Made a separate precision landing library. Now, the Precision Landing mode can use it the same as the RTL and the mission mode.

fix warning (mavlink): connection to gcs
SPI: use official HW_VER_REV function
2026-06-14 01:40:05 +08:00 · 2022-11-16 16:02:51 +01:00 · 2022-11-08 13:02:23 +01:00 · 2022-11-08 07:48:21 +01:00 · 2022-11-07 21:05:17 -05:00 · 2022-11-07 21:04:25 -05:00
549 changed files with 13271 additions and 18038 deletions
@@ -69,24 +69,18 @@ pipeline {
                     "matek_h743-slim_default",
                     "matek_h743_default",
                     "modalai_fc-v1_default",
-                     "modalai_fc-v1_rtps",
                     "modalai_fc-v2_default",
                     "modalai_voxl2-io_default",
                     "mro_ctrl-zero-f7_default",
                     "mro_ctrl-zero-f7-oem_default",
                     "mro_ctrl-zero-h7-oem_default",
-                     "mro_ctrl-zero-h7-oem_rtps",
                     "mro_ctrl-zero-h7_default",
-                     "mro_ctrl-zero-h7_rtps",
                     "mro_pixracerpro_default",
-                     "mro_pixracerpro_rtps",
                     "mro_x21-777_default",
                     "mro_x21_default",
                     "nxp_fmuk66-e_default",
-                     "nxp_fmuk66-e_rtps",
                     "nxp_fmuk66-e_socketcan",
                     "nxp_fmuk66-v3_default",
-                     "nxp_fmuk66-v3_rtps",
                     "nxp_fmuk66-v3_socketcan",
                     "nxp_fmurt1062-v1_default",
                     "nxp_ucans32k146_canbootloader",
@@ -104,7 +98,6 @@ pipeline {
                     "px4_fmu-v5_debug",
                     "px4_fmu-v5_default",
                     "px4_fmu-v5_lto",
-                     "px4_fmu-v5_rtps",
                     "px4_fmu-v5_stackcheck",
                     "px4_fmu-v5_uavcanv0periph",
                     "px4_fmu-v5x_default",
@@ -5,7 +5,7 @@ labels: feature-request

 ---

-For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Slack (you can find an invite link on this project README).
+For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Discord (you can find an invite link on this project README).

 ## Describe problem solved by the proposed feature
 A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
@@ -1,4 +1,4 @@
-Please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.
+Please use [PX4 Discuss](http://discuss.px4.io/) or [Discord](https://discord.gg/dronecode) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.

 ## Describe problem solved by this pull request
 A clear and concise description of the problem this proposed change will solve. Or, what it will improve.
@@ -23,7 +23,6 @@ jobs:
          "shellcheck_all",
          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
          "NO_NINJA_BUILD=1 px4_sitl_default",
-          "BUILD_MICRORTPS_AGENT=1 px4_sitl_rtps",
          "airframe_metadata",
          "module_documentation",
          "parameters_metadata",
@@ -116,7 +116,7 @@ jobs:
        ls -ls *
      # TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/

-  micrortps_agent:
+  ROS2_msgs:
    runs-on: ubuntu-latest
    container: px4io/px4-dev-base-focal:2021-09-08
    steps:
@@ -124,34 +124,8 @@ jobs:
      with:
        token: ${{ secrets.ACCESS_TOKEN }}

-    - name: microRTPS agent
-      run: |
-        make px4_sitl_rtps
-        git clone https://github.com/PX4/micrortps_agent.git
-        cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent
-
-  ROS_msgs:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: PX4 ROS msgs
+    - name: PX4 ROS2 msgs
      run: |
        git clone https://github.com/PX4/px4_msgs.git
-        python3 msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/
-
-  ROS2_bridge:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: PX4 ROS2 bridge
-      run: |
-        git clone https://github.com/PX4/px4_ros_com.git
-        ./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml
+        rm px4_msgs/msg/*.msg
+        cp msg/*.msg px4_msgs/msg/
@@ -18,10 +18,6 @@
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/PX4-GPSDrivers.git
 	branch = main
-[submodule "src/modules/micrortps_bridge/micro-CDR"]
-	path = src/modules/micrortps_bridge/micro-CDR
-	url = https://github.com/PX4/Micro-CDR.git
-	branch = master
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
@@ -64,4 +60,5 @@
 	branch = px4
 [submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
 	path = src/modules/microdds_client/Micro-XRCE-DDS-Client
-	url = https://github.com/eProsima/Micro-XRCE-DDS-Client.git
+	url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
+	branch = px4
@@ -6,11 +6,11 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_default
-    px4_sitl_rtps:
-      short: px4_sitl_rtps
+    px4_sitl_nolockstep:
+      short: px4_sitl_nolockstep
      buildType: RelWithDebInfo
      settings:
-        CONFIG: px4_sitl_rtps
+        CONFIG: px4_sitl_nolockstep
    px4_sitl_asan:
      short: px4_sitl (AddressSanitizer)
      buildType: AddressSanitizer
@@ -829,7 +829,6 @@ RECURSIVE              = YES
 # run.

 EXCLUDE                = @CMAKE_SOURCE_DIR@/src/modules/uavcan/libuavcan \
-                         @CMAKE_SOURCE_DIR@/src/modules/micrortps_bridge/micro-CDR \
                         @CMAKE_SOURCE_DIR@/src/examples \
                         @CMAKE_SOURCE_DIR@/src/templates

@@ -13,76 +13,6 @@ pipeline {
        }
      }
      parallel {
-        // stage('Catkin build on ROS workspace') {
-        //   agent {
-        //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2021-08-18'
-        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-        //     }
-        //   }
-        //   steps {
-        //     sh 'ls -l'
-        //     sh '''#!/bin/bash -l
-        //       echo $0;
-        //       mkdir -p catkin_ws/src;
-        //       cd catkin_ws;
-        //       git -C ${WORKSPACE}/catkin_ws/src/Firmware submodule update --init --recursive --force Tools/simulation/gazebo/sitl_gazebo
-        //       git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/simulation/gazebo/sitl_gazebo src/mavlink_sitl_gazebo;
-        //       git -C ${WORKSPACE}/catkin_ws/src/Firmware fetch --tags;
-        //       source /opt/ros/melodic/setup.bash;
-        //       export PYTHONPATH=/opt/ros/$ROS_DISTRO/lib/python2.7/dist-packages:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages;
-        //       catkin init;
-        //       catkin build -j$(nproc) -l$(nproc);
-        //     '''
-        //     // test if the binary was correctly installed and runs using 'mavros_posix_sitl.launch'
-        //     sh '''#!/bin/bash -l
-        //       echo $0;
-        //       source catkin_ws/devel/setup.bash;
-        //       rostest px4 pub_test.launch;
-        //     '''
-        //   }
-        //   post {
-        //     always {
-        //       sh 'rm -rf catkin_ws'
-        //     }
-        //     failure {
-        //       archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.xml, .ros/**/*.log')
-        //     }
-        //   }
-        //   options {
-        //     checkoutToSubdirectory('catkin_ws/src/Firmware')
-        //   }
-        // }
-
-        stage('Colcon build on ROS2 workspace') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros2-foxy:2021-08-18'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-            }
-          }
-          steps {
-            sh 'ls -l'
-            sh '''#!/bin/bash -l
-              echo $0;
-              unset ROS_DISTRO;
-              mkdir -p colcon_ws/src;
-              cd colcon_ws;
-              git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/simulation/gazebo/sitl_gazebo;
-              git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
-              source /opt/ros/foxy/setup.sh;
-              colcon build --event-handlers console_direct+ --symlink-install;
-            '''
-          }
-          post {
-            always {
-              sh 'rm -rf colcon_ws'
-            }
-          }
-          options {
-            checkoutToSubdirectory('colcon_ws/src/Firmware')
-          }
-        }

        stage('Airframe') {
          agent {
@@ -149,7 +79,7 @@ pipeline {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
-            sh 'mkdir -p build/msg_docs; ./msg/tools/generate_msg_docs.py -d build/msg_docs'
+            sh 'mkdir -p build/msg_docs; ./Tools/msg/generate_msg_docs.py -d build/msg_docs'
            dir('build') {
              archiveArtifacts(artifacts: 'msg_docs/*.md')
              stash includes: 'msg_docs/*.md', name: 'msg_documentation'
@@ -164,21 +94,22 @@ pipeline {

        stage('failsafe docs') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+            docker { image 'px4io/px4-dev-nuttx-focal:2021-08-18' }
          }
          steps {
            sh '''#!/bin/bash -l
-			echo $0;
+            echo $0;
            git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk;
            cd _emscripten_sdk;
            ./emsdk install latest;
            ./emsdk activate latest;
+            cd ..;
            . ./_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;
-			'''
+            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'
@@ -288,37 +219,6 @@ pipeline {
          }
        }

