ModuleBase add common base type and cleanup

2026-06-03 06:10:04 +08:00 · 2020-11-10 14:03:58 -05:00
1819 changed files with 49748 additions and 181549 deletions
@@ -9,15 +9,15 @@ pipeline {
        script {
          def build_nodes = [:]
          def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2021-02-04",
-            arm64: "px4io/px4-dev-aarch64:2021-02-04",
-            base: "px4io/px4-dev-base-bionic:2021-02-04",
-            nuttx: "px4io/px4-dev-nuttx-focal:2021-02-04",
+            armhf: "px4io/px4-dev-armhf:2020-04-01",
+            arm64: "px4io/px4-dev-aarch64:latest",
+            base: "px4io/px4-dev-base-bionic:2020-04-01",
+            nuttx: "px4io/px4-dev-nuttx-focal:2020-09-14",
            snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
          ]

          def armhf_builds = [
-            target: ["beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
+            target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
            image: docker_images.armhf,
            archive: false
          ]
@@ -37,11 +37,8 @@ pipeline {
          def nuttx_builds_archive = [
            target: [
                     "airmind_mindpx-v2_default",
-                     "ark_can-flow_canbootloader",
-                     "ark_can-flow_default",
                     "av_x-v1_default",
                     "bitcraze_crazyflie_default",
-                     "bitcraze_crazyflie21_default",
                     "cuav_can-gps-v1_canbootloader",
                     "cuav_can-gps-v1_default",
                     "cuav_nora_default",
@@ -50,51 +47,41 @@ pipeline {
                     "cubepilot_cubeorange_default",
                     "cubepilot_cubeyellow_console",
                     "cubepilot_cubeyellow_default",
-                     "holybro_can-gps-v1_canbootloader",
-                     "holybro_can-gps-v1_default",
                     "holybro_durandal-v1_default",
                     "holybro_kakutef7_default",
                     "holybro_pix32v5_default",
+                     "intel_aerofc-v1_default",
                     "modalai_fc-v1_default",
                     "mro_ctrl-zero-f7_default",
-                     "mro_ctrl-zero-f7-oem_default",
-                     "mro_ctrl-zero-h7_default",
-                     "mro_ctrl-zero-h7-oem_default",
-                     "mro_pixracerpro_default",
                     "mro_x21-777_default",
                     "mro_x21_default",
-                     "nxp_fmuk66-e_default",
-                     "nxp_fmuk66-e_rtps",
-                     "nxp_fmuk66-e_socketcan",
                     "nxp_fmuk66-v3_default",
-                     "nxp_fmuk66-v3_rtps",
                     "nxp_fmuk66-v3_socketcan",
+                     "nxp_fmuk66-v3_rtps",
                     "nxp_fmurt1062-v1_default",
                     "nxp_ucans32k146_default",
                     "omnibus_f4sd_default",
                     "px4_fmu-v2_default",
                     "px4_fmu-v2_fixedwing",
+                     "px4_fmu-v2_lpe",
                     "px4_fmu-v2_multicopter",
                     "px4_fmu-v2_rover",
                     "px4_fmu-v2_test",
                     "px4_fmu-v3_default",
                     "px4_fmu-v4_cannode",
                     "px4_fmu-v4_default",
+                     "px4_fmu-v4_optimized",
                     "px4_fmu-v4pro_default",
-                     "px4_fmu-v5_ctrlalloc",
-                     "px4_fmu-v5_debug",
                     "px4_fmu-v5_default",
+                     "px4_fmu-v5_debug",
                     "px4_fmu-v5_fixedwing",
                     "px4_fmu-v5_multicopter",
                     "px4_fmu-v5_optimized",
                     "px4_fmu-v5_rover",
                     "px4_fmu-v5_rtps",
                     "px4_fmu-v5_stackcheck",
-                     "px4_fmu-v5_uavcanv0periph",
-                     "px4_fmu-v5_uavcanv1",
                     "px4_fmu-v5x_base_phy_DP83848C",
                     "px4_fmu-v5x_default",
-                     "px4_fmu-v6u_default",
                     "px4_fmu-v6x_default",
                     "px4_io-v2_default",
                     "spracing_h7extreme_default",
@@ -131,7 +118,7 @@ pipeline {
    // TODO: actually upload artifacts to S3
    // stage('S3 Upload') {
    //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+    //     docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
    //   }
    //   options {
    //         skipDefaultCheckout()
@@ -2,7 +2,7 @@
 // https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
 {
 	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2021-02-04",
+	"image": "px4io/px4-dev-nuttx-focal:2020-09-14",

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

@@ -17,7 +17,6 @@ jobs:
        check: [
          "check_format",
          "tests",
-          "tests_coverage",
          "px4_fmu-v2_default stack_check",
          "validate_module_configs",
          "shellcheck_all",
@@ -27,9 +26,7 @@ jobs:
          "module_documentation",
          "parameters_metadata",
        ]
-    container:
-      image: px4io/px4-dev-nuttx-focal:2021-02-04
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    container: px4io/px4-dev-nuttx-focal:2020-09-14
    steps:
    - uses: actions/checkout@v1
      with:
@@ -52,20 +49,10 @@ jobs:
          mkdir -p ~/.ccache
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z
-    - name: check environment
-      run: |
-          export
-          ulimit -a
+
    - name: ${{matrix.check}}
      run: make ${{matrix.check}}
-    - name: upload coverage
-      if: contains(matrix.check, 'coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: unittests
-        file: coverage/lcov.info
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2021-02-04
+    container: px4io/px4-dev-clang:2020-08-14
    steps:
    - uses: actions/checkout@v1
      with:
@@ -34,8 +34,8 @@ jobs:
          mkdir -p ~/.ccache
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@@ -11,10 +11,11 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2021-02-04
+    container: px4io/px4-dev-armhf:2020-08-14
    strategy:
      matrix:
        config: [
+          aerotenna_ocpoc_default,
          beaglebone_blue_default,
          emlid_navio2_default,
          px4_raspberrypi_default,
@@ -42,8 +43,8 @@ jobs:
          mkdir -p ~/.ccache
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2021-02-04
+    container: px4io/px4-dev-aarch64:latest
    strategy:
      matrix:
        config: [
@@ -39,8 +39,8 @@ jobs:
          mkdir -p ~/.ccache
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@@ -15,7 +15,7 @@ jobs:
      matrix:
        config: [
          px4_fmu-v5_default,
-          px4_sitl
+          px4_sitl_default,
          #tests, # includes px4_sitl
          ]
    steps:
@@ -24,7 +24,7 @@ jobs:
        token: ${{secrets.ACCESS_TOKEN}}

    - name: setup
-      run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
+      run: ./Tools/setup/macos.sh

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@@ -43,8 +43,8 @@ jobs:
          mkdir -p ~/.ccache
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@@ -11,15 +11,12 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-02-04
+    container: px4io/px4-dev-nuttx-focal:2020-09-14
    strategy:
      matrix:
        config: [
          airmind_mindpx-v2_default,
-          ark_can-flow_canbootloader,
-          ark_can-flow_default,
          av_x-v1_default,
-          bitcraze_crazyflie21_default,
          bitcraze_crazyflie_default,
          cuav_can-gps-v1_canbootloader,
          cuav_can-gps-v1_default,
@@ -29,49 +26,41 @@ jobs:
          cubepilot_cubeorange_default,
          cubepilot_cubeyellow_console,
          cubepilot_cubeyellow_default,
-          holybro_can-gps-v1_canbootloader,
-          holybro_can-gps-v1_default,
          holybro_durandal-v1_default,
          holybro_kakutef7_default,
          holybro_pix32v5_default,
+          intel_aerofc-v1_default,
          modalai_fc-v1_default,
          mro_ctrl-zero-f7_default,
-          mro_ctrl-zero-f7-oem_default,
-          mro_ctrl-zero-h7_default,
-          mro_ctrl-zero-h7-oem_default,
-          mro_pixracerpro_default,
          mro_x21-777_default,
          mro_x21_default,
-          nxp_fmuk66-e_default,
-          nxp_fmuk66-e_rtps,
-          nxp_fmuk66-e_socketcan,
          nxp_fmuk66-v3_default,
-          nxp_fmuk66-v3_rtps,
+          nxp_fmuk66-e_default,
          nxp_fmuk66-v3_socketcan,
+          nxp_fmuk66-v3_rtps,
          nxp_fmurt1062-v1_default,
          nxp_ucans32k146_default,
          omnibus_f4sd_default,
          px4_fmu-v2_default,
          px4_fmu-v2_fixedwing,
+          px4_fmu-v2_lpe,
          px4_fmu-v2_multicopter,
          px4_fmu-v2_rover,
          px4_fmu-v2_test,
          px4_fmu-v3_default,
          px4_fmu-v4_cannode,
          px4_fmu-v4_default,
+          px4_fmu-v4_optimized,
          px4_fmu-v4pro_default,
-          px4_fmu-v5_ctrlalloc,
          px4_fmu-v5_default,
          px4_fmu-v5_fixedwing,
          px4_fmu-v5_multicopter,
          px4_fmu-v5_optimized,
          px4_fmu-v5_rover,
          px4_fmu-v5_rtps,
-          px4_fmu-v5_uavcanv0periph,
-          px4_fmu-v5_uavcanv1,
+          px4_fmu-v5_stackcheck,
          px4_fmu-v5x_base_phy_DP83848C,
          px4_fmu-v5x_default,
-          px4_fmu-v6u_default,
          px4_fmu-v6x_default,
          px4_io-v2_default,
          spracing_h7extreme_default,
@@ -99,8 +88,8 @@ jobs:
          mkdir -p ~/.ccache
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@@ -1,61 +0,0 @@
-name: NuttX UAVCAN firmware
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-02-04
-    strategy:
-      matrix:
-        config: [
-          ark_can-flow_default,
-          cuav_can-gps-v1_default,
-          holybro_can-gps-v1_default,
-          #nxp_ucans32k146_default,
-          px4_fmu-v4_cannode
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
-
-    - name: ccache post-run
-      run: ccache -s
-
-    - name: Upload px4 package
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_cannode_${{matrix.config}}
-        path: build/${{matrix.config}}/*.uavcan.bin
@@ -0,0 +1,67 @@
+name: Coverage
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2020-09-14
+    strategy:
+      matrix:
+        config: [
+          tests,
+          #python_coverage,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: coverage_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: coverage_${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      env:
+        PX4_CMAKE_BUILD_TYPE: "Coverage"
+      run: make ${{matrix.config}}
+
+    # Report test coverage
+    - name: Upload coverage
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+          mkdir -p coverage
+          lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
+    - name: Upload coverage information to Codecov
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: ${{matrix.config}}
+        file: coverage/lcov.info
@@ -19,7 +19,7 @@ jobs:
          - {test_file: "mavros_posix_test_safe_landing.test", vehicle: "iris_obs_avoid", mission: "MC_safe_landing", build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2021-02-04
+      image: px4io/px4-dev-ros-melodic:2020-08-14
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -43,15 +43,13 @@ jobs:
          mkdir -p ~/.ccache
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

    - name: check environment
-      run: |
-          export
-          ulimit -a
+      run: export
    - name: Build PX4 and sitl_gazebo
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
@@ -17,15 +17,15 @@ jobs:
        config:
          - {vehicle: "iris",          mission: "MC_mission_box",  build_type: "RelWithDebInfo"}
          - {vehicle: "rover",         mission: "rover_mission_1", build_type: "RelWithDebInfo"}
-          #- {vehicle: "plane",         mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
-          #- {vehicle: "plane_catapult",mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
-          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "Coverage"}
-          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "AddressSanitizer"}
+          - {vehicle: "plane",         mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
+          - {vehicle: "plane_catapult",mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
+          - {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "Coverage"}
+          - {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "AddressSanitizer"}
          #- {vehicle: "tailsitter",    mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
-          #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
+          - {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2021-02-04
+      image: px4io/px4-dev-ros-melodic:2020-08-14
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -49,15 +49,13 @@ jobs:
          mkdir -p ~/.ccache
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

    - name: check environment
-      run: |
-          export
-          ulimit -a
+      run: export
    - name: Build PX4 and sitl_gazebo
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
@@ -20,7 +20,7 @@ jobs:
          #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2021-02-04
+      image: px4io/px4-dev-ros-melodic:2020-08-14
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -44,15 +44,13 @@ jobs:
          mkdir -p ~/.ccache
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

    - name: check environment
-      run: |
-          export
-          ulimit -a
+      run: export
    - name: Build PX4 and sitl_gazebo
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
@@ -12,7 +12,7 @@ jobs:

  airframe:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2020-09-14
    steps:
    - uses: actions/checkout@v1
      with:
@@ -23,11 +23,11 @@ jobs:
        make airframe_metadata
        cd build/px4_sitl_default/docs
        ls -ls *
-      # TODO: deploy to userguide gitbook and s3
+      # TODO: deploy to devguide gitbook and s3

  module:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2020-09-14
    steps:
    - uses: actions/checkout@v1
      with:
@@ -38,11 +38,11 @@ jobs:
        make module_documentation
        cd build/px4_sitl_default/docs
        ls -ls *
-      # TODO: deploy to userguide gitbook and s3
+      # TODO: deploy to devguide gitbook and s3

  parameter:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2020-09-14
    steps:
    - uses: actions/checkout@v1
      with:
@@ -57,7 +57,7 @@ jobs:

  uorb_graph:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-02-04
+    container: px4io/px4-dev-nuttx-focal:2020-09-14
    steps:
    - uses: actions/checkout@v1
      with:
@@ -72,7 +72,7 @@ jobs:

  micrortps_agent:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2020-09-14
    steps:
    - uses: actions/checkout@v1
      with:
@@ -86,7 +86,7 @@ jobs:

  ROS_msgs:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2020-09-14
    steps:
    - uses: actions/checkout@v1
      with:
@@ -99,7 +99,7 @@ jobs:

  ROS2_bridge:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2020-09-14
    steps:
    - uses: actions/checkout@v1
      with:
@@ -20,7 +20,7 @@ jobs:
          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo", model: "tailsitter"    } # Florida
          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",       model: "standard_vtol" } # Zurich
    container:
-      image: px4io/px4-dev-simulation-focal:2021-02-04
+      image: px4io/px4-dev-simulation-focal:2020-08-14
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -28,9 +28,9 @@ jobs:
        token: ${{ secrets.ACCESS_TOKEN }}

    - name: Download MAVSDK
-      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.36.0/mavsdk_0.36.0_ubuntu20.04_amd64.deb
+      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.33.1/mavsdk_0.33.1_ubuntu20.04_amd64.deb
    - name: Install MAVSDK
-      run: dpkg -i mavsdk_0.36.0_ubuntu20.04_amd64.deb
+      run: dpkg -i mavsdk_0.33.1_ubuntu20.04_amd64.deb

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@@ -49,8 +49,8 @@ jobs:
          mkdir -p ~/.ccache
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@@ -60,9 +60,7 @@ jobs:
        PX4_HOME_LON: ${{matrix.config.longitude}}
        PX4_HOME_ALT: ${{matrix.config.altitude}}
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-          export
-          ulimit -a
+      run: export
    - name: Build PX4
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
@@ -94,7 +92,7 @@ jobs:
        PX4_HOME_LON: ${{matrix.config.longitude}}
        PX4_HOME_ALT: ${{matrix.config.altitude}}
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json
+      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json

    - name: Look at core files
      if: failure()
@@ -106,6 +104,10 @@ jobs:
        name: coredump
        path: px4.core

