mixer_module always use MIN/MAX/DIS/FAIL parameters

- only GPS and mag are enabled by default

.ci/Jenkinsfile-hardware

@@ -21,7 +21,7 @@ pipeline {
                 sh 'make cubepilot_cubeorange_test'
                 sh 'make cubepilot_cubeorange_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
               }
               post {
                 always {
@@ -70,6 +70,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
                     resetBoard()
                 }
               }
@@ -91,7 +92,7 @@ pipeline {
                 sh 'make cuav_x7pro_test'
                 sh 'make cuav_x7pro_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cuav_x7pro_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cuav_x7pro_test'
               }
               post {
                 always {
@@ -138,6 +139,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
                     resetBoard()
                 }
               }
@@ -159,7 +161,7 @@ pipeline {
                 sh 'make px4_fmu-v3_test'
                 sh 'make px4_fmu-v3_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
               }
               post {
                 always {
@@ -206,6 +208,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
                     resetBoard()
                 }
               }
@@ -227,7 +230,7 @@ pipeline {
                 sh 'make px4_fmu-v4_test'
                 sh 'make px4_fmu-v4_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
               }
               post {
                 always {
@@ -273,6 +276,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
                     resetBoard()
                 }
               }
@@ -294,7 +298,7 @@ pipeline {
                 sh 'make px4_fmu-v4pro_test'
                 sh 'make px4_fmu-v4pro_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
               }
               post {
                 always {
@@ -341,6 +345,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
                     resetBoard()
                 }
               }
@@ -362,7 +367,7 @@ pipeline {
                 sh 'make px4_fmu-v5_debug'
                 sh 'make px4_fmu-v5_debug bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_debug'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_debug'
               }
               post {
                 always {
@@ -420,6 +425,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
                     resetBoard()
                 }
               }
@@ -441,7 +447,7 @@ pipeline {
                 sh 'make px4_fmu-v5_stackcheck'
                 sh 'make px4_fmu-v5_stackcheck bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_stackcheck'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_stackcheck'
               }
               post {
                 always {
@@ -498,6 +504,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
                     resetBoard()
                 }
               }
@@ -519,7 +526,7 @@ pipeline {
                 sh 'make px4_fmu-v5_test'
                 sh 'make px4_fmu-v5_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
               }
               post {
                 always {
@@ -566,6 +573,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
                     resetBoard()
                 }
               }
@@ -573,73 +581,6 @@ pipeline {
           }
         }
 
-        // stage("modalai_fc-v1_test") {
-        //   stages {
-        //     stage("build modalai_fc-v1_test") {
-        //       agent {
-        //         docker {
-        //           image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-        //           args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-        //         }
-        //       }
-        //       steps {
-        //         checkout scm
-        //         sh 'export'
-        //         sh 'make distclean'
-        //         sh 'ccache -s'
-        //         sh 'git fetch --tags'
-        //         sh 'make modalai_fc-v1_test'
-        //         sh 'make modalai_fc-v1_test bootloader_elf'
-        //         sh 'ccache -s'
-        //         stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_test'
-        //       }
-        //       post {
-        //         always {
-        //             sh 'make distclean'
-        //         }
-        //       }
-        //     } // stage build
-        //     stage("hardware") {
-        //       agent {
-        //         label 'modalai_fc-v1'
-        //       }
-        //       stages {
-        //         stage("flash") {
-        //           steps {
-        //             sh 'export'
-        //             sh 'find /dev/serial'
-        //             unstash 'modalai_fc-v1_test'
-        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_bootloader.elf'
-        //             // flash board and watch bootup
-        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-        //           }
-        //         }
-        //         stage("tests") {
-        //           steps {
-        //             runTests()
-        //           }
-        //         }
-        //         stage("status") {
-        //           steps {
-        //             // configure
-        //             resetParameters()
-        //             sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
-        //             sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-        //             checkStatus()
-        //             quickCalibrate()
-        //           }
-        //         }
-        //         stage("print topics") {
-        //           steps {
-        //             printTopics()
-        //           }
-        //         }
-
-        //       }
-        //     } // stage test
-        //   }
-        // }
-
         stage("nxp_fmuk66-v3_test") {
           stages {
             stage("build nxp_fmuk66-v3_test") {
@@ -654,7 +595,7 @@ pipeline {
                 sh 'make nxp_fmuk66-v3_test'
                 //sh 'make nxp_fmuk66-v3_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
               }
               post {
                 always {
@@ -701,6 +642,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
                     resetBoard()
                 }
               }

.clang-tidy

@@ -74,6 +74,7 @@ Checks:          '*,
                   -modernize-deprecated-headers,
                   -modernize-loop-convert,
                   -modernize-pass-by-value,
+                  -modernize-raw-string-literal,
                   -modernize-return-braced-init-list,
                   -modernize-use-auto,
                   -modernize-use-bool-literals,
@@ -81,8 +82,8 @@ Checks:          '*,
                   -modernize-use-equals-default,
                   -modernize-use-equals-delete,
                   -modernize-use-override,
-                  -modernize-use-using,
                   -modernize-use-trailing-return-type,
+                  -modernize-use-using,
                   -performance-inefficient-string-concatenation,
                   -readability-avoid-const-params-in-decls,
                   -readability-container-size-empty,

.vscode/cmake-variants.yaml

@@ -106,6 +106,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_can-rtk-gps_default
+    ark_can-rtk-gps_debug:
+      short: ark_can-rtk-gps_debug
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-rtk-gps_debug
     ark_can-rtk-gps_canbootloader:
       short: ark_can-rtk-gps_canbootloader
       buildType: MinSizeRel

ROMFS/px4fmu_common/init.d-posix/airframes/1038_glider

@@ -7,4 +7,3 @@
 
 param set-default FW_THR_CRUISE 0.0
 param set-default RWTO_TKOFF 0
-

ROMFS/px4fmu_common/init.d/airframes/4018_s500_ctrlalloc

@@ -56,4 +56,3 @@ param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
-

ROMFS/px4fmu_common/init.d/airframes/4072_draco

@@ -77,4 +77,3 @@ param set-default IMU_DGYRO_CUTOFF 100
 
 # enable to use high-rate logging for better rate tracking analysis
 param set-default SDLOG_PROFILE 27
-

ROMFS/px4fmu_common/init.d/rc.autostart_ext

@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# External airframe startup script (on SD card)
+#
+set SDCARD_MIXERS_PATH ${SDCARD_EXT_PATH}/mixers
+
+if [ -e ${SDCARD_EXT_PATH}/rc.autostart ]
+then
+	. ${SDCARD_EXT_PATH}/rc.autostart
+else
+	echo "Error: ${SDCARD_EXT_PATH}/rc.autostart does not exist"
+fi

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -15,7 +15,7 @@ param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10
 
 param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_MIN 1075
+param set-default PWM_MAIN_MIN1 1075
 param set-default PWM_MAIN_RATE 400
 
 param set-default GPS_UBX_DYNMODEL 6

ROMFS/px4fmu_common/init.d/rcS

@@ -44,6 +44,8 @@ set PWM_EXTRA_OUT none
 set PWM_EXTRA_RATE p:PWM_EXTRA_RATE
 set EXTRA_MIXER_MODE none
 set RC_INPUT_ARGS ""
+set SDCARD_AVAILABLE no
+set SDCARD_EXT_PATH /fs/microsd/ext_autostart
 set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
 set STARTUP_TUNE 1
 set USE_IO no
@@ -57,7 +59,6 @@ ver all
 #
 # Try to mount the microSD card.
 #
-set SDCARD_AVAILABLE no
 # REBOOTWORK this needs to start after the flight control loop.
 if mount -t vfat /dev/mmcsd0 /fs/microsd
 then
@@ -104,7 +105,6 @@ then
 		fi
 	fi
 fi
-unset SDCARD_AVAILABLE
 
 #
 # Look for an init script on the microSD card.
@@ -206,10 +206,22 @@ else
 	#
 	# Set parameters and env variables for selected AUTOSTART.
 	#
+	set AUTOSTART_PATH etc/init.d/rc.autostart
 	if ! param compare SYS_AUTOSTART 0
 	then
-		. ${R}etc/init.d/rc.autostart
+		if param greater SYS_AUTOSTART 1000000
+		then
+			# Use external startup file
+			if [ $SDCARD_AVAILABLE = yes ]
+			then
+				set AUTOSTART_PATH etc/init.d/rc.autostart_ext
+			else
+				echo "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
+			fi
+		fi
+		. ${R}$AUTOSTART_PATH
 	fi
+	unset AUTOSTART_PATH
 
