drivers/rc/ghst_rc: create new standalone ghst_rc driver

.ci/Jenkinsfile-compile

@@ -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",

.ci/Jenkinsfile-hardware

@@ -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"'
 }

.github/workflows/compile_nuttx.yml

@@ -20,7 +20,6 @@ jobs:
           ark_can-flow,
           ark_can-gps,
           ark_can-rtk-gps,
-          ark_cannode,
           atl_mantis-edu,
           av_x-v1,
           bitcraze_crazyflie,

.github/workflows/sitl_tests.yml

@@ -29,9 +29,9 @@ jobs:
         token: ${{ secrets.ACCESS_TOKEN }}
 
     - name: Download MAVSDK
-      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
     - name: Install MAVSDK
-      run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+      run: dpkg -i "mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
 
     - name: Prepare ccache timestamp
       id: ccache_cache_timestamp

.gitmodules

@@ -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

.vscode/cmake-variants.yaml

@@ -121,16 +121,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_can-rtk-gps_canbootloader
-    ark_cannode_default:
-      short: ark_cannode_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_cannode_default
-    ark_cannode_canbootloader:
-      short: ark_cannode_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_cannode_canbootloader
     atl_mantis-edu_default:
       short: atl_mantis-edu
       buildType: MinSizeRel

CMakeLists.txt

@@ -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})

ROMFS/px4fmu_common/init.d-posix/airframes/1011_iris_irlock

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy

@@ -67,3 +67,4 @@ param set-default PWM_MAIN_FUNC7 107
 param set-default PWM_MAIN_FUNC8 108
 
 set MIXER skip
+

ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover

@@ -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

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

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc

@@ -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

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -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
 

ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil

@@ -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

ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d

@@ -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

ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil

@@ -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

ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil

@@ -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
 

ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil

@@ -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
 

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

@@ -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
 

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

@@ -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

ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard

@@ -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

ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol

@@ -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
 

ROMFS/px4fmu_common/init.d/airframes/13002_firefly6

@@ -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

ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter

@@ -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
 

ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter

@@ -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

ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad

@@ -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

ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta

@@ -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

ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad

@@ -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

ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger

@@ -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

ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger

@@ -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
 

ROMFS/px4fmu_common/init.d/airframes/13010_claire

@@ -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

ROMFS/px4fmu_common/init.d/airframes/13012_convergence

@@ -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
 

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

@@ -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

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

@@ -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
 

ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor

@@ -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
 

ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo

@@ -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

ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter

@@ -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

ROMFS/px4fmu_common/init.d/airframes/14001_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+

ROMFS/px4fmu_common/init.d/airframes/14002_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-

ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli

@@ -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
 

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

@@ -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
 

ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2

@@ -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

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

@@ -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

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

@@ -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
 

ROMFS/px4fmu_common/init.d/airframes/3033_wingwing

@@ -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
 

ROMFS/px4fmu_common/init.d/airframes/4051_s250aq

@@ -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

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

@@ -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
 
 

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

@@ -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

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

@@ -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

ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor

@@ -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

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

@@ -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

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

@@ -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
 

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

@@ -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
 

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

@@ -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

ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus

@@ -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

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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

ROMFS/px4fmu_common/init.d/rc.airship_defaults

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

ROMFS/px4fmu_common/init.d/rc.balloon_defaults

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

ROMFS/px4fmu_common/init.d/rc.boat_defaults

@@ -7,9 +7,6 @@
 
 set VEHICLE_TYPE rover
 
-# MAV_TYPE_SURFACE_BOAT 11
-param set-default MAV_TYPE 11
-
 #
 # Default parameters for UGVs.
 #

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -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

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -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

ROMFS/px4fmu_common/init.d/rc.rover_defaults

@@ -7,9 +7,6 @@
 
 set VEHICLE_TYPE rover
 
-# MAV_TYPE_GROUND_ROVER 10
-param set-default MAV_TYPE 10
-
 #
 # Default parameters for UGVs.
 #

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -83,28 +83,16 @@ then
 	teraranger start -X
 fi
 
-# paa3905 optical flow sensor (external SPI)
-if param greater -s SENS_EN_PAA3905 0
-then
-	paa3905 -S start
-fi
-
-# paw3902 optical flow sensor (external SPI)
-if param greater -s SENS_EN_PAW3902 0
-then
-	paw3902 -S start
-fi
-
-# pmw3901 optical flow sensor (external SPI)
+# Possible external pmw3901 optical flow sensor
 if param greater -s SENS_EN_PMW3901 0
 then
 	pmw3901 -S start
 fi
 
