-default GND_THR_MAX 0.5
+
+# Because this is differential drive, it can make a turn with radius 0.
+# This corresponds to a turn angle of pi radians.
+# If a special case is made for differential-drive, this will need to change.
+param set-default GND_MAX_ANG 3.142
+param set-default GND_WHEEL_BASE 0.3
+
+# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
+# to support negative throttle.
+param set-default GND_THR_MIN 0
+param set-default GND_SPEED_P 0.25
+param set-default GND_SPEED_I 3
+param set-default GND_SPEED_D 0.001
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_THR_SC 1
+
+param set-default MIS_LTRMIN_ALT 0.01
+param set-default MIS_TAKEOFF_ALT 0.01
+
+param set-default NAV_ACC_RAD 0.5
+
+# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
+# Differential drive acts like ackermann steering with a maximum turn angle of 180 degrees, or pi radians
+param set-default GND_MAX_ANG 3.1415
+
+param set-default RBCLW_BAUD 8
+param set-default RBCLW_COUNTS_REV 1200
+param set-default RBCLW_ADDRESS 128
+# 104 corresponds to Telem 4
+param set-default RBCLW_SER_CFG 104
+# Start this driver after setting parameters, because the driver uses some of those parameters.
+# roboclaw start /dev/ttyS3
+
+# Set geometry & output configration
+param set-default CA_AIRFRAME 6
+param set-default CA_R_REV 3
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_DIS1 1500
+param set-default PWM_MAIN_DIS2 1500
+param set-default PWM_MAIN_TIM0 50
+param set-default PWM_MAIN_TIM1 50
+
@@ -118,6 +118,7 @@ px4_add_romfs_files(

 	50000_generic_ground_vehicle
 	50004_nxpcup_car_dfrobot_gpx
+	50003_aion_robotics_r1_rover

 	# [60000, 61000] (Unmanned) Underwater Robots
 	60000_uuv_generic
@@ -18,6 +18,8 @@ control_allocator start
 #
 # Start attitude controller.
 #
+# fw_rate_control start
+dob_rate_control start
 fw_att_control start
 fw_pos_control_l1 start
 airspeed_selector start
@@ -324,6 +324,27 @@ else
 	rc_update start
 	manual_control start

+	# Start camera trigger, capture and PPS before pwm_out as they might access
+	# pwm pins
+	if param greater -s TRIG_MODE 0
+	then
+		camera_trigger start
+		camera_feedback start
+	fi
+	# PPS capture driver
+	if param greater -s PPS_CAP_ENABLE 0
+	then
+		pps_capture start
+	fi
+	# Camera capture driver
+	if param greater -s CAM_CAP_FBACK 0
+	then
+		if camera_capture start
+		then
+			camera_capture on
+		fi
+	fi
+
 	#
 	# Sensors System (start before Commander so Preflight checks are properly run).
 	# Commander needs to be this early for in-air-restarts.
@@ -390,12 +411,6 @@ else
 		mag_bias_estimator start
 	fi

-	if param greater -s TRIG_MODE 0
-	then
-		camera_trigger start
-		camera_feedback start
-	fi
-
 	#
 	# Optional board mavlink streams: rc.board_mavlink
 	#
@@ -416,21 +431,6 @@ else
 	# Must be started after the serial config is read
 	rc_input start $RC_INPUT_ARGS

-	# PPS capture driver (before pwm_out)
-	if param greater -s PPS_CAP_ENABLE 0
-	then
-		pps_capture start
-	fi
-
-	# Camera capture driver (before pwm_out)
-	if param greater -s CAM_CAP_FBACK 0
-	then
-		if camera_capture start
-		then
-			camera_capture on
-		fi
-	fi
-
 	#
 	# Play the startup tune (if not disabled or there is an error)
 	#
@@ -489,7 +489,7 @@ actuators = {

 with open(output_file, 'w') as outfile:
    indent = 2 if verbose else None
-    json.dump(actuators, outfile, indent=indent)
+    json.dump(actuators, outfile, indent=indent, sort_keys=True)

 if compress:
    save_compressed(output_file)
@@ -32,16 +32,16 @@ def extract_timer(line):
    # Try format: initIOTimer(Timer::Timer5, DMA{DMA::Index1, DMA::Stream0, DMA::Channel6}),
    search = re.search('Timer::([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
    if search:
-        return search.group(1)
+        return search.group(1), 'generic'

    # nxp rt1062 format: initIOPWM(PWM::FlexPWM2),
    search = re.search('PWM::Flex([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
    if search:
-        return search.group(1)
+        return search.group(1), 'imxrt'

-    return None
+    return None, 'unknown'

-def extract_timer_from_channel(line):
+def extract_timer_from_channel(line, num_channels_already_found):
    # Try format: initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
    search = re.search('Timer::([0-9a-zA-Z_]+), ', line, re.IGNORECASE)
    if search:
@@ -50,7 +50,8 @@ def extract_timer_from_channel(line):
    # nxp rt1062 format: initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_B0_06),
    search = re.search('PWM::(PWM[0-9]+)[_,\)]', line, re.IGNORECASE)
    if search:
-        return search.group(1)
+        # imxrt uses a 1:1 timer group to channel association
+        return str(num_channels_already_found)

    return None

@@ -72,7 +73,14 @@ def get_timer_groups(timer_config_file, verbose=False):
        line = line.strip()
        if len(line) == 0 or line.startswith('//'):
            continue
-        timer = extract_timer(line)
+        timer, timer_type = extract_timer(line)
+
+        if timer_type == 'imxrt':
+            if verbose: print('imxrt timer found')
+            max_num_channels = 16 # Just add a fixed number of timers
+            timers = [str(i) for i in range(max_num_channels)]
+            dshot_support = {str(i): False for i in range(max_num_channels)}
+            break

        if timer:
            if verbose: print('found timer def: {:}'.format(timer))
@@ -101,7 +109,7 @@ def get_timer_groups(timer_config_file, verbose=False):
            continue

        if verbose: print('--'+line+'--')
-        timer = extract_timer_from_channel(line)
+        timer = extract_timer_from_channel(line, len(channel_timers))

        if timer:
            if verbose: print('Found timer: {:} in channel line {:}'.format(timer, line))
@@ -211,6 +211,11 @@ class SourceParser(object):

                    ignore_event = False

+                    def parse_message(s):
+                        assert s[0] == '"', "Argument must be a string literal: {:}".format(s)
+                        # unescape \x, to treat the string the same as the C++ compiler
+                        return s[1:-1].encode("utf-8").decode('unicode_escape')
+
                    # extract function arguments
                    args_split = self._parse_arguments(args)
                    if call == "events::send" or call == "send":
@@ -228,8 +233,7 @@ class SourceParser(object):
                            else:
                                raise Exception("Could not extract event ID from {:}".format(args_split[0]))
                            event.name = event_name
-                            # unescape \x, to treat the string the same as the C++ compiler
-                            event.message = args_split[2][1:-1].encode("utf-8").decode('unicode_escape')
+                            event.message = parse_message(args_split[2])
                    elif call in ['reporter.healthFailure', 'reporter.armingCheckFailure']:
                        assert len(args_split) == num_args + 5, \
                            "Unexpected Number of arguments for: {:}, {:}".format(args_split, num_args)
@@ -239,7 +243,7 @@ class SourceParser(object):
                        else:
                            raise Exception("Could not extract event ID from {:}".format(args_split[2]))
                        event.name = event_name
-                        event.message = args_split[4][1:-1]
+                        event.message = parse_message(args_split[4])
                        if 'health' in call:
                            event.group = "health"
                        else:
@@ -77,11 +77,23 @@ except ImportError as e:
    print("")
    sys.exit(1)