+    - name: Upload logs to flight review
+      if: failure()
+      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ${GITHUB_WORKSPACE}/build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/*/*.ulg
+
    - name: Upload px4 binary
      if: failure()
      uses: actions/upload-artifact@v2-preview
@@ -101,6 +101,11 @@ msg/tmp/
 msg/topics_sources/
 platforms/posix/apps.cpp
 platforms/posix/apps.h
+src/lib/flight_tasks/FlightTasks_generated.cpp
+src/lib/flight_tasks/FlightTasks_generated.hpp
+src/lib/parameters/px4_parameters.c
+src/lib/parameters/px4_parameters.h
+src/lib/parameters/px4_parameters_public.h
 src/lib/version/build_git_version.h
 src/modules/simulator/simulator_config.h
 src/systemcmds/topic_listener/listener_generated.cpp
@@ -4,7 +4,7 @@
 	branch = master
 [submodule "src/drivers/uavcan/libuavcan"]
 	path = src/drivers/uavcan/libuavcan
-	url = https://github.com/PX4/libuavcan.git
+	url = https://github.com/PX4/uavcan.git
 	branch = px4
 [submodule "Tools/jMAVSim"]
 	path = Tools/jMAVSim
@@ -16,11 +16,11 @@
 	branch = master
 [submodule "src/lib/matrix"]
 	path = src/lib/matrix
-	url = https://github.com/PX4/PX4-Matrix.git
+	url = https://github.com/PX4/PX4-Matrix
 	branch = master
 [submodule "src/lib/ecl"]
 	path = src/lib/ecl
-	url = https://github.com/PX4/PX4-ECL.git
+	url = https://github.com/PX4/PX4-ECL
 	branch = master
 [submodule "boards/atlflight/cmake_hexagon"]
 	path = boards/atlflight/cmake_hexagon
@@ -28,11 +28,11 @@
 	branch = px4
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
-	url = https://github.com/PX4/PX4-GPSDrivers.git
+	url = https://github.com/PX4/PX4-GPSDrivers
 	branch = master
 [submodule "src/modules/micrortps_bridge/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
-	url = https://github.com/PX4/Micro-CDR.git
+	url = https://github.com/PX4/micro-CDR.git
 	branch = px4
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
@@ -51,15 +51,6 @@
 [submodule "Tools/jsbsim_bridge"]
 	path = Tools/jsbsim_bridge
 	url = https://github.com/PX4/px4-jsbsim-bridge.git
-[submodule "src/drivers/uavcan_v1/libcanard"]
-	path = src/drivers/uavcan_v1/libcanard
-	url = https://github.com/UAVCAN/libcanard.git
-[submodule "src/drivers/uavcan_v1/public_regulated_data_types"]
-	path = src/drivers/uavcan_v1/public_regulated_data_types
-	url = https://github.com/UAVCAN/public_regulated_data_types.git
-[submodule "src/drivers/uavcannode_gps_demo/public_regulated_data_types"]
-	path = src/drivers/uavcannode_gps_demo/public_regulated_data_types
-	url = https://github.com/UAVCAN/public_regulated_data_types
-[submodule "src/drivers/uavcannode_gps_demo/libcanard"]
-	path = src/drivers/uavcannode_gps_demo/libcanard
-	url = https://github.com/UAVCAN/libcanard
+[submodule "src/examples/gyro_fft/CMSIS_5"]
+	path = src/examples/gyro_fft/CMSIS_5
+	url = https://github.com/ARM-software/CMSIS_5.git
@@ -56,36 +56,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: airmind_mindpx-v2_default
-    ark_can-flow_default:
-      short: ark_can-flow_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-flow_default
-    ark_can-flow_canbootloader:
-      short: ark_can-flow_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-flow_canbootloader
    av_x-v1_default:
      short: av_x-v1
      buildType: MinSizeRel
      settings:
        CONFIG: av_x-v1_default
-    bitcraze_crazyflie_default:
-      short: bitcraze_crazyflie
-      buildType: MinSizeRel
-      settings:
-        CONFIG: bitcraze_crazyflie_default
    cuav_can-gps-v1_default:
      short: cuav_can-gps-v1_default
      buildType: MinSizeRel
      settings:
        CONFIG: cuav_can-gps-v1_default
-    cuav_can-gps-v1_canbootloader:
-      short: cuav_can-gps-v1_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_can-gps-v1_canbootloader
    cuav_nora_default:
      short: cuav_nora
      buildType: MinSizeRel
@@ -116,6 +96,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: holybro_durandal-v1_default
+    intel_aerofc-v1_default:
+      short: intel_aerofc-v1
+      buildType: MinSizeRel
+      settings:
+        CONFIG: intel_aerofc-v1_default
    modalai_fc-v1_default:
      short: modalai_fc-v1
      buildType: MinSizeRel
@@ -126,16 +111,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: mro_ctrl-zero-f7_default
-    mro_pixracerpro_bootloader:
-      short: mro_pixracerpro_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: mro_pixracerpro_bootloader
-    mro_pixracerpro_default:
-      short: mro_pixracerpro_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: mro_pixracerpro_default
    mro_x21-777_default:
      short: mro_x2.1-777
      buildType: MinSizeRel
@@ -27,6 +27,7 @@
        "cSpell.showStatus": false,
        "cSpell.words": [
                "acro",
+                "rattitude",
                "nuttx",
                "esc"
        ],
@@ -127,6 +128,7 @@
                "${workspaceFolder}/build": true
        },
        "search.showLineNumbers": true,
+        "search.smartCase": true,
        "telemetry.enableTelemetry": false,
        "terminal.integrated.copyOnSelection": true,
        "terminal.integrated.rightClickBehavior": "paste",
@@ -406,6 +406,7 @@ add_subdirectory(src/lib EXCLUDE_FROM_ALL)

 add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
 add_subdirectory(platforms EXCLUDE_FROM_ALL)
+add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer

 if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
 	add_subdirectory(${PX4_BOARD_DIR})
@@ -15,7 +15,7 @@ pipeline {
        // stage('Catkin build on ROS workspace') {
        //   agent {
        //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2021-02-04'
+        //       image 'px4io/px4-dev-ros-melodic:2020-08-20'
        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
        //     }
        //   }
@@ -56,7 +56,7 @@ pipeline {
        stage('Colcon build on ROS2 workspace') {
          agent {
            docker {
-              image 'px4io/px4-dev-ros2-foxy:2021-02-04'
+              image 'px4io/px4-dev-ros2-foxy:2020-08-20'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
            }
          }
@@ -67,9 +67,11 @@ pipeline {
              unset ROS_DISTRO;
              mkdir -p colcon_ws/src;
              cd colcon_ws;
-              git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo;
+              git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
+              git clone --recursive ${WORKSPACE}/colcon_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
              git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
-              source /opt/ros/foxy/setup.sh;
+              source /opt/ros/bouncy/setup.sh;
+              source /opt/ros/melodic/setup.sh;
              colcon build --event-handlers console_direct+ --symlink-install;
            '''
          }
@@ -85,7 +87,7 @@ pipeline {

        stage('Airframe') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh 'make distclean'
@@ -104,14 +106,14 @@ pipeline {

        stage('Parameter') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh 'make distclean'
            sh 'make parameters_metadata'
            dir('build/px4_sitl_default/docs') {
-              archiveArtifacts(artifacts: 'parameters.md, parameters.xml, params.json.xz')
-              stash includes: 'parameters.md, parameters.xml, params.json.xz', name: 'metadata_parameters'
+              archiveArtifacts(artifacts: 'parameters.md, parameters.xml')
+              stash includes: 'parameters.md, parameters.xml', name: 'metadata_parameters'
            }
          }
          post {
@@ -123,7 +125,7 @@ pipeline {

        stage('Module') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh 'make distclean'
@@ -143,7 +145,7 @@ pipeline {
        stage('uORB graphs') {
          agent {
            docker {
-              image 'px4io/px4-dev-nuttx-focal:2021-02-04'
+              image 'px4io/px4-dev-nuttx-focal:2020-09-14'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
            }
          }
@@ -170,9 +172,39 @@ pipeline {

      parallel {

+        stage('Devguide') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+          }
+          steps {
+            sh('export')
+            unstash 'metadata_airframes'
+            unstash 'metadata_parameters'
+            unstash 'metadata_module_documentation'
+            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
+              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/Devguide.git')
+              sh('cp airframes.md Devguide/en/airframes/airframe_reference.md')
+              sh('cp parameters.md Devguide/en/advanced/parameter_reference.md')
+              sh('cp -R modules/*.md Devguide/en/middleware/')
+              sh('cd Devguide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
+              sh('cd Devguide; git push origin master || true')
+              sh('rm -rf Devguide')
+            }
+          }
+          when {
+            anyOf {
+              branch 'master'
+              branch 'pr-jenkins' // for testing
+            }
+          }
+          options {
+            skipDefaultCheckout()
+          }
+        }
+
        stage('Userguide') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh('export')
@@ -202,7 +234,7 @@ pipeline {

        stage('QGroundControl') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh('export')
@@ -230,7 +262,7 @@ pipeline {

        stage('microRTPS agent') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh('export')
@@ -260,7 +292,7 @@ pipeline {

        stage('PX4 ROS msgs') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh('export')
@@ -289,7 +321,7 @@ pipeline {

        stage('PX4 ROS2 bridge') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh('export')
@@ -332,7 +364,7 @@ pipeline {

        stage('S3') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh('export')
@@ -342,7 +374,6 @@ pipeline {
            withAWS(credentials: 'px4_aws_s3_key', region: 'us-east-1') {
              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'airframes.xml', path: 'Firmware/master/')
              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.xml', path: 'Firmware/master/')
-              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'params.json.xz', path: 'Firmware/master/')
            }
          }
          when {
@@ -1,6 +1,6 @@
 BSD 3-Clause License

-Copyright (c) 2012 - 2021, PX4 Development Team
+Copyright (c) 2012 - 2020, PX4 Development Team
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
@@ -174,8 +174,6 @@ define cmake-build
 	@$(call cmake-cache-check)
 	@# make sure to start from scratch when switching from GNU Make to Ninja
 	@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
-	@# make sure to start from scratch if ninja build file is missing
-	@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ ! -f $(BUILD_DIR)/build.ninja ]; then rm -rf $(BUILD_DIR); fi
 	@# only excplicitly configure the first build, if cache file already exists the makefile will rerun cmake automatically if necessary
 	@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ] || [ $(CMAKE_CACHE_CHECK) ]; then \
 		mkdir -p $(BUILD_DIR) \
@@ -270,9 +268,9 @@ px4fmu_firmware: \
 misc_qgc_extra_firmware: \
 	check_nxp_fmuk66-v3_default \
 	check_nxp_fmurt1062-v1_default \
+	check_intel_aerofc-v1_default \
 	check_mro_x21_default \
 	check_bitcraze_crazyflie_default \
-	check_bitcraze_crazyflie21_default \
 	check_airmind_mindpx-v2_default \
 	check_px4_fmu-v2_lpe \
 	sizes
@@ -363,10 +361,8 @@ tests:

 tests_coverage:
 	@$(MAKE) clean
-	@$(MAKE) --no-print-directory tests PX4_CMAKE_BUILD_TYPE=Coverage
-	@mkdir -p coverage
-	@lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
-
+	@$(MAKE) --no-print-directory px4_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
+	@echo "Open "$(SRC_DIR)"/build/px4_sitl_default/coverage-html/index.html to see coverage"

 rostest: px4_sitl_default
 	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
@@ -1,20 +1,20 @@
 # PX4 Drone Autopilot

-[![Releases](https://img.shields.io/github/release/PX4/PX4-Autopilot.svg)](https://github.com/PX4/PX4-Autopilot/releases) [![DOI](https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot)
+[![Releases](https://img.shields.io/github/release/PX4/Firmware.svg)](https://github.com/PX4/Firmware/releases) [![DOI](https://zenodo.org/badge/22634/PX4/Firmware.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/Firmware)

-[![Nuttx Targets](https://github.com/PX4/PX4-Autopilot/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)
+[![Nuttx Targets](https://github.com/PX4/Firmware/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/Firmware/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/Firmware/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/Firmware/actions?query=workflow%3A%22SITL+Tests%22)

 [![Slack](https://px4-slack.herokuapp.com/badge.svg)](http://slack.px4.io)

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

-* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
+* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/Firmware/blob/master/LICENSE))
 * [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
  * [Multicopters](https://docs.px4.io/master/en/airframes/airframe_reference.html#copter)
  * [Fixed wing](https://docs.px4.io/master/en/airframes/airframe_reference.html#plane)
  * [VTOL](https://docs.px4.io/master/en/airframes/airframe_reference.html#vtol)
  * many more experimental types (Rovers, Blimps, Boats, Submarines, Autogyros, etc)
-* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
+* Releases: [Downloads](https://github.com/PX4/Firmware/releases)


 ## PX4 Users
@@ -44,20 +44,20 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co
    * [Lorenz Meier](https://github.com/LorenzMeier)
  * Architecture
    * [Daniel Agar](https://github.com/dagar)
-  * [Dev Call](https://github.com/PX4/PX4-Autopilot/labels/devcall)
+  * [Dev Call](https://github.com/PX4/Firmware/labels/devcall)
    * [Ramon Roche](https://github.com/mrpollo)
  * Communication Architecture
    * [Beat Kueng](https://github.com/bkueng)
    * [Julian Oes](https://github.com/JulianOes)
  * UI in QGroundControl
    * [Gus Grubba](https://github.com/dogmaphobic)
-  * [Multicopter Flight Control](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
+  * [Multicopter Flight Control](https://github.com/PX4/Firmware/labels/multicopter)
    * [Mathieu Bresciani](https://github.com/bresch)
-  * [Multicopter Software Architecture](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
+  * [Multicopter Software Architecture](https://github.com/PX4/Firmware/labels/multicopter)
    * [Matthias Grob](https://github.com/MaEtUgR)
-  * [VTOL Flight Control](https://github.com/PX4/PX4-Autopilot/labels/vtol)
+  * [VTOL Flight Control](https://github.com/PX4/Firmware/labels/vtol)
    * [Roman Bapst](https://github.com/RomanBapst)
-  * [Fixed Wing Flight Control](https://github.com/PX4/PX4-Autopilot/labels/fixedwing)
+  * [Fixed Wing Flight Control](https://github.com/PX4/Firmware/labels/fixedwing)
    * [Roman Bapst](https://github.com/RomanBapst)
  * OS / NuttX
    * [David Sidrane](https://github.com/davids5)
@@ -65,9 +65,9 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co
    * [Daniel Agar](https://github.com/dagar)
  * Commander Architecture
    * [Julian Oes](https://github.com/julianoes)
-  * [UAVCAN](https://github.com/PX4/PX4-Autopilot/labels/uavcan)
+  * [UAVCAN](https://github.com/PX4/Firmware/labels/uavcan)
    * [Daniel Agar](https://github.com/dagar)
-  * [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
+  * [State Estimation](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
    * [Paul Riseborough](https://github.com/priseborough)
  * Vision based navigation
    * [Julian Kent](https://github.com/jkflying)
@@ -76,7 +76,7 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co
  * RTPS/ROS2 Interface
    * [Nuno Marques](https://github.com/TSC21)

-See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github).
+See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/Firmware/graphs/contributors) (Github).

 ## Supported Hardware

@@ -108,4 +108,4 @@ Additional information about supported hardware can be found in [PX4 user Guide

 ## Project Roadmap

-A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).
+A high level project roadmap is available [here](https://www.dronecode.org/roadmap/).
@@ -31,12 +31,11 @@
 #
 ############################################################################

+message(STATUS "ROMFS: ${config_romfs_root}")
+
 set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
 set(romfs_gen_root_dir ${PX4_BINARY_DIR}/etc)

-file(RELATIVE_PATH romfs_path_relative ${PX4_SOURCE_DIR} ${romfs_src_dir})
-message(STATUS "ROMFS: ${romfs_path_relative}")
-
 set_property(GLOBAL PROPERTY PX4_ROMFS_FILES)
 set_property(GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)

@@ -82,9 +81,6 @@ file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
 if (px4_constrained_flash_build)
 	set(added_arguments --constrained-flash)
 endif()
-if(PX4_ETHERNET)
-	set(added_arguments ${added_arguments} --ethernet)
-endif()
 # create list of relative romfs file names
 set(romfs_copy_files_relative)
 foreach(romfs_file IN LISTS romfs_copy_files)
@@ -150,53 +146,15 @@ if(config_io_board)
 		copy_px4io_bin
 		${fw_io_bin}
 	)
-	file(RELATIVE_PATH iofw_file_relative ${PX4_SOURCE_DIR} ${fw_io_bin})
-	message(STATUS "ROMFS:  Adding ${iofw_file_relative} -> /etc/extras/${config_io_board}.bin")
 endif()

-
-# board bootloader (built or included)
-if(TARGET copy_bootloader_bin)
-
-	if(board_bootloader_firmware)
-		file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${board_bootloader_firmware})
-		message(STATUS "ROMFS:  Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
-	else()
-		file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${bootloader_bin})
-		message(STATUS "ROMFS:  Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
-	endif()
-
+if(config_build_bootloader)
 	list(APPEND extras_dependencies
 		copy_bootloader_bin
 		${bootloader_bin}
 	)
 endif()

-
-# optional board architecture defaults
-set(board_arch_rc_file "rc.board_arch_defaults")
-if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}")
-	file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file})
-	message(STATUS "ROMFS:  Adding ${rc_file_relative} -> /etc/init.d/${board_arch_rc_file}")
-
-	add_custom_command(
-		OUTPUT
-			${romfs_gen_root_dir}/init.d/${board_arch_rc_file}
-			${board_arch_rc_file}.stamp
-		COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file} ${romfs_gen_root_dir}/init.d/${board_arch_rc_file}
-		COMMAND ${CMAKE_COMMAND} -E touch ${board_arch_rc_file}.stamp
-		DEPENDS
-			${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}
-			romfs_copy.stamp
-		COMMENT "ROMFS: copying ${board_arch_rc_file}"
-	)
-
-	list(APPEND extras_dependencies
-		${board_arch_rc_file}.stamp
-	)
-endif()
-
-
 set(OPTIONAL_BOARD_RC)
 list(APPEND OPTIONAL_BOARD_RC
 	rc.board_defaults
@@ -208,8 +166,7 @@ list(APPEND OPTIONAL_BOARD_RC
 foreach(board_rc_file ${OPTIONAL_BOARD_RC})

 	if(EXISTS "${PX4_BOARD_DIR}/init/${board_rc_file}")
-		file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_BOARD_DIR}/init/${board_rc_file})
-		message(STATUS "ROMFS:  Adding ${rc_file_relative} -> /etc/init.d/${board_rc_file}")
+		message(STATUS "ROMFS: Adding ${board_rc_file}")

 		add_custom_command(
 			OUTPUT
@@ -230,46 +187,6 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})

 endforeach()

