fixup! Update submodule nuttx

uavcan_v1: Add Publishers dir to includes
uavcan_v1: SocketCAN set 'can_fd' based on CONFIG
2026-05-28 07:50:05 +08:00 · 2022-03-18 10:56:44 -07:00 · 2022-03-18 09:03:48 -07:00 · 2022-03-18 09:03:06 -07:00 · 2022-03-18 09:02:00 -07:00 · 2022-03-17 17:01:54 -07:00
996 changed files with 16511 additions and 86420 deletions
@@ -28,7 +28,7 @@ pipeline {
          ]

          def base_builds = [
-            target: ["px4_sitl_default"],
+            target: ["px4_sitl_rtps"],
            image: docker_images.base,
            archive: false
          ]
@@ -52,29 +52,25 @@ pipeline {
                     "cuav_x7pro_default",
                     "cubepilot_cubeorange_default",
                     "cubepilot_cubeyellow_default",
-                     "diatone_mamba-f405-mk2_default",
                     "freefly_can-rtk-gps_canbootloader",
                     "freefly_can-rtk-gps_default",
                     "holybro_can-gps-v1_canbootloader",
                     "holybro_can-gps-v1_default",
                     "holybro_durandal-v1_default",
                     "holybro_kakutef7_default",
-                     "holybro_kakuteh7_default",
                     "holybro_pix32v5_default",
+                     "matek_h743-slim",
                     "matek_gnss-m9n-f4_canbootloader",
                     "matek_gnss-m9n-f4_default",
-                     "matek_h743-mini_default",
-                     "matek_h743-slim_default",
-                     "matek_h743_default",
                     "modalai_fc-v1_default",
                     "modalai_fc-v1_rtps",
                     "modalai_fc-v2_default",
                     "mro_ctrl-zero-f7_default",
                     "mro_ctrl-zero-f7-oem_default",
-                     "mro_ctrl-zero-h7-oem_default",
-                     "mro_ctrl-zero-h7-oem_rtps",
                     "mro_ctrl-zero-h7_default",
                     "mro_ctrl-zero-h7_rtps",
+                     "mro_ctrl-zero-h7-oem_default",
+                     "mro_ctrl-zero-h7-oem_rtps",
                     "mro_pixracerpro_default",
                     "mro_pixracerpro_rtps",
                     "mro_x21-777_default",
@@ -89,27 +85,24 @@ pipeline {
                     "nxp_ucans32k146_canbootloader",
                     "nxp_ucans32k146_default",
                     "omnibus_f4sd_default",
+                     "raspberrypi_pico_default",
                     "px4_fmu-v2_default",
                     "px4_fmu-v2_fixedwing",
-                     "px4_fmu-v2_lto",
                     "px4_fmu-v2_multicopter",
                     "px4_fmu-v2_rover",
                     "px4_fmu-v3_default",
                     "px4_fmu-v4_default",
                     "px4_fmu-v4pro_default",
-                     "px4_fmu-v5_cyphal",
                     "px4_fmu-v5_debug",
                     "px4_fmu-v5_default",
-                     "px4_fmu-v5_lto",
                     "px4_fmu-v5_rtps",
                     "px4_fmu-v5_stackcheck",
                     "px4_fmu-v5_uavcanv0periph",
+                     "px4_fmu-v5_uavcanv1",
                     "px4_fmu-v5x_default",
                     "px4_fmu-v6u_default",
                     "px4_fmu-v6x_default",
                     "px4_io-v2_default",
-                     "raspberrypi_pico_default",
-                     "sky-drones_smartap-airlink_default",
                     "spracing_h7extreme_default",
                     "uvify_core_default"
            ],
@@ -705,21 +705,18 @@ void quickCalibrate() {

