Add windshear plugin

This commit adds SITL targets for the dynamic soaring aircraft and additional plugins in the sitl_gazebo submodule
Disable unused targets
2026-06-03 12:30:04 +08:00 · 2022-02-20 12:44:26 +01:00 · 2021-12-30 11:02:12 +01:00 · 2021-12-30 11:02:12 +01:00 · 2021-12-30 11:02:12 +01:00 · 2021-12-30 11:02:12 +01:00
278 changed files with 6376 additions and 5180 deletions
@@ -46,7 +46,9 @@ pipeline {
                     "cuav_can-gps-v1_default",
                     "cuav_nora_default",
                     "cuav_x7pro_default",
+                     "cubepilot_cubeorange_console",
                     "cubepilot_cubeorange_default",
+                     "cubepilot_cubeyellow_console",
                     "cubepilot_cubeyellow_default",
                     "holybro_can-gps-v1_canbootloader",
                     "holybro_can-gps-v1_default",
@@ -54,7 +56,6 @@ pipeline {
                     "holybro_kakutef7_default",
                     "holybro_pix32v5_default",
                     "modalai_fc-v1_default",
-                     "modalai_fc-v1_rtps",
                     "mro_ctrl-zero-f7_default",
                     "mro_ctrl-zero-f7-oem_default",
                     "mro_ctrl-zero-h7_default",
@@ -76,6 +77,7 @@ pipeline {
                     "px4_fmu-v2_fixedwing",
                     "px4_fmu-v2_multicopter",
                     "px4_fmu-v2_rover",
+                     "px4_fmu-v2_test",
                     "px4_fmu-v3_default",
                     "px4_fmu-v4_cannode",
                     "px4_fmu-v4_default",
@@ -94,6 +96,7 @@ pipeline {
                     "px4_fmu-v5x_base_phy_DP83848C",
                     "px4_fmu-v5x_default",
                     "px4_fmu-v6u_default",
+                     "px4_fmu-v6u_test",
                     "px4_fmu-v6x_default",
                     "px4_io-v2_default",
                     "spracing_h7extreme_default",
@@ -7,9 +7,9 @@ pipeline {

      parallel {

-        stage("cubepilot_cubeorange_test") {
+        stage("cubepilot_cubeorange_console") {
          stages {
-            stage("build cubepilot_cubeorange_test") {
+            stage("build cubepilot_cubeorange_console") {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
@@ -22,10 +22,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make cubepilot_cubeorange_test'
+                sh 'make cubepilot_cubeorange_console'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cubepilot_cubeorange_console'
              }
              post {
                always {
@@ -42,9 +42,9 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'cubepilot_cubeorange_test'
+                    unstash 'cubepilot_cubeorange_console'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_console/cubepilot_cubeorange_console.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
@@ -52,12 +52,12 @@ pipeline {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/cubepilot_io-v2_default.bin" || true' // force px4io update
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                  }
                }
                stage("status") {
@@ -84,9 +84,9 @@ pipeline {
          }
        }

-        stage("cuav_x7pro_test") {
+        stage("cuav_x7pro_default") {
          stages {
-            stage("build cuav_x7pro_test") {
+            stage("build cuav_x7pro_default") {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
@@ -99,10 +99,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make cuav_x7pro_test'
+                sh 'make cuav_x7pro_default'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cuav_x7pro_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cuav_x7pro_default'
              }
              post {
                always {
@@ -119,21 +119,21 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'cuav_x7pro_test'
+                    unstash 'cuav_x7pro_default'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_default/cuav_x7pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                  }
                }
                stage("status") {
@@ -160,9 +160,61 @@ pipeline {
          }
        }

-        stage("px4_fmu-v3_test") {
+        // stage("px4_fmu-v2_test") {
+        //   stages {
+        //     stage("build px4_fmu-v2_test") {
+        //       agent {
+        //         docker {
+        //           image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+        //           args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+        //         }
+        //       }
+        //       steps {
+        //         sh 'export'
+        //         sh 'make distclean'
+        //         sh 'ccache -s'
+        //         sh 'git fetch --tags'
+        //         sh 'make px4_fmu-v2_test'
+        //         sh 'make sizes'
+        //         sh 'ccache -s'
+        //         stash includes: 'build/px4_fmu-v2_test/px4_fmu-v2_test.elf', name: 'px4_fmu-v2_test'
+        //       }
+        //       post {
+        //         always {
+        //             sh 'make distclean'
+        //         }
+        //       }
+        //     } // stage build
+        //     stage("test") {
+        //       agent {
+        //         label 'px4_fmu-v2'
+        //       }
+        //       stages {
+        //         stage("flash") {
+        //           steps {
+        //             sh 'export'
+        //             sh 'find /dev/serial'
+        //             unstash 'px4_fmu-v2_test'
+        //             // flash board and watch bootup
+        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+        //           }
+        //         }
+        //         stage("reset") {
+        //           steps {
+        //             cleanupFTDI();
+        //           }
+        //         }
+        //       }
+        //       options {
+        //         timeout(time: 90, unit: 'MINUTES')
+        //       }
+        //     }
+        //   }
+        // }
+
+        stage("px4_fmu-v3_default") {
          stages {
-            stage("build px4_fmu-v3_test") {
+            stage("build px4_fmu-v3_default") {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
@@ -175,10 +227,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make px4_fmu-v3_test'
+                sh 'make px4_fmu-v3_default'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v3_default'
              }
              post {
                always {
@@ -195,21 +247,21 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v3_test'
+                    unstash 'px4_fmu-v3_default'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_default/px4_fmu-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"'   // generic vtol standard
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                  }
                }
                stage("status") {
@@ -236,9 +288,9 @@ pipeline {
          }
        }

-        stage("px4_fmu-v4_test") {
+        stage("px4_fmu-v4_default") {
          stages {
-            stage("build px4_fmu-v4_test") {
+            stage("build px4_fmu-v4_default") {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
@@ -251,10 +303,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make px4_fmu-v4_test'
+                sh 'make px4_fmu-v4_default'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4_default'
              }
              post {
                always {
@@ -271,21 +323,20 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v4_test'
+                    unstash 'px4_fmu-v4_default'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_default/px4_fmu-v4_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                  }
                }
                stage("status") {
@@ -312,9 +363,9 @@ pipeline {
          }
        }

-        stage("px4_fmu-v4pro_test") {
+        stage("px4_fmu-v4pro_default") {
          stages {
-            stage("build px4_fmu-v4pro_test") {
+            stage("build px4_fmu-v4pro_default") {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
@@ -327,10 +378,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make px4_fmu-v4pro_test'
+                sh 'make px4_fmu-v4pro_default'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4pro_default'
              }
              post {
                always {
@@ -347,21 +398,21 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v4pro_test'
+                    unstash 'px4_fmu-v4pro_default'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"'   // generic vtol standard
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                  }
                }
                stage("status") {
@@ -388,9 +439,9 @@ pipeline {
          }
        }

-        stage("px4_fmu-v5_test") {
+        stage("px4_fmu-v5_default") {
          stages {
-            stage("build px4_fmu-v5_test") {
+            stage("build px4_fmu-v5_default") {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
@@ -403,10 +454,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make px4_fmu-v5_test'
+                sh 'make px4_fmu-v5_default'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_default'
              }
              post {
                always {
@@ -423,21 +474,21 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v5_test'
+                    unstash 'px4_fmu-v5_default'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_default/px4_fmu-v5_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                  }
                }
                stage("status") {
@@ -510,14 +561,13 @@ pipeline {
                stage("configure") {
                  steps {
                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"'  // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'   // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'   // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                 // reboot to apply
                  }
                }
                stage("status") {
@@ -587,13 +637,12 @@ pipeline {
                stage("configure") {
                  steps {
                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                  }
                }
                stage("status") {
@@ -666,14 +715,13 @@ pipeline {
                stage("configure") {
                  steps {
                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"'  // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0"'        // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'   // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0"'       // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'   // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                 // reboot to apply
                  }
                }
                stage("status") {
@@ -700,9 +748,9 @@ pipeline {
          }
        }

-        stage("modalai_fc-v1_test") {
+        stage("modalai_fc-v1_default") {
          stages {
-            stage("build modalai_fc-v1_test") {
+            stage("build modalai_fc-v1_default") {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
@@ -715,10 +763,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make modalai_fc-v1_test'
+                sh 'make modalai_fc-v1_default'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_default'
              }
              post {
                always {
@@ -735,21 +783,20 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'modalai_fc-v1_test'
+                    unstash 'modalai_fc-v1_default'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_default/modalai_fc-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'  // generic vtol standardulticopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                  }
                }
                stage("status") {
@@ -776,9 +823,9 @@ pipeline {
          }
        }

-        stage("holybro_durandal-v1_test") {
+        stage("holybro_durandal-v1_default") {
          stages {
-            stage("build holybro_durandal-v1_test") {
+            stage("build holybro_durandal-v1_default") {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
@@ -791,10 +838,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make holybro_durandal-v1_test'
+                sh 'make holybro_durandal-v1_default'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'holybro_durandal-v1_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'holybro_durandal-v1_default'
              }
              post {
                always {
@@ -811,21 +858,24 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'holybro_durandal-v1_test'
+                    unstash 'holybro_durandal-v1_default'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_test/holybro_durandal-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set DSHOT_CONFIG 600"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 4000"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_USE_IO 0"'          // for dshot
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                  }
                }
                stage("status") {
@@ -853,9 +903,9 @@ pipeline {
          }
        }

-        stage("nxp_fmuk66-v3_test") {
+        stage("nxp_fmuk66-v3_default") {
          stages {
-            stage("build nxp_fmuk66-v3_test") {
+            stage("build nxp_fmuk66-v3_default") {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
@@ -868,10 +918,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make nxp_fmuk66-v3_test'
+                sh 'make nxp_fmuk66-v3_default'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_default'
              }
              post {
                always {
@@ -888,21 +938,20 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'nxp_fmuk66-v3_test'
+                    unstash 'nxp_fmuk66-v3_default'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                  }
                }
                stage("status") {
@@ -978,7 +1027,6 @@ void statusFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gps"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag"'
@@ -990,7 +1038,6 @@ void statusFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_gps_position"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position"'
@@ -18,7 +18,7 @@ jobs:
          "check_format",
          "tests",
          "tests_coverage",
-          "px4_fmu-v2_default stack_check",
+          # "px4_fmu-v2_default stack_check",
          "validate_module_configs",
          "shellcheck_all",
          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
@@ -15,23 +15,23 @@ jobs:
    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,
+          # 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_console,
+          # cubepilot_cubeorange_default,
+          # cubepilot_cubeyellow_console,
+          # cubepilot_cubeyellow_default,
+          # cubepilot_io-v2_default,
          holybro_can-gps-v1_canbootloader,
          holybro_can-gps-v1_debug,
          holybro_can-gps-v1_default,
@@ -39,28 +39,28 @@ jobs:
          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,
+          # 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-v2_default,
+          # px4_fmu-v2_fixedwing,
+          # px4_fmu-v2_multicopter,
+          # px4_fmu-v2_rover,
+          # px4_fmu-v2_test,
          px4_fmu-v3_default,
          px4_fmu-v4_cannode,
          px4_fmu-v4_default,
@@ -76,13 +76,14 @@ jobs:
          px4_fmu-v5_stackcheck,
          px4_fmu-v5_uavcanv0periph,
          px4_fmu-v5_uavcanv1,
-          px4_fmu-v5x_base_phy_DP83848C,
-          px4_fmu-v5x_default,
+          # px4_fmu-v5x_base_phy_DP83848C,
+          # px4_fmu-v5x_default,
          px4_fmu-v6u_default,
+          px4_fmu-v6u_test,
          px4_fmu-v6x_default,
          px4_io-v2_default,
          spracing_h7extreme_default,
-          uvify_core_default
+          # uvify_core_default
          ]
    steps:
    - uses: actions/checkout@v1
@@ -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
@@ -0,0 +1,55 @@
+name: RotorS PX4 Build Test
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        container:
+        - 'px4io/px4-dev-simulation-bionic:2020-11-18' # Gazebo 9
+    container:
+      image: ${{ matrix.container }}
+      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: rotors_tests-RelWithDebInfo-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: rotors_tests-RelWithDebInfo-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: Install glog
+      run: apt update && apt install -y libgoogle-glog-dev libyaml-cpp-dev
+    - name: Build PX4 RotorS
+      env:
+        PX4_CMAKE_BUILD_TYPE: RelWithDebInfo
+        DONT_RUN: 1
+      run: make px4_sitl rotors
+    - name: ccache post-run px4/firmware
+      run: ccache -s
@@ -28,9 +28,9 @@ 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/v0.36.0/mavsdk_0.36.0_ubuntu20.04_amd64.deb
    - name: Install MAVSDK
-      run: dpkg -i mavsdk_0.38.0_ubuntu20.04_amd64.deb
+      run: dpkg -i mavsdk_0.36.0_ubuntu20.04_amd64.deb

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@@ -0,0 +1,22 @@
+# This pipeline keeps the master branch up to date with upstream master
+name: Upstream Synchronization
+
+on:
+  schedule:
+  - cron:  "*/15 * * * *"
+  workflow_dispatch:
+
+jobs:
+  repo-sync:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        persist-credentials: false
+    - name: repo-sync
+      uses: repo-sync/github-sync@v2
+      with:
+        source_repo: "https://github.com/PX4/PX4-Autopilot.git"
+        source_branch: "master"
+        destination_branch: "master"
+        github_token: ${{ secrets.PAT }}
@@ -1,6 +1,6 @@
 [submodule "mavlink/include/mavlink/v2.0"]
 	path = mavlink/include/mavlink/v2.0
-	url = https://github.com/mavlink/c_library_v2.git
+	url = https://github.com/ethz-asl/fw_mavlink_c_library_v2.git
 	branch = master
 [submodule "src/drivers/uavcan/libuavcan"]
 	path = src/drivers/uavcan/libuavcan
@@ -59,7 +59,10 @@
 	url = https://github.com/UAVCAN/public_regulated_data_types.git
 [submodule "src/drivers/uavcannode_gps_demo/public_regulated_data_types"]
 	path = src/drivers/uavcannode_gps_demo/public_regulated_data_types
-	url = https://github.com/UAVCAN/public_regulated_data_types.git
+	url = https://github.com/UAVCAN/public_regulated_data_types
 [submodule "src/drivers/uavcannode_gps_demo/libcanard"]
 	path = src/drivers/uavcannode_gps_demo/libcanard
-	url = https://github.com/UAVCAN/libcanard.git
+	url = https://github.com/UAVCAN/libcanard
+[submodule "Tools/rotors_simulator"]
+	path = Tools/rotors_simulator
+	url = https://github.com/ethz-asl/rotors_simulator.git
@@ -96,11 +96,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: cuav_x7pro_default
-    cubepilot_cubeorange_test:
+    cubepilot_cubeorange_default:
      short: cubepilot_cubeorange
      buildType: MinSizeRel
      settings:
-        CONFIG: cubepilot_orange_test
+        CONFIG: cubepilot_orange_default
+    cubepilot_cubeyellow_default:
+      short: cubepilot_cubeyellow
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cubepilot_cubeyellow_default
    emlid_navio2_default:
      short: emlid_navio2
      buildType: MinSizeRel
@@ -89,7 +89,6 @@ pipeline {
          }
          steps {
            sh 'make distclean'
-            sh 'git fetch --all --tags'
            sh 'make airframe_metadata'
            dir('build/px4_sitl_default/docs') {
              archiveArtifacts(artifacts: 'airframes.md, airframes.xml')
@@ -109,7 +108,6 @@ pipeline {
          }
          steps {
            sh 'make distclean'
-            sh 'git fetch --all --tags'
            sh 'make parameters_metadata'
            dir('build/px4_sitl_default/docs') {
              archiveArtifacts(artifacts: 'parameters.md, parameters.xml, parameters.json.xz')
@@ -129,7 +127,6 @@ pipeline {
          }
          steps {
            sh 'make distclean'
-            sh 'git fetch --all --tags'
            sh 'make module_documentation'
            dir('build/px4_sitl_default/docs') {
              archiveArtifacts(artifacts: 'modules/*.md')
@@ -153,7 +150,6 @@ pipeline {
          steps {
            sh 'export'
            sh 'make distclean'
-            sh 'git fetch --all --tags'
            sh 'make uorb_graphs'
            dir('Tools/uorb_graph') {
              archiveArtifacts(artifacts: 'graph_px4_sitl.json')
@@ -303,7 +303,7 @@ check_%:
 	@echo

 uorb_graphs:
-	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib --file Tools/uorb_graph/graph_full
+	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --file Tools/uorb_graph/graph_full
 	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
 	@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
 	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
@@ -17,7 +17,7 @@ PX4 is highly portable, OS-independent and supports Linux, NuttX and QuRT out of
  * [VTOL](https://docs.px4.io/master/en/frames_vtol/)
  * [Autogyro](https://docs.px4.io/master/en/frames_autogyro/)
  * [Rover](https://docs.px4.io/master/en/frames_rover/)
-  * many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
+  * many more experimental types (Blimps, Boats, Submarines, Autogyros, etc)
 * Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)


