drivers/rc_input: cleanup and simplify data processing per type

- don't store data in class
drivers/rc_input: poll file descriptor to minimize latency
2026-08-20 04:40:35 +08:00 · 2022-02-09 17:11:11 -05:00 · 2022-02-09 16:48:08 -05:00
730 changed files with 12624 additions and 24617 deletions
@@ -28,7 +28,7 @@ pipeline {
          ]

          def base_builds = [
-            target: ["px4_sitl_default"],
+            target: ["px4_sitl_rtps"],
            image: docker_images.base,
            archive: false
          ]
@@ -58,7 +58,6 @@ pipeline {
                     "holybro_can-gps-v1_default",
                     "holybro_durandal-v1_default",
                     "holybro_kakutef7_default",
-                     "holybro_kakuteh7_default",
                     "holybro_pix32v5_default",
                     "matek_h743-slim",
                     "matek_gnss-m9n-f4_canbootloader",
@@ -705,21 +705,18 @@ void quickCalibrate() {

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status || true"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick; sleep 1"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_ACC*"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro; sleep 2"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_GYRO*"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level; sleep 2"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SENS*"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick; sleep 1"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_MAG*"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate baro; sleep 5"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_BARO*"'
-
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters after
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
 }
@@ -864,7 +861,7 @@ void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf_gps_drift" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
@@ -64,6 +64,3 @@
 	path = src/lib/crypto/libtommath
 	url = https://github.com/PX4/libtommath.git
 	branch = px4
-[submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
-	path = src/modules/microdds_client/Micro-XRCE-DDS-Client
-	url = https://github.com/eProsima/Micro-XRCE-DDS-Client.git
@@ -412,7 +412,6 @@ endif()
 # subdirectories
 #
 add_library(parameters_interface INTERFACE)
-add_library(kernel_parameters_interface INTERFACE)

 include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)
@@ -435,13 +434,7 @@ add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)

 # must be the last module before firmware
 add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
-
-if(${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT)
-target_link_libraries(parameters_interface INTERFACE usr_parameters)
-target_link_libraries(kernel_parameters_interface INTERFACE parameters)
-else()
 target_link_libraries(parameters_interface INTERFACE parameters)
-endif()

 # firmware added last to generate the builtin for included modules
 add_subdirectory(platforms/${PX4_PLATFORM})
@@ -10,7 +10,6 @@
 # enable fusion of landing target velocity
 param set-default LTEST_MODE 1
 param set-default PLD_HACC_RAD 0.1
-param set-default RTL_PLD_MD 2

 # Start up Landing Target Estimator module
 landing_target_estimator start
@@ -8,5 +8,8 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

+set MAV_TYPE 12
+param set MAV_TYPE ${MAV_TYPE}
+
 set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
 set MIXER custom
@@ -8,5 +8,8 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

+set MAV_TYPE 12
+param set MAV_TYPE ${MAV_TYPE}
+
 set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
 set MIXER custom
@@ -67,3 +67,4 @@ param set-default PWM_MAIN_FUNC7 107
 param set-default PWM_MAIN_FUNC8 108

 set MIXER skip
+
@@ -10,7 +10,7 @@
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 2

-param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 0.1515
 param set-default CA_ROTOR0_PY 0.245
 param set-default CA_ROTOR0_KM 0.05
@@ -23,9 +23,6 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.1515
 param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
-param set-default CA_ROTOR4_PX 0.2

 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_CS0_TYPE 1
@@ -71,6 +68,7 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1

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

 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75
@@ -79,5 +77,7 @@ param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2

+set MAV_TYPE 22
+
 set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
 set MIXER custom
@@ -7,8 +7,6 @@

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

-param set-default MAV_TYPE 20
-
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 4

@@ -70,6 +68,7 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1

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

 param set-default VT_FW_DIFTHR_EN 1
 param set-default VT_FW_DIFTHR_SC 0.5
@@ -79,5 +78,7 @@ param set-default VT_TYPE 0

 param set-default WV_EN 0

+set MAV_TYPE 20
+
 set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
 set MIXER custom
@@ -7,8 +7,6 @@

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

-param set-default MAV_TYPE 21
-
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 3

@@ -82,6 +80,7 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1

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

 param set-default VT_B_TRANS_DUR 8
 param set-default VT_FWD_THRUST_EN 4
@@ -89,5 +88,7 @@ param set-default VT_MOT_ID 1234
 param set-default VT_TILT_TRANS 0.6
 param set-default VT_TYPE 1

+set MAV_TYPE 21
+
 set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
 set MIXER custom
@@ -38,6 +38,7 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1

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

 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75
@@ -50,5 +51,7 @@ param set-default RC_MAP_AUX1 8
 param set-default RC_MAP_AUX2 9
 param set-default RC_MAP_AUX3 10

+set MAV_TYPE 22
+
 set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
 set MIXER custom
@@ -37,4 +37,6 @@ param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101

+set MAV_TYPE 10
+
 set MIXER_FILE skip
@@ -37,4 +37,6 @@ param set-default PWM_MAIN_FUNC2 101
 param set-default PWM_MAIN_FUNC6 102
 param set-default PWM_MAIN_FUNC7 102