-
-if(config_uavcan_peripheral_firmware)
-
-	include(ExternalProject)
-
-	foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
-		# include the px4io binary in ROMFS
-		message(STATUS "ROMFS:  Adding UAVCAN peripheral ${uavcan_peripheral_config} -> /etc/uavcan/fw/")
-		ExternalProject_Add(build_${uavcan_peripheral_config}
-			SOURCE_DIR ${CMAKE_SOURCE_DIR}
-			DOWNLOAD_COMMAND ""
-			UPDATE_COMMAND ""
-			CMAKE_ARGS -DCONFIG=${uavcan_peripheral_config}
-			INSTALL_COMMAND ""
-			USES_TERMINAL_BUILD true
-			DEPENDS git_nuttx git_nuttx_apps
-			BUILD_ALWAYS 1
-		)
-
-		ExternalProject_Get_Property(build_${uavcan_peripheral_config} BINARY_DIR)
-
-		add_custom_command(
-			OUTPUT
-				${romfs_gen_root_dir}/uavcan/fw/_${uavcan_board_id}.bin
-				${uavcan_peripheral_config}.stamp
-			COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/uavcan/fw/
-			COMMAND ${CMAKE_COMMAND} -E copy ${BINARY_DIR}/deploy/*.bin ${romfs_gen_root_dir}/uavcan/fw/
-			COMMAND ls -lsa ${romfs_gen_root_dir}/uavcan/fw/
-			COMMAND ${CMAKE_COMMAND} -E touch ${uavcan_peripheral_config}.stamp
-			DEPENDS
-				build_${uavcan_peripheral_config}
-			COMMENT "ROMFS: copying ${uavcan_peripheral_config}"
-		)
-
-		list(APPEND extras_dependencies
-			${uavcan_peripheral_config}.stamp
-		)
-	endforeach()
-endif()
-
 list(APPEND extras_dependencies
 	${config_romfs_extra_dependencies}
 	)
@@ -30,16 +30,21 @@ sercon
 #
 ver all

-if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
+#
+# Start the ORB (first app to start)
+# tone_alarm and tune_control
+# is dependent.
+#
+uorb start
+
+#
+# Set the parameter file if mtd starts successfully.
+#
+if mtd start
 then
 	set PARAM_FILE /fs/mtd_params
 fi

-if mft query -q -k MTD -s MTD_PARAMETERS -v /dev/eeeprom0
-then
-	set PARAM_FILE /dev/eeeprom0
-fi
-
 #
 # Load parameters.
 #
@@ -49,17 +54,6 @@ then
 	param reset_all
 fi

-#
-# Optional board architecture defaults: rc.board_arch_defaults
-#
-set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults
-if [ -f $BOARD_ARCH_RC_DEFAULTS ]
-then
-	echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
-	. $BOARD_ARCH_RC_DEFAULTS
-fi
-unset BOARD_ARCH_RC_DEFAULTS
-
 #
 # Optional board defaults: rc.board_defaults
 #
@@ -78,7 +72,7 @@ rgbled start -X -q
 rgbled_ncp5623c start -X -q
 rgbled_pwm start

-if param greater -s LIGHT_EN_BLINKM 0
+if param greater LIGHT_EN_BLINKM 0
 then
 	if blinkm start -X
 	then
@@ -0,0 +1,5 @@
+px4fmuv3_bl.bin: Bootloader binary of the PX4 Bootloader
+  (https://github.com/PX4/Bootloader)
+  based on commit 184b813699a9cfd6f43a5a21556a06b4372baf5f
+  for the target px4fmuv3_bl
+
@@ -1,52 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL
-#
-# @type Quadrotor Wide
-#
-# @maintainer Julian Oes <julian@oes.ch>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-. ${R}etc/init.d/rc.ctrlalloc
-
-if [ $AUTOCNF = yes ]
-then
-	param set MPC_USE_HTE 0
-
-	param set VM_MASS 1.5
-	param set VM_INERTIA_XX 0.03
-	param set VM_INERTIA_YY 0.03
-	param set VM_INERTIA_ZZ 0.05
-
-	param set CA_AIRFRAME 0
-	param set CA_METHOD 1
-	param set CA_ACT0_MIN 0.0
-	param set CA_ACT1_MIN 0.0
-	param set CA_ACT2_MIN 0.0
-	param set CA_ACT3_MIN 0.0
-	param set CA_ACT0_MAX 1.0
-	param set CA_ACT1_MAX 1.0
-	param set CA_ACT2_MAX 1.0
-	param set CA_ACT3_MAX 1.0
-
-	param set CA_MC_R0_PX 0.1515
-	param set CA_MC_R0_PY 0.245
-	param set CA_MC_R0_CT 6.5
-	param set CA_MC_R0_KM 0.05
-	param set CA_MC_R1_PX -0.1515
-	param set CA_MC_R1_PY -0.1875
-	param set CA_MC_R1_CT 6.5
-	param set CA_MC_R1_KM 0.05
-	param set CA_MC_R2_PX 0.1515
-	param set CA_MC_R2_PY -0.245
-	param set CA_MC_R2_CT 6.5
-	param set CA_MC_R2_KM -0.05
-	param set CA_MC_R3_PX -0.1515
-	param set CA_MC_R3_PY 0.1875
-	param set CA_MC_R3_CT 6.5
-	param set CA_MC_R3_KM -0.05
-
-fi
-
-set MIXER direct
@@ -1,14 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (foggy_lidar)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_RNG_AID 1
-	param set EKF2_RNG_A_HMAX 10
-fi
@@ -12,11 +12,6 @@ if [ $AUTOCNF = yes ]
 then
 	# EKF2: Multi GPS blending (as the model has 2 GPS's)
 	param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
-	param set TRIG_INTERFACE 3
-	param set TRIG_MODE 4
-	param set MNT_MODE_IN 4
-	param set MNT_MODE_OUT 2
-	param set MNT_DO_STAB 2
 fi

 set MIXER quad_x
@@ -1,2 +1,2 @@
 # shellcheck disable=SC2154
-mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 -p # add mavlink stream for SDK
+mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 # add mavlink stream for SDK
@@ -16,31 +16,20 @@ then
 	param set FW_LND_ANG 8
 	param set FW_THR_LND_MAX 0

+	param set FW_L1_PERIOD 15
+
+	param set FW_P_TC 0.5
+	param set FW_PR_FF 0.40
+	param set FW_PR_I 0.05
+	param set FW_PR_P 0.05
+
+	param set FW_R_TC 0.7
+	param set FW_RR_FF 0.20
+	param set FW_RR_I 0.02
+	param set FW_RR_P 0.22
+
 	param set FW_L1_PERIOD 12

-	param set FW_MAN_P_MAX 30
-
-	param set FW_PR_I 0.4
-	param set FW_PR_P 0.9
-	param set FW_PR_FF 0.2
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
-
-	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.3
-
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_THR_CRUISE 0.25
-
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2
-
 	param set FW_W_EN 1

 	param set MIS_LTRMIN_ALT 30
@@ -9,46 +9,40 @@

 if [ $AUTOCNF = yes ]
 then
+	param set FW_AIRSPD_MAX 25
+	param set FW_AIRSPD_MIN 14
+	param set FW_AIRSPD_TRIM 16
 	param set FW_L1_PERIOD 12
-	param set FW_MAN_P_MAX 30
-	param set FW_PR_FF 0.2
-	param set FW_PR_I 0.4
-	param set FW_PR_P 0.9
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
+
 	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.3
-	param set FW_THR_CRUISE 0.25
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2
+	param set FW_RR_P 0.01

 	param set MC_ROLLRATE_P 0.3
-	param set MC_YAW_P 1.6

+	param set MIS_LTRMIN_ALT 10
 	param set MIS_TAKEOFF_ALT 10
+	param set MIS_YAW_TMT 10

 	param set MPC_ACC_HOR_MAX 2
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_THR_HOVER 0.58
+	param set MPC_TKO_SPEED 1
 	param set MPC_XY_P 0.8
 	param set MPC_XY_VEL_P_ACC 3
 	param set MPC_XY_VEL_I_ACC 4
 	param set MPC_XY_VEL_D_ACC 0.1
+	param set MPC_Z_VEL_MAX_DN 1.5

 	param set NAV_ACC_RAD 5
 	param set NAV_LOITER_RAD 80

-	param set VT_FWD_THRUST_EN 4
+	param set VT_F_TRANS_DUR 5
 	param set VT_F_TRANS_THR 0.75
+	param set VT_ARSP_TRANS 16
 	param set VT_MOT_ID 1234
 	param set VT_FW_MOT_OFFID 1234
-	param set VT_B_TRANS_DUR 8
 	param set VT_TYPE 2
+	param set VT_B_TRANS_DUR 8

 fi

@@ -9,31 +9,23 @@

 if [ $AUTOCNF = yes ]
 then
+	param set FW_AIRSPD_MAX 25
+	param set FW_AIRSPD_MIN 14
+	param set FW_AIRSPD_TRIM 16
 	param set FW_L1_PERIOD 12
-	param set FW_MAN_P_MAX 30
-	param set FW_PR_I 0.2
-	param set FW_PR_P 0.3
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
-	param set FW_RR_P 0.3
-	param set FW_THR_CRUISE 0.33
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2

 	param set MC_ROLLRATE_P 0.3

+	param set MIS_YAW_TMT 10
+
 	param set MPC_ACC_HOR_MAX 2
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P_ACC 3
-	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_THR_MIN 0.3
+	param set MPC_XY_P 0.15
 	param set MPC_XY_VEL_D_ACC 0.1
+	param set MPC_XY_VEL_P_ACC 1
+	param set MPC_Z_VEL_MAX_DN 1.5
+	param set MPC_Z_VEL_P_ACC 16

 	param set NAV_ACC_RAD 5
 	param set NAV_LOITER_RAD 80
@@ -9,44 +9,40 @@

 if [ $AUTOCNF = yes ]
 then
+	param set FW_ARSP_MODE 1
+	param set FW_AIRSPD_MAX 25
+	param set FW_AIRSPD_MIN 14
+	param set FW_AIRSPD_TRIM 16
 	param set FW_L1_PERIOD 12
-	param set FW_MAN_P_MAX 30
-	param set FW_PR_FF 0.2
-	param set FW_PR_I 0.4
-	param set FW_PR_P 0.9
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
-	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.3
-	param set FW_THR_CRUISE 0.38
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2

-	param set MC_YAW_P 1.6
+	param set MC_ROLLRATE_P 0.3

+	param set MIS_LTRMIN_ALT 10
 	param set MIS_TAKEOFF_ALT 10
+	param set MIS_YAW_TMT 10

 	param set MPC_ACC_HOR_MAX 2
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P_ACC 3
-	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_THR_MIN 0.1
+	param set MPC_TKO_SPEED 1
+	param set MPC_XY_P 0.15
 	param set MPC_XY_VEL_D_ACC 0.1
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_P_ACC 1
+	param set MPC_Z_VEL_MAX_DN 1.5
+	param set MPC_Z_VEL_P_ACC 16

 	param set NAV_ACC_RAD 5
 	param set NAV_LOITER_RAD 80

-	param set VT_B_TRANS_DUR 8
-	param set VT_FWD_THRUST_EN 4
-	param set VT_MOT_ID 1234
+	param set VT_F_TRANS_DUR 5.0
+	param set VT_F_TRANS_THR 0.75
+	param set VT_FWD_THRUST_SC 1.1
+	param set VT_TILT_FW 1
 	param set VT_TILT_TRANS 0.6
+	param set VT_ELEV_MC_LOCK 0
 	param set VT_TYPE 1
+	param set VT_B_TRANS_DUR 8

 fi

@@ -1,61 +0,0 @@
-#!/bin/sh
-#
-# @name Standard VTOL
-#
-# @type Standard VTOL
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set FW_L1_PERIOD 12
-	param set FW_MAN_P_MAX 30
-	param set FW_PR_FF 0.2
-	param set FW_PR_I 0.4
-	param set FW_PR_P 0.9
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
-	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.3
-	param set FW_THR_CRUISE 0.25
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2
-
-	param set MC_ROLLRATE_P 0.3
-	param set MC_YAW_P 1.6
-
-	param set MIS_TAKEOFF_ALT 10
-
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P_ACC 3
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_D_ACC 0.1
-
-	param set NAV_ACC_RAD 5
-	param set NAV_LOITER_RAD 80
-
-	param set VT_FWD_THRUST_EN 4
-	param set VT_F_TRANS_THR 0.75
-	param set VT_MOT_ID 1234
-	param set VT_FW_MOT_OFFID 1234
-	param set VT_B_TRANS_DUR 8
-	param set VT_TYPE 2
-
-	param set RC_MAP_AUX1 8
-	param set RC_MAP_AUX2 9
-	param set RC_MAP_AUX3 10
-fi
-
-set MAV_TYPE 22
-
-set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
-set MIXER custom
@@ -1 +0,0 @@
-mixer append /dev/pwm_output0 etc/mixers-sitl/package_drop.aux.mix
@@ -8,7 +8,6 @@
 if [ $AUTOCNF = yes ]
 then
 	param set GND_L1_DIST 5
-	param set GND_L1_PERIOD 10
 	param set GND_SP_CTRL_MODE 1
 	param set GND_SPEED_D 0.001
 	param set GND_SPEED_I 3
@@ -17,6 +16,7 @@ then
 	param set GND_SPEED_THR_SC 1
 	param set GND_SPEED_TRIM 4
 	param set GND_THR_CRUISE 0.3
+	param set GND_THR_IDLE 0
 	param set GND_THR_MAX 0.5
 	param set GND_THR_MIN 0

@@ -17,6 +17,7 @@ then
 	param set GND_SPEED_THR_SC 1
 	param set GND_SPEED_TRIM 4
 	param set GND_THR_CRUISE 0.3
+	param set GND_THR_IDLE 0
 	param set GND_THR_MAX 0.5
 	param set GND_THR_MIN 0

@@ -22,6 +22,7 @@ then
 	param set GND_SPEED_TRIM 15
 	param set GND_SPEED_MAX 25
 	param set GND_THR_CRUISE 0.3
+	param set GND_THR_IDLE 0
 	param set GND_THR_MAX 0.5
 	param set GND_THR_MIN 0

@@ -8,16 +8,16 @@
 if [ $AUTOCNF = yes ]
 then
 	param set GND_L1_DIST 5
-	param set GND_L1_PERIOD 100
 	param set GND_SP_CTRL_MODE 1
 	param set GND_SPEED_D 0.001
-	param set GND_SPEED_I 8
+	param set GND_SPEED_I 3
 	param set GND_SPEED_IMAX 0.125
-	param set GND_SPEED_P 2
+	param set GND_SPEED_P 0.25
 	param set GND_SPEED_THR_SC 1
-	param set GND_SPEED_TRIM 1
-	param set GND_THR_CRUISE 0.85
-	param set GND_THR_MAX 1
+	param set GND_SPEED_TRIM 4
+	param set GND_THR_CRUISE 0.3
+	param set GND_THR_IDLE 0
+	param set GND_THR_MAX 0.5
 	param set GND_THR_MIN 0

 	param set MIS_LTRMIN_ALT 0.01
@@ -38,6 +38,7 @@ then
 	param set NAV_LOITER_RAD 100

 	param set RWTO_TKOFF 1
+	param set MAV_BROADCAST 1

 	param set FW_ARSP_SCALE_EN 0

@@ -21,11 +21,13 @@ then
 	param set MPC_XY_VEL_P_ACC 3

 	param set RTL_DESCEND_ALT 10
+	param set RTL_LAND_DELAY 0

 	param set TRIG_INTERFACE 3
 	param set TRIG_MODE 4
 	param set MNT_MODE_IN 4
 	param set MNT_DO_STAB 2
+	param set MAV_PROTO_VER 2
 fi

 set MAV_TYPE 13
@@ -9,23 +9,21 @@

 if [ $AUTOCNF = yes ]
 then
-	param set MC_PITCHRATE_P 0.0800
-	param set MC_PITCHRATE_I 0.0400
-	param set MC_PITCHRATE_D 0.0010
-	param set MC_PITCH_P 9.0
-	param set MC_ROLLRATE_P 0.0800
-	param set MC_ROLLRATE_I 0.0400
-	param set MC_ROLLRATE_D 0.0010
-	param set MC_ROLL_P 9.0
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCH_P 6.0
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.1
+	param set MC_ROLL_P 6.0
 	param set MPC_XY_VEL_I_ACC 4
 	param set MPC_XY_VEL_P_ACC 3

 	param set RTL_DESCEND_ALT 10
+	param set RTL_LAND_DELAY 0

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

@@ -1,7 +1,7 @@

 mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix

-mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
+mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530