-# Check for px4flow sensor
-if param compare -s SENS_EN_PX4FLOW 1
+# Possible external paw3902 optical flow sensor
+if param greater -s SENS_EN_PAW3902 0
 then
-	px4flow start -X
+	paw3902 -S start
 fi
 
 # vl53l1x i2c distance sensor
@@ -167,13 +155,6 @@ 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

ROMFS/px4fmu_common/init.d/rc.uuv_defaults

@@ -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

ROMFS/px4fmu_common/init.d/rc.vehicle_setup

@@ -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
 
 

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -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
 

ROMFS/px4fmu_common/init.d/rcS

@@ -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)
 	#
@@ -492,6 +493,12 @@ else
 		gimbal start
 	fi
 
+	# Check for flow sensor
+	if param compare -s SENS_EN_PX4FLOW 1
+	then
+		px4flow start -X
+	fi
+
 	# Blacksheep telemetry
 	if param compare -s TEL_BST_EN 1
 	then
@@ -566,6 +573,7 @@ unset IO_PRESENT
 unset IOFW
 unset LOGGER_ARGS
 unset LOGGER_BUF
+unset MAV_TYPE
 unset MIXER
 unset MIXER_AUX
 unset MIXER_FILE

ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix

@@ -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%.

Tools/astyle/files_to_check_code_style.sh

@@ -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

Tools/ecl_ekf/analysis/checks.py

@@ -55,7 +55,7 @@ def perform_imu_checks(
 
     # perform the vibration check
     imu_status['imu_vibration_check'] = 'Pass'
-    for imu_vibr_metric in ['imu_coning', 'imu_hfgyro', 'imu_hfaccel']:
+    for imu_vibr_metric in ['imu_coning', 'imu_hfdang', 'imu_hfdvel']:
         mean_metric = '{:s}_mean'.format(imu_vibr_metric)
         peak_metric = '{:s}_peak'.format(imu_vibr_metric)
         if imu_metrics[mean_metric] > check_levels['{:s}_warn'.format(mean_metric)] \

Tools/ecl_ekf/analysis/metrics.py

@@ -144,27 +144,17 @@ def calculate_imu_metrics(ulog: ULog, multi_instance, in_air_no_ground_effects:
         imu_metrics[result] = calculate_stat_from_signal(
             estimator_status_data, 'estimator_status', signal, in_air_no_ground_effects, np.median)
 
-
     # calculates peak and mean for IMU vibration checks
-    for imu_status_instance in range(4):
-        try:
-            vehicle_imu_status_data = ulog.get_dataset('vehicle_imu_status', imu_status_instance).data
-
-            if vehicle_imu_status_data['accel_device_id'][0] == estimator_status_data['accel_device_id'][0]:
-
-                for signal, result in [('delta_angle_coning_metric', 'imu_coning'),
-                                       ('gyro_vibration_metric', 'imu_hfgyro'),
-                                       ('accel_vibration_metric', 'imu_hfaccel')]:
-
-                    peak = calculate_stat_from_signal(vehicle_imu_status_data, 'vehicle_imu_status', signal, in_air_no_ground_effects, np.amax)
-
-                    if peak > 0.0:
-                        imu_metrics['{:s}_peak'.format(result)] = peak
-                        imu_metrics['{:s}_mean'.format(result)] = calculate_stat_from_signal(vehicle_imu_status_data, 'vehicle_imu_status', signal, in_air_no_ground_effects, np.mean)
-
-        except:
-            pass
-
+    for signal, result in [('vibe[0]', 'imu_coning'),
+                           ('vibe[1]', 'imu_hfdang'),
+                           ('vibe[2]', 'imu_hfdvel')]:
+        peak = calculate_stat_from_signal(
+            estimator_status_data, 'estimator_status', signal, in_air_no_ground_effects, np.amax)
+        if peak > 0.0:
+            imu_metrics['{:s}_peak'.format(result)] = peak
+            imu_metrics['{:s}_mean'.format(result)] = calculate_stat_from_signal(
+                estimator_status_data, 'estimator_status', signal,
+                in_air_no_ground_effects, np.mean)
 
     # IMU bias checks
     estimator_states_data = ulog.get_dataset('estimator_states', multi_instance).data

Tools/ecl_ekf/batch_process_metadata_ekf.py

@@ -48,7 +48,7 @@ for filename in os.listdir(metadata_directory):
 
 #        # print out the check levels
 #        print('\n'+'The following metadata loaded from '+filename+' were used'+'\n')
-#        val = population_data.get(filename, {}).get('imu_hfgyro_mean')
+#        val = population_data.get(filename, {}).get('imu_hfdang_mean')
 #        print(val)
 