 	#
 	# Override parameters from user configuration file.
@@ -540,6 +552,8 @@ unset PWM_OUT
 unset PWM_EXTRA_OUT
 unset PWM_EXTRA_RATE
 unset RC_INPUT_ARGS
+unset SDCARD_AVAILABLE
+unset SDCARD_EXT_PATH
 unset SDCARD_MIXERS_PATH
 unset STARTUP_TUNE
 unset USE_IO

Tools/astyle/check_code_style.sh

@@ -8,18 +8,16 @@ if [ -f "$FILE" ]; then
 	if [ -n "$CHECK_FAILED" ]; then
 		${DIR}/fix_code_style.sh --quiet < $FILE > $FILE.pretty
 
+		echo -e 'Formatting issue found in' $FILE
 		echo
-		git --no-pager diff --no-index --minimal --histogram --color=always $FILE $FILE.pretty
+		git --no-pager diff --no-index --minimal --histogram --color=always $FILE $FILE.pretty | grep -vE -e "^.{,4}diff.*\.pretty.{,3}$" -e "^.{,4}--- a/.*$" -e "^.{,4}\+\+\+ b/.*$" -e "^.{,5}@@ .* @@.*$" -e "^.{,4}index .{10}\.\."
 		rm -f $FILE.pretty
 		echo
 
 		if [[ $PX4_ASTYLE_FIX -eq 1 ]]; then
 			${DIR}/fix_code_style.sh $FILE
 		else
-			# Make sure this file is not staged for comitting
-			git reset $FILE
-			# Provide instructions
-			echo $FILE 'bad formatting, please run "make format" or "./Tools/astyle/fix_code_style.sh' $FILE'"'
+			echo 'to fix automatically run "make format" or "./Tools/astyle/fix_code_style.sh' $FILE'"'
 			exit 1
 		fi
 	fi

Tools/astyle/files_to_check_code_style.sh

@@ -1,12 +1,6 @@
 #!/usr/bin/env bash
 set -eu
 
-PATTERN="-e ."
-
-if [ $# -gt 0 ]; then
-    PATTERN="$1"
-fi
-
 exec find boards msg src platforms test \
     -path msg/templates/urtps -prune -o \
     -path platforms/nuttx/NuttX -prune -o \
@@ -27,4 +21,4 @@ exec find boards msg src platforms test \
     -path src/lib/crypto/monocypher -prune -o \
     -path src/lib/crypto/libtomcrypt -prune -o \
     -path src/lib/crypto/libtommath -prune -o \
-    -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN
+    -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \)

Tools/astyle/pre-commit

@@ -54,12 +54,9 @@ if [ $? -ne 0 ]; then
 fi
 
 # Check for code style, only in changed files
-for i in `git diff --cached --name-only --diff-filter=ACM`
-do
-	./Tools/astyle/files_to_check_code_style.sh $i | xargs -n 1 -P 8 -I % ./Tools/astyle/check_code_style.sh %
-	if [ $? -ne 0 ]
-	then
-		echo "Pre-commit style error: Bad formatting according to astyle rules"
-		exit 1
-	fi
-done
+bash -c "comm -12 <(./Tools/astyle/files_to_check_code_style.sh | sort) <(git diff --cached --name-only --diff-filter=ACM) | xargs -P 8 -I % ./Tools/astyle/check_code_style.sh %"
+if [ $? -ne 0 ]
+then
+	echo "Pre-commit style error: Bad formatting according to astyle rules"
+	exit 1
+fi

Tools/compress.py

@@ -17,4 +17,3 @@ def save_compressed(filename):
             f.write(content_file.read())
 
 save_compressed(filename)
-

Tools/module_config/generate_params.py

@@ -342,4 +342,3 @@ for yaml_file in args.config_files:
 if verbose: print("Generating {:}".format(params_output_file))
 with open(params_output_file, 'w') as fid:
     fid.write(all_params)
-

Tools/module_config/output_groups_from_timer_config.py

@@ -199,4 +199,3 @@ if __name__ == '__main__':
     output_groups, timer_params = get_output_groups(timer_groups, verbose=verbose)
     print('output groups: {:}'.format(output_groups))
     print('timer params: {:}'.format(timer_params))
-

Tools/px4airframes/markdownout.py

@@ -25,7 +25,7 @@ div.frame_common table, div.frame_common table {
 }
 
 div.frame_common table {
-   float: right; 
+   float: right;
    width: 70%;
 }
 

Tools/px4events/jsonout.py

@@ -55,4 +55,3 @@ class JsonOutput():
         if need_to_write:
             with codecs.open(filename, 'w', 'utf-8') as f:
                 f.write(json.dumps(self.json,indent=2))
-

Tools/test_keys/key0.pub

@@ -1,5 +1,5 @@
 //Public key to verify signed binaries
-0x4d, 0xb0, 0xc2, 0x1, 0x5, 0x55, 0x2a, 0x3c, 
-0xd7, 0xfb, 0xaf, 0x5c, 0xba, 0x7a, 0xb0, 0x81, 
-0x1b, 0x36, 0x63, 0xdb, 0x28, 0x52, 0x5e, 0xdb, 
-0x14, 0x36, 0xf2, 0x57, 0x8d, 0x2, 0xb7, 0xfd, 
+0x4d, 0xb0, 0xc2, 0x1, 0x5, 0x55, 0x2a, 0x3c,
+0xd7, 0xfb, 0xaf, 0x5c, 0xba, 0x7a, 0xb0, 0x81,
+0x1b, 0x36, 0x63, 0xdb, 0x28, 0x52, 0x5e, 0xdb,
+0x14, 0x36, 0xf2, 0x57, 0x8d, 0x2, 0xb7, 0xfd,

