github actions add timeout-minutes

Fix template_module header
- SubscriptionInterval.hpp includes Subscription.hpp, but not vice versa - The time literal 1_s is defined in the namespace time_literals
2026-05-24 05:47:35 +08:00 · 2021-07-21 12:51:00 -04:00 · 2021-07-21 09:44:09 -04:00 · 2021-07-21 10:39:14 +02:00 · 2021-07-21 02:19:11 -04:00 · 2021-07-20 22:02:03 -07:00
1531 changed files with 116262 additions and 21642 deletions
@@ -9,11 +9,10 @@ pipeline {
        script {
          def build_nodes = [:]
          def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2021-02-04",
-            arm64: "px4io/px4-dev-aarch64:2021-02-04",
-            base: "px4io/px4-dev-base-bionic:2021-02-04",
-            nuttx: "px4io/px4-dev-nuttx-focal:2021-02-04",
-            snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
+            armhf: "px4io/px4-dev-armhf:2021-05-04",
+            arm64: "px4io/px4-dev-aarch64:2021-05-04",
+            base: "px4io/px4-dev-base-bionic:2021-05-04",
+            nuttx: "px4io/px4-dev-nuttx-focal:2021-05-04",
          ]

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

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

          for (def build_type = 0; build_type < docker_builds.size(); build_type++) {
@@ -130,7 +126,7 @@ pipeline {
    // TODO: actually upload artifacts to S3
    // stage('S3 Upload') {
    //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+    //     docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
    //   }
    //   options {
    //         skipDefaultCheckout()
@@ -155,19 +151,13 @@ pipeline {
  }
  options {
    buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
-    timeout(time: 60, unit: 'MINUTES')
+    timeout(time: 90, unit: 'MINUTES')
  }
 }

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

-    // TODO: fix the snapdragon image
-    bypass_entrypoint = ''
-    if (docker_image == 'lorenzmeier/px4-dev-snapdragon:2020-04-01') {
-      bypass_entrypoint = ' --entrypoint=""'
-    }
-
    node {
      docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
        docker.image(docker_image).inside('-e CCACHE_BASEDIR=${WORKSPACE} -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' + bypass_entrypoint) {
@@ -2,7 +2,7 @@
 // https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
 {
 	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2021-02-04",
+	"image": "px4io/px4-dev-nuttx-focal:2021-05-04",