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

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

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

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

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

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate baro; sleep 5"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_BARO*"'
-
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters after
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
 }
@@ -20,7 +20,6 @@ jobs:
          ark_can-flow,
          ark_can-gps,
          ark_can-rtk-gps,
-          ark_cannode,
          atl_mantis-edu,
          av_x-v1,
          bitcraze_crazyflie,
@@ -30,17 +29,14 @@ jobs:
          cuav_x7pro,
          cubepilot_cubeorange,
          cubepilot_cubeyellow,
-          diatone_mamba-f405-mk2,
          freefly_can-rtk-gps,
          holybro_can-gps-v1,
          holybro_durandal-v1,
          holybro_kakutef7,
          holybro_kakuteh7,
          holybro_pix32v5,
-          matek_gnss-m9n-f4,
-          matek_h743,
-          matek_h743-mini,
          matek_h743-slim,
+          matek_gnss-m9n-f4,
          modalai_fc-v1,
          modalai_fc-v2,
          mro_ctrl-zero-f7,
@@ -55,6 +51,7 @@ jobs:
          nxp_fmurt1062-v1,
          nxp_ucans32k146,
          omnibus_f4sd,
+          raspberrypi_pico,
          px4_fmu-v2,
          px4_fmu-v3,
          px4_fmu-v4,
@@ -63,8 +60,6 @@ jobs:
          px4_fmu-v5x,
          px4_fmu-v6u,
          px4_fmu-v6x,
-          raspberrypi_pico,
-          sky-drones_smartap-airlink,
          spracing_h7extreme,
          uvify_core
          ]
@@ -29,9 +29,9 @@ jobs:
        token: ${{ secrets.ACCESS_TOKEN }}

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

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@@ -24,8 +24,8 @@
 	branch = master
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
-	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.1.0+
+	url = https://github.com/JacobCrabill/incubator-nuttx.git
+	branch = dev-h7-socketcan
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
@@ -36,14 +36,14 @@
 [submodule "Tools/jsbsim_bridge"]
 	path = Tools/jsbsim_bridge
 	url = https://github.com/PX4/px4-jsbsim-bridge.git
-[submodule "src/drivers/cyphal/libcanard"]
-	path = src/drivers/cyphal/libcanard
-	url = https://github.com/opencyphal/libcanard.git
-[submodule "src/drivers/cyphal/public_regulated_data_types"]
-	path = src/drivers/cyphal/public_regulated_data_types
-	url = https://github.com/opencyphal/public_regulated_data_types.git
-[submodule "src/drivers/cyphal/legacy_data_types"]
-	path = src/drivers/cyphal/legacy_data_types
+[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/uavcan_v1/legacy_data_types"]
+	path = src/drivers/uavcan_v1/legacy_data_types
 	url = https://github.com/PX4/public_regulated_data_types.git
 	branch = legacy
 [submodule "src/lib/crypto/monocypher"]
@@ -64,6 +64,3 @@
 	path = src/lib/crypto/libtommath
 	url = https://github.com/PX4/libtommath.git
 	branch = px4
-[submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
-	path = src/modules/microdds_client/Micro-XRCE-DDS-Client
-	url = https://github.com/eProsima/Micro-XRCE-DDS-Client.git
@@ -9,5 +9,3 @@ launch.json
 ipch/

 browse.vc.db*
-
-*.log
@@ -121,16 +121,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-rtk-gps_canbootloader
-    ark_cannode_default:
-      short: ark_cannode_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_cannode_default
-    ark_cannode_canbootloader:
-      short: ark_cannode_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_cannode_canbootloader
    atl_mantis-edu_default:
      short: atl_mantis-edu
      buildType: MinSizeRel
@@ -99,7 +99,7 @@
 #
 #=============================================================================

-cmake_minimum_required(VERSION 3.9 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.2 FATAL_ERROR)

 set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
 set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)
@@ -234,14 +234,6 @@ message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
 #
 project(px4 CXX C ASM)

-# Check if LTO option and check if toolchain supports it
-if(LTO)
-    include(CheckIPOSupported)
-    check_ipo_supported()
-    message(AUTHOR_WARNING "LTO enabled: LTO is highly experimental and should not be used in production")
-    set(CMAKE_INTERPROCEDURAL_OPTIMIZATION TRUE)
-endif()
-
 set(package-contact "px4users@googlegroups.com")

 set(CMAKE_CXX_STANDARD 14)
@@ -420,7 +412,6 @@ endif()
 # subdirectories
 #
 add_library(parameters_interface INTERFACE)
-add_library(kernel_parameters_interface INTERFACE)

 include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)
@@ -443,13 +434,7 @@ add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)

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

 # firmware added last to generate the builtin for included modules
 add_subdirectory(platforms/${PX4_PLATFORM})
@@ -51,13 +51,6 @@ menu "Toolchain"
        string "Architecture"
        default ""

-    config BOARD_LTO
-        bool "(EXPERIMENTAL) Link Time Optimization (LTO)"
-        default n
-        help
-            Enables LTO flag in linker
-            Note: Highly EXPERIMENTAL, furthermore make sure you're using a modern compiler GCC 9 or later
-
    config BOARD_FULL_OPTIMIZATION
        bool "Full optmization (O3)"
        default n
@@ -330,7 +330,7 @@ px4io_update: px4_io-v2_default cubepilot_io-v2_default
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status

-bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
+bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
 	git status

 .PHONY: coverity_scan
@@ -88,7 +88,7 @@ unset BOARD_RC_SENSORS
 # Check for flow sensor
 if param compare SENS_EN_PX4FLOW 1
 then
-	px4flow start -X &
+	px4flow start -X
 fi

 uavcannode start
@@ -10,7 +10,6 @@
 # enable fusion of landing target velocity
 param set-default LTEST_MODE 1
 param set-default PLD_HACC_RAD 0.1
-param set-default RTL_PLD_MD 2

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

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

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

 set MIXER skip
+
@@ -25,8 +25,6 @@ param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3

-param set-default FW_SPOILERS_LND 0.4
-
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_THR_CRUISE 0.25
@@ -7,11 +7,6 @@

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

-# TODO: Enable motor failure detection when the
-# VTOL no longer reports 0A for all ESCs in SITL
-param set-default FD_ACT_EN 0
-param set-default FD_ACT_MOT_TOUT 500
-
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 2

@@ -76,6 +71,7 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1

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

 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75
@@ -84,5 +80,7 @@ param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2

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

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

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

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

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

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

 param set-default WV_EN 0

+set MAV_TYPE 20
+
 set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
 set MIXER custom
@@ -7,9 +7,7 @@

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

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

 param set-default CA_ROTOR_COUNT 4
@@ -27,7 +25,9 @@ param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05

 param set-default CA_ROTOR0_TILT 1
+param set-default CA_ROTOR1_TILT 2
 param set-default CA_ROTOR2_TILT 3
+param set-default CA_ROTOR3_TILT 4
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
@@ -80,6 +80,7 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1

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

 param set-default VT_B_TRANS_DUR 8
 param set-default VT_FWD_THRUST_EN 4
@@ -87,5 +88,7 @@ param set-default VT_MOT_ID 1234
 param set-default VT_TILT_TRANS 0.6
 param set-default VT_TYPE 1

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

+set MAV_TYPE 13
+
 set MIXER skip
 set MIXER_AUX none
@@ -1,4 +1,6 @@

+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
@@ -24,6 +24,7 @@ fi

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

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

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

@@ -0,0 +1,39 @@
+#!/bin/sh
+#
+# @name Steadidrone QU4D
+#
+# @type Quadrotor Wide
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 feed-through of RC AUX1 channel
+# @output MAIN6 feed-through of RC AUX2 channel
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+# @output AUX4 feed-through of RC FLAPS channel
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default BAT1_N_CELLS 4
+
+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
+set MIXER quad_w
@@ -49,6 +49,7 @@ param set-default MPC_Z_VEL_MAX_DN 1.5

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

 param set-default RTL_DESCEND_ALT 10
 param set-default RTL_RETURN_ALT 30
@@ -103,7 +104,7 @@ param set-default CBRK_SUPPLY_CHK 894281
 param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

-param set-default MAV_TYPE 22
+set MAV_TYPE 22

 set MIXER standard_vtol_hitl

@@ -47,7 +47,7 @@ param set-default HIL_ACT_FUNC6 201
 param set-default HIL_ACT_REV 32

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

 set PWM_OUT 1234
@@ -0,0 +1,48 @@
+#!/bin/sh
+#
+# @name Steadidrone MAVRIK
+#
+# @type Octo Coax Wide
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 motor 5
+# @output MAIN6 motor 6
+# @output MAIN7 motor 7
+# @output MAIN8 motor 8
+#
+# @maintainer Simon Wilks <simon@uaventure.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+
+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-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-default MC_YAW_P 3
+
+param set-default MPC_HOLD_MAX_XY 0.25
+param set-default MPC_THR_MIN 0.15
+param set-default MPC_Z_VEL_MAX_DN 2
+
+param set-default BAT1_N_CELLS 4
+
+set MIXER octo_cox_w
+
+set PWM_OUT 12345678
@@ -54,8 +54,7 @@ param set-default PWM_AUX_DIS5 950
 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
-
-param set-default MAV_TYPE 22
+set MAV_TYPE 22