 # Open pdf file for plotting
@@ -90,10 +90,10 @@ population_results = {
 'ofy_fail_pct_avg':[float('NaN'),'The mean percentage of innovation test fails for the Y axis optical flow sensor'],
 'imu_coning_max_avg':[float('NaN'),'The mean of the maximum in-flight values of the IMU delta angle coning vibration level (mrad)'],
 'imu_coning_mean_avg':[float('NaN'),'The mean of the mean in-flight value of the IMU delta angle coning vibration level (mrad)'],
-'imu_hfgyro_max_avg':[float('NaN'),'The mean of the maximum in-flight values of the IMU high frequency gyro vibration level (rad/s)'],
-'imu_hfgyro_mean_avg':[float('NaN'),'The mean of the mean in-flight value of the IMU delta high frequency gyro vibration level (rad/s)'],
-'imu_hfaccel_max_avg':[float('NaN'),'The mean of the maximum in-flight values of the IMU high frequency accel vibration level (m/s/s)'],
-'imu_hfaccel_mean_avg':[float('NaN'),'The mean of the mean in-flight value of the IMU delta high frequency accel vibration level (m/s/s)'],
+'imu_hfdang_max_avg':[float('NaN'),'The mean of the maximum in-flight values of the IMU high frequency delta angle vibration level (mrad)'],
+'imu_hfdang_mean_avg':[float('NaN'),'The mean of the mean in-flight value of the IMU delta high frequency delta angle vibration level (mrad)'],
+'imu_hfdvel_max_avg':[float('NaN'),'The mean of the maximum in-flight values of the IMU high frequency delta velocity vibration level (m/s)'],
+'imu_hfdvel_mean_avg':[float('NaN'),'The mean of the mean in-flight value of the IMU delta high frequency delta velocity vibration level (m/s)'],
 'obs_ang_median_avg':[float('NaN'),'The mean of the median in-flight value of the output observer angular tracking error magnitude (mrad)'],
 'obs_vel_median_avg':[float('NaN'),'The mean of the median in-flight value of the output observer velocity tracking error magnitude (m/s)'],
 'obs_pos_median_avg':[float('NaN'),'The mean of the median in-flight value of the output observer position tracking error magnitude (m)'],
@@ -360,54 +360,54 @@ if (len(result1) > 0 and len(result2) > 0):
     plt.close(8)
 
 # IMU high frequency delta angle vibration levels
-temp = np.asarray([population_data[k].get('imu_hfgyro_peak') for k in found_keys])
+temp = np.asarray([population_data[k].get('imu_hfdang_peak') for k in found_keys])
 result1 = 1000.0 * temp[np.isfinite(temp)]
-temp = np.asarray([population_data[k].get('imu_hfgyro_mean') for k in found_keys])
+temp = np.asarray([population_data[k].get('imu_hfdang_mean') for k in found_keys])
 result2 = 1000.0 * temp[np.isfinite(temp)]
 
 if (len(result1) > 0 and len(result2) > 0):
-    population_results['imu_hfgyro_max_avg'][0] = np.mean(result1)
-    population_results['imu_hfgyro_mean_avg'][0] = np.mean(result2)
+    population_results['imu_hfdang_max_avg'][0] = np.mean(result1)
+    population_results['imu_hfdang_mean_avg'][0] = np.mean(result2)
 
     plt.figure(9,figsize=(20,13))
 
     plt.subplot(2,1,1)
     plt.hist(result1)
-    plt.title("Gaussian Histogram - IMU HF Gyroscope Vibration Peak")
-    plt.xlabel("imu_hfgyro_max (rad/s)")
+    plt.title("Gaussian Histogram - IMU HF Delta Angle Vibration Peak")
+    plt.xlabel("imu_hfdang_max (mrad)")
     plt.ylabel("Frequency")
 
     plt.subplot(2,1,2)
     plt.hist(result2)
-    plt.title("Gaussian Histogram - IMU HF Gyroscope Vibration Mean")
-    plt.xlabel("imu_hfgyro_mean (rad/s)")
+    plt.title("Gaussian Histogram - IMU HF Delta Angle Vibration Mean")
+    plt.xlabel("imu_hfdang_mean (mrad)")
     plt.ylabel("Frequency")
 
     pp.savefig()
     plt.close(9)
 