@@ -10,39 +10,43 @@
 . ${R}etc/init.d/rc.mc_defaults
 . ${R}etc/init.d/rc.ctrlalloc

-param set-default MPC_USE_HTE 0
+if [ $AUTOCNF = yes ]
+then
+	param set MPC_USE_HTE 0

-param set-default VM_MASS 1.5
-param set-default VM_INERTIA_XX 0.03
-param set-default VM_INERTIA_YY 0.03
-param set-default VM_INERTIA_ZZ 0.05
+	param set VM_MASS 1.5
+	param set VM_INERTIA_XX 0.03
+	param set VM_INERTIA_YY 0.03
+	param set VM_INERTIA_ZZ 0.05

-param set-default CA_AIRFRAME 0
-param set-default CA_METHOD 1
-param set-default CA_ACT0_MIN 0.0
-param set-default CA_ACT1_MIN 0.0
-param set-default CA_ACT2_MIN 0.0
-param set-default CA_ACT3_MIN 0.0
-param set-default CA_ACT0_MAX 1.0
-param set-default CA_ACT1_MAX 1.0
-param set-default CA_ACT2_MAX 1.0
-param set-default CA_ACT3_MAX 1.0
+	param set CA_AIRFRAME 0
+	param set CA_METHOD 1
+	param set CA_ACT0_MIN 0.0
+	param set CA_ACT1_MIN 0.0
+	param set CA_ACT2_MIN 0.0
+	param set CA_ACT3_MIN 0.0
+	param set CA_ACT0_MAX 1.0
+	param set CA_ACT1_MAX 1.0
+	param set CA_ACT2_MAX 1.0
+	param set CA_ACT3_MAX 1.0

-param set-default CA_MC_R0_PX 0.1515
-param set-default CA_MC_R0_PY 0.245
-param set-default CA_MC_R0_CT 6.5
-param set-default CA_MC_R0_KM 0.05
-param set-default CA_MC_R1_PX -0.1515
-param set-default CA_MC_R1_PY -0.1875
-param set-default CA_MC_R1_CT 6.5
-param set-default CA_MC_R1_KM 0.05
-param set-default CA_MC_R2_PX 0.1515
-param set-default CA_MC_R2_PY -0.245
-param set-default CA_MC_R2_CT 6.5
-param set-default CA_MC_R2_KM -0.05
-param set-default CA_MC_R3_PX -0.1515
-param set-default CA_MC_R3_PY 0.1875
-param set-default CA_MC_R3_CT 6.5
-param set-default CA_MC_R3_KM -0.05
+	param set CA_MC_R0_PX 0.1515
+	param set CA_MC_R0_PY 0.245
+	param set CA_MC_R0_CT 6.5
+	param set CA_MC_R0_KM 0.05
+	param set CA_MC_R1_PX -0.1515
+	param set CA_MC_R1_PY -0.1875
+	param set CA_MC_R1_CT 6.5
+	param set CA_MC_R1_KM 0.05
+	param set CA_MC_R2_PX 0.1515
+	param set CA_MC_R2_PY -0.245
+	param set CA_MC_R2_CT 6.5
+	param set CA_MC_R2_KM -0.05
+	param set CA_MC_R3_PX -0.1515
+	param set CA_MC_R3_PY 0.1875
+	param set CA_MC_R3_CT 6.5
+	param set CA_MC_R3_KM -0.05
+
+fi

 set MIXER direct
@@ -7,6 +7,8 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-param set-default EKF2_RNG_AID 1
-param set-default EKF2_RNG_A_HMAX 10
-
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_RNG_AID 1
+	param set EKF2_RNG_A_HMAX 10
+fi
@@ -8,12 +8,15 @@

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

-# EKF2: Multi GPS blending (as the model has 2 GPS's)
-param set-default SENS_GPS_MASK 7
-param set-default TRIG_INTERFACE 3
-param set-default TRIG_MODE 4
-param set-default MNT_MODE_IN 4
-param set-default MNT_MODE_OUT 2
-param set-default MNT_DO_STAB 2
+if [ $AUTOCNF = yes ]
+then
+	# EKF2: Multi GPS blending (as the model has 2 GPS's)
+	param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
+	param set TRIG_INTERFACE 3
+	param set TRIG_MODE 4
+	param set MNT_MODE_IN 4
+	param set MNT_MODE_OUT 2
+	param set MNT_DO_STAB 2
+fi

 set MIXER quad_x
@@ -7,14 +7,16 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-# EKF2
-param set-default EKF2_AID_MASK 2
-param set-default EKF2_EVP_NOISE 0.05
-param set-default EKF2_EVA_NOISE 0.05
+if [ $AUTOCNF = yes ]
+then
+	# EKF2
+	param set EKF2_AID_MASK 2
+	param set EKF2_EVP_NOISE 0.05
+	param set EKF2_EVA_NOISE 0.05

-# LPE: Flow-only mode
-param set-default LPE_FUSION 242
-param set-default LPE_FAKE_ORIGIN 1
-
-param set-default MPC_ALT_MODE 2
+	# LPE: Flow-only mode
+	param set LPE_FUSION 242
+	param set LPE_FAKE_ORIGIN 1

+	param set MPC_ALT_MODE 2
+fi
@@ -7,9 +7,12 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-# enable fusion of landing target velocity
-param set-default LTEST_MODE 1
-param set-default PLD_HACC_RAD 0.1
+if [ $AUTOCNF = yes ]
+then
+	# enable fusion of landing target velocity
+	param set LTEST_MODE 1
+	param set PLD_HACC_RAD 0.1
+fi

 # Start up Landing Target Estimator module
 landing_target_estimator start
@@ -7,5 +7,7 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-param set-default LPE_FUSION 242
-
+if [ $AUTOCNF = yes ]
+then
+	param set LPE_FUSION 242
+fi
@@ -7,13 +7,15 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-# EKF2: Vision position and heading
-param set-default EKF2_AID_MASK 24
-param set-default EKF2_EV_DELAY 5
+if [ $AUTOCNF = yes ]
+then
+	# EKF2: Vision position and heading
+	param set EKF2_AID_MASK 24
+	param set EKF2_EV_DELAY 5

-# LPE: Vision + baro
-param set-default LPE_FUSION 132
-
-# AEQ: External heading set to use vision input
-param set-default ATT_EXT_HDG_M 1
+	# LPE: Vision + baro
+	param set LPE_FUSION 132

+	# AEQ: External heading set to use vision input
+	param set ATT_EXT_HDG_M 1
+fi
@@ -7,7 +7,10 @@

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

-param set-default MC_PITCHRATE_P 0.1
-param set-default MC_ROLLRATE_P 0.1
+if [ $AUTOCNF = yes ]
+then
+	param set MC_PITCHRATE_P 0.1
+	param set MC_ROLLRATE_P 0.1
+fi

 set MIXER quad_x
@@ -7,6 +7,8 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-param set-default COM_OBS_AVOID 1
-param set-default MPC_XY_CRUISE 5.0
-
+if [ $AUTOCNF = yes ]
+then
+	param set COM_OBS_AVOID 1
+	param set MPC_XY_CRUISE 5.0
+fi
@@ -7,12 +7,15 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-# EKF2
-param set-default EKF2_AID_MASK 2
-param set-default SENS_FLOW_ROT 0
+if [ $AUTOCNF = yes ]
+then
+	# EKF2
+	param set EKF2_AID_MASK 2
+	param set SENS_FLOW_ROT 0

-# LPE: Flow-only mode
-param set-default LPE_FUSION 242
-param set-default LPE_FAKE_ORIGIN 1
+	# LPE: Flow-only mode
+	param set LPE_FUSION 242
+	param set LPE_FAKE_ORIGIN 1

-param set-default MPC_ALT_MODE 2
+	param set MPC_ALT_MODE 2
+fi
@@ -7,6 +7,9 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-# EKF2: Vision velocity and heading
-param set-default EKF2_AID_MASK 272
-param set-default EKF2_EV_DELAY 5
+if [ $AUTOCNF = yes ]
+then
+	# EKF2: Vision velocity and heading
+	param set EKF2_AID_MASK 272
+	param set EKF2_EV_DELAY 5
+fi
@@ -7,5 +7,8 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-# EKF2: Multi GPS blending
-param set-default SENS_GPS_MASK 7
+if [ $AUTOCNF = yes ]
+then
+	# EKF2: Multi GPS blending
+	param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
+fi
@@ -5,13 +5,16 @@

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

-#Set data link loss failsafe mode (0: disabled)
-param set-default NAV_DLL_ACT 0
+if [ $AUTOCNF = yes ]
+then
+	#Set data link loss failsafe mode (0: disabled)
+	param set NAV_DLL_ACT 0

-# disable circuit breaker for airspeed sensor
-param set-default CBRK_AIRSPD_CHK 162128
+	# disable circuit breaker for airspeed sensor
+	param set CBRK_AIRSPD_CHK 162128

-#param set CBRK_GPSFAIL 240024
+	#param set CBRK_GPSFAIL 240024
+fi

 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}
@@ -5,13 +5,16 @@

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

-#Set data link loss failsafe mode (0: disabled)
-param set-default NAV_DLL_ACT 0
+if [ $AUTOCNF = yes ]
+then
+	#Set data link loss failsafe mode (0: disabled)
+	param set NAV_DLL_ACT 0

-# disable circuit breaker for airspeed sensor
-param set-default CBRK_AIRSPD_CHK 162128
+	# disable circuit breaker for airspeed sensor
+	param set CBRK_AIRSPD_CHK 162128

-#param set CBRK_GPSFAIL 240024
+	#param set CBRK_GPSFAIL 240024
+fi

 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}
@@ -5,11 +5,15 @@

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

-#Set data link loss failsafe mode (0: disabled)
-param set-default NAV_DLL_ACT 0
+if [ $AUTOCNF = yes ]
+then
+	#Set data link loss failsafe mode (0: disabled)
+	param set NAV_DLL_ACT 0

-# disable circuit breaker for airspeed sensor
-param set-default CBRK_AIRSPD_CHK 162128
+	# disable circuit breaker for airspeed sensor
+	param set CBRK_AIRSPD_CHK 162128
+
+fi

 set PWM_OUT 12345678
 set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
@@ -5,50 +5,54 @@

 . ${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
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	param set EKF2_MAG_ACCLIM 0
+	param set 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 FW_LND_AIRSPD_SC 1
+	param set FW_LND_ANG 8
+	param set FW_THR_LND_MAX 0

-param set-default FW_L1_PERIOD 12
+	param set FW_L1_PERIOD 12

-param set-default FW_MAN_P_MAX 30
+	param set 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 FW_PR_I 0.4
+	param set FW_PR_P 0.9
+	param set FW_PR_FF 0.2
+	param set FW_PSP_OFF 2
+	param set FW_P_LIM_MAX 32
+	param set FW_P_LIM_MIN -15

-param set-default FW_RR_FF 0.1
-param set-default FW_RR_P 0.3
+	param set FW_RR_FF 0.1
+	param set 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 FW_THR_MAX 0.6
+	param set FW_THR_MIN 0.05
+	param set 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 FW_T_ALT_TC 2
+	param set FW_T_CLMB_MAX 8
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MIN 2.2
+	param set FW_T_TAS_TC 2

-param set-default FW_W_EN 1
+	param set FW_W_EN 1

-param set-default MIS_LTRMIN_ALT 30
-param set-default MIS_TAKEOFF_ALT 30
+	param set MIS_LTRMIN_ALT 30
+	param set 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 NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50

-param set-default RWTO_TKOFF 1
+	param set RWTO_TKOFF 1
+
+fi

 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom
@@ -5,8 +5,10 @@

 . ${R}etc/init.d-posix/airframes/1030_plane

-# Camera trigger interface is MAVLink
-param set-default TRIG_INTERFACE 3
-
-# Distance trigger mode enabled
-param set-default TRIG_MODE 4
+if [ $AUTOCNF = yes ]
+then
+	# Camera trigger interface is MAVLink
+	param set TRIG_INTERFACE 3
+	# Distance trigger mode enabled
+	param set TRIG_MODE 4
+fi
@@ -5,5 +5,8 @@

 . ${R}etc/init.d-posix/airframes/1030_plane

-param set-default RWTO_TKOFF 0
+if [ $AUTOCNF = yes ]
+then
+	param set RWTO_TKOFF 0

+fi
@@ -5,5 +5,8 @@

 . ${R}etc/init.d-posix/airframes/1030_plane

-param set-default FW_LND_USETER 1
+if [ $AUTOCNF = yes ]
+then
+	param set FW_LND_USETER 1

+fi
@@ -5,55 +5,54 @@

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

-param set-default EKF2_ARSP_THR 8
-param set-default EKF2_FUSE_BETA 1
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	#param set EKF2_MAG_ACCLIM 0
+	#param set EKF2_MAG_YAWLIM 0

-param set-default FW_LND_AIRSPD_SC 1.1
-param set-default FW_LND_ANG 5
-param set-default FW_THR_LND_MAX 0
-param set-default FW_LND_HHDIST 30
-param set-default FW_LND_FL_PMIN 9.5
-param set-default FW_LND_FL_PMAX 20
-param set-default FW_LND_FLALT 5
-param set-default FW_LND_TLALT 15
+	param set FW_LND_AIRSPD_SC 1.1
+	param set FW_LND_ANG 5
+	param set FW_THR_LND_MAX 0
+	param set FW_LND_HHDIST 30
+	param set FW_LND_FL_PMIN 9.5
+	param set FW_LND_FL_PMAX 20
+	param set FW_LND_FLALT 5
+	param set FW_LND_TLALT 15

-param set-default FW_L1_PERIOD 25
+	param set FW_L1_PERIOD 25

-param set-default FW_P_TC 0.4
-param set-default FW_PR_FF 0.40
-param set-default FW_PR_I 0.05
-param set-default FW_PR_P 0.05
+	param set FW_P_TC 0.4
+	param set FW_PR_FF 0.40
+	param set FW_PR_I 0.05
+	param set FW_PR_P 0.05

-param set-default FW_R_TC 0.45
-param set-default FW_RR_FF 0.40
-param set-default FW_RR_I 0.132
-param set-default FW_RR_P 0.085
+	param set FW_R_TC 0.45
+	param set FW_RR_FF 0.40
+	param set FW_RR_I 0.132
+	param set FW_RR_P 0.085

-param set-default FW_W_EN 1
+	param set FW_W_EN 1

-param set-default MIS_LTRMIN_ALT 30
-param set-default MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500
-param set-default MIS_DIST_WPS 10000
+	param set MIS_LTRMIN_ALT 30
+	param set MIS_TAKEOFF_ALT 20
+	param set MIS_DIST_1WP 2500
+	param set MIS_DIST_WPS 10000