+
+# Define time to use time.time() by default
+def _time():
+    return time.time()
+
 # Detect python version
 if sys.version_info[0] < 3:
    runningPython3 = False
 else:
    runningPython3 = True
+    if sys.version_info[1] >=3:
+        # redefine to use monotonic time when available
+        def _time():
+            try:
+                return time.monotonic()
+            except Exception:
+                return time.time()

 class FirmwareNotSuitableException(Exception):
    def __init__(self, message):
@@ -230,7 +242,7 @@ class uploader(object):

    def open(self):
        # upload timeout
-        timeout = time.time() + 0.2
+        timeout = _time() + 0.2

        # attempt to open the port while it exists and until timeout occurs
        while self.port is not None:
@@ -240,7 +252,7 @@ class uploader(object):
            except AttributeError:
                portopen = self.port.isOpen()

-            if not portopen and time.time() < timeout:
+            if not portopen and _time() < timeout:
                try:
                    self.port.open()
                except OSError:
@@ -415,16 +427,16 @@ class uploader(object):
                    uploader.EOC)

        # erase is very slow, give it 30s
-        deadline = time.time() + 30.0
-        while time.time() < deadline:
+        deadline = _time() + 30.0
+        while _time() < deadline:

            usualEraseDuration = 15.0
-            estimatedTimeRemaining = deadline-time.time()
+            estimatedTimeRemaining = deadline-_time()
            if estimatedTimeRemaining >= usualEraseDuration:
                self.__drawProgressBar(label, 30.0-estimatedTimeRemaining, usualEraseDuration)
            else:
                self.__drawProgressBar(label, 10.0, 10.0)
-                sys.stdout.write(" (timeout: %d seconds) " % int(deadline-time.time()))
+                sys.stdout.write(" (timeout: %d seconds) " % int(deadline-_time()))
                sys.stdout.flush()

            if self.__trySync():
@@ -572,7 +584,7 @@ class uploader(object):
    # upload the firmware
    def upload(self, fw, force=False, boot_delay=None):
        # Make sure we are doing the right thing
-        start = time.time()
+        start = _time()
        if self.board_type != fw.property('board_id'):
            msg = "Firmware not suitable for this board (Firmware board_type=%u board_id=%u)" % (
                self.board_type, fw.property('board_id'))
@@ -668,7 +680,7 @@ class uploader(object):
        print("\nRebooting.", end='')
        self.__reboot()
        self.port.close()
-        print(" Elapsed Time %3.3f\n" % (time.time() - start))
+        print(" Elapsed Time %3.3f\n" % (_time() - start))

    def __next_baud_flightstack(self):
        if self.baudrate_flightstack_idx + 1 >= len(self.baudrate_flightstack):
@@ -2,7 +2,7 @@