 # shellcheck disable=SC2154
 mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
@@ -1,75 +0,0 @@
-#!/bin/sh
-#
-# @name Typhoon H480 SITL
-#
-# @type Hexarotor x
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-. ${R}etc/init.d/rc.ctrlalloc
-
-if [ $AUTOCNF = yes ]
-then
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_P_ACC 3
-
-	param set RTL_DESCEND_ALT 10
-	param set RTL_LAND_DELAY 0
-
-	param set TRIG_INTERFACE 3
-	param set TRIG_MODE 4
-	param set MNT_MODE_IN 0
-	param set MAV_PROTO_VER 2
-
-	param set MPC_USE_HTE 0
-
-	param set VM_MASS 2.66
-	param set VM_INERTIA_XX 0.06
-	param set VM_INERTIA_YY 0.06
-	param set VM_INERTIA_ZZ 0.10
-
-	param set CA_AIRFRAME 0
-	param set CA_METHOD 1
-	param set CA_ACT0_MIN 0.0
-	param set CA_ACT1_MIN 0.0
-	param set CA_ACT2_MIN 0.0
-	param set CA_ACT3_MIN 0.0
-	param set CA_ACT4_MIN 0.0
-	param set CA_ACT5_MIN 0.0
-	param set CA_ACT0_MAX 1.0
-	param set CA_ACT1_MAX 1.0
-	param set CA_ACT2_MAX 1.0
-	param set CA_ACT3_MAX 1.0
-	param set CA_ACT4_MAX 1.0
-	param set CA_ACT5_MAX 1.0
-
-	param set CA_MC_R0_PX 0.0
-	param set CA_MC_R0_PY 1.0
-	param set CA_MC_R0_CT 9.5
-	param set CA_MC_R0_KM -0.05
-	param set CA_MC_R1_PX 0.0
-	param set CA_MC_R1_PY -1.0
-	param set CA_MC_R1_CT 9.5
-	param set CA_MC_R1_KM 0.05
-	param set CA_MC_R2_PX 0.866025
-	param set CA_MC_R2_PY -0.5
-	param set CA_MC_R2_CT 9.5
-	param set CA_MC_R2_KM -0.05
-	param set CA_MC_R3_PX -0.866025
-	param set CA_MC_R3_PY 0.5
-	param set CA_MC_R3_CT 9.5
-	param set CA_MC_R3_KM 0.05
-	param set CA_MC_R4_PX 0.866025
-	param set CA_MC_R4_PY 0.5
-	param set CA_MC_R4_CT 9.5
-	param set CA_MC_R4_KM 0.05
-	param set CA_MC_R5_PX -0.866025
-	param set CA_MC_R5_PY -0.5
-	param set CA_MC_R5_CT 9.5
-	param set CA_MC_R5_KM -0.05
-fi
-
-set MAV_TYPE 13
-
-# set MIXER hexa_x
-set MIXER direct
@@ -1,10 +0,0 @@
-
-mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
-
-mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
-
-# shellcheck disable=SC2154
-mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
-# shellcheck disable=SC2154
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
-mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local
@@ -33,8 +33,6 @@

 px4_add_romfs_files(
 	10016_iris
-	10017_iris_ctrlalloc
-	10018_iris_foggy_lidar
 	10020_if750a
 	10030_px4vision
 	1010_iris_opt_flow
@@ -65,8 +63,6 @@ px4_add_romfs_files(
 	1040_standard_vtol
 	1041_tailsitter
 	1042_tiltrotor
-	1043_standard_vtol_drop
-	1043_standard_vtol_drop.post
 	1060_rover
 	1061_r1_rover
 	1062_tf-r1
@@ -77,6 +73,4 @@ px4_add_romfs_files(
 	2507_cloudship
 	6011_typhoon_h480
 	6011_typhoon_h480.post
-	6012_typhoon_ctrlalloc
-	6012_typhoon_ctrlalloc.post
 )
@@ -20,6 +20,7 @@ module: replay
 ignore_others: false
 EOF

+uorb start
 param set SDLOG_DIRS_MAX 7

 # apply all params before ekf starts, as some params cannot be changed after startup
@@ -22,12 +22,12 @@ fi
 # initialize script variables
 set AUX_MODE                    none
 set IO_PRESENT                  no
+set LOG_FILE                    bootlog.txt
 set MAV_TYPE                    none
 set MIXER                       none
 set MIXER_AUX                   none
 set MIXER_FILE                  none
 set OUTPUT_MODE                 sim
-set EXTRA_MIXER_MODE            none
 set PWM_OUT                     none
 set SDCARD_MIXERS_PATH          etc/mixers
 set USE_IO                      no
@@ -53,6 +53,12 @@ else
 	fi
 fi

+# clear bootlog
+[ -f $LOG_FILE ] && rm $LOG_FILE
+
+
+uorb start
+
 # Load parameters
 set PARAM_FILE eeprom/parameters_"$REQUESTED_AUTOSTART"
 param select $PARAM_FILE
@@ -109,57 +115,55 @@ udp_offboard_port_remote=$((14540+px4_instance))
 [ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
 udp_onboard_payload_port_local=$((14280+px4_instance))
 udp_onboard_payload_port_remote=$((14030+px4_instance))
-udp_onboard_gimbal_port_local=$((13030+px4_instance))
-udp_onboard_gimbal_port_remote=$((13280+px4_instance))
 udp_gcs_port_local=$((18570+px4_instance))

 if [ $AUTOCNF = yes ]
 then
 	param set SYS_AUTOSTART $REQUESTED_AUTOSTART

-	param set CAL_ACC0_ID  1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
-	param set CAL_GYRO0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
-	param set CAL_ACC1_ID  1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
-	param set CAL_GYRO1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
-	param set CAL_ACC2_ID  1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
-	param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
+	param set BAT_N_CELLS 4

+	param set CAL_ACC0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
+	param set CAL_ACC1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
+	param set CAL_ACC2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
+	param set CAL_GYRO0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
+	param set CAL_GYRO1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
+	param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
 	param set CAL_MAG0_ID 197388
 	param set CAL_MAG1_ID 197644

+	param set CBRK_AIRSPD_CHK 0
+	param set CBRK_SUPPLY_CHK 894281
+
+	# Don't require RC calibration and configuration
+	param set COM_RC_IN_MODE 1
+
+	# Speedup SITL startup
+	param set EKF2_REQ_GPS_H 0.5
+
+	# Multi-EKF
+	param set EKF2_MULTI_IMU 3
+	param set SENS_IMU_MODE 0
+	param set EKF2_MULTI_MAG 2
+	param set SENS_MAG_MODE 0
+
+	# By default log from boot until first disarm.
+	param set SDLOG_MODE 1
+	# enable default, estimator replay and vision/avoidance logging profiles
+	param set SDLOG_PROFILE 131
+	param set SDLOG_DIRS_MAX 7
+	param set SENS_BOARD_ROT 0
 	param set SENS_BOARD_X_OFF 0.000001
 	param set SENS_DPRES_OFF 0.001
-
 	param set SYS_RESTART_TYPE 2
+
+	param set TRIG_INTERFACE 3
 fi

-param set-default BAT_N_CELLS 4
+param set COM_CPU_MAX -1 # disable check, no CPU load reported on posix yet

-param set-default CBRK_AIRSPD_CHK 0
-param set-default CBRK_SUPPLY_CHK 894281
-
-# disable check, no CPU load reported on posix yet
-param set-default COM_CPU_MAX -1
-
-# Don't require RC calibration and configuration
-param set-default COM_RC_IN_MODE 1
-
-# Speedup SITL startup
-param set-default EKF2_REQ_GPS_H 0.5
-
-# Multi-EKF
-param set-default EKF2_MULTI_IMU 3
-param set-default SENS_IMU_MODE 0
-param set-default EKF2_MULTI_MAG 2
-param set-default SENS_MAG_MODE 0
-
-# By default log from boot until first disarm.
-param set-default SDLOG_MODE 1
-# enable default, estimator replay and vision/avoidance logging profiles
-param set-default SDLOG_PROFILE 131
-param set-default SDLOG_DIRS_MAX 7
-
-param set-default TRIG_INTERFACE 3
+# Simulator IMU data provided at 250 Hz
+param set IMU_INTEG_RATE 250

 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
@@ -206,9 +210,6 @@ then
 	param set SYS_AUTOCONFIG 0
 fi

-# Simulator IMU data provided at 250 Hz
-param set IMU_INTEG_RATE 250
-
 dataman start
 # only start the simulator if not in replay mode, as both control the lockstep time
 if ! replay tryapplyparams
@@ -224,7 +225,7 @@ commander start
 navigator start


-if param greater -s MNT_MODE_IN -1
+if ! param compare -s MNT_MODE_IN -1
 then
 	vmount start
 fi
@@ -241,32 +242,23 @@ fi
 #
 . ${R}etc/init.d/rc.vehicle_setup

-if [ -e etc/init.d-posix/rc.mavlink_override ]
-then
-	echo "Running non-default mavlink config rc.mavlink_override"
-	sh etc/init.d-posix/rc.mavlink_override
-else
-	# GCS link
-	mavlink start -x -u $udp_gcs_port_local -r 4000000 -f -p
-	mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
-	mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
-	mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
-	mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
-	mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
-	mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
-	mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
-	mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
-	mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
+# GCS link
+mavlink start -x -u $udp_gcs_port_local -r 4000000
+mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
+mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
+mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
+mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
+mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
+mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
+mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
+mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
+mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local

-	# API/Offboard link
-	mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote -p
+# API/Offboard link
+mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offboard_port_remote

-	# Onboard link to camera
-	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote -p
-
-	# Onboard link to gimbal
-	mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote -p
-fi
+# Onboard link to camera
+mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote

 # execute autostart post script if any
 [ -e "$autostart_file".post ] && . "$autostart_file".post
@@ -36,8 +36,6 @@ add_subdirectory(airframes)
 px4_add_romfs_files(
 	rc.airship_apps
 	rc.airship_defaults
-	rc.balloon_apps
-	rc.balloon_defaults
 	rc.boat_defaults
 	rc.fw_apps
 	rc.fw_defaults
@@ -56,5 +54,4 @@ px4_add_romfs_files(
 	rc.vehicle_setup
 	rc.vtol_apps
 	rc.vtol_defaults
-	rc.ctrlalloc
 )
@@ -17,43 +17,35 @@

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

+if [ $AUTOCNF = yes ]
+then
+	param set BAT_N_CELLS 3

-param set-default BAT_N_CELLS 3
-
-param set-default FW_AIRSPD_MAX 20
-param set-default FW_AIRSPD_MIN 12
-param set-default FW_AIRSPD_TRIM 14
-param set-default FW_R_TC 0.3
-param set-default FW_P_TC 0.3
-param set-default FW_L1_DAMPING 0.74
-param set-default FW_L1_PERIOD 16
-param set-default FW_LND_ANG 15
-param set-default FW_LND_FLALT 5
-param set-default FW_LND_HHDIST 15
-param set-default FW_LND_HVIRT 13
-param set-default FW_LND_TLALT 5
-param set-default FW_THR_LND_MAX 0
-param set-default FW_PR_FF 0.35
-param set-default FW_PR_I 0.1
-param set-default FW_PR_IMAX 0.4
-param set-default FW_PR_P 0.2
-param set-default FW_RR_FF 0.6
-param set-default FW_RR_I 0.1
-param set-default FW_RR_IMAX 0.2
-param set-default FW_RR_P 0.3
-
-param set-default RWTO_TKOFF 1
+	param set FW_AIRSPD_MAX 20
+	param set FW_AIRSPD_MIN 12
+	param set FW_AIRSPD_TRIM 14
+	param set FW_R_TC 0.3
+	param set FW_P_TC 0.3
+	param set FW_L1_DAMPING 0.74
+	param set FW_L1_PERIOD 16
+	param set FW_LND_ANG 15
+	param set FW_LND_FLALT 5
+	param set FW_LND_HHDIST 15
+	param set FW_LND_HVIRT 13
+	param set FW_LND_TLALT 5
+	param set FW_THR_LND_MAX 0
+	param set FW_PR_FF 0.35
+	param set FW_PR_I 0.1
+	param set FW_PR_IMAX 0.4
+	param set FW_PR_P 0.2
+	param set FW_RR_FF 0.6
+	param set FW_RR_I 0.1
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.3

+	param set RWTO_TKOFF 1
+fi

 param set SYS_HITL 1

-# disable some checks to allow to fly
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
-
 set MIXER AERT
@@ -19,25 +19,28 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
-# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set MC_ROLL_P 6.5
+	param set MC_ROLLRATE_P 0.1
+	param set MC_ROLLRATE_I 0.05
+	param set MC_ROLLRATE_D 0.0017
+	param set MC_PITCH_P 6.5
+	param set MC_PITCHRATE_P 0.14
+	param set MC_PITCHRATE_I 0.1
+	param set MC_PITCHRATE_D 0.0025
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.28
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0
+fi

-param set-default MC_ROLL_P 6.5
-param set-default MC_ROLLRATE_P 0.1
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.0017
-param set-default MC_PITCH_P 6.5
-param set-default MC_PITCHRATE_P 0.14
-param set-default MC_PITCHRATE_I 0.1
-param set-default MC_PITCHRATE_D 0.0025
-param set-default MC_YAW_P 2.8
-param set-default MC_YAWRATE_P 0.28
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
 set MIXER quad_w

 set PWM_OUT 1234
@@ -17,29 +17,32 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
-# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	# TODO tune roll/pitch separately
+	param set MC_ROLL_P 7
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.05
+	param set MC_ROLLRATE_D 0.004
+	param set MC_PITCH_P 7
+	param set MC_PITCHRATE_P 0.15
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCHRATE_D 0.004
+	param set MC_YAW_P 2.5
+	param set MC_YAWRATE_P 0.25
+	param set MC_YAWRATE_I 0.25
+	param set MC_YAWRATE_D 0

-# TODO tune roll/pitch separately
-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.15
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.15
-param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_YAW_P 2.5
-param set-default MC_YAWRATE_P 0.25
-param set-default MC_YAWRATE_I 0.25
-param set-default MC_YAWRATE_D 0
+	param set BAT_V_DIV 12.27559
+	param set BAT_A_PER_V 15.39103
+fi

-param set-default BAT_V_DIV 12.27559
-param set-default BAT_A_PER_V 15.39103
 set MIXER quad_w

 set PWM_OUT 1234
@@ -19,27 +19,30 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
-# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set BAT_N_CELLS 4

-param set-default BAT_N_CELLS 4
+	param set MC_ROLL_P 7
+	param set MC_ROLLRATE_P 0.13
+	param set MC_ROLLRATE_I 0.05
+	param set MC_ROLLRATE_D 0.004
+	param set MC_PITCH_P 7
+	param set MC_PITCHRATE_P 0.19
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCHRATE_D 0.004
+	param set MC_YAW_P 4
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0
+fi

-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.13
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_PITCH_P 7
-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
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
 set MIXER quad_w

 set PWM_OUT 1234
@@ -19,32 +19,35 @@
 #
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
-# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set BAT_N_CELLS 6
+	param set BAT_V_EMPTY 3.5

-param set-default BAT_N_CELLS 6
-param set-default BAT_V_EMPTY 3.5
+	param set MC_ROLL_P 7
+	param set MC_ROLLRATE_P 0.08
+	param set MC_ROLLRATE_I 0.02
+	param set MC_ROLLRATE_D 0.003
+	param set MC_PITCH_P 7
+	param set MC_PITCHRATE_P 0.13
+	param set MC_PITCHRATE_I 0.02
+	param set MC_PITCHRATE_D 0.005
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0

-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.08
-param set-default MC_ROLLRATE_I 0.02
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.13
-param set-default MC_PITCHRATE_I 0.02
-param set-default MC_PITCHRATE_D 0.005
-param set-default MC_YAW_P 2.8
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
+	param set MPC_XY_VEL_MAX 2

-param set-default MPC_XY_VEL_MAX 2
+	param set PWM_MIN 1080
+fi

-param set-default PWM_MAIN_MIN 1080
 set MIXER quad_w

 set PWM_OUT 1234
@@ -14,12 +14,3 @@ set MIXER quad_x
 set PWM_OUT 1234

 param set SYS_HITL 1
-
-# disable some checks to allow to fly
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
@@ -7,74 +7,64 @@
 #
 # @maintainer Roman Bapst <roman@auterion.com>
 #
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#

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

+if [ $AUTOCNF = yes ]
+then
+	param set BAT_N_CELLS 3

-param set-default BAT_N_CELLS 3
+	param set COM_RC_IN_MODE 1

-param set-default COM_RC_IN_MODE 1
+	param set EKF2_AID_MASK 1
+	param set EKF2_ANGERR_INIT 0.01
+	param set EKF2_GBIAS_INIT 0.01
+	param set EKF2_HGT_MODE 0
+	param set EKF2_MAG_TYPE 1

-param set-default EKF2_AID_MASK 1
-param set-default EKF2_ANGERR_INIT 0.01
-param set-default EKF2_GBIAS_INIT 0.01
-param set-default EKF2_HGT_MODE 0
-param set-default EKF2_MAG_TYPE 1
+	param set FW_AIRSPD_MAX 25
+	param set FW_AIRSPD_MIN 14
+	param set FW_AIRSPD_TRIM 16

-param set-default FW_AIRSPD_MAX 25
-param set-default FW_AIRSPD_MIN 14
-param set-default FW_AIRSPD_TRIM 16
+	param set MC_PITCH_P 6
+	param set MC_PITCHRATE_P 0.2
+	param set MC_ROLL_P 6
+	param set MC_ROLLRATE_P 0.3
+	param set MIS_LTRMIN_ALT 10
+	param set MIS_TAKEOFF_ALT 10
+	param set MIS_YAW_TMT 10

-param set-default MC_PITCH_P 6
-param set-default MC_PITCHRATE_P 0.2
-param set-default MC_ROLL_P 6
-param set-default MC_ROLLRATE_P 0.3
-param set-default MIS_LTRMIN_ALT 10
-param set-default MIS_TAKEOFF_ALT 10
-param set-default MIS_YAW_TMT 10
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_THR_MIN 0.1
+	param set MPC_TKO_SPEED 1
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_D_ACC 0.1
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_P_ACC 3
+	param set MPC_Z_VEL_P_ACC 12
+	param set MPC_Z_VEL_I_ACC 3
+	param set MPC_Z_VEL_MAX_DN 1.5