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

@@ -11,6 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
+    timeout-minutes: 60
    strategy:
      fail-fast: false
      matrix:
@@ -23,12 +24,13 @@ jobs:
          "shellcheck_all",
          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
          "NO_NINJA_BUILD=1 px4_sitl_default",
+          "BUILD_MICRORTPS_AGENT=1 px4_sitl_rtps",
          "airframe_metadata",
          "module_documentation",
          "parameters_metadata",
        ]
    container:
-      image: px4io/px4-dev-nuttx-focal:2021-02-04
+      image: px4io/px4-dev-nuttx-focal:2021-05-04
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -11,7 +11,8 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2021-02-04
+    container: px4io/px4-dev-clang:2021-05-04
+    timeout-minutes: 60
    steps:
    - uses: actions/checkout@v1
      with:
@@ -11,7 +11,8 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2021-02-04
+    container: px4io/px4-dev-armhf:2021-05-04
+    timeout-minutes: 60
    strategy:
      matrix:
        config: [
@@ -11,7 +11,8 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2021-02-04
+    container: px4io/px4-dev-aarch64:2021-05-04
+    timeout-minutes: 60
    strategy:
      matrix:
        config: [
@@ -11,6 +11,7 @@ on:
 jobs:
  build:
    runs-on: macos-10.15
+    timeout-minutes: 60
    strategy:
      matrix:
        config: [
@@ -11,78 +11,51 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-02-04
+    container: px4io/px4-dev-nuttx-focal:2021-05-04
+    timeout-minutes: 60
    strategy:
      matrix:
        config: [
-          airmind_mindpx-v2_default,
-          ark_can-flow_canbootloader,
-          ark_can-flow_debug,
-          ark_can-flow_default,
-          av_x-v1_default,
-          bitcraze_crazyflie21_default,
-          bitcraze_crazyflie_default,
-          cuav_can-gps-v1_canbootloader,
-          cuav_can-gps-v1_debug,
-          cuav_can-gps-v1_default,
-          cuav_nora_default,
-          cuav_x7pro_default,
-          cubepilot_cubeorange_default,
-          cubepilot_cubeorange_test,
-          cubepilot_cubeyellow_default,
-          cubepilot_cubeyellow_test,
-          cubepilot_io-v2_default,
-          holybro_can-gps-v1_canbootloader,
-          holybro_can-gps-v1_debug,
-          holybro_can-gps-v1_default,
-          holybro_durandal-v1_default,
-          holybro_kakutef7_default,
-          holybro_pix32v5_default,
-          modalai_fc-v1_default,
-          modalai_fc-v1_rtps,
-          mro_ctrl-zero-f7-oem_default,
-          mro_ctrl-zero-f7_default,
-          mro_ctrl-zero-h7-oem_default,
-          mro_ctrl-zero-h7_default,
-          mro_pixracerpro_default,
-          mro_x21-777_default,
-          mro_x21_default,
-          nxp_fmuk66-e_default,
-          nxp_fmuk66-e_rtps,
-          nxp_fmuk66-e_socketcan,
-          nxp_fmuk66-v3_default,
-          nxp_fmuk66-v3_rtps,
-          nxp_fmuk66-v3_socketcan,
-          nxp_fmurt1062-v1_default,
-          nxp_ucans32k146_canbootloader,
-          nxp_ucans32k146_default,
-          omnibus_f4sd_default,
-          px4_fmu-v2_default,
-          px4_fmu-v2_fixedwing,
-          px4_fmu-v2_multicopter,
-          px4_fmu-v2_rover,
-          px4_fmu-v3_default,
-          px4_fmu-v4_cannode,
-          px4_fmu-v4_default,
-          px4_fmu-v4pro_default,
-          px4_fmu-v5_ctrlalloc,
-          px4_fmu-v5_debug,
-          px4_fmu-v5_default,
-          px4_fmu-v5_fixedwing,
-          px4_fmu-v5_multicopter,
-          px4_fmu-v5_optimized,
-          px4_fmu-v5_rover,
-          px4_fmu-v5_rtps,
-          px4_fmu-v5_stackcheck,
-          px4_fmu-v5_uavcanv0periph,
-          px4_fmu-v5_uavcanv1,
-          px4_fmu-v5x_base_phy_DP83848C,
-          px4_fmu-v5x_default,
-          px4_fmu-v6u_default,
-          px4_fmu-v6x_default,
-          px4_io-v2_default,
-          spracing_h7extreme_default,
-          uvify_core_default
+          airmind_mindpx-v2,
+          ark_can-flow,
+          ark_can-gps,
+          av_x-v1,
+          bitcraze_crazyflie,
+          bitcraze_crazyflie21,
+          cuav_can-gps-v1,
+          cuav_nora,
+          cuav_x7pro,
+          cubepilot_cubeorange,
+          cubepilot_cubeyellow,
+          freefly_can-rtk-gps,
+          holybro_can-gps-v1,
+          holybro_durandal-v1,
+          holybro_kakutef7,
+          holybro_pix32v5,
+          modalai_fc-v1,
+          modalai_fc-v2,
+          mro_ctrl-zero-f7,
+          mro_ctrl-zero-f7-oem,
+          mro_ctrl-zero-h7,
+          mro_ctrl-zero-h7-oem,
+          mro_pixracerpro,
+          mro_x21,
+          mro_x21-777,
+          nxp_fmuk66-e,
+          nxp_fmuk66-v3,
+          nxp_fmurt1062-v1,
+          nxp_ucans32k146,
+          omnibus_f4sd,
+          px4_fmu-v2,
+          px4_fmu-v3,
+          px4_fmu-v4,
+          px4_fmu-v4pro,
+          px4_fmu-v5,
+          px4_fmu-v5x,
+          px4_fmu-v6u,
+          px4_fmu-v6x,
+          spracing_h7extreme,
+          uvify_core
          ]
    steps:
    - uses: actions/checkout@v1
@@ -111,8 +84,8 @@ jobs:
          ccache -s
          ccache -z

-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
+    - name: make all_variants_${{matrix.config}}
+      run: make all_variants_${{matrix.config}}
    - name: make ${{matrix.config}} bloaty_compileunits
      run: make ${{matrix.config}} bloaty_compileunits || true
    - name: make ${{matrix.config}} bloaty_inlines
@@ -123,13 +96,15 @@ jobs:
      run: make ${{matrix.config}} bloaty_symbols || true
    - name: make ${{matrix.config}} bloaty_templates
      run: make ${{matrix.config}} bloaty_templates || true
+    - name: make ${{matrix.config}} bloaty_ram
+      run: make ${{matrix.config}} bloaty_ram || true
    - name: make ${{matrix.config}} bloaty_compare_master
      run: make ${{matrix.config}} bloaty_compare_master || true
    - name: ccache post-run
      run: ccache -s

    - name: Upload px4 package
-      uses: actions/upload-artifact@v1
+      uses: actions/upload-artifact@v2
      with:
        name: px4_package_${{matrix.config}}
-        path: build/${{matrix.config}}/${{matrix.config}}.px4
+        path: build/**/*.px4
@@ -11,12 +11,14 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-02-04
+    container: px4io/px4-dev-nuttx-focal:2021-05-04
+    timeout-minutes: 60
    strategy:
      matrix:
        config: [
          ark_can-flow_default,
          cuav_can-gps-v1_default,
+          freefly_can-rtk-gps_default,
          holybro_can-gps-v1_default,
          #nxp_ucans32k146_default,
          px4_fmu-v4_cannode
@@ -23,7 +23,7 @@ jobs:
    needs: enumerate_targets
    strategy:
      matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
-    container: px4io/px4-dev-${{ matrix.container }}:2021-02-04
+    container: px4io/px4-dev-${{ matrix.container }}:2021-05-04
    steps:
    - uses: actions/checkout@v1
      with:
@@ -56,13 +56,13 @@ jobs:
    - name: ccache post-run
      run: ccache -s