Tools/test_keys/rsa2048.pub

@@ -1,38 +1,38 @@
 
-0x30, 0x82, 0x1, 0x22, 0x30, 0xd, 0x6, 0x9, 
-0x2a, 0x86, 0x48, 0x86, 0xf7, 0xd, 0x1, 0x1, 
-0x1, 0x5, 0x0, 0x3, 0x82, 0x1, 0xf, 0x0, 
-0x30, 0x82, 0x1, 0xa, 0x2, 0x82, 0x1, 0x1, 
-0x0, 0xcf, 0xa3, 0xb8, 0xec, 0x4f, 0xac, 0x37, 
-0xe6, 0x1b, 0xfa, 0x1e, 0xb3, 0x92, 0xe9, 0x1a, 
-0x83, 0x36, 0x2d, 0x27, 0xa6, 0x4a, 0xab, 0x7e, 
-0x38, 0x6f, 0x93, 0x7a, 0x1f, 0x60, 0x83, 0x83, 
-0xac, 0xfd, 0x2e, 0x61, 0xbf, 0x19, 0x10, 0x1f, 
-0x39, 0xe3, 0x6c, 0xb6, 0xcc, 0xf5, 0x85, 0x7c, 
-0xb2, 0x38, 0x27, 0x14, 0x43, 0xd7, 0xfe, 0xbc, 
-0xa1, 0xe8, 0x7d, 0x33, 0x74, 0x93, 0xe7, 0xd6, 
-0x2b, 0x2f, 0x79, 0x87, 0x59, 0xb0, 0x63, 0x95, 
-0x5c, 0xe7, 0x4f, 0x60, 0x46, 0xc9, 0xa9, 0xf, 
-0xde, 0xa9, 0x36, 0x9e, 0x3e, 0x34, 0xba, 0x77, 
-0x18, 0x50, 0xe3, 0x6b, 0x3, 0x93, 0xaa, 0xc7, 
-0xf2, 0x2d, 0xe, 0xf3, 0x2b, 0x5, 0x34, 0x60, 
-0xa4, 0xf7, 0xa9, 0xe2, 0x37, 0xa3, 0x6d, 0x27, 
-0xd8, 0xa3, 0x71, 0x9c, 0x6b, 0xb2, 0x5e, 0xdd, 
-0x12, 0x2b, 0x73, 0xe1, 0xdb, 0x9d, 0xf4, 0xc3, 
-0xc, 0xd6, 0x5, 0x1d, 0xac, 0xa4, 0xdc, 0x69, 
-0x2a, 0xf5, 0x7c, 0x30, 0x24, 0x7b, 0x2b, 0x80, 
-0x1b, 0x7a, 0xec, 0x68, 0x77, 0x12, 0x97, 0x2a, 
-0xb2, 0xe5, 0xd2, 0xff, 0x41, 0x1d, 0xf5, 0x6, 
-0xa4, 0xb6, 0x47, 0xa5, 0xfa, 0x5, 0x7e, 0xf0, 
-0xa1, 0xb8, 0xad, 0xde, 0x5c, 0xae, 0x2c, 0x8b, 
-0x4e, 0xad, 0xaf, 0xac, 0x6d, 0x46, 0x62, 0xe1, 
-0xe9, 0xfe, 0xa1, 0xc5, 0xc9, 0xf4, 0x48, 0xd2, 
-0x80, 0x2b, 0xe5, 0xa9, 0x3e, 0xc1, 0xfc, 0x98, 
-0xde, 0x3, 0xa9, 0xac, 0x86, 0xb7, 0xb5, 0x19, 
-0xe5, 0x75, 0x6a, 0x63, 0x83, 0x3f, 0x27, 0x7a, 
-0x5e, 0xf8, 0xf1, 0x6d, 0xb2, 0xd2, 0x36, 0xa1, 
-0xc0, 0xd2, 0x5f, 0x93, 0x9c, 0x90, 0xe8, 0x3e, 
-0xca, 0x89, 0xd7, 0xca, 0xd0, 0xc7, 0xe8, 0x8f, 
-0x4b, 0xb7, 0x60, 0x92, 0x5e, 0x36, 0x43, 0x70, 
-0x23, 0x36, 0xfb, 0xb5, 0xa5, 0x6, 0x9a, 0xc0, 
-0xcb, 0x2, 0x3, 0x1, 0x0, 0x1, 
+0x30, 0x82, 0x1, 0x22, 0x30, 0xd, 0x6, 0x9,
+0x2a, 0x86, 0x48, 0x86, 0xf7, 0xd, 0x1, 0x1,
+0x1, 0x5, 0x0, 0x3, 0x82, 0x1, 0xf, 0x0,
+0x30, 0x82, 0x1, 0xa, 0x2, 0x82, 0x1, 0x1,
+0x0, 0xcf, 0xa3, 0xb8, 0xec, 0x4f, 0xac, 0x37,
+0xe6, 0x1b, 0xfa, 0x1e, 0xb3, 0x92, 0xe9, 0x1a,
+0x83, 0x36, 0x2d, 0x27, 0xa6, 0x4a, 0xab, 0x7e,
+0x38, 0x6f, 0x93, 0x7a, 0x1f, 0x60, 0x83, 0x83,
+0xac, 0xfd, 0x2e, 0x61, 0xbf, 0x19, 0x10, 0x1f,
+0x39, 0xe3, 0x6c, 0xb6, 0xcc, 0xf5, 0x85, 0x7c,
+0xb2, 0x38, 0x27, 0x14, 0x43, 0xd7, 0xfe, 0xbc,
+0xa1, 0xe8, 0x7d, 0x33, 0x74, 0x93, 0xe7, 0xd6,
+0x2b, 0x2f, 0x79, 0x87, 0x59, 0xb0, 0x63, 0x95,
+0x5c, 0xe7, 0x4f, 0x60, 0x46, 0xc9, 0xa9, 0xf,
+0xde, 0xa9, 0x36, 0x9e, 0x3e, 0x34, 0xba, 0x77,
+0x18, 0x50, 0xe3, 0x6b, 0x3, 0x93, 0xaa, 0xc7,
+0xf2, 0x2d, 0xe, 0xf3, 0x2b, 0x5, 0x34, 0x60,
+0xa4, 0xf7, 0xa9, 0xe2, 0x37, 0xa3, 0x6d, 0x27,
+0xd8, 0xa3, 0x71, 0x9c, 0x6b, 0xb2, 0x5e, 0xdd,
+0x12, 0x2b, 0x73, 0xe1, 0xdb, 0x9d, 0xf4, 0xc3,
+0xc, 0xd6, 0x5, 0x1d, 0xac, 0xa4, 0xdc, 0x69,
+0x2a, 0xf5, 0x7c, 0x30, 0x24, 0x7b, 0x2b, 0x80,
+0x1b, 0x7a, 0xec, 0x68, 0x77, 0x12, 0x97, 0x2a,
+0xb2, 0xe5, 0xd2, 0xff, 0x41, 0x1d, 0xf5, 0x6,
+0xa4, 0xb6, 0x47, 0xa5, 0xfa, 0x5, 0x7e, 0xf0,
+0xa1, 0xb8, 0xad, 0xde, 0x5c, 0xae, 0x2c, 0x8b,
+0x4e, 0xad, 0xaf, 0xac, 0x6d, 0x46, 0x62, 0xe1,
+0xe9, 0xfe, 0xa1, 0xc5, 0xc9, 0xf4, 0x48, 0xd2,
+0x80, 0x2b, 0xe5, 0xa9, 0x3e, 0xc1, 0xfc, 0x98,
+0xde, 0x3, 0xa9, 0xac, 0x86, 0xb7, 0xb5, 0x19,
+0xe5, 0x75, 0x6a, 0x63, 0x83, 0x3f, 0x27, 0x7a,
+0x5e, 0xf8, 0xf1, 0x6d, 0xb2, 0xd2, 0x36, 0xa1,
+0xc0, 0xd2, 0x5f, 0x93, 0x9c, 0x90, 0xe8, 0x3e,
+0xca, 0x89, 0xd7, 0xca, 0xd0, 0xc7, 0xe8, 0x8f,
+0x4b, 0xb7, 0x60, 0x92, 0x5e, 0x36, 0x43, 0x70,
+0x23, 0x36, 0xfb, 0xb5, 0xa5, 0x6, 0x9a, 0xc0,
+0xcb, 0x2, 0x3, 0x1, 0x0, 0x1,

boards/ark/can-flow/default.px4board

@@ -13,3 +13,4 @@ CONFIG_DRIVERS_UAVCANNODE=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y

boards/ark/can-gps/default.px4board

@@ -15,3 +15,4 @@ CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
 CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y

boards/ark/can-rtk-gps/debug.px4board

@@ -0,0 +1,6 @@
+CONFIG_BOARD_CONSTRAINED_FLASH=n
+CONFIG_BOARD_NO_HELP=n
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_UORB=y

boards/ark/can-rtk-gps/default.px4board

@@ -15,3 +15,4 @@ CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
 CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y

boards/ark/can-rtk-gps/nuttx-config/include/board_dma_map.h

@@ -39,5 +39,8 @@
 
 //  DMA2 Channel/Stream Selections
 //--------------------------------------------//---------------------------//----------------
-#define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_2   // DMA2, Stream 2, Channel 3
-#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_1   // DMA2, Stream 5, Channel 3
+#define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_1   // DMA2, Stream 0, Channel 3
+#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_1   // DMA2, Stream 3, Channel 3
+#define DMACHAN_USART1_RX  DMAMAP_USART1_RX_1 // DMA2, Stream 2, Channel 4
+#define DMAMAP_USART1_RX   DMAMAP_USART1_RX_1
+//#define DMACHAN_USART1_TX  DMAMAP_USART1_TX   // DMA2, Stream 7, Channel 4

boards/ark/can-rtk-gps/nuttx-config/nsh/defconfig

@@ -150,8 +150,9 @@ CONFIG_STM32_WWDG=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_USART1_BAUD=57600
-CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_TXBUFSIZE=1100
+CONFIG_USART1_RXBUFSIZE=2000
+CONFIG_USART1_RXDMA=y
+CONFIG_USART1_TXBUFSIZE=2000
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_SERIAL_CONSOLE=y

boards/ark/can-rtk-gps/src/init.c

@@ -139,6 +139,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	px4_platform_init();
 