-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_THR_MIN 0.1
-param set-default MPC_TKO_SPEED 1
-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_D_ACC 0.1
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_P_ACC 3
-param set-default MPC_Z_VEL_P_ACC 12
-param set-default MPC_Z_VEL_I_ACC 3
-param set-default MPC_Z_VEL_MAX_DN 1.5
+	param set NAV_ACC_RAD 5
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 80

-param set-default NAV_ACC_RAD 5
-param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 80
+	param set RTL_DESCEND_ALT 10
+	param set RTL_LAND_DELAY 0
+	param set RTL_RETURN_ALT 30

-param set-default RTL_DESCEND_ALT 10
-param set-default RTL_RETURN_ALT 30
-
-param set-default SDLOG_DIRS_MAX 7
-param set-default SYS_RESTART_TYPE 2
-
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_TYPE 2
+	param set SDLOG_DIRS_MAX 7
+	param set SYS_RESTART_TYPE 2

+	param set VT_F_TRANS_THR 0.75
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
+	param set VT_TYPE 2
+fi

 param set SYS_HITL 1

-# disable some checks to allow to fly
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
-
 set MAV_TYPE 22

 set MIXER standard_vtol_hitl
@@ -18,6 +18,7 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

@@ -7,8 +7,6 @@
 #
 # @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
 #
-# @board px4_fmu-v2 exclude
-#

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

@@ -17,12 +15,3 @@ set PWM_OUT 1234

 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2
-
-# disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
@@ -16,6 +16,7 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

@@ -16,35 +16,38 @@
 #
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
-# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set MC_PITCH_P 4
+	param set MC_PITCHRATE_P 0.24
+	param set MC_PITCHRATE_I 0.09
+	param set MC_PITCHRATE_D 0.013
+	param set MC_PITCHRATE_MAX 180

-param set-default MC_PITCH_P 4
-param set-default MC_PITCHRATE_P 0.24
-param set-default MC_PITCHRATE_I 0.09
-param set-default MC_PITCHRATE_D 0.013
-param set-default MC_PITCHRATE_MAX 180
+	param set MC_ROLL_P 4
+	param set MC_ROLLRATE_P 0.16
+	param set MC_ROLLRATE_I 0.07
+	param set MC_ROLLRATE_D 0.009
+	param set MC_ROLLRATE_MAX 180

-param set-default MC_ROLL_P 4
-param set-default MC_ROLLRATE_P 0.16
-param set-default MC_ROLLRATE_I 0.07
-param set-default MC_ROLLRATE_D 0.009
-param set-default MC_ROLLRATE_MAX 180
+	param set MC_YAW_P 3
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0

-param set-default MC_YAW_P 3
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
+	param set MPC_HOLD_MAX_XY 0.25
+	param set MPC_THR_MIN 0.15
+	param set MPC_Z_VEL_MAX_DN 2

-param set-default MPC_HOLD_MAX_XY 0.25
-param set-default MPC_THR_MIN 0.15
-param set-default MPC_Z_VEL_MAX_DN 2
+	param set BAT_N_CELLS 4
+fi

-param set-default BAT_N_CELLS 4
 set MIXER octo_cox_w

 set PWM_OUT 12345678
@@ -17,19 +17,19 @@
 # @output AUX4 Rudder
 # @output AUX5 Throttle
 #
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#

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

+if [ $AUTOCNF = yes ]
+then
+	param set PWM_AUX_DIS5 950
+	param set PWM_RATE 400

-param set-default PWM_AUX_DIS5 950
-param set-default PWM_MAIN_RATE 400
+	param set VT_TYPE 2
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
+fi

-param set-default VT_TYPE 2
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
 set MAV_TYPE 22

 set MIXER quad_x
@@ -12,39 +12,39 @@
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#

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

+if [ $AUTOCNF = yes ]
+then
+	param set MAV_TYPE 19

-param set-default MAV_TYPE 19
+	param set MC_ROLL_P 6
+	param set MC_ROLLRATE_P 0.12
+	param set MC_ROLLRATE_I 0.002
+	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_FF 0

-param set-default MC_ROLL_P 6
-param set-default MC_ROLLRATE_P 0.12
-param set-default MC_ROLLRATE_I 0.002
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_ROLLRATE_FF 0
+	param set MC_PITCH_P 4.5
+	param set MC_PITCHRATE_P 0.3
+	param set MC_PITCHRATE_I 0.002
+	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_FF 0

-param set-default MC_PITCH_P 4.5
-param set-default MC_PITCHRATE_P 0.3
-param set-default MC_PITCHRATE_I 0.002
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_PITCHRATE_FF 0
+	param set MC_YAW_P 3.8
+	param set MC_YAWRATE_P 0.22
+	param set MC_YAWRATE_I 0.02
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_FF 0

-param set-default MC_YAW_P 3.8
-param set-default MC_YAWRATE_P 0.22
-param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
+	param set VT_IDLE_PWM_MC  1080
+	param set VT_ELEV_MC_LOCK 0
+	param set VT_MOT_ID 12
+	param set VT_TYPE 0
+fi

-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

-set PWM_OUT 123456
+set PWM_OUT 1234
@@ -18,39 +18,43 @@
 # @output AUX4 Gear
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set MC_ROLL_P 7
+	param set MC_ROLLRATE_P 0.19
+	param set MC_ROLLRATE_I 0.002
+	param set MC_ROLLRATE_D 0.005
+	param set MC_ROLLRATE_FF 0
+	param set MC_PITCH_P 7
+	param set MC_PITCHRATE_P 0.14
+	param set MC_PITCHRATE_I 0.002
+	param set MC_PITCHRATE_D 0.004
+	param set MC_PITCHRATE_FF 0
+	param set MC_YAW_P 4
+	param set MC_YAWRATE_P 0.22
+	param set MC_YAWRATE_I 0.02
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_FF 0

-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.19
-param set-default MC_ROLLRATE_I 0.002
-param set-default MC_ROLLRATE_D 0.005
-param set-default MC_ROLLRATE_FF 0
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.14
-param set-default MC_PITCHRATE_I 0.002
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_PITCHRATE_FF 0
-param set-default MC_YAW_P 4
-param set-default MC_YAWRATE_P 0.22
-param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
+	param set PWM_RATE 400

-param set-default PWM_MAIN_RATE 400
+	param set VT_FW_MOT_OFFID 34
+	param set VT_IDLE_PWM_MC 1080
+	param set VT_MOT_ID 123456
+	param set VT_FW_MOT_OFFID 56
+	param set VT_TILT_MC 0.08
+	param set VT_TILT_TRANS 0.5
+	param set VT_TILT_FW 0.9
+	param set VT_ELEV_MC_LOCK 0
+	param set VT_TYPE 1
+fi

-param set-default VT_FW_MOT_OFFID 34
-param set-default VT_IDLE_PWM_MC 1080
-param set-default VT_MOT_ID 123456
-param set-default VT_FW_MOT_OFFID 56
-param set-default VT_TILT_MC 0.08
-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
@@ -7,22 +7,22 @@
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#

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

+if [ $AUTOCNF = yes ]
+then
+	param set PWM_MAX 2000
+	param set PWM_RATE 400

-param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_RATE 400
+	param set VT_MOT_ID 1234
+	param set VT_IDLE_PWM_MC  1080
+	param set VT_TYPE 0
+	param set VT_ELEV_MC_LOCK 1
+fi

-param set-default VT_MOT_ID 1234
-param set-default VT_IDLE_PWM_MC  1080
-param set-default VT_TYPE 0
-param set-default VT_ELEV_MC_LOCK 1
 set MAV_TYPE 20

 set MIXER quad_x_vtol

-set PWM_OUT 1234
+set PWM_OUT 1234
@@ -17,18 +17,22 @@
 # @maintainer Roman Bapst <roman@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set PWM_MAX 2000
+	param set PWM_RATE 400

-param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_RATE 400
+	param set VT_IDLE_PWM_MC  1080
+	param set VT_TYPE 0
+	param set VT_ELEV_MC_LOCK 1
+fi

-param set-default VT_IDLE_PWM_MC  1080
-param set-default VT_TYPE 0
-param set-default VT_ELEV_MC_LOCK 1
 set MAV_TYPE 20

 set MIXER quad_+_vtol
@@ -17,53 +17,56 @@
 # @output AUX4 Rudder
 # @output AUX5 Throttle
 #
-# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set PWM_AUX_DIS5 950

-param set-default PWM_AUX_DIS5 950
+	param set PWM_RATE 400

-param set-default PWM_MAIN_RATE 400
+	param set MC_ROLL_P 6
+	param set MC_ROLLRATE_P 0.17
+	param set MC_ROLLRATE_I 0.002
+	param set MC_ROLLRATE_D 0.004
+	param set MC_ROLLRATE_FF 0
+	param set MC_PITCH_P 6
+	param set MC_PITCHRATE_P 0.19
+	param set MC_PITCHRATE_I 0.002
+	param set MC_PITCHRATE_D 0.004
+	param set MC_PITCHRATE_FF 0
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.22
+	param set MC_YAWRATE_I 0.02
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_FF 0
+	param set MC_YAWRATE_MAX 40

-param set-default MC_ROLL_P 6
-param set-default MC_ROLLRATE_P 0.17
-param set-default MC_ROLLRATE_I 0.002
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_ROLLRATE_FF 0
-param set-default MC_PITCH_P 6
-param set-default MC_PITCHRATE_P 0.19
-param set-default MC_PITCHRATE_I 0.002
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_PITCHRATE_FF 0
-param set-default MC_YAW_P 2.8
-param set-default MC_YAWRATE_P 0.22
-param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
-param set-default MC_YAWRATE_MAX 40
+	param set MPC_YAWRAUTO_MAX 40

-param set-default MPC_YAWRAUTO_MAX 40
+	param set FW_PR_FF 0.5
+	param set FW_PR_I 0.02
+	param set FW_PR_IMAX 0.4
+	param set FW_PR_P 0.08
+	param set FW_RR_FF 0.6
+	param set FW_RR_I 0.01
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.05
+	param set FW_THR_CRUISE 0.75

-param set-default FW_PR_FF 0.5
-param set-default FW_PR_I 0.02
-param set-default FW_PR_IMAX 0.4
-param set-default FW_PR_P 0.08
-param set-default FW_RR_FF 0.6
-param set-default FW_RR_I 0.01
-param set-default FW_RR_IMAX 0.2
-param set-default FW_RR_P 0.05
-param set-default FW_THR_CRUISE 0.75
+	param set VT_ARSP_BLEND 6
+	param set VT_ARSP_TRANS 12
+	param set VT_F_TRANS_THR 0.75
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
+	param set VT_IDLE_PWM_MC 1080
+	param set VT_TYPE 2
+fi

-param set-default VT_ARSP_BLEND 6
-param set-default VT_ARSP_TRANS 12
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_IDLE_PWM_MC 1080
-param set-default VT_TYPE 2
 set MAV_TYPE 22

 set MIXER quad_x
@@ -15,43 +15,46 @@
 # @output AUX2 Left elevon
 # @output AUX3 Motor
 #
-# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set MC_ROLL_P 6.5
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.01
+	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_FF 0
+	param set MC_PITCH_P 6.5
+	param set MC_PITCHRATE_P 0.15
+	param set MC_PITCHRATE_I 0.01
+	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_FF 0
+	param set MC_YAW_P 3.5
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_FF 0
+	param set MC_YAWRATE_MAX 50

-param set-default MC_ROLL_P 6.5
-param set-default MC_ROLLRATE_P 0.15
-param set-default MC_ROLLRATE_I 0.01
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_ROLLRATE_FF 0
-param set-default MC_PITCH_P 6.5
-param set-default MC_PITCHRATE_P 0.15
-param set-default MC_PITCHRATE_I 0.01
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_PITCHRATE_FF 0
-param set-default MC_YAW_P 3.5
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
-param set-default MC_YAWRATE_MAX 50
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_P_ACC 2
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_YAWRAUTO_MAX 20

-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 2
-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_YAWRAUTO_MAX 20
+	param set PWM_AUX_DIS3 950
+	param set PWM_RATE 400

-param set-default PWM_AUX_DIS3 950
-param set-default PWM_MAIN_RATE 400
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
+	param set VT_F_TRANS_THR 0.75
+	param set VT_IDLE_PWM_MC 1080
+	param set VT_TYPE 2
+fi

-param set-default VT_MOT_ID 1234
-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
@@ -7,40 +7,43 @@
 #
 # @maintainer Sander Smeets <sander@droneslab.com>
 #
-# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set MC_ROLL_P 7
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.002
+	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_FF 0
+	param set MC_PITCH_P 7
+	param set MC_PITCHRATE_P 0.12
+	param set MC_PITCHRATE_I 0.002
+	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_FF 0
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.22
+	param set MC_YAWRATE_I 0.02
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_FF 0
+	param set MC_YAWRATE_MAX 40

-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.15
-param set-default MC_ROLLRATE_I 0.002
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_ROLLRATE_FF 0
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.12
-param set-default MC_PITCHRATE_I 0.002
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_PITCHRATE_FF 0
-param set-default MC_YAW_P 2.8
-param set-default MC_YAWRATE_P 0.22
-param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
-param set-default MC_YAWRATE_MAX 40
+	param set MPC_YAWRAUTO_MAX 40

-param set-default MPC_YAWRAUTO_MAX 40
+	param set PWM_AUX_DIS5 950
+	param set PWM_RATE 400

-param set-default PWM_AUX_DIS5 950
-param set-default PWM_MAIN_RATE 400
+	param set VT_F_TRANS_THR 0.75
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
+	param set VT_IDLE_PWM_MC 1080
+	param set VT_TYPE 2
+fi

-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_IDLE_PWM_MC 1080
-param set-default VT_TYPE 2
 set MAV_TYPE 22

 set MIXER quad_x
@@ -7,57 +7,60 @@
 #
 # @maintainer Sander Smeets <sander@droneslab.com>
 #
-# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set FW_THR_CRUISE 65
+	param set FW_PR_P 0.08
+	param set FW_PR_FF 0.5
+	param set FW_RR_P 0.05
+	param set FW_RR_FF 0.6

-param set-default FW_THR_CRUISE 65
-param set-default FW_PR_P 0.08
-param set-default FW_PR_FF 0.5
-param set-default FW_RR_P 0.05
-param set-default FW_RR_FF 0.6
+	param set MIS_YAW_TMT 10

-param set-default MIS_YAW_TMT 10
+	param set MC_ROLL_P 7
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.1
+	param set MC_ROLLRATE_D 0.004
+	param set MC_ROLLRATE_FF 0
+	param set MC_PITCH_P 7
+	param set MC_PITCHRATE_P 0.15
+	param set MC_PITCHRATE_I 0.1
+	param set MC_PITCHRATE_D 0.004
+	param set MC_PITCHRATE_FF 0
+	param set MC_YAW_P 3.5
+	param set MC_YAWRATE_P 0.6
+	param set MC_YAWRATE_I 0.04
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_FF 0
+	param set MC_YAWRATE_MAX 40

-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.15
-param set-default MC_ROLLRATE_I 0.1
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_ROLLRATE_FF 0
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.15
-param set-default MC_PITCHRATE_I 0.1
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_PITCHRATE_FF 0
-param set-default MC_YAW_P 3.5
-param set-default MC_YAWRATE_P 0.6
-param set-default MC_YAWRATE_I 0.04
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
-param set-default MC_YAWRATE_MAX 40
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_Z_VEL_MAX_DN 1.5
+	param set MPC_TKO_SPEED 1.5
+	param set MPC_LAND_SPEED 0.8
+	param set MPC_YAWRAUTO_MAX 40

-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_Z_VEL_MAX_DN 1.5
-param set-default MPC_TKO_SPEED 1.5
-param set-default MPC_LAND_SPEED 0.8
-param set-default MPC_YAWRAUTO_MAX 40
+	param set PWM_AUX_DIS5 950
+	param set PWM_AUX_REV1 1
+	param set PWM_AUX_REV2 1
+	param set PWM_RATE 400

-param set-default PWM_AUX_DIS5 950
-param set-default PWM_AUX_REV1 1
-param set-default PWM_AUX_REV2 1
-param set-default PWM_MAIN_RATE 400
+	param set VT_ARSP_TRANS 15
+	param set VT_ARSP_BLEND 8
+	param set VT_B_TRANS_DUR 4
+	param set VT_F_TRANS_THR 0.75
+	param set VT_IDLE_PWM_MC 1080
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
+	param set VT_TYPE 2
+fi

-param set-default VT_ARSP_TRANS 15
-param set-default VT_ARSP_BLEND 8
-param set-default VT_B_TRANS_DUR 4
-param set-default VT_F_TRANS_THR 0.75
-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
@@ -7,78 +7,81 @@
 #
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
-# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MAX   22
+	param set FW_AIRSPD_MIN   14
+	param set FW_AIRSPD_TRIM  16
+	param set FW_L1_PERIOD    25
+	param set FW_PR_P 0.060
+	param set FW_P_RMAX_NEG   40
+	param set FW_P_RMAX_POS   40
+	param set FW_RR_FF    0.4
+	param set FW_RR_P 0.04
+	param set FW_R_RMAX   40