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

    - uses: jakejarvis/s3-sync-action@master
      with:
@@ -0,0 +1,21 @@
+name: EKF Change Indicator
+
+on: pull_request
+
+jobs:
+  unit_tests:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-05-04
+    steps:
+    - uses: actions/checkout@v2.3.1
+      with:
+        fetch-depth: 0
+    - name: checkout newest version of branch
+      run: |
+        git fetch origin pull/${{github.event.pull_request.number}}/head:${{github.head_ref}}
+        git checkout ${GITHUB_HEAD_REF}
+    - name: main test
+      run: make tests TESTFILTER=EKF
+    - name: Check if there is a functional change
+      run: git diff --exit-code
+      working-directory: src/modules/ekf2/test/change_indication
@@ -0,0 +1,29 @@
+name: EKF Update Change Indicator
+
+on: push
+
+jobs:
+  unit_tests:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-05-04
+    env:
+      GIT_COMMITTER_EMAIL: bot@px4.io
+      GIT_COMMITTER_NAME: PX4BuildBot
+    steps:
+    - uses: actions/checkout@v2.3.1
+      with:
+        fetch-depth: 0
+    - name: main test updates change indication files
+      run: make tests TESTFILTER=EKF
+    - name: Check if there exists diff and save result in variable
+      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_ENV
+      working-directory: src/modules/ekf2/test/change_indication
+    - name: auto-commit any changes to change indication
+      uses: stefanzweifel/git-auto-commit-action@v4
+      with:
+        commit_message: '[AUTO COMMIT] update change indication'
+        commit_user_name: ${GIT_COMMITTER_NAME}
+        commit_user_email: ${GIT_COMMITTER_EMAIL}
+    - if: ${{env.CHANGE_INDICATED}}
+      name: if there is a functional change, fail check
+      run: exit 1
@@ -1,131 +0,0 @@
-name: MAVROS Avoidance Tests
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          - {test_file: "mavros_posix_test_avoidance.test",    vehicle: "iris_obs_avoid", mission: "avoidance",       build_type: "RelWithDebInfo"}
-          - {test_file: "mavros_posix_test_safe_landing.test", vehicle: "iris_obs_avoid", mission: "MC_safe_landing", build_type: "RelWithDebInfo"}
-
-    container:
-      image: px4io/px4-dev-ros-melodic:2021-02-04
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4 and sitl_gazebo
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        ccache -z
-        make px4_sitl_default
-        make px4_sitl_default sitl_gazebo
-        ccache -s
-
-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run SITL tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        export
-        ./test/rostest_avoidance_run.sh ${{matrix.config.test_file}} mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}} || true
-
-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: coredump
-        path: px4.core
-
-    # - name: ecl EKF analysis
-    #   if: always()
-    #   run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg
-
-    - name: Upload logs to flight review
-      if: always()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
-
-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
-
-    - name: Store PX4 log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_log
-        path: ~/.ros/log/*/*.ulg
-
-    - name: Store ROS log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: ros_log
-        path: ~/.ros/**/rostest-*.log
-
-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      if: contains(matrix.config.build_type, 'Coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavros_avoidance
-        file: coverage/lcov.info
@@ -25,7 +25,7 @@ jobs:
          #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2021-02-04
+      image: px4io/px4-dev-ros-melodic:2021-05-04
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -20,7 +20,7 @@ jobs:
          #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2021-02-04
+      image: px4io/px4-dev-ros-melodic:2021-05-04
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -11,7 +11,7 @@ jobs:

  airframe:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2021-05-04
    steps:
    - uses: actions/checkout@v1
      with:
@@ -20,13 +20,24 @@ jobs:
    - name: airframe metadata
      run: |
        make airframe_metadata
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
        cd build/px4_sitl_default/docs
-        ls -ls *
-      # TODO: deploy to userguide gitbook and s3
+      # TODO: deploy to userguide gitbook
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/px4_sitl_default/docs/'
+        DEST_DIR: 'Firmware/${{ env.version }}/_general/'

  module:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2021-05-04
    steps:
    - uses: actions/checkout@v1
      with:
@@ -41,7 +52,7 @@ jobs:

  parameter:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2021-05-04
    steps:
    - uses: actions/checkout@v1
      with:
@@ -63,9 +74,36 @@ jobs:
        SOURCE_DIR: 'build/px4_sitl_default/docs/'
        DEST_DIR: 'Firmware/${{ env.version }}/_general/'

+  events:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-05-04
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: events metadata
+      run: |
+        make extract_events
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
+        cd build/px4_sitl_default
+        mkdir _events_full || true
+        cp events/all_events_full.json.xz _events_full/all_events.json.xz
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/px4_sitl_default/_events_full/'
+        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
+
  uorb_graph:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-02-04
+    container: px4io/px4-dev-nuttx-focal:2021-05-04
    steps:
    - uses: actions/checkout@v1
      with:
@@ -80,7 +118,7 @@ jobs:

  micrortps_agent:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2021-05-04
    steps:
    - uses: actions/checkout@v1
      with:
@@ -94,7 +132,7 @@ jobs:

  ROS_msgs:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2021-05-04
    steps:
    - uses: actions/checkout@v1
      with:
@@ -107,7 +145,7 @@ jobs:

  ROS2_bridge:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2021-05-04
    steps:
    - uses: actions/checkout@v1
      with:
@@ -18,7 +18,7 @@ jobs:
    - name: Install Python3
      run: sudo apt-get install python3 python3-setuptools python3-pip -y
    - name: Install tools
-      run: pip3 install --user mypy flake8
+      run: pip3 install --user mypy types-requests flake8
    - name: Check MAVSDK test scripts with mypy
      run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
    - name: Check MAVSDK test scripts with flake8
@@ -11,16 +11,18 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
+    timeout-minutes: 60
    strategy:
      fail-fast: false
      matrix:
        config:
-          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo", model: "iris"          } # Alaska
-          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "RelWithDebInfo", model: "standard_vtol" } # Australia
-          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo", model: "tailsitter"    } # Florida
-          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",       model: "standard_vtol" } # Zurich
+          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo",   model: "iris"          } # Alaska
+          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer", model: "standard_vtol" } # Australia
+          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo",   model: "tailsitter"    } # Florida
+          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",         model: "standard_vtol" } # Zurich
+
    container:
-      image: px4io/px4-dev-simulation-focal:2021-02-04
+      image: px4io/px4-dev-simulation-focal:2021-05-04
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -28,9 +30,9 @@ jobs:
        token: ${{ secrets.ACCESS_TOKEN }}

    - name: Download MAVSDK
-      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.38.0/mavsdk_0.38.0_ubuntu20.04_amd64.deb
+      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
    - name: Install MAVSDK
-      run: dpkg -i mavsdk_0.38.0_ubuntu20.04_amd64.deb
+      run: dpkg -i "mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@@ -108,3 +108,5 @@ src/systemcmds/topic_listener/listener_generated.cpp
 # SITL
 dataman
 eeprom/
+
+!src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
@@ -18,14 +18,6 @@
 	path = src/lib/matrix
 	url = https://github.com/PX4/PX4-Matrix.git
 	branch = master
-[submodule "src/lib/ecl"]
-	path = src/lib/ecl
-	url = https://github.com/PX4/PX4-ECL.git
-	branch = master
-[submodule "boards/atlflight/cmake_hexagon"]
-	path = boards/atlflight/cmake_hexagon
-	url = https://github.com/PX4/cmake_hexagon.git
-	branch = px4
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/PX4-GPSDrivers.git
@@ -33,7 +25,7 @@
 [submodule "src/modules/micrortps_bridge/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
 	url = https://github.com/PX4/Micro-CDR.git
-	branch = px4
+	branch = master
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
@@ -42,9 +34,6 @@
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
 	branch = px4_firmware_nuttx-10.0.0+
-[submodule "platforms/qurt/dspal"]
-	path = platforms/qurt/dspal
-	url = https://github.com/ATLFlight/dspal.git
 [submodule "Tools/flightgear_bridge"]
 	path = Tools/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
@@ -63,3 +52,17 @@
 [submodule "src/drivers/uavcannode_gps_demo/libcanard"]
 	path = src/drivers/uavcannode_gps_demo/libcanard
 	url = https://github.com/UAVCAN/libcanard.git
+[submodule "src/drivers/uavcan_v1/legacy_data_types"]
+	path = src/drivers/uavcan_v1/legacy_data_types
+	url = https://github.com/PX4/public_regulated_data_types.git
+	branch = legacy
+[submodule "src/lib/crypto/monocypher"]
+	path = src/lib/crypto/monocypher
+	url = https://github.com/PX4/Monocypher.git
+	branch = px4
+[submodule "src/lib/events/libevents"]
+	path = src/lib/events/libevents
+	url = https://github.com/mavlink/libevents.git
+[submodule "Tools/simulation-ignition"]
+	path = Tools/simulation-ignition
+	url = https://github.com/Auterion/px4-simulation-ignition.git
@@ -6,6 +6,16 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_default
+    px4_sitl_asan:
+      short: px4_sitl (AddressSanitizer)
+      buildType: AddressSanitizer
+      settings:
+        CONFIG: px4_sitl_default
+    px4_sitl_ubsan:
+      short: px4_sitl (UndefinedBehaviorSanitizer)
+      buildType: UndefinedBehaviorSanitizer
+      settings:
+        CONFIG: px4_sitl_default
    px4_sitl_replay:
      short: px4_sitl_replay
      buildType: RelWithDebInfo
@@ -51,6 +61,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: px4_fmu-v5x_default
+    px4_fmu-v6x_default:
+      short: px4_fmu-v6x
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6x_default
+    px4_fmu-v6x_bootloader:
+      short: px4_fmu-v6x_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6x_bootloader
    airmind_mindpx-v2_default:
      short: airmind_mindpx-v2
      buildType: MinSizeRel
@@ -66,6 +86,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-flow_canbootloader
+    ark_can-gps_default:
+      short: ark_can-gps_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-gps_default
+    ark_can-gps_canbootloader:
+      short: ark_can-gps_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-gps_canbootloader
    av_x-v1_default:
      short: av_x-v1
      buildType: MinSizeRel
@@ -106,6 +136,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: emlid_navio2_default
+    freefly_can-rtk-gps_default:
+      short: freefly_can-rtk-gps_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: freefly_can-rtk-gps_default
+    freefly_can-rtk-gps_canbootloader:
+      short: freefly_can-rtk-gps_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: freefly_can-rtk-gps_canbootloader
    holybro_can-gps-v1_canbootloader:
      short: holybro_can-gps-v1_canbootloader
      buildType: MinSizeRel
@@ -126,6 +166,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: modalai_fc-v1_default
+    modalai_fc-v2_default:
+      short: modalai_fc-v2
+      buildType: MinSizeRel
+      settings:
+        CONFIG: modalai_fc-v2_default
    mro_ctrl-zero-f7_default:
      short: mro_ctrl-zero-f7
      buildType: MinSizeRel
@@ -129,6 +129,10 @@ define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
                 BRIEF_DOCS "PX4 module paths"
                 FULL_DOCS "List of paths to all PX4 modules"
                 )
+define_property(GLOBAL PROPERTY PX4_SRC_FILES
+                 BRIEF_DOCS "src files from all PX4 modules & libs"
+                 FULL_DOCS "SRC files from px4_add_{module,library}"
+                 )