-param set-default NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 50
+	param set NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50

-param set-default RWTO_TKOFF 1
-
-# fix takeoff failure for JSBsim in autonomous mission mode.
-#param set FW_THR_SLEW_MAX 0.3
-
-param set-default RWTO_MAX_PITCH 20
-param set-default RWTO_MAX_ROLL 10
-
-# fix takeoff failure for JSBsim in autonomous mission mode.
-#param set-default RWTO_MAX_THR 0.6
-
-param set-default RWTO_PSP 8
-param set-default RWTO_AIRSPD_SCL 1.8
+	param set RWTO_TKOFF 1
+	#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
+	param set RWTO_MAX_PITCH 20
+	param set RWTO_MAX_ROLL 10
+	#param set RWTO_MAX_THR 0.6		# fix takeoff failure for JSBsim in autonomous mission mode.
+	param set RWTO_PSP 8
+	param set RWTO_AIRSPD_SCL 1.8

+fi

 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom
@@ -5,54 +5,54 @@

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

-param set-default EKF2_ARSP_THR 8
-param set-default EKF2_FUSE_BETA 1
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	#param set EKF2_MAG_ACCLIM 0
+	#param set EKF2_MAG_YAWLIM 0

-param set-default FW_LND_AIRSPD_SC 1.1
-param set-default FW_LND_ANG 5
-param set-default FW_THR_LND_MAX 0
-param set-default FW_LND_HHDIST 30
-param set-default FW_LND_FL_PMIN 9.5
-param set-default FW_LND_FL_PMAX 20
-param set-default FW_LND_FLALT 5
-param set-default FW_LND_TLALT 15
+	param set FW_LND_AIRSPD_SC 1.1
+	param set FW_LND_ANG 5
+	param set FW_THR_LND_MAX 0
+	param set FW_LND_HHDIST 30
+	param set FW_LND_FL_PMIN 9.5
+	param set FW_LND_FL_PMAX 20
+	param set FW_LND_FLALT 5
+	param set FW_LND_TLALT 15

-param set-default FW_L1_PERIOD 25
+	param set FW_L1_PERIOD 25

-param set-default FW_P_TC 0.4
-param set-default FW_PR_FF 0.40
-param set-default FW_PR_I 0.05
-param set-default FW_PR_P 0.05
+	param set FW_P_TC 0.4
+	param set FW_PR_FF 0.40
+	param set FW_PR_I 0.05
+	param set FW_PR_P 0.05

-param set-default FW_R_TC 0.45
-param set-default FW_RR_FF 0.40
-param set-default FW_RR_I 0.132
-param set-default FW_RR_P 0.085
+	param set FW_R_TC 0.45
+	param set FW_RR_FF 0.40
+	param set FW_RR_I 0.132
+	param set FW_RR_P 0.085

-param set-default FW_W_EN 1
+	param set FW_W_EN 1

-param set-default MIS_LTRMIN_ALT 30
-param set-default MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500
-param set-default MIS_DIST_WPS 10000
+	param set MIS_LTRMIN_ALT 30
+	param set MIS_TAKEOFF_ALT 20
+	param set MIS_DIST_1WP 2500
+	param set MIS_DIST_WPS 10000

-param set-default NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 50
+	param set NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50

-param set-default RWTO_TKOFF 1
+	param set RWTO_TKOFF 1
+	#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
+	param set RWTO_MAX_PITCH 20
+	param set RWTO_MAX_ROLL 10
+	#param set RWTO_MAX_THR 0.6		# fix takeoff failure for JSBsim in autonomous mission mode.
+	param set RWTO_PSP 8
+	param set RWTO_AIRSPD_SCL 1.8

-# fix takeoff failure for JSBsim in autonomous mission mode.
-#param set FW_THR_SLEW_MAX 0.3
-
-param set-default RWTO_MAX_PITCH 20
-param set-default RWTO_MAX_ROLL 10
-
-# fix takeoff failure for JSBsim in autonomous mission mode.
-#param set RWTO_MAX_THR 0.6
-
-param set-default RWTO_PSP 8
-param set-default RWTO_AIRSPD_SCL 1.8
+fi

 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom
@@ -5,39 +5,43 @@

 . ${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
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	param set EKF2_MAG_ACCLIM 0
+	param set 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 FW_LND_AIRSPD_SC 1
+	param set FW_LND_ANG 8
+	param set FW_THR_LND_MAX 0

-param set-default FW_L1_PERIOD 15
+	param set FW_L1_PERIOD 15

-param set-default FW_P_TC 0.5
-param set-default FW_PR_FF 0.40
-param set-default FW_PR_I 0.05
-param set-default FW_PR_P 0.05
+	param set FW_P_TC 0.5
+	param set FW_PR_FF 0.40
+	param set FW_PR_I 0.05
+	param set FW_PR_P 0.05

-param set-default FW_R_TC 0.7
-param set-default FW_RR_FF 0.20
-param set-default FW_RR_I 0.02
-param set-default FW_RR_P 0.22
+	param set FW_R_TC 0.7
+	param set FW_RR_FF 0.20
+	param set FW_RR_I 0.02
+	param set FW_RR_P 0.22

-param set-default FW_L1_PERIOD 12
+	param set FW_L1_PERIOD 12

-param set-default FW_W_EN 1
+	param set FW_W_EN 1

-param set-default MIS_LTRMIN_ALT 30
-param set-default MIS_TAKEOFF_ALT 30
+	param set MIS_LTRMIN_ALT 30
+	param set 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 NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50

-param set-default RWTO_TKOFF 1
+	param set RWTO_TKOFF 1
+
+fi

 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom
@@ -5,46 +5,52 @@

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

-param set-default EKF2_ARSP_THR 8
-param set-default EKF2_FUSE_BETA 1
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	#param set EKF2_MAG_ACCLIM 0
+	#param set EKF2_MAG_YAWLIM 0

-param set-default FW_LND_AIRSPD_SC 1.1
-param set-default FW_LND_ANG 5
-param set-default FW_THR_LND_MAX 0
-param set-default FW_LND_HHDIST 30
-param set-default FW_LND_FL_PMIN 9.5
-param set-default FW_LND_FL_PMAX 20
-param set-default FW_LND_FLALT 5
-param set-default FW_LND_TLALT 15
+	param set FW_LND_AIRSPD_SC 1.1
+	param set FW_LND_ANG 5
+	param set FW_THR_LND_MAX 0
+	param set FW_LND_HHDIST 30
+	param set FW_LND_FL_PMIN 9.5
+	param set FW_LND_FL_PMAX 20
+	param set FW_LND_FLALT 5
+	param set FW_LND_TLALT 15

-param set-default FW_L1_PERIOD 25
+	param set FW_L1_PERIOD 25

-param set-default FW_P_TC 0.4
-param set-default FW_PR_FF 0.40
-param set-default FW_PR_I 0.05
-param set-default FW_PR_P 0.05
+	param set FW_P_TC 0.4
+	param set FW_PR_FF 0.40
+	param set FW_PR_I 0.05
+	param set FW_PR_P 0.05

-param set-default FW_R_TC 0.45
-param set-default FW_RR_FF 0.40
-param set-default FW_RR_I 0.132
-param set-default FW_RR_P 0.085
+	param set FW_R_TC 0.45
+	param set FW_RR_FF 0.40
+	param set FW_RR_I 0.132
+	param set FW_RR_P 0.085

-param set-default FW_W_EN 1
+	param set FW_W_EN 1

-param set-default MIS_LTRMIN_ALT 30
-param set-default MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500
-param set-default MIS_DIST_WPS 10000
+	param set MIS_LTRMIN_ALT 30
+	param set MIS_TAKEOFF_ALT 20
+	param set MIS_DIST_1WP 2500
+	param set MIS_DIST_WPS 10000

-param set-default NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 50
+	param set NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50

-param set-default RWTO_TKOFF 1
-param set-default RWTO_MAX_PITCH 20
-param set-default RWTO_MAX_ROLL 10
-param set-default RWTO_PSP 8
-param set-default RWTO_AIRSPD_SCL 1.8
+	param set RWTO_TKOFF 1
+	param set RWTO_MAX_PITCH 20
+	param set RWTO_MAX_ROLL 10
+	param set RWTO_PSP 8
+	param set RWTO_AIRSPD_SCL 1.8
+
+fi

 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom
@@ -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
@@ -0,0 +1,58 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	param set EKF2_MAG_ACCLIM 0
+	param set EKF2_MAG_YAWLIM 0
+
+	param set FW_LND_AIRSPD_SC 1
+	param set FW_LND_ANG 8
+	param set FW_THR_LND_MAX 0
+
+	param set FW_L1_PERIOD 12
+
+	param set FW_MAN_P_MAX 30
+
+	param set FW_PR_I 0.4
+	param set FW_PR_P 0.9
+	param set FW_PR_FF 0.2
+	param set FW_PSP_OFF 2
+	param set FW_P_LIM_MAX 32
+	param set FW_P_LIM_MIN -15
+
+	param set FW_RR_FF 0.1
+	param set FW_RR_P 0.3
+
+	param set FW_THR_MAX 0.6
+	param set FW_THR_MIN 0.05
+	param set FW_THR_CRUISE 0.25
+
+	param set FW_T_ALT_TC 2
+	param set FW_T_CLMB_MAX 8
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MIN 2.2
+	param set FW_T_TAS_TC 2
+
+	param set FW_W_EN 1
+
+	param set MIS_LTRMIN_ALT 30
+	param set MIS_TAKEOFF_ALT 30
+
+	param set NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50
+
+	param set RWTO_TKOFF 1
+
+fi
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom
@@ -7,46 +7,50 @@

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

-param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
-param set-default FW_PR_FF 0.2
-param set-default FW_PR_I 0.4
-param set-default FW_PR_P 0.9
-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_CRUISE 0.25
-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-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
+if [ $AUTOCNF = yes ]
+then
+	param set FW_L1_PERIOD 12
+	param set FW_MAN_P_MAX 30
+	param set FW_PR_FF 0.2
+	param set FW_PR_I 0.4
+	param set FW_PR_P 0.9
+	param set FW_PSP_OFF 2
+	param set FW_P_LIM_MAX 32
+	param set FW_P_LIM_MIN -15
+	param set FW_RR_FF 0.1
+	param set FW_RR_P 0.3
+	param set FW_THR_CRUISE 0.25
+	param set FW_THR_MAX 0.6
+	param set FW_THR_MIN 0.05
+	param set FW_T_ALT_TC 2
+	param set FW_T_CLMB_MAX 8
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MIN 2.2
+	param set FW_T_TAS_TC 2

-param set-default MC_ROLLRATE_P 0.3
-param set-default MC_YAW_P 1.6
+	param set MC_ROLLRATE_P 0.3
+	param set MC_YAW_P 1.6

-param set-default MIS_TAKEOFF_ALT 10
+	param set MIS_TAKEOFF_ALT 10

-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 3
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_D_ACC 0.1
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_P_ACC 3
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_D_ACC 0.1

-param set-default NAV_ACC_RAD 5
-param set-default NAV_LOITER_RAD 80
+	param set NAV_ACC_RAD 5
+	param set NAV_LOITER_RAD 80

-param set-default VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_B_TRANS_DUR 8
-param set-default VT_TYPE 2
+	param set VT_FWD_THRUST_EN 4
+	param set VT_F_TRANS_THR 0.75
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
+	param set VT_B_TRANS_DUR 8
+	param set VT_TYPE 2
+
+fi

 set MAV_TYPE 22

@@ -7,40 +7,44 @@

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

-param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
-param set-default FW_PR_I 0.2
-param set-default FW_PR_P 0.3
-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_P 0.3
-param set-default FW_THR_CRUISE 0.33
-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-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
+if [ $AUTOCNF = yes ]
+then
+	param set FW_L1_PERIOD 12
+	param set FW_MAN_P_MAX 30
+	param set FW_PR_I 0.2
+	param set FW_PR_P 0.3
+	param set FW_PSP_OFF 2
+	param set FW_P_LIM_MAX 32
+	param set FW_P_LIM_MIN -15
+	param set FW_RR_P 0.3
+	param set FW_THR_CRUISE 0.33
+	param set FW_THR_MAX 0.6
+	param set FW_THR_MIN 0.05
+	param set FW_T_ALT_TC 2
+	param set FW_T_CLMB_MAX 8
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MIN 2.2
+	param set FW_T_TAS_TC 2

-param set-default MC_ROLLRATE_P 0.3
+	param set MC_ROLLRATE_P 0.3

-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 3
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_D_ACC 0.1
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_P_ACC 3
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_D_ACC 0.1

-param set-default NAV_ACC_RAD 5
-param set-default NAV_LOITER_RAD 80
+	param set NAV_ACC_RAD 5
+	param set NAV_LOITER_RAD 80

-param set-default VT_F_TRANS_DUR 1.5
-param set-default VT_F_TRANS_THR 0.7
-param set-default VT_TYPE 0
+	param set VT_F_TRANS_DUR 1.5
+	param set VT_F_TRANS_THR 0.7
+	param set VT_TYPE 0

-param set-default WV_EN 0
+	param set WV_EN 0
+
+fi

 set MAV_TYPE 20

@@ -7,44 +7,48 @@

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

-param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
-param set-default FW_PR_FF 0.2
-param set-default FW_PR_I 0.4
-param set-default FW_PR_P 0.9
-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_CRUISE 0.38
-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-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
+if [ $AUTOCNF = yes ]
+then
+	param set FW_L1_PERIOD 12
+	param set FW_MAN_P_MAX 30
+	param set FW_PR_FF 0.2
+	param set FW_PR_I 0.4
+	param set FW_PR_P 0.9
+	param set FW_PSP_OFF 2
+	param set FW_P_LIM_MAX 32
+	param set FW_P_LIM_MIN -15
+	param set FW_RR_FF 0.1
+	param set FW_RR_P 0.3
+	param set FW_THR_CRUISE 0.38
+	param set FW_THR_MAX 0.6
+	param set FW_THR_MIN 0.05
+	param set FW_T_ALT_TC 2
+	param set FW_T_CLMB_MAX 8
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MIN 2.2
+	param set FW_T_TAS_TC 2

-param set-default MC_YAW_P 1.6
+	param set MC_YAW_P 1.6

-param set-default MIS_TAKEOFF_ALT 10
+	param set MIS_TAKEOFF_ALT 10

-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 3
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_D_ACC 0.1
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_P_ACC 3
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_D_ACC 0.1

-param set-default NAV_ACC_RAD 5
-param set-default NAV_LOITER_RAD 80
+	param set NAV_ACC_RAD 5
+	param set NAV_LOITER_RAD 80

-param set-default VT_B_TRANS_DUR 8
-param set-default VT_FWD_THRUST_EN 4
-param set-default VT_MOT_ID 1234
-param set-default VT_TILT_TRANS 0.6
-param set-default VT_TYPE 1
+	param set VT_B_TRANS_DUR 8
+	param set VT_FWD_THRUST_EN 4
+	param set VT_MOT_ID 1234
+	param set VT_TILT_TRANS 0.6
+	param set VT_TYPE 1
+
+fi

 set MAV_TYPE 21

@@ -7,50 +7,53 @@

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

-param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
-param set-default FW_PR_FF 0.2
-param set-default FW_PR_I 0.4
-param set-default FW_PR_P 0.9
-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_CRUISE 0.25
-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-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
+if [ $AUTOCNF = yes ]
+then
+	param set FW_L1_PERIOD 12
+	param set FW_MAN_P_MAX 30
+	param set FW_PR_FF 0.2
+	param set FW_PR_I 0.4
+	param set FW_PR_P 0.9
+	param set FW_PSP_OFF 2
+	param set FW_P_LIM_MAX 32
+	param set FW_P_LIM_MIN -15
+	param set FW_RR_FF 0.1
+	param set FW_RR_P 0.3
+	param set FW_THR_CRUISE 0.25
+	param set FW_THR_MAX 0.6
+	param set FW_THR_MIN 0.05
+	param set FW_T_ALT_TC 2
+	param set FW_T_CLMB_MAX 8
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MIN 2.2
+	param set FW_T_TAS_TC 2