+set MAV_TYPE 10
+
 set MIXER_FILE skip
@@ -10,8 +10,6 @@

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

-param set-default MAV_TYPE 10
-
 param set-default GND_L1_DIST 5
 param set-default GND_SP_CTRL_MODE 1
 param set-default GND_SPEED_D 3
@@ -35,4 +33,6 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 3.0

+set MAV_TYPE 10
+
 set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
@@ -47,4 +47,6 @@ param set-default CA_R_REV 3
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102

+set MAV_TYPE 11
+
 set MIXER skip
@@ -9,8 +9,6 @@

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

-param set-default MAV_TYPE 13
-
 param set-default MC_PITCHRATE_P 0.1
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCH_P 6.0
@@ -26,4 +24,6 @@ param set-default TRIG_MODE 4
 param set-default MNT_MODE_IN 4
 param set-default MNT_DO_STAB 2

+set MAV_TYPE 13
+
 set MIXER hexa_x
@@ -7,8 +7,6 @@

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

-param set-default MAV_TYPE 13
-
 param set-default MC_PITCHRATE_P 0.0800
 param set-default MC_PITCHRATE_I 0.0400
 param set-default MC_PITCHRATE_D 0.0010
@@ -28,4 +26,6 @@ param set-default MNT_MODE_IN 4
 param set-default MNT_MODE_OUT 2
 param set-default MAV_PROTO_VER 2

+set MAV_TYPE 13
+
 set MIXER hexa_x
@@ -7,8 +7,6 @@

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

-param set-default MAV_TYPE 13
-
 param set-default SYS_CTRL_ALLOC 1

 param set-default MC_PITCHRATE_P 0.0800
@@ -60,5 +58,7 @@ param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 105
 param set-default PWM_MAIN_FUNC6 106

+set MAV_TYPE 13
+
 set MIXER skip
 set MIXER_AUX none
@@ -24,6 +24,7 @@ fi

 # initialize script variables
 set IO_PRESENT                  no
+set MAV_TYPE                    none
 set MIXER                       none
 set MIXER_AUX                   none
 set MIXER_FILE                  none
@@ -223,13 +224,6 @@ rc_update start
 manual_control start
 sensors start
 commander start
-
-# Configure vehicle type specific parameters.
-# Note: rc.vehicle_setup is the entry point for rc.interface,
-#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
-#
-. ${R}etc/init.d/rc.vehicle_setup
-
 navigator start

 # Try to start the micrortps_client with UDP transport if module exists
@@ -259,6 +253,12 @@ then
 	gyro_calibration start
 fi

+# Configure vehicle type specific parameters.
+# Note: rc.vehicle_setup is the entry point for rc.interface,
+#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
+#
+. ${R}etc/init.d/rc.vehicle_setup
+
 #user defined mavlink streams for instances can be in PATH
 . px4-rc.mavlink

@@ -39,26 +39,6 @@ param set-default FW_RR_P 0.3

 param set-default RWTO_TKOFF 1

-param set-default CA_AIRFRAME 1
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-param set-default CA_SV_CS_COUNT 4
-param set-default CA_SV_CS0_TRQ_R 0.5
-param set-default CA_SV_CS0_TYPE 2
-param set-default CA_SV_CS1_TRQ_P 1.0
-param set-default CA_SV_CS1_TYPE 3
-param set-default CA_SV_CS2_TRQ_Y 1.0
-param set-default CA_SV_CS2_TYPE 4
-param set-default CA_SV_CS3_TYPE 10
-
-param set-default HIL_ACT_REV 2
-param set-default HIL_ACT_FUNC1 201
-param set-default HIL_ACT_FUNC2 202
-param set-default HIL_ACT_FUNC3 203
-param set-default HIL_ACT_FUNC4 101
-param set-default HIL_ACT_FUNC5 204
-param set-default HIL_ACT_FUNC6 400
-
 param set SYS_HITL 1

 # disable some checks to allow to fly
@@ -36,5 +36,4 @@ param set-default MC_PITCHRATE_P 0.19
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCHRATE_D 0.004
 param set-default MC_YAW_P 4
-
 set MIXER quad_w
@@ -15,23 +15,6 @@ set MIXER quad_x

 param set SYS_HITL 1

-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
-
 # disable some checks to allow to fly
 # - with usb
 param set-default CBRK_USB_CHK 197848
@@ -49,6 +49,7 @@ param set-default MPC_Z_VEL_MAX_DN 1.5

 param set-default NAV_ACC_RAD 5
 param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 80

 param set-default RTL_DESCEND_ALT 10
 param set-default RTL_RETURN_ALT 30
@@ -60,37 +61,6 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_TYPE 2

-param set-default CA_AIRFRAME 2
-param set-default CA_ROTOR_COUNT 5
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
-param set-default CA_ROTOR4_PX 0.2
-
-param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS2_TYPE 3
-
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
-param set-default HIL_ACT_FUNC5 105
-param set-default HIL_ACT_FUNC6 201
-param set-default HIL_ACT_FUNC7 202
-param set-default HIL_ACT_FUNC8 203
-

 param set SYS_HITL 1

@@ -103,7 +73,7 @@ param set-default CBRK_SUPPLY_CHK 894281
 param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