 #=============================================================================
 # configuration
@@ -185,6 +189,8 @@ if((CMAKE_BUILD_TYPE STREQUAL "Debug") OR (CMAKE_BUILD_TYPE STREQUAL "Coverage")
 	set(MAX_CUSTOM_OPT_LEVEL -O0)
 elseif(CMAKE_BUILD_TYPE MATCHES "Sanitizer")
 	set(MAX_CUSTOM_OPT_LEVEL -O1)
+elseif(CMAKE_BUILD_TYPE MATCHES "Release")
+	set(MAX_CUSTOM_OPT_LEVEL -O3)
 else()
 	if(px4_constrained_flash_build)
 		set(MAX_CUSTOM_OPT_LEVEL -Os)
@@ -415,6 +421,9 @@ foreach(module ${config_module_list})
 	add_subdirectory(src/${module})
 endforeach()

+# add events lib after modules and libs as it needs to know all source files (PX4_SRC_FILES)
+add_subdirectory(src/lib/events EXCLUDE_FROM_ALL)
+
 # must be the last module before firmware
 add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
 target_link_libraries(parameters_interface INTERFACE parameters)
@@ -15,7 +15,7 @@ pipeline {
        // stage('Catkin build on ROS workspace') {
        //   agent {
        //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2021-02-04'
+        //       image 'px4io/px4-dev-ros-melodic:2021-05-04'
        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
        //     }
        //   }
@@ -56,7 +56,7 @@ pipeline {
        stage('Colcon build on ROS2 workspace') {
          agent {
            docker {
-              image 'px4io/px4-dev-ros2-foxy:2021-02-04'
+              image 'px4io/px4-dev-ros2-foxy:2021-05-04'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
            }
          }
@@ -85,7 +85,7 @@ pipeline {

        stage('Airframe') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
          }
          steps {
            sh 'make distclean'
@@ -105,7 +105,7 @@ pipeline {

        stage('Parameter') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
          }
          steps {
            sh 'make distclean'
@@ -125,7 +125,7 @@ pipeline {

        stage('Module') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
          }
          steps {
            sh 'make distclean'
@@ -146,7 +146,7 @@ pipeline {
        stage('uORB graphs') {
          agent {
            docker {
-              image 'px4io/px4-dev-nuttx-focal:2021-02-04'
+              image 'px4io/px4-dev-nuttx-focal:2021-05-04'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
            }
          }
@@ -176,7 +176,7 @@ pipeline {

        stage('Userguide') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
          }
          steps {
            sh('export')
@@ -206,7 +206,7 @@ pipeline {

        stage('QGroundControl') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
          }
          steps {
            sh('export')
@@ -234,7 +234,7 @@ pipeline {

        stage('microRTPS agent') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
          }
          steps {
            sh('export')
@@ -264,7 +264,7 @@ pipeline {

        stage('PX4 ROS msgs') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
          }
          steps {
            sh('export')
@@ -293,7 +293,7 @@ pipeline {

        stage('PX4 ROS2 bridge') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
          }
          steps {
            sh('export')
@@ -336,7 +336,7 @@ pipeline {

        stage('S3') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
          }
          steps {
            sh('export')
@@ -374,7 +374,7 @@ pipeline {
    GIT_COMMITTER_NAME = "PX4BuildBot"
  }
  options {
-    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
-    timeout(time: 60, unit: 'MINUTES')
+    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '30'))
+    timeout(time: 90, unit: 'MINUTES')
  }
 }
@@ -63,7 +63,7 @@ all: px4_sitl_default
 space := $(subst ,, )