-param set-default MC_ROLLRATE_P 0.3
-param set-default MC_YAW_P 1.6
+	param set MC_ROLLRATE_P 0.3
+	param set MC_YAW_P 1.6

-param set-default MIS_TAKEOFF_ALT 10
+	param set MIS_TAKEOFF_ALT 10

-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 3
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_D_ACC 0.1
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_P_ACC 3
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_D_ACC 0.1

-param set-default NAV_ACC_RAD 5
-param set-default NAV_LOITER_RAD 80
+	param set NAV_ACC_RAD 5
+	param set NAV_LOITER_RAD 80

-param set-default VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_B_TRANS_DUR 8
-param set-default VT_TYPE 2
+	param set VT_FWD_THRUST_EN 4
+	param set VT_F_TRANS_THR 0.75
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
+	param set VT_B_TRANS_DUR 8
+	param set VT_TYPE 2

-param set-default RC_MAP_AUX1 8
-param set-default RC_MAP_AUX2 9
-param set-default RC_MAP_AUX3 10
+	param set RC_MAP_AUX1 8
+	param set RC_MAP_AUX2 9
+	param set RC_MAP_AUX3 10
+fi

 set MAV_TYPE 22

@@ -5,28 +5,32 @@

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

-param set-default GND_L1_DIST 5
-param set-default GND_L1_PERIOD 10
-param set-default GND_SP_CTRL_MODE 1
-param set-default GND_SPEED_D 0.001
-param set-default GND_SPEED_I 3
-param set-default GND_SPEED_IMAX 0.125
-param set-default GND_SPEED_P 0.25
-param set-default GND_SPEED_THR_SC 1
-param set-default GND_SPEED_TRIM 4
-param set-default GND_THR_CRUISE 0.3
-param set-default GND_THR_MAX 0.5
-param set-default GND_THR_MIN 0
+if [ $AUTOCNF = yes ]
+then
+	param set GND_L1_DIST 5
+	param set GND_L1_PERIOD 10
+	param set GND_SP_CTRL_MODE 1
+	param set GND_SPEED_D 0.001
+	param set GND_SPEED_I 3
+	param set GND_SPEED_IMAX 0.125
+	param set GND_SPEED_P 0.25
+	param set GND_SPEED_THR_SC 1
+	param set GND_SPEED_TRIM 4
+	param set GND_THR_CRUISE 0.3
+	param set GND_THR_MAX 0.5
+	param set GND_THR_MIN 0

-param set-default MIS_LTRMIN_ALT 0.01
-param set-default MIS_TAKEOFF_ALT 0.01
-param set-default NAV_ACC_RAD 0.5
-param set-default NAV_LOITER_RAD 2
+	param set MIS_LTRMIN_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
+	param set NAV_ACC_RAD 0.5
+	param set NAV_LOITER_RAD 2

-param set-default CBRK_AIRSPD_CHK 162128
+	param set CBRK_AIRSPD_CHK 162128

-param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 2.0
+	param set GND_MAX_ANG 0.6
+	param set GND_WHEEL_BASE 2.0
+
+fi

 set MAV_TYPE 10

@@ -6,27 +6,31 @@

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

-param set-default GND_L1_DIST 5
-param set-default GND_SP_CTRL_MODE 1
-param set-default GND_SPEED_D 3
-param set-default GND_SPEED_I 0.001
-param set-default GND_SPEED_IMAX 0.125
-param set-default GND_SPEED_P 0.25
-param set-default GND_SPEED_THR_SC 1
-param set-default GND_SPEED_TRIM 4
-param set-default GND_THR_CRUISE 0.3
-param set-default GND_THR_MAX 0.5
-param set-default GND_THR_MIN 0
+if [ $AUTOCNF = yes ]
+then
+	param set GND_L1_DIST 5
+	param set GND_SP_CTRL_MODE 1
+	param set GND_SPEED_D 3
+	param set GND_SPEED_I 0.001
+	param set GND_SPEED_IMAX 0.125
+	param set GND_SPEED_P 0.25
+	param set GND_SPEED_THR_SC 1
+	param set GND_SPEED_TRIM 4
+	param set GND_THR_CRUISE 0.3
+	param set GND_THR_MAX 0.5
+	param set GND_THR_MIN 0

-param set-default MIS_LTRMIN_ALT 0.01
-param set-default MIS_TAKEOFF_ALT 0.01
-param set-default NAV_ACC_RAD 0.5
-param set-default NAV_LOITER_RAD 2
+	param set MIS_LTRMIN_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
+	param set NAV_ACC_RAD 0.5
+	param set NAV_LOITER_RAD 2

-param set-default CBRK_AIRSPD_CHK 162128
+	param set CBRK_AIRSPD_CHK 162128

-param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 2.0
+	param set GND_MAX_ANG 0.6
+	param set GND_WHEEL_BASE 2.0
+
+fi

 set MAV_TYPE 10

@@ -10,28 +10,32 @@

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

-param set-default GND_L1_DIST 5
-param set-default GND_SP_CTRL_MODE 1
-param set-default GND_SPEED_D 3
-param set-default GND_SPEED_I 0.001
-param set-default GND_SPEED_IMAX 0.125
-param set-default GND_SPEED_P 0.25
-param set-default GND_SPEED_THR_SC 1
-param set-default GND_SPEED_TRIM 15
-param set-default GND_SPEED_MAX 25
-param set-default GND_THR_CRUISE 0.3
-param set-default GND_THR_MAX 0.5
-param set-default GND_THR_MIN 0
+if [ $AUTOCNF = yes ]
+then
+	param set GND_L1_DIST 5
+	param set GND_SP_CTRL_MODE 1
+	param set GND_SPEED_D 3
+	param set GND_SPEED_I 0.001
+	param set GND_SPEED_IMAX 0.125
+	param set GND_SPEED_P 0.25
+	param set GND_SPEED_THR_SC 1
+	param set GND_SPEED_TRIM 15
+	param set GND_SPEED_MAX 25
+	param set GND_THR_CRUISE 0.3
+	param set GND_THR_MAX 0.5
+	param set GND_THR_MIN 0

-param set-default MIS_LTRMIN_ALT 0.01
-param set-default MIS_TAKEOFF_ALT 0.01
-param set-default NAV_ACC_RAD 0.5
-param set-default NAV_LOITER_RAD 2
+	param set MIS_LTRMIN_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
+	param set NAV_ACC_RAD 0.5
+	param set NAV_LOITER_RAD 2

-param set-default CBRK_AIRSPD_CHK 162128
+	param set CBRK_AIRSPD_CHK 162128

-param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 3.0
+	param set GND_MAX_ANG 0.6
+	param set GND_WHEEL_BASE 3.0
+
+fi

 set MAV_TYPE 10

@@ -5,28 +5,32 @@

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

-param set-default GND_L1_DIST 5
-param set-default GND_L1_PERIOD 100
-param set-default GND_SP_CTRL_MODE 1
-param set-default GND_SPEED_D 0.001
-param set-default GND_SPEED_I 8
-param set-default GND_SPEED_IMAX 0.125
-param set-default GND_SPEED_P 2
-param set-default GND_SPEED_THR_SC 1
-param set-default GND_SPEED_TRIM 1
-param set-default GND_THR_CRUISE 0.85
-param set-default GND_THR_MAX 1
-param set-default GND_THR_MIN 0
+if [ $AUTOCNF = yes ]
+then
+	param set GND_L1_DIST 5
+	param set GND_L1_PERIOD 100
+	param set GND_SP_CTRL_MODE 1
+	param set GND_SPEED_D 0.001
+	param set GND_SPEED_I 8
+	param set GND_SPEED_IMAX 0.125
+	param set GND_SPEED_P 2
+	param set GND_SPEED_THR_SC 1
+	param set GND_SPEED_TRIM 1
+	param set GND_THR_CRUISE 0.85
+	param set GND_THR_MAX 1
+	param set GND_THR_MIN 0

-param set-default MIS_LTRMIN_ALT 0.01
-param set-default MIS_TAKEOFF_ALT 0.01
-param set-default NAV_ACC_RAD 0.5
-param set-default NAV_LOITER_RAD 2
+	param set MIS_LTRMIN_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
+	param set NAV_ACC_RAD 0.5
+	param set NAV_LOITER_RAD 2

-param set-default CBRK_AIRSPD_CHK 162128
+	param set CBRK_AIRSPD_CHK 162128

-param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 2.0
+	param set GND_MAX_ANG 0.6
+	param set GND_WHEEL_BASE 2.0
+
+fi

 set MAV_TYPE 11

@@ -12,47 +12,52 @@

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

-param set-default EKF2_ARSP_THR 8
-param set-default EKF2_FUSE_BETA 1
-param set-default ASPD_STALL 10.0
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	param set ASPD_STALL 10.0

-param set-default FW_P_RMAX_NEG 20.0
-param set-default FW_P_RMAX_POS 60.0
-param set-default FW_W_RMAX 10
-param set-default FW_W_EN 1
+	param set FW_P_RMAX_NEG 20.0
+	param set FW_P_RMAX_POS 60.0
+	param set FW_W_RMAX 10
+	param set FW_W_EN 1

-param set-default FW_PR_IMAX 0.4
-param set-default FW_R_TC 0.4
-param set-default FW_RR_FF 0.5
-param set-default FW_RR_I 0.1
-param set-default FW_RR_IMAX 0.2
-param set-default FW_RR_P 0.08
+	param set FW_PR_IMAX 0.4
+	param set FW_R_TC 0.4
+	param set FW_RR_FF 0.5
+	param set FW_RR_I 0.1
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.08

-param set-default MIS_LTRMIN_ALT 50
-param set-default MIS_TAKEOFF_ALT 3
+	param set MIS_LTRMIN_ALT 50
+	param set MIS_TAKEOFF_ALT 3

-param set-default NAV_ACC_RAD 20
-param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 100
+	param set NAV_ACC_RAD 20
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 100

-param set-default RWTO_TKOFF 1
+	param set RWTO_TKOFF 1

-param set-default FW_ARSP_SCALE_EN 0
+	param set FW_ARSP_SCALE_EN 0

-param set-default FW_AIRSPD_MAX 35
-param set-default FW_AIRSPD_MIN 7
-param set-default FW_AIRSPD_TRIM 15
+	param set FW_AIRSPD_MAX 35
+	param set FW_AIRSPD_MIN 7
+	param set FW_AIRSPD_TRIM 15

-param set-default FW_P_LIM_MAX 25
-param set-default FW_P_LIM_MIN -5
-param set-default FW_R_LIM 30
+	param set FW_P_LIM_MAX 25
+	param set FW_P_LIM_MIN -5
+	param set FW_R_LIM 30

-param set-default FW_MAN_P_MAX 30.0
-param set-default FW_MAN_R_MAX 30.0
+	param set FW_MAN_P_MAX 30.0
+	param set FW_MAN_R_MAX 30.0
+
+	param set FW_THR_CRUISE 0.8
+	param set FW_THR_IDLE 0
+	param set COM_DISARM_PRFLT 0
+
+fi

-param set-default FW_THR_CRUISE 0.8
-param set-default FW_THR_IDLE 0
-param set-default COM_DISARM_PRFLT 0

 set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
 set MIXER custom
@@ -9,21 +9,24 @@

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

-param set-default MC_PITCHRATE_P 0.1
-param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCH_P 6.0
-param set-default MC_ROLLRATE_P 0.15
-param set-default MC_ROLLRATE_I 0.1
-param set-default MC_ROLL_P 6.0
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_P_ACC 3
+if [ $AUTOCNF = yes ]
+then
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCH_P 6.0
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.1
+	param set MC_ROLL_P 6.0
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_P_ACC 3

-param set-default RTL_DESCEND_ALT 10
+	param set RTL_DESCEND_ALT 10

-param set-default TRIG_INTERFACE 3
-param set-default TRIG_MODE 4
-param set-default MNT_MODE_IN 4
-param set-default MNT_DO_STAB 2
+	param set TRIG_INTERFACE 3
+	param set TRIG_MODE 4
+	param set MNT_MODE_IN 4
+	param set MNT_DO_STAB 2
+fi

 set MAV_TYPE 13

@@ -7,24 +7,27 @@

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

-param set-default MC_PITCHRATE_P 0.0800
-param set-default MC_PITCHRATE_I 0.0400
-param set-default MC_PITCHRATE_D 0.0010
-param set-default MC_PITCH_P 9.0
-param set-default MC_ROLLRATE_P 0.0800
-param set-default MC_ROLLRATE_I 0.0400
-param set-default MC_ROLLRATE_D 0.0010
-param set-default MC_ROLL_P 9.0
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_P_ACC 3
+if [ $AUTOCNF = yes ]
+then
+	param set MC_PITCHRATE_P 0.0800
+	param set MC_PITCHRATE_I 0.0400
+	param set MC_PITCHRATE_D 0.0010
+	param set MC_PITCH_P 9.0
+	param set MC_ROLLRATE_P 0.0800
+	param set MC_ROLLRATE_I 0.0400
+	param set MC_ROLLRATE_D 0.0010
+	param set MC_ROLL_P 9.0
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_P_ACC 3

-param set-default RTL_DESCEND_ALT 10
+	param set RTL_DESCEND_ALT 10

-param set-default TRIG_INTERFACE 3
-param set-default TRIG_MODE 4
-param set-default MNT_MODE_IN 4
-param set-default MNT_MODE_OUT 2
-param set-default MAV_PROTO_VER 2
+	param set TRIG_INTERFACE 3
+	param set TRIG_MODE 4
+	param set MNT_MODE_IN 4
+	param set MNT_MODE_OUT 2
+	param set MAV_PROTO_VER 2
+fi

 set MAV_TYPE 13

@@ -8,63 +8,66 @@
 . ${R}etc/init.d/rc.mc_defaults
 . ${R}etc/init.d/rc.ctrlalloc

-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_P_ACC 3
+if [ $AUTOCNF = yes ]
+then
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_P_ACC 3

-param set-default RTL_DESCEND_ALT 10
-param set-default RTL_LAND_DELAY 0
+	param set RTL_DESCEND_ALT 10
+	param set RTL_LAND_DELAY 0

-param set-default TRIG_INTERFACE 3
-param set-default TRIG_MODE 4
-param set-default MNT_MODE_IN 0
-param set-default MAV_PROTO_VER 2
+	param set TRIG_INTERFACE 3
+	param set TRIG_MODE 4
+	param set MNT_MODE_IN 0
+	param set MAV_PROTO_VER 2

-param set-default MPC_USE_HTE 0
+	param set MPC_USE_HTE 0

-param set-default VM_MASS 2.66
-param set-default VM_INERTIA_XX 0.06
-param set-default VM_INERTIA_YY 0.06
-param set-default VM_INERTIA_ZZ 0.10
+	param set VM_MASS 2.66
+	param set VM_INERTIA_XX 0.06
+	param set VM_INERTIA_YY 0.06
+	param set VM_INERTIA_ZZ 0.10