 set -e

-## Bash script to setup PX4 development environment on Ubuntu LTS (20.04, 18.04, 16.04).
+## Bash script to setup PX4 development environment on Ubuntu LTS (22.04, 20.04, 18.04).
 ## Can also be used in docker.
 ##
 ## Installs:
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<model>
+  <name>x500-Legacy</name>
+  <version>1.0</version>
+  <sdf version="1.9">model.sdf</sdf>
+  <author>
+    <name>Benjamin Perseghetti</name>
+    <email>bperseghetti@rudislabs.com</email>
+  </author>
+  <description>Model of the NXP HoverGames Drone development kit (KIT-HGDRONEK66). The PX4 software compatible kit provides mechanical, RC remote and other components needed to evaluate the RDDRONE-FMUK66 reference design. The FMU includes 100Base-T1 Automotive Ethernet, dual CAN transceivers, as well as SE050 secure element, and works with add on boards NavQPlus, MR-T1ETH8, MR-T1ADAPT, and CAN-nodes such as UCANS32K1SIC.  Kit may be used with, and contains the components needed for the HoverGames.com coding challenges.</description>
+</model>
@@ -0,0 +1,76 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version='1.9'>
+  <model name='x500-Legacy'>
+    <include merge='true'>
+      <uri>model://x500-NoPlugin</uri>
+    </include>
+    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+      <robotNamespace>/x500-Legacy_0</robotNamespace>
+      <jointName>rotor_0_joint</jointName>
+      <linkName>rotor_0</linkName>
+      <turningDirection>ccw</turningDirection>
+      <timeConstantUp>0.0125</timeConstantUp>
+      <timeConstantDown>0.025</timeConstantDown>
+      <maxRotVelocity>1000.0</maxRotVelocity>
+      <motorConstant>8.54858e-06</motorConstant>
+      <momentConstant>0.016</momentConstant>
+      <commandSubTopic>command/motor_speed</commandSubTopic>
+      <motorNumber>0</motorNumber>
+      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+      <motorType>velocity</motorType>
+    </plugin>
+    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+      <robotNamespace>/x500-Legacy_0</robotNamespace>
+      <jointName>rotor_1_joint</jointName>
+      <linkName>rotor_1</linkName>
+      <turningDirection>ccw</turningDirection>
+      <timeConstantUp>0.0125</timeConstantUp>
+      <timeConstantDown>0.025</timeConstantDown>
+      <maxRotVelocity>1000.0</maxRotVelocity>
+      <motorConstant>8.54858e-06</motorConstant>
+      <momentConstant>0.016</momentConstant>
+      <commandSubTopic>command/motor_speed</commandSubTopic>
+      <motorNumber>1</motorNumber>
+      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+      <motorType>velocity</motorType>
+    </plugin>
+    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+      <robotNamespace>/x500-Legacy_0</robotNamespace>
+      <jointName>rotor_2_joint</jointName>
+      <linkName>rotor_2</linkName>
+      <turningDirection>cw</turningDirection>
+      <timeConstantUp>0.0125</timeConstantUp>
+      <timeConstantDown>0.025</timeConstantDown>
+      <maxRotVelocity>1000.0</maxRotVelocity>
+      <motorConstant>8.54858e-06</motorConstant>
+      <momentConstant>0.016</momentConstant>
+      <commandSubTopic>command/motor_speed</commandSubTopic>
+      <motorNumber>2</motorNumber>
+      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+      <motorType>velocity</motorType>
+    </plugin>
+    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+      <robotNamespace>/x500-Legacy_0</robotNamespace>
+      <jointName>rotor_3_joint</jointName>
+      <linkName>rotor_3</linkName>
+      <turningDirection>cw</turningDirection>
+      <timeConstantUp>0.0125</timeConstantUp>
+      <timeConstantDown>0.025</timeConstantDown>
+      <maxRotVelocity>1000.0</maxRotVelocity>
+      <motorConstant>8.54858e-06</motorConstant>
+      <momentConstant>0.016</momentConstant>
+      <commandSubTopic>command/motor_speed</commandSubTopic>
+      <motorNumber>3</motorNumber>
+      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+      <motorType>velocity</motorType>
+    </plugin>
+  </model>
+</sdf>
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<model>
+  <name>x500-NoPlugin</name>
+  <version>1.0</version>
+  <sdf version="1.9">model.sdf</sdf>
+  <author>
+    <name>Benjamin Perseghetti</name>
+    <email>bperseghetti@rudislabs.com</email>
+  </author>
+  <description>Model of the NXP HoverGames Drone development kit (KIT-HGDRONEK66). The PX4 software compatible kit provides mechanical, RC remote and other components needed to evaluate the RDDRONE-FMUK66 reference design. The FMU includes 100Base-T1 Automotive Ethernet, dual CAN transceivers, as well as SE050 secure element, and works with add on boards NavQPlus, MR-T1ETH8, MR-T1ADAPT, and CAN-nodes such as UCANS32K1SIC.  Kit may be used with, and contains the components needed for the HoverGames.com coding challenges.</description>
+</model>
@@ -0,0 +1,516 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version='1.9'>
+  <model name='x500-NoPlugin'>
+    <pose>0 0 .24 0 0 0</pose>
+    <self_collide>false</self_collide>
+    <static>false</static>
+    <link name="base_link">
+      <inertial>
+        <mass>2.0</mass>
+        <inertia>
+          <ixx>0.02166666666666667</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.02166666666666667</iyy>
+          <iyz>0</iyz>
+          <izz>0.04000000000000001</izz>
+        </inertia>
+      </inertial>
+      <gravity>true</gravity>
+      <velocity_decay/>
+      <visual name="base_link_visual">
+        <pose>0 0 .025 0 0 3.141592654</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://x500-NoPlugin/meshes/NXP-HGD-CF.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="5010_motor_base_0">
+        <pose>0.174 0.174 .032 0 0 -.45</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://x500-NoPlugin/meshes/5010Base.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="5010_motor_base_1">
+        <pose>-0.174 0.174 .032 0 0 -.45</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://x500-NoPlugin/meshes/5010Base.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="5010_motor_base_2">
+        <pose>0.174 -0.174 .032 0 0 -.45</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://x500-NoPlugin/meshes/5010Base.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="5010_motor_base_3">
+        <pose>-0.174 -0.174 .032 0 0 -.45</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://x500-NoPlugin/meshes/5010Base.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="NXP_FMUK66_FRONT">
+        <pose>0.047 .001 .043 1 0 1.57</pose>
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+          <plane>
+            <normal>0 0 1</normal>
+            <size>.013 .007</size>
+          </plane>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0</diffuse>
+          <specular>1.0 1.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>model://x500-NoPlugin/materials/textures/nxp.png</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="NXP_FMUK66_TOP">
+        <pose>-0.023 0 .0515 0 0 -1.57</pose>
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+          <plane>
+            <normal>0 0 1</normal>
+            <size>.013 .007</size>
+          </plane>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0</diffuse>
+          <specular>1.0 1.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>model://x500-NoPlugin/materials/textures/nxp.png</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="RDDRONE_FMUK66_TOP">
+        <pose>-.03 0 .0515 0 0 -1.57</pose>
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+          <plane>
+            <normal>0 0 1</normal>
+            <size>.032 .0034</size>
+          </plane>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0</diffuse>
+          <specular>1.0 1.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>model://x500-NoPlugin/materials/textures/rd.png</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <collision name="base_link_collision_0">
+        <pose>0 0 .007 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.35355339059327373 0.35355339059327373 0.05</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <min_depth>0.001</min_depth>
+              <max_vel>0</max_vel>
+            </ode>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_collision_1">
+        <pose>0 -0.098 -.123 -0.35 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.015 0.015 0.21</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <min_depth>0.001</min_depth>
+              <max_vel>0</max_vel>
+            </ode>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_collision_2">
+        <pose>0 0.098 -.123 0.35 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.015 0.015 0.21</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <min_depth>0.001</min_depth>
+              <max_vel>0</max_vel>
+            </ode>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_collision_3">
+        <pose>0 -0.132 -.2195 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.25 0.015 0.015</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <min_depth>0.001</min_depth>
+              <max_vel>0</max_vel>
+            </ode>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_collision_4">
+        <pose>0 0.132 -.2195 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.25 0.015 0.015</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <min_depth>0.001</min_depth>
+              <max_vel>0</max_vel>
+            </ode>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <sensor name="imu_sensor" type="imu">
+        <always_on>1</always_on>
+        <update_rate>250</update_rate>
+      </sensor>
+    </link>
+    <link name="rotor_0">
+      <gravity>true</gravity>
+      <self_collide>false</self_collide>
+      <velocity_decay/>
+      <pose>0.174 -0.174 0.06 0 0 0</pose>
+      <inertial>
+          <mass>0.016076923076923075</mass>
+          <inertia>
+            <ixx>3.8464910483993325e-07</ixx>
+            <iyy>2.6115851691700804e-05</iyy>
+            <izz>2.649858234714004e-05</izz>
+          </inertia>
+        </inertial>
+      <visual name="rotor_0_visual">
+        <pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
+            <uri>model://x500-NoPlugin/meshes/1345_prop_ccw.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/DarkGrey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="rotor_0_visual_motor_bell">
+        <pose>0 0 -.032 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://x500-NoPlugin/meshes/5010Bell.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="rotor_0_collision">
+        <pose>0 0 0 0 0 0 </pose>
+        <geometry>
+          <box>
+            <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <min_depth>0.001</min_depth>
+              <max_vel>0</max_vel>
+            </ode>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+    </link>
+    <joint name="rotor_0_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>rotor_0</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name="rotor_1">