-# IMU high frequency accel vibration levels
-temp = np.asarray([population_data[k].get('imu_hfaccel_peak') for k in found_keys])
+# IMU high frequency delta velocity vibration levels
+temp = np.asarray([population_data[k].get('imu_hfdvel_peak') for k in found_keys])
 result1 = temp[np.isfinite(temp)]
-temp = np.asarray([population_data[k].get('imu_hfaccel_mean') for k in found_keys])
+temp = np.asarray([population_data[k].get('imu_hfdvel_mean') for k in found_keys])
 result2 = temp[np.isfinite(temp)]
 
 if (len(result1) > 0 and len(result2) > 0):
-    population_results['imu_hfaccel_max_avg'][0] = np.mean(result1)
-    population_results['imu_hfaccel_mean_avg'][0] = np.mean(result2)
+    population_results['imu_hfdvel_max_avg'][0] = np.mean(result1)
+    population_results['imu_hfdvel_mean_avg'][0] = np.mean(result2)
 
     plt.figure(10,figsize=(20,13))
 
     plt.subplot(2,1,1)
     plt.hist(result1)
-    plt.title("Gaussian Histogram - IMU HF Accelerometer Vibration Peak")
-    plt.xlabel("imu_hfaccel_max (m/s/s)")
+    plt.title("Gaussian Histogram - IMU HF Delta Velocity Vibration Peak")
+    plt.xlabel("imu_hfdvel_max (m/s)")
     plt.ylabel("Frequency")
 
     plt.subplot(2,1,2)
     plt.hist(result2)
-    plt.title("Gaussian Histogram - IMU HF Accelerometer Vibration Mean")
-    plt.xlabel("imu_hfaccel_mean (m/s/s)")
+    plt.title("Gaussian Histogram - IMU HF Delta Velocity Vibration Mean")
+    plt.xlabel("imu_hfdvel_mean (m/s)")
     plt.ylabel("Frequency")
 
     pp.savefig()
@@ -535,12 +535,12 @@ single_log_results = {
 'hgt_sensor_status':['Pass','Height sensor check summary. This sensor data can be sourced from either Baro, GPS, range fidner or external vision system. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required'],
 'hgt_test_max':[float('NaN'),'The maximum in-flight value of the height sensor innovation consistency test ratio.'],
 'hgt_test_mean':[float('NaN'),'The mean in-flight value of the height sensor innovation consistency test ratio.'],
-'imu_coning_mean':[float('NaN'),'Mean in-flight value of the IMU delta angle coning vibration metric (rad^2)'],
-'imu_coning_peak':[float('NaN'),'Peak in-flight value of the IMU delta angle coning vibration metric (rad^2)'],
-'imu_hfgyro_mean':[float('NaN'),'Mean in-flight value of the IMU gyro high frequency vibration metric (rad/s)'],
-'imu_hfgyro_peak':[float('NaN'),'Peak in-flight value of the IMU gyro high frequency vibration metric (rad/s)'],
-'imu_hfaccel_mean':[float('NaN'),'Mean in-flight value of the IMU accel high frequency vibration metric (m/s/s)'],
-'imu_hfaccel_peak':[float('NaN'),'Peak in-flight value of the IMU accel high frequency vibration metric (m/s/s)'],
+'imu_coning_mean':[float('NaN'),'Mean in-flight value of the IMU delta angle coning vibration metric (rad)'],
+'imu_coning_peak':[float('NaN'),'Peak in-flight value of the IMU delta angle coning vibration metric (rad)'],
+'imu_hfdang_mean':[float('NaN'),'Mean in-flight value of the IMU delta angle high frequency vibration metric (rad)'],
+'imu_hfdang_peak':[float('NaN'),'Peak in-flight value of the IMU delta angle high frequency vibration metric (rad)'],
+'imu_hfdvel_mean':[float('NaN'),'Mean in-flight value of the IMU delta velocity high frequency vibration metric (m/s)'],
+'imu_hfdvel_peak':[float('NaN'),'Peak in-flight value of the IMU delta velocity high frequency vibration metric (m/s)'],
 'imu_sensor_status':['Pass','IMU sensor check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required'],
 'in_air_transition_time':[float('NaN'),'The time in seconds measured from startup that the EKF transtioned into in-air mode. Set to a nan if a transition event is not detected.'],
 'mag_percentage_amber':[float('NaN'),'The percentage of in-flight consolidated magnetic field sensor innovation consistency test values > 0.5.'],