-param set-default CA_AIRFRAME 0
-param set-default CA_METHOD 1
-param set-default CA_ACT0_MIN 0.0
-param set-default CA_ACT1_MIN 0.0
-param set-default CA_ACT2_MIN 0.0
-param set-default CA_ACT3_MIN 0.0
-param set-default CA_ACT4_MIN 0.0
-param set-default CA_ACT5_MIN 0.0
-param set-default CA_ACT0_MAX 1.0
-param set-default CA_ACT1_MAX 1.0
-param set-default CA_ACT2_MAX 1.0
-param set-default CA_ACT3_MAX 1.0
-param set-default CA_ACT4_MAX 1.0
-param set-default CA_ACT5_MAX 1.0
+	param set CA_AIRFRAME 0
+	param set CA_METHOD 1
+	param set CA_ACT0_MIN 0.0
+	param set CA_ACT1_MIN 0.0
+	param set CA_ACT2_MIN 0.0
+	param set CA_ACT3_MIN 0.0
+	param set CA_ACT4_MIN 0.0
+	param set CA_ACT5_MIN 0.0
+	param set CA_ACT0_MAX 1.0
+	param set CA_ACT1_MAX 1.0
+	param set CA_ACT2_MAX 1.0
+	param set CA_ACT3_MAX 1.0
+	param set CA_ACT4_MAX 1.0
+	param set CA_ACT5_MAX 1.0

-param set-default CA_MC_R0_PX 0.0
-param set-default CA_MC_R0_PY 1.0
-param set-default CA_MC_R0_CT 9.5
-param set-default CA_MC_R0_KM -0.05
-param set-default CA_MC_R1_PX 0.0
-param set-default CA_MC_R1_PY -1.0
-param set-default CA_MC_R1_CT 9.5
-param set-default CA_MC_R1_KM 0.05
-param set-default CA_MC_R2_PX 0.866025
-param set-default CA_MC_R2_PY -0.5
-param set-default CA_MC_R2_CT 9.5
-param set-default CA_MC_R2_KM -0.05
-param set-default CA_MC_R3_PX -0.866025
-param set-default CA_MC_R3_PY 0.5
-param set-default CA_MC_R3_CT 9.5
-param set-default CA_MC_R3_KM 0.05
-param set-default CA_MC_R4_PX 0.866025
-param set-default CA_MC_R4_PY 0.5
-param set-default CA_MC_R4_CT 9.5
-param set-default CA_MC_R4_KM 0.05
-param set-default CA_MC_R5_PX -0.866025
-param set-default CA_MC_R5_PY -0.5
-param set-default CA_MC_R5_CT 9.5
-param set-default CA_MC_R5_KM -0.05
+	param set CA_MC_R0_PX 0.0
+	param set CA_MC_R0_PY 1.0
+	param set CA_MC_R0_CT 9.5
+	param set CA_MC_R0_KM -0.05
+	param set CA_MC_R1_PX 0.0
+	param set CA_MC_R1_PY -1.0
+	param set CA_MC_R1_CT 9.5
+	param set CA_MC_R1_KM 0.05
+	param set CA_MC_R2_PX 0.866025
+	param set CA_MC_R2_PY -0.5
+	param set CA_MC_R2_CT 9.5
+	param set CA_MC_R2_KM -0.05
+	param set CA_MC_R3_PX -0.866025
+	param set CA_MC_R3_PY 0.5
+	param set CA_MC_R3_CT 9.5
+	param set CA_MC_R3_KM 0.05
+	param set CA_MC_R4_PX 0.866025
+	param set CA_MC_R4_PY 0.5
+	param set CA_MC_R4_CT 9.5
+	param set CA_MC_R4_KM 0.05
+	param set CA_MC_R5_PX -0.866025
+	param set CA_MC_R5_PY -0.5
+	param set CA_MC_R5_CT 9.5
+	param set CA_MC_R5_KM -0.05
+fi

 set MAV_TYPE 13

@@ -62,6 +62,8 @@ px4_add_romfs_files(
 	1034_rascal-electric
 	1035_techpod
 	1036_malolo
+	1037_believer
+	1038_plane_dynamicsoaring
 	1040_standard_vtol
 	1041_tailsitter
 	1042_tiltrotor
@@ -14,7 +14,7 @@
 . ${R}etc/init.d/rc.vtol_defaults


-param set-default PWM_AUX_DISARM 1000
+param set-default PWM_AUX_DISARMED 1000
 param set-default PWM_AUX_MAX 2000
 param set-default PWM_AUX_MIN 1000
 param set-default PWM_AUX_RATE 50
@@ -112,7 +112,7 @@ param set-default MPC_YAWRAUTO_MAX 20
 param set-default NAV_DLL_ACT 0
 param set-default NAV_LOITER_RAD 100

-param set-default PWM_AUX_DISARM 950
+param set-default PWM_AUX_DISARMED 950

 param set-default PWM_MAIN_DIS5 1500
 param set-default PWM_MAIN_DIS6 1500
@@ -111,6 +111,5 @@ set MAV_TYPE 22
 set MIXER babyshark
 set MIXER_AUX pass

-# Mark outputs for the alternate rate
-# or D-Shot
 set PWM_OUT 5678
+set PWM_AUX_OUT 1234
@@ -0,0 +1,54 @@
+#!/bin/sh
+#
+# @name ASL_EasyGlider
+#
+# @type Standard Plane
+# @class Plane
+#
+# @output MAIN1 aileron
+# @output MAIN2 aileron
+# @output MAIN3 elevator
+# @output MAIN4 rudder
+# @output MAIN5 throttle
+# @output MAIN6 wheel
+# @output MAIN7 flaps
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Philipp Oettershagen <philipp.oettershagen@mavt.ethz.ch>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF == yes ]
+then
+    param set FW_AIRSPD_MIN 10
+    param set FW_AIRSPD_TRIM 15
+    param set FW_AIRSPD_MAX 20
+
+    param set FW_MAN_P_MAX 45
+    param set FW_MAN_R_MAX 45
+    param set FW_R_LIM 45
+
+    param set FW_WR_FF 0.2
+    param set FW_WR_I 0.2
+    param set FW_WR_IMAX 0.8
+    param set FW_WR_P 1
+    param set FW_W_RMAX 0
+
+    # set disarmed value for the ESC
+    param set PWM_DISARMED 1000
+
+    param set-default SENS_EN_ADIS164X 1
+    param set SENS_EN_ADIS164X 4
+fi
+
+set MIXER asl_easyglider
+
+# use PWM parameters for throttle channel
+set PWM_OUT 5
@@ -0,0 +1,52 @@
+#!/bin/sh
+#
+# @name ASL_Techpod
+#
+# @type Plane A-Tail
+# @class Plane
+#
+# @output MAIN1 aileron right
+# @output MAIN2 aileron left
+# @output MAIN3 v-tail right
+# @output MAIN4 v-tail left
+# @output MAIN5 throttle
+# @output MAIN6 wheel
+# @output MAIN7 flaps right
+# @output MAIN8 flaps left
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Philipp Oettershagen <philipp.oettershagen@mavt.ethz.ch>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF == yes ]
+then
+    param set FW_AIRSPD_MIN 10
+    param set FW_AIRSPD_TRIM 15
+    param set FW_AIRSPD_MAX 20
+
+    param set FW_MAN_P_MAX 55
+    param set FW_MAN_R_MAX 55
+    param set FW_R_LIM 55
+
+    param set FW_WR_FF 0.2
+    param set FW_WR_I 0.2
+    param set FW_WR_IMAX 0.8
+    param set FW_WR_P 1
+    param set FW_W_RMAX 0
+
+    # set disarmed value for the ESC
+    param set PWM_DISARMED 1000
+fi
+
+set MIXER asl_techpod
+
+# use PWM parameters for throttle channel
+set PWM_OUT 5
@@ -0,0 +1,52 @@
+#!/bin/sh
+#
+# @name ASL_SenseSoar2
+#
+# @type Plane A-Tail
+# @class Plane
+#
+# @output MAIN1 aileron right
+# @output MAIN2 aileron left
+# @output MAIN3 v-tail right
+# @output MAIN4 v-tail left
+# @output MAIN5 throttle
+# @output MAIN6 wheel
+# @output MAIN7 flaps right
+# @output MAIN8 flaps left
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Philipp Oettershagen <philipp.oettershagen@mavt.ethz.ch>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF == yes ]
+then
+    param set FW_AIRSPD_MIN 12
+    param set FW_AIRSPD_TRIM 15
+    param set FW_AIRSPD_MAX 20
+
+    param set FW_MAN_P_MAX 45
+    param set FW_MAN_R_MAX 45
+    param set FW_R_LIM 55
+
+    param set FW_WR_FF 0.2
+    param set FW_WR_I 0.2
+    param set FW_WR_IMAX 0.8
+    param set FW_WR_P 1
+    param set FW_W_RMAX 0
+
+    # set disarmed value for the ESC
+    param set PWM_DISARMED 1000
+fi
+
+set MIXER asl_sensoar2
+
+# use PWM parameters for throttle channel
+set PWM_OUT 5
@@ -0,0 +1,54 @@
+#!/bin/sh
+#
+# @name Autonomous Systems Lab, ETH Zurich Believer
+#
+# @type Plane V-Tail
+# @class Plane
+#
+# @output MAIN1 aileron right
+# @output MAIN2 aileron left
+# @output MAIN3 v-tail right
+# @output MAIN4 v-tail left
+# @output MAIN5 throttle
+# @output MAIN6 wheel
+# @output MAIN7 flaps right
+# @output MAIN8 flaps left
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Jaeyoung Lim <jalim@ethz.ch>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default FW_AIRSPD_MIN 10
+param set-default FW_AIRSPD_TRIM 15
+param set-default FW_AIRSPD_MAX 20
+
+param set-default FW_MAN_P_MAX 55
+param set-default FW_MAN_R_MAX 55
+param set-default FW_R_LIM 55
+
+param set-default FW_WR_FF 0.2
+param set-default FW_WR_I 0.2
+param set-default FW_WR_IMAX 0.8
+param set-default FW_WR_P 1
+param set-default FW_W_RMAX 0
+
+# set disarmed value for the ESC
+param set-default PWM_MAIN_DISARM 1500
+param set-default PWM_MAIN_DIS5 900
+param set-default PWM_MAIN_DIS6 900
+
+# The Mini Talon does not have a wheel and
+# no flaps. I leave them here because the mixer
+# computes also wheel and flap controls.
+set MIXER AAVVTTFF_vtail
+
+# use PWM parameters for throttle channel
+set PWM_OUT 56
@@ -31,7 +31,7 @@ set VEHICLE_TYPE mc
 param set-default NAV_ACC_RAD 2

 param set-default PWM_AUX_RATE 400
-param set-default PWM_AUX_DISARM 900
+param set-default PWM_AUX_DISARMED 900
 param set-default PWM_AUX_MIN 1075
 param set-default PWM_AUX_MAX 1950

@@ -33,7 +33,7 @@ param set-default MC_YAW_P 4

 param set-default NAV_ACC_RAD 2

-param set-default PWM_AUX_DISARM 950
+param set-default PWM_AUX_DISARMED 950
 param set-default PWM_AUX_RATE 50
 param set-default PWM_MAIN_MIN 1100
 param set-default PWM_MAIN_MAX 1900
@@ -157,6 +157,11 @@ px4_add_romfs_files(
 	18001_TF-B1

 	# [22000, 22999] Reserve for custom models
+	# ETHZ ASL Vehicles
+	22000_asl_easyglider
+	22001_asl_techpod
+	22002_asl_sensesoar2
+	22003_asl_believer

 	24001_dodeca_cox

@@ -21,6 +21,23 @@ fi
 #                           Begin Optional drivers                            #
 ###############################################################################

+# ADIS16448 spi external IMU
+if param compare -s SENS_EN_ADIS164X 1
+then
+	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
+
+	# add a sleep to make sure the mag is the priority one
+	usleep 1000000
+fi
+
+
 if param compare -s SENS_EN_BATT 1
 then
 	batt_smbus start -X
@@ -108,18 +125,62 @@ then
 	vl53l1x start -X
 fi

-# ADIS16448 spi external IMU
-if param compare -s SENS_EN_ADIS164X 1
+# Hall effect sensors si7210
+# Potentially remove the -k option if possible and improve the startup if possible
+if param greater CAL_AV_AOA_ID -1
 then
-	adis16448 -S start
+	set AOA_I2C_ID 0
+	if param compare CAL_AV_AOA_ID 48
+	then
+		set AOA_I2C_ID 48
+	fi
+	if param compare CAL_AV_AOA_ID 49
+	then
+		set AOA_I2C_ID 49
+	fi
+	if param compare CAL_AV_AOA_ID 50
+	then
+		set AOA_I2C_ID 50
+	fi
+	if param compare CAL_AV_AOA_ID 51
+	then
+		set AOA_I2C_ID 51
+	fi
+
+	si7210 start -X -k -a ${AOA_I2C_ID}
+	unset AOA_I2C_ID
 fi

+if param greater CAL_AV_SLIP_ID -1
+then
+	set SLIP_I2C_ID 0
+	if param compare CAL_AV_SLIP_ID 48
+	then
+		set SLIP_I2C_ID 48
+	fi
+	if param compare CAL_AV_SLIP_ID 49
+	then
+		set SLIP_I2C_ID 49
+	fi
+	if param compare CAL_AV_SLIP_ID 50
+	then
+		set SLIP_I2C_ID 50
+	fi
+	if param compare CAL_AV_SLIP_ID 51
+	then
+		set SLIP_I2C_ID 51
+	fi
+
+	si7210 start -X -k -a ${SLIP_I2C_ID}
+	unset SLIP_I2C_ID
+fi
+
+
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
-	icm20948_i2c_passthrough -X -q start
-
 	# compasses
+	ak09916 -X -R 6 -q start # external AK09916 (Here2) is rotated 270 degrees yaw
 	hmc5883 -T -X -q start
 	ist8308 -X -q start
 	ist8310 -X -q start
@@ -128,9 +189,6 @@ then
 	qmc5883l -X -q start
 	rm3100 -X -q start

-	# start last (wait for possible icm20948 passthrough mode)
-	ak09916 -X -q start
-
 	# differential pressure sensors
 	if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ]
 	then
@@ -159,5 +217,3 @@ fi
 ###############################################################################
 #                            End Optional drivers                             #
 ###############################################################################
-
-sensors start
@@ -254,34 +254,6 @@ else
 		param set SYS_AUTOCONFIG 0
 	fi

-	#
-	# Check if UAVCAN is enabled, default to it for ESCs.
-	#
-	if param greater -s UAVCAN_ENABLE 0
-	then
-		# Start core UAVCAN module.
-		if uavcan start
-		then
-			if param greater UAVCAN_ENABLE 1
-			then
-				# Start UAVCAN firmware update server and dynamic node ID allocation server.
-				uavcan start fw
-				tune_control play -t 1
-				if param greater UAVCAN_ENABLE 2
-				then
-					set OUTPUT_MODE uavcan_esc
-				fi
-			fi
-		else
-			tune_control play error
-		fi
-	else
-		if param greater -s UAVCAN_V1_ENABLE 0
-		then
-			uavcan_v1 start
-		fi
-	fi
-
 	#
 	# Check if PX4IO present and update firmware if needed.
 	# Assumption IOFW set to firmware file and IO_PRESENT = no
@@ -313,8 +285,6 @@ else
 					else
 						tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 					fi
-				else
-					tune_control stop
 				fi
 			fi
 		fi
@@ -362,6 +332,8 @@ else
 		#
 		# board sensors: rc.sensors
 		#
+		. ${R}etc/init.d/rc.sensors
+
 		set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
 		if [ -f $BOARD_RC_SENSORS ]
 		then
@@ -370,7 +342,7 @@ else
 		fi
 		unset BOARD_RC_SENSORS

-		. ${R}etc/init.d/rc.sensors
+		sensors start

 		if param compare -s BAT1_SOURCE 2
 		then
@@ -426,6 +398,34 @@ else
 		camera_feedback start
 	fi