-param set-default MAV_TYPE 22
+set MAV_TYPE 22

 set MIXER standard_vtol_hitl

@@ -17,23 +17,6 @@ set PWM_OUT 1234

 param set UAVCAN_ENABLE 0

-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
-
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2

@@ -17,26 +17,6 @@ set PWM_OUT 1234

 param set UAVCAN_ENABLE 0

-param set-default CA_AIRFRAME 1
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-param set-default CA_SV_CS_COUNT 4
-param set-default CA_SV_CS0_TRQ_R 0.5
-param set-default CA_SV_CS0_TYPE 2
-param set-default CA_SV_CS1_TRQ_P 1.0
-param set-default CA_SV_CS1_TYPE 3
-param set-default CA_SV_CS2_TRQ_Y 1.0
-param set-default CA_SV_CS2_TYPE 4
-param set-default CA_SV_CS3_TYPE 10
-
-param set-default HIL_ACT_REV 2
-param set-default HIL_ACT_FUNC1 201
-param set-default HIL_ACT_FUNC2 202
-param set-default HIL_ACT_FUNC3 203
-param set-default HIL_ACT_FUNC4 101
-param set-default HIL_ACT_FUNC5 204
-param set-default HIL_ACT_FUNC6 400
-
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set-default SYS_HITL 2

@@ -26,28 +26,8 @@ param set-default VT_FW_DIFTHR_SC 0.3
 param set-default MPC_MAN_Y_MAX 60
 param set-default MC_PITCH_P 5

-param set-default CA_AIRFRAME 4
-param set-default CA_ROTOR_COUNT 2
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR0_PY 0.2
-param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR1_PY -0.2
-param set-default CA_SV_CS_COUNT 2
-param set-default CA_SV_CS0_TRQ_P 0.3
-param set-default CA_SV_CS0_TRQ_Y 0.3
-param set-default CA_SV_CS0_TYPE 5
-param set-default CA_SV_CS1_TRQ_P 0.3
-param set-default CA_SV_CS1_TRQ_Y -0.3
-param set-default CA_SV_CS1_TYPE 6
-
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC5 202
-param set-default HIL_ACT_FUNC6 201
-param set-default HIL_ACT_REV 32
-
 param set-default MAV_TYPE 19
-
+set MAV_TYPE 19
 set MIXER vtol_tailsitter_duo_sat

 set PWM_OUT 1234
@@ -25,7 +25,7 @@
 . ${R}etc/init.d/rc.vtol_defaults

 param set-default CA_AIRFRAME 2
-param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 0.15
 param set-default CA_ROTOR0_PY 0.15
 param set-default CA_ROTOR1_PX -0.15
@@ -36,9 +36,6 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.15
 param set-default CA_ROTOR3_PY 0.15
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
-param set-default CA_ROTOR4_PX 0.2
 param set-default CA_SV_CS_COUNT 4
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS0_TRQ_R -0.5
@@ -54,8 +51,7 @@ param set-default PWM_AUX_DIS5 950
 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
-
-param set-default MAV_TYPE 22
+set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAERT
@@ -19,6 +19,7 @@

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

+
 param set-default MAV_TYPE 19

 param set-default MC_ROLL_P 6
@@ -37,6 +38,7 @@ param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_ID 12
 param set-default VT_TYPE 0
+set MAV_TYPE 19

 set MIXER vtol_tailsitter_duo

@@ -23,7 +23,6 @@

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

-param set-default MAV_TYPE 21

 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.19
@@ -46,6 +45,7 @@ param set-default VT_TILT_TRANS 0.5
 param set-default VT_TILT_FW 0.9
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
+set MAV_TYPE 21

 set MIXER firefly6
 set MIXER_AUX firefly6
@@ -13,8 +13,6 @@

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

-param set-default MAV_TYPE 20
-
 param set-default CA_AIRFRAME 4
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 0.15
@@ -40,6 +38,7 @@ param set-default PWM_MAIN_MAX 2000
 param set-default VT_MOT_ID 1234
 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0
+set MAV_TYPE 20

 set MIXER quad_x_vtol

@@ -22,13 +22,13 @@

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

-param set-default MAV_TYPE 20
-
 param set-default PWM_MAIN_MAX 2000

 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0

+set MAV_TYPE 20
+
 set MIXER quad_+_vtol

 set PWM_OUT 1234
@@ -52,6 +52,7 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
+set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAERT
@@ -41,6 +41,7 @@ param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
+set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_delta
@@ -33,6 +33,7 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
+set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAVVT
@@ -46,6 +46,7 @@ param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_TYPE 2
+set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAERT
@@ -77,6 +77,8 @@ param set-default VT_TRANS_MIN_TM 5
 param set-default VT_TRANS_TIMEOUT    30
 param set-default VT_TYPE 2