Tools/ecl_ekf/check_level_dict.csv

@@ -21,10 +21,10 @@ hagl_amber_warn_pct,5.0
 tas_amber_warn_pct,5.0
 imu_coning_peak_warn,1.8E-5
 imu_coning_mean_warn,3.6E-6
-imu_hfgyro_peak_warn,12
-imu_hfgyro_mean_warn,2.4
-imu_hfaccel_peak_warn,360
-imu_hfaccel_mean_warn,72
+imu_hfdang_peak_warn,3.0E-3
+imu_hfdang_mean_warn,6.0E-4
+imu_hfdvel_peak_warn,9.0E-2
+imu_hfdvel_mean_warn,1.8E-2
 obs_ang_err_median_warn,8.0E-3
 obs_vel_err_median_warn,0.05
 obs_pos_err_median_warn,0.15

Tools/ecl_ekf/check_table.csv

@@ -49,12 +49,12 @@ hagl_test_mean, The mean in-flight value of the height above ground sensor innov
 ofx_fail_percentage, The percentage of in-flight recorded failure events for the optical flow sensor X-axis innovation consistency test.
 ofy_fail_percentage, The percentage of in-flight recorded failure events for the optical flow sensor Y-axis innovation consistency test.
 filter_faults_max, Largest recorded value of the filter internal fault bitmask. Should always be zero.
-imu_coning_peak, Peak in-flight value of the IMU delta angle coning vibration metric (rad^2)
-imu_coning_mean, Mean in-flight value of the IMU delta angle coning vibration metric (rad^2)
-imu_hfgyro_peak, Peak in-flight value of the IMU accel high frequency vibration metric (rad/s)
-imu_hfgyro_mean, Mean in-flight value of the IMU accel high frequency vibration metric (rad/s)
-imu_hfaccel_peak, Peak in-flight value of the IMU accel high frequency vibration metric (m/s/s)
-imu_hfaccel_mean, Mean in-flight value of the IMU accel high frequency vibration metric (m/s/s)
+imu_coning_peak, Peak in-flight value of the IMU delta angle coning vibration metric (rad)
+imu_coning_mean, Mean in-flight value of the IMU delta angle coning vibration metric (rad)
+imu_hfdang_peak, Peak in-flight value of the IMU delta angle high frequency vibration metric (rad)
+imu_hfdang_mean, Mean in-flight value of the IMU delta angle high frequency vibration metric (rad)
+imu_hfdvel_peak, Peak in-flight value of the IMU delta velocity high frequency vibration metric (m/s)
+imu_hfdvel_mean, Mean in-flight value of the IMU delta velocity high frequency vibration metric (m/s)
 output_obs_ang_err_median, Median in-flight value of the output observer angular error (rad)
 output_obs_vel_err_median, Median in-flight value of the output observer velocity error (m/s)
 output_obs_pos_err_median, Median in-flight value of the output observer position error (m)

Tools/ecl_ekf/drag_fusion_tuning/drag_fusion_symbolic.py

@@ -1,55 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-"""
-    Copyright (c) 2022 PX4 Development Team
-    Redistribution and use in source and binary forms, with or without
-    modification, are permitted provided that the following conditions
-    are met:
-
-    1. Redistributions of source code must retain the above copyright
-    notice, this list of conditions and the following disclaimer.
-    2. Redistributions in binary form must reproduce the above copyright
-    notice, this list of conditions and the following disclaimer in
-    the documentation and/or other materials provided with the
-    distribution.
-    3. Neither the name PX4 nor the names of its contributors may be
-    used to endorse or promote products derived from this software
-    without specific prior written permission.
-
-    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-    "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-    LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-    FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-    COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-    INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-    BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-    OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-    AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-    LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-    ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-    POSSIBILITY OF SUCH DAMAGE.
-
-File: frag_fusion_symbolic.py
-Author: Mathieu Bresciani <mathieu@auterion.com>
-License: BSD 3-Clause
-Description:
-"""
-
-from sympy import *
-
-V = Symbol("V", real=True)
-rho = Symbol("rho", real=True)
-rho_n = Symbol("rho_n", real=True)
-Mcoef = Symbol("Mcoef", real=True)
-Bcoef = Symbol("Bcoef", real=True)
-a = Symbol("a", real=True)
-
-f1 = 0.5 * rho / Bcoef * V**2 + rho_n * Mcoef * V - a
-
-print("If Bcoef > 0 and Mcoef > 0")
-print("V =")
-res_V = solve(f1, V)
-res_V = res_V[0]
-pprint(res_V)
-print("a_pred =")
-pprint(solve(f1, a))