-        stage('microRTPS agent') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
-          }
-          steps {
-            sh('export')
-            sh('git fetch --all --tags')
-            sh('make distclean; git clean -ff -x -d .')
-            sh('make px4_sitl_rtps')
-            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/micrortps_agent.git -b ${BRANCH_NAME}")
-              sh("rm -rf micrortps_agent/src micrortps_agent/idl")
-              sh('cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent')
-              sh('cd micrortps_agent; git status; git add src; git commit -a -m "Update microRTPS agent source code `date`" || true')
-              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
-              sh('cd micrortps_agent; git status; git add idl; git commit -a -m "Update IDL definitions `date`" || true')
-              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
-              sh('cd micrortps_agent; git status; git add CMakeLists.txt; git commit -a -m "Update CMakeLists.txt `date`" || true')
-              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
-              sh('rm -rf micrortps_agent')
-            }
-          }
-          when {
-            anyOf {
-              branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
-              branch 'pr-jenkins' // for testing
-            }
-          }
-        }
-
        stage('PX4 ROS msgs') {
          agent {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
@@ -329,66 +229,16 @@ pipeline {
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
              // 'main' branch
-              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
+              sh('rm -f px4_msgs/msg/*.msg')
+              sh('cp msg/*.msg px4_msgs/msg/')
              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
              sh('cd px4_msgs; git push origin main || true')
-              // 'ros1' branch
-              sh('cd px4_msgs; git checkout ros1')
-              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
-              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
-              sh('cd px4_msgs; git push origin ros1 || true')
              sh('rm -rf px4_msgs')
            }
          }
          when {
            anyOf {
              branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
-              branch 'pr-jenkins' // for testing
-            }
-          }
-        }
-
-        stage('PX4 ROS2 bridge') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
-          }
-          steps {
-            sh('export')
-            sh('make distclean; git clean -ff -x -d .')
-            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
-              // deploy uORB RTPS ID map
-              sh('./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml')
-              sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
-              sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
-              // deploy uORB RTPS required tools
-              sh('cp msg/tools/uorb_rtps_classifier.py px4_ros_com/scripts/uorb_rtps_classifier.py')
-              sh('cp msg/tools/generate_microRTPS_bridge.py px4_ros_com/scripts/generate_microRTPS_bridge.py')
-              sh('cp msg/tools/px_generate_uorb_topic_files.py px4_ros_com/scripts/px_generate_uorb_topic_files.py')
-              sh('cp msg/tools/px_generate_uorb_topic_helper.py px4_ros_com/scripts/px_generate_uorb_topic_helper.py')
-              // deploy templates
-              sh('cp msg/templates/urtps/microRTPS_agent.cpp.em px4_ros_com/templates/microRTPS_agent.cpp.em')
-              sh('cp msg/templates/urtps/microRTPS_timesync.cpp.em px4_ros_com/templates/microRTPS_timesync.cpp.em')
-              sh('cp msg/templates/urtps/microRTPS_timesync.h.em px4_ros_com/templates/microRTPS_timesync.h.em')
-              sh('cp msg/templates/urtps/microRTPS_transport.cpp px4_ros_com/templates/microRTPS_transport.cpp')
-              sh('cp msg/templates/urtps/microRTPS_transport.h px4_ros_com/templates/microRTPS_transport.h')
-              sh('cp msg/templates/urtps/Publisher.cpp.em px4_ros_com/templates/Publisher.cpp.em')
-              sh('cp msg/templates/urtps/Publisher.h.em px4_ros_com/templates/Publisher.h.em')
-              sh('cp msg/templates/urtps/Subscriber.cpp.em px4_ros_com/templates/Subscriber.cpp.em')
-              sh('cp msg/templates/urtps/Subscriber.h.em px4_ros_com/templates/Subscriber.h.em')
-              sh('cp msg/templates/urtps/RtpsTopics.cpp.em px4_ros_com/templates/RtpsTopics.cpp.em')
-              sh('cp msg/templates/urtps/RtpsTopics.h.em px4_ros_com/templates/RtpsTopics.h.em')
-              sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS script tools `date`" || true')
-              sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
-              sh('rm -rf px4_msgs')
-            }
-          }
-          when {
-            anyOf {
-              branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
-              branch 'pr-jenkins' // for testing
            }
          }
        }
@@ -172,11 +172,6 @@ ifdef PYTHON_EXECUTABLE
 	override CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
 endif

-# Check if the microRTPS agent is to be built
-ifdef BUILD_MICRORTPS_AGENT
-  override CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
-endif
-
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
@@ -253,7 +248,7 @@ endef
 # Other targets
 # --------------------------------------------------------------------

-.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware check_rtps
+.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware

 # QGroundControl flashable NuttX firmware
 qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
@@ -278,15 +273,7 @@ misc_qgc_extra_firmware: \
 	check_airmind_mindpx-v2_default \
 	sizes

-# builds with RTPS
-check_rtps: \
-	check_px4_fmu-v3_rtps \
-	check_px4_fmu-v4_rtps \
-	check_px4_fmu-v4pro_rtps \
-	check_px4_sitl_rtps \
-	sizes
-
-.PHONY: sizes check quick_check check_rtps uorb_graphs
+.PHONY: sizes check quick_check uorb_graphs

 sizes:
 	@-find build -name *.elf -type f | xargs size 2> /dev/null || :
@@ -495,7 +482,9 @@ shellcheck_all:

 validate_module_configs:
 	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
-	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" -not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
+	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" \
+	-not -path "$(SRC_DIR)/src/modules/microdds_client/dds_topics.yaml" \
+	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
 	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml

 # Cleanup
@@ -561,21 +550,6 @@ check_px4: $(call make_list,nuttx,"px4") \
 check_nxp: $(call make_list,nuttx,"nxp") \
 	sizes

-ifneq ($(ROS2_WS_DIR),)
-  ROS2_WS_DIR := $(basename ${ROS2_WS_DIR})
-else
-  ROS2_WS_DIR := ~/colcon_ws
-endif
-
-update_ros2_bridge:
-	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --all
-
-update_px4_ros_com:
-	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_ros_com
-
-update_px4_msgs:
-	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_msgs
-
 .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
@@ -75,7 +75,7 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/con
    * [Paul Riseborough](https://github.com/priseborough)
  * Vision based navigation and Obstacle Avoidance
    * [Markus Achtelik](https://github.com/markusachtelik)
-  * RTPS/ROS2 Interface
+  * DDS/ROS2 Interface
    * [Nuno Marques](https://github.com/TSC21)

 See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github).
@@ -36,7 +36,6 @@ add_subdirectory(airframes)
 px4_add_romfs_files(
 	px4-rc.mavlink
 	px4-rc.params
-	px4-rc.rtps
 	px4-rc.simulator
 	rc.replay
 	rcS
@@ -14,7 +14,7 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 0
 param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_SC 0.3
+param set-default VT_FW_DIFTHR_S_Y 0.3
 param set-default MPC_MAN_Y_MAX 60
 param set-default MC_PITCH_P 5

@@ -70,7 +70,7 @@ param set-default MPC_XY_VEL_D_ACC 0.1
 param set-default NAV_ACC_RAD 5

 param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_SC 0.5
+param set-default VT_FW_DIFTHR_S_Y 0.5
 param set-default VT_F_TRANS_DUR 1.5
 param set-default VT_F_TRANS_THR 0.7
 param set-default VT_TYPE 0
@@ -1,4 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
@@ -259,11 +259,8 @@ fi

 navigator start

-# Try to start the micrortps_client with UDP transport if module exists
-if px4-micrortps_client status > /dev/null 2>&1
-then
-	. px4-rc.rtps
-fi
+# Try to start the microdds_client with UDP transport if module exists
+microdds_client start -t udp -p 8888

 if param greater -s MNT_MODE_IN -1
 then
@@ -22,7 +22,7 @@ param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0
 param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_SC 0.3
+param set-default VT_FW_DIFTHR_S_Y 0.3
 param set-default MPC_MAN_Y_MAX 60
 param set-default MC_PITCH_P 5

@@ -191,7 +191,10 @@ then
 	ist8308 -X -q start
 	ist8310 -X -q start
 	lis2mdl -X -q start
-	lis3mdl -X -q start
+	if ! lis3mdl -X -q start
+	then
+		lis3mdl -X -q -a 0x1c start
+	fi
 	qmc5883l -X -q start
 	rm3100 -X -q start

@@ -8,7 +8,6 @@ if [ $# -gt 0 ]; then
 fi

 exec find boards msg src platforms test \
-    -path msg/templates/urtps -prune -o \
    -path platforms/nuttx/NuttX -prune -o \
    -path platforms/qurt/dspal -prune -o \
    -path src/drivers/uavcan/libuavcan -prune -o \
@@ -21,8 +20,6 @@ exec find boards msg src platforms test \
    -path src/modules/ekf2/EKF -prune -o \
    -path src/modules/gyro_fft/CMSIS_5 -prune -o \
    -path src/modules/mavlink/mavlink -prune -o \
-    -path src/modules/micrortps_bridge/micro-CDR -prune -o \
-    -path src/modules/micrortps_bridge/microRTPS_client -prune -o \
    -path test/mavsdk_tests/catch2 -prune -o \
    -path src/lib/crypto/monocypher -prune -o \
    -path src/lib/crypto/libtomcrypt -prune -o \
@@ -1,15 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-SCRIPT_DIR=$0
-if [[ ${SCRIPT_DIR:0:1} != '/' ]]; then
-  SCRIPT_DIR=$(dirname $(realpath -s "$PWD/$0"))
-fi
-
-PX4_DIR=$(cd "$(dirname $(dirname $SCRIPT_DIR))" && pwd)
-
-if [ -d $PX4_DIR/build/*_rtps ]; then
-  cd $PX4_DIR/build/*_rtps/src/modules/micrortps_bridge/micrortps_agent/
-  cmake -Bbuild
-  cmake --build build -j$(nproc --all)
-fi
@@ -66,7 +66,7 @@ if __name__ == "__main__":
        with open(msg_filename, 'r') as source_file:
            msg_contents = source_file.read()

-        #Format markdown using msg name, comment, url, contents.  
+        #Format markdown using msg name, comment, url, contents.
        markdown_output="""# %s (UORB message)

 %s
@@ -90,7 +90,7 @@ if __name__ == "__main__":
    readme_text="""# uORB Message Reference

 :::note
-This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/msg/tools/generate_msg_docs.py) from the source code.
+This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
 :::