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

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

+
 param set-default MAV_TYPE 19

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

 set MIXER vtol_tailsitter_duo

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

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

-param set-default MAV_TYPE 21

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

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

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

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

 set MIXER quad_x_vtol

@@ -7,8 +7,8 @@
 #
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
+# @output MAIN3 motor 4
+# @output MAIN4 motor 5
 # @output MAIN5 elevon left
 # @output MAIN6 elevon right
 # @output MAIN7 canard surface
@@ -22,13 +22,13 @@

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

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

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

+set MAV_TYPE 20
+
 set MIXER quad_+_vtol

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

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

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

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

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

+set MAV_TYPE 22
+
 set MIXER quad_x
 set MIXER_AUX vtol_AAERT

@@ -0,0 +1,36 @@
+#!/bin/sh
+#
+# @name CruiseAder Claire
+#
+# @type VTOL Tiltrotor
+# @class VTOL
+#
+# @maintainer Samay Siga <samay_s@icloud.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set-default PWM_AUX_DISARM 1000
+param set-default PWM_AUX_MAX 2000
+param set-default PWM_AUX_MIN 1000
+param set-default PWM_AUX_RATE 50
+
+param set-default PWM_MAIN_MAX 2000
+
+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
+set MIXER_AUX claire
+
+set PWM_OUT 1234
@@ -22,8 +22,6 @@

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

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

 param set-default FW_ARSP_MODE 1
@@ -66,12 +64,8 @@ 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

-if ! ver hwcmp MATEK_H743
-then
-	set PWM_OUT 1234
-else
-	set PWM_OUT 3456
-fi	
+set PWM_OUT 1234
@@ -22,8 +22,6 @@

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

-param set-default MAV_TYPE 22
-
 param set-default BAT1_CAPACITY 23000
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_R_INTERNAL 0.0025
@@ -131,10 +129,12 @@ 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-default COM_RC_OVERRIDE 0
+set MAV_TYPE 22

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

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

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

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

+set MAV_TYPE 22
+
 set MIXER babyshark
 set MIXER_AUX pass

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

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

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

+set MAV_TYPE 21
+
 set MIXER quad_x
 set MIXER_AUX vtol_TTTTAAER

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

 set MIXER blade130

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

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

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

 param set-default NAV_ACC_RAD 2

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

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

@@ -0,0 +1,45 @@
+#!/bin/sh
+#
+# @name IO Camflyer
+#
+# @type Flying Wing
+# @class Plane
+#
+# @output MAIN1 left aileron
+# @output MAIN2 right aileron
+# @output MAIN4 throttle
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Simon Wilks <simon@uaventure.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default FW_AIRSPD_MAX 15
+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_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
+
+
+set MIXER fw_generic_wing
+
+# Provide ESC a constant 1000 us pulse while disarmed
+set PWM_OUT 4
@@ -41,6 +41,9 @@ param set-default FW_RR_P 0.04

 param set-default PWM_MAIN_DISARM 1000

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

@@ -0,0 +1,29 @@
+#!/bin/sh
+#
+# @name FX-79 Buffalo Flying Wing
+#
+# @type Flying Wing
+# @class Plane
+#
+# @output MAIN1 right aileron
+# @output MAIN2 left aileron
+# @output MAIN4 throttle
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Simon Wilks <simon@uaventure.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default FW_AIRSPD_MAX 30
+param set-default FW_AIRSPD_MIN 13
+
+param set-default NAV_LOITER_RAD 150
+
+set MIXER fw_generic_wing
@@ -0,0 +1,23 @@
+#!/bin/sh
+#
+# @name Viper
+#
+# @type Flying Wing
+# @class Plane
+# @output MAIN1 left aileron
+# @output MAIN2 right aileron
+# @output MAIN4 throttle
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Simon Wilks <simon@uaventure.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+set MIXER Viper
@@ -0,0 +1,53 @@
+#!/bin/sh
+#
+# @name Modified Parrot Disco
+#
+# @url
+#
+# @type Flying Wing
+# @class Plane
+#
+# @output MAIN1 left aileron
+# @output MAIN2 right aileron
+# @output MAIN4 throttle
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Jan Liphardt <JTLiphardt@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+####################################
+# Airspeed
+####################################
+param set-default FW_AIRSPD_MAX  27 # = 52 knots
+
+####################################
+# Pitch
+####################################
+
+# Pitch rate feed forward (def = 0.5 %/rad/sec)
+param set-default FW_PR_FF 0.35
+
+####################################
+# Roll
+####################################
+
+# Basic limits (def = 50 deg)
+param set-default FW_R_LIM 40
+
+# Roll rate upper limit (def = 70 deg/s)
+param set-default FW_R_RMAX 50
+
+param set-default PWM_MAIN_DISARM 1000
+
+set MIXER fw_generic_wing.main.mix
+
+# Provide ESC a constant 1000 us pulse
+set PWM_OUT 4
@@ -0,0 +1,21 @@
+#!/bin/sh
+#
+# @name DJI F330 w/ DJI ESCs
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_I 0.05
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_I 0.05
+
+
+# DJI ESCs do not support calibration and need a higher min
+param set-default PWM_MAIN_MIN 1230
@@ -0,0 +1,20 @@
+#!/bin/sh
+#
+# @name DJI F450 w/ DJI ESCs
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_I 0.05
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_YAWRATE_P 0.3
+
+# DJI ESCs do not support calibration and need a higher min
+param set-default PWM_MAIN_MIN 1230
@@ -24,6 +24,8 @@

