commander: skip estimatorCheck for now

.ci/Jenkinsfile-compile

@@ -35,7 +35,6 @@ pipeline {
 
           def nuttx_builds_archive = [
             target: [
-                     "3dr_ctrl-zero-h7-oem-revg_default",
                      "airmind_mindpx-v2_default",
                      "ark_can-flow_canbootloader",
                      "ark_can-flow_default",
@@ -47,8 +46,6 @@ pipeline {
                      "ark_cannode_default",
                      "ark_fmu-v6x_bootloader",
                      "ark_fmu-v6x_default",
-                     "ark_pi6x_bootloader",
-                     "ark_pi6x_default",
                      "atl_mantis-edu_default",
                      "av_x-v1_default",
                      "bitcraze_crazyflie21_default",
@@ -123,7 +120,7 @@ pipeline {
                      "px4_fmu-v6xrt_rover",
                      "px4_io-v2_default",
                      "raspberrypi_pico_default",
-                     "siyi_n7_default",
+                     "siyi_n7_default"
                      "sky-drones_smartap-airlink_default",
                      "spracing_h7extreme_default",
                      "thepeach_k1_default",

.devcontainer/devcontainer.json

@@ -15,7 +15,6 @@
 	"extensions": [
 		"chiehyu.vscode-astyle",
 		"dan-c-underwood.arm",
-		"editorconfig.editorconfig",
 		"fredericbonnet.cmake-test-adapter",
 		"github.vscode-pull-request-github",
 		"marus25.cortex-debug",

.editorconfig

@@ -1,14 +0,0 @@
-root = true
-
-[*]
-insert_final_newline = true
-
-[{*.{c,cpp,cc,h,hpp},CMakeLists.txt,Kconfig}]
-indent_style = tab
-tab_width = 8
-# Not in the official standard, but supported by many editors
-max_line_length = 120
-
-[*.yaml, *.yml]
-indent_style = space
-indent_size = 2

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -20,14 +20,14 @@ body:
           3. Took off '....'
           4. See error
     validations:
-      required: false
+      required: true
 
   - type: textarea
     attributes:
       label: Expected behavior
       description: A clear and concise description of what you expected to happen.
     validations:
-      required: false
+      required: true
 
   - type: textarea
     attributes:
@@ -45,7 +45,7 @@ body:
       placeholder: |
           # PASTE HERE THE LINK TO THE LOG
     validations:
-      required: false
+      required: true
 
   - type: markdown
     attributes:
@@ -60,14 +60,14 @@ body:
       placeholder: |
           # If you don't know the version, paste the output of `ver all` in the MAVLink Shell of QGC
     validations:
-      required: false
+      required: true
 
   - type: input
     attributes:
       label: Flight controller
       description: Specify your flight controller model (what type is it, where was it bought from, ...).
     validations:
-      required: false
+      required: true
 
   - type: dropdown
     attributes:

.github/workflows/build_all_targets.yml

@@ -1,83 +0,0 @@
-name: Build all targets
-
-on:
-  push:
-    branches:
-    - 'main'
-    - 'stable'
-    - 'beta'
-    - 'release/*'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  group_targets:
-    name: Scan for Board Targets
-    runs-on: ubuntu-latest
-    outputs:
-      matrix: ${{ steps.set-matrix.outputs.matrix }}
-      timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Install Python Dependencies
-        uses: py-actions/py-dependency-install@v4
-        with:
-          path: "./Tools/setup/requirements.txt"
-
-      - id: set-matrix
-        run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py --group)"
-
-      - id: set-timestamp
-        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
-
-  setup:
-    name: ${{ matrix.group }}
-    runs-on: ubuntu-latest
-    needs: group_targets
-    strategy:
-      matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
-    container:
-      image: ${{ matrix.container }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: ccache setup keys
-        uses: actions/cache@v4
-        with:
-          path: ~/.ccache
-          key: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
-          restore-keys: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
-
-      - name: setup ccache
-        run: |
-            mkdir -p ~/.ccache
-            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-            echo "compression = true" >> ~/.ccache/ccache.conf
-            echo "compression_level = 6" >> ~/.ccache/ccache.conf
-            echo "max_size = 120M" >> ~/.ccache/ccache.conf
-            echo "hash_dir = false" >> ~/.ccache/ccache.conf
-            ccache -s
-            ccache -z
-
-      - name: build target group
-        run: |
-            ./Tools/ci_build_all_runner.sh ${{matrix.targets}}
-
-      - name: Upload px4 package
-        uses: actions/upload-artifact@v4
-        with:
-          name: px4_${{matrix.group}}_build_artifacts
-          path: |
-            build/**/*.px4
-            build/**/*.bin
-          compression-level: 0
-
-      - name: ccache post-run
-        run: ccache -s

.github/workflows/checks.yml

@@ -16,7 +16,6 @@ jobs:
       matrix:
         check: [
           "check_format",
-          "check_newlines",
           "tests",
           "tests_coverage",
           "px4_fmu-v2_default stack_check",
@@ -24,7 +23,6 @@ jobs:
           "shellcheck_all",
           "NO_NINJA_BUILD=1 px4_fmu-v5_default",
           "NO_NINJA_BUILD=1 px4_sitl_default",
-          "px4_sitl_allyes",
           "airframe_metadata",
           "module_documentation",
           "parameters_metadata",

.github/workflows/compile_linux.yml

@@ -0,0 +1,58 @@
+name: Compile Linux Targets
+
+on:
+  push:
+    branches:
+    - 'main'
+    - 'stable'
+    - 'beta'
+    - 'release/*'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-armhf:2023-06-26
+    strategy:
+      matrix:
+        config: [
+          beaglebone_blue_default,
+          emlid_navio2_default,
+          px4_raspberrypi_default,
+          scumaker_pilotpi_default,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+    - name: ownership workaround
+      run: git config --system --add safe.directory '*'
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: ccache post-run
+      run: ccache -s

.github/workflows/compile_linux_arm64.yml

@@ -0,0 +1,54 @@
+name: Compile Linux ARM64 Targets
+
+on:
+  push:
+    branches:
+    - 'main'
+    - 'stable'
+    - 'beta'
+    - 'release/*'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-aarch64:2022-08-12
+    strategy:
+      matrix:
+        config: [
+          scumaker_pilotpi_arm64,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: ccache post-run
+      run: ccache -s