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
+	static struct hrt_call serial_dma_call;
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
+
 #if defined(FLASH_BASED_PARAMS)
 	static sector_descriptor_t params_sector_map[] = {
 		{2, 16 * 1024, 0x08008000},

boards/cuav/can-gps-v1/default.px4board

@@ -13,3 +13,4 @@ CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
 CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y

boards/cuav/x7pro/test.px4board

@@ -1,14 +1,9 @@
-CONFIG_COMMON_OPTICAL_FLOW=n
 CONFIG_DRIVERS_ADC_ADS1115=n
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=n
 CONFIG_DRIVERS_IRLOCK=n
-CONFIG_DRIVERS_OSD=n
 CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
-CONFIG_DRIVERS_ROBOCLAW=n
 CONFIG_DRIVERS_RPM=n
-CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n

boards/cubepilot/cubeorange/test.px4board

@@ -1,17 +1,13 @@
 CONFIG_DRIVERS_ADC_ADS1115=n
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
+CONFIG_DRIVERS_IRLOCK=n
+CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
-CONFIG_DRIVERS_ROBOCLAW=n
-CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
+CONFIG_DRIVERS_RPM=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
-CONFIG_MODULES_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=n
-CONFIG_SYSTEMCMDS_REFLECT=n
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
-CONFIG_DRIVERS_UAVCAN=n
 CONFIG_SYSTEMCMDS_MICROBENCH=y

boards/holybro/can-gps-v1/default.px4board

@@ -14,3 +14,4 @@ CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y

boards/modalai/fc-v2/init/rc.board_defaults

@@ -2,4 +2,3 @@
 #
 # ModalAI FC-v2 specific board defaults
 #------------------------------------------------------------------------------
-

boards/nxp/fmuk66-v3/test.px4board

@@ -1,12 +1,9 @@
+CONFIG_DRIVERS_ADC_ADS1115=n
+CONFIG_DRIVERS_IRLOCK=n
+CONFIG_DRIVERS_PCA9685=n
+CONFIG_DRIVERS_PCA9685_PWM_OUT=n
+CONFIG_DRIVERS_RPM=n
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_BOARD_TESTING=y
-CONFIG_EXAMPLES_FAKE_IMU=y
-CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
-CONFIG_EXAMPLES_FIXEDWING_CONTROL=y
-CONFIG_EXAMPLES_HELLO=y
-CONFIG_EXAMPLES_HWTEST=y
-CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
-CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
-CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
-CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
-CONFIG_EXAMPLES_WORK_ITEM=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y

boards/nxp/fmurt1062-v1/default.px4board

@@ -1,25 +1,22 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_LINKER_PREFIX="ocram"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
-CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
-CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI055=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
-CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
+CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_PWM_OUT_SIM=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
@@ -31,6 +28,8 @@ CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y

boards/nxp/fmurt1062-v1/nuttx-config/scripts/ocram-script.ld

@@ -101,6 +101,7 @@ SECTIONS
     } > flash
 
 	/* Catch all the section we want not in OCRAM so that the *(.text .text.*) in flash does not */
+	/* Sift and sort with arm-none-eabi-nm -C  -S -n  build/nxp_fmurt1062-v1_default/nxp_fmurt1062-v1_default.elf > list.txt */
 
     .flashxip : ALIGN(4)
 	{
@@ -108,8 +109,82 @@ SECTIONS
 		/* Order matters */
 		*(.text.__start)
 		*(.text.imxrt_ocram_initialize)
-
 		*(.slow_memory)
+		*(.text.romfs*)
+		*(.text.cromfs*)
+		*(.text.mpu*)
+		*(.text.arm_memfault*)
+		*(.text.arm_hardfault*)
+		*(.text.up_assert*)
+		*(.text.up_stackdump*)
+		*(.text.up_taskdump*)
+		*(.text.up_mdelay*)
+		*(.text.up_udelay*)
+		*(.text.board_on_reset*)
+		*(.text.board_spi_reset*)
+		*(.text.board_query_manifest*)
+		*(.text.board_reset*)
+		*(.text.board_get*)
+		*(.text.board_mcu*)
+		*(.text.imxrt_xbar_connect*)
+		*(.text.bson*)
+		*(.text.*print_load*)
+		*(.text.*px4_mft*)
+		*(.text.*px4_mtd*)
+		*(.text.syslog*)
+		*(.text.register_driver*)
+		*(.text.nx_start*)
+		*(.text.nx_bringup*)
+		*(.text.irq_unexpected_isr*)
+		*(.text.group*)
+		*(.text.*setenv*)
+		*(.text.*env*)
+		*(.text.cmd*)
+		*(.text.readline*)
+		*(.text.mkfatfs*)
+		*(.text.builtin*)
+		*(.text.basename*)
+		*(.text.dirname*)
+		*(.text.gmtime_r*)
+		*(.text.chdir*)
+		*(.text.devnull*)
+		*(.text.ramdisk*)
+		*(.text.files*)
+		*(.text.unregister_driver*)
+		*(.text.register_blockdriver*)
+		*(.text.bchdev_register*)
+		*(.text.part*)
+		*(.text.ftl*)
+		*(.text.*I2CBusIterator*)
+		*(.text.*SPIBusIterator*)
+		*(.text.*BusCLIArguments*)
+		*(.text.*WorkQueueManager*)
+		*(.text.*param_export*)
+		*(.text.*param_import*)
+		*(.text.*param_load*)
+		*(.text.*BusInstanceIterator*)
+		*(.text.*PRINT_MODULE_USAGE*)
+		*(.text.*px4_getopt*)
+		*(.text.*main*)
+		*(.text.*instantiate*)
+		*(.text.*ADC*)
+		*(.text.*MS5611*)
+		*(.text.*I2CSPIDriver*)
+		*(.text.*CameraCapture*)
+		*(.text.*i2cdetect*)
+		*(.text.*usage*)
+/*		*(.text.*Bosch*) 2% CPU .5% RAM */
+		*(.text.*Tunes*)
+		*(.text.*printStatistics*)
+		*(.text.*init*)
+		*(.text.*test*)
+		*(.text.*task_spawn*)
+		*(.text.*custom_command*)
+		*(.text.*print_usage*)
+		*(.text.*print_status*)
+		*(.text.*status*)
+		*(.text.*CameraInterface*)
+		*(.text.*CameraTrigger*)
 		*(.text.*ModuleBase*)
 		*(.text.*print_message*)
 		*(.text._ZN4Ekf2C2Eb)
@@ -127,6 +202,8 @@ SECTIONS
 		*(.text.*configure_streams_to_default*)
 		*(.text.*_main)
 		*(.text.*GPSDriverAshtech*)
+		*(.text.*GPSDriver*)
+		*(.text.*Mavlink*)
 		*(.rodata .rodata.*)
 		*(.fixup)
 		*(.gnu.warning)

boards/nxp/ucans32k146/nuttx-config/nsh/defconfig

@@ -115,4 +115,5 @@ CONFIG_SYSTEM_I2CTOOL=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_SYSTEM_SPITOOL=y
 CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_USERMAIN_STACKSIZE=2176
 CONFIG_WATCHDOG=y

boards/px4/fmu-v3/test.px4board

@@ -1,16 +1,11 @@
-CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_ADC_ADS1115=n
-CONFIG_DRIVERS_TEST_PPM=y
+CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
+CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
-CONFIG_EXAMPLES_FAKE_IMU=y
-CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
-CONFIG_EXAMPLES_FIXEDWING_CONTROL=y
-CONFIG_EXAMPLES_HELLO=y
-CONFIG_EXAMPLES_HWTEST=y
-CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
-CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
-CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
-CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
-CONFIG_EXAMPLES_WORK_ITEM=y
+CONFIG_DRIVERS_RPM=n
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
+CONFIG_BOARD_TESTING=y
+CONFIG_DRIVERS_TEST_PPM=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y

boards/px4/fmu-v4/test.px4board

@@ -1,13 +1,11 @@
+CONFIG_DRIVERS_ADC_ADS1115=n
+CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
+CONFIG_DRIVERS_IRLOCK=n
+CONFIG_DRIVERS_PCA9685=n
+CONFIG_DRIVERS_PCA9685_PWM_OUT=n
+CONFIG_DRIVERS_RPM=n
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
-CONFIG_EXAMPLES_FAKE_IMU=y
-CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
-CONFIG_EXAMPLES_FIXEDWING_CONTROL=y
-CONFIG_EXAMPLES_HELLO=y
-CONFIG_EXAMPLES_HWTEST=y
-CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
-CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
-CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
-CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
-CONFIG_EXAMPLES_WORK_ITEM=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y

boards/px4/fmu-v4pro/test.px4board

@@ -1,13 +1,14 @@
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_BOARD_TESTING=y
+CONFIG_DRIVERS_ADC_ADS1115=n
 CONFIG_DRIVERS_TEST_PPM=y
-CONFIG_EXAMPLES_FAKE_IMU=y
-CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
-CONFIG_EXAMPLES_FIXEDWING_CONTROL=y
-CONFIG_EXAMPLES_HELLO=y
-CONFIG_EXAMPLES_HWTEST=y
-CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
-CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
-CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
-CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
-CONFIG_EXAMPLES_WORK_ITEM=y
+CONFIG_DRIVERS_PCA9685=n
+CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_SYSTEMCMDS_MICROBENCH=y
+CONFIG_DRIVERS_RPM=n
+CONFIG_DRIVERS_PCA9685=n
+CONFIG_DRIVERS_PCA9685_PWM_OUT=n
+CONFIG_DRIVERS_IRLOCK=n
+CONFIG_DRIVERS_ADC_ADS1115=n
+CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n