+	#
+	# Check if UAVCAN is enabled, default to it for ESCs.
+	#
+	if param greater -s UAVCAN_ENABLE 0
+	then
+		# Start core UAVCAN module.
+		if uavcan start
+		then
+			if param greater UAVCAN_ENABLE 1
+			then
+				# Start UAVCAN firmware update server and dynamic node ID allocation server.
+				uavcan start fw
+				tune_control play -t 1
+				if param greater UAVCAN_ENABLE 2
+				then
+					set OUTPUT_MODE uavcan_esc
+				fi
+			fi
+		else
+			tune_control play error
+		fi
+	fi
+
+	if param greater -s UAVCAN_V1_ENABLE 0
+	then
+		uavcan_v1 start
+	fi
+
 	#
 	# Optional board mavlink streams: rc.board_mavlink
 	#
@@ -0,0 +1,61 @@
+Aileron/v-tail/throttle/wheel/flaps mixer for PX4FMU
+=======================================================
+
+This file defines mixers suitable for controlling a fixed wing aircraft with
+aileron, v-tail (rudder, elevator), throttle, steerable wheel and flaps
+using PX4FMU.
+The configuration assumes the aileron servos are connected to PX4FMU servo
+output 0 and 1, the tail servos to output 2 and 3, the throttle
+to output 4, the wheel to output 5 and the flaps to output 6 and 7.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
+
+Aileron mixer (roll + flaperon)
+---------------------------------
+
+This mixer assumes that the aileron servos are set up mechanically reversed.
+
+M: 2
+S: 0 0 -10000 -10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 2
+S: 0 0 -10000 -10000      0 -10000  10000
+S: 0 6 -10000 -10000      0 -10000  10000
+
+V-tail mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+M: 2
+S: 0 2   7000   7000      0 -10000  10000
+S: 0 1  -8000  -8000      0 -10000  10000
+
+M: 2
+S: 0 2   7000   7000      0 -10000  10000
+S: 0 1   8000   8000      0 -10000  10000
+
+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
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000
+
+Flaps mixer
+------------
+Flap servos are physically reversed.
+
+M: 1
+S: 0 4      0   5000 -10000 -10000  10000
+
+M: 1
+S: 0 4      0  -5000  10000 -10000  10000
+
@@ -35,6 +35,7 @@ px4_add_romfs_files(
 	AAERTWF.main.mix
 	AAVVTWFF.main.mix
 	AAVVTWFF_vtail.main.mix
+	AAVVTTFF_vtail.main.mix
 	AERT.main.mix
 	AETRFG.main.mix
 	babyshark.main.mix
@@ -95,4 +96,8 @@ px4_add_romfs_files(
 	vtol_delta.aux.mix
 	vtol_tailsitter_duo.main.mix
 	wingwing.main.mix
+	#ETHZ ASL Custom Mixers
+	asl_easyglider.main.mix
+	asl_sensesoar2.main.mix
+	asl_techpod.main.mix
 )
@@ -0,0 +1,70 @@
+ASL EasyGlider mixer
+=============================
+
+Documentation: https://dev.px4.io/en/concept/mixing.html
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps).
+
+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
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+Right Aileron mixer
+---------------------------------
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0   6000  10000      0 -10000  10000
+S: 0 4      0 -10000      0 -10000  10000
+
+Elevator mixer
+------------
+Two scalers total (output, roll).
+
+This mixer assumes that the elevator servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+O:       10000   10000      0 -10000  10000
+S: 0 1  -10000  -10000      0 -10000  10000
+
+Rudder mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the rudder servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+O:     -10000 -10000      0 -10000  10000
+S: 0 2  10000  10000      0 -10000  10000
+
+Left Aileron mixer
+---------------------------------
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0 -10000  -6000      0 -10000  10000
+S: 0 4      0 -10000      0 -10000  10000
@@ -0,0 +1,61 @@
+ASL SenseSoar2 mixer for PX4IO
+=============================
+
+Documentation: https://dev.px4.io/en/concept/mixing.html
+
+Note1: CH2 AilR is down for pos PWM signal change, CH5 Ail L the other way around.
+Note2: The mixer defines a certain aileron differential, but the phyiscal differential
+       is stronger because of the servo mechanics (70% mixer diff -> ca. 60% physical).
+Note3: In the extras.txt on the sd-card, set pwm min/max such that the ailerons have
+       2.5cm upwards and 2.0cm downwards travel at FULL (u=+/- 1.0) mixer output. The
+       downwards travel with the mixer differential is then obviously less.
+
+=============================
+
+### Motor
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+
+### Right aileron (with differential)
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 0  -7000 -10000      0 -10000  10000
+
+
+### Right ruddervator
+M: 2
+O:       6000   6000      0 -10000  10000
+S: 0 1  -6500  -6500      0 -10000  10000
+S: 0 2   7500   7500      0 -10000  10000
+
+
+### Left ruddervator
+M: 2
+O:       6000   6000      0 -10000  10000
+S: 0 1   6500   6500      0 -10000  10000
+S: 0 2   7500   7500      0 -10000  10000
+
+
+### Left aileron (with differential)
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 0 -10000  -7000      0 -10000  10000
+
+
+### Right flap
+#M: 1
+#O:      10000  10000      0 -10000   4000
+#S: 3 4  10000  10000      0 -10000  10000
+
+### Right flap
+M: 1
+O:      10000  10000      0 -10000   4000
+S: 0 4      0  20000 -10000 -10000  10000
+
+
+### Left flap
+M: 1
+O:      10000  10000      0  -4000  10000
+S: 0 4      0 -20000  10000 -10000  10000
@@ -0,0 +1,47 @@
+ASL Techpod mixer for PX4IO
+=============================
+
+Documentation: https://dev.px4.io/en/concept/mixing.html
+
+=============================
+
+### Motor
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+
+### Right aileron (with differential)
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 0 -7500  -10000      0 -10000  10000
+
+
+### Elevator
+M: 1
+O:       6000   6000      0 -10000  10000
+S: 0 1   6000   6000      0  -6000   6000
+
+
+### Rudder
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 2  -6000  -6000      0  -6000   6000
+
+
+### Left aileron (with differential)
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 0 -10000  -7500      0 -10000  10000
+
+
+### Right flap
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0  -4000   4000
+
+
+### Left flap
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0  -4000   4000
@@ -1,122 +0,0 @@
-#!/bin/bash
-# Run HITL simulation with PX4
-
-function cleanup() {
-	pkill -x px4
-	pkill gzclient
-	pkill gzserver
-}
-
-if [ "$1" == "-h" ] || [ "$1" == "--help" ]
-then
-	echo "Usage: $0 [-s <simulation>] [-m <vehicle_model>] [-w <world>] [-d <device>] [-b <baudrate>]"
-	echo "  This script allows you to run HITL simulation with PX4"
-	exit 1
-fi
-
-while getopts m:w:s:d:b:t:l: option
-do
-	case "${option}"
-	in
-		m) VEHICLE_MODEL=${OPTARG};;
-		w) WORLD=${OPTARG};;
-		s) SIMULATION=${OPTARG};;
-		d) DEVICE=${OPTARG};;
-		b) BAUDRATE=${OPTARG};;
-		l) LABEL=_${OPTARG};;
-	esac
-done
-
-world=${WORLD:=empty}
-target=${TARGET:=px4_sitl_default}
-model=${VEHICLE_MODEL:="iris"}
-simulation=${SIMULATION:="gazebo"}
-device=${DEVICE:="/dev/ttyACM0"}
-baudrate=${BAUDRATE:="921600"}
-export PX4_SIM_MODEL=${model}${LABEL}
-
-echo SIMULATION: ${simulation}
-echo MODEL: ${PX4_SIM_MODEL}
-
-echo ${SCRIPT}
-SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
-src_path="$SCRIPT_DIR/.."
-
-sleep 1
-
-SIM_PID=0
-
-if [ "$simulation" == "jmavsim" ] && [ ! -n "$no_sim" ]; then
-	# Start Java simulator
-	"$src_path"/Tools/jmavsim_run.sh -q -s -d ${device} -b ${baudrate} -r 250 &
-	SIM_PID=$!
-elif [ "$simulation" == "gazebo" ] && [ ! -n "$no_sim" ]; then
-	if [ -x "$(command -v gazebo)" ]; then
-		# Set the plugin path so Gazebo finds our model and sim
-		source "$src_path/Tools/setup_gazebo.bash" "${src_path}" "${build_path}"
-		output_sdf=/tmp/${model}_hitl.sdf
-		python3 ${src_path}/Tools/sitl_gazebo/scripts/jinja_gen.py ${src_path}/Tools/sitl_gazebo/models/${model}/${model}.sdf.jinja ${src_path}/Tools/sitl_gazebo --serial_enabled 1  --hil_mode 1 --serial_device ${device} --serial_baudrate ${baudrate} --mavlink_id 1 --output-file ${output_sdf}
-
-		if [ -z $PX4_SITL_WORLD ]; then
-			#Spawn predefined world
-			if [ "$world" == "none" ]; then
-				if [ -f ${src_path}/Tools/sitl_gazebo/worlds/${model}.world ]; then
-					echo "empty world, default world ${model}.world for model found"
-					world_path="${src_path}/Tools/sitl_gazebo/worlds/${model}.world"
-				else
-					echo "empty world, setting empty.world as default"
-					world_path="${src_path}/Tools/sitl_gazebo/worlds/empty.world"
-				fi
-			else
-				#Spawn empty world if world with model name doesn't exist
-				world_path="${src_path}/Tools/sitl_gazebo/worlds/${world}.world"
-			fi
-		else
-			if [ -f ${src_path}/Tools/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world ]; then
-				# Spawn world by name if exists in the worlds directory from environment variable
-				world_path="${src_path}/Tools/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world"
-			else
-				# Spawn world from environment variable with absolute path
-				world_path="$PX4_SITL_WORLD"
-			fi
-		fi
-		gzserver $verbose $world_path &
-		SIM_PID=$!
-
-		while gz model --verbose --spawn-file="${output_sdf}" --model-name=${model} -x 1.01 -y 0.98 -z 0.83 2>&1 | grep -q "An instance of Gazebo is not running."; do
-			echo "gzserver not ready yet, trying again!"
-			sleep 1
-		done
-
-		if [[ -n "$HEADLESS" ]]; then
-			echo "not running gazebo gui"
-		else
-			# gzserver needs to be running to avoid a race. Since the launch
-			# is putting it into the background we need to avoid it by backing off
-			sleep 3
-			nice -n 20 gzclient --verbose $follow_mode
-			GUI_PID=$!
-		fi
-	else
-		echo "You need to have gazebo simulator installed!"
-		exit 1
-	fi
-elif [ "$simulation" == "jsbsim" ] && [ -z "$no_sim" ]; then
-	source "$src_path/Tools/setup_jsbsim.bash" "${src_path}" "${build_path}" ${model}
-	if [[ -n "$HEADLESS" ]]; then
-		echo "not running flightgear gui"
-	else
-		fgfs --fdm=null \
-			--native-fdm=socket,in,60,,5550,udp \
-			--aircraft=$JSBSIM_AIRCRAFT_MODEL \
-			--airport=${world} \
-			--disable-hud \
-			--disable-ai-models &> /dev/null &
-		FGFS_PID=$!
-	fi
-	"${build_path}/build_jsbsim_bridge/jsbsim_bridge" ${model} -d ${device} -b ${baudrate} -s "${src_path}/Tools/jsbsim_bridge/scene/${world}.xml"
-	SIM_PID=$!
-fi
-
-
-trap "cleanup" SIGINT SIGTERM EXIT
@@ -190,6 +190,7 @@ if rc_serial_output_dir is None and serial_params_output_file is None:
 serial_commands = []
 ethernet_configuration = []
 additional_params = ""
+additional_ethernet_params = ""

 if ethernet_supported:
    ethernet_configuration.append({
@@ -210,7 +211,7 @@ def parse_yaml_serial_config(yaml_config):
        ret.append(serial_config)
    return ret

-def parse_yaml_parameters_config(yaml_config, ethernet_supported):
+def parse_yaml_parameters_config(yaml_config):
    """ parse the parameters section from the yaml config file """
    if 'parameters' not in yaml_config:
        return ''
@@ -223,7 +224,79 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
        param_group = parameters_section.get('group', None)
        for param_name in definitions:
            param = definitions[param_name]
-            if param.get('requires_ethernet', False) and not ethernet_supported:
+            if 'ethernet' in param:
+                continue
+            num_instances = param.get('num_instances', 1)
+            instance_start = param.get('instance_start', 0) # offset
+
+            # get the type and extract all tags
+            tags = '@group {:}'.format(param_group)
+            if param['type'] == 'enum':
+                param_type = 'INT32'
+                for key in param['values']:
+                    tags += '\n * @value {:} {:}'.format(key, param['values'][key])
+            elif param['type'] == 'boolean':
+                param_type = 'INT32'
+                tags += '\n * @boolean'
+            elif param['type'] == 'int32':
+                param_type = 'INT32'
+            elif param['type'] == 'float':
+                param_type = 'FLOAT'
+            else:
+                raise Exception("unknown param type {:}".format(param['type']))
+
+            for tag in ['decimal', 'increment', 'category', 'volatile', 'bit',
+                        'min', 'max', 'unit', 'reboot_required']:
+                if tag in param:
+                    tags += '\n * @{:} {:}'.format(tag, param[tag])
+
+            for i in range(num_instances):
+                # default value
+                default_value = 0
+                if 'default' in param:
+                    # default can be a list of num_instances or a single value
+                    if type(param['default']) == list:
+                        assert len(param['default']) == num_instances
+                        default_value = param['default'][i]
+                    else:
+                        default_value = param['default']
+
+                if type(default_value) == bool:
+                    default_value = int(default_value)
+
+                # output the existing C-style format
+                ret += '''
+/**
+ * {short_descr}
+ *
+ * {long_descr}
+ *
+ * {tags}
+ */
+PARAM_DEFINE_{param_type}({name}, {default_value});
+'''.format(short_descr=param['description']['short'].replace("\n", "\n * "),
+           long_descr=param['description']['long'].replace("\n", "\n * "),
+           tags=tags,
+           param_type=param_type,
+           name=param_name,
+           default_value=default_value,
+          ).replace('${i}', str(i+instance_start))
+    return ret
+
+def parse_yaml_ethernet_parameters_config(yaml_config):
+    """ parse the parameters section from the yaml config file """
+    if 'parameters' not in yaml_config:
+        return ''
+    parameters_section_list = yaml_config['parameters']
+    for parameters_section in parameters_section_list:
+        if 'definitions' not in parameters_section:
+            return ''
+        definitions = parameters_section['definitions']
+        ret = ''
+        param_group = parameters_section.get('group', None)
+        for param_name in definitions:
+            param = definitions[param_name]
+            if 'ethernet' not in param:
                continue
            num_instances = param.get('num_instances', 1)
            instance_start = param.get('instance_start', 0) # offset
@@ -289,8 +362,9 @@ for yaml_file in args.config_files:
            serial_commands.extend(parse_yaml_serial_config(yaml_config))

            # TODO: additional params should be parsed in a separate script
-            additional_params += parse_yaml_parameters_config(
-                yaml_config, ethernet_supported)
+            additional_params += parse_yaml_parameters_config(yaml_config)
+            if ethernet_supported:
+                additional_ethernet_params += parse_yaml_ethernet_parameters_config(yaml_config)

        except yaml.YAMLError as exc:
            print(exc)
@@ -355,7 +429,7 @@ for serial_command in serial_commands:
            'default_port': default_port,
            'param_group': port_config['group'],
            'description_extended': port_config.get('description_extended', ''),
-			'supports_networking': serial_command.get('supports_networking', False)
+			'ethernet_config': serial_command.get('ethernet', 'none')
            })

 if verbose:
@@ -399,5 +473,6 @@ if serial_params_output_file is not None:
        fid.write(template.render(serial_devices=serial_devices,
            ethernet_configuration=ethernet_configuration,
            commands=commands, serial_ports=serial_ports,
-            additional_definitions=additional_params))
+            additional_definitions=additional_params,
+            additional_ethernet_definitions=additional_ethernet_params))