+      <gravity>true</gravity>
+      <self_collide>false</self_collide>
+      <velocity_decay/>
+      <pose>-0.174 0.174 0.06 0 0 0</pose>
+      <inertial>
+          <mass>0.016076923076923075</mass>
+          <inertia>
+            <ixx>3.8464910483993325e-07</ixx>
+            <iyy>2.6115851691700804e-05</iyy>
+            <izz>2.649858234714004e-05</izz>
+          </inertia>
+        </inertial>
+      <visual name="rotor_1_visual">
+        <pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
+            <uri>model://x500-NoPlugin/meshes/1345_prop_ccw.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/DarkGrey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="rotor_1_visual_motor_top">
+        <pose>0 0 -.032 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://x500-NoPlugin/meshes/5010Bell.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="rotor_1_collision">
+        <pose>0 0 0 0 0 0 </pose>
+        <geometry>
+          <box>
+            <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <min_depth>0.001</min_depth>
+              <max_vel>0</max_vel>
+            </ode>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+    </link>
+    <joint name="rotor_1_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>rotor_1</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name="rotor_2">
+      <gravity>true</gravity>
+      <self_collide>false</self_collide>
+      <velocity_decay/>
+      <pose>0.174 0.174 0.06 0 0 0</pose>
+      <inertial>
+          <mass>0.016076923076923075</mass>
+          <inertia>
+            <ixx>3.8464910483993325e-07</ixx>
+            <iyy>2.6115851691700804e-05</iyy>
+            <izz>2.649858234714004e-05</izz>
+          </inertia>
+        </inertial>
+      <visual name="rotor_2_visual">
+        <pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
+            <uri>model://x500-NoPlugin/meshes/1345_prop_cw.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/DarkGrey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="rotor_2_visual_motor_top">
+        <pose>0 0 -.032 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://x500-NoPlugin/meshes/5010Bell.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="rotor_2_collision">
+        <pose>0 0 0 0 0 0 </pose>
+        <geometry>
+          <box>
+            <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <min_depth>0.001</min_depth>
+              <max_vel>0</max_vel>
+            </ode>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+    </link>
+    <joint name="rotor_2_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>rotor_2</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name="rotor_3">
+      <gravity>true</gravity>
+      <self_collide>false</self_collide>
+      <velocity_decay/>
+      <pose>-0.174 -0.174 0.06 0 0 0</pose>
+      <inertial>
+          <mass>0.016076923076923075</mass>
+          <inertia>
+            <ixx>3.8464910483993325e-07</ixx>
+            <iyy>2.6115851691700804e-05</iyy>
+            <izz>2.649858234714004e-05</izz>
+          </inertia>
+        </inertial>
+      <visual name="rotor_3_visual">
+        <pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
+            <uri>model://x500-NoPlugin/meshes/1345_prop_cw.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/DarkGrey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="rotor_3_visual_motor_top">
+        <pose>0 0 -.032 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://x500-NoPlugin/meshes/5010Bell.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="rotor_3_collision">
+        <pose>0 0 0 0 0 0 </pose>
+        <geometry>
+          <box>
+            <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <min_depth>0.001</min_depth>
+              <max_vel>0</max_vel>
+            </ode>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+    </link>
+    <joint name="rotor_3_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>rotor_3</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+  </model>
+</sdf>
@@ -2,7 +2,71 @@
 <sdf version='1.9'>
  <model name='x500'>
    <include merge='true'>
-      <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/x500-Base</uri>
+      <uri>model://x500-NoPlugin</uri>
    </include>
+    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+      <jointName>rotor_0_joint</jointName>
+      <linkName>rotor_0</linkName>
+      <turningDirection>ccw</turningDirection>
+      <timeConstantUp>0.0125</timeConstantUp>
+      <timeConstantDown>0.025</timeConstantDown>
+      <maxRotVelocity>1000.0</maxRotVelocity>
+      <motorConstant>8.54858e-06</motorConstant>
+      <momentConstant>0.016</momentConstant>
+      <commandSubTopic>command/motor_speed</commandSubTopic>
+      <motorNumber>0</motorNumber>
+      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+      <motorType>velocity</motorType>
+    </plugin>
+    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+      <jointName>rotor_1_joint</jointName>
+      <linkName>rotor_1</linkName>
+      <turningDirection>ccw</turningDirection>
+      <timeConstantUp>0.0125</timeConstantUp>
+      <timeConstantDown>0.025</timeConstantDown>
+      <maxRotVelocity>1000.0</maxRotVelocity>
+      <motorConstant>8.54858e-06</motorConstant>
+      <momentConstant>0.016</momentConstant>
+      <commandSubTopic>command/motor_speed</commandSubTopic>
+      <motorNumber>1</motorNumber>
+      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+      <motorType>velocity</motorType>
+    </plugin>
+    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+      <jointName>rotor_2_joint</jointName>
+      <linkName>rotor_2</linkName>
+      <turningDirection>cw</turningDirection>
+      <timeConstantUp>0.0125</timeConstantUp>
+      <timeConstantDown>0.025</timeConstantDown>
+      <maxRotVelocity>1000.0</maxRotVelocity>
+      <motorConstant>8.54858e-06</motorConstant>
+      <momentConstant>0.016</momentConstant>
+      <commandSubTopic>command/motor_speed</commandSubTopic>
+      <motorNumber>2</motorNumber>
+      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+      <motorType>velocity</motorType>
+    </plugin>
+    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+      <jointName>rotor_3_joint</jointName>
+      <linkName>rotor_3</linkName>
+      <turningDirection>cw</turningDirection>
+      <timeConstantUp>0.0125</timeConstantUp>
+      <timeConstantDown>0.025</timeConstantDown>
+      <maxRotVelocity>1000.0</maxRotVelocity>
+      <motorConstant>8.54858e-06</motorConstant>
+      <momentConstant>0.016</momentConstant>
+      <commandSubTopic>command/motor_speed</commandSubTopic>
+      <motorNumber>3</motorNumber>
+      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+      <motorType>velocity</motorType>
+    </plugin>
  </model>
 </sdf>
@@ -47,6 +47,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -55,3 +55,4 @@ CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
@@ -44,6 +44,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -30,6 +30,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GIMBAL=y
@@ -51,6 +51,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -52,6 +52,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -45,6 +45,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GIMBAL=y
@@ -48,6 +48,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -32,6 +32,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GIMBAL=y
@@ -46,6 +46,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -39,6 +39,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GIMBAL=y
@@ -53,6 +53,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -37,6 +37,7 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -36,6 +36,7 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -37,6 +37,7 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -48,6 +48,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GIMBAL=y
@@ -46,6 +46,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GIMBAL=y
@@ -45,6 +45,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -45,6 +45,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -45,6 +45,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -44,6 +44,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GIMBAL=y
@@ -45,6 +45,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GIMBAL=y
@@ -44,6 +44,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GIMBAL=y
@@ -47,6 +47,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -48,6 +48,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -47,6 +47,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -127,7 +127,6 @@ CONFIG_MTD_RAMTRON=y
 CONFIG_NETDEV_PHY_IOCTL=y
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49
-CONFIG_NETUTILS_TELNETD=y
 CONFIG_NET_ARP_IPIN=y
 CONFIG_NET_ARP_SEND=y
 CONFIG_NET_BROADCAST=y
@@ -157,7 +156,6 @@ CONFIG_NSH_DISABLE_UNAME=y
 CONFIG_NSH_DISABLE_WGET=y
 CONFIG_NSH_DISABLE_XD=y
 CONFIG_NSH_FILEIOSIZE=512
-CONFIG_NSH_IOBUFFER_SIZE=256
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
@@ -165,8 +163,6 @@ CONFIG_NSH_READLINE=y
 CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
-CONFIG_NSH_TELNETD_CLIENTSTACKSIZE=1280
-CONFIG_NSH_TELNETD_DAEMONSTACKSIZE=1024
 CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
@@ -204,10 +200,6 @@ CONFIG_SYSTEM_CUTERM_DEFAULT_BAUD=57600
 CONFIG_SYSTEM_NSH=y
 CONFIG_SYSTEM_PING=y
 CONFIG_TASK_NAME_SIZE=24
-CONFIG_TELNET_IOTHREAD_STACKSIZE=512
-CONFIG_TELNET_MAXLCLIENTS=1
-CONFIG_TELNET_RXBUFFER_SIZE=128
-CONFIG_TELNET_TXBUFFER_SIZE=128
 CONFIG_UART0_IFLOWCONTROL=y
 CONFIG_UART0_OFLOWCONTROL=y
 CONFIG_UART1_RXBUFSIZE=600
@@ -50,6 +50,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GIMBAL=y
@@ -95,7 +95,9 @@ CONFIG_KINETIS_SDHC=y
 CONFIG_KINETIS_SERIALBRK_BSDCOMPAT=y
 CONFIG_KINETIS_SPI0=y
 CONFIG_KINETIS_SPI1=y
+CONFIG_KINETIS_SPI1_DMA=y
 CONFIG_KINETIS_SPI2=y
+CONFIG_KINETIS_SPI_DMA=y
 CONFIG_KINETIS_UART0=y
 CONFIG_KINETIS_UART0_RXDMA=y
 CONFIG_KINETIS_UART1=y
@@ -125,7 +127,6 @@ CONFIG_MTD_RAMTRON=y
 CONFIG_NETDEV_PHY_IOCTL=y
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49
-CONFIG_NETUTILS_TELNETD=y
 CONFIG_NET_ARP_IPIN=y
 CONFIG_NET_ARP_SEND=y
 CONFIG_NET_BROADCAST=y
@@ -155,7 +156,6 @@ CONFIG_NSH_DISABLE_UNAME=y
 CONFIG_NSH_DISABLE_WGET=y
 CONFIG_NSH_DISABLE_XD=y
 CONFIG_NSH_FILEIOSIZE=512
-CONFIG_NSH_IOBUFFER_SIZE=256
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
@@ -163,8 +163,6 @@ CONFIG_NSH_READLINE=y
 CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
-CONFIG_NSH_TELNETD_CLIENTSTACKSIZE=1280
-CONFIG_NSH_TELNETD_DAEMONSTACKSIZE=1024
 CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
@@ -202,10 +200,6 @@ CONFIG_SYSTEM_CUTERM_DEFAULT_BAUD=57600
 CONFIG_SYSTEM_NSH=y
 CONFIG_SYSTEM_PING=y
 CONFIG_TASK_NAME_SIZE=24
-CONFIG_TELNET_IOTHREAD_STACKSIZE=512
-CONFIG_TELNET_MAXLCLIENTS=1
-CONFIG_TELNET_RXBUFFER_SIZE=128
-CONFIG_TELNET_TXBUFFER_SIZE=128
 CONFIG_UART1_RXBUFSIZE=600
 CONFIG_UART1_TXBUFSIZE=1100
 CONFIG_UART4_BAUD=57600
@@ -236,6 +236,7 @@
 */