+set MAV_TYPE 22
+
 set MIXER quad_x
 set MIXER_AUX vtol_AAERT

@@ -13,8 +13,6 @@

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

-param set-defualt MAV_TYPE 21
-
 param set-default PWM_AUX_DISARM 1000
 param set-default PWM_AUX_MAX 2000
 param set-default PWM_AUX_MIN 1000
@@ -30,6 +28,7 @@ param set-default VT_TILT_MC 0.08
 param set-default VT_TILT_TRANS 0.5
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
+set MAV_TYPE 21

 set MIXER claire
 set MIXER_AUX claire
@@ -22,8 +22,6 @@

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

-param set-defualt MAV_TYPE 21
-
 param set-default CBRK_AIRSPD_CHK 162128

 param set-default FW_ARSP_MODE 1
@@ -66,6 +64,7 @@ param set-default VT_TRANS_MIN_TM 1.2
 param set-default VT_TRANS_P2_DUR 1.3
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
+set MAV_TYPE 21

 set MIXER vtol_convergence

@@ -22,8 +22,6 @@

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

-param set-default MAV_TYPE 22
-
 param set-default BAT1_CAPACITY 23000
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_R_INTERNAL 0.0025
@@ -136,6 +134,7 @@ param set-default VT_TRANS_TIMEOUT 22
 param set-default VT_F_TRANS_RAMP 4

 param set-default COM_RC_OVERRIDE 0
+set MAV_TYPE 22

 set MIXER deltaquad
 set MIXER_AUX pass
@@ -23,8 +23,6 @@

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

-param set-default MAV_TYPE 22
-
 param set-default BAT1_N_CELLS 6

 param set-default FW_AIRSPD_MAX 30
@@ -96,6 +94,8 @@ param set-default VT_PSHER_RMP_DT 2
 param set-default VT_TRANS_MIN_TM 4
 param set-default VT_TYPE 2

+set MAV_TYPE 22
+
 set MIXER babyshark
 set MIXER_AUX pass

@@ -27,8 +27,6 @@

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

-param set-default MAV_TYPE 21
-
 param set-default VT_IDLE_PWM_MC 1100
 param set-default VT_TYPE 1
 param set-default VT_MOT_ID 1234
@@ -59,6 +57,8 @@ param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_TL_COUNT 4

+set MAV_TYPE 21
+
 set MIXER quad_x
 set MIXER_AUX vtol_TTTTAAER

@@ -31,6 +31,7 @@ param set-default PWM_AUX_DIS5 950
 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 12345678
 param set-default VT_FW_MOT_OFFID 12345678
+set MAV_TYPE 22

 set MIXER octo_cox
 set MIXER_AUX vtol_AAERT
@@ -19,8 +19,6 @@

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

-param set-default MAV_TYPE 19
-
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0
@@ -39,6 +37,8 @@ param set-default CA_SV_CS1_TRQ_P 0.5
 param set-default CA_SV_CS1_TRQ_Y -0.5
 param set-default CA_SV_CS1_TYPE 6

+param set-default MAV_TYPE 19
+set MAV_TYPE 19
 set MIXER vtol_tailsitter_duo

 set PWM_OUT 1234
@@ -18,7 +18,4 @@

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

-# MAV_TYPE_TRICOPTER 15
-param set-default MAV_TYPE 15
-
 set MIXER tri_y_yaw+
@@ -18,7 +18,4 @@

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

-# MAV_TYPE_TRICOPTER 15
-param set-default MAV_TYPE 15
-
 set MIXER tri_y_yaw-
@@ -17,9 +17,7 @@
 #

 . ${R}etc/init.d/rc.mc_defaults
-
-# MAV_TYPE_COAXIAL 3
-param set-default MAV_TYPE 3
+set MIXER coax

 param set-default MC_ROLLRATE_P 0.17
 param set-default MC_ROLLRATE_I 0.05
@@ -38,9 +36,6 @@ param set-default PWM_MAIN_RATE 400

 param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10
-
-set MIXER coax
-
 # This is the gimbal pass mixer
 set MIXER_AUX pass

@@ -20,7 +20,7 @@
 . ${R}etc/init.d/rc.mc_defaults

 # Configure as helicopter (number 4 defined in commander_helper.cpp)
-param set-default MAV_TYPE 4
+set MAV_TYPE 4

 set MIXER blade130

@@ -41,6 +41,5 @@ param set-default FW_R_LIM 40
 param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
-
 set MIXER TF-G2
 set MIXER_AUX pass
@@ -24,5 +24,8 @@ param set-default MAV_0_CONFIG 102
 param set-default GPS_UBX_DYNMODEL 8
 param set-default SER_TEL2_BAUD 9600

+set MAV_TYPE 8
+param set MAV_TYPE ${MAV_TYPE}
+
 set MIXER IO_pass
 set MIXER_AUX pass
@@ -26,7 +26,7 @@
 # @board px4_fmu-v2 exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
+set VEHICLE_TYPE mc

 param set-default NAV_ACC_RAD 2

@@ -39,7 +39,6 @@ param set-default PWM_MAIN_RATE 400

 param set-default RTL_DESCEND_ALT 10
 param set-default RTL_RETURN_ALT 30
-
 set MIXER dodeca_top_cox
 set MIXER_AUX dodeca_bottom_cox

@@ -41,6 +41,9 @@ param set-default FW_RR_P 0.04

 param set-default PWM_MAIN_DISARM 1000

+# Configure this as plane.
+set MAV_TYPE 1
+
 # Set mixer.
 set MIXER fw_generic_wing