 This topic lists the UORB messages available in PX4 (some of which may be may be shared by the [PX4-ROS 2 Bridge](../ros/ros2_comm.md)).
@@ -0,0 +1,253 @@
+#!/usr/bin/env python3
+#############################################################################
+#
+#   Copyright (C) 2013-2022 PX4 Pro Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+#############################################################################
+
+"""
+px_generate_uorb_topic_files.py
+Generates c/cpp header/source files for uorb topics from .msg
+message files
+"""
+
+import os
+import argparse
+import re
+import sys
+
+try:
+    import em
+except ImportError as e:
+    print("Failed to import em: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user empy")
+    print("")
+    sys.exit(1)
+
+try:
+    import genmsg.template_tools
+except ImportError as e:
+    print("Failed to import genmsg: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user pyros-genmsg")
+    print("")
+    sys.exit(1)
+
+
+__author__ = "Sergey Belash, Thomas Gubler, Beat Kueng"
+__copyright__ = "Copyright (C) 2013-2022 PX4 Development Team."
+__license__ = "BSD"
+__email__ = "thomasgubler@gmail.com"
+
+
+TEMPLATE_FILE = ['msg.h.em', 'msg.cpp.em']
+TOPICS_LIST_TEMPLATE_FILE = ['uORBTopics.hpp.em', 'uORBTopics.cpp.em']
+OUTPUT_FILE_EXT = ['.h', '.cpp']
+INCL_DEFAULT = ['std_msgs:./msg/std_msgs']
+PACKAGE = 'px4'
+TOPICS_TOKEN = '# TOPICS '
+
+
+def get_topics(filename):
+    """
+    Get TOPICS names from a "# TOPICS" line
+    """
+    ofile = open(filename, 'r')
+    text = ofile.read()
+    result = []
+    for each_line in text.split('\n'):
+        if each_line.startswith(TOPICS_TOKEN):
+            topic_names_str = each_line.strip()
+            topic_names_str = topic_names_str.replace(TOPICS_TOKEN, "")
+            topic_names_list = topic_names_str.split(" ")
+            for topic in topic_names_list:
+                # topic name PascalCase (file name) to snake_case (topic name)
+                topic_name = re.sub(r'(?<!^)(?=[A-Z])', '_', topic).lower()
+                result.append(topic_name)
+    ofile.close()
+
+    if len(result) == 0:
+        # topic name PascalCase (file name) to snake_case (topic name)
+        file_base_name = os.path.basename(filename).replace(".msg", "")
+        topic_name = re.sub(r'(?<!^)(?=[A-Z])', '_', file_base_name).lower()
+        result.append(topic_name)
+
+    return result
+
+
+def generate_output_from_file(format_idx, filename, outputdir, package, templatedir, includepath):
+    """
+    Converts a single .msg file to an uorb header/source file
+    """
+    msg_context = genmsg.msg_loader.MsgContext.create_default()
+    full_type_name = genmsg.gentools.compute_full_type_name(package, os.path.basename(filename))
+
+    file_base_name = os.path.basename(filename).replace(".msg", "")
+
+    full_type_name_snake = re.sub(r'(?<!^)(?=[A-Z])', '_', file_base_name).lower()
+
+    spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename, full_type_name)
+
+    field_name_and_type = {}
+    for field in spec.parsed_fields():
+        field_name_and_type.update({field.name: field.type})
+
+    # assert if the timestamp field exists
+    try:
+        assert 'timestamp' in field_name_and_type
+    except AssertionError:
+        print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\tNo 'timestamp' field found in " +
+              spec.short_name + " msg definition!")
+        exit(1)
+
+    # assert if the timestamp field is of type uint64
+    try:
+        assert field_name_and_type.get('timestamp') == 'uint64'
+    except AssertionError:
+        print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\t'timestamp' field in " + spec.short_name +
+              " msg definition is not of type uint64 but rather of type " + field_name_and_type.get('timestamp') + "!")
+        exit(1)
+
+    topics = get_topics(filename)
+
+    if includepath:
+        search_path = genmsg.command_line.includepath_to_dict(includepath)
+    else:
+        search_path = {}
+
+    genmsg.msg_loader.load_depends(msg_context, spec, search_path)
+
+    em_globals = {
+        "name_snake_case": full_type_name_snake,
+        "file_name_in": filename,
+        "search_path": search_path,
+        "msg_context": msg_context,
+        "spec": spec,
+        "topics": topics,
+    }
+
+    # Make sure output directory exists:
+    if not os.path.isdir(outputdir):
+        os.makedirs(outputdir)
+
+    template_file = os.path.join(templatedir, TEMPLATE_FILE[format_idx])
+    output_file = os.path.join(outputdir, full_type_name_snake + OUTPUT_FILE_EXT[format_idx])
+
+    return generate_by_template(output_file, template_file, em_globals)
+
+
+def generate_by_template(output_file, template_file, em_globals):
+    """
+    Invokes empy intepreter to geneate output_file by the
+    given template_file and predefined em_globals dict
+    """
+    # check if folder exists:
+    folder_name = os.path.dirname(output_file)
+    if not os.path.exists(folder_name):
+        os.makedirs(folder_name)
+
+    ofile = open(output_file, 'w')
+    # todo, reuse interpreter
+    interpreter = em.Interpreter(output=ofile, globals=em_globals, options={
+                                 em.RAW_OPT: True, em.BUFFERED_OPT: True})
+    try:
+        interpreter.file(open(template_file))
+    except OSError as e:
+        ofile.close()
+        os.remove(output_file)
+        raise
+    interpreter.shutdown()
+    ofile.close()
+    return True
+
+
+def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir):
+    # generate cpp file with topics list
+    filenames = []
+    for filename in [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]:
+        filenames.append(re.sub(r'(?<!^)(?=[A-Z])', '_', filename).lower())
+
+    topics = []
+    for msg_filename in files:
+        topics.extend(get_topics(msg_filename))
+
+    tl_globals = {"msgs": filenames, "topics": topics}
+    tl_template_file = os.path.join(templatedir, template_filename)
+    tl_out_file = os.path.join(outputdir, template_filename.replace(".em", ""))
+
+    generate_by_template(tl_out_file, tl_template_file, tl_globals)
+
+
+def append_to_include_path(path_to_append, curr_include, package):
+    for p in path_to_append:
+        curr_include.append('%s:%s' % (package, p))
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description='Convert msg files to uorb headers/sources')
+    parser.add_argument('--headers', help='Generate header files', action='store_true')
+    parser.add_argument('--sources', help='Generate source files', action='store_true')
+    parser.add_argument('-f', dest='file',
+                        help="files to convert (use only without -d)",
+                        nargs="+")
+    parser.add_argument('-i', dest="include_paths",
+                        help='Additional Include Paths', nargs="*",
+                        default=None)
+    parser.add_argument('-e', dest='templatedir',
+                        help='directory with template files',)
+    parser.add_argument('-k', dest='package', default=PACKAGE,
+                        help='package name')
+    parser.add_argument('-o', dest='outputdir',
+                        help='output directory for header files')
+    parser.add_argument('-p', dest='prefix', default='',
+                        help='string added as prefix to the output file '
+                        ' name when converting directories')
+    args = parser.parse_args()
+
+    if args.include_paths:
+        append_to_include_path(args.include_paths, INCL_DEFAULT, args.package)
+
+    if args.headers:
+        generate_idx = 0
+    elif args.sources:
+        generate_idx = 1
+    else:
+        print('Error: either --headers or --sources must be specified')
+        exit(-1)
+    if args.file is not None:
+        for f in args.file:
+            generate_output_from_file(generate_idx, f, args.outputdir, args.package, args.templatedir, INCL_DEFAULT)
+
+        # Generate topics list header and source file
+        if os.path.isfile(os.path.join(args.templatedir, TOPICS_LIST_TEMPLATE_FILE[generate_idx])):
+            generate_topics_list_file_from_files(args.file, args.outputdir, TOPICS_LIST_TEMPLATE_FILE[generate_idx], args.templatedir)
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 #############################################################################
 #
-#   Copyright (C) 2013-2021 PX4 Pro Development Team. All rights reserved.
+#   Copyright (C) 2013-2022 PX4 Pro Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -41,6 +41,7 @@ precompiled and thus message generation will be much faster

 import os
 import errno
+import re

 import genmsg.msgs

@@ -236,8 +237,12 @@ def convert_type(spec_type, use_short_type=False):
        c_type = type_map_short[msg_type]
    elif msg_type in type_map:
        c_type = type_map[msg_type]
+    else:
+        c_type = re.sub(r'(?<!^)(?=[A-Z])', '_', c_type).lower() # PascalCase to snake_case
+
    if is_array:
        return c_type + "[" + str(array_length) + "]"
+
    return c_type


@@ -257,6 +262,7 @@ def print_field_def(field):
    type_prefix = ''
    if (sl_pos >= 0):
        type_name = type_name[sl_pos + 1:]
+        type_name = re.sub(r'(?<!^)(?=[A-Z])', '_', type_name).lower() # PascalCase to snake_case
        type_prefix = 'struct '
        type_appendix = '_s'

@@ -6,15 +6,51 @@
@# generates CDR serialization & deserialization methods
@#
@# Context:
+@#  - file_name_in (String) Source file
@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
-@#  - search_path (str) Path to .msg files
+@#  - search_path (dict) search paths for genmsg
+@#  - topics (List of String) topic names
@###############################################
+/****************************************************************************
+ *
+ *   Copyright (C) 2013-2022 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
@{
 import genmsg.msgs
+import re
 from px_generate_uorb_topic_helper import * # this is in Tools/

-topic = spec.short_name
-uorb_struct = '%s_s'%spec.short_name
+topic = name_snake_case
+uorb_struct = '%s_s'%name_snake_case

 # get fields, struct size and paddings
 def add_fields(msg_fields, name_prefix='', offset=0):
@@ -79,7 +115,8 @@ for field in spec.parsed_fields():
        if not field.is_header:
            (package, name) = genmsg.names.package_resource_name(field.base_type)
            package = package or spec.package # convert '' to package
-            print('#include <uORB/ucdr/%s.h>'%(name))
+            name_snake = re.sub(r'(?<!^)(?=[A-Z])', '_', name).lower()
+            print('#include <uORB/ucdr/%s.h>'%(name_snake))
 }@

 static inline constexpr int ucdr_topic_size_@(topic)()
@@ -87,11 +124,8 @@ static inline constexpr int ucdr_topic_size_@(topic)()
 	return @(struct_size);
 }

-bool ucdr_serialize_@(topic)(const @(uorb_struct)& topic, ucdrBuffer& buf)
+bool ucdr_serialize_@(topic)(const @(uorb_struct)& topic, ucdrBuffer& buf, int64_t time_offset = 0)
 {
-	if (ucdr_buffer_remaining(&buf) < @(struct_size)) {
-		return false;
-	}
@{
 for field_type, field_name, field_size, padding in fields:
 	if padding > 0:
@@ -99,7 +133,18 @@ for field_type, field_name, field_size, padding in fields:
 		print('\tbuf.offset += {:}; // padding'.format(padding))

 	print('\tstatic_assert(sizeof(topic.{0}) == {1}, "size mismatch");'.format(field_name, field_size))
-	print('\tmemcpy(buf.iterator, &topic.{0}, sizeof(topic.{0}));'.format(field_name))
+
+	if field_type == 'uint64' and field_name == 'timestamp':
+		print('\tconst uint64_t timestamp_adjusted = topic.timestamp + time_offset;')
+		print('\tmemcpy(buf.iterator, &timestamp_adjusted, sizeof(topic.{0}));'.format(field_name))
+
+	elif field_type == 'uint64' and field_name == 'timestamp_sample':
+		print('\tconst uint64_t timestamp_sample_adjusted = topic.timestamp_sample + time_offset;')
+		print('\tmemcpy(buf.iterator, &timestamp_sample_adjusted, sizeof(topic.{0}));'.format(field_name))
+
+	else:
+		print('\tmemcpy(buf.iterator, &topic.{0}, sizeof(topic.{0}));'.format(field_name))
+
 	print('\tbuf.iterator += sizeof(topic.{:});'.format(field_name))
 	print('\tbuf.offset += sizeof(topic.{:});'.format(field_name))