Tools/ecl_ekf/drag_fusion_tuning/drag_replay.py

@@ -1,202 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-"""
-    Copyright (c) 2022 PX4 Development Team
-    Redistribution and use in source and binary forms, with or without
-    modification, are permitted provided that the following conditions
-    are met:
-
-    1. Redistributions of source code must retain the above copyright
-    notice, this list of conditions and the following disclaimer.
-    2. Redistributions in binary form must reproduce the above copyright
-    notice, this list of conditions and the following disclaimer in
-    the documentation and/or other materials provided with the
-    distribution.
-    3. Neither the name PX4 nor the names of its contributors may be
-    used to endorse or promote products derived from this software
-    without specific prior written permission.
-
-    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-    "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-    LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-    FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-    COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-    INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-    BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-    OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-    AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-    LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-    ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-    POSSIBILITY OF SUCH DAMAGE.
-
-File: drag_replay.py
-Author: Mathieu Bresciani <mathieu@auterion.com>
-License: BSD 3-Clause
-Description:
-    Find the best ballistic and momentum drag coefficients for wind estimation
-    using EKF2 replay data.
-    NOTE: this script currently assumes no wind.
-"""
-
-import matplotlib.pylab as plt
-from pyulog import ULog
-from pyulog.px4 import PX4ULog
-import numpy as np
-import quaternion
-from scipy import optimize
-
-def getAllData(logfile):
-    log = ULog(logfile)
-
-    v_local = np.matrix([getData(log, 'vehicle_local_position', 'vx'),
-              getData(log, 'vehicle_local_position', 'vy'),
-              getData(log, 'vehicle_local_position', 'vz')])
-
-    t_v_local = ms2s(getData(log, 'vehicle_local_position', 'timestamp'))
-
-    accel = np.matrix([getData(log, 'sensor_combined', 'accelerometer_m_s2[0]'),
-              getData(log, 'sensor_combined', 'accelerometer_m_s2[1]'),
-              getData(log, 'sensor_combined', 'accelerometer_m_s2[2]')])
-    t_accel = ms2s(getData(log, 'sensor_combined', 'timestamp'))
-
-    q = np.matrix([getData(log, 'vehicle_attitude', 'q[0]'),
-              getData(log, 'vehicle_attitude', 'q[1]'),
-              getData(log, 'vehicle_attitude', 'q[2]'),
-              getData(log, 'vehicle_attitude', 'q[3]')])
-    t_q = ms2s(getData(log, 'vehicle_attitude', 'timestamp'))
-
-    dist_bottom = getData(log, 'vehicle_local_position', 'dist_bottom')
-    t_dist_bottom = ms2s(getData(log, 'vehicle_local_position', 'timestamp'))
-
-    (t_aligned, v_body_aligned, accel_aligned) = alignData(t_v_local, v_local, t_accel, accel, t_q, q, t_dist_bottom, dist_bottom)
-
-    t_aligned -= t_aligned[0]
-
-    return (t_aligned, v_body_aligned, accel_aligned)
-
-def alignData(t_v, v_local, t_accel, accel, t_q, q, t_dist_bottom, dist_bottom):
-    len_accel = len(t_accel)
-    len_q = len(t_q)
-    len_db = len(t_dist_bottom)
-    i_a = 0
-    i_q = 0
-    i_db = 0
-    v_body_aligned = np.empty((3,0))
-    accel_aligned = np.empty((3,0))
-    t_aligned = []
-
-    for i_v in range(len(t_v)):
-        t = t_v[i_v]
-        accel_sum = np.zeros((3,1))
-        accel_count = 0
-        while t_accel[i_a] < t and i_a < len_accel-1:
-            accel_sum += accel[:, i_a] # Integrate accel samples between 2 velocity samples
-            accel_count += 1