.github/workflows/compile_nuttx.yml

@@ -0,0 +1,135 @@
+name: Compile Nuttx Targets
+
+on:
+  push:
+    branches:
+    - 'main'
+    - 'stable'
+    - 'beta'
+    - 'release/*'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-nuttx-focal:2022-08-12
+    strategy:
+      fail-fast: false
+      matrix:
+        config: [
+          airmind_mindpx-v2,
+          ark_can-flow,
+          ark_can-gps,
+          ark_can-rtk-gps,
+          ark_cannode,
+          ark_fmu-v6x,
+          ark_septentrio-gps,
+          atl_mantis-edu,
+          av_x-v1,
+          bitcraze_crazyflie,
+          bitcraze_crazyflie21,
+          cuav_can-gps-v1,
+          cuav_nora,
+          cuav_x7pro,
+          cubepilot_cubeorange,
+          cubepilot_cubeorangeplus,
+          cubepilot_cubeyellow,
+          diatone_mamba-f405-mk2,
+          freefly_can-rtk-gps,
+          holybro_can-gps-v1,
+          holybro_durandal-v1,
+          holybro_kakutef7,
+          holybro_kakuteh7,
+          holybro_pix32v5,
+          matek_gnss-m9n-f4,
+          matek_h743,
+          matek_h743-mini,
+          matek_h743-slim,
+          modalai_fc-v1,
+          modalai_fc-v2,
+          mro_ctrl-zero-classic,
+          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_mr-canhubk3,
+          nxp_ucans32k146,
+          omnibus_f4sd,
+          px4_fmu-v2,
+          px4_fmu-v3,
+          px4_fmu-v4,
+          px4_fmu-v4pro,
+          px4_fmu-v5,
+          px4_fmu-v5x,
+          px4_fmu-v6c,
+          px4_fmu-v6u,
+          px4_fmu-v6x,
+          px4_fmu-v6xrt,
+          raspberrypi_pico,
+          sky-drones_smartap-airlink,
+          spracing_h7extreme,
+          uvify_core,
+          siyi_n7
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 120M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make all_variants_${{matrix.config}}
+      run: make all_variants_${{matrix.config}}
+      timeout-minutes: 45
+    - name: make ${{matrix.config}} bloaty_compileunits
+      run: make ${{matrix.config}} bloaty_compileunits || true
+    - name: make ${{matrix.config}} bloaty_inlines
+      run: make ${{matrix.config}} bloaty_inlines || true
+    - name: make ${{matrix.config}} bloaty_segments
+      run: make ${{matrix.config}} bloaty_segments || true
+    - name: make ${{matrix.config}} bloaty_symbols
+      run: make ${{matrix.config}} bloaty_symbols || true
+    - name: make ${{matrix.config}} bloaty_templates
+      run: make ${{matrix.config}} bloaty_templates || true
+    - name: make ${{matrix.config}} bloaty_ram
+      run: make ${{matrix.config}} bloaty_ram || true
+    - name: make ${{matrix.config}} bloaty_compare_master
+      run: make ${{matrix.config}} bloaty_compare_master || true
+    - name: ccache post-run
+      run: ccache -s
+
+    - name: Upload px4 package
+      uses: actions/upload-artifact@v2
+      with:
+        name: px4_package_${{matrix.config}}
+        path: |
+          build/**/*.px4
+          build/**/*.bin

.github/workflows/deploy_all.yml

@@ -54,3 +54,4 @@ jobs:
         AWS_REGION: 'us-west-1'
         SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
         DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
+

.github/workflows/mavros_mission_tests.yml

@@ -11,8 +11,6 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    env:
-      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
     strategy:
       fail-fast: false
       matrix:

.github/workflows/mavros_offboard_tests.yml

@@ -11,8 +11,6 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    env:
-      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
     strategy:
       fail-fast: false
       matrix:

.gitmodules

@@ -71,7 +71,7 @@
 [submodule "src/modules/zenoh/zenoh-pico"]
 	path = src/modules/zenoh/zenoh-pico
 	url = https://github.com/px4/zenoh-pico
-	branch = dev/1.0.0-px4
+	branch = pr-zubf-werror-fix
 [submodule "src/lib/heatshrink/heatshrink"]
 	path = src/lib/heatshrink/heatshrink
 	url = https://github.com/PX4/heatshrink.git
@@ -81,5 +81,5 @@
 	url = https://github.com/PX4/PX4-gazebo-models.git
 	branch = main
 [submodule "boards/modalai/voxl2/libfc-sensor-api"]
-	path = boards/modalai/voxl2/libfc-sensor-api
+	path = src/modules/muorb/apps/libfc-sensor-api
 	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git

.vscode/cmake-kits.json

@@ -2,4 +2,4 @@
 	{
 		"name": "PX4 detect"
 	}
-]
+]

.vscode/cmake-variants.yaml

@@ -111,11 +111,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: px4_fmu-v6xrt_bootloader
-    3dr_ctrl-zero-h7-oem-revg_default:
-      short: 3dr_ctrl-zero-h7-oem-revg
-      buildType: MinSizeRel
-      settings:
-        CONFIG: 3dr_ctrl-zero-h7-oem-revg_default
     airmind_mindpx-v2_default:
       short: airmind_mindpx-v2
       buildType: MinSizeRel
@@ -156,16 +151,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_can-rtk-gps_canbootloader
-    ark_septentrio-gps_default:
-      short: ark_septentrio-gps_default
+    ark_septentrio_gps_default:
+      short: ark_septentrio_gps_default
       buildType: MinSizeRel
       settings:
-        CONFIG: ark_septentrio-gps_default
-    ark_septentrio-gps_canbootloader:
-      short: ark_septentrio-gps_canbootloader
+        CONFIG: ark_septentrio_gps_default
+    ark_septentrio_gps_canbootloader:
+      short: ark_septentrio_gps_canbootloader
       buildType: MinSizeRel
       settings:
-        CONFIG: ark_septentrio-gps_canbootloader
+        CONFIG: ark_septentrio_gps_canbootloader
     ark_cannode_default:
       short: ark_cannode_default
       buildType: MinSizeRel
@@ -186,16 +181,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_fmu-v6x_default
-    ark_pi6x_bootloader:
-      short: ark_pi6x_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_pi6x_bootloader
-    ark_pi6x_default:
-      short: ark_pi6x_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_pi6x_default
     atl_mantis-edu_default:
       short: atl_mantis-edu
       buildType: MinSizeRel

.vscode/extensions.json

@@ -4,7 +4,6 @@
     "recommendations": [
         "chiehyu.vscode-astyle",
         "dan-c-underwood.arm",
-        "editorconfig.editorconfig",
         "fredericbonnet.cmake-test-adapter",
         "github.vscode-pull-request-github",
         "marus25.cortex-debug",

.vscode/settings.json

@@ -15,7 +15,6 @@
         "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
         "cmake.configureOnOpen": true,
         "cmake.ctest.parallelJobs": 1,
-        "cmake.options.statusBarVisibility": "compact",
         "cmake.skipConfigureIfCachePresent": true,
         "cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
         "cmakeExplorer.parallelJobs": 1,

CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2017 - 2024 PX4 Development Team. All rights reserved.
+# Copyright (c) 2017 - 2022 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
@@ -132,9 +132,7 @@ list(GET VERSION_LIST 2 PX4_VERSION_PATCH)
 string(REPLACE "-" ";" PX4_VERSION_PATCH ${PX4_VERSION_PATCH})
 list(GET PX4_VERSION_PATCH 0 PX4_VERSION_PATCH)
 
-# # Capture only the hash part after 'g'
-string(REGEX MATCH "g([a-f0-9]+)$" GIT_HASH "${PX4_GIT_TAG}")
-set(PX4_GIT_HASH ${CMAKE_MATCH_1})
+message(STATUS "PX4 version: ${PX4_GIT_TAG} (${PX4_VERSION_MAJOR}.${PX4_VERSION_MINOR}.${PX4_VERSION_PATCH})")
 
 define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                  BRIEF_DOCS "PX4 module libs"
@@ -487,7 +485,7 @@ include(package)
 
 # install python requirements using configured python
 add_custom_target(install_python_requirements
-	COMMAND ${PYTHON_EXECUTABLE} -m pip install --break-system-packages --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+	COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	USES_TERMINAL
 )

Jenkinsfile

@@ -171,9 +171,9 @@ pipeline {
               sh('cp airframes.md PX4-user_guide/en/airframes/airframe_reference.md')
               sh('cp parameters.md PX4-user_guide/en/advanced_config/parameter_reference.md')
               sh('cp -R modules/*.md PX4-user_guide/en/modules/')
-              sh('cp -R graph_*.json PX4-user_guide/public/middleware/')  // vitepress
+              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/public/config/failsafe')  // vitepress
+              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')

Kconfig

@@ -185,17 +185,6 @@ menu "Serial ports"
         string "EXT2 tty port"
 endmenu
 
-menu "File paths"
-
-    config BOARD_ROOT_PATH
-        string "PX4 Root file path"
-        default "/fs/microsd"
-
-    config BOARD_PARAM_FILE
-        string "Parameter file"
-        default "/fs/mtd_params"
-endmenu
-
 menu "drivers"
 source "src/drivers/Kconfig"
 endmenu