@@ -107,11 +152,8 @@ for field_type, field_name, field_size, padding in fields:
 	return true;
 }

-bool ucdr_deserialize_@(topic)(ucdrBuffer& buf, @(uorb_struct)& topic)
+bool ucdr_deserialize_@(topic)(ucdrBuffer& buf, @(uorb_struct)& topic, int64_t time_offset = 0)
 {
-	if (ucdr_buffer_remaining(&buf) < @(struct_size)) {
-		return false;
-	}
@{
 for field_type, field_name, field_size, padding in fields:
 	if padding > 0:
@@ -120,6 +162,10 @@ for field_type, field_name, field_size, padding in fields:

 	print('\tstatic_assert(sizeof(topic.{0}) == {1}, "size mismatch");'.format(field_name, field_size))
 	print('\tmemcpy(&topic.{0}, buf.iterator, sizeof(topic.{0}));'.format(field_name))
+
+	if field_type == 'uint64' and (field_name == 'timestamp' or field_name == 'timestamp_sample'):
+		print('\ttopic.{0} -= time_offset;'.format(field_name))
+
 	print('\tbuf.iterator += sizeof(topic.{:});'.format(field_name))
 	print('\tbuf.offset += sizeof(topic.{:});'.format(field_name))

@@ -13,12 +13,11 @@
@#  - file_name_in (String) Source file
@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
@#  - search_path (dict) search paths for genmsg
-@#  - topics (List of String) multi-topic names
-@#  - constrained_flash set to true if flash is constrained
+@#  - topics (List of String) topic names
@###############################################
 /****************************************************************************
 *
- *   Copyright (C) 2013-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2013-2022 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
@@ -56,8 +55,7 @@ import genmsg.msgs

 from px_generate_uorb_topic_helper import * # this is in Tools/

-uorb_struct = '%s_s'%spec.short_name
-topic_name = spec.short_name
+uorb_struct = '%s_s'%name_snake_case

 sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
 struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
@@ -67,7 +65,7 @@ topic_fields = ["%s %s" % (convert_type(field.type, True), field.name) for field
 #include <inttypes.h>
 #include <px4_platform_common/log.h>
 #include <px4_platform_common/defines.h>
-#include <uORB/topics/@(topic_name).h>
+#include <uORB/topics/@(name_snake_case).h>
 #include <uORB/topics/uORBTopics.hpp>
 #include <drivers/drv_hrt.h>
 #include <lib/drivers/device/Device.hpp>
@@ -76,10 +74,10 @@ topic_fields = ["%s %s" % (convert_type(field.type, True), field.name) for field

@# join all msg files in one line e.g: "float[3] position;float[3] velocity;bool armed"
@# This is used for the logger
-constexpr char __orb_@(topic_name)_fields[] = "@( ";".join(topic_fields) );";
+constexpr char __orb_@(name_snake_case)_fields[] = "@( ";".join(topic_fields) );";

-@[for multi_topic in topics]@
-ORB_DEFINE(@multi_topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(topic_name)_fields, static_cast<uint8_t>(ORB_ID::@multi_topic));
+@[for topic in topics]@
+ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(name_snake_case)_fields, static_cast<uint8_t>(ORB_ID::@topic));
@[end for]

 void print_message(const orb_metadata *meta, const @uorb_struct& message)
@@ -13,11 +13,11 @@
@#  - file_name_in (String) Source file
@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
@#  - search_path (dict) search paths for genmsg
-@#  - topics (List of String) multi-topic names
+@#  - topics (List of String) topic names
@###############################################
 /****************************************************************************
 *
- *   Copyright (C) 2013-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2013-2022 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
@@ -52,12 +52,12 @@

@{
 import genmsg.msgs
+import re

 from px_generate_uorb_topic_helper import * # this is in Tools/

-uorb_struct = '%s_s'%spec.short_name
-uorb_struct_upper = spec.short_name.upper()
-topic_name = spec.short_name
+uorb_struct = '%s_s'%name_snake_case
+uorb_struct_upper = name_snake_case.upper()
 }@

 #pragma once
@@ -77,6 +77,8 @@ for field in spec.parsed_fields():
        if (not field.is_header):
            (package, name) = genmsg.names.package_resource_name(field.base_type)
            package = package or spec.package # convert '' to package
+
+            name = re.sub(r'(?<!^)(?=[A-Z])', '_', name).lower()
            print('#include <uORB/topics/%s.h>'%(name))
 }@

@@ -127,9 +129,17 @@ for constant in spec.constants:
 #endif
 };

+#ifdef __cplusplus
+namespace px4 {
+	namespace msg {
+		using @(spec.short_name) = @(uorb_struct);
+	} // namespace msg
+} // namespace px4
+#endif
+
 /* register this as object request broker structure */
-@[for multi_topic in topics]@
-ORB_DECLARE(@multi_topic);
+@[for topic in topics]@
+ORB_DECLARE(@topic);
@[end for]

 #ifdef __cplusplus
@@ -8,11 +8,11 @@
@#
@# Context:
@#  - msgs (List) list of all msg files
-@#  - topics (List) list of all topic names
+@#  - multi_topics (List) list of all multi-topic names
@###############################################
 /****************************************************************************
 *
- *   Copyright (C) 2013-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2013-2022 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
@@ -46,19 +46,22 @@
 #include <uORB/topics/uORBTopics.hpp>
 #include <uORB/uORB.h>
@{
-msg_names = [mn.replace(".msg", "") for mn in msgs]
+msg_names = list(set([mn.replace(".msg", "") for mn in msgs])) # set() filters duplicates
+msg_names.sort()
 msgs_count = len(msg_names)
-topics_all = topics
-topics_all.sort()
-topics_count_all = len(topics_all)
+
+topic_names = list(set(topics)) # set() filters duplicates
+topic_names.sort()
+topics_count = len(topics)
+
 }@
@[for msg_name in msg_names]@
 #include <uORB/topics/@(msg_name).h>
@[end for]

 const constexpr struct orb_metadata *const uorb_topics_list[ORB_TOPICS_COUNT] = {
-@[for idx, topic_name in enumerate(topics_all, 1)]@
-	ORB_ID(@(topic_name))@[if idx != topics_count_all], @[end if]
+@[for idx, topic_name in enumerate(topic_names, 1)]@
+	ORB_ID(@(topic_name))@[if idx != topic_names], @[end if]
@[end for]
 };

@@ -7,12 +7,11 @@
@# Start of Template
@#
@# Context:
-@#  - msgs (List) list of all msg files
@#  - topics (List) list of all topic names
@###############################################
 /****************************************************************************
 *
- *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2021-2022 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
@@ -44,11 +43,9 @@
 ****************************************************************************/

@{
-msg_names = [mn.replace(".msg", "") for mn in msgs]
-msgs_count = len(msg_names)
-topics_all = topics
-topics_all.sort()
-topics_count_all = len(topics_all)
+topics_count = len(topics)
+topic_names_all = list(set(topics)) # set() filters duplicates
+topic_names_all.sort()
 }@

 #pragma once
@@ -57,7 +54,7 @@ topics_count_all = len(topics_all)

 #include <uORB/uORB.h>

-static constexpr size_t ORB_TOPICS_COUNT{@(topics_count_all)};
+static constexpr size_t ORB_TOPICS_COUNT{@(topics_count)};
 static constexpr size_t orb_topics_count() { return ORB_TOPICS_COUNT; }

 /*
@@ -66,8 +63,8 @@ static constexpr size_t orb_topics_count() { return ORB_TOPICS_COUNT; }
 extern const struct orb_metadata *const *orb_get_topics() __EXPORT;

 enum class ORB_ID : uint8_t {
-@[for idx, msg_name in enumerate(topics_all)]@
-	@(msg_name) = @(idx),
+@[for idx, topic_name in enumerate(topic_names_all)]@
+	@(topic_name) = @(idx),
@[end for]
 	INVALID
 };
@@ -582,7 +582,35 @@ class uploader(object):
        self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)

    # upload the firmware
-    def upload(self, fw, force=False, boot_delay=None):
+    def upload(self, fw_list, force=False, boot_delay=None, boot_check=False):
+        # select correct binary
+        found_suitable_firmware = False
+        for file in fw_list:
+            fw = firmware(file)
+            if self.board_type == fw.property('board_id'):
+                if len(fw_list) > 1: print("using firmware binary {}".format(file))
+                found_suitable_firmware = True
+                break
+
+        if not found_suitable_firmware:
+            msg = "Firmware not suitable for this board (Firmware board_type=%u board_id=%u)" % (
+                self.board_type, fw.property('board_id'))
+            print("WARNING: %s" % msg)
+            if force:
+                if len(fw_list) > 1:
+                    raise FirmwareNotSuitableException("force flashing failed, more than one file provided, none suitable")
+                print("FORCED WRITE, FLASHING ANYWAY!")
+            else:
+                raise FirmwareNotSuitableException(msg)
+
+        percent = fw.property('image_size') / fw.property('image_maxsize')
+        binary_size = float(fw.property('image_size'))
+        binary_max_size = float(fw.property('image_maxsize'))
+        percent = (binary_size / binary_max_size) * 100
+
+        print("Loaded firmware for board id: %s,%s size: %d bytes (%.2f%%) " % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'), percent))
+        print()
+
        # Make sure we are doing the right thing
        start = _time()
        if self.board_type != fw.property('board_id'):
@@ -764,7 +792,7 @@ def main():
    parser.add_argument('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading')
    parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
    parser.add_argument('--use-protocol-splitter-format', action='store_true', help='use protocol splitter format for reboot')
-    parser.add_argument('firmware', action="store", help="Firmware file to be uploaded")
+    parser.add_argument('firmware', action="store", nargs='+', help="Firmware file(s)")
    args = parser.parse_args()

    if args.use_protocol_splitter_format:
@@ -776,17 +804,7 @@ def main():
        print("WARNING: You should uninstall ModemManager as it conflicts with any non-modem serial device (like Pixhawk)")
        print("==========================================================================================================")