boards/px4/fmu-v5/test.px4board

@@ -1,5 +1,12 @@
+CONFIG_DRIVERS_ADC_ADS1115=n
+CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
+CONFIG_DRIVERS_IRLOCK=n
+CONFIG_DRIVERS_PCA9685=n
+CONFIG_DRIVERS_PCA9685_PWM_OUT=n
+CONFIG_DRIVERS_RPM=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
+CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y

cmake/px4_list_make_absolute.cmake

@@ -55,4 +55,3 @@ function(px4_list_make_absolute var prefix)
 	endforeach(f)
 	set(${var} "${list_var}" PARENT_SCOPE)
 endfunction()
-

msg/actuator_armed.msg

@@ -7,4 +7,3 @@ bool lockdown		# Set to true if actuators are forced to being disabled (due to e
 bool manual_lockdown    # Set to true if manual throttle kill switch is engaged
 bool force_failsafe	# Set to true if the actuators are forced to the failsafe position
 bool in_esc_calibration_mode # IO/FMU should ignore messages from the actuator controls topics
-bool soft_stop # Set to true if we need to ESCs to remove the idle constraint

msg/actuator_motors.msg

@@ -6,4 +6,3 @@ uint8 NUM_CONTROLS = 8
 float32[8] control # range: [-1, 1], where 1 means maximum positive thrust,
                    # -1 maximum negative (if not supported by the output, <0 maps to NaN),
                    # and NaN maps to disarmed (stop the motors)
-

msg/actuator_servos.msg

@@ -6,4 +6,3 @@ uint8 NUM_CONTROLS = 8
 float32[8] control # range: [-1, 1], where 1 means maximum positive position,
                    # -1 maximum negative,
                    # and NaN maps to disarmed
-

msg/templates/uorb/msg.cpp.em

@@ -61,7 +61,7 @@ topic_name = spec.short_name
 
 sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
 struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
-topic_fields = ["%s %s" % (convert_type(field.type), field.name) for field in sorted_fields]
+topic_fields = ["%s %s" % (convert_type(field.type, True), field.name) for field in sorted_fields]
 }@
 
 #include <inttypes.h>
@@ -82,19 +82,11 @@ constexpr char __orb_@(topic_name)_fields[] = "@( ";".join(topic_fields) );";
 ORB_DEFINE(@multi_topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(topic_name)_fields, static_cast<uint8_t>(ORB_ID::@multi_topic));
 @[end for]
 
-void print_message(const @uorb_struct &message)
+void print_message(const orb_metadata *meta, const @uorb_struct& message)
 {
-@[if constrained_flash]
-	(void)message;
-	PX4_INFO_RAW("Not implemented on flash constrained hardware\n");
-@[else]
-	PX4_INFO_RAW(" @(uorb_struct)\n");
-
-	const hrt_abstime now = hrt_absolute_time();
-
-@[for field in sorted_fields]@
-	@( print_field(field) )@
-@[end for]@
-@[end if]@
-
+	if (sizeof(message) != meta->o_size) {
+		printf("unexpected message size for %s: %zu != %i\n", meta->o_name, sizeof(message), meta->o_size);
+		return;
+	}
+	orb_print_message_internal(meta, &message, true);
 }

msg/templates/uorb/msg.h.em

@@ -133,5 +133,5 @@ ORB_DECLARE(@multi_topic);
 @[end for]
 
 #ifdef __cplusplus
-void print_message(const @uorb_struct& message);
+void print_message(const orb_metadata *meta, const @uorb_struct& message);
 #endif

msg/tools/generate_msg_docs.py

@@ -28,24 +28,24 @@ if __name__ == "__main__":
     msg_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"..")
     msg_files = get_msgs_list(msg_path)
     msg_files.sort()
-    
+
     filelist_in_markdown=''
-    
+
     for msg_file in msg_files:
         msg_name = os.path.splitext(msg_file)[0]
         output_file = os.path.join(output_dir, msg_name+'.md')
         msg_filename = os.path.join(msg_path, msg_file)
         print("{:} -> {:}".format(msg_filename, output_file))
-        
+
         #Format msg url
         msg_url="[source file](https://github.com/PX4/PX4-Autopilot/blob/master/msg/%s)" % msg_file
-        
+
         msg_description = ""
         summary_description = ""
 
         #Get msg description (first non-empty comment line from top of msg)
         with open(msg_filename, 'r') as lineparser:
-            line = lineparser.readline()  
+            line = lineparser.readline()
             while line.startswith('#') or (line.strip() == ''):
                 print('DEBUG: line: %s' % line)
                 line=line[1:].strip()+'\n'
@@ -65,10 +65,10 @@ if __name__ == "__main__":
         #Get msg contents (read the file)
         with open(msg_filename, 'r') as source_file:
             msg_contents = source_file.read()
-          
+
         #Format markdown using msg name, comment, url, contents.  
         markdown_output="""# %s (UORB message)
-        
+
 %s
 