 set MIXER quad_s250aq

+set MAV_TYPE 2
+
 param set-default ATT_BIAS_MAX 0

 param set-default CBRK_IO_SAFETY 22027
@@ -0,0 +1,27 @@
+#!/bin/sh
+#
+# @name DJI Matrice 100
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer James Goppert <james.goppert@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default BAT1_N_CELLS 6
+
+param set-default MC_ROLLRATE_P 0.05
+param set-default MC_ROLLRATE_I 0.05
+param set-default MC_ROLLRATE_D 0.001
+param set-default MC_PITCHRATE_P 0.05
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCHRATE_D 0.001
+
+param set-default MC_YAWRATE_I 0
+
+param set-default PWM_MAIN_MIN 1200
@@ -21,7 +21,10 @@
 # @board cuav_x7pro exclude
 #

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

 set PWM_OUT 12345678
@@ -52,16 +52,22 @@ px4_add_romfs_files(

 	# [3000, 3999] Flying wing"
 	3000_generic_wing
+	3030_io_camflyer
 	3031_phantom
 	3032_skywalker_x5
 	3033_wingwing
+	3034_fx79
+	3035_viper
 	3036_pigeon
+	3037_parrot_disco_mod
 	3100_tbs_caipirinha

 	# [4000, 4999] Quadrotor x"
 	4001_quad_x
 	4003_qavr5
 	4009_qav250
+	4010_dji_f330
+	4011_dji_f450
 	4014_s500
 	4015_holybro_s500
 	4016_holybro_px4vision
@@ -75,6 +81,7 @@ px4_add_romfs_files(
 	4051_s250aq
 	4052_holybro_qav250
 	4053_holybro_kopis2
+	4060_dji_matrice_100
 	4061_atl_mantis_edu
 	4071_ifo
 	4072_draco
@@ -105,6 +112,7 @@ px4_add_romfs_files(
 	# [10000, 10999] Quadrotor Wide arm / H frame"
 	10015_tbs_discovery
 	10016_3dr_iris
+	10017_steadidrone_qu4d
 	10018_tbs_endurance

 	# [11000, 11999] Hexa Cox
@@ -112,6 +120,7 @@ px4_add_romfs_files(

 	# [12000, 12999] Octo Cox
 	12001_octo_cox
+	12002_steadidrone_mavrik

 	# [13000, 13999] VTOL
 	13000_generic_vtol_standard
@@ -124,6 +133,7 @@ px4_add_romfs_files(
 	13007_vtol_AAVVT_quad
 	13008_QuadRanger
 	13009_vtol_spt_ranger
+	13010_claire
 	13012_convergence
 	13013_deltaquad
 	13014_vtol_babyshark
@@ -7,9 +7,6 @@

 set VEHICLE_TYPE airship

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

 set VEHICLE_TYPE fw

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

 set VEHICLE_TYPE rover

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

 set VEHICLE_TYPE fw

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

 set VEHICLE_TYPE mc

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

 set VEHICLE_TYPE rover

-# MAV_TYPE_GROUND_ROVER 10
-param set-default MAV_TYPE 10
-
 #
 # Default parameters for UGVs.
 #
@@ -83,24 +83,18 @@ then
 	teraranger start -X
 fi

-# paa3905 optical flow sensor (external SPI)
-if param greater -s SENS_EN_PAA3905 0
-then
-	paa3905 -S start
-fi
-
-# paw3902 optical flow sensor (external SPI)
-if param greater -s SENS_EN_PAW3902 0
-then
-	paw3902 -S start
-fi
-
-# pmw3901 optical flow sensor (external SPI)
+# Possible external pmw3901 optical flow sensor
 if param greater -s SENS_EN_PMW3901 0
 then
 	pmw3901 -S start
 fi