-    # Load the firmware file
-    fw = firmware(args.firmware)
-
-    percent = fw.property('image_size') / fw.property('image_maxsize')
-    binary_size = float(fw.property('image_size'))
-    binary_max_size = float(fw.property('image_maxsize'))
-    percent = (binary_size / binary_max_size) * 100
-
-    print("Loaded firmware for board id: %s,%s size: %d bytes (%.2f%%), waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'), percent))
-    print()
-
+    print("Waiting for bootloader...")
    # tell any GCS that might be connected to the autopilot to give up
    # control of the serial port

@@ -889,7 +907,7 @@ def main():

                try:
                    # ok, we have a bootloader, try flashing it
-                    up.upload(fw, force=args.force, boot_delay=args.boot_delay)
+                    up.upload(args.firmware, force=args.force, boot_delay=args.boot_delay)

                    # if we made this far without raising exceptions, the upload was successful
                    successful = True
@@ -9,8 +9,6 @@
 ## - jMAVSim simulator (omit with arg: --no-sim-tools)
 ## - Gazebo simulator (not by default, use --gazebo)
 ##
-## Not Installs:
-## - FastRTPS and FastCDR

 INSTALL_NUTTX="true"
 INSTALL_SIM="true"
@@ -122,7 +120,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	echo
 	echo "Installing PX4 simulation dependencies"

-	# java (jmavsim or fastrtps)
+	# java (jmavsim)
 	sudo pacman -S --noconfirm --needed \
 		ant \
 		jdk-openjdk \
@@ -10,8 +10,6 @@ set -e
 ## - NuttX toolchain (omit with arg: --no-nuttx)
 ## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools)
 ##
-## Not Installs:
-## - FastRTPS and FastCDR

 INSTALL_NUTTX="true"
 INSTALL_SIM="true"
@@ -216,7 +214,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	else
 		java_version=14
 	fi
-	# Java (jmavsim or fastrtps)
+	# Java (jmavsim)
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		ant \
 		openjdk-$java_version-jre \
@@ -1,135 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-agent_template_files_updated=0
-code_generator_files_updated=0
-
-# parse help argument
-if [[ $1 == "-h" ]] || [[ $1 == "--help" ]]; then
-  echo -e "Usage: update_px4_ros2_bridge.bash [options...] \t This script allows to update px4_ros_com and px4_msgs in a specified directory." >&2
-  echo
-  echo -e "\t--ws_dir \t\t Location of the ament/colcon workspace. Default: $HOME/colcon_ws."
-  echo -e "\t--px4_ros_com \t\t Updates px4_ros_com microRTPS agent code generation and templates."
-  echo -e "\t--px4_msgs \t\t Updates px4_msgs messages definition files."
-  echo -e "\t--all \t\t Updates both px4_ros_com and px4_msgs."
-  echo
-  exit 0
-fi
-
-# parse the arguments
-while [ $# -gt 0 ]; do
-  if [[ $1 == *"--"* ]]; then
-    v="${1/--/}"
-    if [ ! -z $2 ]; then
-      declare $v="$2"
-    else
-      declare $v=1
-    fi
-  fi
-  shift
-done
-
-# get script directory
-SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
-
-# get PX4-Autopilot directory
-PX4_DIR=$(cd "$(dirname "$SCRIPT_DIR")" && pwd)
-
-function compare_and_update () {
-  cmp -s "$1" "$2"
-  if [ $? -eq 1 ]; then
-    cp "$1" "$2"
-    return 0
-  fi
-
-  return 1;
-}
-
-# update microRTPS agent code generators / helpers
-function update_agent_code {
-  declare -a templates=( \
-    "microRTPS_agent.cpp.em" \
-    "microRTPS_timesync.cpp.em" \
-    "microRTPS_timesync.h.em" \
-    "microRTPS_transport.cpp" \
-    "microRTPS_transport.h" \
-    "Publisher.cpp.em" \
-    "Publisher.h.em" \
-    "Subscriber.cpp.em" \
-    "Subscriber.h.em" \
-    "RtpsTopics.cpp.em" \
-    "RtpsTopics.h.em" \
-    )
-
-  for file in ${templates[@]}; do
-    compare_and_update "$PX4_DIR/msg/templates/urtps/$file" "$ws_dir/src/px4_ros_com/templates/$file" \
-      && echo -e "--\t\t- '$ws_dir/src/px4_ros_com/templates/$file' updated" && ((agent_template_files_updated+=1))
-  done
-  if [ $agent_template_files_updated -eq 0 ]; then
-    echo -e "--\t\t- No template files updated"
-  elif [ $agent_template_files_updated -eq 1 ]; then
-    echo -e "--\t\t  - 1 template file updated"
-  else
-    echo -e "--\t\t  - $agent_template_files_updated template files updated"
-  fi
-}
-
-# update microRTPS agent code templates
-function update_agent_templates {
-  declare -a code_generators=( \
-    "uorb_rtps_classifier.py" \
-    "generate_microRTPS_bridge.py" \
-    "px_generate_uorb_topic_files.py" \
-    )
-  for file in ${code_generators[@]}; do
-    compare_and_update "$PX4_DIR/msg/tools/$file $ws_dir/src/px4_ros_com/scripts/$file" \
-      && echo -e "--\t\t- '$ws_dir/src/px4_ros_com/scripts/$file' updated" && ((code_generator_files_updated+=1))
-  done
-  if [ $code_generator_files_updated -eq 0 ]; then
-    echo -e "--\t\t- No code generators / helpers files updated"
-  elif [ $code_generator_files_updated -eq 1 ]; then
-    echo -e "--\t\t  - 1 code generator / helper file updated"
-  else
-    echo -e "--\t\t  - $code_generator_files_updated code generator / helper files updated"
-  fi
-}
-
-# update px4_ros_com files
-function update_px4_ros_com {
-  python3 $PX4_DIR/msg/tools/uorb_to_ros_urtps_topics.py -i $PX4_DIR/msg/tools/urtps_bridge_topics.yaml -o $ws_dir/src/px4_ros_com/templates/urtps_bridge_topics.yaml
-  echo -e "---------------          \033[1mmicroRTPS agent code generation and templates update\033[0m          ----------------"
-  echo "-------------------------------------------------------------------------------------------------------"
-  update_agent_code
-  update_agent_templates
-  return 0
-}
-
-# function to update px4_msgs
-function update_px4_msgs {
-  find "$ws_dir/src/px4_msgs/msg/" -maxdepth 1 -type f -delete
-  python3 $PX4_DIR/msg/tools/uorb_to_ros_msgs.py $PX4_DIR/msg/ $ws_dir/src/px4_msgs/msg/
-}
-
-# decisor
-echo "-------------------------------------------------------------------------------------------------------"
-if [ -d "${ws_dir}" ]; then
-  ws_dir=$(cd "$ws_dir" && pwd)
-  if [ ! -z ${all} ]; then
-    update_px4_ros_com
-    echo "-------------------------------------------------------------------------------------------------------"
-    update_px4_msgs
-  elif [ ! -z ${px4_ros_com} ]; then
-    update_px4_ros_com
-    echo "-------------------------------------------------------------------------------------------------------"
-  elif [ ! -z ${px4_msgs} ]; then
-    update_px4_msgs
-  fi
-  echo -e "--------------------------------          \033[0;32mUpdate successful!\033[0m          ---------------------------------"
-  echo "-------------------------------------------------------------------------------------------------------"
-  exit 0
-else
-  echo -e "-- \033[0;31mWorkspace directory doesn't exist...\033[0m"
-  echo -e "----------------------------------          \033[0;31mUpdate failed!\033[0m          -----------------------------------"
-  echo "-------------------------------------------------------------------------------------------------------"
-  exit $ERRCODE
-fi
@@ -48,6 +48,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -34,7 +34,6 @@ CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_TRANSPONDER_SAGETECH_MXS=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -53,7 +52,6 @@ CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
@@ -63,6 +61,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -15,7 +15,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
-CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
@@ -50,6 +50,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -29,6 +29,7 @@ CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
@@ -56,6 +56,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -53,6 +53,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
@@ -52,6 +52,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
@@ -53,6 +53,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
@@ -66,6 +66,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -1 +0,0 @@
-CONFIG_MODULES_MICRORTPS_BRIDGE=y
@@ -36,7 +36,6 @@ CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
@@ -54,7 +53,6 @@ CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
@@ -64,6 +62,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -2,3 +2,4 @@ CONFIG_PLATFORM_POSIX=y
 CONFIG_BOARD_LINUX=y
 CONFIG_BOARD_TOOLCHAIN="aarch64-linux-gnu"
 CONFIG_MODULES_MUORB_APPS=y
+CONFIG_SYSTEMCMDS_PERF=y
@@ -62,6 +62,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -62,6 +62,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -1 +0,0 @@
-CONFIG_MODULES_MICRORTPS_BRIDGE=y
@@ -63,6 +63,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -1 +0,0 @@
-CONFIG_MODULES_MICRORTPS_BRIDGE=y
@@ -62,6 +62,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -1 +0,0 @@
-CONFIG_MODULES_MICRORTPS_BRIDGE=y
@@ -41,6 +41,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -49,6 +50,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -64,7 +66,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -75,7 +77,6 @@ CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -1 +0,0 @@
-CONFIG_MODULES_MICRORTPS_BRIDGE=y
@@ -68,6 +68,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -1 +0,0 @@
-CONFIG_MODULES_MICRORTPS_BRIDGE=y
@@ -45,6 +45,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
@@ -99,14 +99,14 @@ __BEGIN_DECLS

 /* Timer I/O PWM and capture
 *
- * ?? PWM outputs are configured.
+ * 2 PWM outputs are configured.
 * ?? Timer inputs are configured.
 *
 * Pins:
 *      Defined in board.h
 */