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

 tests:
-	$(eval CMAKE_ARGS += -DCONFIG=px4_sitl_test)
 	$(eval CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
 	$(eval ARGS += test_results)
 	$(eval ASAN_OPTIONS += color=always:check_initialization_order=1:detect_stack_use_after_return=1)
@@ -468,25 +466,27 @@ validate_module_configs:
 .PHONY: clean submodulesclean submodulesupdate gazeboclean distclean

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

 submodulesclean:
 	@git submodule foreach --quiet --recursive git clean -ff -x -d
 	@git submodule update --quiet --init --recursive --force || true
 	@git submodule sync --recursive
-	@git submodule update --init --recursive --force
+	@git submodule update --init --recursive --force --jobs 4

 submodulesupdate:
-	@git submodule update --quiet --init --recursive || true
+	@git submodule update --quiet --init --recursive --jobs 4 || true
 	@git submodule sync --recursive
-	@git submodule update --init --recursive
+	@git submodule update --init --recursive --jobs 4

 gazeboclean:
 	@rm -rf ~/.gazebo/*

 distclean: gazeboclean
-	@git submodule deinit -f .
-	@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode"
+	@git submodule deinit --force $(SRC_DIR)
+	@rm -rf "$(SRC_DIR)/build"
+	@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"

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

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

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

 * Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
 * [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
@@ -110,7 +110,7 @@ This repository contains code supporting Pixhawk standard boards (best supported
  * [Hex Cube Yellow](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_yellow.html)
  * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
  * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
-  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/flight_controller/crazyflie2.html)
+  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/complete_vehicles/crazyflie2.html)
  * [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
  * [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
  * [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)
@@ -115,6 +115,7 @@ add_custom_command(
 set(romfs_extract_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_extract.stamp)
 add_custom_command(
 	OUTPUT ${romfs_extract_stamp}
+	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
 	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
 	WORKING_DIRECTORY ${romfs_gen_root_dir}
@@ -34,6 +34,9 @@
 add_subdirectory(airframes)

 px4_add_romfs_files(
+	px4-rc.params
+	px4-rc.simulator
+	px4-rc.mavlink
 	rc.replay
 	rcS
 )
@@ -1,8 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (RTPS)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
@@ -1,4 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
@@ -0,0 +1,54 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default EKF2_ARSP_THR 8
+param set-default EKF2_FUSE_BETA 1
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
+
+param set-default FW_LND_AIRSPD_SC 1
+param set-default FW_LND_ANG 8
+param set-default FW_THR_LND_MAX 0
+
+param set-default FW_L1_PERIOD 12
+
+param set-default FW_MAN_P_MAX 30
+
+param set-default FW_PR_I 0.4
+param set-default FW_PR_P 0.9
+param set-default FW_PR_FF 0.2
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
+param set-default FW_P_LIM_MIN -15
+
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_P 0.3
+
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_THR_CRUISE 0.25
+
+param set-default FW_T_ALT_TC 2
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_TAS_TC 2
+
+param set-default FW_W_EN 1
+
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 30
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 50
+
+param set-default RWTO_TKOFF 1
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom
@@ -14,7 +14,8 @@

 param set-default EKF2_ARSP_THR 8
 param set-default EKF2_FUSE_BETA 1
-param set-default ASPD_STALL 10.0
+
+param set-default FW_AIRSPD_STALL 8

 param set-default FW_P_RMAX_NEG 20.0
 param set-default FW_P_RMAX_POS 60.0
@@ -46,8 +46,6 @@ px4_add_romfs_files(
 	1014_solo
 	1015_iris_obs_avoid
 	1015_iris_obs_avoid.post
-	1016_iris_rtps
-	1016_iris_rtps.post
 	1017_iris_opt_flow_mockup
 	1018_iris_vision_velocity
 	1019_iris_dual_gps
@@ -62,6 +60,7 @@ px4_add_romfs_files(
 	1034_rascal-electric
 	1035_techpod
 	1036_malolo
+	1037_believer
 	1040_standard_vtol
 	1041_tailsitter
 	1042_tiltrotor
@@ -0,0 +1,32 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+udp_offboard_port_local=$((14580+px4_instance))
+udp_offboard_port_remote=$((14540+px4_instance))
+[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
+udp_onboard_payload_port_local=$((14280+px4_instance))
+udp_onboard_payload_port_remote=$((14030+px4_instance))
+udp_onboard_gimbal_port_local=$((13030+px4_instance))
+udp_onboard_gimbal_port_remote=$((13280+px4_instance))
+udp_gcs_port_local=$((18570+px4_instance))
+
+# GCS link
+mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
+mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
+mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
+mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
+mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
+mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
+mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
+mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
+mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
+mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
+
+# API/Offboard link
+mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
+
+# Onboard link to camera
+mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
+
+# Onboard link to gimbal
+mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
@@ -0,0 +1,5 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+#param set MAV_SYS_ID $((px4_instance+1))
+#param set IMU_INTEG_RATE 250
@@ -0,0 +1,20 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+simulator_tcp_port=$((4560+px4_instance))
+
+# Check if PX4_SIM_HOSTNAME environment variable is empty
+# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
+# If both are empty use localhost for simulator
+if [ -z "${PX4_SIM_HOSTNAME}" ]; then
+  if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
+    echo "PX4 SIM HOST: localhost"
+    simulator start -c $simulator_tcp_port
+  else
+    echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
+    simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
+  fi
+else
+  echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
+  simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
+fi
@@ -5,7 +5,8 @@
 # shellcheck disable=SC1091
 . px4-alias.sh