@@ -24,6 +24,8 @@

 set MIXER quad_s250aq

+set MAV_TYPE 2
+
 param set-default ATT_BIAS_MAX 0

 param set-default CBRK_IO_SAFETY 22027
@@ -46,7 +46,7 @@ param set-default COM_RC_LOSS_T 3


 # ekf2
-param set-default EKF2_AID_MASK 33
+param set-default EKF2_AID_MASK 35
 param set-default EKF2_BARO_DELAY 0
 param set-default EKF2_BARO_NOISE 2.0

@@ -164,8 +164,6 @@ param set-default RC_MAP_AUX2       5
 param set-default RC_MAP_AUX3       10
 param set-default RC_MAP_AUX4       8
 param set-default RC_MAP_FLTMODE    6
-param set-default RC_MAP_RETURN_SW  7
-
 param set-default RC1_TRIM          1000


@@ -21,7 +21,10 @@
 # @board cuav_x7pro exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
+set VEHICLE_TYPE mc
+set MIXER quad_x
+set PWM_OUT 1234
+

 # Attitude & rate gains
 param set-default MC_ROLLRATE_D 0.0013
@@ -21,7 +21,10 @@
 # @maintainer Hyon Lim <lim@uvify.com>
 #

-. ${R}etc/init.d/rc.mc_defaults
+set VEHICLE_TYPE mc
+set MIXER quad_x
+set PWM_OUT 1234
+

 # Attitude & rate gains
 param set-default MC_ROLLRATE_D 0.0013
@@ -24,6 +24,10 @@

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

+
+# Configure this as Quadrotor
+# set MAV_TYPE 14
+
 # Set mixer
 set MIXER tilt_quad
 set MIXER_AUX tilt_quad
@@ -48,6 +48,8 @@ param set-default NAV_ACC_RAD 0.5
 param set-default PWM_MAIN_DISARM 1500
 param set-default PWM_MAIN_MAX 2000
 param set-default PWM_MAIN_MIN 1000
+# Configure this as rover
+set MAV_TYPE 10

 # Set mixer
 set MIXER rover_generic
@@ -76,6 +76,9 @@ param set-default RBCLW_SER_CFG 104
 # Start this driver after setting parameters, because the driver uses some of those parameters.
 # roboclaw start /dev/ttyS3

+# Configure this as rover
+set MAV_TYPE 10
+
 # Set mixer
 set MIXER generic_diff_rover

@@ -65,6 +65,9 @@ param set-default PWM_MAIN_MIN4 970
 # Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

+# Configure this as rover
+set MAV_TYPE 10
+
 # Set mixer
 set MIXER rover_diff_and_servo

@@ -16,4 +16,7 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

+set MAV_TYPE 12
+param set MAV_TYPE ${MAV_TYPE}
+
 set MIXER uuv_x
@@ -16,4 +16,7 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

+set MAV_TYPE 12
+param set MAV_TYPE ${MAV_TYPE}
+
 set MIXER uuv_x
@@ -23,9 +23,6 @@

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

-# MAV_TYPE_HEXAROTOR 13
-param set-default MAV_TYPE 13
-
 param set-default CA_ROTOR_COUNT 6
 param set-default CA_ROTOR0_PX 0.0
 param set-default CA_ROTOR0_PY 0.5
@@ -27,8 +27,9 @@

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

-# MAV_TYPE_HEXAROTOR 13
-param set-default MAV_TYPE 13
+set MIXER hexa_x
+set PWM_OUT 12345678
+

 ###############################################
 # Attitude & rate gains
@@ -119,7 +120,3 @@ param set-default MAV_1_MODE 2
 param set-default MAV_1_FORWARD 1
 param set-default MAV_1_RATE 800000
 param set-default SER_TEL2_BAUD 921600
-
-
-set MIXER hexa_x
-set PWM_OUT 12345678
@@ -23,9 +23,6 @@

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

-# MAV_TYPE_HEXAROTOR 13
-param set-default MAV_TYPE 13
-
 param set-default CA_ROTOR_COUNT 6
 param set-default CA_ROTOR0_PX 0.5
 param set-default CA_ROTOR0_PY 0.0
@@ -25,9 +25,6 @@

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

-# MAV_TYPE_OCTOROTOR 14
-param set-default MAV_TYPE 14
-
 param set-default CA_ROTOR_COUNT 8
 param set-default CA_ROTOR0_KM -0.05
 param set-default CA_ROTOR0_PX 0.46
@@ -25,9 +25,6 @@