+# Possible external paw3902 optical flow sensor
+if param greater -s SENS_EN_PAW3902 0
+then
+	paw3902 -S start
+fi
+
 # vl53l1x i2c distance sensor
 if param compare -s SENS_EN_VL53L1X 1
 then
@@ -129,31 +123,13 @@ fi
 # Sensirion SDP3X differential pressure sensor external I2C
 if param compare -s SENS_EN_SDP3X 1
 then
-	if ! sdp3x start -X
+	if ! sdp3x_airspeed start -X
 	then
 		# try another common address
-		sdp3x start -X -a 0x22
+		sdp3x_airspeed start -X -a 0x22
 	fi
 fi

-# TE MS4515 differential pressure sensor external I2C
-if param compare -s SENS_EN_MS4515 1
-then
-	ms4515 start -X
-fi
-
-# TE MS4525DO differential pressure sensor external I2C
-if param compare -s SENS_EN_MS4525DO 1
-then
-	ms4525do start -X
-fi
-
-# TE MS5525DSO differential pressure sensor external I2C
-if param compare -s SENS_EN_MS5525DS 1
-then
-	ms5525dso start -X
-fi
-
 # SHT3x temperature and hygrometer sensor, external I2C
 if param compare -s SENS_EN_SHT3X 1
 then
@@ -161,19 +137,24 @@ then
 	sht3x start -X -a 0x45
 fi

+# TE MS4525 differential pressure sensor external I2C
+if param compare -s SENS_EN_MS4525 1
+then
+	ms4525_airspeed start -X
+fi
+
+# TE MS5525 differential pressure sensor external I2C
+if param compare -s SENS_EN_MS5525 1
+then
+	ms5525_airspeed start -X
+fi
+
 # IR-LOCK sensor external I2C
 if param compare -s SENS_EN_IRLOCK 1
 then
 	irlock start -X
 fi

-# SPL06 sensor external I2C
-if param compare -s SENS_EN_SPL06 1
-then
-	spl06 -X start
-	spl06 -X -a 0x77 start
-fi
-
 # PCF8583 counter (RPM sensor)
 if param compare -s SENS_EN_PCF8583 1
 then
@@ -181,30 +162,6 @@ then
 	pcf8583 start -X -a 0x51
 fi

-# INA226 digital power monitor
-if param compare SENS_EN_INA226 1
-then
-	ina226 -X start
-fi
-
-# INA228 digital power monitor
-if param compare SENS_EN_INA228 1
-then
-	ina228 -X start
-fi
-
-# INA231 digital power monitor
-if param compare SENS_EN_INA231 1
-then
-	ina231 -X start
-fi
-
-# INA238 digital power monitor
-if param compare SENS_EN_INA238 1
-then
-	ina238 -X start
-fi
-
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
@@ -222,3 +179,9 @@ then
 	# start last (wait for possible icm20948 passthrough mode)
 	ak09916 -X -q start
 fi
+
+###############################################################################
+#                            End Optional drivers                             #
+###############################################################################
+
+sensors start
@@ -7,9 +7,6 @@

 set VEHICLE_TYPE uuv

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

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

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

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

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

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

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

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

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

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

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

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

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


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

 set VEHICLE_TYPE vtol

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

@@ -29,6 +29,7 @@ set IOFW "/etc/extras/px4_io-v2_default.bin"
 set IO_PRESENT no
 set LOGGER_ARGS ""
 set LOGGER_BUF 8
+set MAV_TYPE none
 set MIXER none
 set MIXER_AUX none
 set MIXER_FILE none
@@ -298,9 +299,9 @@ else
 			tune_control play error
 		fi
 	else
-		if param greater -s CYPHAL_ENABLE 0
+		if param greater -s UAVCAN_V1_ENABLE 0
 		then
-			cyphal start
+			uavcan_v1 start
 		fi
 	fi

@@ -405,17 +406,9 @@ else
 			battery_status start
 		fi

-		sensors start
 		commander start
 	fi

-	#
-	# Configure vehicle type specific parameters.
-	# Note: rc.vehicle_setup is the entry point for rc.interface,
-	#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
-	#
-	. ${R}etc/init.d/rc.vehicle_setup
-
 	# Pre-takeoff continuous magnetometer calibration
 	if param compare -s MBE_ENABLE 1
 	then
@@ -466,6 +459,13 @@ else
 		fi
 	fi