-param set-default FW_AIRSPD_MAX   22
-param set-default FW_AIRSPD_MIN   14
-param set-default FW_AIRSPD_TRIM  16
-param set-default FW_L1_PERIOD    25
-param set-default FW_PR_P 0.060
-param set-default FW_P_RMAX_NEG   40
-param set-default FW_P_RMAX_POS   40
-param set-default FW_RR_FF    0.4
-param set-default FW_RR_P 0.04
-param set-default FW_R_RMAX   40
+	param set MC_PITCHRATE_D 0.004
+	param set MC_PITCHRATE_I 0
+	param set MC_PITCHRATE_MAX 60
+	param set MC_PITCHRATE_P 0.21
+	param set MC_PITCH_P 4
+	param set MC_ROLLRATE_D 0.004
+	param set MC_ROLLRATE_I 0.002
+	param set MC_ROLLRATE_MAX 60
+	param set MC_ROLLRATE_P 0.24
+	param set MC_ROLL_P 4
+	param set MC_YAWRATE_I 0.02
+	param set MC_YAWRATE_MAX 40
+	param set MC_YAWRATE_P 0.18

-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_PITCHRATE_I 0
-param set-default MC_PITCHRATE_MAX 60
-param set-default MC_PITCHRATE_P 0.21
-param set-default MC_PITCH_P 4
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_ROLLRATE_I 0.002
-param set-default MC_ROLLRATE_MAX 60
-param set-default MC_ROLLRATE_P 0.24
-param set-default MC_ROLL_P 4
-param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_MAX 40
-param set-default MC_YAWRATE_P 0.18
+	param set MIS_TAKEOFF_ALT 2.5
+	param set MIS_YAW_TMT 20

-param set-default MIS_TAKEOFF_ALT 2.5
-param set-default MIS_YAW_TMT 20
+	param set MPC_ACC_HOR_MAX 1
+	param set MPC_HOLD_MAX_XY 0.5
+	param set MPC_HOLD_MAX_Z  0.5
+	param set MPC_LAND_SPEED  1
+	param set MPC_MANTHR_MIN  0.05
+	param set MPC_MAN_Y_MAX   120
+	param set MPC_THR_MIN 0.07
+	param set MPC_TILTMAX_AIR 35
+	param set MPC_TILTMAX_LND 20
+	param set MPC_TKO_SPEED   1
+	param set MPC_XY_P    0.3
+	param set MPC_XY_VEL_MAX  3
+	param set MPC_XY_VEL_P_ACC 1
+	param set MPC_Z_P 0.5
+	param set MPC_Z_VEL_P_ACC 2
+	param set MPC_YAWRAUTO_MAX 40

-param set-default MPC_ACC_HOR_MAX 1
-param set-default MPC_HOLD_MAX_XY 0.5
-param set-default MPC_HOLD_MAX_Z  0.5
-param set-default MPC_LAND_SPEED  1
-param set-default MPC_MANTHR_MIN  0.05
-param set-default MPC_MAN_Y_MAX   120
-param set-default MPC_THR_MIN 0.07
-param set-default MPC_TILTMAX_AIR 35
-param set-default MPC_TILTMAX_LND 20
-param set-default MPC_TKO_SPEED   1
-param set-default MPC_XY_P    0.3
-param set-default MPC_XY_VEL_MAX  3
-param set-default MPC_XY_VEL_P_ACC 1
-param set-default MPC_Z_P 0.5
-param set-default MPC_Z_VEL_P_ACC 2
-param set-default MPC_YAWRAUTO_MAX 40
+	param set NAV_ACC_RAD 3

-param set-default NAV_ACC_RAD 3
+	param set PWM_AUX_REV1    1
+	param set PWM_AUX_REV2    1
+	param set PWM_AUX_REV3    1
+	param set PWM_AUX_REV4    1

-param set-default PWM_AUX_REV1    1
-param set-default PWM_AUX_REV2    1
-param set-default PWM_AUX_REV3    1
-param set-default PWM_AUX_REV4    1
+	param set PWM_AUX_DIS5 950

-param set-default PWM_AUX_DIS5 950
+	param set PWM_RATE 400

-param set-default PWM_MAIN_RATE 400
+	param set VT_ARSP_TRANS   15
+	param set VT_B_TRANS_DUR  4
+	param set VT_F_TRANS_THR    0.6
+	param set VT_IDLE_PWM_MC 1180
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
+	param set VT_TRANS_MIN_TM 5
+	param set VT_TRANS_TIMEOUT    30
+	param set VT_TYPE 2

-param set-default VT_ARSP_TRANS   15
-param set-default VT_B_TRANS_DUR  4
-param set-default VT_F_TRANS_THR    0.6
-param set-default VT_IDLE_PWM_MC 1180
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_TRANS_MIN_TM 5
-param set-default VT_TRANS_TIMEOUT    30
-param set-default VT_TYPE 2
+fi

 set MAV_TYPE 22

@@ -8,28 +8,32 @@
 # @maintainer Samay Siga <samay_s@icloud.com>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set PWM_AUX_DISARMED 1000
+	param set PWM_AUX_MAX 2000
+	param set PWM_AUX_MIN 1000
+	param set PWM_AUX_RATE 50

-param set-default PWM_AUX_DISARMED 1000
-param set-default PWM_AUX_MAX 2000
-param set-default PWM_AUX_MIN 1000
-param set-default PWM_AUX_RATE 50
+	param set PWM_MAX 2000
+	param set PWM_RATE 400

-param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_RATE 400
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 13
+	param set VT_IDLE_PWM_MC 1080
+	param set VT_TILT_FW 0.9
+	param set VT_TILT_MC 0.08
+	param set VT_TILT_TRANS 0.5
+	param set VT_ELEV_MC_LOCK 0
+	param set VT_TYPE 1
+fi

-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 13
-param set-default VT_IDLE_PWM_MC 1080
-param set-default VT_TILT_FW 0.9
-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
@@ -16,69 +16,72 @@
 # @output MAIN7 Elevon right
 # @output MAIN8 Elevon left
 #
-# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set CBRK_AIRSPD_CHK 162128

-param set-default CBRK_AIRSPD_CHK 162128
+	param set FW_ARSP_MODE 1

-param set-default FW_ARSP_MODE 1
+	param set FW_L1_PERIOD 17
+	param set FW_MAN_R_MAX 50
+	param set FW_ACRO_X_MAX   270
+	param set FW_ACRO_Y_MAX   270
+	param set FW_ACRO_Z_MAX   180
+	param set FW_PR_FF    0.5
+	param set FW_PR_P 0.08
+	param set FW_PSP_OFF  5
+	param set FW_P_LIM_MAX    30
+	param set FW_P_LIM_MIN    -30
+	param set FW_P_RMAX_NEG   60
+	param set FW_P_RMAX_POS   60
+	param set FW_RR_FF    0.33
+	param set FW_RR_P 0.11
+	param set FW_YR_FF    0.3
+	param set FW_YR_P 0.05

-param set-default FW_L1_PERIOD 17
-param set-default FW_MAN_R_MAX 50
-param set-default FW_ACRO_X_MAX   270
-param set-default FW_ACRO_Y_MAX   270
-param set-default FW_ACRO_Z_MAX   180
-param set-default FW_PR_FF    0.5
-param set-default FW_PR_P 0.08
-param set-default FW_PSP_OFF  5
-param set-default FW_P_LIM_MAX    30
-param set-default FW_P_LIM_MIN    -30
-param set-default FW_P_RMAX_NEG   60
-param set-default FW_P_RMAX_POS   60
-param set-default FW_RR_FF    0.33
-param set-default FW_RR_P 0.11
-param set-default FW_YR_FF    0.3
-param set-default FW_YR_P 0.05
+	param set MC_PITCHRATE_D  0.003
+	param set MC_PITCHRATE_P  0.15
+	param set MC_PITCH_P  6
+	param set MC_ROLLRATE_D   0.003
+	param set MC_ROLLRATE_P   0.15
+	param set MC_ROLL_P   6
+	param set MC_YAWRATE_MAX  120
+	param set MC_YAWRATE_P    0.27
+	param set MC_YAW_P    2.5

-param set-default MC_PITCHRATE_D  0.003
-param set-default MC_PITCHRATE_P  0.15
-param set-default MC_PITCH_P  6
-param set-default MC_ROLLRATE_D   0.003
-param set-default MC_ROLLRATE_P   0.15
-param set-default MC_ROLL_P   6
-param set-default MC_YAWRATE_MAX  120
-param set-default MC_YAWRATE_P    0.27
-param set-default MC_YAW_P    2.5
+	param set MC_YAWRATE_P 0.3
+	param set MPC_LAND_SPEED 1.2
+	param set MPC_TKO_SPEED 2.5
+	param set MPC_Z_VEL_MAX_UP 3

-param set-default MC_YAWRATE_P 0.3
-param set-default MPC_LAND_SPEED 1.2
-param set-default MPC_TKO_SPEED 2.5
-param set-default MPC_Z_VEL_MAX_UP 3
+	param set PWM_RATE 400

-param set-default PWM_MAIN_RATE 400
+	param set SENS_BOARD_ROT 8

-param set-default SENS_BOARD_ROT 8
+	param set VT_B_TRANS_DUR  1
+	param set VT_F_TRANS_DUR  1.2
+	param set VT_F_TR_OL_TM   4
+	param set VT_FW_DIFTHR_EN 1
+	param set VT_FW_DIFTHR_SC 0.17
+	param set VT_FW_MOT_OFFID 3
+	param set VT_FW_PERM_STAB 0
+	param set VT_IDLE_PWM_MC 1200
+	param set VT_MOT_ID 123
+	param set VT_TILT_FW  1
+	param set VT_TILT_MC  0
+	param set VT_TILT_TRANS   0.45
+	param set VT_TRANS_MIN_TM 1.2
+	param set VT_TRANS_P2_DUR 1.3
+	param set VT_ELEV_MC_LOCK 0
+	param set VT_TYPE 1
+fi

-param set-default VT_B_TRANS_DUR  1
-param set-default VT_F_TRANS_DUR  1.2
-param set-default VT_F_TR_OL_TM   4
-param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_SC 0.17
-param set-default VT_FW_MOT_OFFID 3
-param set-default VT_FW_PERM_STAB 0
-param set-default VT_IDLE_PWM_MC 1200
-param set-default VT_MOT_ID 123
-param set-default VT_TILT_FW  1
-param set-default VT_TILT_MC  0
-param set-default VT_TILT_TRANS   0.45
-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
@@ -16,140 +16,142 @@
 # @output MAIN7 Pusher motor
 # @output MAIN8 Pusher reverse channel
 #
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#

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

+if [ $AUTOCNF = yes ]
+then
+	param set BAT_CAPACITY 23000
+	param set BAT_N_CELLS 4
+	param set BAT_R_INTERNAL 0.0025

-param set-default BAT_CAPACITY 23000
-param set-default BAT_N_CELLS 4
-param set-default BAT_R_INTERNAL 0.0025
+	param set CBRK_AIRSPD_CHK 162128
+	param set CBRK_IO_SAFETY 22027

-param set-default CBRK_AIRSPD_CHK 162128
-param set-default CBRK_IO_SAFETY 22027
+	param set EKF2_GPS_POS_X -0.12
+	param set EKF2_IMU_POS_X -0.12
+	param set EKF2_TAU_VEL 0.5
+	param set EKF2_GPS_P_GATE 10
+	param set EKF2_GPS_V_GATE 10

-param set-default EKF2_GPS_POS_X -0.12
-param set-default EKF2_IMU_POS_X -0.12
-param set-default EKF2_TAU_VEL 0.5
-param set-default EKF2_GPS_P_GATE 10
-param set-default EKF2_GPS_V_GATE 10
+	param set FW_ARSP_MODE 1
+	param set FW_L1_PERIOD 25
+	param set FW_PR_FF 0.7
+	param set FW_PR_I 0.18
+	param set FW_PR_P 0.15
+	param set FW_P_TC 0.5
+	param set FW_PSP_OFF 5
+	param set FW_R_LIM 35
+	param set FW_RR_FF 0.9
+	param set FW_RR_I 0.08
+	param set FW_RR_P 0.18
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_CLMB_MAX 3
+	param set FW_T_SINK_MAX 3
+	param set FW_T_SINK_MIN 1
+	param set FW_T_VERT_ACC 6
+	param set FW_T_HRATE_P 0.1
+	param set FW_THR_CRUISE 0.70
+	param set FW_THR_SLEW_MAX 1
+	param set FW_MAN_P_MAX 30
+	param set FW_P_LIM_MAX 15
+	param set FW_P_LIM_MIN -25
+	param set FW_P_RMAX_NEG 45
+	param set FW_P_RMAX_POS 45
+	param set FW_R_RMAX 50
+	param set FW_THR_MIN 0.55
+	param set FW_BAT_SCALE_EN 1
+	param set FW_THR_ALT_SCL 2.7
+	param set FW_T_RLL2THR 20

-param set-default FW_ARSP_MODE 1
-param set-default FW_L1_PERIOD 25
-param set-default FW_PR_FF 0.7
-param set-default FW_PR_I 0.18
-param set-default FW_PR_P 0.15
-param set-default FW_P_TC 0.5
-param set-default FW_PSP_OFF 5
-param set-default FW_R_LIM 35
-param set-default FW_RR_FF 0.9
-param set-default FW_RR_I 0.08
-param set-default FW_RR_P 0.18
-param set-default FW_T_HRATE_FF 0.5
-param set-default FW_T_CLMB_MAX 3
-param set-default FW_T_SINK_MAX 3
-param set-default FW_T_SINK_MIN 1
-param set-default FW_T_VERT_ACC 6
-param set-default FW_THR_CRUISE 0.70
-param set-default FW_THR_SLEW_MAX 1
-param set-default FW_MAN_P_MAX 30
-param set-default FW_P_LIM_MAX 15
-param set-default FW_P_LIM_MIN -25
-param set-default FW_P_RMAX_NEG 45
-param set-default FW_P_RMAX_POS 45
-param set-default FW_R_RMAX 50
-param set-default FW_THR_MIN 0.55
-param set-default FW_BAT_SCALE_EN 1
-param set-default FW_THR_ALT_SCL 2.7
-param set-default FW_T_RLL2THR 20
+	param set LNDMC_ALT_MAX 9999
+	param set LNDMC_XY_VEL_MAX 1
+	param set LNDMC_Z_VEL_MAX 0.7

-param set-default LNDMC_ALT_MAX 9999
-param set-default LNDMC_XY_VEL_MAX 1
-param set-default LNDMC_Z_VEL_MAX 0.7
+	param set MC_ROLL_P 6.5
+	param set MC_ROLLRATE_P 0.16
+	param set MC_ROLLRATE_I 0.01
+	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_FF 0
+	param set MC_ROLLRATE_MAX 80
+	param set MC_PITCH_P 6.5
+	param set MC_PITCHRATE_P 0.15
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_FF 0
+	param set MC_PITCHRATE_MAX 80
+	param set MC_YAW_P 3.5
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_FF 0
+	param set MC_YAWRATE_MAX 20
+	param set MC_AIRMODE 1

-param set-default MC_ROLL_P 6.5
-param set-default MC_ROLLRATE_P 0.16
-param set-default MC_ROLLRATE_I 0.01
-param set-default MC_ROLLRATE_D 0.003
-param set-default MC_ROLLRATE_FF 0
-param set-default MC_ROLLRATE_MAX 80
-param set-default MC_PITCH_P 6.5
-param set-default MC_PITCHRATE_P 0.15
-param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCHRATE_D 0.003
-param set-default MC_PITCHRATE_FF 0
-param set-default MC_PITCHRATE_MAX 80
-param set-default MC_YAW_P 3.5
-param set-default MC_YAWRATE_P 0.2
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
-param set-default MC_YAWRATE_MAX 20
-param set-default MC_AIRMODE 1
+	param set MIS_DIST_1WP 100
+	param set MIS_DIST_WPS 100000
+	param set MIS_TAKEOFF_ALT 15

-param set-default MIS_DIST_1WP 100
-param set-default MIS_DIST_WPS 100000
-param set-default MIS_TAKEOFF_ALT 15
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_P_ACC 2
+	param set MPC_XY_VEL_MAX 5
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_LAND_SPEED 1.2
+	param set MPC_TILTMAX_LND 35
+	param set MPC_Z_VEL_MAX 1.5
+	param set MPC_Z_VEL_MAX_UP 1.5
+	param set MPC_Z_VEL_MAX_DN 1.5
+	param set MPC_HOLD_MAX_XY 0.5
+	param set MPC_HOLD_MAX_Z 0.5
+	param set MPC_TKO_RAMP_T 0.8
+	param set MPC_XY_CRUISE 5
+	param set MPC_TILTMAX_AIR 25
+	param set MPC_TILTMAX_LND 25
+	param set MPC_YAWRAUTO_MAX 20

-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 2
-param set-default MPC_XY_VEL_MAX 5
-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_LAND_SPEED 1.2
-param set-default MPC_TILTMAX_LND 35
-param set-default MPC_Z_VEL_MAX_UP 1.5
-param set-default MPC_Z_VEL_MAX_DN 1.5
-param set-default MPC_HOLD_MAX_XY 0.5
-param set-default MPC_HOLD_MAX_Z 0.5
-param set-default MPC_TKO_RAMP_T 0.8
-param set-default MPC_XY_CRUISE 5
-param set-default MPC_TILTMAX_AIR 25
-param set-default MPC_TILTMAX_LND 25
-param set-default MPC_YAWRAUTO_MAX 20
+	param set NAV_DLL_ACT 0
+	param set NAV_LOITER_RAD 100