 %s
@@ -78,27 +78,26 @@ if __name__ == "__main__":
 ```
 """ % (msg_name, msg_description, msg_url, msg_contents)
 
-        
         with open(output_file, 'w') as content_file:
             content_file.write(markdown_output)
-            
+
         readme_markdown_file_link='- [%s](%s.md)' % (msg_name,msg_name)
         if summary_description:
             readme_markdown_file_link+=" — %s" % summary_description
         filelist_in_markdown+=readme_markdown_file_link+"\n"
-        
+
     # Write out the README.md file
     readme_text="""# uORB Message Reference
 
 :::note
 This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/master/msg/tools/generate_msg_docs.py) from the source code.
 :::
-    
+
 This topic lists the UORB messages available in PX4 (some of which may be may be shared by the [PX4-ROS 2 Bridge](../ros/ros2_comm.md)).
 Graphs showing how these are used [can be found here](../middleware/uorb_graph.md).
-    
+
 %s
     """ % (filelist_in_markdown)
     readme_file = os.path.join(output_dir, 'README.md')
     with open(readme_file, 'w') as content_file:
-            content_file.write(readme_text)    
+            content_file.write(readme_text)

msg/tools/px_generate_uorb_topic_helper.py

@@ -60,6 +60,23 @@ type_map = {
     'char': 'char',
 }
 
+type_map_short = {
+    # We use some range outside of alpha-numeric and special characters.
+    # This needs to match with orb_get_c_type()
+    'int8': '\\x82',
+    'int16': '\\x83',
+    'int32': '\\x84',
+    'int64': '\\x85',
+    'uint8': '\\x86',
+    'uint16': '\\x87',
+    'uint32': '\\x88',
+    'uint64': '\\x89',
+    'float32': '\\x8a',
+    'float64': '\\x8b',
+    'bool': '\\x8c',
+    'char': '\\x8d',
+}
+
 type_serialize_map = {
     'int8': 'int8_t',
     'int16': 'int16_t',
@@ -204,7 +221,7 @@ def add_padding_bytes(fields, search_path):
     return (struct_size, num_padding_bytes)
 
 
-def convert_type(spec_type):
+def convert_type(spec_type, use_short_type=False):
     """
     Convert from msg type to C type
     """
@@ -215,135 +232,15 @@ def convert_type(spec_type):
 
     msg_type, is_array, array_length = genmsg.msgs.parse_type(bare_type)
     c_type = msg_type
-    if msg_type in type_map:
+    if use_short_type and msg_type in type_map_short:
+        c_type = type_map_short[msg_type]
+    elif msg_type in type_map:
         c_type = type_map[msg_type]
     if is_array:
         return c_type + "[" + str(array_length) + "]"
     return c_type
 
 
-def print_field(field):
-    """
-    Echo printf line
-    """
-
-    # check if there are any upper case letters in the field name
-    assert not any(a.isupper()
-                   for a in field.name), "%r field contains uppercase letters" % field.name
-
-    # skip padding
-    if field.name.startswith('_padding'):
-        return
-
-    bare_type = field.type
-    if '/' in field.type:
-        # removing prefix
-        bare_type = (bare_type.split('/'))[1]
-
-    msg_type, is_array, array_length = genmsg.msgs.parse_type(bare_type)
-
-    field_name = ""
-
-    if is_array:
-        c_type = "["
-
-        if msg_type in type_map:
-            p_type = type_printf_map[msg_type]
-
-        else:
-            for i in range(array_length):
-                print(("PX4_INFO_RAW(\"\\t" + field.type +
-                      " " + field.name + "[" + str(i) + "]\");"))
-                print((" print_message(message." +
-                      field.name + "[" + str(i) + "]);"))
-            return
-
-        for i in range(array_length):
-
-            if i > 0:
-                c_type += ", "
-                field_name += ", "
-
-            if "float32" in field.type:
-                field_name += "(double)message." + \
-                    field.name + "[" + str(i) + "]"
-            else:
-                field_name += "message." + field.name + "[" + str(i) + "]"
-
-            c_type += str(p_type)
-
-        c_type += "]"
-
-    else:
-        c_type = msg_type
-        if msg_type in type_map:
-            c_type = type_printf_map[msg_type]
-
-            field_name = "message." + field.name
-
-            # cast double
-            if field.type == "float32":
-                field_name = "(double)" + field_name
-            elif field.type == "bool":
-                c_type = '%s'
-                field_name = "(" + field_name + " ? \"True\" : \"False\")"
-
-        else:
-            print(("PX4_INFO_RAW(\"\\n\\t" + field.name + "\");"))
-            print(("\tprint_message(message." + field.name + ");"))
-            return
-
-    if field.name == 'timestamp':
-        print(("if (message.timestamp != 0) {\n\t\tPX4_INFO_RAW(\"\\t" + field.name +
-              ": " + c_type + "  (%.6f seconds ago)\\n\", " + field_name +
-               ", (now - message.timestamp) / 1e6);\n\t} else {\n\t\tPX4_INFO_RAW(\"\\n\");\n\t}"))
-    elif field.name == 'timestamp_sample':
-        print(("\n\tPX4_INFO_RAW(\"\\t" + field.name + ": " + c_type + "  (" + c_type +
-              " us before timestamp)\\n\", " + field_name + ", message.timestamp - message.timestamp_sample);\n\t"))
-    elif field.name == 'device_id':
-        print("char device_id_buffer[80];")
-        print("device::Device::device_id_print_buffer(device_id_buffer, sizeof(device_id_buffer), message.device_id);")
-        print("PX4_INFO_RAW(\"\\tdevice_id: %\" PRId32 \" (%s) \\n\", message.device_id, device_id_buffer);")
-    elif field.name == 'accel_device_id':
-        print("char accel_device_id_buffer[80];")
-        print("device::Device::device_id_print_buffer(accel_device_id_buffer, sizeof(accel_device_id_buffer), message.accel_device_id);")
-        print("PX4_INFO_RAW(\"\\taccel_device_id: %\" PRId32 \" (%s) \\n\", message.accel_device_id, accel_device_id_buffer);")
-    elif field.name == 'gyro_device_id':
-        print("char gyro_device_id_buffer[80];")
-        print("device::Device::device_id_print_buffer(gyro_device_id_buffer, sizeof(gyro_device_id_buffer), message.gyro_device_id);")
-        print("PX4_INFO_RAW(\"\\tgyro_device_id: %\" PRId32 \" (%s) \\n\", message.gyro_device_id, gyro_device_id_buffer);")
-    elif field.name == 'baro_device_id':
-        print("char baro_device_id_buffer[80];")
-        print("device::Device::device_id_print_buffer(baro_device_id_buffer, sizeof(baro_device_id_buffer), message.baro_device_id);")
-        print("PX4_INFO_RAW(\"\\tbaro_device_id: %\" PRId32 \" (%s) \\n\", message.baro_device_id, baro_device_id_buffer);")
-    elif field.name == 'mag_device_id':
-        print("char mag_device_id_buffer[80];")
-        print("device::Device::device_id_print_buffer(mag_device_id_buffer, sizeof(mag_device_id_buffer), message.mag_device_id);")
-        print("PX4_INFO_RAW(\"\\tmag_device_id: %\" PRId32 \" (%s) \\n\", message.mag_device_id, mag_device_id_buffer);")
-    elif (field.name == 'q' or 'q_' in field.name) and field.type == 'float32[4]':
-        # float32[4] q/q_d/q_reset/delta_q_reset
-        print("{")
-        print(
-            "\t\tmatrix::Eulerf euler{matrix::Quatf{message." + field.name + "}};")
-        print("\t\tPX4_INFO_RAW(\"\\t" + field.name + ": " + c_type + "  (Roll: %.1f deg, Pitch: %.1f deg, Yaw: %.1f deg" ")\\n\", " +
-              field_name + ", (double)math::degrees(euler(0)), (double)math::degrees(euler(1)), (double)math::degrees(euler(2)));\n\t")
-        print("\t}")
-
-    elif ("flags" in field.name or "bits" in field.name) and "uint" in field.type:
-        # print bits of fixed width unsigned integers (uint8, uint16, uint32) if name contains flags or bits
-        print("PX4_INFO_RAW(\"\\t" + field.name + ": " +
-              c_type + " (0b\", " + field_name + ");")
-        print("\tfor (int i = (sizeof(" + field_name + ") * 8) - 1; i >= 0; i--) { PX4_INFO_RAW(\"%lu%s\", (unsigned long) "
-              + field_name + " >> i & 1, ((unsigned)i < (sizeof(" + field_name + ") * 8) - 1 && i % 4 == 0 && i > 0) ? \"'\" : \"\"); }")
-        print("\tPX4_INFO_RAW(\")\\n\");")
-    elif is_array and 'char' in field.type:
-        print(("PX4_INFO_RAW(\"\\t" + field.name + ": \\\"%." +
-              str(array_length) + "s\\\" \\n\", message." + field.name + ");"))
-    else:
-        print(("PX4_INFO_RAW(\"\\t" + field.name + ": " +
-              c_type + "\\n\", " + field_name + ");"))
-
-
 def print_field_def(field):
     """
     Print the C type from a field

platforms/common/uORB/uORB.cpp

@@ -41,6 +41,10 @@
 #include "uORBManager.hpp"
 #include "uORBCommon.hpp"
 
+#include <lib/drivers/device/Device.hpp>
+#include <matrix/Quaternion.hpp>
+#include <mathlib/mathlib.h>
+
 static uORB::DeviceMaster *g_dev = nullptr;
 
 int uorb_start(void)
@@ -172,3 +176,302 @@ int orb_get_interval(int handle, unsigned *interval)
 {
 	return uORB::Manager::get_instance()->orb_get_interval(handle, interval);
 }
+
+const char *orb_get_c_type(unsigned char short_type)
+{
+	// this matches with the uorb o_fields generator
+	switch (short_type) {
+	case 0x82: return "int8_t";
+
+	case 0x83: return "int16_t";
+
+	case 0x84: return "int32_t";
+
+	case 0x85: return "int64_t";
+
+	case 0x86: return "uint8_t";
+
+	case 0x87: return "uint16_t";
+
+	case 0x88: return "uint32_t";
+
+	case 0x89: return "uint64_t";
+
+	case 0x8a: return "float";
+
+	case 0x8b: return "double";
+
+	case 0x8c: return "bool";
+
+	case 0x8d: return "char";
+	}
+
+	return nullptr;
+}
+
+
+void orb_print_message_internal(const orb_metadata *meta, const void *data, bool print_topic_name)
+{
+	if (print_topic_name) {
+		PX4_INFO_RAW(" %s\n", meta->o_name);
+	}
+
+	const hrt_abstime now = hrt_absolute_time();
+	hrt_abstime topic_timestamp = 0;
+
+	const uint8_t *data_ptr = (const uint8_t *)data;
+	int data_offset = 0;
+
+	for (int format_idx = 0; meta->o_fields[format_idx] != 0;) {
+		const char *end_field = strchr(meta->o_fields + format_idx, ';');
+
+		if (!end_field) {
+			PX4_ERR("Format error in %s", meta->o_fields);
+			return;
+		}
+
+		const char *c_type = orb_get_c_type(meta->o_fields[format_idx]);
+		const int end_field_idx = end_field - meta->o_fields;
+
+		int array_idx = -1;
+		int field_name_idx = -1;
+
+		for (int field_idx = format_idx; field_idx != end_field_idx; ++field_idx) {
+			if (meta->o_fields[field_idx] == '[') {
+				array_idx = field_idx + 1;
+
+			} else if (meta->o_fields[field_idx] == ' ') {
+				field_name_idx = field_idx + 1;
+				break;
+			}
+		}
+
+		int array_size = 1;
+
+		if (array_idx >= 0) {
+			array_size = strtol(meta->o_fields + array_idx, nullptr, 10);
+		}
+
+		char field_name[80];
+		size_t field_name_len = end_field_idx - field_name_idx;
+
+		if (field_name_len >= sizeof(field_name)) {
+			PX4_ERR("field name too long %s (max: %u)", meta->o_fields, (unsigned)sizeof(field_name));
+			return;
+		}
+
+		memcpy(field_name, meta->o_fields + field_name_idx, field_name_len);
+		field_name[field_name_len] = '\0';
+
+		if (c_type) { // built-in type
+			bool dont_print = false;
+
+			// handle special cases
+			if (strncmp(field_name, "_padding", 8) == 0) {
+				dont_print = true;
+
+			} else if (strcmp(c_type, "char") == 0 && array_size > 1) { // string
+				PX4_INFO_RAW("    %s: \"%.*s\"\n", field_name, array_size, (char *)(data_ptr + data_offset));
+				dont_print = true;
+			}
+
+			if (!dont_print) {
+				PX4_INFO_RAW("    %s: ", field_name);
+			}
+
+			if (!dont_print && array_size > 1) {
+				PX4_INFO_RAW("[");
+			}
+
+			const int previous_data_offset = data_offset;
+
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wcast-align" // the caller ensures data is aligned
+
+			for (int i = 0; i < array_size; ++i) {
+				if (strcmp(c_type, "int8_t") == 0) {
+					if (!dont_print) { PX4_INFO_RAW("%" PRIi8, *(int8_t *)(data_ptr + data_offset)); }
+
+					data_offset += sizeof(int8_t);
+
+				} else if (strcmp(c_type, "int16_t") == 0) {
+					if (!dont_print) { PX4_INFO_RAW("%" PRIi16, *(int16_t *)(data_ptr + data_offset)); }
+
+					data_offset += sizeof(int16_t);
+
+				} else if (strcmp(c_type, "int32_t") == 0) {
+					if (!dont_print) { PX4_INFO_RAW("%" PRIi32, *(int32_t *)(data_ptr + data_offset)); }
+
+					data_offset += sizeof(int32_t);
+
+				} else if (strcmp(c_type, "int64_t") == 0) {
+					if (!dont_print) { PX4_INFO_RAW("%" PRIi64, *(int64_t *)(data_ptr + data_offset)); }
+
+					data_offset += sizeof(int64_t);
+
+				} else if (strcmp(c_type, "uint8_t") == 0) {
+					if (!dont_print) { PX4_INFO_RAW("%" PRIu8, *(uint8_t *)(data_ptr + data_offset)); }
+
+					data_offset += sizeof(uint8_t);
+
+				} else if (strcmp(c_type, "uint16_t") == 0) {
+					if (!dont_print) { PX4_INFO_RAW("%" PRIu16, *(uint16_t *)(data_ptr + data_offset)); }
+
+					data_offset += sizeof(uint16_t);
+
+				} else if (strcmp(c_type, "uint32_t") == 0) {
+					if (!dont_print) { PX4_INFO_RAW("%" PRIu32, *(uint32_t *)(data_ptr + data_offset)); }
+
+					data_offset += sizeof(uint32_t);
+
+				} else if (strcmp(c_type, "uint64_t") == 0) {
+					if (!dont_print) { PX4_INFO_RAW("%" PRIu64, *(uint64_t *)(data_ptr + data_offset)); }
+
+					data_offset += sizeof(uint64_t);
+
+				} else if (strcmp(c_type, "float") == 0) {
+					if (!dont_print) { PX4_INFO_RAW("%.4f", (double) * (float *)(data_ptr + data_offset)); }
+
+					data_offset += sizeof(float);
+
+				} else if (strcmp(c_type, "double") == 0) {
+					if (!dont_print) { PX4_INFO_RAW("%.4f", *(double *)(data_ptr + data_offset)); }
+
+					data_offset += sizeof(double);
+
+				} else if (strcmp(c_type, "bool") == 0) {
+					if (!dont_print) { PX4_INFO_RAW("%s", *(bool *)(data_ptr + data_offset) ? "True" : "False"); }
+
+					data_offset += sizeof(bool);
+
+				} else if (strcmp(c_type, "char") == 0) {
+					if (!dont_print) { PX4_INFO_RAW("%i", (int) * (char *)(data_ptr + data_offset)); }
+
+					data_offset += sizeof(char);
+
+				} else {
+					PX4_ERR("unknown type: %s", c_type);
+					return;
+				}
+
+				if (!dont_print && i < array_size - 1) {
+					PX4_INFO_RAW(", ");
+				}
+			}
+
+			if (!dont_print && array_size > 1) {
+				PX4_INFO_RAW("]");
+			}
+
+			// handle special cases
+			if (array_size == 1) {
+				if (strcmp(c_type, "uint64_t") == 0 && strcmp(field_name, "timestamp") == 0) {
+					topic_timestamp = *(uint64_t *)(data_ptr + previous_data_offset);
+
+					if (topic_timestamp != 0) {
+						PX4_INFO_RAW(" (%.6f seconds ago)", (double)((now - topic_timestamp) / 1e6f));
+					}
+
+				} else if (strcmp(c_type, "uint64_t") == 0 && strcmp(field_name, "timestamp_sample") == 0) {
+					hrt_abstime timestamp = *(uint64_t *)(data_ptr + previous_data_offset);
+
+					if (topic_timestamp != 0 && timestamp != 0) {
+						PX4_INFO_RAW(" (%i us before timestamp)", (int)(topic_timestamp - timestamp));
+					}
+
+				} else if (strstr(field_name, "flags") != nullptr) {
+					// bitfield
+					unsigned field_size = 0;
+					unsigned long value = 0;
+
+					if (strcmp(c_type, "uint8_t") == 0) {
+						field_size = sizeof(uint8_t);
+						value = *(uint8_t *)(data_ptr + previous_data_offset);
+
+					} else if (strcmp(c_type, "uint16_t") == 0) {
+						field_size = sizeof(uint16_t);
+						value = *(uint16_t *)(data_ptr + previous_data_offset);
+
+					} else if (strcmp(c_type, "uint32_t") == 0) {
+						field_size = sizeof(uint32_t);
+						value = *(uint32_t *)(data_ptr + previous_data_offset);
+					}
+
+					if (field_size > 0) {
+						PX4_INFO_RAW(" (0b");
+
+						for (int i = (field_size * 8) - 1; i >= 0; i--) {
+							PX4_INFO_RAW("%lu%s", (value >> i) & 1, ((unsigned)i < (field_size * 8) - 1 && i % 4 == 0 && i > 0) ? "'" : "");
+						}
+
+						PX4_INFO_RAW(")");
+					}
+
+				} else if (strcmp(c_type, "uint32_t") == 0 && strstr(field_name, "device_id") != nullptr) {
+					// Device ID
+					uint32_t device_id = *(uint32_t *)(data_ptr + previous_data_offset);
+					char device_id_buffer[80];
+					device::Device::device_id_print_buffer(device_id_buffer, sizeof(device_id_buffer), device_id);
+					PX4_INFO_RAW(" (%s)", device_id_buffer);
+				}
+
+			} else if (array_size == 4 && strcmp(c_type, "float") == 0 && (strcmp(field_name, "q") == 0