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

-# MAV_TYPE_OCTOROTOR 14
-param set-default MAV_TYPE 14
-
 set MIXER octo_+

 set PWM_OUT 12345678
@@ -7,9 +7,6 @@

 set VEHICLE_TYPE airship

-# MAV_TYPE_AIRSHIP 7
-param set-default MAV_TYPE 7
-
 #
 # This is the gimbal pass mixer.
 #
@@ -7,9 +7,6 @@

 set VEHICLE_TYPE fw

-# MAV_TYPE_FREE_BALLOON 8
-param set-default MAV_TYPE 8
-
 #
 # Default parameters for balloon UAVs.
 #
@@ -7,9 +7,6 @@

 set VEHICLE_TYPE rover

-# MAV_TYPE_SURFACE_BOAT 11
-param set-default MAV_TYPE 11
-
 #
 # Default parameters for UGVs.
 #
@@ -7,15 +7,14 @@

 set VEHICLE_TYPE fw

-# MAV_TYPE_FIXED_WING 1
-param set-default MAV_TYPE 1
-
 #
 # Default parameters for fixed wing UAVs.
 #
 param set-default COM_POS_FS_DELAY 5
 param set-default COM_POS_FS_EPH 15
 param set-default COM_POS_FS_EPV 30
+param set-default COM_POS_FS_GAIN 0
+param set-default COM_POS_FS_PROB 1
 param set-default COM_VEL_FS_EVH 5
 # Disable preflight disarm to not interfere with external launching
 param set-default COM_DISARM_PRFLT -1
@@ -7,9 +7,6 @@

 set VEHICLE_TYPE mc

-# MAV_TYPE_QUADROTOR 2
-param set-default MAV_TYPE 2
-
 if param compare IMU_GYRO_RATEMAX 400
 then
 	param set-default IMU_GYRO_RATEMAX 800
@@ -7,9 +7,6 @@

 set VEHICLE_TYPE rover

-# MAV_TYPE_GROUND_ROVER 10
-param set-default MAV_TYPE 10
-
 #
 # Default parameters for UGVs.
 #
@@ -149,26 +149,6 @@ then
 	ms5525_airspeed start -X
 fi

-# IR-LOCK sensor external I2C
-if param compare -s SENS_EN_IRLOCK 1
-then
-	irlock start -X
-fi
-
-# SPL06 sensor external I2C
-if param compare -s SENS_EN_SPL06 1
-then
-	spl06 -X start
-	spl06 -X -a 0x77 start
-fi
-
-# PCF8583 counter (RPM sensor)
-if param compare -s SENS_EN_PCF8583 1
-then
-	pcf8583 start -X
-	pcf8583 start -X -a 0x51
-fi
-
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
@@ -7,9 +7,6 @@

 set VEHICLE_TYPE uuv

-# MAV_TYPE_SUBMARINE 12
-param set-default MAV_TYPE 12
-
 param set-default PWM_MAIN_MAX 1950
 param set-default PWM_MAIN_MIN 1050
 param set-default PWM_MAIN_DISARM 1500
@@ -12,9 +12,19 @@ if [ $VEHICLE_TYPE = fw ]
 then
 	if [ $MIXER = none ]
 	then
-		echo "FW mixer undefined"
+		# Set default mixer for fixed wing if not defined.
+		set MIXER AERT
 	fi

+	if [ $MAV_TYPE = none ]
+	then
+		# Set a default MAV_TYPE = 1 if not defined.
+		set MAV_TYPE 1
+	fi
+
+	# Set the mav type parameter.
+	param set MAV_TYPE ${MAV_TYPE}
+
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -32,6 +42,41 @@ then
 		echo "MC mixer undefined"
 	fi

+	if [ $MAV_TYPE = none ]
+	then
+		# Set a default MAV_TYPE = 2 if not defined.
+		set MAV_TYPE 2
+
+		# Use mixer to detect vehicle type
+		if [ $MIXER = coax ]
+		then
+			set MAV_TYPE 3
+		fi
+		if [ $MIXER = hexa_x -o $MIXER = hexa_+ ]
+		then
+			set MAV_TYPE 13
+		fi
+		if [ $MIXER = hexa_cox ]
+		then
+			set MAV_TYPE 13
+		fi
+		if [ $MIXER = octo_x -o $MIXER = octo_+ ]
+		then
+			set MAV_TYPE 14
+		fi
+		if [ $MIXER = octo_cox -o $MIXER = octo_cox_w ]
+		then
+			set MAV_TYPE 14
+		fi
+		if [ $MIXER = tri_y_yaw- -o $MIXER = tri_y_yaw+ ]
+		then
+			set MAV_TYPE 15
+		fi
+	fi
+
+	# Set the mav type parameter.
+	param set MAV_TYPE ${MAV_TYPE}
+
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -46,9 +91,19 @@ if [ $VEHICLE_TYPE = rover ]
 then
 	if [ $MIXER = none ]
 	then
-		echo "rover mixer undefined"
+		# Set default mixer for UGV if not defined.
+		set MIXER rover_generic
 	fi

+	if [ $MAV_TYPE = none ]
+	then
+		# Set a default MAV_TYPE = 10 if not defined.
+		set MAV_TYPE 10
+	fi
+
+	# Set the mav type parameter.
+	param set MAV_TYPE ${MAV_TYPE}
+
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -66,6 +121,25 @@ then
 		echo "VTOL mixer undefined"
 	fi

+	if [ $MAV_TYPE = none ]
+	then
+		# Set a default MAV_TYPE = 19 if not defined.
+		set MAV_TYPE 19
+
+		# Use mixer to detect vehicle type.
+		if [ $MIXER = firefly6 ]
+		then
+			set MAV_TYPE 21
+		fi
+		if [ $MIXER = quad_x_pusher_vtol ]
+		then
+			set MAV_TYPE 22
+		fi
+	fi
+
+	# Set the mav type parameter.
+	param set MAV_TYPE ${MAV_TYPE}
+
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -83,6 +157,15 @@ then
 		echo "Airship mixer undefined"
 	fi