-param set-default NAV_DLL_ACT 0
-param set-default NAV_LOITER_RAD 100
+	param set PWM_AUX_DISARMED 950

-param set-default PWM_AUX_DISARMED 950
+	param set PWM_MAIN_DIS5 1500
+	param set PWM_MAIN_DIS6 1500
+	param set PWM_MAIN_DIS7 900
+	param set PWM_MAIN_DIS8 900

-param set-default PWM_MAIN_DIS5 1500
-param set-default PWM_MAIN_DIS6 1500
-param set-default PWM_MAIN_DIS7 900
-param set-default PWM_MAIN_DIS8 900
+	param set PWM_RATE 400

-param set-default PWM_MAIN_RATE 400
+	param set SENS_BOARD_ROT 18

-param set-default SENS_BOARD_ROT 18
+	# TELEM2 config
+	param set MAV_1_CONFIG 102
+	param set MAV_1_RATE 5000
+	param set MAV_1_FORWARD 1
+	param set SER_TEL2_BAUD 57600

-# TELEM2 config
-param set-default MAV_1_CONFIG 102
-param set-default MAV_1_RATE 5000
-param set-default MAV_1_FORWARD 1
-param set-default SER_TEL2_BAUD 57600
+	param set VT_TYPE 2
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
+	param set VT_F_TRANS_THR 1
+	param set VT_DWN_PITCH_MAX 8
+	param set VT_FW_QC_P 55
+	param set VT_FW_QC_R 55
+	param set VT_TRANS_MIN_TM 15
+	param set VT_B_TRANS_DUR 8
+	param set VT_WV_LND_EN 1
+	param set VT_WV_LTR_EN 1
+	param set VT_FWD_THRUST_SC 4
+	param set VT_F_TRANS_DUR 1
+	param set VT_IDLE_PWM_MC 1025
+	param set VT_B_REV_OUT 0.5
+	param set VT_B_TRANS_THR 0.7
+	param set VT_FW_PERM_STAB 1
+	param set VT_TRANS_TIMEOUT 22
+	param set VT_F_TRANS_RAMP 4

-param set-default VT_TYPE 2
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_F_TRANS_THR 1
-param set-default VT_DWN_PITCH_MAX 8
-param set-default VT_FW_QC_P 55
-param set-default VT_FW_QC_R 55
-param set-default VT_TRANS_MIN_TM 15
-param set-default VT_B_TRANS_DUR 8
-param set-default VT_WV_LND_EN 1
-param set-default VT_WV_LTR_EN 1
-param set-default VT_FWD_THRUST_SC 4
-param set-default VT_F_TRANS_DUR 1
-param set-default VT_IDLE_PWM_MC 1025
-param set-default VT_B_REV_OUT 0.5
-param set-default VT_B_TRANS_THR 0.7
-param set-default VT_FW_PERM_STAB 1
-param set-default VT_TRANS_TIMEOUT 22
-param set-default VT_F_TRANS_RAMP 4
+	param set COM_RC_OVERRIDE 0
+fi

-param set-default COM_RC_OVERRIDE 0
 set MAV_TYPE 22

 set MIXER deltaquad
@@ -17,94 +17,100 @@
 # @output MAIN8 motor 4
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then

+	param set BAT_N_CELLS 6

-param set-default BAT_N_CELLS 6
+	param set FW_AIRSPD_MAX   30
+	param set FW_AIRSPD_MIN   19
+	param set FW_AIRSPD_TRIM  23
+	param set FW_L1_R_SLEW_MAX 40
+	param set FW_LND_EARLYCFG 1
+	param set FW_MAN_P_MAX	30
+	param set FW_PR_I	0.1
+	param set FW_PSP_OFF	3
+	param set FW_P_LIM_MAX 18
+	param set FW_P_LIM_MIN -25
+	param set FW_RLL_TO_YAW_FF	0.1
+	param set FW_RR_I	0.1
+	param set FW_RR_P	0.08
+	param set FW_R_LIM 45
+	param set FW_R_RMAX	50
+	param set FW_THR_CRUISE 0.65
+	param set FW_THR_MIN 0.3
+	param set FW_THR_SLEW_MAX 0.6
+	param set FW_T_HRATE_FF 0
+	param set FW_T_SINK_MAX	15
+	param set FW_T_SINK_MIN	3
+	param set FW_T_THRO_CONST	6
+	param set FW_T_TIME_CONST	6
+	param set FW_YR_I	0.1
+	param set FW_YR_P	0.15

-param set-default FW_AIRSPD_MAX   30
-param set-default FW_AIRSPD_MIN   19
-param set-default FW_AIRSPD_TRIM  23
-param set-default FW_L1_R_SLEW_MAX 40
-param set-default FW_LND_EARLYCFG 1
-param set-default FW_MAN_P_MAX	30
-param set-default FW_PR_I	0.1
-param set-default FW_PSP_OFF	3
-param set-default FW_P_LIM_MAX 18
-param set-default FW_P_LIM_MIN -25
-param set-default FW_RLL_TO_YAW_FF	0.1
-param set-default FW_RR_I	0.1
-param set-default FW_RR_P	0.08
-param set-default FW_R_LIM 45
-param set-default FW_R_RMAX	50
-param set-default FW_THR_CRUISE 0.65
-param set-default FW_THR_MIN 0.3
-param set-default FW_THR_SLEW_MAX 0.6
-param set-default FW_T_HRATE_FF 0
-param set-default FW_T_SINK_MAX	15
-param set-default FW_T_SINK_MIN	3
-param set-default FW_YR_I	0.1
-param set-default FW_YR_P	0.15
+	param set IMU_GYRO_CUTOFF 40

-param set-default IMU_GYRO_CUTOFF 40
+	param set IMU_DGYRO_CUTOFF 15
+	param set MC_PITCHRATE_I	0.2
+	param set MC_PITCHRATE_MAX 60
+	param set MC_ROLLRATE_I	0.2
+	param set MC_ROLLRATE_MAX 60
+	param set MC_YAWRATE_I 0.15
+	param set MC_YAWRATE_MAX 40
+	param set MC_YAWRATE_P 0.3

-param set-default IMU_DGYRO_CUTOFF 15
-param set-default MC_PITCHRATE_I	0.2
-param set-default MC_PITCHRATE_MAX 60
-param set-default MC_ROLLRATE_I	0.2
-param set-default MC_ROLLRATE_MAX 60
-param set-default MC_YAWRATE_I 0.15
-param set-default MC_YAWRATE_MAX 40
-param set-default MC_YAWRATE_P 0.3
+	param set MIS_TAKEOFF_ALT	30

-param set-default MIS_TAKEOFF_ALT	30
+	param set MPC_ACC_DOWN_MAX	2
+	param set MPC_ACC_HOR_MAX	2
+	param set MPC_ACC_UP_MAX	3
+	param set MC_AIRMODE 1
+	param set MPC_JERK_AUTO	4
+	param set MPC_LAND_SPEED 1
+	param set MPC_MAN_TILT_MAX 25
+	param set MPC_MAN_Y_MAX 40
+	param set MPC_POS_MODE 3
+	param set MPC_SPOOLUP_TIME 1.5
+	param set MPC_THR_HOVER 0.45
+	param set MPC_TILTMAX_AIR 25
+	param set MPC_TKO_RAMP_T 1.8
+	param set MPC_TKO_SPEED	1
+	param set MPC_VEL_MANUAL 3
+	param set MPC_XY_CRUISE 3
+	param set MPC_XY_VEL_MAX 3.5
+	param set MPC_YAWRAUTO_MAX 40
+	param set MPC_Z_VEL_MAX_DN 1.5
+	param set MPC_Z_VEL_MAX_UP 2

-param set-default MPC_ACC_DOWN_MAX	2
-param set-default MPC_ACC_HOR_MAX	2
-param set-default MPC_ACC_UP_MAX	3
-param set-default MC_AIRMODE 1
-param set-default MPC_JERK_AUTO	4
-param set-default MPC_LAND_SPEED 1
-param set-default MPC_MAN_TILT_MAX 25
-param set-default MPC_MAN_Y_MAX 40
-param set-default MPC_POS_MODE 3
-param set-default MPC_SPOOLUP_TIME 1.5
-param set-default MPC_THR_HOVER 0.45
-param set-default MPC_TILTMAX_AIR 25
-param set-default MPC_TKO_RAMP_T 1.8
-param set-default MPC_TKO_SPEED	1
-param set-default MPC_VEL_MANUAL 3
-param set-default MPC_XY_CRUISE 3
-param set-default MPC_XY_VEL_MAX 3.5
-param set-default MPC_YAWRAUTO_MAX 40
-param set-default MPC_Z_VEL_MAX_DN 1.5
-param set-default MPC_Z_VEL_MAX_UP 2
+	param set NAV_ACC_RAD	3

-param set-default NAV_ACC_RAD	3
+	param set PWM_MAIN_DIS3 1000
+	param set PWM_MAIN_MIN3 1120
+	param set PWM_MIN 950

-param set-default PWM_MAIN_DIS3 1000
-param set-default PWM_MAIN_MIN3 1120
-param set-default PWM_MAIN_MIN 950
+	param set SENS_BOARD_ROT 4

-param set-default SENS_BOARD_ROT 4
+	param set VT_ARSP_BLEND 10
+	param set VT_ARSP_TRANS 21
+	param set VT_B_DEC_MSS 1.5
+	param set VT_B_TRANS_DUR 12
+	param set VT_ELEV_MC_LOCK 0
+	param set VT_FWD_THRUST_SC 1.2
+	param set VT_FW_MOT_OFFID 5678
+	param set VT_F_TR_OL_TM 8
+	param set VT_IDLE_PWM_MC 1000
+	param set VT_MOT_ID 5678
+	param set VT_PSHER_RMP_DT 2
+	param set VT_TRANS_MIN_TM 4
+	param set VT_TYPE 2

-param set-default VT_ARSP_BLEND 10
-param set-default VT_ARSP_TRANS 21
-param set-default VT_B_DEC_MSS 1.5
-param set-default VT_B_TRANS_DUR 12
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_FWD_THRUST_SC 1.2
-param set-default VT_FW_MOT_OFFID 5678
-param set-default VT_F_TR_OL_TM 8
-param set-default VT_IDLE_PWM_MC 1000
-param set-default VT_MOT_ID 5678
-param set-default VT_PSHER_RMP_DT 2
-param set-default VT_TRANS_MIN_TM 4
-param set-default VT_TYPE 2
+fi

 set MAV_TYPE 22

@@ -1,57 +0,0 @@
-#!/bin/sh
-#
-# @name Generic Quadplane VTOL (PWM14)
-#
-# @type Standard VTOL
-# @class VTOL
-#
-# @maintainer
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 Aileron 1
-# @output MAIN6 Aileron 2
-# @output MAIN7 Elevator
-# @output MAIN8 Rudder
-# @output MAIN9 Pusher motor
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-
-param set-default PWM_MAIN_RATE 400
-
-param set-default PWM_MAIN_MIN1 1100
-param set-default PWM_MAIN_MIN2 1100
-param set-default PWM_MAIN_MIN3 1100
-param set-default PWM_MAIN_MIN4 1100
-
-param set-default PWM_MAIN_MAX1 1900
-param set-default PWM_MAIN_MAX2 1900
-param set-default PWM_MAIN_MAX3 1900
-param set-default PWM_MAIN_MAX4 1900
-
-param set-default PWM_MAIN_DIS1 900
-param set-default PWM_MAIN_DIS2 900
-param set-default PWM_MAIN_DIS3 900
-param set-default PWM_MAIN_DIS4 900
-param set-default PWM_MAIN_DIS5 1500
-param set-default PWM_MAIN_DIS6 1500
-param set-default PWM_MAIN_DIS7 1500
-param set-default PWM_MAIN_DIS8 1500
-param set-default PWM_MAIN_DIS9 900
-
-param set-default VT_TYPE 2
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-set MAV_TYPE 22
-
-set MIXER quad_x_vtol_AAERT
-set MIXER_AUX none
-
-set PWM_OUT 1234
@@ -20,18 +20,22 @@
 # @output AUX5 Throttle
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set PWM_AUX_DIS5 950
+	param set PWM_RATE 400

-param set-default PWM_AUX_DIS5 950
-param set-default PWM_MAIN_RATE 400
+	param set VT_TYPE 2
+	param set VT_MOT_ID 12345678
+	param set VT_FW_MOT_OFFID 12345678
+fi

-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
@@ -12,18 +12,21 @@
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
-# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set VT_ELEV_MC_LOCK 0
+	param set VT_MOT_COUNT 2
+	param set VT_TYPE 0

-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_MOT_COUNT 2
-param set-default VT_TYPE 0
+	param set MAV_TYPE 19
+fi

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

@@ -12,6 +12,7 @@
 #
 # @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
 #
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

@@ -12,6 +12,7 @@
 #
 # @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
 #
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

@@ -13,39 +13,43 @@
 # @maintainer Emmanuel Roussel
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
 set MIXER coax

+if [ $AUTOCNF = yes ]
+then
+	param set MC_ROLL_P 6.5
+	param set MC_ROLLRATE_P 0.17
+	param set MC_ROLLRATE_I 0.05
+	param set MC_ROLLRATE_D 0.005
+	param set MC_ROLLRATE_FF 0
+	param set MC_PITCH_P 6.5
+	param set MC_PITCHRATE_P 0.17
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCHRATE_D 0.005
+	param set MC_PITCHRATE_FF 0
+	param set MC_YAW_P 2
+	param set MC_YAWRATE_P 0.1
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0
+	param set MC_YAWRATE_FF 0

-param set-default MC_ROLL_P 6.5
-param set-default MC_ROLLRATE_P 0.17
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.005
-param set-default MC_ROLLRATE_FF 0
-param set-default MC_PITCH_P 6.5
-param set-default MC_PITCHRATE_P 0.17
-param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCHRATE_D 0.005
-param set-default MC_PITCHRATE_FF 0
-param set-default MC_YAW_P 2
-param set-default MC_YAWRATE_P 0.1
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_D 0
-param set-default MC_YAWRATE_FF 0
+	param set NAV_ACC_RAD 2

-param set-default NAV_ACC_RAD 2
+	param set PWM_AUX_RATE 50
+	param set PWM_DISARMED 900
+	param set PWM_MIN 1075
+	param set PWM_MAX 1950
+	param set PWM_RATE 400

-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_DISARM 900
-param set-default PWM_MAIN_MIN 1075
-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_RATE 400
+	param set RTL_RETURN_ALT 30
+	param set RTL_DESCEND_ALT 10
+fi

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

@@ -14,6 +14,7 @@
 # @output MAIN5 tail-rotor servo
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

@@ -26,32 +27,34 @@ set MIXER blade130

 #set PWM_OUT 1234

+if [ $AUTOCNF = yes ]
+then
+	param set ATT_BIAS_MAX 0

-param set-default ATT_BIAS_MAX 0
+	param set CBRK_IO_SAFETY 22027

-param set-default CBRK_IO_SAFETY 22027
+	param set MC_ROLL_P 5
+	param set MC_ROLLRATE_P 0
+	param set MC_ROLLRATE_I 0
+	param set MC_ROLLRATE_D 0
+	param set MC_ROLLRATE_FF 0.15
+	param set MC_PITCH_P 6.5
+	param set MC_PITCHRATE_P 0
+	param set MC_PITCHRATE_I 0
+	param set MC_PITCHRATE_D 0
+	param set MC_PITCHRATE_FF 0.15
+	param set MC_YAW_P 3
+	param set MC_YAWRATE_P 0.1
+	param set MC_YAWRATE_I 0
+	param set MC_YAWRATE_D 0
+	param set MC_ROLLRATE_MAX 720
+	param set MC_PITCHRATE_MAX 720
+	param set MC_YAWRATE_MAX 400
+	param set MC_ACRO_R_MAX 360
+	param set MC_ACRO_P_MAX 360

-param set-default MC_ROLL_P 5
-param set-default MC_ROLLRATE_P 0
-param set-default MC_ROLLRATE_I 0
-param set-default MC_ROLLRATE_D 0
-param set-default MC_ROLLRATE_FF 0.15
-param set-default MC_PITCH_P 6.5
-param set-default MC_PITCHRATE_P 0
-param set-default MC_PITCHRATE_I 0
-param set-default MC_PITCHRATE_D 0
-param set-default MC_PITCHRATE_FF 0.15
-param set-default MC_YAW_P 3
-param set-default MC_YAWRATE_P 0.1
-param set-default MC_YAWRATE_I 0
-param set-default MC_YAWRATE_D 0
-param set-default MC_ROLLRATE_MAX 720
-param set-default MC_PITCHRATE_MAX 720
-param set-default MC_YAWRATE_MAX 400
-param set-default MC_ACRO_R_MAX 360
-param set-default MC_ACRO_P_MAX 360
+	param set MPC_THR_MIN 0.06
+	param set MPC_MANTHR_MIN 0.06

-param set-default MPC_THR_MIN 0.06
-param set-default MPC_MANTHR_MIN 0.06
-
-param set-default PWM_MAIN_MIN 1075
+	param set PWM_MIN 1075
+fi
@@ -20,31 +20,35 @@
 # @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