 #define DIRECT_PWM_OUTPUT_CHANNELS  8
+#define BOARD_NUM_IO_TIMERS         8

 // Input Capture not supported on MVP

@@ -76,9 +76,14 @@
 #define rENBL         REG(IMXRT_TMR_ENBL_OFFSET)

 constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
-	initIOPWM(PWM::FlexPWM2),
-	initIOPWM(PWM::FlexPWM3),
-	initIOPWM(PWM::FlexPWM4),
+	initIOPWM(PWM::FlexPWM2, PWM::Submodule0),
+	initIOPWM(PWM::FlexPWM2, PWM::Submodule1),
+	initIOPWM(PWM::FlexPWM2, PWM::Submodule2),
+	initIOPWM(PWM::FlexPWM2, PWM::Submodule3),
+	initIOPWM(PWM::FlexPWM3, PWM::Submodule2),
+	initIOPWM(PWM::FlexPWM3, PWM::Submodule0),
+	initIOPWM(PWM::FlexPWM4, PWM::Submodule2),
+	initIOPWM(PWM::FlexPWM4, PWM::Submodule0),
 };

 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
@@ -9,4 +9,5 @@ CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
@@ -100,7 +100,7 @@ else
 	# V3 build hwtypecmp supports V2|V2M|V30
 	if ! ver hwtypecmp V2M
 	then
-		mpu9250 -s -b 1 -R 14 start
+		mpu9250 -s -b 1 -R 14 -q start
 	# else: On the PixhawkMini the mpu9250 has been disabled due to HW errata
 	fi

@@ -50,6 +50,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GIMBAL=y
@@ -100,7 +100,7 @@ else
 	# V3 build hwtypecmp supports V2|V2M|V30
 	if ! ver hwtypecmp V2M
 	then
-		mpu9250 -s -b 1 -R 14 start
+		mpu9250 -s -b 1 -R 14 -q start
 	# else: On the PixhawkMini the mpu9250 has been disabled due to HW errata
 	fi

@@ -51,6 +51,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GIMBAL=y
@@ -49,6 +49,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -55,6 +55,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GIMBAL=y
@@ -58,6 +58,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GIMBAL=y
@@ -40,6 +40,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GIMBAL=y
@@ -48,6 +48,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GIMBAL=y
@@ -49,6 +49,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GIMBAL=y
@@ -29,6 +29,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GIMBAL=y
@@ -12,10 +12,12 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_DOB_RATE_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GIMBAL=y
@@ -29,6 +29,7 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -51,6 +51,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GIMBAL=y
@@ -59,7 +59,6 @@ set(msg_files
 	cellular_status.msg
 	collision_constraints.msg
 	collision_report.msg
-	commander_state.msg
 	control_allocator_status.msg
 	cpuload.msg
 	differential_pressure.msg
@@ -81,6 +80,7 @@ set(msg_files
 	estimator_status_flags.msg
 	event.msg
 	failure_detector_status.msg
+	failsafe_flags.msg
 	follow_target.msg
 	follow_target_estimator.msg
 	follow_target_status.msg
@@ -202,7 +202,6 @@ set(msg_files
 	vehicle_rates_setpoint.msg
 	vehicle_roi.msg
 	vehicle_status.msg
-	vehicle_status_flags.msg
 	vehicle_thrust_setpoint.msg
 	vehicle_torque_setpoint.msg
 	vehicle_trajectory_bezier.msg
@@ -16,4 +16,4 @@ uint8 SOURCE_RC_SWITCH = 1
 uint8 SOURCE_RC_BUTTON = 2
 uint8 SOURCE_RC_MODE_SLOT = 3

-uint8 mode # for ACTION_SWITCH_MODE what mode is requested according to commander_state.MAIN_STATE_
+uint8 mode # for ACTION_SWITCH_MODE what mode is requested according to vehicle_status_s::NAVIGATION_STATE_*
@@ -1,24 +0,0 @@
-# Main state, i.e. what user wants. Controlled by RC or from ground station via telemetry link.
-uint64 timestamp			# time since system start (microseconds)
-
-uint8 MAIN_STATE_MANUAL             = 0
-uint8 MAIN_STATE_ALTCTL             = 1
-uint8 MAIN_STATE_POSCTL             = 2
-uint8 MAIN_STATE_AUTO_MISSION       = 3
-uint8 MAIN_STATE_AUTO_LOITER        = 4
-uint8 MAIN_STATE_AUTO_RTL           = 5
-uint8 MAIN_STATE_ACRO               = 6
-uint8 MAIN_STATE_OFFBOARD           = 7
-uint8 MAIN_STATE_STAB               = 8
-# LEGACY RATTITUDE                  = 9
-uint8 MAIN_STATE_AUTO_TAKEOFF       = 10
-uint8 MAIN_STATE_AUTO_LAND          = 11
-uint8 MAIN_STATE_AUTO_FOLLOW_TARGET = 12
-uint8 MAIN_STATE_AUTO_PRECLAND      = 13
-uint8 MAIN_STATE_ORBIT              = 14
-uint8 MAIN_STATE_AUTO_VTOL_TAKEOFF  = 15
-uint8 MAIN_STATE_MAX                = 16
-
-uint8 main_state
-
-uint16 main_state_changes
@@ -19,6 +19,7 @@ bool innovation_rejected     # true if the observation has been rejected
 bool fused                   # true if the sample was successfully fused