+	if [ $MAV_TYPE = none ]
+	then
+		# Set a default MAV_TYPE = 7 if not defined.
+		set MAV_TYPE 7
+	fi
+
+	# Set the mav type parameter.
+	param set MAV_TYPE ${MAV_TYPE}
+
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -100,11 +183,19 @@ then
 		echo "UUV mixer undefined"
 	fi

+	if [ $MAV_TYPE = none ]
+	then
+		# Set default MAV_TYPE to submarine if not defined
+		set MAV_TYPE 12
+	fi
+
+	param set MAV_TYPE ${MAV_TYPE}
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

 	# Start standard vtol apps.
 	. ${R}etc/init.d/rc.uuv_apps
+
 fi


@@ -7,9 +7,6 @@

 set VEHICLE_TYPE vtol

-# MAV_TYPE_VTOL_FIXEDROTOR 22
-param set-default MAV_TYPE 22
-
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_YAW_TMT 10

@@ -29,6 +29,7 @@ set IOFW "/etc/extras/px4_io-v2_default.bin"
 set IO_PRESENT no
 set LOGGER_ARGS ""
 set LOGGER_BUF 8
+set MAV_TYPE none
 set MIXER none
 set MIXER_AUX none
 set MIXER_FILE none
@@ -408,13 +409,6 @@ else
 		commander start
 	fi

-	#
-	# Configure vehicle type specific parameters.
-	# Note: rc.vehicle_setup is the entry point for rc.interface,
-	#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
-	#
-	. ${R}etc/init.d/rc.vehicle_setup
-
 	# Pre-takeoff continuous magnetometer calibration
 	if param compare -s MBE_ENABLE 1
 	then
@@ -465,6 +459,13 @@ else
 		fi
 	fi

+	#
+	# Configure vehicle type specific parameters.
+	# Note: rc.vehicle_setup is the entry point for rc.interface,
+	#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
+	#
+	. ${R}etc/init.d/rc.vehicle_setup
+
 	#
 	# Play the startup tune (if not disabled or there is an error)
 	#
@@ -572,6 +573,7 @@ unset IO_PRESENT
 unset IOFW
 unset LOGGER_ARGS
 unset LOGGER_BUF
+unset MAV_TYPE
 unset MIXER
 unset MIXER_AUX
 unset MIXER_FILE
@@ -1,7 +1,5 @@
 Mixer for Tailsitter with x motor configuration and elevons
 ===========================================================
-# @board px4_fmu-v2 exclude
-# @board omnibus_f4sd exclude

 This file defines a single mixer for tailsitter with motors in X configuration.  All controls
 are mixed 100%.
@@ -27,5 +27,4 @@ exec find boards msg src platforms test \
    -path src/lib/crypto/monocypher -prune -o \
    -path src/lib/crypto/libtomcrypt -prune -o \
    -path src/lib/crypto/libtommath -prune -o \
-    -path src/modules/microdds_client/Micro-XRCE-DDS-Client -prune -o \
    -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN
@@ -139,7 +139,6 @@ mc_hover_thrust_estimator,CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 mc_pos_control,CONFIG_MODULES_MC_POS_CONTROL=y
 mc_rate_control,CONFIG_MODULES_MC_RATE_CONTROL=y
 micrortps_bridge,CONFIG_MODULES_MICRORTPS_BRIDGE=y
-microdds_client,CONFIG_MODULES_MICRODDS_CLIENT=y
 navigator,CONFIG_MODULES_NAVIGATOR=y
 px4iofirmware,CONFIG_MODULES_PX4IOFIRMWARE=y
 rc_update,CONFIG_MODULES_RC_UPDATE=y
@@ -330,11 +330,9 @@ def get_mixers(yaml_config, output_functions, verbose):
        option = select_param + '==' + str(type_index)
        mixer_config = {
                'option': option,
-                'help-url': 'https://docs.px4.io/master/en/config/actuators.html',
            }
-        for optional in ['type', 'title']:
-            if optional in current_type:
-                mixer_config[optional] = current_type[optional]
+        if 'type' in current_type:
+            mixer_config['type'] = current_type['type']
        actuators = []
        for actuator_conf in current_type['actuators']:
            actuator = {
@@ -7,8 +7,7 @@ import os
 import math
 import matplotlib.pyplot as plt
 import numpy as np
-
-from scipy.signal import medfilt
+import scipy as sp

 from pyulog import *

@@ -66,7 +65,7 @@ def resampleWithDeltaX(x,y):
    return resampledX,resampledY

 def median_filter(data):
-    return medfilt(data, 31)
+    return sp.signal.medfilt(data, 31)

 parser = argparse.ArgumentParser(description='Reads in IMU data from a static thermal calibration test and performs a curve fit of gyro, accel and baro bias vs temperature')
 parser.add_argument('filename', metavar='file.ulg', help='ULog input file')
@@ -16,7 +16,7 @@ class ModuleDocumentation(object):
    valid_categories = ['driver', 'estimator', 'controller', 'system',
                        'communication', 'command', 'template', 'simulation', 'autotune']
    valid_subcategories = ['', 'distance_sensor', 'imu', 'airspeed_sensor',
-                           'magnetometer', 'baro', 'optical_flow', 'rpm_sensor']
+                           'magnetometer', 'baro', 'optical_flow']