Makefile

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 - 2024 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 - 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
@@ -323,33 +323,7 @@ px4io_update:
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status
 
-bootloaders_update: \
-	3dr_ctrl-zero-h7-oem-revg_bootloader \
-	ark_fmu-v6x_bootloader \
-	ark_pi6x_bootloader \
-	cuav_nora_bootloader \
-	cuav_x7pro_bootloader \
-	cubepilot_cubeorange_bootloader \
-	cubepilot_cubeorangeplus_bootloader \
-	hkust_nxt-dual_bootloader \
-	hkust_nxt-v1_bootloader \
-	holybro_durandal-v1_bootloader \
-	holybro_kakuteh7_bootloader \
-	holybro_kakuteh7mini_bootloader \
-	holybro_kakuteh7v2_bootloader \
-	matek_h743_bootloader \
-	matek_h743-mini_bootloader \
-	matek_h743-slim_bootloader \
-	modalai_fc-v2_bootloader \
-	mro_ctrl-zero-classic_bootloader \
-	mro_ctrl-zero-h7_bootloader \
-	mro_ctrl-zero-h7-oem_bootloader \
-	mro_pixracerpro_bootloader \
-	px4_fmu-v6c_bootloader \
-	px4_fmu-v6u_bootloader \
-	px4_fmu-v6x_bootloader \
-	px4_fmu-v6xrt_bootloader \
-	siyi_n7_bootloader
+bootloaders_update: ark_fmu-v6x_bootloader cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
 	git status
 
 .PHONY: coverity_scan
@@ -380,9 +354,9 @@ doxygen:
 	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
 	@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll
 
-# Style
+# Astyle
 # --------------------------------------------------------------------
-.PHONY: check_format format check_newlines
+.PHONY: check_format format
 
 check_format:
 	$(call colorecho,'Checking formatting with astyle')
@@ -393,10 +367,6 @@ format:
 	$(call colorecho,'Formatting with astyle')
 	@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh --fix
 
-check_newlines:
-	$(call colorecho,'Checking for missing or duplicate newlines at the end of files')
-	@"$(SRC_DIR)"/Tools/astyle/check_newlines.sh
-
 # Testing
 # --------------------------------------------------------------------
 .PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance
@@ -550,14 +520,14 @@ distclean:
 # All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
 %:
 	$(if $(filter $(FIRST_ARG),$@), \
-		$(error "Make target $@ not found. It either does not exist or $@ cannot be the first argument. Use '$(MAKE) list_config_targets' to get a list of all possible [configuration] targets."),@#)
+		$(error "Make target $@ not found. It either does not exist or $@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)
 
 # Print a list of non-config targets (based on http://stackoverflow.com/a/26339924/1487069)
 help:
 	@echo "Usage: $(MAKE) <target>"
 	@echo "Where <target> is one of:"
 	@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
-		awk -v RS= -F: '/(^|\n)# Files(\n|$$)/,/(^|\n)# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
+		awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
 		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(Makefile)'
 	@echo
 	@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"

ROMFS/CMakeLists.txt

@@ -120,7 +120,6 @@ add_custom_command(
 		${romfs_gen_root_dir}/init.d/rc.serial
 		${romfs_gen_root_dir}/init.d/rc.autostart
 		${romfs_gen_root_dir}/init.d/rc.autostart.post
-		${romfs_gen_root_dir}/init.d/rc.filepaths
 		${romfs_copy_stamp}
 	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
 	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
@@ -132,9 +131,6 @@ add_custom_command(
 		--rc-dir ${romfs_gen_root_dir}/init.d
 		--serial-ports ${board_serial_ports} ${added_arguments}
 		--config-files ${module_config_files} #--verbose
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/filepaths/generate_config.py
-		--rc-dir ${romfs_gen_root_dir}/init.d
-		--params-file ${CONFIG_BOARD_PARAM_FILE}
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
 	WORKING_DIRECTORY ${romfs_gen_root_dir}
 	DEPENDS ${romfs_tar_file}
@@ -324,7 +320,6 @@ add_custom_target(romfs_gen_files_target
 	DEPENDS
 		${romfs_copy_stamp}
 		${romfs_gen_root_dir}/init.d/rc.serial
-		${romfs_gen_root_dir}/init.d/rc.filepaths
 		romfs_extras.stamp
 	)
 

ROMFS/cannode/init.d/rcS

@@ -21,14 +21,25 @@ set R /
 #
 ver all
 
-# Load param file location from kconfig
-. ${R}etc/init.d/rc.filepaths
+if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
+then
+	set PARAM_FILE /fs/mtd_params
+fi
+
+if mft query -q -k MTD -s MTD_PARAMETERS -v /dev/eeeprom0
+then
+	set PARAM_FILE /dev/eeeprom0
+fi
+
+if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/qspi/params
+then
+	set PARAM_FILE /mnt/qspi/params
+fi
 
 #
 # Load parameters.
 #
 param select $PARAM_FILE
-
 if ! param load
 then
 	param reset_all

ROMFS/px4fmu_common/init.d-posix/airframes/10017_jmavsim_iris

@@ -29,3 +29,4 @@ param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
+

ROMFS/px4fmu_common/init.d-posix/airframes/10018_gazebo-classic_iris_foggy_lidar

@@ -30,3 +30,4 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 
 param set-default EKF2_RNG_A_HMAX 10
+

ROMFS/px4fmu_common/init.d-posix/airframes/10019_gazebo-classic_omnicopter

@@ -94,3 +94,4 @@ param set-default CA_METHOD 0
 # disable attitude failure detection
 param set-default FD_FAIL_P 0
 param set-default FD_FAIL_R 0
+

ROMFS/px4fmu_common/init.d-posix/airframes/10030_gazebo-classic_px4vision

@@ -12,3 +12,4 @@ param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
+

ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane

@@ -24,6 +24,8 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027
 
+param set-default BAT_N_CELLS 3
+
 param set-default SIH_T_MAX 6
 param set-default SIH_MASS 0.3
 param set-default SIH_IXX 0.00402

ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert

@@ -33,6 +33,8 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027
 
+param set-default BAT_N_CELLS 3
+
 param set-default SIH_T_MAX 2
 param set-default SIH_Q_MAX 0.0165
 param set-default SIH_MASS 0.2

ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo-classic_iris_opt_flow

@@ -47,5 +47,5 @@ param set-default MPC_ALT_MODE 2
 
 param set-default SENS_FLOW_ROT 6
 param set-default SENS_FLOW_MINHGT 0.7
-param set-default SENS_FLOW_MAXHGT 15
+param set-default SENS_FLOW_MAXHGT 3
 param set-default SENS_FLOW_MAXR 2.5

ROMFS/px4fmu_common/init.d-posix/airframes/1012_gazebo-classic_iris_rplidar

@@ -30,3 +30,4 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 
 param set-default LPE_FUSION 242
+

ROMFS/px4fmu_common/init.d-posix/airframes/1013_gazebo-classic_iris_vision

@@ -18,3 +18,4 @@ param set-default LPE_FUSION 132
 
 # AEQ: External heading set to use vision input
 param set-default ATT_EXT_HDG_M 1
+

ROMFS/px4fmu_common/init.d-posix/airframes/1021_gazebo-classic_uuv_hippocampus

@@ -41,3 +41,4 @@ param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
+

ROMFS/px4fmu_common/init.d-posix/airframes/1022_gazebo-classic_uuv_bluerov2_heavy

@@ -61,3 +61,4 @@ param set-default PWM_MAIN_FUNC5 105
 param set-default PWM_MAIN_FUNC6 106
 param set-default PWM_MAIN_FUNC7 107
 param set-default PWM_MAIN_FUNC8 108
+

ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane

@@ -68,3 +68,5 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
+
+

ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam

@@ -39,6 +39,7 @@ param set-default FW_T_SINK_MIN 2.2
 
 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

ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult

@@ -41,6 +41,7 @@ param set-default FW_T_SINK_MIN 2.2
 
 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
@@ -70,3 +71,4 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
+

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

@@ -24,6 +24,7 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1
 
 param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -55,3 +56,4 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
+

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

@@ -24,6 +24,7 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1
 
 param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo-classic_techpod

@@ -54,3 +54,4 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
+

ROMFS/px4fmu_common/init.d-posix/airframes/1036_jsbsim_malolo

@@ -24,6 +24,7 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1
 
 param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -55,3 +56,4 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
+

ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer

@@ -62,3 +62,4 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
+

ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider

@@ -39,6 +39,7 @@ param set-default FW_T_SINK_MIN 2.2
 
 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

ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal

@@ -23,7 +23,9 @@ param set-default FW_RR_P 0.085
 
 param set-default FW_W_EN 1
 
+param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol

@@ -78,3 +78,4 @@ param set-default VT_FWD_THRUST_EN 4
 param set-default VT_FWD_THRUST_SC 1
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_TYPE 2
+

ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo-classic_tailsitter

@@ -75,3 +75,4 @@ param set-default VT_F_TRANS_DUR 1.5
 param set-default VT_TYPE 0
 
 param set-default WV_EN 0
+

ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo-classic_standard_vtol_drop

@@ -88,3 +88,4 @@ param set-default PWM_MAIN_FUNC11 422
 param set-default RC_MAP_AUX1 8
 param set-default RC_MAP_AUX2 9
 param set-default RC_MAP_AUX3 10
+

ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar

@@ -39,6 +39,7 @@ param set-default FW_T_SINK_MIN 2.2
 
 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

ROMFS/px4fmu_common/init.d-posix/airframes/1045_gazebo-classic_quadtailsitter

@@ -33,7 +33,7 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 0
 
-param set-default FD_FAIL_R 70
+parm set-default FD_FAIL_R 70
 
 param set-default FW_P_TC 0.6
 

ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover

@@ -31,3 +31,4 @@ param set-default PWM_MAIN_FUNC1 201
 param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101
+

ROMFS/px4fmu_common/init.d-posix/airframes/1062_flightgear_tf-r1

@@ -38,3 +38,4 @@ param set-default PWM_MAIN_FUNC1 201
 param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101
+

ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo-classic_boat

@@ -41,3 +41,4 @@ param set-default CA_R_REV 3
 
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
+

ROMFS/px4fmu_common/init.d-posix/airframes/17001_flightgear_tf-g1

@@ -64,3 +64,4 @@ param set-default PWM_MAIN_FUNC4 203
 param set-default PWM_MAIN_FUNC5 407
 param set-default PWM_MAIN_FUNC6 408
 param set-default PWM_MAIN_FUNC7 409
+

ROMFS/px4fmu_common/init.d-posix/airframes/17002_flightgear_tf-g2

@@ -69,3 +69,4 @@ param set-default PWM_MAIN_FUNC4 203
 param set-default PWM_MAIN_FUNC5 407
 param set-default PWM_MAIN_FUNC6 408
 param set-default PWM_MAIN_FUNC7 409
+

ROMFS/px4fmu_common/init.d-posix/airframes/2507_gazebo-classic_cloudship

@@ -36,3 +36,4 @@ param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 201
 param set-default PWM_MAIN_FUNC4 103
+

ROMFS/px4fmu_common/init.d-posix/airframes/4001_gz_x500

@@ -52,4 +52,3 @@ param set-default SIM_GZ_EC_MAX3 1000
 param set-default SIM_GZ_EC_MAX4 1000
 
 param set-default MPC_THR_HOVER 0.60
-param set-default NAV_DLL_ACT 2

ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol

@@ -101,9 +101,8 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1
 
 param set-default NAV_ACC_RAD 5
-param set-default NAV_DLL_ACT 2
 
 param set-default VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 0.3
+param set-default VT_F_TRANS_THR 0.75
 param set-default VT_TYPE 2
 param set-default FD_ESCS_EN 0

ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision

@@ -132,5 +132,3 @@ param set-default SIM_GZ_EC_MAX1 1100
 param set-default SIM_GZ_EC_MAX2 1100
 param set-default SIM_GZ_EC_MAX3 1100
 param set-default SIM_GZ_EC_MAX4 1100
-
-param set-default NAV_DLL_ACT 2

ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover

@@ -6,36 +6,16 @@
 . ${R}etc/init.d/rc.rover_differential_defaults
 
 PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
-# Rover parameters
-param set-default RD_WHEEL_TRACK 0.3
-param set-default RD_MAN_YAW_SCALE 0.1
-param set-default RD_YAW_RATE_I 0.1
-param set-default RD_YAW_RATE_P 5
-param set-default RD_MAX_ACCEL 6
-param set-default RD_MAX_JERK 30
-param set-default RD_MAX_SPEED 7
-param set-default RD_HEADING_P 5
-param set-default RD_HEADING_I 0.1
-param set-default RD_MAX_YAW_RATE 180
-param set-default RD_MISS_SPD_DEF 7
-param set-default RD_TRANS_DRV_TRN 0.349066
-param set-default RD_TRANS_TRN_DRV 0.174533
-
-# Pure pursuit parameters
-param set-default PP_LOOKAHD_MAX 30
-param set-default PP_LOOKAHD_MIN 2
-param set-default PP_LOOKAHD_GAIN 1
-
 # Simulated sensors
 param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 0
 param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
+param set-default SENS_EN_ARSPDSIM 1
 