-#define DIRECT_PWM_OUTPUT_CHANNELS  1
+#define DIRECT_PWM_OUTPUT_CHANNELS  2


 #define BOARD_HAS_LED_PWM              1
@@ -105,11 +105,13 @@
 #define rPWMLOAD(t)    REG(t,S32K1XX_FTM_PWMLOAD_OFFSET)

 constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::FTM1),
 	initIOTimer(Timer::FTM2),
 };

 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::FTM2, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
+	initIOTimerChannel(io_timers, {Timer::FTM1, Timer::Channel1}, {GPIO::PortA, GPIO::Pin1}),
 };

 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
@@ -154,17 +156,26 @@ void ucans32k_timer_initialize(void)
 	regval |= FTM_SC_CLKS_FTM;
 	_REG(S32K1XX_FTM0_SC) = regval;

+	regval = _REG(S32K1XX_FTM1_SC);
+	regval &= ~(FTM_SC_CLKS_MASK);
+	regval |= FTM_SC_CLKS_FTM;
+	_REG(S32K1XX_FTM1_SC) = regval;
+
 	regval = _REG(S32K1XX_FTM2_SC);
 	regval &= ~(FTM_SC_CLKS_MASK);
 	regval |= FTM_SC_CLKS_FTM;
 	_REG(S32K1XX_FTM2_SC) = regval;

-	/* Enabled System Clock Gating Control for FTM0, and FTM2 */
+	/* Enabled System Clock Gating Control for FTM0, FTM1 and FTM2 */

 	regval = _REG(S32K1XX_PCC_FTM0);
 	regval |= PCC_CGC;
 	_REG(S32K1XX_PCC_FTM0) = regval;

+	regval = _REG(S32K1XX_PCC_FTM1);
+	regval |= PCC_CGC;
+	_REG(S32K1XX_PCC_FTM1) = regval;
+
 	regval = _REG(S32K1XX_PCC_FTM2);
 	regval |= PCC_CGC;
 	_REG(S32K1XX_PCC_FTM2) = regval;
@@ -29,6 +29,7 @@ CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
@@ -1 +0,0 @@
-CONFIG_MODULES_MICRORTPS_BRIDGE=y
@@ -1,5 +1,7 @@
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_BOARD_CRYPTO=y
-CONFIG_DRIVERS_SW_CRYPTO=y
 CONFIG_DRIVERS_STUB_KEYSTORE=y
+CONFIG_DRIVERS_SW_CRYPTO=y
 CONFIG_PUBLIC_KEY0="../../../Tools/test_keys/key0.pub"
 CONFIG_PUBLIC_KEY1="../../../Tools/test_keys/rsa2048.pub"
@@ -73,6 +73,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -4,9 +4,13 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
 CONFIG_COMMON_DISTANCE_SENSOR=n
 CONFIG_COMMON_OPTICAL_FLOW=n
 CONFIG_COMMON_TELEMETRY=n
-CONFIG_DRIVERS_OSD=n
+CONFIG_DRIVERS_CAMERA_CAPTURE=n
+CONFIG_DRIVERS_CAMERA_TRIGGER=n
+CONFIG_DRIVERS_IRLOCK=n
+CONFIG_DRIVERS_PCA9685=n
+CONFIG_DRIVERS_PCA9685_PWM_OUT=n
+CONFIG_DRIVERS_PWM_INPUT=n
 CONFIG_DRIVERS_ROBOCLAW=n
-CONFIG_DRIVERS_RPM=n
 CONFIG_DRIVERS_UAVCAN=n
 CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
@@ -17,8 +21,8 @@ CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_POS_CONTROL_L1=n
 CONFIG_MODULES_GYRO_FFT=n
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
-CONFIG_MODULES_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_MODULES_UUV_ATT_CONTROL=n
 CONFIG_MODULES_UUV_POS_CONTROL=n
@@ -30,7 +34,6 @@ CONFIG_SYSTEMCMDS_DUMPFILE=n
 CONFIG_SYSTEMCMDS_GPIO=n
 CONFIG_SYSTEMCMDS_I2CDETECT=n
 CONFIG_SYSTEMCMDS_LED_CONTROL=n
-CONFIG_SYSTEMCMDS_MOTOR_TEST=n
 CONFIG_SYSTEMCMDS_MTD=n
 CONFIG_SYSTEMCMDS_NSHTERM=n
 CONFIG_SYSTEMCMDS_REFLECT=n
@@ -1,3 +0,0 @@
-CONFIG_DRIVERS_HEATER=n
-CONFIG_DRIVERS_OSD=n
-CONFIG_MODULES_MICRORTPS_BRIDGE=y
@@ -1,43 +1,43 @@
 # CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
+CONFIG_COMMON_BAROMETERS=n
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
+CONFIG_COMMON_DISTANCE_SENSOR=n
 CONFIG_COMMON_HYGROMETERS=n
 CONFIG_COMMON_TELEMETRY=n
+CONFIG_DRIVERS_ADC_ADS1115=n
 CONFIG_DRIVERS_BATT_SMBUS=n
 CONFIG_DRIVERS_CAMERA_CAPTURE=n
 CONFIG_DRIVERS_CAMERA_TRIGGER=n
-CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
-CONFIG_COMMON_DISTANCE_SENSOR=n
 CONFIG_DRIVERS_HEATER=n
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=n
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=n
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=n
 CONFIG_DRIVERS_IRLOCK=n
-CONFIG_DRIVERS_OSD=n
 CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_POWER_MONITOR_INA226=n
 CONFIG_DRIVERS_PWM_INPUT=n
-CONFIG_DRIVERS_PWM_OUT_SIM=n
 CONFIG_DRIVERS_ROBOCLAW=n
-CONFIG_DRIVERS_RPM=n
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
 CONFIG_DRIVERS_UAVCAN=n
 CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_CAMERA_FEEDBACK=n
 CONFIG_MODULES_ESC_BATTERY=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_GIMBAL=n
 CONFIG_MODULES_GYRO_CALIBRATION=n
 CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
-CONFIG_MODULES_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_MODULES_UUV_ATT_CONTROL=n
 CONFIG_MODULES_UUV_POS_CONTROL=n
-CONFIG_SYSTEMCMDS_MOTOR_TEST=n
 CONFIG_SYSTEMCMDS_REFLECT=n
 CONFIG_SYSTEMCMDS_SERIAL_TEST=n
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_TESTING=y
+CONFIG_DRIVERS_BAROMETER_MS5611=y
@@ -4,8 +4,8 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
 CONFIG_COMMON_HYGROMETERS=n
 CONFIG_COMMON_TELEMETRY=n
 CONFIG_DRIVERS_ADC_ADS1115=n
-CONFIG_DRIVERS_HEATER=n
 CONFIG_DRIVERS_GPS=n
+CONFIG_DRIVERS_HEATER=n
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=n
 CONFIG_DRIVERS_IRLOCK=n
@@ -14,15 +14,14 @@ CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_PWM_INPUT=n
 CONFIG_DRIVERS_ROBOCLAW=n
-CONFIG_DRIVERS_RPM=n
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
 CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_ESC_BATTERY=n
 CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
+CONFIG_MODULES_MICRODDS_CLIENT=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
-CONFIG_MODULES_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_MODULES_UUV_ATT_CONTROL=n
 CONFIG_MODULES_UUV_POS_CONTROL=n
@@ -9,7 +9,8 @@ CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_PPB="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_COMMON_BAROMETERS=y
+CONFIG_DRIVERS_BAROMETER_BMP388=y
+CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
@@ -30,12 +31,9 @@ CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_COMMON_OSD=y
-CONFIG_DRIVERS_PCA9685=y
-CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
-CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_COMMON_RC=y
@@ -76,6 +74,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_PAYLOAD_DELIVERER=y
 CONFIG_MODULES_RC_UPDATE=y
@@ -88,7 +87,6 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -103,7 +101,6 @@ CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_REFLECT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
-CONFIG_SYSTEMCMDS_SERIAL_TEST=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -112,4 +109,3 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
-CONFIG_EXAMPLES_FAKE_GPS=y
@@ -1,15 +0,0 @@
-CONFIG_COMMON_BAROMETERS=n
-CONFIG_COMMON_TELEMETRY=n
-CONFIG_DRIVERS_OSD=n
-CONFIG_EXAMPLES_FAKE_GPS=n
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=n
-CONFIG_SYSTEMCMDS_DUMPFILE=n
-CONFIG_SYSTEMCMDS_GPIO=n
-CONFIG_SYSTEMCMDS_MOTOR_TEST=n
-CONFIG_SYSTEMCMDS_REFLECT=n
-CONFIG_SYSTEMCMDS_SD_BENCH=n
-CONFIG_SYSTEMCMDS_SD_STRESS=n
-CONFIG_SYSTEMCMDS_SERIAL_TEST=n
-CONFIG_DRIVERS_BAROMETER_BMP388=y
-CONFIG_DRIVERS_BAROMETER_MS5611=y
-CONFIG_MODULES_MICRORTPS_BRIDGE=y
@@ -1,13 +1,11 @@
 CONFIG_DRIVERS_ADC_ADS1115=n
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
-CONFIG_DRIVERS_PCA9685=n
-CONFIG_DRIVERS_PCA9685_PWM_OUT=n
-CONFIG_DRIVERS_RPM=n
-CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
@@ -57,6 +57,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -143,8 +143,10 @@

 #define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Rev 0, 10 Sensor sets
 //                 Base/FMUM
-#define V6C00   HW_VER_REV(0x0,0x0) // FMUV6C,                 Rev 0
-#define V6C10   HW_VER_REV(0x1,0x0) // NO PX4IO,               Rev 0
+#define V6C00   HW_VER_REV(0x0,0x0) // FMUV6C,                 Rev 0  I2C4 External but with Internal devices
+#define V6C01   HW_VER_REV(0x0,0x1) // FMUV6C,                 Rev 1  I2C4 Internal I2C2 External
+#define V6C10   HW_VER_REV(0x1,0x0) // NO PX4IO,               Rev 0  I2C4 External but with Internal devices
+#define V6C11   HW_VER_REV(0x1,0x1) // NO PX4IO,               Rev 1  I2C4 Internal I2C2 External