    max_line_length = 80 # wrap lines that are longer than this

@@ -268,14 +268,10 @@ for serial_command in serial_commands:
                default_port_str = port_config['default'][i]
            else:
                default_port_str = port_config['default']
-
            if default_port_str != "":
                if default_port_str not in serial_ports:
                    raise Exception("Default Port {:} not found for {:}".format(default_port_str, serial_command['label']))
-
-                if default_port_str in dict(board_ports).keys():
-                    default_port = serial_ports[default_port_str]['index']
-
+                default_port = serial_ports[default_port_str]['index']

        commands.append({
            'command': serial_command['command'],
@@ -192,7 +192,7 @@ elif [ "$program" == "ignition" ] && [ -z "$no_sim" ]; then
 		ignition_headless=""
 	fi
 	source "$src_path/Tools/setup_ignition.bash" "${src_path}" "${build_path}"
-	ign gazebo --force-version 5 ${verbose} ${ignition_headless} -r "${src_path}/Tools/simulation-ignition/worlds/${model}.world"&
+	ign gazebo ${verbose} ${ignition_headless} -r "${src_path}/Tools/simulation-ignition/worlds/${model}.world"&
 elif [ "$program" == "flightgear" ] && [ -z "$no_sim" ]; then
 	echo "FG setup"
 	cd "${src_path}/Tools/flightgear_bridge/"
@@ -15,6 +15,7 @@ CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_TELEMETRY_FRSKY_TELEMETRY=y
+CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
@@ -26,6 +27,7 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
@@ -90,7 +90,6 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_LIBC_STRERROR_SHORT=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
@@ -133,8 +133,6 @@

 #define GPIO_RSSI_IN                       /* PC5  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN5)

-#define GPIO_RF_SWITCH                     /* PE13  */ (GPIO_OUTPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN13)
-
 /* Power switch controls ******************************************************/

 #define SDIO_SLOTNO                    0  /* Only one slot */
@@ -177,7 +175,6 @@
 		PX4_ADC_GPIO,                     \
 		GPIO_TONE_ALARM_IDLE,             \
 		GPIO_RSSI_IN,                     \
-		GPIO_RF_SWITCH,                   \
 	}

 #define BOARD_ENABLE_CONSOLE_BUFFER
@@ -71,8 +71,7 @@
 #define BOOT_DELAY_ADDRESS             0x000001a0
 #define BOARD_TYPE                     1048
 #define BOARD_FLASH_SECTORS            (14)
-#define BOARD_FLASH_SIZE               (16 * 128 * 1024)
-#define APP_RESERVATION_SIZE           (1 * 128 * 1024)
+#define BOARD_FLASH_SIZE               ((16-2) * 128 * 1024)

 #define OSC_FREQ                       8

@@ -160,9 +160,6 @@ stm32_boardinitialize(void)

 	board_control_spi_sensors_power_configgpio();

-	/* Turn bluetooth off by default (no mavlink support yet) */
-	px4_arch_gpiowrite(GPIO_RF_SWITCH, 0);
-
 	/* configure USB interfaces */

 	stm32_usbinitialize();
@@ -3,10 +3,10 @@
 # Matek M9NF4 CAN specific board sensors init
 #------------------------------------------------------------------------------

-icm20602 -s -R 10 start
+icm20602 -s start

-rm3100 -b 2 -s -R 12 start
+rm3100 -b 2 -s start

 dps310 -a 118 -X start

-sensors start
+sensors start
@@ -284,17 +284,17 @@

 #define STM32_SDMMC_INIT_CLKDIV     (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)

-/* 20 MHz Max for now - more reliable on some boards than 25 MHz
- * 20 MHz = PLL1Q/(2*div), div =  PLL1Q/(2*freq), div = 6 = 240 / 40
+/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div =  PLL1Q/(2*freq)
+ * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s
 */

 #if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_MMCXFR_CLKDIV   (6 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#  define STM32_SDMMC_MMCXFR_CLKDIV   (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #else
 #  define STM32_SDMMC_MMCXFR_CLKDIV   (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #endif
 #if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_SDXFR_CLKDIV    (6 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#  define STM32_SDMMC_SDXFR_CLKDIV    (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #else
 #  define STM32_SDMMC_SDXFR_CLKDIV    (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #endif
@@ -111,8 +111,8 @@

 /* PWM
 */
-#define DIRECT_PWM_OUTPUT_CHANNELS   10
-#define DIRECT_INPUT_TIMER_CHANNELS  10
+#define DIRECT_PWM_OUTPUT_CHANNELS   8
+#define DIRECT_INPUT_TIMER_CHANNELS  8

 #define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS

--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Daniel Agar	edb9fce9b3	drivers/rc_input: cleanup and simplify data processing per type - don't store data in class	2022-02-09 17:11:11 -05:00
Daniel Agar	c4f9f2980d	drivers/rc_input: poll file descriptor to minimize latency	2022-02-09 16:48:08 -05:00