 # TOPICS estimator_aid_source_1d
-# TOPICS estimator_aid_src_baro_hgt estimator_aid_src_rng_hgt estimator_aid_src_airspeed
+# TOPICS estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt
+# TOPICS estimator_aid_src_airspeed estimator_aid_src_sideslip
 # TOPICS estimator_aid_src_fake_hgt
 # TOPICS estimator_aid_src_mag_heading estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw
@@ -5,7 +5,7 @@ uint8 estimator_instance

 uint32 device_id

-uint64[2] time_last_fuse
+uint64 time_last_fuse

 float32[2] observation
 float32[2] observation_variance
@@ -14,9 +14,10 @@ float32[2] innovation
 float32[2] innovation_variance
 float32[2] test_ratio

-bool[2] fusion_enabled       # true when measurements are being fused
-bool[2] innovation_rejected  # true if the observation has been rejected
-bool[2] fused                # true if the sample was successfully fused
+bool fusion_enabled          # true when measurements are being fused
+bool innovation_rejected     # true if the observation has been rejected
+bool fused                   # true if the sample was successfully fused

 # TOPICS estimator_aid_source_2d
-# TOPICS estimator_aid_src_fake_pos
+# TOPICS estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos
+# TOPICS estimator_aid_src_aux_vel
@@ -5,7 +5,7 @@ uint8 estimator_instance

 uint32 device_id

-uint64[3] time_last_fuse
+uint64 time_last_fuse

 float32[3] observation
 float32[3] observation_variance
@@ -14,10 +14,11 @@ float32[3] innovation
 float32[3] innovation_variance
 float32[3] test_ratio

-bool[3] fusion_enabled       # true when measurements are being fused
-bool[3] innovation_rejected  # true if the observation has been rejected
-bool[3] fused                # true if the sample was successfully fused
+bool fusion_enabled          # true when measurements are being fused
+bool innovation_rejected     # true if the observation has been rejected
+bool fused                   # true if the sample was successfully fused

 # TOPICS estimator_aid_source_3d
-# TOPICS estimator_aid_src_gnss_pos estimator_aid_src_gnss_vel
-# TOPICS estimator_aid_src_mag estimator_aid_src_aux_vel
+# TOPICS estimator_aid_src_ev_vel
+# TOPICS estimator_aid_src_gnss_vel
+# TOPICS estimator_aid_src_mag
@@ -1,7 +1,7 @@
 uint64 timestamp                # time since system start (microseconds)
 uint64 timestamp_sample         # the timestamp of the raw data (microseconds)

-uint32 baro_device_id		# unique device ID for the sensor that does not change between power cycles
+uint32 device_id		# unique device ID for the sensor that does not change between power cycles
 float32 bias			# estimated barometric altitude bias (m)
 float32 bias_var		# estimated barometric altitude bias variance (m^2)