-            i_a += 1
-        while t_q[i_q] < t and i_q < len_q-1:
-            i_q += 1
-        while t_dist_bottom[i_db] < t and i_db < len_db-1:
-            i_db += 1
-
-        # Only use in air data
-        if dist_bottom[i_db] < 1.0 or accel_count == 0:
-            continue
-
-        qk = np.quaternion(q[0, i_q],q[1, i_q],q[2, i_q],q[3, i_q])
-        q_vl = np.quaternion(0, v_local[0, i_v], v_local[1, i_v], v_local[2, i_v])
-        q_vb = qk.conjugate() * q_vl * qk # Get velocity in body frame
-        vb = quaternion.as_float_array(q_vb)[1:4]
-
-        v_body_aligned = np.append(v_body_aligned, [[vb[0]], [vb[1]], [vb[2]]], axis=1)
-        accel_aligned = np.append(accel_aligned, accel_sum / accel_count, axis=1)
-        t_aligned.append(t)
-
-    return (t_aligned, v_body_aligned, np.asarray(accel_aligned))
-
-def getData(log, topic_name, variable_name, instance=0):
-    variable_data = np.array([])
-    for elem in log.data_list:
-        if elem.name == topic_name:
-            if instance == elem.multi_id:
-                variable_data = elem.data[variable_name]
-                break
-
-    return variable_data
-
-def ms2s(time_ms):
-    return time_ms * 1e-6
-
-def run(logfile):
-    (t, v_body, a_body) = getAllData(logfile)
-
-    rho = 1.15 # air densitiy
-    rho15 = 1.225 # air density at 15 degC
-
-    # x[0]: momentum drag, scales with v
-    # x[1]: inverse of ballistic coefficient (X body axis), scales with v^2
-    # x[2]: inverse of ballistic coefficient (Y body axis), scales with v^2
-    predict_acc_x = lambda x: -v_body[0] * x[0] - 0.5 * rho * v_body[0]**2 * np.sign(v_body[0]) * x[1]
-    predict_acc_y = lambda x: -v_body[1] * x[0] - 0.5 * rho * v_body[1]**2 * np.sign(v_body[1]) * x[2]
-
-    J = lambda x: np.sum(np.power(abs(a_body[0]-predict_acc_x(x)), 2.0) + np.power(abs(a_body[1]-predict_acc_y(x)), 2.0)) # cost function
-
-    x0 = [0.15, 1/100, 1/100] # initial conditions
-    res = optimize.minimize(J, x0, method='nelder-mead', bounds=[(0,1),(0,10),(0,10)], options={'disp': True})
-
-    # Convert results to parameters
-    innov_var = J(res.x) / (len(v_body[0]) + len(v_body[1]))
-    mcoef = res.x[0] / np.sqrt(rho / rho15)
-
-    bcoef_x = 0.0
-    bcoef_y = 0.0
-
-    if res.x[1] > 1/200:
-        bcoef_x = 1/res.x[1]
-
-    if res.x[2] > 1/200:
-        bcoef_y = 1/res.x[2]
-
-    print(f"param set EKF2_BCOEF_X {bcoef_x:.1f}")
-    print(f"param set EKF2_BCOEF_Y {bcoef_y:.1f}")
-    print(f"param set EKF2_MCOEF {mcoef:.2f}")
-    print(f"/!\EXPERIMENTAL param set EKF2_DRAG_NOISE {innov_var:.2f}")
-
-    # Plot data
-    plt.figure(1)
-    plt.suptitle(logfile.split('/')[-1])
-    ax1 = plt.subplot(2, 1, 1)
-    ax1.plot(t, v_body[0])
-    ax1.plot(t, v_body[1])
-    ax1.set_xlabel("time (s)")
-    ax1.set_ylabel("velocity (m/s)")
-    ax1.legend(["forward", "right"])
-
-    ax2 = plt.subplot(2, 1, 2, sharex=ax1)
-    ax2.set_title(f"BCoef_x = {bcoef_x:.1f}, BCoef_y = {bcoef_y:.1f}, MCoef = {mcoef:.4f}", loc="right")
-    ax2.plot(t, a_body[0])
-    ax2.plot(t, a_body[1])
-    ax2.plot(t, predict_acc_x(res.x))
-    ax2.plot(t, predict_acc_y(res.x))
-    ax2.set_xlabel("time (s)")
-    ax2.set_ylabel("acceleration (m/s^2)")
-    ax2.legend(["meas_forward", "meas_right", "predicted_forward", "predicted_right"])
-    plt.show()
-
-if __name__ == '__main__':
-    import os
-    import argparse
-
-    # Get the path of this script (without file name)
-    script_path = os.path.split(os.path.realpath(__file__))[0]
-
-    # Parse arguments
-    parser = argparse.ArgumentParser(
-        description='Estimate mag biases from ULog file')
-
-    # Provide parameter file path and name
-    parser.add_argument('logfile', help='Full ulog file path, name and extension', type=str)
-    args = parser.parse_args()
-
-    logfile = os.path.abspath(args.logfile) # Convert to absolute path
-
-    run(logfile)