+	#
+	# Configure vehicle type specific parameters.
+	# Note: rc.vehicle_setup is the entry point for rc.interface,
+	#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
+	#
+	. ${R}etc/init.d/rc.vehicle_setup
+
 	#
 	# Play the startup tune (if not disabled or there is an error)
 	#
@@ -493,6 +493,12 @@ else
 		gimbal start
 	fi

+	# Check for flow sensor
+	if param compare -s SENS_EN_PX4FLOW 1
+	then
+		px4flow start -X
+	fi
+
 	# Blacksheep telemetry
 	if param compare -s TEL_BST_EN 1
 	then
@@ -509,12 +515,6 @@ else
 		gyro_calibration start
 	fi

-	# Check for px4flow sensor
-	if param compare -s SENS_EN_PX4FLOW 1
-	then
-		px4flow start -X &
-	fi
-
 	#
 	# Optional board supplied extras: rc.board_extras
 	#
@@ -573,6 +573,7 @@ unset IO_PRESENT
 unset IOFW
 unset LOGGER_ARGS
 unset LOGGER_BUF
+unset MAV_TYPE
 unset MIXER
 unset MIXER_AUX
 unset MIXER_FILE
@@ -21,16 +21,14 @@ O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000

 # mixer for the left aileron
-M: 2
+M: 1
 O:      10000  10000   0 -10000  10000
 S: 0 0  -10000  -10000    0 -10000  10000
-S: 0 5   10000   10000    0 -10000  10000

 # mixer for the right aileron
-M: 2
+M: 1
 O:      10000  10000   0 -10000  10000
 S: 0 0  10000  10000    0 -10000  10000
-S: 0 5  10000  10000    0 -10000  10000

 # mixer for the elevator
 M: 1
@@ -8,22 +8,22 @@ R: 4x
 # tilt servo motor 1
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 1 8      0  20000 -10000 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000

 # tilt servo motor 2
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 1 8      0  20000 -10000 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000

 # tilt servo motor 3
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 1 8      0  20000 -10000 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000

 # tilt servo motor 4
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 1 8      0  20000 -10000 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000

 # mixer for the left aileron
 M: 1
@@ -10,7 +10,7 @@ to output 4 and the wheel to output 5.
 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
 (roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps).

-Aileron mixer (roll + spoiler)
+Aileron mixer (roll + flaperon)
 ---------------------------------

 This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -20,11 +20,11 @@ endpoints to suit.

 M: 2
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000

 M: 2
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 5 -10000 -10000      0 -10000  10000
+S: 0 6 -10000 -10000      0 -10000  10000

 Elevator mixer
 ------------
@@ -11,7 +11,7 @@ to output 4, the wheel to output 5 and the flaps to output 6 and 7.
 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
 (roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).

-Aileron mixer (roll + spoiler)
+Aileron mixer (roll + flaperon)
 ---------------------------------

 This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -21,11 +21,11 @@ endpoints to suit.

 M: 2
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000

 M: 2
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 5 -10000 -10000      0 -10000  10000
+S: 0 6 -10000 -10000      0 -10000  10000

 V-tail mixers
 -------------
@@ -9,20 +9,20 @@ output 0 and 1, the tail servos to output 2 and 3, the throttle
 to output 4, the wheel to output 5 and the flaps to output 6 and 7.

 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (yaw), 3 (thrust) 4 (flaps), 5 (spoiler).
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).

-Aileron mixer (roll + spoiler)
+Aileron mixer (roll + flaperon)
 ---------------------------------

 This mixer assumes that the aileron servos are set up mechanically reversed.

 M: 2
 S: 0 0 -10000 -10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000

 M: 2
 S: 0 0 -10000 -10000      0 -10000  10000
-S: 0 5 -10000 -10000      0 -10000  10000
+S: 0 6 -10000 -10000      0 -10000  10000