--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
JaeyoungLim	d6201bb137	ADD TODO	2022-10-26 16:40:54 +02:00
Jaeyoung Lim	51fc5a8c2f	Add dob rate control module	2022-10-26 14:54:30 +02:00
Jaeyoung Lim	87c88cc980	Fixedwing rate control into a separate module	2022-10-14 10:11:30 +02:00
Beat Küng	3c290d812d	commander: use printRejectMode() also for rtl, takeoff, land & mission commands	2022-10-13 16:05:25 -04:00
Beat Küng	d542ffc10c	refactor vehicle_status_flags: rename to failsafe_flags	2022-10-13 16:05:25 -04:00
Beat Küng	f9c8e760b1	CI: add failsafe web build & deployment to the user guide	2022-10-13 16:05:25 -04:00
chris1seto	0ddba3ea90	Fix Discord badge not a link in README (#20406 ) * Add link to image * Update link to nice permalink Co-authored-by: Chris Seto <chris1seto@gmail.com>	2022-10-13 11:05:28 -07:00
Daniel Agar	2de990fd4b	estimator_aid_source split GNSS pos (3d) -> pos (2d) + hgt - per estimator air source status only keep a single set of flags and timestamp that applies to the entire source	2022-10-13 11:28:50 -04:00
David Sidrane	8a9a091ff3	nxp_fmurt1062-v1:Timer configuration for 1 channel per group (timer)	2022-10-13 08:17:51 +02:00
David Sidrane	3be8d52c8e	imxrt:io_timers Support 1 channel per group (timer)	2022-10-13 08:17:51 +02:00
David Sidrane	7f7137320a	fix imxrt: use 1:1 timer group to channel association	2022-10-13 08:17:51 +02:00
chris1seto	7e9ec325f7	Convert README to Discord (#20400 )	2022-10-12 21:41:00 -07:00
bresch	bdd043f27f	ekf2: fix sideslip fusion sign	2022-10-12 16:14:47 +02:00
bresch	53865118fb	ekf2: remove old sideslip fusion code	2022-10-12 09:55:35 -04:00
bresch	f7c749c9cd	ekf2_test: compare sideslip fusion of Sympy and SymForce	2022-10-12 09:55:35 -04:00
bresch	d0f92bfbd5	ekf2_test: create helper functions for auto-generated code diff	2022-10-12 09:55:35 -04:00
bresch	5f54f6fcda	ekf2: migrate sideslip fusion to SymForce - split fusion into update (compute innov and innov_var) and actual fusion to the state vector - use estimator_aid_source_1d struct to group the data	2022-10-12 09:55:35 -04:00
Beat Küng	c09be0f0ac	airframes: add r1 again This was dropped in `f454dcef6b`	2022-10-12 07:35:35 +02:00
Beat Küng	9b7a8d4568	vehicle_status_flags: add group 'Other'	2022-10-11 22:31:20 -04:00
Beat Küng	f7819f5dba	commander: reorder update calls Moves the arming checks before the command handling. This reduces the chance of race conditions. However it does not prevent them! The SDK will need to check when offboard is ready to run/arm to fix this. Specifically this is for sitl offboard tests, where offboard_control_mode is updated and immediately after a mode switch into offboard is commanded.	2022-10-11 22:31:20 -04:00
Beat Küng	38d3739b6d	refactor commander: rename rc_signal_lost -> manual_control_signal_lost, data_link_lost -> gcs_connection_lost	2022-10-11 22:31:20 -04:00
Beat Küng	e2d8ca73a5	commander: add unit tests for failsafe state machine	2022-10-11 22:31:20 -04:00
Beat Küng	3d1da597dd	commander: run arming checks on _offboard_control_mode_sub update	2022-10-11 22:31:20 -04:00
Beat Küng	6ee2252b8c	events: handle events being generated before a mavlink module started - do not print dropped events warnings - make sure current sequence is still sent with reset flag	2022-10-11 22:31:20 -04:00
Beat Küng	3fcdf40a47	events: use PRIx32 to print uint32	2022-10-11 22:31:20 -04:00
Beat Küng	acaa50a448	geofence: add and report reason for violation	2022-10-11 22:31:20 -04:00
mcsauder	ebc88afe46	Apply Google Style to Commander Private methods, rename geofence message geofence_violation to primary_geofence_breached.	2022-10-11 22:31:20 -04:00
Beat Küng	693af897b3	commander: check if battery was already disconnected on arming If so, don't report. Happens e.g. with USB powered pixhawk.	2022-10-11 22:31:20 -04:00
Beat Küng	24142bc014	commander: RcCalibrationChecks: avoid param access on each cycle reduces cpu usage a bit	2022-10-11 22:31:20 -04:00
Beat Küng	c72c580a0b	commander: run arming checks @ 10Hz Required for things like RC loss.	2022-10-11 22:31:20 -04:00
Beat Küng	6fda555cba	commander: move ownership of vehicle_status_flags_s to HealthAndArmingChecks	2022-10-11 22:31:20 -04:00
Beat Küng	cf2eb69d25	px4events/srcparser: ensure message is a string literal	2022-10-11 22:31:20 -04:00
Beat Küng	500a896a56	commander: print reason for mode rejection & report for GCS switches as well	2022-10-11 22:31:20 -04:00
Beat Küng	e4bb219d10	vehicle_status_flags: cleanup message, move non-failsafe flags to vehicle_status	2022-10-11 22:31:20 -04:00
Beat Küng	ae6377dfa0	mission_result: remove unused fields	2022-10-11 22:31:20 -04:00
Beat Küng	455b885f86	commander: use new failsafe state machine and add user intention class	2022-10-11 22:31:20 -04:00
Beat Küng	a04230faa1	commander: add failsafe state machine with webassembly simulation to run the simulation: install sdk: https://emscripten.org/docs/getting_started/downloads.html make run_failsafe_web_server open http://0.0.0.0:8000/ Co-authored-by: Konrad <konrad@auterion.com>	2022-10-11 22:31:20 -04:00
Beat Küng	82911e48be	fix commander: check estimator type & avoid timestamp wrap-around Before it was possible that the publication timestamp was never than 'now', leading to wrap-around.	2022-10-11 22:31:20 -04:00
Beat Küng	27f8298bb9	fix commander: add local position requirement to NAVIGATION_STATE_AUTO_LAND	2022-10-11 22:31:20 -04:00
Beat Küng	57c7b5e843	flight_mode_manager: reduce error verbosity & remove mode switching While disarmed, commander allows to be in any mode now.	2022-10-11 22:31:20 -04:00
Beat Küng	31dfdea12e	commander: remove state_machine_helper tests	2022-10-11 22:31:20 -04:00
Beat Küng	e9387cac1d	mavlink: move get_px4_custom_mode to px4_custom_mode.h	2022-10-11 22:31:20 -04:00
Silvan Fuhrer	9159f020cb	mavlink local_position_ned: always publish on update, not just when xy and v_xy valid Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-10-11 00:47:32 -04:00
Daniel Agar	ce609144b0	simulation/gz_bridge: fix implicit floating-point conversions	2022-10-09 14:11:19 -04:00
Daniel Agar	9010029e0d	lib/drivers/device: Device.hpp fully init devid - constructor use available setters	2022-10-09 13:49:39 -04:00
Daniel Agar	f3964513c7	sensors: fix accel/gyro/mag calibration offset units	2022-10-09 13:02:38 -04:00
Daniel Agar	ee4821ed0a	commander: relax COM_ARM_MAG_ANG default to minimize false positives - this check is mainly intended for catching blatant setup problems like a magnetometer that's mounted 90 or 180 degrees off	2022-10-09 12:41:06 -04:00
fkaiser	30150f723a	Tools/px_uploader.py: use monotonic clock if available (#20352 ) Signed-off-by: fkaiser <fabian.kaiser@wingtra.com>	2022-10-06 09:49:05 -04:00
alexklimaj	064f3f86bc	Increase mag calibration max_var_allowed	2022-10-06 08:44:36 -04:00
Hamish Willee	022aa13aa1	mpu9250_i2c - also needs docs update	2022-10-05 20:26:25 -04:00
Hamish Willee	6d612b1ba4	MPU9250 driver doc incorrect	2022-10-05 20:26:25 -04:00
Daniel Agar	8cc39096cb	load_mon: NuttX cpuload use system times for calculation - this is to minimize the impact of any load_mon scheduling jitter in the sampled load percentage	2022-10-05 14:21:38 -04:00
benjinne	29b031c862	Tools/setup/ubuntu.sh update comment to include 22.04	2022-10-05 13:41:47 -04:00