 /* HEATER
@@ -97,8 +97,10 @@ static const px4_hw_mft_item_t hw_mft_list_v0610[] = {

 static px4_hw_mft_list_entry_t mft_lists[] = {
 //  ver_rev
-	{V6C00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
-	{V6C10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO
+	{V6C00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // Rev 0
+	{V6C01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // Rev 1
+	{V6C10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // Rev 0 No PX4IO
+	{V6C11, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // Rev 1 No PX4IO
 };

 /************************************************************************************
@@ -8,8 +8,8 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
-CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
+CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
@@ -24,7 +24,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42670P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
-CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
@@ -53,7 +52,6 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -66,17 +64,17 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
@@ -87,7 +85,6 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -35,6 +35,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_PAYLOAD_DELIVERER=y
 CONFIG_MODULES_RC_UPDATE=y
@@ -1 +0,0 @@
-CONFIG_MODULES_MICRORTPS_BRIDGE=y
@@ -69,6 +69,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -37,6 +37,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
@@ -144,7 +144,6 @@ function(px4_add_common_flags)
 	list(APPEND c_flags
 		-fno-common

-		-Wbad-function-cast
 		-Wnested-externs
 		-Wstrict-prototypes
 	)
@@ -20,5 +20,5 @@ uint8 GROUP_INDEX_GIMBAL = 2
 uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
 float32[9] control

-# TOPICS actuator_controls actuator_controls_0 actuator_controls_1 actuator_controls_2
+# TOPICS actuator_controls_0 actuator_controls_1 actuator_controls_2
 # TOPICS actuator_controls_virtual_fw actuator_controls_virtual_mc
@@ -7,4 +7,4 @@ uint8 INDEX_THROTTLE = 3

 float32[4] control_power

-# TOPICS actuator_controls_status actuator_controls_status_0 actuator_controls_status_1
+# TOPICS actuator_controls_status_0 actuator_controls_status_1
@@ -3,4 +3,4 @@ bool triggered				# Set to true if the event is triggered

 # TOPICS button_event safety_button

-uint8 ORB_QUEUE_LENGTH = 2
+uint8 ORB_QUEUE_LENGTH = 2
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2016-2022 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
@@ -37,223 +37,188 @@ cmake_policy(SET CMP0057 NEW)
 include(px4_list_make_absolute)

 set(msg_files
-	action_request.msg
-	actuator_armed.msg
-	actuator_controls.msg
-	actuator_controls_status.msg
-	actuator_motors.msg
-	actuator_outputs.msg
-	actuator_servos.msg
-	actuator_servos_trim.msg
-	actuator_test.msg
-	adc_report.msg
-	airspeed.msg
-	airspeed_validated.msg
-	airspeed_wind.msg
-	autotune_attitude_control_status.msg
-	battery_status.msg
-	button_event.msg
-	camera_capture.msg
-	camera_status.msg
-	camera_trigger.msg
-	cellular_status.msg
-	collision_constraints.msg
-	collision_report.msg
-	control_allocator_status.msg
-	cpuload.msg
-	differential_pressure.msg
-	distance_sensor.msg
-	ekf2_timestamps.msg
-	esc_report.msg
-	esc_status.msg
-	estimator_aid_source_1d.msg
-	estimator_aid_source_2d.msg
-	estimator_aid_source_3d.msg
-	estimator_bias.msg
-	estimator_event_flags.msg
-	estimator_gps_status.msg
-	estimator_innovations.msg
-	estimator_selector_status.msg
-	estimator_sensor_bias.msg
-	estimator_states.msg
-	estimator_status.msg
-	estimator_status_flags.msg
-	event.msg
-	failure_detector_status.msg
-	failsafe_flags.msg
-	follow_target.msg
-	follow_target_estimator.msg
-	follow_target_status.msg
-	generator_status.msg
-	geofence_result.msg
-	gimbal_device_attitude_status.msg
-	gimbal_device_information.msg
-	gimbal_device_set_attitude.msg
-	gimbal_manager_information.msg
-	gimbal_manager_set_attitude.msg
-	gimbal_manager_set_manual_control.msg
-	gimbal_manager_status.msg
-	gps_dump.msg
-	gps_inject_data.msg
-	health_report.msg
-	gripper.msg
-	heater_status.msg
-	home_position.msg
-	hover_thrust_estimate.msg
-	input_rc.msg
-	internal_combustion_engine_status.msg
-	iridiumsbd_status.msg
-	irlock_report.msg
-	landing_gear.msg
-	landing_target_innovations.msg
-	landing_target_pose.msg
-	led_control.msg
-	log_message.msg
-	logger_status.msg
-	mag_worker_data.msg
-	magnetometer_bias_estimate.msg
-	manual_control_setpoint.msg
-	manual_control_switches.msg
-	mavlink_log.msg
-	mavlink_tunnel.msg
-	mission.msg
-	mission_result.msg
-	mount_orientation.msg
-	navigator_mission_item.msg
-	npfg_status.msg
-	obstacle_distance.msg
-	offboard_control_mode.msg
-	onboard_computer_status.msg
-	orbit_status.msg
-	parameter_update.msg
-	ping.msg
-	position_controller_landing_status.msg
-	position_controller_status.msg
-	position_setpoint.msg
-	position_setpoint_triplet.msg
-	power_button_state.msg
-	power_monitor.msg
-	pps_capture.msg
-	pwm_input.msg
-	px4io_status.msg
-	radio_status.msg
-	rate_ctrl_status.msg
-	rc_channels.msg
-	rc_parameter_map.msg
-	rpm.msg
-	rtl_time_estimate.msg
-	satellite_info.msg
-	sensor_accel.msg
-	sensor_accel_fifo.msg
-	sensor_baro.msg
-	sensor_combined.msg
-	sensor_correction.msg
-	sensor_gnss_relative.msg
-	sensor_gps.msg
-	sensor_gyro.msg
-	sensor_gyro_fft.msg
-	sensor_gyro_fifo.msg
-	sensor_hygrometer.msg
-	sensor_mag.msg
-	sensor_optical_flow.msg
-	sensor_preflight_mag.msg
-	sensor_selection.msg
-	sensors_status.msg
-	sensors_status_imu.msg
-	system_power.msg
-	takeoff_status.msg
-	task_stack_info.msg
-	tecs_status.msg
-	telemetry_status.msg
-	timesync.msg
-	timesync_status.msg
-	trajectory_bezier.msg
-	trajectory_setpoint.msg
-	trajectory_waypoint.msg
-	transponder_report.msg
-	tune_control.msg
-	uavcan_parameter_request.msg
-	uavcan_parameter_value.msg
-	ulog_stream.msg
-	ulog_stream_ack.msg
-	uwb_distance.msg
-	uwb_grid.msg
-	vehicle_acceleration.msg
-	vehicle_air_data.msg
-	vehicle_angular_acceleration.msg
-	vehicle_angular_acceleration_setpoint.msg
-	vehicle_angular_velocity.msg
-	vehicle_attitude.msg
-	vehicle_attitude_setpoint.msg
-	vehicle_command.msg
-	vehicle_command_ack.msg
-	vehicle_constraints.msg
-	vehicle_control_mode.msg
-	vehicle_global_position.msg
-	vehicle_imu.msg
-	vehicle_imu_status.msg
-	vehicle_land_detected.msg
-	vehicle_local_position.msg
-	vehicle_local_position_setpoint.msg
-	vehicle_magnetometer.msg
-	vehicle_odometry.msg
-	vehicle_optical_flow.msg
-	vehicle_optical_flow_vel.msg
-	vehicle_rates_setpoint.msg
-	vehicle_roi.msg
-	vehicle_status.msg
-	vehicle_thrust_setpoint.msg
-	vehicle_torque_setpoint.msg
-	vehicle_trajectory_bezier.msg
-	vehicle_trajectory_waypoint.msg
-	vtol_vehicle_status.msg
-	wheel_encoders.msg
-	wind.msg
-	yaw_estimator_status.msg
+	ActionRequest.msg
+	ActuatorArmed.msg
+	ActuatorControls.msg
+	ActuatorControlsStatus.msg
+	ActuatorMotors.msg
+	ActuatorOutputs.msg
+	ActuatorServos.msg
+	ActuatorServosTrim.msg
+	ActuatorTest.msg
+	AdcReport.msg
+	Airspeed.msg
+	AirspeedValidated.msg
+	AirspeedWind.msg
+	AutotuneAttitudeControlStatus.msg
+	BatteryStatus.msg
+	ButtonEvent.msg
+	CameraCapture.msg
+	CameraStatus.msg
+	CameraTrigger.msg
+	CellularStatus.msg
+	CollisionConstraints.msg
+	CollisionReport.msg
+	ControlAllocatorStatus.msg
+	Cpuload.msg
+	DebugArray.msg
+	DebugKeyValue.msg
+	DebugValue.msg
+	DebugVect.msg
+	DifferentialPressure.msg
+	DistanceSensor.msg
+	Ekf2Timestamps.msg
+	EscReport.msg
+	EscStatus.msg
+	EstimatorAidSource1d.msg
+	EstimatorAidSource2d.msg
+	EstimatorAidSource3d.msg
+	EstimatorBias.msg
+	EstimatorEventFlags.msg
+	EstimatorGpsStatus.msg
+	EstimatorInnovations.msg
+	EstimatorSelectorStatus.msg
+	EstimatorSensorBias.msg
+	EstimatorStates.msg
+	EstimatorStatus.msg
+	EstimatorStatusFlags.msg
+	Event.msg
+	FailsafeFlags.msg
+	FailureDetectorStatus.msg
+	FollowTarget.msg
+	FollowTargetEstimator.msg
+	FollowTargetStatus.msg
+	GeneratorStatus.msg
+	GeofenceResult.msg
+	GimbalDeviceAttitudeStatus.msg
+	GimbalDeviceInformation.msg
+	GimbalDeviceSetAttitude.msg
+	GimbalManagerInformation.msg
+	GimbalManagerSetAttitude.msg
+	GimbalManagerSetManualControl.msg
+	GimbalManagerStatus.msg
+	GpsDump.msg
+	GpsInjectData.msg
+	Gripper.msg
+	HealthReport.msg
+	HeaterStatus.msg
+	HomePosition.msg
+	HoverThrustEstimate.msg
+	InputRc.msg
+	InternalCombustionEngineStatus.msg
+	IridiumsbdStatus.msg
+	IrlockReport.msg
+	LandingGear.msg
+	LandingTargetInnovations.msg
+	LandingTargetPose.msg
+	LedControl.msg
+	LoggerStatus.msg
+	LogMessage.msg
+	MagnetometerBiasEstimate.msg
+	MagWorkerData.msg
+	ManualControlSetpoint.msg
+	ManualControlSwitches.msg
+	MavlinkLog.msg
+	MavlinkTunnel.msg
+	Mission.msg
+	MissionResult.msg
+	MountOrientation.msg
+	NavigatorMissionItem.msg
+	NpfgStatus.msg
+	ObstacleDistance.msg
+	OffboardControlMode.msg
+	OnboardComputerStatus.msg
+	OrbitStatus.msg
+	OrbTest.msg
+	OrbTestLarge.msg
+	OrbTestMedium.msg
+	ParameterUpdate.msg
+	Ping.msg
+	PositionControllerLandingStatus.msg
+	PositionControllerStatus.msg
+	PositionSetpoint.msg
+	PositionSetpointTriplet.msg
+	PowerButtonState.msg
+	PowerMonitor.msg
+	PpsCapture.msg
+	PwmInput.msg
+	Px4ioStatus.msg
+	RadioStatus.msg
+	RateCtrlStatus.msg
+	RcChannels.msg
+	RcParameterMap.msg
+	Rpm.msg
+	RtlTimeEstimate.msg
+	SatelliteInfo.msg
+	SensorAccel.msg
+	SensorAccelFifo.msg
+	SensorBaro.msg
+	SensorCombined.msg
+	SensorCorrection.msg
+	SensorGnssRelative.msg
+	SensorGps.msg
+	SensorGyro.msg
+	SensorGyroFft.msg
+	SensorGyroFifo.msg
+	SensorHygrometer.msg
+	SensorMag.msg
+	SensorOpticalFlow.msg
+	SensorPreflightMag.msg
+	SensorSelection.msg
+	SensorsStatus.msg
+	SensorsStatusImu.msg
+	SystemPower.msg
+	TakeoffStatus.msg
+	TaskStackInfo.msg
+	TecsStatus.msg
+	TelemetryStatus.msg
+	TimesyncStatus.msg
+	TrajectoryBezier.msg
+	TrajectorySetpoint.msg
+	TrajectoryWaypoint.msg
+	TransponderReport.msg
+	TuneControl.msg
+	UavcanParameterRequest.msg
+	UavcanParameterValue.msg
+	UlogStream.msg
+	UlogStreamAck.msg
+	UwbDistance.msg
+	UwbGrid.msg
+	VehicleAcceleration.msg
+	VehicleAirData.msg
+	VehicleAngularAcceleration.msg
+	VehicleAngularAccelerationSetpoint.msg
+	VehicleAngularVelocity.msg
+	VehicleAttitude.msg
+	VehicleAttitudeSetpoint.msg
+	VehicleCommand.msg
+	VehicleCommandAck.msg
+	VehicleConstraints.msg
+	VehicleControlMode.msg
+	VehicleGlobalPosition.msg
+	VehicleImu.msg
+	VehicleImuStatus.msg
+	VehicleLandDetected.msg
+	VehicleLocalPosition.msg
+	VehicleLocalPositionSetpoint.msg
+	VehicleMagnetometer.msg
+	VehicleOdometry.msg
+	VehicleOpticalFlow.msg
+	VehicleOpticalFlowVel.msg
+	VehicleRatesSetpoint.msg
+	VehicleRoi.msg
+	VehicleStatus.msg
+	VehicleThrustSetpoint.msg
+	VehicleTorqueSetpoint.msg
+	VehicleTrajectoryBezier.msg
+	VehicleTrajectoryWaypoint.msg
+	VtolVehicleStatus.msg
+	WheelEncoders.msg
+	Wind.msg
+	YawEstimatorStatus.msg
 )
-
-if(NOT px4_constrained_flash_build)
-	list(APPEND msg_files
-		debug_array.msg
-		debug_key_value.msg
-		debug_value.msg
-		debug_vect.msg
-	)
-endif()
-
-if(PX4_TESTING)
-	list(APPEND msg_files
-		orb_test.msg
-		orb_test_large.msg
-		orb_test_medium.msg
-	)
-endif()
-
 list(SORT msg_files)