 V-tail mixers
 -------------
@@ -40,6 +40,8 @@ px4_add_romfs_files(
 	babyshark.main.mix
 	blade130.main.mix
 	CCPM.main.mix
+	claire.aux.mix
+	claire.main.mix
 	cloudship.main.mix
 	coax.main.mix
 	delta.main.mix
@@ -81,6 +83,7 @@ px4_add_romfs_files(
 	tri_y_yaw-.main.mix
 	uuv_x.main.mix
 	vectored6dof.main.mix
+	Viper.main.mix
 	vtol_AAERT.aux.mix
 	vtol_AAVVT.aux.mix
 	vtol_TTTTAAER.aux.mix
@@ -0,0 +1,66 @@
+Viper Delta-wing mixer
+=================================
+# @board px4_fmu-v2 exclude
+
+Designed for Viper.
+
+TODO (sjwilks): Add mixers for flaps.
+
+This file defines mixers suitable for controlling a delta wing aircraft using
+PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
+servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
+assumed to be unused.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+Elevon mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two elevon servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+The scaling factor for roll inputs is adjusted to implement differential travel
+for the elevons.
+
+M: 2
+S: 0 0   7500   7500      0 -10000  10000
+S: 0 1   8000   8000      0 -10000  10000
+
+M: 2
+S: 0 0   7500   7500      0 -10000  10000
+S: 0 1  -8000  -8000      0 -10000  10000
+
+Output 2
+--------
+This mixer is empty.
+
+Z:
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000
+
+Inputs to the mixer come from channel group 2 (payload), channels 0
+(bay servo 1), 1 (bay servo 2) and 3 (drop release).
+-----------------------------------------------------
+
+M: 1
+S: 2 0  10000  10000      0 -10000  10000
+
+M: 1
+S: 2 1  10000  10000      0 -10000  10000
+
+M: 1
+S: 2 2  -8000  -8000      0 -10000  10000
+
+
@@ -0,0 +1,28 @@
+# mixer for the CruiseAder Claire tilt mechansim servo and elevons
+
+=======================================================================
+
+
+Tilt mechanism servo mixer
+
+---------------------------
+
+M: 1
+
+
+S: 1 4  10000  10000      0 -10000  10000
+
+
+
+Elevon mixers
+
+-------------
+
+M: 2
+
+S: 1 0   7500   7500      0 -10000  10000
+S: 1 1   7500   7500      0 -10000  10000
+
+M: 2
+S: 1 0    7500    7500    0 -10000  10000
+S: 1 1   -7500   -7500    0 -10000  10000
@@ -0,0 +1,8 @@
+# CruiseAder Claire Main Multirotor mixer for PX4FMU
+# @board px4_fmu-v2 exclude
+
+#
+
+#===========================
+
+R: 4x
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
JacobCrabill	8e01fe661a	fixup! Update submodule nuttx	2022-03-18 10:56:44 -07:00
JacobCrabill	64863fe54e	uavcan_v1: Add Publishers dir to includes	2022-03-18 09:03:48 -07:00
JacobCrabill	73b1de85cb	uavcan_v1: SocketCAN set 'can_fd' based on CONFIG	2022-03-18 09:03:06 -07:00
JacobCrabill	fd3662097f	fixup! Update submodule nuttx	2022-03-18 09:02:00 -07:00
JacobCrabill	76da12fce3	uavcan_v1: Immediate transmit() from Publishers Add 'do_transmit()' to UavcanNode Add 'transmit()' to Publisher base class to call do_transmit() Call transmit() after canardTxPush from Publishers	2022-03-17 17:01:54 -07:00
JacobCrabill	9531900afa	mro/ctrl-zero-h7-oem: Start adding socketcan support	2022-03-16 10:21:10 -07:00
JacobCrabill	25271a3f04	fixup! Update submodule nuttx	2022-03-16 10:20:29 -07:00
JacobCrabill	4048ac57bf	fixup! Update submodule nuttx	2022-03-15 18:53:13 -07:00
JacobCrabill	399ab35a4f	fixup! HACK: Disable SO_TIMESTAMP in uavcan_v1 temporarily while bringing up H7 SocketCAN driver	2022-03-15 18:52:00 -07:00
JacobCrabill	f4f8eee02d	cubeorange: Add TX_DEADLINE support	2022-03-15 18:24:03 -07:00
JacobCrabill	dec15b4fa9	Update submodule nuttx	2022-03-15 18:23:22 -07:00
JacobCrabill	7db8d3ad78	HACK: Disable SO_TIMESTAMP in uavcan_v1 temporarily while bringing up H7 SocketCAN driver	2022-03-15 17:45:34 -07:00
JacobCrabill	7e34806046	mavlink: Replace CONFIG_NET with CONFIG_NET_UDP Allows use of SocketCAN w/o also enabling UDP support in NuttX	2022-03-15 17:22:27 -07:00
JacobCrabill	9f18ef6688	Orange Cube: Add socketcan target	2022-03-15 17:11:42 -07:00