 # Actuator mapping
 param set-default SIM_GZ_WH_FUNC1 101 # right wheel

ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower

@@ -1,95 +0,0 @@
-#!/bin/sh
-# @name Gazebo lawnmower
-# @type Rover
-# @class Rover
-
-. ${R}etc/init.d/rc.rover_differential_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=lawnmower}
-
-param set-default SIM_GZ_EN 1 # Gazebo bridge
-
-# Simulated sensors
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
-# We can arm and drive in manual mode when it slides and GPS check fails:
-param set-default COM_ARM_WO_GPS 1
-
-# Rover parameters
-param set-default RD_WHEEL_TRACK 0.9
-param set-default RD_MAN_YAW_SCALE 0.1
-param set-default RD_YAW_RATE_I 0.1
-param set-default RD_YAW_RATE_P 5
-param set-default RD_MAX_ACCEL 1
-param set-default RD_MAX_JERK 3
-param set-default RD_MAX_SPEED 8
-param set-default RD_HEADING_P 5
-param set-default RD_HEADING_I 0.1
-param set-default RD_MAX_YAW_RATE 30
-param set-default RD_MISS_SPD_DEF 8
-param set-default RD_TRANS_DRV_TRN 0.349066
-param set-default RD_TRANS_TRN_DRV 0.174533
-
-# Pure pursuit parameters
-param set-default PP_LOOKAHD_MAX 30
-param set-default PP_LOOKAHD_MIN 2
-param set-default PP_LOOKAHD_GAIN 1
-
-# Actuator mapping - set SITL motors/servos output parameters:
-
-# "Motors" - motor channels 0 (Right) and 1 (Left) - via Wheels GZ bridge:
-param set-default SIM_GZ_WH_FUNC1 101 # right wheel
-#param set-default SIM_GZ_WH_MIN1 0
-#param set-default SIM_GZ_WH_MAX1 200
-#param set-default SIM_GZ_WH_DIS1 100
-#param set-default SIM_GZ_WH_FAIL1 100
-
-param set-default SIM_GZ_WH_FUNC2 102 # left wheel
-#param set-default SIM_GZ_WH_MIN2 0
-#param set-default SIM_GZ_WH_MAX2 200
-#param set-default SIM_GZ_WH_DIS2 100
-#param set-default SIM_GZ_WH_FAIL2 100
-
-param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels
-
-# Note: The servo configurations ( SIM_GZ_SV_FUNC*) outlined below are intended for educational purposes in this simulation.
-# They do not have physical effects in the simulated environment, except for actuating the joints. Their definitions are meant to demonstrate
-# how actuators could be mapped and configured in a real-world application, providing a foundation for understanding and implementing actuator
-# controls in practical scenarios.
-
-# Cutter deck blades clutch, PCA9685 servo channel 3,  "RC FLAPS" (406) - leftmost switch, or "Servo 3" (203):
-param set-default SIM_GZ_SV_FUNC3 203
-param set-default SIM_GZ_SV_MIN3 0
-param set-default SIM_GZ_SV_MAX3 1000
-param set-default SIM_GZ_SV_DIS3 500
-param set-default SIM_GZ_SV_FAIL3 500
-
-# Gas engine throttle, PCA9685 servo channel 4, "RC AUX1" (407) - left knob, or "Servo 4" (204):
-#    - on minimum when disarmed or failed:
-param set-default SIM_GZ_SV_FUNC4 204
-param set-default SIM_GZ_SV_MIN4 0
-param set-default SIM_GZ_SV_MAX4 1000
-param set-default SIM_GZ_SV_DIS4 500
-param set-default SIM_GZ_SV_FAIL4 500
-
-# Controlling PCA9685 servos 5,6,7,8 directly via "Servo 5..8" setting, by publishing actuator_servos.control[]:
-
-# Strobes, PCA9685 servo channel 5, "Servo 5" (205) - flashing indicates Mission mode:
-#param set-default SIM_GZ_SV_FUNC5 205
-#param set-default SIM_GZ_SV_MIN5 1000
-#param set-default SIM_GZ_SV_MAX5 2000
-#param set-default SIM_GZ_SV_DIS5 1000
-#param set-default SIM_GZ_SV_FAIL5 1000
-
-# Horn, PCA9685 servo channel 6, "Servo 6" (206) - for alarms like GPS failure:
-#param set-default SIM_GZ_SV_FUNC6 206
-
-# Spare PCA9685 servo channel 7 on "RC AUX2" (408) - right knob, or "Servo 7" (207):
-#param set-default SIM_GZ_SV_FUNC7 207
-
-# Spare PCA9685 servo channel 8 - "Servo 8" (208):
-#param set-default SIM_GZ_SV_FUNC8 208

ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann

@@ -1,49 +0,0 @@
-#!/bin/sh
-# @name Rover Ackermann
-# @type Rover
-# @class Rover
-
-. ${R}etc/init.d/rc.rover_ackermann_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
-
-param set-default SIM_GZ_EN 1 # Gazebo bridge
-
-# Rover parameters
-param set-default NAV_ACC_RAD 0.5
-param set-default RA_ACC_RAD_GAIN 2
-param set-default RA_ACC_RAD_MAX 3
-param set-default RA_MAX_ACCEL 1.5
-param set-default RA_MAX_JERK 15
-param set-default RA_MAX_SPEED 3
-param set-default RA_MAX_STR_ANG 0.5236
-param set-default RA_MAX_STR_RATE 360
-param set-default RA_MISS_VEL_DEF 3
-param set-default RA_MISS_VEL_GAIN 5
-param set-default RA_MISS_VEL_MIN 1
-param set-default RA_SPEED_I 0.01
-param set-default RA_SPEED_P 2
-param set-default RA_WHEEL_BASE 0.321
-
-# Pure Pursuit parameters
-param set-default PP_LOOKAHD_GAIN 1
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1
-
-# Simulated sensors
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
-
-# Wheels
-param set-default SIM_GZ_WH_FUNC1 101
-param set-default SIM_GZ_WH_MIN1 0
-param set-default SIM_GZ_WH_MAX1 200
-param set-default SIM_GZ_WH_DIS1 100
-
-# Steering
-param set-default SIM_GZ_SV_FUNC1 201
-param set-default SIM_GZ_SV_REV 1

ROMFS/px4fmu_common/init.d-posix/airframes/4013_gz_x500_lidar

@@ -1,10 +0,0 @@
-#!/bin/sh
-#
-# @name Gazebo x500 lidar
-#
-# @type Quadrotor
-#
-
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_lidar}
-
-. ${R}etc/init.d-posix/airframes/4001_gz_x500

ROMFS/px4fmu_common/init.d-posix/airframes/4014_gz_quadtailsitter

@@ -1,92 +0,0 @@
-#!/bin/sh
-#
-# @name Quadrotor + Tailsitter
-#
-# @type VTOL Quad Tailsitter
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadtailsitter}
-
-param set-default SIM_GZ_EN 1
-
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
-
-param set-default MAV_TYPE 20
-
-param set-default CA_AIRFRAME 4
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.23
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.23
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.23
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.23
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default CA_SV_CS_COUNT 0
-
-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_MIN1 10
-param set-default SIM_GZ_EC_MAX1 1500
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_MIN2 10
-param set-default SIM_GZ_EC_MAX2 1500
-param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_MIN3 10
-param set-default SIM_GZ_EC_MAX3 1500
-param set-default SIM_GZ_EC_FUNC4 104
-param set-default SIM_GZ_EC_MIN4 10
-param set-default SIM_GZ_EC_MAX4 1500
-
-param set-default FD_FAIL_R 70
-
-param set-default FW_P_TC 0.6
-
-param set-default FW_PR_I 0.3
-param set-default FW_PR_P 0.5
-param set-default FW_PSP_OFF 2
-param set-default FW_RR_FF 0.1
-param set-default FW_RR_I 0.1
-param set-default FW_RR_P 0.2
-param set-default FW_YR_FF 0 # make yaw rate controller very weak, only keep default P
-param set-default FW_YR_I 0
-param set-default FW_THR_TRIM 0.35
-param set-default FW_THR_MAX 0.8
-param set-default FW_THR_MIN 0.05
-param set-default FW_T_CLMB_MAX 6
-param set-default FW_T_HRATE_FF 0.5
-param set-default FW_T_SINK_MAX 3
-param set-default FW_T_SINK_MIN 1.6
-param set-default FW_AIRSPD_STALL 10
-param set-default FW_AIRSPD_MIN 14
-param set-default FW_AIRSPD_TRIM 18
-param set-default FW_AIRSPD_MAX 22
-
-param set-default MC_AIRMODE 2
-param set-default MAN_ARM_GESTURE 0 # required for yaw airmode
-param set-default MC_ROLL_P 3
-param set-default MC_PITCH_P 3
-param set-default MC_ROLLRATE_P 0.3
-param set-default MC_PITCHRATE_P 0.3
-
-param set-default VT_ARSP_TRANS 15
-param set-default VT_B_TRANS_DUR 5
-param set-default VT_FW_DIFTHR_EN 7
-param set-default VT_FW_DIFTHR_S_Y 1
-param set-default VT_F_TRANS_DUR 1.5
-param set-default VT_TYPE 0
-
-param set-default WV_EN 0

ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480

@@ -63,3 +63,4 @@ param set-default PWM_MAIN_FUNC9 422
 # Landing gear
 param set-default PWM_MAIN_FUNC10 400
 param set-default PWM_MAIN_FUNC11 400
+

ROMFS/px4fmu_common/init.d-posix/airframes/8011_gz_omnicopter

@@ -119,3 +119,4 @@ param set-default CA_METHOD 0
 # disable attitude failure detection
 param set-default FD_FAIL_P 0
 param set-default FD_FAIL_R 0
+