-set(deprecated_msgs
-	ekf2_innovations.msg	# 2019-11-22, Updated estimator interface and logging; replaced by 'estimator_innovations'.
-	)
-
-foreach(msg IN LISTS deprecated_msgs)
-	if(msg IN_LIST msg_files)
-		get_filename_component(msg_we ${msg} NAME_WE)
-		list(APPEND invalid_msgs ${msg_we})
-	endif()
-endforeach()
-if(invalid_msgs)
-	list(LENGTH invalid_msgs invalid_msgs_size)
-	if(${invalid_msgs_size} GREATER 1)
-		foreach(msg IN LISTS invalid_msgs)
-			string(CONCAT invalid_msgs_cs ${invalid_msgs_cs} "'${msg}', ")
-		endforeach()
-		STRING(REGEX REPLACE ", +$" "" invalid_msgs_cs ${invalid_msgs_cs})
-		message(FATAL_ERROR "${invalid_msgs_cs} are listed as deprecated. Please use different names for the messages.")
-	else()
-		message(FATAL_ERROR "'${invalid_msgs}' is listed as deprecated. Please use a different name for the message.")
-	endif()
-endif()
-
 px4_list_make_absolute(msg_files ${CMAKE_CURRENT_SOURCE_DIR} ${msg_files})

 if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
@@ -271,63 +236,64 @@ endif()
 # headers
 set(msg_out_path ${PX4_BINARY_DIR}/uORB/topics)
 set(ucdr_out_path ${PX4_BINARY_DIR}/uORB/ucdr)
-set(msg_source_out_path	${CMAKE_CURRENT_BINARY_DIR}/topics_sources)
+set(msg_source_out_path ${CMAKE_CURRENT_BINARY_DIR}/topics_sources)

-set(uorb_headers ${msg_out_path}/uORBTopics.hpp)
-set(uorb_sources ${msg_source_out_path}/uORBTopics.cpp)
+set(uorb_headers)
+set(uorb_sources)
 set(uorb_ucdr_headers)
 foreach(msg_file ${msg_files})
 	get_filename_component(msg ${msg_file} NAME_WE)
+
+	# Pascal case to snake case (MsgFile -> msg_file)
+	string(REGEX REPLACE "(.)([A-Z][a-z]+)" "\\1_\\2" msg "${msg}")
+	string(REGEX REPLACE "([a-z0-9])([A-Z])" "\\1_\\2" msg "${msg}")
+	string(TOLOWER "${msg}" msg)
+
 	list(APPEND uorb_headers ${msg_out_path}/${msg}.h)
 	list(APPEND uorb_sources ${msg_source_out_path}/${msg}.cpp)
 	list(APPEND uorb_ucdr_headers ${ucdr_out_path}/${msg}.h)
 endforeach()

-if (px4_constrained_flash_build)
-	set(added_arguments --constrained-flash)
-endif()
-
 # set parent scope msg_files for other modules to consume (eg topic_listener)
 set(msg_files ${msg_files} PARENT_SCOPE)

 # Generate uORB headers
-add_custom_command(OUTPUT ${uorb_headers}
-	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
+add_custom_command(
+	OUTPUT
+		${uorb_headers}
+		${msg_out_path}/uORBTopics.hpp
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--headers
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
 		-o ${msg_out_path}
-		-e templates/uorb
-		-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/headers
-		-q
-		${added_arguments}
+		-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
 	DEPENDS
 		${msg_files}
-		templates/uorb/msg.h.em
-		templates/uorb/uORBTopics.hpp.em
-		tools/px_generate_uorb_topic_files.py
-		tools/px_generate_uorb_topic_helper.py
+		${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/msg.h.em
+		${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/uORBTopics.hpp.em
+		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
 	COMMENT "Generating uORB topic headers"
 	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 	VERBATIM
 	)
 add_custom_target(uorb_headers DEPENDS ${uorb_headers})

-add_custom_command(OUTPUT ${uorb_ucdr_headers}
-	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
+# Generate microcdr headers
+add_custom_command(
+	OUTPUT ${uorb_ucdr_headers}
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--headers
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
 		-o ${ucdr_out_path}
-		-e templates/ucdr
-		-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/ucdr_headers
-		-q
-		${added_arguments}
+		-e ${PX4_SOURCE_DIR}/Tools/msg/templates/ucdr
 	DEPENDS
 		${msg_files}
-		templates/ucdr/msg.h.em
-		tools/px_generate_uorb_topic_files.py
-		tools/px_generate_uorb_topic_helper.py
+		${PX4_SOURCE_DIR}/Tools/msg/templates/ucdr/msg.h.em
+		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
 	COMMENT "Generating uORB topic ucdr headers"
 	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 	VERBATIM
@@ -335,26 +301,27 @@ add_custom_command(OUTPUT ${uorb_ucdr_headers}
 add_custom_target(uorb_ucdr_headers DEPENDS ${uorb_ucdr_headers})

 # Generate uORB sources
-add_custom_command(OUTPUT ${uorb_sources}
-	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
+add_custom_command(
+	OUTPUT
+		${uorb_sources}
+		${msg_source_out_path}/uORBTopics.cpp
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--sources
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
 		-o ${msg_source_out_path}
-		-e templates/uorb
-		-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/sources
-		-q
-		${added_arguments}
+		-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
 	DEPENDS
 		${msg_files}
-		templates/uorb/msg.cpp.em
-		templates/uorb/uORBTopics.cpp.em
-		tools/px_generate_uorb_topic_files.py
-		tools/px_generate_uorb_topic_helper.py
+		${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/msg.cpp.em
+		${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/uORBTopics.cpp.em
+		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
 	COMMENT "Generating uORB topic sources"
 	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 	VERBATIM
 	)

-add_library(uorb_msgs ${uorb_sources})
+add_library(uorb_msgs ${uorb_headers} ${msg_out_path}/uORBTopics.hpp ${uorb_sources} ${msg_source_out_path}/uORBTopics.cpp)
+target_link_libraries(uorb_msgs PRIVATE m)
 add_dependencies(uorb_msgs prebuild_targets uorb_headers)
--- a/Show More
+++ b/Show More