@@ -17,9 +17,9 @@ if param compare "$PRT" {{ serial_device.index }}; then
 fi

 {% endfor %}
-
 {% for config in ethernet_configuration -%}
 if param compare "$PRT" {{ config.index }}; then
 	set SERIAL_DEV ethernet
 fi
+
 {% endfor %}
@@ -58,11 +58,10 @@ PARAM_DEFINE_INT32(SER_{{ serial_device.tag }}_BAUD, {{ serial_device.default_ba
 {%- for serial_device in serial_devices %}
 * @value {{ serial_device.index }} {{ serial_device.label }}
 {%- endfor %}
-{%- if command.supports_networking %}
+{%- if command.ethernet_config != "none" %}
 {%- for config in ethernet_configuration %}
 * @value {{ config.index }} {{ config.label }}
-{%- endfor %}
-{%- endif %}
+{%- endfor %}{% endif %}
 * @group {{ command.param_group }}
 * @reboot_required true
 */
@@ -73,3 +72,5 @@ PARAM_DEFINE_INT32({{ command.port_param_name }}, {{ command.default_port }});

 {{ additional_definitions }}

+{{ additional_ethernet_definitions }}
+
@@ -8,6 +8,7 @@ px4_add_board(
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
 	ROMFSROOT px4fmu_common
+	TESTING
 	UAVCAN_INTERFACES 1
 	SERIAL_PORTS
 		GPS1:/dev/ttyS3
@@ -26,7 +27,6 @@ px4_add_board(
 		gps
 		#heater
 		#imu # all available imu drivers
-		imu/invensense/icm20948 # required for ak09916 mag
 		imu/l3gd20
 		imu/lsm303d
 		imu/invensense/mpu6000
@@ -47,6 +47,7 @@ px4_add_board(
 		roboclaw
 		rpm
 		telemetry # all available telemetry drivers
+		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -108,6 +109,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -117,15 +119,15 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
+		fake_gyro
+		fake_magnetometer
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
 		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
 	)
@@ -39,6 +39,7 @@ px4_add_board(
 	VENDOR atlflight
 	MODEL eagle
 	LABEL default
+	#TESTING
 	TOOLCHAIN arm-linux-gnueabihf
 	ROMFSROOT px4fmu_common
 	DRIVERS
@@ -107,6 +108,7 @@ px4_add_board(
 		sd_bench
 		shutdown
 		system_time
+		#tests # tests and test runner
 		#top
 		topic_listener
 		tune_control
@@ -39,6 +39,7 @@ px4_add_board(
 	VENDOR atlflight
 	MODEL excelsior
 	LABEL default
+	#TESTING
 	TOOLCHAIN arm-oemllib32-linux-gnueabi
 	DRIVERS
 		#barometer # all available barometer drivers
@@ -105,6 +106,7 @@ px4_add_board(
 		sd_bench
 		shutdown
 		system_time
+		#tests # tests and test runner
 		#top
 		topic_listener
 		tune_control
@@ -7,6 +7,7 @@ px4_add_board(
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
+	TESTING
 	UAVCAN_INTERFACES 2
 	ETHERNET
 	SERIAL_PORTS
@@ -29,7 +30,6 @@ px4_add_board(
 		#imu # all available imu drivers
 		imu/adis16477
 		imu/adis16497
-		imu/invensense/icm20948 # required for ak09916 mag
 		irlock
 		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
@@ -46,6 +46,7 @@ px4_add_board(
 		roboclaw
 		rpm
 		telemetry # all available telemetry drivers
+		test_ppm
 		#tone_alarm
 		uavcan
 	MODULES
@@ -106,6 +107,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -114,15 +116,15 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
+		fake_gyro
+		fake_magnetometer
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
 		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
 	)
@@ -26,7 +26,6 @@ px4_add_board(
 		gps
 		#imu # all available imu drivers
 		imu/analog_devices/adis16448
-		imu/invensense/icm20948 # required for ak09916 mag
 		imu/invensense/mpu9250
 		linux_pwm_out
 		#magnetometer # all available magnetometer drivers
@@ -8,6 +8,7 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	BUILD_BOOTLOADER
+	TESTING
 	UAVCAN_INTERFACES 2
 	UAVCAN_TIMER_OVERRIDE 2
 	SERIAL_PORTS
@@ -34,7 +35,6 @@ px4_add_board(
 		imu/bosch/bmi088
 		imu/invensense/icm20649
 		imu/invensense/icm20689
-		imu/invensense/icm20948 # required for ak09916 mag
 		irlock
 		lights # all available light drivers
 		lights/rgbled_pwm
@@ -52,6 +52,7 @@ px4_add_board(
 		rpm
 		safety_button
 		telemetry # all available telemetry drivers
+		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -113,6 +114,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -3,9 +3,6 @@
 # board specific defaults
 #------------------------------------------------------------------------------

-# Enables the 2nd bank of mixers
-set AUX_BANK2 yes
-
 param set-default BAT_V_DIV 18
 param set-default BAT1_V_DIV 18
 param set-default BAT2_V_DIV 18
@@ -250,27 +250,25 @@
 #define GPIO_CAN2_TX     GPIO_CAN2_TX_1        /* PB13 */

 /* SPI */
-#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
+#define GPIO_SPI1_SCK    GPIO_SPI1_SCK_3    /* PG11 */
+#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1   /* PA6 */
+#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_3   /* PD7 */

-#define GPIO_SPI1_SCK    ADJ_SLEW_RATE(GPIO_SPI1_SCK_3) /* PG11 */
-#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1               /* PA6  */
-#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_3               /* PD7  */
+#define GPIO_SPI2_SCK    GPIO_SPI2_SCK_6    /* PI1 */
+#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_3   /* PI2 */
+#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_4   /* PI3 */

-#define GPIO_SPI2_SCK    ADJ_SLEW_RATE(GPIO_SPI2_SCK_6) /* PI1  */
-#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_3               /* PI2  */
-#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_4               /* PI3  */
+#define GPIO_SPI4_SCK    GPIO_SPI4_SCK_2    /* PE2 */
+#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_1   /* PE13 */
+#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_2   /* PE6 */

-#define GPIO_SPI4_SCK    ADJ_SLEW_RATE(GPIO_SPI4_SCK_2) /* PE2  */
-#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_1               /* PE13 */
-#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_2               /* PE6  */
+#define GPIO_SPI5_SCK    GPIO_SPI5_SCK_1    /* PF7 */
+#define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1   /* PF8 */
+#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2   /* PF9 */

-#define GPIO_SPI5_SCK    ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7  */
-#define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1               /* PF8  */
-#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2               /* PF9  */
-
-#define GPIO_SPI6_SCK    ADJ_SLEW_RATE(GPIO_SPI6_SCK_1) /* PG13 */
-#define GPIO_SPI6_MISO   GPIO_SPI6_MISO_1               /* PG12 */
-#define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_2               /* PA7  */
+#define GPIO_SPI6_SCK    GPIO_SPI6_SCK_1    /* PG13 */
+#define GPIO_SPI6_MISO   GPIO_SPI6_MISO_1   /* PG12 */
+#define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_2   /* PA7 */

 /* I2C */
 #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
@@ -1,139 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR cuav
-	MODEL nora
-	LABEL test
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m7
-	ROMFSROOT px4fmu_common
-	BUILD_BOOTLOADER
-	TESTING
-	UAVCAN_INTERFACES 2
-	UAVCAN_TIMER_OVERRIDE 2
-	SERIAL_PORTS
-		GPS1:/dev/ttyS0
-		TEL1:/dev/ttyS1
-		GPS2:/dev/ttyS2
-		TEL2:/dev/ttyS3
-		# CONSOLE: /dev/ttyS4
-		# RC: /dev/ttyS5
-	DRIVERS
-		adc/ads1115
-		adc/board_adc
-		barometer # all available barometer drivers
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		dshot
-		gps
-		heater
-		#imu # all available imu drivers
-		imu/analog_devices/adis16448
-		imu/bosch/bmi088
-		imu/invensense/icm20649
-		imu/invensense/icm20689
-		imu/invensense/icm20948 # required for ak09916 mag
-		#irlock
-		lights # all available light drivers
-		lights/rgbled_pwm
-		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		osd
-		pca9685
-		pca9685_pwm_out
-		power_monitor/ina226
-		#protocol_splitter
-		pwm_out_sim
-		pwm_out
-		rc_input
-		#roboclaw
-		#rpm
-		safety_button
-		telemetry # all available telemetry drivers
-		test_ppm
-		tone_alarm
-		uavcan
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		battery_status
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		esc_battery
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		gyro_calibration
-		gyro_fft
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		#micrortps_bridge
-		navigator
-		rc_update
-		#rover_pos_control
-		sensors
-		sih
-		temperature_compensation
-		#uuv_att_control
-		#uuv_pos_control
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		bl_update
-		dmesg
-		dumpfile
-		esc_calib
-		gpio
-		hardfault_log
-		i2cdetect
-		led_control
-		mft
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		serial_test
-		system_time
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		uorb
-		usb_connected
-		ver
-		work_queue
-	EXAMPLES
-		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
-		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
-	)
@@ -8,6 +8,7 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	BUILD_BOOTLOADER
+	TESTING
 	UAVCAN_INTERFACES 2
 	UAVCAN_TIMER_OVERRIDE 2
 	SERIAL_PORTS
@@ -30,12 +31,10 @@ px4_add_board(
 		gps
 		heater
 		#imu # all available imu drivers
-		imu/analog_devices/adis16448
 		imu/analog_devices/adis16470
 		imu/bosch/bmi088
 		imu/invensense/icm20649
 		imu/invensense/icm20689
-		imu/invensense/icm20948 # required for ak09916 mag
 		irlock
 		lights # all available light drivers
 		lights/rgbled_pwm
@@ -53,6 +52,7 @@ px4_add_board(
 		rpm
 		safety_button
 		telemetry # all available telemetry drivers
+		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -114,6 +114,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -17,5 +17,7 @@ param set-default BAT2_A_PER_V 24
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1

+param set-default IMU_GYRO_FFT_EN 1
+
 rgbled_pwm start
 safety_button start
@@ -1,140 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR cuav
-	MODEL x7pro
-	LABEL test
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m7
-	ROMFSROOT px4fmu_common
-	BUILD_BOOTLOADER
-	TESTING
-	UAVCAN_INTERFACES 2
-	UAVCAN_TIMER_OVERRIDE 2
-	SERIAL_PORTS
-		GPS1:/dev/ttyS0
-		TEL1:/dev/ttyS1
-		GPS2:/dev/ttyS2
-		TEL2:/dev/ttyS3
-		# CONSOLE: /dev/ttyS4
-		# RC: /dev/ttyS5
-	DRIVERS
-		adc/ads1115
-		adc/board_adc
-		barometer # all available barometer drivers
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		dshot
-		gps
-		heater
-		#imu # all available imu drivers
-		imu/analog_devices/adis16448
-		imu/analog_devices/adis16470
-		imu/bosch/bmi088
-		imu/invensense/icm20649
-		imu/invensense/icm20689
-		imu/invensense/icm20948 # required for ak09916 mag
-		#irlock
-		lights # all available light drivers
-		lights/rgbled_pwm
-		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		osd
-		pca9685
-		pca9685_pwm_out
-		power_monitor/ina226
-		#protocol_splitter
-		pwm_out_sim
-		pwm_out
-		rc_input
-		#roboclaw
-		#rpm
-		safety_button
-		telemetry # all available telemetry drivers
-		test_ppm
-		tone_alarm
-		uavcan
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		battery_status
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		esc_battery
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		gyro_calibration
-		gyro_fft
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		#micrortps_bridge
-		navigator
-		rc_update
-		#rover_pos_control
-		sensors
-		sih
-		temperature_compensation
-		#uuv_att_control
-		#uuv_pos_control
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		bl_update
-		dmesg
-		dumpfile
-		esc_calib
-		gpio
-		hardfault_log
-		i2cdetect
-		led_control
-		mft
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		serial_test
-		system_time
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		uorb
-		usb_connected
-		ver
-		work_queue
-	EXAMPLES
-		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
-		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
-	)
@@ -3,7 +3,7 @@ px4_add_board(
 	PLATFORM nuttx
 	VENDOR cubepilot
 	MODEL cubeorange
-	LABEL test
+	LABEL console
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
@@ -43,7 +43,6 @@ px4_add_board(
 		#pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
-		pwm_input
 		pwm_out_sim
 		pwm_out
 		px4io
@@ -9,6 +9,7 @@ px4_add_board(
 	ROMFSROOT px4fmu_common
 	BUILD_BOOTLOADER
 	IO cubepilot_io-v2_default
+	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		TEL1:/dev/ttyS0
@@ -43,13 +44,13 @@ px4_add_board(
 		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
-		pwm_input
 		pwm_out_sim
 		pwm_out
 		px4io
 		roboclaw
 		rpm
 		telemetry # all available telemetry drivers
+		#test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -111,6 +112,7 @@ px4_add_board(
 		sd_bench
 		#serial_test
 		system_time
+		#tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -13,3 +13,5 @@ icm20948 -s -b 4 -R 10 -M start
 ms5611 -s -b 1 start
 icm20649 -s -b 1 start

+# standard Here/Here2 connected to GPS1
+ak09916 -X -b 1 -R 6 start # external AK09916 (Here2) is rotated 270 degrees yaw
@@ -115,11 +115,6 @@
 #define GPIO_TONE_ALARM_IDLE    GPIO_BUZZER_1
 #define GPIO_TONE_ALARM         GPIO_TIM2_CH1OUT_2

-/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
-#define PWMIN_TIMER                       4
-#define PWMIN_TIMER_CHANNEL    /* T4C2 */ 2
-#define GPIO_PWM_IN            /* PD13 */ GPIO_TIM4_CH2IN_2
-
 /* USB
 *  OTG FS: PA9  OTG_FS_VBUS VBUS sensing
 */
@@ -3,7 +3,7 @@ px4_add_board(
 	PLATFORM nuttx
 	VENDOR cubepilot
 	MODEL cubeyellow
-	LABEL test
+	LABEL console
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
@@ -8,6 +8,7 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	IO cubepilot_io-v2_default
+	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		TEL1:/dev/ttyS0
@@ -48,6 +49,7 @@ px4_add_board(
 		roboclaw
 		rpm
 		telemetry # all available telemetry drivers
+		#test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -109,6 +111,7 @@ px4_add_board(
 		sd_bench
 		#serial_test
 		system_time
+		#tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -13,3 +13,5 @@ icm20948 -s -b 4 -R 10 -M start
 ms5611 -s -b 1 start
 icm20649 -s -b 1 start