-SCRIPT_DIR="$(CDPATH='' cd -- "$(dirname -- "$0")" && pwd)"
+#search path for sourcing px4-rc.*
+PATH="$PATH:${R}etc/init.d-posix"

 #
 # Main SITL startup script
@@ -45,12 +46,12 @@ else
 	# Find the matching Autostart ID (file name has the form: [0-9]+_${PX4_SIM_MODEL})
 	# TODO: unify with rc.autostart generation
 	# shellcheck disable=SC2012
-	REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
+	REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
 	if [ -z "$REQUESTED_AUTOSTART" ]; then
-		echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on $SCRIPT_DIR/airframes)"
+		echo "ERROR  [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
 		exit 1
 	else
-		echo "Info: found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
+		echo "INFO  [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
 	fi
 fi

@@ -104,15 +105,6 @@ fi
 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
-simulator_tcp_port=$((4560+px4_instance))
-udp_offboard_port_local=$((14580+px4_instance))
-udp_offboard_port_remote=$((14540+px4_instance))
-[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
-udp_onboard_payload_port_local=$((14280+px4_instance))
-udp_onboard_payload_port_remote=$((14030+px4_instance))
-udp_onboard_gimbal_port_local=$((13030+px4_instance))
-udp_onboard_gimbal_port_remote=$((13280+px4_instance))
-udp_gcs_port_local=$((18570+px4_instance))

 if [ $AUTOCNF = yes ]
 then
@@ -134,7 +126,7 @@ then
 	param set SYS_RESTART_TYPE 2
 fi

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

 param set-default CBRK_AIRSPD_CHK 0
 param set-default CBRK_SUPPLY_CHK 894281
@@ -216,25 +208,14 @@ fi
 # Simulator IMU data provided at 250 Hz
 param set IMU_INTEG_RATE 250

+#user defined params for instances can be in PATH
+. px4-rc.params
+
 dataman start
 # only start the simulator if not in replay mode, as both control the lockstep time
 if ! replay tryapplyparams
 then
-  # Check if PX4_SIM_HOSTNAME environment variable is empty
-  # If empty check if PX4_SIM_HOST_ADDR environment variable is empty
-  # If both are empty use localhost for simulator
-  if [ -z "${PX4_SIM_HOSTNAME}" ]; then
-    if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
-      echo "PX4 SIM HOST: localhost"
-      simulator start -c $simulator_tcp_port
-    else
-      echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
-      simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port 
-    fi
-  else
-    echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
-    simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port 
-  fi
+  . px4-rc.simulator
 fi
 load_mon start
 battery_simulator start
@@ -244,6 +225,12 @@ sensors start
 commander start
 navigator start

+# Try to start the micrortps_client with UDP transport if module exists
+if px4-micrortps_client status > /dev/null 2>&1
+then
+	# shellcheck disable=SC2154
+	micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
+fi

 if param greater -s MNT_MODE_IN -1
 then
@@ -272,32 +259,8 @@ fi
 #
 . ${R}etc/init.d/rc.vehicle_setup

-if [ -e etc/init.d-posix/rc.mavlink_override ]
-then
-	echo "Running non-default mavlink config rc.mavlink_override"
-	. ${R}etc/init.d-posix/rc.mavlink_override
-else
-	# GCS link
-	mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
-	mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
-	mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
-	mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
-	mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
-	mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
-	mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
-	mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
-	mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
-	mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
-
-	# API/Offboard link
-	mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
-
-	# Onboard link to camera
-	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
-
-	# Onboard link to gimbal
-	mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
-fi
+#user defined mavlink streams for instances can be in PATH
+. px4-rc.mavlink

 # execute autostart post script if any
 [ -e "$autostart_file".post ] && . "$autostart_file".post
@@ -13,12 +13,13 @@
 # @output MAIN6 gear
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
+# @board px4_fmu-v2 exclude
 #

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


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

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

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

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


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

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


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

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

 param set-default PWM_MAIN_MIN 1080
+
 set MIXER quad_w

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

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


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

 param set-default COM_RC_IN_MODE 1

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

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

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


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

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


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

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

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

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


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

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

-
-set MIXER phantom
+set MIXER fw_generic_wing

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

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

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

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

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

 param set-default NAV_LOITER_RAD 150

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

-
-set MIXER phantom
+set MIXER fw_generic_wing

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

+set MIXER fw_generic_wing

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

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

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

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


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

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


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

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


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

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

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

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

 param set-default SENS_BOARD_ROT 2

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

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

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

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


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

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

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

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

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

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


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

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


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

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


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

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

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

 # TELEM1 ttyS1
 param set-default MAV_0_CONFIG 101
@@ -71,7 +71,6 @@ px4_add_romfs_files(
 	4016_holybro_px4vision
 	4017_nxp_hovergames
 	4018_s500_ctrlalloc
-	4020_hk_micro_pcb
 	4030_3dr_solo
 	4031_3dr_quad
 	4040_reaper
@@ -16,6 +16,8 @@ param set-default COM_POS_FS_EPV 30
 param set-default COM_POS_FS_GAIN 0
 param set-default COM_POS_FS_PROB 1
 param set-default COM_VEL_FS_EVH 5
+# Disable preflight disarm to not interfere with external launching
+param set-default COM_DISARM_PRFLT -1

 param set-default EKF2_ARSP_THR 8
 param set-default EKF2_FUSE_BETA 1
@@ -226,6 +226,8 @@ then
 	fi
 fi