Daniel Agar	5f0a539633	gps_blending: fix blending init to best instance - output GPS publication defaults to best input instance - blended states are explicitly cleared and then populated with weighted blend	2022-10-05 10:26:48 -04:00
Beat Küng	f79dad1e63	fix ROMFS: run camera trigger, capture and PPS before pwm_out As they might need to reserve the pwm pins.	2022-10-05 09:13:35 -04:00
Matthias Grob	46e6e83e14	Commander: allow disarmin not-landed boat like rover This is a hotfix and a boat should never even detect a takeoff in normal operation.	2022-10-05 09:07:18 -04:00
Beat Küng	dafead6f20	logger: add compressed events metadata file if it exists in the ROMFS Allows to decode events not (yet) on main. The file is currently ~15KB.	2022-10-05 07:44:55 +02:00
Beat Küng	02035d94aa	metadata: sort json output ensures the files don't change arbitrarily	2022-10-05 07:44:55 +02:00
modaltb	06a0aedbdb	modalai_esc: directly using deadband param value instead of converting it to RPM	2022-10-04 20:14:59 -04:00
Thomas Debrunner	0af87ec745	mavlink: initial OPEN_DRONE_ID_BASIC_ID/OPEN_DRONE_ID_LOCATION support	2022-10-04 14:40:59 -04:00
Matthias Grob	b179427b4c	Remove opinionated non-default MPC_TKO_SPEED from airframes	2022-10-04 11:36:57 -04:00
pandafeng1999	e4b4df4e5d	drivers/distance_sensor/gy_us42: add the specified i2c address	2022-10-04 11:35:45 -04:00
Matthias Grob	f96507bb22	vtol_takeoff: fix comment typo	2022-10-04 10:01:04 -04:00
Peter van der Perk	c807d6079d	FMUK66-V3 Enable DMA on SPI	2022-10-04 09:46:04 -04:00
Peter van der Perk	0cf2ecedb9	FMUK66 Disable Telnet to save RAM	2022-10-04 09:46:04 -04:00
Julian Oes	5c77bbcb4c	ms5611: ignore reading 0 This prevents publishing a negative pressure which leads to a NAN altitude estimate further down the line.	2022-10-04 09:37:53 -04:00
Beat Küng	04b1cbb423	vtol_att_control: standard: also do blending for FW controls So that the sum of the control is always 1.	2022-10-04 09:54:11 +02:00
Silvan Fuhrer	6db92b4011	ControlAllocation: remove actuator trim value from actuator_sp to calculate allocated control Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-10-04 07:51:25 +02:00
Zachary Lowell	4520186878	qurt: replacing qurt threads with pthread	2022-10-03 18:01:04 -04:00
bresch	4b687beb3b	ekf2: remove old airspeed fusion code	2022-10-03 10:59:42 -04:00
bresch	299e6058e3	ekf2_test: test airspeed symforce vs sympy generated code	2022-10-03 10:59:42 -04:00
bresch	29ebef1f74	ekf2: migrate fuse_airspeed to SymForce	2022-10-03 10:59:42 -04:00
Daniel Agar	41cda14126	ekf2: add symforce code generation helper target	2022-10-03 10:59:42 -04:00
Daniel Agar	c9441bb48a	boards: px4_fmu-v2/v3 allow optional mpu9250 probe to fail without error	2022-10-02 21:40:18 -04:00
Benjamin Perseghetti	aa2b47845a	new Gazebo simulation handle older gz versions (#20342 )	2022-10-02 21:30:30 -04:00
PX4 BuildBot	f4d2e176ae	Update submodule sitl_gazebo to latest Sun Oct 2 12:38:54 UTC 2022 - sitl_gazebo in PX4/Firmware (`2bd1ac005f`): https://github.com/PX4/PX4-SITL_gazebo/commit/b968405a617005ba0a793a8b4703913d4c6eff5f - sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/e80432759540c91f85a012f47aa6ebb0ee9de7e4 - Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/b968405a617005ba0a793a8b4703913d4c6eff5f...e80432759540c91f85a012f47aa6ebb0ee9de7e4 e804327 2022-10-01 Thomas Stauber - set lidar measurements to 0.0 if out of range (#914) 7ed1da6 2022-09-27 Karthik S - Advanced Lift-Drag Plugin (#901) 669d7f5 2022-09-08 Oleg Kalachev - Fix local addr assignment for qgc and sdk sockets	2022-10-02 10:54:31 -04:00
PX4 BuildBot	f7a5c91fb3	Update submodule libcanard to latest Sun Oct 2 12:38:56 UTC 2022 - libcanard in PX4/Firmware (8e144eece9e9cd5a23dbeb6723591f214cad631a): https://github.com/opencyphal/libcanard/commit/db87ea32aa092c48ea103963138b6346dd3e9008 - libcanard current upstream: https://github.com/opencyphal/libcanard/commit/2e3b11f6b8325080c160d38521b169b0bbb6b1c7 - Changes: https://github.com/opencyphal/libcanard/compare/db87ea32aa092c48ea103963138b6346dd3e9008...2e3b11f6b8325080c160d38521b169b0bbb6b1c7 2e3b11f 2022-07-15 Pavel Kirienko - Follow-up for #197 -- fix minor issues discovered by Sonar (#198) 106ceaf 2022-07-11 Dmitry Ponomarev - Fix cast-align warnings on ARM 8953fe6 2022-07-06 Dmitry Ponomarev - Add ARM build to github workflow	2022-10-02 10:54:05 -04:00
PX4 BuildBot	644a836d0a	Update submodule libevents to latest Sun Oct 2 12:39:02 UTC 2022 - libevents in PX4/Firmware (ddc1e6d6c5c2707be5522d4c4d7434403202cf45): https://github.com/mavlink/libevents/commit/82dabdb914d7bd640c281900e2852d0afc074b68 - libevents current upstream: https://github.com/mavlink/libevents/commit/a89808bffd1efb0543e66f17a7fa12dfce5e6bf0 - Changes: https://github.com/mavlink/libevents/compare/82dabdb914d7bd640c281900e2852d0afc074b68...a89808bffd1efb0543e66f17a7fa12dfce5e6bf0 a89808b 2022-09-26 Beat Küng - combine.py: sort json keys	2022-10-02 10:53:28 -04:00
PX4 BuildBot	cf0cd4ebf2	Update submodule mavlink to latest Sun Oct 2 12:39:04 UTC 2022 - mavlink in PX4/Firmware (65bd1fd4c000a7fa0de2a0e8dce1ba9b2a62fa86): https://github.com/mavlink/mavlink/commit/c46af523263ff0dad59afe018fe387c1df030442 - mavlink current upstream: https://github.com/mavlink/mavlink/commit/dda5a18ddb002a871ba301bb584893ee6378e2f3 - Changes: https://github.com/mavlink/mavlink/compare/c46af523263ff0dad59afe018fe387c1df030442...dda5a18ddb002a871ba301bb584893ee6378e2f3 dda5a18d 2022-09-28 WickedShell - Support a return to default speed for DO_CHANGE_SPEED (#1890) 4e04dbbf 2022-09-24 Hamish Willee - MAV_FRAME_BODY_FRD - match to implementations and sanity (#1894) 89a61214 2022-09-23 Hamish Willee - DO_CHANGE_SPEED - clarify lifetime of speed setting (#1892) 11414f88 2022-09-21 Søren Friis - Clarify swarm fields (#1891) 5cdf8b60 2022-09-08 Hamish Willee - HOME_POSITION - clarify local frame means NED (#1886) 551e3b49 2022-09-07 Julian Oes - Fix CI (#1888) d99ee9b6 2022-09-07 Julian Oes - pymavlink: update submodule to latest master (#1887) 92d2a58d 2022-09-01 Hamish Willee - common.xml:TIMESYNC docs and extensions (#1878) c424dc65 2022-09-01 Julian Oes - minimal: try to make component ID less confusing (#1876) 153939bd 2022-09-01 Hamish Willee - Fix typo MAV_CMD_DO_SET_MISSION_CURRENT 5043a1e0 2022-09-01 Hamish Willee - MAV_CMD_DO_SET_MISSION_CURRENT - allow mission resetting (#1870) 90aa7bfc 2022-08-31 Chikirev Sirguy - Update common.xml (#1815) 554ccadd 2022-08-31 Hamish Willee - common: OpenDroneID messages no longer WIP (#1882) 06448cf6 2022-08-24 Hamish Willee - MAV_ODID_ARM_STATUS entries update to naming convention (#1883) ff649224 2022-08-18 Patrick José Pereira - Fix gibberish descriptions ualberta.xml (#1881) 11f4b236 2022-08-18 Hamish Willee - Mission item - document values for autocontinue (#1868) fb8ac31b 2022-08-18 Julian Oes - development: remove MISSION_CHANGED (#1879) 76b794c2 2022-08-18 Julian Oes - common: extend MISSION_CURRENT (#1869) 1ae3edc4 2022-08-15 Andrew Tridgell - common: added OPEN_DRONE_ID_SYSTEM_UPDATE message (#1880) aa25f4df 2022-08-11 Andrew Tridgell - common: added OPEN_DRONE_ID_ARM_STATUS (#1873)	2022-10-02 10:53:00 -04:00
Daniel Agar	2bd1ac005f	.gitmodules update branches master -> main	2022-10-01 12:22:22 -04:00