+# standard Here/Here2 connected to GPS1
+ak09916 -X -b 1 -R 6 start # external AK09916 (Here2) is rotated 270 degrees yaw
@@ -24,7 +24,6 @@ px4_add_board(
 		gps
 		#imu # all available imu drivers
 		imu/analog_devices/adis16448
-		imu/invensense/icm20948 # required for ak09916 mag
 		imu/invensense/mpu9250
 		imu/st/lsm9ds1
 		linux_pwm_out
@@ -9,6 +9,7 @@ px4_add_board(
 	ROMFSROOT px4fmu_common
 	BUILD_BOOTLOADER
 	IO px4_io-v2_default
+	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
@@ -32,8 +33,7 @@ px4_add_board(
 		imu/analog_devices/adis16448
 		imu/bosch/bmi088
 		imu/invensense/icm20689
-		imu/invensense/icm20948 # required for ak09916 mag
-		#irlock
+		irlock
 		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
@@ -48,6 +48,7 @@ px4_add_board(
 		roboclaw
 		rpm
 		telemetry # all available telemetry drivers
+		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -82,8 +83,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
-		#uuv_att_control
-		#uuv_pos_control
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -109,6 +110,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
+#		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -118,15 +120,15 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
+		fake_gyro
+		fake_magnetometer
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
 		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
 	)
@@ -1,135 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR holybro
-	MODEL durandal-v1
-	LABEL test
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m7
-	ROMFSROOT px4fmu_common
-	BUILD_BOOTLOADER
-	IO px4_io-v2_default
-	TESTING
-	UAVCAN_INTERFACES 2
-	SERIAL_PORTS
-		GPS1:/dev/ttyS0
-		TEL1:/dev/ttyS1
-		TEL2:/dev/ttyS2
-		TEL3:/dev/ttyS4
-		TEL4:/dev/ttyS3
-	DRIVERS
-		#adc/ads1115
-		adc/board_adc
-		barometer # all available barometer drivers
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		dshot
-		gps
-		heater
-		#imu # all available imu drivers
-		#imu/analog_devices/adis16448
-		imu/bosch/bmi088
-		imu/invensense/icm20689
-		imu/invensense/icm20948 # required for ak09916 mag
-		#irlock
-		lights # all available light drivers
-		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		#osd
-		#pca9685
-		#pca9685_pwm_out
-		power_monitor/ina226
-		#protocol_splitter
-		pwm_out_sim
-		pwm_out
-		px4io
-		#roboclaw
-		#rpm
-		telemetry # all available telemetry drivers
-		test_ppm
-		tone_alarm
-		uavcan
-	MODULES
-		airspeed_selector
-		#attitude_estimator_q
-		battery_status
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		#esc_battery
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		gyro_calibration
-		gyro_fft
-		land_detector
-		landing_target_estimator
-		load_mon
-		#local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		#micrortps_bridge
-		navigator
-		rc_update
-		#rover_pos_control
-		sensors
-		#sih
-		#temperature_compensation
-		#uuv_att_control
-		#uuv_pos_control
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		bl_update
-		dmesg
-		dumpfile
-		esc_calib
-		gpio
-		hardfault_log
-		i2cdetect
-		led_control
-		mft
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		param
-		perf
-		pwm
-		reboot
-		#reflect
-		sd_bench
-		serial_test
-		system_time
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		uorb
-		usb_connected
-		ver
-		work_queue
-	EXAMPLES
-		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
-		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
-	)
@@ -6,7 +6,6 @@ px4_add_board(
 	LABEL default
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m7
-	EXTERNAL_METADATA
 	ROMFSROOT px4fmu_common
 	SERIAL_PORTS
 		TEL1:/dev/ttyS0 # UART1
@@ -8,6 +8,7 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
+	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
@@ -32,7 +33,6 @@ px4_add_board(
 		imu/bosch/bmi055
 		imu/invensense/icm20602
 		imu/invensense/icm20689
-		imu/invensense/icm20948 # required for ak09916 mag
 		irlock
 		lights # all available light drivers
 		lights/rgbled_pwm
@@ -52,6 +52,7 @@ px4_add_board(
 		rpm
 		safety_button
 		telemetry # all available telemetry drivers
+		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -113,6 +114,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -122,15 +124,15 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
+		fake_gyro
+		fake_magnetometer
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
 		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
 	)
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Jaeyoung-Lim	f5a73e0e3c	Add windshear plugin This commit adds SITL targets for the dynamic soaring aircraft and additional plugins in the sitl_gazebo submodule	2022-02-20 12:44:26 +01:00
Jaeyoung-Lim	0c2bf7428f	Disable unused targets	2021-12-30 11:02:12 +01:00
Jaeyoung-Lim	a9df7366a6	Disable cuav nora	2021-12-30 11:02:12 +01:00
Jaeyoung-Lim	04c41d0fee	Disable fmu-v2 stack check Remove fmu	2021-12-30 11:02:12 +01:00
Jaeyoung-Lim	1030e7317d	Add rtps message id for npfg_status	2021-12-30 11:02:12 +01:00
Jaeyoung-Lim	159a116286	Fix python CI checks	2021-12-30 11:02:12 +01:00
Thomas Stastny	b4328e7459	eas2tas conversions for npfg input/output.. also some missing get airspeed refs	2021-12-30 00:10:52 +01:00
Jaeyoung-Lim	5857461dc7	Update sitl_gazebo	2021-11-25 13:14:46 +01:00
Jaeyoung-Lim	495721b350	Add airframe configuration and make target for believer This commit adds an airframe configuration and make target for believer	2021-11-25 13:14:46 +01:00
RomanBapst	0588d5f88e	TECS: enable direct height-rate control Signed-off-by: RomanBapst <bapstroman@gmail.com>	2021-11-25 13:14:32 +01:00
RomanBapst	a81515f50b	FixedWingPositionControl: control only height rate when using pitch stick in manual altitude controlled modes Signed-off-by: RomanBapst <bapstroman@gmail.com>	2021-11-25 13:14:32 +01:00
Silvan Fuhrer	545bf1e977	rename FW_T_CLIMB_R_SP to FW_T_CLMB_R_SP Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-11-25 13:14:32 +01:00
RomanBapst	4f6c1d9c00	FixedWingPositionControl: use target climb/sink rate parameters as maximum rates in manual altitude controlled modes Signed-off-by: RomanBapst <bapstroman@gmail.com>	2021-11-25 13:14:32 +01:00
RomanBapst	ba13bb73c3	tecs: propagate altitude setpoint based on target climb/sink rate - avoids tecs always climbing and sinking and max rates and allows to fine tune these rates - avoid numerical calculation of feedforward velocity using derivative, this was prone to jitter in dt Signed-off-by: RomanBapst <bapstroman@gmail.com>	2021-11-25 13:14:32 +01:00
RomanBapst	f73cf4870d	FixedWingPosControlL1: added target climb and sink rate parameters Signed-off-by: RomanBapst <bapstroman@gmail.com>	2021-11-25 13:14:32 +01:00
JaeyoungLim	8d864f64e9	Enable offboard actuator setpoints	2021-11-24 09:40:19 +01:00
Jaeyoung-Lim	1469342125	Handle negative path curvature for feedforward acceleration calculations	2021-11-24 08:19:19 +01:00
Jaeyoung-Lim	3213be28a8	Log npfg status as default	2021-11-24 08:19:19 +01:00
Jaeyoung-Lim	788e9c92f8	Remove unused variable from npfg This commit fixes the clang tidy check on the build test CI	2021-11-10 13:11:12 +01:00
Thomas Stastny	78d7ddbec7	ramp in curvature dependent lower period bound	2021-10-01 10:43:50 +02:00
Thomas Stastny	b0dc3a4f51	add option to disable use of wind estimates with npfg	2021-10-01 10:43:50 +02:00
Thomas Stastny	493bae1e09	fix publish wind est valid	2021-10-01 10:43:50 +02:00
Thomas Stastny	dd89665cd6	multiply track error boundary by scale factor in calculation of waypoint switch distance	2021-10-01 10:43:50 +02:00
Thomas Stastny	0b40586803	organze npfg member variables in header, rename min ground speed command -> desired	2021-10-01 10:43:50 +02:00
Thomas Stastny	4dce637ab7	new bearing feasibility for handling zero airspeed - simpler bearing feasibility function - get rid of wind ratio - replace wind ratio buffer with airspeed buffer	2021-10-01 10:43:50 +02:00
Thomas Stastny	5398428683	update default gains for npfg (now that accel command bug was fixed)	2021-10-01 10:43:50 +02:00
Thomas Stastny	8641cabeec	npfg: fix incorrect extra multiplication of airspeed to acceleration reference	2021-10-01 10:43:50 +02:00
Thomas Stastny	c70df1e324	npfg: rearrange eval method, handle case in front of starting point of path segment	2021-10-01 10:43:50 +02:00
Thomas Stastny	4d11b4e06c	npfg: header formatting	2021-10-01 10:43:50 +02:00
Thomas Stastny	e9b0a3eb66	npfg: create const adaptPeriod method and update control params outside	2021-10-01 10:43:50 +02:00
Thomas Stastny	0b705c6c6d	mavlink: add npfg_status, regenerate headers	2021-10-01 10:43:50 +02:00
Thomas Stastny	d240ee9448	fw_pos_control_l1: integrate optional use of npfg uorb: npfg_status msg	2021-10-01 10:43:50 +02:00
Thomas Stastny	ef2cc9abb7	add npfg lib	2021-10-01 10:43:50 +02:00
Thomas Stastny	cd6e2b7a07	switch back to standard dialect	2021-10-01 10:43:50 +02:00
Thomas Stastny	8928cb6331	move sensor_airflow_angles to common xml, regenerate mavlink headers	2021-10-01 10:43:50 +02:00
Jaeyoung-Lim	53b182cc0a	Try setting the throttle channels properly	2021-09-29 19:42:03 +02:00
Jaeyoung-Lim	e001ccec24	Set disarmed pwm value to 1500	2021-09-29 19:42:03 +02:00
Jaeyoung-Lim	cf318a4b6c	Add dual motor mixer	2021-09-29 19:42:03 +02:00
Jaeyoung-Lim	fea99faf4a	Add ASL Believer airframe config	2021-09-29 19:42:03 +02:00
Florian Achermann	a0efc3eb00	Merge pull request #26 from ethz-asl/feature/firmware_update Feature/firmware update	2021-08-23 16:11:41 +02:00
Florian Achermann	9424d17164	Change boot order to make sure the adis mag is the priority one	2021-07-27 13:57:46 +02:00
Florian Achermann	117150979e	Switch order booting up the internal/external sensors	2021-07-27 10:46:41 +02:00
Florian Achermann	77bd43ead3	Fix compilation error	2021-07-27 10:46:12 +02:00
Florian Achermann	6b00008dba	Change SPI chipselect order - The ADIS driver by default only selects the first chipselect	2021-07-27 10:13:39 +02:00
Daniel Agar	a65a591638	adis16448: add additional delay after transfer in case of back to back transcations - add verified register read method	2021-07-27 10:07:23 +02:00
Florian Achermann	01307a43fe	Merge pull request #23 from ethz-asl/pr-fix-rtps-builds Add airflow_slip and airflow_aoa to rtps message definitions	2021-07-06 16:41:55 +02:00
Jaeyoung-Lim	83d8d8d710	Add airflow_slip and airflow_aoa to rtps message definitions	2021-07-06 16:36:23 +02:00
Jaeyoung-Lim	4a590c5fd6	Specify orientaiton of ADIS16448 IMU for EZG from autostart script Specify orientaiton of ADIS16448 IMU for EZG from autostart script	2021-07-06 16:31:39 +02:00
JaeyoungLim	0f4eaec6c1	Merge pull request #17 from ethz-asl/feature/add_hall_effect_sensor [WIP!!!] Feature/add hall effect sensor	2021-06-24 13:27:02 +02:00
JaeyoungLim	2b4540aa64	Merge pull request #18 from ethz-asl/pr-port-vanes Port si7210 driver with new driver framework	2021-06-24 13:25:56 +02:00
Jaeyoung-Lim	389a096ace	Add SENSOR_AIRFLOW_ANGLES mavlink stream to config mode	2021-06-24 13:15:21 +02:00
Jaeyoung-Lim	81b860c37e	Add SENSOR_AIRFLOW_ANGLES mavlink stream	2021-06-24 13:10:09 +02:00
Jaeyoung-Lim	7fcad68c9d	Remove probe override for si7210 driver This commit removes the probe override for the si7210 driver, which seems to help with improving reliability of driver startup	2021-06-24 10:22:10 +02:00
Jaeyoung-Lim	66ad2fd586	Address review comments Remove crc	2021-06-21 10:34:22 +02:00
Florian Achermann	4f87cb0b76	Fix format	2021-06-21 08:47:45 +02:00
Florian Achermann	042b48aadf	Add si7210 to fmuv3	2021-06-21 08:47:45 +02:00
Florian Achermann	69aaa9bad2	Fix getting the aoa and slip hall id	2021-06-21 08:47:45 +02:00
Florian Achermann	538b8d9913	Add booting the si7210 sensors to rc.sensors	2021-06-21 08:47:45 +02:00
Florian Achermann	111321082f	Add hall_poll to the main loop in the sensors module	2021-06-21 08:47:45 +02:00
Florian Achermann	736514dc98	Implement handling the hall measurements in the sensors module	2021-06-21 08:47:45 +02:00
Florian Achermann	e9772b10ac	Implement the SENSOR_AIRFLOW_ANGLES mavlink stream	2021-06-21 08:47:45 +02:00
Florian Achermann	514cb8e4fa	Switch to the ASLUAV dialect	2021-06-21 08:47:45 +02:00
Florian Achermann	4a1b9fce05	Add uorb messages for the airflow angles	2021-06-21 08:47:45 +02:00
Florian Achermann	ba72e93ffb	Fill in the instance of the hall sensor msg with the i2c address	2021-06-21 08:47:45 +02:00
Daniel Agar	54cc96f66a	drivers ADIS16448 misc fixes - increase SPI stall time slightly - tolerate mag self test failure (could be due to local magnetic field) - register configuration compatible with older ADIS16448AMLZ - don't publish duplicate accel/gyro - only allocate CRC perf counter if using CRC	2021-05-27 12:19:27 +02:00
Jaeyoung-Lim	e62a569f63	Port si7210 drivers to new driver framework This commit ports the si7210 hall sensor to the new driver framework	2021-05-07 11:17:08 +02:00
Jaeyoung-Lim	ceb8c0271c	Add rotorS mavlink build test for PX4 This commit adds rotorS as a submodule of PX4 and adds a build test	2021-04-30 08:23:33 +02:00
Amir Melzer	d20f353342	update uorb message make file	2021-04-14 16:19:29 +02:00
Amir Melzer	2ffca74e49	add hall sensor uORB message	2021-04-14 16:18:54 +02:00
Amir Melzer	080e04b59b	update px4_fmu-v5_default cmake config with the new driver	2021-04-14 16:16:39 +02:00
Amir Melzer	b3ce86f45f	update the sensors list with the hall sensor dev	2021-04-14 16:15:21 +02:00
Amir Melzer	2e73460ad0	add hall sensor drv	2021-04-14 16:14:03 +02:00
Amir Melzer	a5c61eeb4f	add si7210 driver files	2021-04-14 16:12:50 +02:00
Amir Melzer	f4551faa6b	add si7210 make file	2021-04-14 16:07:18 +02:00
Jaeyoung-Lim	fabf702264	Enable adis16448 with parameter This commit adds enabling adis16448 with a parameter	2021-04-09 16:43:17 +02:00
JaeyoungLim	911f852834	Merge pull request #15 from ethz-asl/pr-upstream-merge 03/04/2021 upstream merge	2021-04-09 16:42:42 +02:00
JaeyoungLim	32a93d6355	Merge pull request #11 from ethz-asl/pr-upstream-merge 23/02/2021 Upstream Merge	2021-02-24 10:48:56 +01:00
JaeyoungLim	472e191fef	Merge pull request #10 from ethz-asl/pr-upstream-merge 16/02/2021 Upstream Merge	2021-02-23 09:43:53 +01:00
JaeyoungLim	c25e7e2362	Merge pull request #8 from ethz-asl/pr-upstream-merge 14/02/2021 Upstream merge	2021-02-14 15:54:41 +01:00
JaeyoungLim	34f0e3f09a	Merge branch 'develop' into pr-upstream-merge	2021-02-14 09:49:53 +01:00
JaeyoungLim	b7b5f159d5	Port custom airframe configs / mixers to public fork (#7 ) * Port custom airframe configs / mixers to new custom repo This PR ports ethz asl fixedwing team's custom airframe configs and mixers to the PX4 fork * Exclude fmu-v2 for ASL vehicles This commit removes the fmu v2 for ASL vehicles in order to fix the flash overflowing problem	2021-02-11 11:09:24 +01:00
JaeyoungLim	8bac069e55	Merge pull request #6 from ethz-asl/pr-automate-upstream-sync Sync master branch with upstream using github actions	2021-02-10 02:59:44 +01:00
Jaeyoung-Lim	7859174d6b	Sync master branch with upstream using github actions This commit adds a github actions pipeline that syncs the master branch with upstream every 15 minutes	2021-02-09 21:30:16 +01:00