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

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

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

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

 # probe for optional external I2C devices
@@ -23,6 +23,7 @@ param set-default MPC_XY_ERR_MAX 5
 param set-default MPC_XY_VEL_MAX 4
 param set-default MPC_Z_VEL_MAX_DN 1.5
 param set-default MPC_JERK_MAX 4.5
+param set-default MPC_YAW_MODE 4

 param set-default NAV_ACC_RAD 3

@@ -30,7 +30,7 @@ set FRC /fs/microsd/etc/rc.txt
 set IOFW "/etc/extras/px4_io-v2_default.bin"
 set IO_PRESENT no
 set LOGGER_ARGS ""
-set LOGGER_BUF  14
+set LOGGER_BUF 8
 set MAV_TYPE none
 set MIXER none
 set MIXER_AUX none
@@ -81,33 +81,6 @@ then
 			hardfault_log reset
 		fi
 	fi
-
-	# Prevent MacOS and Ubuntu from creating unnecessary temporary files on the microSD card
-
-	# block MacOS Spotlight indexing (.Spotlight-V100 folder)
-	if [ ! -f "/fs/microsd/.metadata_never_index" ]; then
-		cat > /fs/microsd/.metadata_never_index
-	fi
-
-	# block MacOS trashes
-	if [ ! -f "/fs/microsd/.Trashes" ]; then
-		cat > /fs/microsd/.Trashes
-	fi
-
-	# block MacOS logging of filesystem events
-	if [ ! -d "/fs/microsd/.fseventsd" ]; then
-		mkdir /fs/microsd/.fseventsd
-	fi
-
-	if [ ! -f "/fs/microsd/.fseventsd/no_log" ]; then
-		cat > /fs/microsd/.fseventsd/no_log
-	fi
-
-	# block Ubuntu trash
-	if [ ! -f "/fs/microsd/.Trash-1000" ]; then
-		cat > /fs/microsd/.Trash-1000
-	fi
-
 else
 	# tune SD_INIT
 	set STARTUP_TUNE 14 # tune 14 = SD_INIT
@@ -404,21 +377,30 @@ else

 	if param greater -s TRIG_MODE 0
 	then
-		# We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
-		if param compare TRIG_PINS 56
+		if param compare TRIG_PINS_EX 0
 		then
-			# clear pins 5 and 6
-			set FMU_MODE pwm4
-			set AUX_MODE pwm4
-		else
-			if param compare TRIG_PINS 78
+			# We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
+			if param compare TRIG_PINS 56
 			then
-				# clear pins 7 and 8
-				set FMU_MODE pwm6
-				set AUX_MODE pwm6
+				# clear pins 5 and 6
+				set FMU_MODE pwm4
+				set AUX_MODE pwm4
 			else
-				set FMU_MODE none
-				set AUX_MODE none
+				if param compare TRIG_PINS 78
+				then
+					# clear pins 7 and 8
+					set FMU_MODE pwm6
+					set AUX_MODE pwm6
+				else
+					set FMU_MODE none
+					set AUX_MODE none
+				fi
+			fi
+		else
+			if param compare TRIG_PINS_EX 12288
+			then
+				set FMU_MODE pwm12
+				set AUX_MODE pwm12
 			fi
 		fi

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


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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

 def do_nsh_cmd(port, baudrate, cmd):
-    databits = serial.EIGHTBITS
-    stopbits = serial.STOPBITS_ONE
-    parity = serial.PARITY_NONE
-    ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=0.1)
+    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.1, xonxoff=True, rtscts=False, dsrdtr=False)

-    # run command
    timeout_start = time.time()
    timeout = 10  # 10 seconds

+    # wait for nsh prompt
+    while True:
+        ser.write("\n".encode("ascii"))
+        ser.flush()
+
+        serial_line = ser.readline().decode("ascii", errors='ignore')
+
+        if "nsh>" in serial_line:
+            break
+        else:
+            if len(serial_line) > 0:
+                print_line(serial_line)
+
+        if time.time() > timeout_start + timeout:
+            print("Error, timeout waiting for prompt")
+            sys.exit(1)
+
    # clear
-    ser.write("\n".encode("ascii"))
-    ser.flush()
-    ser.readline()
+    ser.readlines()
+
+    # run command
+    timeout_start = time.time()
+    timeout = 1  # 1 second

    success_cmd = "cmd succeeded!"

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

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

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


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

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

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

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

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

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

    success = False

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

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

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

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


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

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

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

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

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

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

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

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

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

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

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

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