+if [ $AUTOCNF = yes ]
+then
+	param set BAT_CAPACITY 2500
+	param set BAT_N_CELLS 3

-param set-default BAT_CAPACITY 2500
-param set-default BAT_N_CELLS 3
+	param set PWM_AUX_RATE 50
+	param set PWM_RATE 50

-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_RATE 50
+	param set SENS_BOARD_ROT 8

-param set-default SENS_BOARD_ROT 8
+	param set FW_AIRSPD_MAX 20
+	param set FW_AIRSPD_MIN 7
+	param set FW_AIRSPD_TRIM 13
+	param set FW_THR_CRUISE 0.8

-param set-default FW_AIRSPD_MAX 20
-param set-default FW_AIRSPD_MIN 7
-param set-default FW_AIRSPD_TRIM 13
-param set-default FW_THR_CRUISE 0.8
+	param set FW_MAN_P_MAX 25
+	param set FW_MAN_R_MAX 25
+	param set FW_PR_I 0.02
+	param set FW_R_LIM 40
+	param set FW_P_LIM_MAX 25
+	param set FW_P_LIM_MIN -5
+	param set FW_P_RMAX_NEG 20
+fi

-param set-default FW_MAN_P_MAX 25
-param set-default FW_MAN_R_MAX 25
-param set-default FW_PR_I 0.02
-param set-default FW_R_LIM 40
-param set-default FW_P_LIM_MAX 25
-param set-default FW_P_LIM_MIN -5
-param set-default FW_P_RMAX_NEG 20
 set MIXER TF-AutoG2
 set MIXER_AUX pass
@@ -1,45 +0,0 @@
-#!/bin/sh
-#
-# @name ThunderFly TF-G2
-#
-# @type Autogyro
-# @class Autogyro
-#
-# @output MAIN2 rotor_head_L
-# @output MAIN3 rotor_head_R
-# @output MAIN4 rudder
-# @output MAIN5 throttle
-#
-#
-# @url https://github.com/ThunderFly-aerospace/TF-G2/
-# @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-
-param set-default BAT_CAPACITY 3300
-param set-default BAT_N_CELLS 3
-
-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_RATE 50
-
-param set-default SENS_BOARD_ROT 4
-
-param set-default FW_AIRSPD_MAX 20
-param set-default FW_AIRSPD_MIN 7
-param set-default FW_AIRSPD_TRIM 13
-param set-default FW_THR_CRUISE 0.8
-
-param set-default FW_MAN_P_MAX 25
-param set-default FW_MAN_R_MAX 25
-param set-default FW_PR_I 0.02
-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
@@ -1,33 +0,0 @@
-#!/bin/sh
-#
-# @name ThunderFly balloon TF-B1
-#
-# @type Balloon
-# @class Balloon
-#
-#
-# @url https://github.com/ThunderFly-aerospace/TF-B1/
-# @maintainer ThunderFly s.r.o.
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.balloon_defaults
-
-
-param set-default COM_PREARM_MODE 2  # always in prearm state
-param set-default CBRK_IO_SAFETY 22027
-param set-default SDLOG_PROFILE 17
-param set-default SDLOG_MODE 2
-param set-default MAV_0_MODE 1
-param set-default MAV_0_CONFIG 102
-param set-default GPS_UBX_DYNMODEL 8
-param set-default SER_TEL2_BAUD 9600
-
-param set-default SENS_BOARD_ROT 0
-        param set MAV_TYPE 8  # MAV_TYPE_FREE_BALLOON
-
-
-set MIXER IO_pass
-set MIXER_AUX pass
@@ -18,13 +18,17 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_RATE 50
+if [ $AUTOCNF = yes ]
+then
+	param set PWM_AUX_RATE 50
+	param set PWM_RATE 50
+fi

 set MIXER AETRFG

@@ -20,28 +20,31 @@
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

-param set-default FW_AIRSPD_MIN 10
-param set-default FW_AIRSPD_TRIM 15
-param set-default FW_AIRSPD_MAX 20
+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MIN 10
+	param set FW_AIRSPD_TRIM 15
+	param set FW_AIRSPD_MAX 20

-param set-default FW_MAN_P_MAX 55
-param set-default FW_MAN_R_MAX 55
-param set-default FW_R_LIM 55
+	param set FW_MAN_P_MAX 55
+	param set FW_MAN_R_MAX 55
+	param set FW_R_LIM 55

-param set-default FW_WR_FF 0.2
-param set-default FW_WR_I 0.2
-param set-default FW_WR_IMAX 0.8
-param set-default FW_WR_P 1
-param set-default FW_W_RMAX 0
-
-# set disarmed value for the ESC
-param set-default PWM_MAIN_DISARM 1000
+	param set FW_WR_FF 0.2
+	param set FW_WR_I 0.2
+	param set FW_WR_IMAX 0.8
+	param set FW_WR_P 1
+	param set FW_W_RMAX 0

+	# set disarmed value for the ESC
+	param set PWM_DISARMED 1000
+fi

 set MIXER AAERTWF

@@ -20,28 +20,31 @@
 #
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

-param set-default FW_AIRSPD_MIN 10
-param set-default FW_AIRSPD_TRIM 15
-param set-default FW_AIRSPD_MAX 20
+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MIN 10
+	param set FW_AIRSPD_TRIM 15
+	param set FW_AIRSPD_MAX 20

-param set-default FW_MAN_P_MAX 55
-param set-default FW_MAN_R_MAX 55
-param set-default FW_R_LIM 55
+	param set FW_MAN_P_MAX 55
+	param set FW_MAN_R_MAX 55
+	param set FW_R_LIM 55

-param set-default FW_WR_FF 0.2
-param set-default FW_WR_I 0.2
-param set-default FW_WR_IMAX 0.8
-param set-default FW_WR_P 1
-param set-default FW_W_RMAX 0
-
-# set disarmed value for the ESC
-param set-default PWM_MAIN_DISARM 1000
+	param set FW_WR_FF 0.2
+	param set FW_WR_I 0.2
+	param set FW_WR_IMAX 0.8
+	param set FW_WR_P 1
+	param set FW_W_RMAX 0

+	# set disarmed value for the ESC
+	param set PWM_DISARMED 1000
+fi

 set MIXER AAVVTWFF

@@ -21,27 +21,31 @@
 # @maintainer Friedrich Beckmann <friedrich.beckmann@hs-augsburg.de>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

-param set-default FW_AIRSPD_MIN 10
-param set-default FW_AIRSPD_TRIM 15
-param set-default FW_AIRSPD_MAX 20
+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MIN 10
+	param set FW_AIRSPD_TRIM 15
+	param set FW_AIRSPD_MAX 20

-param set-default FW_MAN_P_MAX 55
-param set-default FW_MAN_R_MAX 55
-param set-default FW_R_LIM 55
+	param set FW_MAN_P_MAX 55
+	param set FW_MAN_R_MAX 55
+	param set FW_R_LIM 55

-param set-default FW_WR_FF 0.2
-param set-default FW_WR_I 0.2
-param set-default FW_WR_IMAX 0.8
-param set-default FW_WR_P 1
-param set-default FW_W_RMAX 0
+	param set FW_WR_FF 0.2
+	param set FW_WR_I 0.2
+	param set FW_WR_IMAX 0.8
+	param set FW_WR_P 1
+	param set FW_W_RMAX 0

-# set disarmed value for the ESC
-param set-default PWM_MAIN_DISARM 1000
+	# set disarmed value for the ESC
+	param set PWM_DISARMED 1000
+fi

 # The Mini Talon does not have a wheel and
 # no flaps. I leave them here because the mixer
@@ -22,25 +22,30 @@
 # @maintainer Ian McNanie <ianmcnanie@gmail.com>
 # @maintainer William Peale <develop707@gmail.com>
 #
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

 set VEHICLE_TYPE mc

+if [ $AUTOCNF = yes ]
+then
+	param set NAV_ACC_RAD 2

-param set-default NAV_ACC_RAD 2
+	param set PWM_AUX_RATE 400
+	param set PWM_AUX_DISARMED 900
+	param set PWM_AUX_MIN 1075
+	param set PWM_AUX_MAX 1950

-param set-default PWM_AUX_RATE 400
-param set-default PWM_AUX_DISARMED 900
-param set-default PWM_AUX_MIN 1075
-param set-default PWM_AUX_MAX 1950
+	param set PWM_MIN 1075
+	param set PWM_MAX 1950
+	param set PWM_RATE 400

-param set-default PWM_MAIN_MIN 1075
-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_RATE 400
+	param set RTL_DESCEND_ALT 10
+	param set RTL_LAND_DELAY 0
+	param set RTL_RETURN_ALT 30
+fi

-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

@@ -10,14 +10,17 @@
 # @output MAIN4 tail thruster
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

-param set-default COM_PREARM_MODE 2
-param set-default CBRK_IO_SAFETY 22027
-
+if [ $AUTOCNF = yes ]
+then
+	param set COM_PREARM_MODE 2
+	param set CBRK_IO_SAFETY 22027
+fi

 set MIXER cloudship
 set PWM_OUT 1234
@@ -15,6 +15,7 @@
 #
 # @maintainer
 #
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

@@ -16,33 +16,36 @@
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

-param set-default FW_AIRSPD_MAX 15
-param set-default FW_AIRSPD_MIN 10
-param set-default FW_AIRSPD_TRIM 13
-param set-default FW_R_TC 0.3
-param set-default FW_P_TC 0.3
-param set-default FW_L1_DAMPING 0.74
-param set-default FW_L1_PERIOD 16
-param set-default FW_LND_ANG 15
-param set-default FW_LND_FLALT 5
-param set-default FW_LND_HHDIST 15
-param set-default FW_LND_HVIRT 13
-param set-default FW_LND_TLALT 5
-param set-default FW_THR_LND_MAX 0
-param set-default FW_PR_FF 0.35
-param set-default FW_PR_IMAX 0.4
-param set-default FW_PR_P 0.08
-param set-default FW_RR_FF 0.6
-param set-default FW_RR_IMAX 0.2
-param set-default FW_RR_P 0.04
-
-param set-default PWM_MAIN_DISARM 1000
+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MAX 15
+	param set FW_AIRSPD_MIN 10
+	param set FW_AIRSPD_TRIM 13
+	param set FW_R_TC 0.3
+	param set FW_P_TC 0.3
+	param set FW_L1_DAMPING 0.74
+	param set FW_L1_PERIOD 16
+	param set FW_LND_ANG 15
+	param set FW_LND_FLALT 5
+	param set FW_LND_HHDIST 15
+	param set FW_LND_HVIRT 13
+	param set FW_LND_TLALT 5
+	param set FW_THR_LND_MAX 0
+	param set FW_PR_FF 0.35
+	param set FW_PR_IMAX 0.4
+	param set FW_PR_P 0.08
+	param set FW_RR_FF 0.6
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.04

+	param set PWM_DISARMED 1000
+fi

 set MIXER fw_generic_wing

@@ -17,37 +17,39 @@
 #
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
-# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

-param set-default FW_AIRSPD_MIN 13
-param set-default FW_AIRSPD_TRIM 15
-param set-default FW_AIRSPD_MAX 25
-param set-default FW_R_TC 0.3
-param set-default FW_P_TC 0.3
-param set-default FW_L1_DAMPING 0.75
-param set-default FW_L1_PERIOD 15
-param set-default FW_PR_FF 0.2
-param set-default FW_PR_IMAX 0.2
-param set-default FW_PR_P 0.03
-param set-default FW_P_LIM_MAX 50
-param set-default FW_P_LIM_MIN -50
-param set-default FW_P_ROLLFF 1
-param set-default FW_RR_FF 0.5
-param set-default FW_RR_IMAX 0.2
-param set-default FW_RR_P 0.08
-param set-default FW_R_LIM 50
-param set-default FW_R_RMAX 50
+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MIN 13
+	param set FW_AIRSPD_TRIM 15
+	param set FW_AIRSPD_MAX 25
+	param set FW_R_TC 0.3
+	param set FW_P_TC 0.3
+	param set FW_L1_DAMPING 0.75
+	param set FW_L1_PERIOD 15
+	param set FW_PR_FF 0.2
+	param set FW_PR_IMAX 0.2
+	param set FW_PR_P 0.03
+	param set FW_P_LIM_MAX 50
+	param set FW_P_LIM_MIN -50
+	param set FW_P_ROLLFF 1
+	param set FW_RR_FF 0.5
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.08
+	param set FW_R_LIM 50
+	param set FW_R_RMAX 50

-param set-default PWM_MAIN_DISARM 1000
-
-# Bottom of bay and nominal zero-pitch attitude differ
-# the payload bay is pitched up about 7 degrees
-param set-default SENS_BOARD_Y_OFF 7
+	param set PWM_DISARMED 1000

+	# Bottom of bay and nominal zero-pitch attitude differ
+	# the payload bay is pitched up about 7 degrees
+	param set SENS_BOARD_Y_OFF 7
+fi

 set MIXER phantom

@@ -15,28 +15,30 @@
 #
 # @maintainer Julian Oes <julian@px4.io>
 #
-# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

-param set-default FW_AIRSPD_MIN 15
-param set-default FW_AIRSPD_TRIM 20
-param set-default FW_AIRSPD_MAX 40
-param set-default FW_R_TC 0.3
-param set-default FW_P_TC 0.3
-param set-default FW_L1_DAMPING 0.74
-param set-default FW_L1_PERIOD 16
-param set-default FW_LND_ANG 15
-param set-default FW_LND_FLALT 5
-param set-default FW_LND_HHDIST 15
-param set-default FW_LND_HVIRT 13
-param set-default FW_LND_TLALT 5
-param set-default FW_THR_LND_MAX 0
-param set-default FW_PR_FF 0.35
-param set-default FW_RR_FF 0.6
-param set-default FW_RR_P 0.04
-
+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MIN 15
+	param set FW_AIRSPD_TRIM 20
+	param set FW_AIRSPD_MAX 40
+	param set FW_R_TC 0.3
+	param set FW_P_TC 0.3
+	param set FW_L1_DAMPING 0.74
+	param set FW_L1_PERIOD 16
+	param set FW_LND_ANG 15
+	param set FW_LND_FLALT 5
+	param set FW_LND_HHDIST 15
+	param set FW_LND_HVIRT 13
+	param set FW_LND_TLALT 5
+	param set FW_THR_LND_MAX 0
+	param set FW_PR_FF 0.35
+	param set FW_RR_FF 0.6
+	param set FW_RR_P 0.04
+fi

 set MIXER fw_generic_wing
@@ -2,7 +2,7 @@
 #
 # @name Wing Wing (aka Z-84) Flying Wing
 #
-# @url https://docs.px4.io/master/en/frames_plane/wing_wing_z84.html
+# @url https://docs.px4.io/master/en/framebuild_plane/wing_wing_z84.html
 #
 # @type Flying Wing
 # @class Plane
@@ -17,32 +17,34 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
-# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #

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

-param set-default BAT_N_CELLS 2
-param set-default FW_AIRSPD_MAX 15
-param set-default FW_AIRSPD_MIN 10
-param set-default FW_AIRSPD_TRIM 13
-param set-default FW_R_TC 0.3
-param set-default FW_P_TC 0.3
-param set-default FW_L1_DAMPING 0.74
-param set-default FW_L1_PERIOD 16
-param set-default FW_LND_ANG 15
-param set-default FW_LND_FLALT 5
-param set-default FW_LND_HHDIST 15
-param set-default FW_LND_HVIRT 13
-param set-default FW_LND_TLALT 5
-param set-default FW_THR_LND_MAX 0
-param set-default FW_PR_FF 0.35
-param set-default FW_RR_FF 0.6
-param set-default FW_RR_P 0.04
-
-param set-default PWM_MAIN_DISARM 1000
+if [ $AUTOCNF = yes ]
+then
+	param set BAT_N_CELLS 2
+	param set FW_AIRSPD_MAX 15
+	param set FW_AIRSPD_MIN 10
+	param set FW_AIRSPD_TRIM 13
+	param set FW_R_TC 0.3
+	param set FW_P_TC 0.3
+	param set FW_L1_DAMPING 0.74
+	param set FW_L1_PERIOD 16
+	param set FW_LND_ANG 15
+	param set FW_LND_FLALT 5
+	param set FW_LND_HHDIST 15
+	param set FW_LND_HVIRT 13
+	param set FW_LND_TLALT 5
+	param set FW_THR_LND_MAX 0
+	param set FW_PR_FF 0.35
+	param set FW_RR_FF 0.6
+	param set FW_RR_P 0.04

+	param set PWM_DISARMED 1000
+fi

 # Configure this as plane.
 set MAV_TYPE 1
@@ -21,11 +21,13 @@

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

-param set-default FW_AIRSPD_MAX 30
-param set-default FW_AIRSPD_MIN 13
-param set-default FW_AIRSPD_TRIM 15
-
-param set-default NAV_LOITER_RAD 150
+if [ $AUTOCNF = yes ]
+then
+	param set FW_AIRSPD_MAX 30
+	param set FW_AIRSPD_MIN 13
+	param set FW_AIRSPD_TRIM 15

+	param set NAV_LOITER_RAD 150
+fi

 set MIXER FX79
--- a/Show More
+++ b/Show More
				`@@ -1 +0,0 @@`
				`mixer append /dev/pwm_output0 etc/mixers-sitl/package_drop.aux.mix`