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

@@ -82,10 +82,6 @@ px4_add_romfs_files(
 	4008_gz_advanced_plane
 	4009_gz_r1_rover
 	4010_gz_x500_mono_cam
-	4011_gz_lawnmower
-	4012_gz_rover_ackermann
-	4013_gz_x500_lidar
-	4014_gz_quadtailsitter
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post

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

@@ -15,9 +15,6 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 	if [ -n "${PX4_HOME_LON}" ]; then
 		param set SIH_LOC_LON0 ${PX4_HOME_LON}
 	fi
-	if [ -n "${PX4_HOME_ALT}" ]; then
-		param set SIH_LOC_H0 ${PX4_HOME_ALT}
-	fi
 
 	if simulator_sih start; then
 

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -157,7 +157,6 @@ param set-default CBRK_SUPPLY_CHK 894281
 
 # disable check, no CPU load reported on posix yet
 param set-default COM_CPU_MAX -1
-param set-default COM_RAM_MAX -1
 
 # Don't require RC calibration and configuration
 param set-default COM_RC_IN_MODE 1
@@ -183,6 +182,10 @@ param set-default SYS_FAILURE_EN 1
 # does not go below 50% by default, but failure injection can trigger failsafes.
 param set-default COM_LOW_BAT_ACT 2
 
+# Allow to override SYS_MC_EST_GROUP via env
+if [ -n "$SYS_MC_EST_GROUP" ]; then
+	param set SYS_MC_EST_GROUP $SYS_MC_EST_GROUP
+fi
 
 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
@@ -250,26 +253,9 @@ fi
 tone_alarm start
 rc_update start
 manual_control start
-sensors start
+#sensors start
 commander start
 
-#
-# state estimator selection
-if param compare -s EKF2_EN 1
-then
-	ekf2 start &
-fi
-
-if param compare -s LPE_EN 1
-then
-	local_position_estimator start
-fi
-
-if param compare -s ATT_EN 1
-then
-	attitude_estimator_q start
-fi
-
 if ! pwm_out_sim start -m sim
 then
 	tune_control play error
@@ -344,7 +330,7 @@ fi
 [ -e "$autostart_file".post ] && . "$autostart_file".post
 
 # Run script to start logging
-if param compare -s EKF2_EN 1
+if param compare SYS_MC_EST_GROUP 2
 then
 	set LOGGER_ARGS "-p ekf2_timestamps"
 else

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -34,87 +34,28 @@
 add_subdirectory(airframes)
 
 px4_add_romfs_files(
-
+	rc.airship_apps
+	rc.airship_defaults
 	rc.autostart_ext
-
-	rcS
-	rc.sensors
-	rc.vehicle_setup
-
-	# TODO
 	rc.balloon_apps
 	rc.balloon_defaults
-	rc.sysinit
+	rc.boat_defaults
+	rc.fw_apps
+	rc.fw_defaults
+	rc.heli_defaults
+	rc.logging
+	rc.mc_apps
+	rc.mc_defaults
+	rcS
+	rc.sensors
+	rc.thermal_cal
+	rc.rover_apps
+	rc.rover_defaults
+	rc.rover_differential_apps
+	rc.rover_differential_defaults
+	rc.uuv_apps
+	rc.uuv_defaults
+	rc.vehicle_setup
+	rc.vtol_apps
+	rc.vtol_defaults
 )
-
-if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL)
-	px4_add_romfs_files(
-		rc.airship_apps
-		rc.airship_defaults
-	)
-endif()
-
-if(CONFIG_MODULES_FW_RATE_CONTROL)
-	px4_add_romfs_files(
-		rc.fw_apps
-		rc.fw_defaults
-	)
-endif()
-
-if(CONFIG_MODULES_MC_RATE_CONTROL)
-	px4_add_romfs_files(
-		rc.heli_defaults
-		rc.mc_apps
-		rc.mc_defaults
-	)
-endif()
-
-if(CONFIG_MODULES_ROVER_POS_CONTROL)
-	px4_add_romfs_files(
-		rc.rover_apps
-		rc.rover_defaults
-
-		rc.boat_defaults # hack
-	)
-endif()
-
-if(CONFIG_MODULES_ROVER_DIFFERENTIAL)
-	px4_add_romfs_files(
-		rc.rover_differential_apps
-		rc.rover_differential_defaults
-	)
-endif()
-
-if(CONFIG_MODULES_ROVER_ACKERMANN)
-	px4_add_romfs_files(
-		rc.rover_ackermann_apps
-		rc.rover_ackermann_defaults
-	)
-endif()
-
-if(CONFIG_MODULES_UUV_ATT_CONTROL)
-	px4_add_romfs_files(
-		rc.uuv_apps
-		rc.uuv_defaults
-	)
-endif()
-
-if(CONFIG_MODULES_VTOL_ATT_CONTROL)
-	px4_add_romfs_files(
-		rc.vtol_apps
-		rc.vtol_defaults
-	)
-endif()
-
-
-if(CONFIG_MODULES_LOGGER)
-	px4_add_romfs_files(
-		rc.logging
-	)
-endif()
-
-if(CONFIG_MODULES_TEMPERATURE_COMPENSATION)
-	px4_add_romfs_files(
-		rc.thermal_cal
-	)
-endif()

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

@@ -44,3 +44,4 @@ param set-default CA_ROTOR4_KM -0.05
 param set-default CA_ROTOR5_PX 0.25
 param set-default CA_ROTOR5_PY -0.433
 param set-default CA_ROTOR5_PZ 0.05
+

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

@@ -44,6 +44,8 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027
 
+param set-default BAT_N_CELLS 3
+
 param set SIH_T_MAX 6
 param set SIH_MASS 0.3
 param set SIH_IXX 0.00402

ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil

@@ -62,6 +62,8 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027
 
+param set-default BAT_N_CELLS 3
+
 param set SIH_T_MAX 2.0
 param set SIH_Q_MAX 0.0165
 param set SIH_MASS 0.2

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

@@ -66,6 +66,7 @@ param set-default MC_PITCHRATE_I 0.05
 param set-default MC_YAWRATE_MAX 20
 param set-default MC_AIRMODE 1
 
+param set-default MIS_DIST_1WP 100
 param set-default MIS_TAKEOFF_ALT 15
 
 param set-default MPC_XY_P 0.8

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

@@ -119,3 +119,5 @@ param set-default PWM_MAIN_TIM0 50
 param set-default PWM_MAIN_DIS1 1500
 param set-default PWM_MAIN_DIS2 1500
 param set-default PWM_MAIN_DIS4 1500
+
+

ROMFS/px4fmu_common/init.d/airframes/14001_generic_mc_with_tilt

@@ -32,3 +32,4 @@ param set-default CA_SV_TL0_MAXA 45
 param set-default CA_SV_TL0_MINA -45
 param set-default CA_SV_TL0_TD 90
 param set-default CA_SV_TL_COUNT 1
+

ROMFS/px4fmu_common/init.d/airframes/16001_helicopter

@@ -24,3 +24,5 @@ param set-default MC_PITCHRATE_D 0
 param set-default MC_PITCHRATE_FF 0.1
 
 param set-default CA_AIRFRAME 10
+
+

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

@@ -23,3 +23,4 @@ param set-default MAV_0_MODE 1
 param set-default MAV_0_CONFIG 102
 param set-default GPS_UBX_DYNMODEL 8
 param set-default SER_TEL2_BAUD 9600
+

ROMFS/px4fmu_common/init.d/airframes/2106_albatross

@@ -72,3 +72,5 @@ param set-default PWM_MAIN_DIS5 1000
 param set-default PWM_MAIN_DIS6 1500
 param set-default PWM_MAIN_DIS7 1500
 param set-default PWM_MAIN_DIS8 1500
+
+