Tools/ecl_ekf/drag_fusion_tuning/readme.md

@@ -1,32 +0,0 @@
-# PX4 Drag fusion parameter tuning algorithm
-In PX4, drag fusion can be enabled in order to estimate the wind when flying a multirotor, assuming that the body vertical acceleration is produced by the rotors and that the lateral forces are produced by drag.
-The model assumes a combination of:
-1. momentum drag: created by the rotors changing the direction of the incoming air, linear to the relative airspeed. Parameter `EKF2_MCOEF`
-2. bluff body drag: created by the wetted area of the aircraft, quadratic to the relative airspeed. Parameters `EKF2_BCOEF_X` and `EKF2_BCOEF_Y`
-
-The python script was created to automate the tuning of the aforementioned parameters using flight test data.
-
-## How to use this script
-First, a flight log with enough information is required in order to accurately estimate the parameters.
-The best way to do this is to fly the drone in altitude mode, accelerate to a moderate-high speed and let the drone slow-down by its own drag.
-Repeat the same maneuver in all directions and several times to obtain a good dataset.
-
-/!\ NOTE: the current state of this script assumes no wind. Some modifications are required to estimate both the wind and the parameters at the same time.
-
-Then, install the required python packages:
-```
-pip install -r requirements.txt
-```
-and run the script and give it the log file as an argument:
-```
-python drag_replay.py <logfilename.ulg>
-```
-
-The estimated parameters are displayed in the console and the fit quality is shown in a plot:
-```
-param set EKF2_BCOEF_X 0.0
-param set EKF2_BCOEF_Y 62.1
-param set EKF2_MCOEF 0.16
-/!\EXPERIMENTAL param set EKF2_DRAG_NOISE 0.31
-```
-![DeepinScreenshot_matplotlib_20220329100027](https://user-images.githubusercontent.com/14822839/160563024-efddd100-d7db-46f7-8676-cf4296e9f737.png)

Tools/ecl_ekf/drag_fusion_tuning/requirements.txt

@@ -1,6 +0,0 @@
-matplotlib==3.5.1
-numpy==1.22.2
-pyulog==0.9.0
-quaternion==3.5.2.post4
-scipy==1.8.0
-sympy==1.10.1

Tools/ecl_ekf/plotting/pdf_report.py

@@ -250,32 +250,18 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
         data_plot.save()
         data_plot.close()
 
-
         # Plot the EKF IMU vibration metrics
-        for imu_status_instance in range(4):
-            try:
-                vehicle_imu_status_data = ulog.get_dataset('vehicle_imu_status', imu_status_instance).data
-
-                imu_status_time = 1e-6 * vehicle_imu_status_data['timestamp']
-
-                if vehicle_imu_status_data['accel_device_id'][0] == estimator_status['accel_device_id'][0]:
-
-                    scaled_estimator_status = {'delta_angle_coning_metric': 1000. * vehicle_imu_status_data['delta_angle_coning_metric'],
-                                               'gyro_vibration_metric': vehicle_imu_status_data['gyro_vibration_metric'],
-                                               'accel_vibration_metric': vehicle_imu_status_data['accel_vibration_metric']
-                                              }
-                    data_plot = CheckFlagsPlot(
-                        imu_status_time, scaled_estimator_status, [['delta_angle_coning_metric'], ['gyro_vibration_metric'], ['accel_vibration_metric']],
-                        x_label='time (sec)',
-                        y_labels=['Del Ang Coning (mrad^2)', 'HF Gyro (rad/s)', 'HF accel (m/s/s)'],
-                        plot_title='IMU Vibration Metrics',
-                        pdf_handle=pdf_pages, annotate=True)
-                    data_plot.save()
-                    data_plot.close()
-
-            except:
-                pass
-
+        scaled_estimator_status = {'vibe[0]': 1000. * estimator_status['vibe[0]'],
+                                   'vibe[1]': 1000. * estimator_status['vibe[1]'],
+                                   'vibe[2]': estimator_status['vibe[2]']
+                                   }
+        data_plot = CheckFlagsPlot(
+            status_time, scaled_estimator_status, [['vibe[0]'], ['vibe[1]'], ['vibe[2]']],
+            x_label='time (sec)', y_labels=['Del Ang Coning (mrad)', 'HF Del Ang (mrad)',
+                                            'HF Del Vel (m/s)'], plot_title='IMU Vibration Metrics',
+            pdf_handle=pdf_pages, annotate=True)
+        data_plot.save()
+        data_plot.close()
 
         # Plot the EKF output observer tracking errors
         scaled_innovations = {

Tools/kconfig/cmake_kconfig_lut.txt

@@ -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

Tools/module_config/generate_actuators_metadata.py

@@ -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 = {

Tools/process_sensor_caldata.py

@@ -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')

Tools/px4moduledoc/srcparser.py

@@ -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
 

boards/ark/cannode/canbootloader.px4board

@@ -1,6 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m4"
-CONFIG_BOARD_ROMFSROOT=""
-CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONFIG_DRIVERS_BOOTLOADERS=y
-CONFIG_NSH_BUILTIN_APPS=y