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

@@ -66,3 +66,4 @@ param set-default CA_ROTOR11_PX -0.344
 param set-default CA_ROTOR11_PY -0.25
 param set-default CA_ROTOR11_PZ -0.05
 param set-default CA_ROTOR11_KM -0.05
+

ROMFS/px4fmu_common/init.d/airframes/2507_cloudship

@@ -38,3 +38,4 @@ param set-default CA_SV_CS_COUNT 1
 param set-default CA_SV_CS0_TRQ_P 1
 
 param set-default CA_R_REV 7
+

ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames

@@ -6,7 +6,6 @@
 # @class Copter
 #
 # @board px4_fmu-v2 exclude
-# @board px4_fmu-v5x exclude
 # @board bitcraze_crazyflie exclude
 #
 # @maintainer Iain Galloway <iain.galloway@nxp.com>

ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu

@@ -7,10 +7,6 @@
 #
 # @maintainer
 # @board px4_fmu-v2 exclude
-# @board cuav_x7pro exclude
-# @board px4_fmu-v4pro exclude
-# @board px4_fmu-v5x exclude
-# @board px4_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults
@@ -40,6 +36,7 @@ param set-default COM_RC_LOSS_T 3
 
 
 # ekf2
+param set-default EKF2_TERR_MASK 1
 param set-default EKF2_BARO_NOISE 2
 
 param set-default EKF2_BCOEF_X 31.5

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

@@ -12,7 +12,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude
 #

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

@@ -10,7 +10,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude
 #

ROMFS/px4fmu_common/init.d/airframes/4500_clover4

@@ -8,7 +8,6 @@
 # @maintainer Oleg Kalachev <okalachev@gmail.com>
 #
 # @board px4_fmu-v2 exclude
-# @board px4_fmu-v4pro exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/4601_droneblocks_dexi_5

@@ -1,80 +0,0 @@
-#!/bin/sh
-#
-# @name Droneblocks DEXI 5
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @maintainer Dennis Baldwin <db@droneblocks.io>
-# @maintainer Alex klimaj <alex@arkelectron.com>
-#
-# @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 px4_fmu-v6x exclude
-# @board bitcraze_crazyflie exclude
-# @board diatone_mamba-f405-mk2 exclude
-# @board ark_fmu-v6x exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default BAT1_CAPACITY 4000
-param set-default BAT1_N_CELLS 6
-param set-default BAT1_V_EMPTY 3.3
-param set-default BAT_AVRG_CURRENT 13
-
-# Square quadrotor X PX4 numbering
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.0762
-param set-default CA_ROTOR0_PY 0.09525
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.0762
-param set-default CA_ROTOR1_PY -0.09525
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.0762
-param set-default CA_ROTOR2_PY -0.09525
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.0762
-param set-default CA_ROTOR3_PY 0.09525
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default EKF2_MIN_RNG 0.01
-param set-default EKF2_OF_POS_X 0.043
-param set-default EKF2_OF_POS_Y 0.011
-param set-default EKF2_OF_QMIN_GND 1
-param set-default EKF2_RNG_POS_X 0.043
-param set-default EKF2_RNG_POS_Y 0.0
-
-param set-default IMU_GYRO_DNF_EN 2
-
-param set-default MC_PITCHRATE_D 0.0013
-param set-default MC_PITCHRATE_I 0.185
-param set-default MC_PITCHRATE_P 0.105
-param set-default MC_PITCH_P 7.5
-param set-default MC_ROLLRATE_D 0.0010
-param set-default MC_ROLLRATE_I 0.165
-param set-default MC_ROLLRATE_P 0.095
-param set-default MC_ROLL_P 7.5
-param set-default MC_YAWRATE_I 0.35
-param set-default MC_YAWRATE_P 0.13
-
-param set-default MPC_THR_HOVER 0.22
-param set-default MPC_THR_MAX 0.5
-param set-default MPC_THR_MIN 0.025
-param set-default MPC_VEL_MANUAL 5.0
-param set-default MPC_XY_VEL_MAX 8.0
-
-param set-default RC_CRSF_PRT_CFG 300
-param set-default RC_CRSF_TEL_EN 1
-
-param set-default RTL_RETURN_ALT 15
-
-param set-default SENS_FLOW_MINHGT 0.0
-
-param set-default SER_TEL2_BAUD 3000000
-
-param set-default UXRCE_DDS_CFG 102

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

@@ -13,12 +13,11 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board px4_fmu-v6x exclude
 # @board diatone_mamba-f405-mk2 exclude
 #
 . ${R}etc/init.d/rc.mc_defaults
 
-
+param set-default SYS_MC_EST_GROUP 2
 param set-default SYS_HAS_MAG 0
 param set-default EKF2_OF_CTRL 1
 param set-default EKF2_GPS_CTRL 0

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

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# @name Generic Ground Vehicle (Deprecated)
+# @name Generic Ground Vehicle (Ackermann)
 #
 # @type Rover
 # @class Rover
@@ -48,3 +48,5 @@ param set-default PWM_MAIN_FUNC1 201
 param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101
+
+

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

@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# @name Generic Rover Differential
-#
-# @type Rover
-# @class Rover
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.rover_differential_defaults

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

@@ -15,6 +15,9 @@
 
 param set-default BAT1_N_CELLS 4
 
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_ANGERR_INIT 0.01
+
 # Set geometry & output configration
 param set-default RBCLW_ADDRESS 128
 param set-default RBCLW_FUNC1 101

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

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# @name NXP Cup car: DF Robot GPX (Deprecated)
+# @name NXP Cup car: DF Robot GPX
 
 #
 # @type Rover

ROMFS/px4fmu_common/init.d/airframes/51000_generic_rover_ackermann

@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# @name Generic Rover Ackermann
-#
-# @type Rover
-# @class Rover
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.rover_ackermann_defaults

ROMFS/px4fmu_common/init.d/airframes/51001_axial_scx10_2_trail_honcho

@@ -1,37 +0,0 @@
-#!/bin/sh
-#
-# @name Axial SCX10 2 Trail Honcho
-#
-# @url https://www.axialadventure.com/product/1-10-scx10-ii-trail-honcho-4wd-rock-crawler-brushed-rtr/AXID9059.html
-#
-# @type Rover
-# @class Rover
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.rover_ackermann_defaults
-
-param set-default BAT1_N_CELLS 3
-
-# Rover parameters
-param set-default NAV_ACC_RAD 0.5
-param set-default RA_ACC_RAD_GAIN 2
-param set-default RA_ACC_RAD_MAX 3
-param set-default RA_MAX_ACCEL 0.5
-param set-default RA_MAX_JERK 10
-param set-default RA_MAX_SPEED 2.7
-param set-default RA_MAX_STR_ANG 0.5236
-param set-default RA_MAX_STR_RATE 270
-param set-default RA_MISS_VEL_DEF 2.7
-param set-default RA_MISS_VEL_GAIN 3.5
-param set-default RA_MISS_VEL_MIN 1
-param set-default RA_SPEED_I 0.1
-param set-default RA_SPEED_P 0.5
-param set-default RA_WHEEL_BASE 0.321
-
-# Pure pursuit parameters
-param set-default PP_LOOKAHD_GAIN 1
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1.5

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

@@ -42,3 +42,4 @@ param set-default CA_ROTOR3_KM 0
 param set-default CA_ROTOR3_PX 0
 param set-default CA_ROTOR3_PY -0.3
 param set-default CA_ROTOR3_PZ 0.3
+

ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x

@@ -31,3 +31,5 @@ param set-default CA_ROTOR4_PY 0.25
 param set-default CA_ROTOR5_PX -0.43
 param set-default CA_ROTOR5_PY -0.25
 param set-default CA_ROTOR5_KM -0.05
+
+

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

@@ -123,3 +123,4 @@ param set-default PWM_MAIN_FUNC6 106
 param set-default PWM_MAIN_TIM0 -1
 param set-default PWM_MAIN_TIM1 -1
 param set-default PWM_MAIN_TIM2 -1
+

ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+

@@ -31,3 +31,5 @@ param set-default CA_ROTOR4_PY -0.43
 param set-default CA_ROTOR5_PX -0.25
 param set-default CA_ROTOR5_PY 0.43
 param set-default CA_ROTOR5_KM -0.05
+
+

ROMFS/px4fmu_common/init.d/airframes/8001_octo_x

@@ -36,3 +36,5 @@ param set-default CA_ROTOR6_PY -0.46
 param set-default CA_ROTOR7_KM -0.05
 param set-default CA_ROTOR7_PX -0.19
 param set-default CA_ROTOR7_PY 0.46
+
+

ROMFS/px4fmu_common/init.d/airframes/9001_octo_+

@@ -36,3 +36,4 @@ param set-default CA_ROTOR6_PY -0.5
 param set-default CA_ROTOR7_KM -0.05
 param set-default CA_ROTOR7_PX 0
 param set-default CA_ROTOR7_PY 0.5
+

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

@@ -32,139 +32,94 @@
 ############################################################################
 
 px4_add_romfs_files(
-	# [0-999] Reserved (historical)
+	# [0-999] Reserved (historical)"
+
+	# [1000, 1999] Simulation setups"
+	1001_rc_quad_x.hil
+	1002_standard_vtol.hil
+	1100_rc_quad_x_sih.hil
+	1101_rc_plane_sih.hil
+	1102_tailsitter_duo_sih.hil
+
+	# [2000, 2999] Standard planes"
+	2100_standard_plane
+	2106_albatross
+
+	2507_cloudship
+
+	# [3000, 3999] Flying wing"
+	3000_generic_wing
+
+	# [4000, 4999] Quadrotor x"
+	4001_quad_x
+	4014_s500
+	4015_holybro_s500
+	4016_holybro_px4vision
+	4017_nxp_hovergames
+	4019_x500_v2
+	4020_holybro_px4vision_v1_5
+	4041_beta75x
+	4050_generic_250
+	4052_holybro_qav250
+	4053_holybro_kopis2
+	4061_atl_mantis_edu
+	4071_ifo
+	4073_ifo-s
+	4500_clover4
+	4901_crazyflie21
+
+	# [5000, 5999] Quadrotor +"
+	5001_quad_+
+
+	# [6000, 6999] Hexarotor x"
+	6001_hexa_x
+	6002_draco_r
+
+	# [7000, 7999] Hexarotor +"
+	7001_hexa_+
+
+	# [8000, 8999] Octorotor +"
+	8001_octo_x
+
+	# [9000, 9999] Octorotor +"
+	9001_octo_+
+
+	# [11000, 11999] Hexa Cox
+	11001_hexa_cox
+
+	# [12000, 12999] Octo Cox
+	12001_octo_cox
+
+	# [13000, 13999] VTOL
+	13000_generic_vtol_standard
+	13100_generic_vtol_tiltrotor
+	13013_deltaquad
+	13014_vtol_babyshark
+	13030_generic_vtol_quad_tiltrotor
+	13200_generic_vtol_tailsitter
+
+	# [14000, 14999] MC with tilt
+	14001_generic_mc_with_tilt
+
+	16001_helicopter
+
+	# [17000, 17999] Autogyro
+	17002_TF-AutoG2
+	17003_TF-G2
 
 	# [18000, 18999] High-altitude balloons
 	18001_TF-B1
 
 	# [22000, 22999] Reserve for custom models
+
+	24001_dodeca_cox
+
+	50000_generic_ground_vehicle
+	50004_nxpcup_car_dfrobot_gpx
+	50003_aion_robotics_r1_rover
+
+	# [60000, 61000] (Unmanned) Underwater Robots
+	60000_uuv_generic
+	60001_uuv_hippocampus
+	60002_uuv_bluerov2_heavy
 )
-
-if(CONFIG_MODULES_SIMULATION_PWM_OUT_SIM)
-	px4_add_romfs_files(
-		# [1000, 1999] Simulation setups
-		1001_rc_quad_x.hil
-		1002_standard_vtol.hil
-		1100_rc_quad_x_sih.hil
-		1101_rc_plane_sih.hil
-		1102_tailsitter_duo_sih.hil
-	)
-endif()
-
-if(CONFIG_MODULES_MC_RATE_CONTROL)
-	px4_add_romfs_files(
-		# [4000, 4999] Quadrotor x
-		4001_quad_x
-		4014_s500
-		4015_holybro_s500
-		4016_holybro_px4vision
-		4017_nxp_hovergames
-		4019_x500_v2
-		4020_holybro_px4vision_v1_5
-		4041_beta75x
-		4050_generic_250
-		4052_holybro_qav250
-		4053_holybro_kopis2
-		4061_atl_mantis_edu
-		4071_ifo
-		4073_ifo-s
-		4500_clover4
-		4601_droneblocks_dexi_5
-		4901_crazyflie21
-
-		# [5000, 5999] Quadrotor +
-		5001_quad_+
-
-		# [6000, 6999] Hexarotor x
-		6001_hexa_x
-		6002_draco_r
-
-		# [7000, 7999] Hexarotor +
-		7001_hexa_+
-
-		# [8000, 8999] Octorotor +
-		8001_octo_x
-
-		# [9000, 9999] Octorotor +
-		9001_octo_+
-
-		# [11000, 11999] Hexa Cox
-		11001_hexa_cox
-
-		# [12000, 12999] Octo Cox
-		12001_octo_cox
-
-		# [14000, 14999] MC with tilt
-		14001_generic_mc_with_tilt
-
-		16001_helicopter
-
-		24001_dodeca_cox
-	)
-endif()
-
-if(CONFIG_MODULES_FW_RATE_CONTROL)
-	px4_add_romfs_files(
-		# [2000, 2999] Standard planes
-		2100_standard_plane
-		2106_albatross
-
-		# [3000, 3999] Flying wing
-		3000_generic_wing
-
-		# [17000, 17999] Autogyro
-		17002_TF-AutoG2
-		17003_TF-G2
-	)
-endif()
-
-if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL)
-	px4_add_romfs_files(
-		2507_cloudship
-	)
-endif()
-
-if(CONFIG_MODULES_VTOL_ATT_CONTROL)
-	px4_add_romfs_files(
-		# [13000, 13999] VTOL
-		13000_generic_vtol_standard
-		13100_generic_vtol_tiltrotor
-		13013_deltaquad
-		13014_vtol_babyshark
-		13030_generic_vtol_quad_tiltrotor
-		13200_generic_vtol_tailsitter
-	)
-endif()
-
-if(CONFIG_MODULES_ROVER_DIFFERENTIAL)
-	px4_add_romfs_files(
-		# [50000, 50999] Differential rovers
-		50000_generic_rover_differential
-		50001_aion_robotics_r1_rover
-	)
-endif()
-
-if(CONFIG_MODULES_ROVER_ACKERMANN)
-	px4_add_romfs_files(
-		# [51000, 51999] Ackermann rovers
-		51000_generic_rover_ackermann
-		51001_axial_scx10_2_trail_honcho
-	)
-endif()
-
-if(CONFIG_MODULES_ROVER_POS_CONTROL)
-	px4_add_romfs_files(
-		# [59000, 59999] Rover position control (deprecated)
-		59000_generic_ground_vehicle
-		59001_nxpcup_car_dfrobot_gpx
-	)
-endif()
-
-if(CONFIG_MODULES_UUV_ATT_CONTROL)
-	px4_add_romfs_files(
-		# [60000, 61000] (Unmanned) Underwater Robots
-		60000_uuv_generic
-		60001_uuv_hippocampus
-		60002_uuv_bluerov2_heavy
-	)
-endif()