+					|| strncmp(field_name, "q_", 2) == 0)) {
+				// attitude
+				float *attitude = (float *)(data_ptr + previous_data_offset);
+				matrix::Eulerf euler{matrix::Quatf{attitude}};
+				PX4_INFO_RAW(" (Roll: %.1f deg, Pitch: %.1f deg, Yaw: %.1f deg)",
+					     (double)math::degrees(euler(0)), (double)math::degrees(euler(1)), (double)math::degrees(euler(2)));
+			}
+
+#pragma GCC diagnostic pop
+
+			PX4_INFO_RAW("\n");
+
+		} else {
+
+			// extract the topic name
+			char topic_name[80];
+			const size_t topic_name_len = array_size > 1 ? array_idx - format_idx - 1 : field_name_idx - format_idx - 1;
+
+			if (topic_name_len >= sizeof(topic_name)) {
+				PX4_ERR("topic name too long in %s (max: %u)", meta->o_name, (unsigned)sizeof(topic_name));
+				return;
+			}
+
+			memcpy(topic_name, meta->o_fields + format_idx, topic_name_len);
+			field_name[topic_name_len] = '\0';
+
+			// find the metadata
+			const orb_metadata *const *topics = orb_get_topics();
+			const orb_metadata *found_topic = nullptr;
+
+			for (size_t i = 0; i < orb_topics_count(); i++) {
+				if (strcmp(topics[i]->o_name, topic_name) == 0) {
+					found_topic = topics[i];
+					break;
+				}
+			}
+
+			if (!found_topic) {
+				PX4_ERR("Topic %s did not match any known topics", topic_name);
+				return;
+			}
+
+			// print recursively
+			for (int i = 0; i < array_size; ++i) {
+				PX4_INFO_RAW("  %s", field_name);
+
+				if (array_size > 1) {
+					PX4_INFO_RAW("[%i]", i);
+				}
+
+				PX4_INFO_RAW(" (%s):\n", topic_name);
+				orb_print_message_internal(found_topic, data_ptr + data_offset, false);
+				data_offset += found_topic->o_size;
+			}
+		}
+
+		format_idx = end_field_idx + 1;
+	}
+}

platforms/common/uORB/uORB.h

@@ -31,8 +31,7 @@
  *
  ****************************************************************************/
 
-#ifndef _UORB_UORB_H
-#define _UORB_UORB_H
+#pragma once
 
 /**
  * @file uORB.h
@@ -235,6 +234,20 @@ extern int	orb_set_interval(int handle, unsigned interval) __EXPORT;
  */
 extern int	orb_get_interval(int handle, unsigned *interval) __EXPORT;
 
+/**
+ * Returns the C type string from a short type in o_fields metadata, or nullptr
+ * if not a short type
+ */
+const char *orb_get_c_type(unsigned char short_type);
+
+/**
+ * Print a topic to console. Do not call this directly, use print_message() instead.
+ * @param meta orb topic metadata
+ * @param data expected to be aligned to the largest member
+ */
+void orb_print_message_internal(const struct orb_metadata *meta, const void *data, bool print_topic_name);
+
+
 __END_DECLS
 
 /* Diverse uORB header defines */ //XXX: move to better location
@@ -245,4 +258,3 @@ typedef uint8_t hil_state_t;
 typedef uint8_t navigation_state_t;
 typedef uint8_t switch_pos_t;
 
-#endif /* _UORB_UORB_H */

platforms/nuttx/Debug/jlink_gdb_backtrace.sh

@@ -0,0 +1,41 @@
+#! /bin/sh
+
+if command -v gdb-multiarch &> /dev/null
+then
+	GDB_CMD=$(command -v gdb-multiarch)
+
+elif command -v arm-none-eabi-gdb &> /dev/null
+then
+	GDB_CMD=$(command -v arm-none-eabi-gdb)
+
+else
+	echo "gdb arm-none-eabi or multi-arch not found"
+	exit 1
+fi
+
+file ${1}
+
+gdb_cmd_file=$(mktemp)
+
+cat >"${gdb_cmd_file}" <<EOL
+
+source ${WORKSPACE}/platforms/nuttx/Debug/NuttX
+source ${WORKSPACE}/platforms/nuttx/Debug/ARMv7M
+
+target remote localhost:2331
+
+monitor regs
+
+showtasks
+
+vecstate
+
+info threads
+
+backtrace
+
+bt full
+
+EOL
+
+${GDB_CMD} -silent --nh --nx --nw -batch -x ${gdb_cmd_file} ${1}

platforms/nuttx/cmake/jlink.cmake

@@ -48,6 +48,18 @@ if(JLinkGDBServerCLExe_PATH)
 		USES_TERMINAL
 	)
 
+	# jlink_gdb_backtrace (attach, print current tasks, back trace, exit)
+	add_custom_target(jlink_gdb_backtrace
+		COMMAND ${PX4_BINARY_DIR}/jlink_gdb_start.sh
+		COMMAND ${CMAKE_COMMAND} -E env WORKSPACE=${PX4_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_gdb_backtrace.sh $<TARGET_FILE:px4>
+		DEPENDS
+			px4
+			${PX4_BINARY_DIR}/jlink_gdb_start.sh
+			${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_gdb_backtrace.sh
+		WORKING_DIRECTORY ${PX4_BINARY_DIR}
+		USES_TERMINAL
+	)
+
 
 	# jlink_upload_bootloader
 	#   board directory supplied bootloader.bin

platforms/nuttx/src/bootloader/stm/CMakeLists.txt

@@ -32,4 +32,3 @@
 ############################################################################
 
 add_subdirectory(${PX4_CHIP})
-

platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c

@@ -100,6 +100,7 @@ int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq)
 		}
 
 		// we know the uint8_t* cast to uint32_t* is fine, since we're aligned to cache line size
+#pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wcast-align"
 		dshot_burst_buffer[timer] = (uint32_t *)&dshot_burst_buffer_array[buffer_offset];
 #pragma GCC diagnostic pop

src/drivers/barometer/CMakeLists.txt

@@ -41,4 +41,3 @@ add_subdirectory(lps33hw)
 add_subdirectory(maiertek)
 add_subdirectory(ms5611)
 #add_subdirectory(tcbp001ta) # only for users who really need this
-

src/drivers/drv_pwm_output.h

@@ -118,11 +118,6 @@ struct pwm_output_values {
 
 #endif // not PX4_PWM_ALTERNATE_RANGES
 
-/**
- * Do not output a channel with this value
- */
-#define PWM_IGNORE_THIS_CHANNEL UINT16_MAX
-
 /**
  * Servo output signal type, value is actual servo output pulse
  * width in microseconds.
@@ -170,15 +165,9 @@ typedef uint16_t	servo_position_t;
 /** start DSM bind */
 #define DSM_BIND_START	_PX4_IOC(_PWM_SERVO_BASE, 10)
 
-/** set the PWM value for failsafe */
-#define PWM_SERVO_SET_FAILSAFE_PWM	_PX4_IOC(_PWM_SERVO_BASE, 12)
-
 /** get the PWM value for failsafe */
 #define PWM_SERVO_GET_FAILSAFE_PWM	_PX4_IOC(_PWM_SERVO_BASE, 13)
 
-/** set the PWM value when disarmed - should be no PWM (zero) by default */
-#define PWM_SERVO_SET_DISARMED_PWM	_PX4_IOC(_PWM_SERVO_BASE, 14)
-
 /** get the PWM value when disarmed */
 #define PWM_SERVO_GET_DISARMED_PWM	_PX4_IOC(_PWM_SERVO_BASE, 15)
 
@@ -197,21 +186,9 @@ typedef uint16_t	servo_position_t;
 /** get the TRIM value the output will send */
 #define PWM_SERVO_GET_TRIM_PWM	_PX4_IOC(_PWM_SERVO_BASE, 21)
 
-/** set the lockdown override flag to enable outputs in HIL */
-#define PWM_SERVO_SET_DISABLE_LOCKDOWN		_PX4_IOC(_PWM_SERVO_BASE, 23)
-
-/** get the lockdown override flag to enable outputs in HIL */
-#define PWM_SERVO_GET_DISABLE_LOCKDOWN		_PX4_IOC(_PWM_SERVO_BASE, 24)
-
 /** force safety switch off (to disable use of safety switch) */
 #define PWM_SERVO_SET_FORCE_SAFETY_OFF		_PX4_IOC(_PWM_SERVO_BASE, 25)
 
-/** force failsafe mode (failsafe values are set immediately even if failsafe condition not met) */
-#define PWM_SERVO_SET_FORCE_FAILSAFE		_PX4_IOC(_PWM_SERVO_BASE, 26)
-
-/** make failsafe non-recoverable (termination) if it occurs */
-#define PWM_SERVO_SET_TERMINATION_FAILSAFE	_PX4_IOC(_PWM_SERVO_BASE, 27)
-
 /** force safety switch on (to enable use of safety switch) */
 #define PWM_SERVO_SET_FORCE_SAFETY_ON		_PX4_IOC(_PWM_SERVO_BASE, 28)
 

src/drivers/gps/gps.cpp

@@ -1045,7 +1045,7 @@ GPS::print_status()
 		PX4_INFO("rate publication:\t\t%6.2f Hz", (double)_rate);
 		PX4_INFO("rate RTCM injection:\t%6.2f Hz", (double)_rate_rtcm_injection);
 
-		print_message(_report_gps_pos);
+		print_message(ORB_ID(sensor_gps), _report_gps_pos);
 	}
 
 	if (_instance == Instance::Main && _secondary_instance.load()) {

src/drivers/linux_pwm_out/linux_pwm_out.cpp

@@ -44,10 +44,6 @@ LinuxPWMOut::LinuxPWMOut() :
 	_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")),
 	_interval_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": interval"))
 {
-	if (!_mixing_output.useDynamicMixing()) {
-		_mixing_output.setAllMinValues(PWM_DEFAULT_MIN);
-		_mixing_output.setAllMaxValues(PWM_DEFAULT_MAX);
-	}
 }
 
 LinuxPWMOut::~LinuxPWMOut()
@@ -161,128 +157,6 @@ void LinuxPWMOut::update_params()
 		return;
 	}
 
-	int32_t pwm_min_default = PWM_DEFAULT_MIN;
-	int32_t pwm_max_default = PWM_DEFAULT_MAX;
-	int32_t pwm_disarmed_default = 0;
-
-	const char *prefix;
-
-	if (_class_instance == CLASS_DEVICE_PRIMARY) {
-		prefix = "PWM_MAIN";
-
-		param_get(param_find("PWM_MAIN_MIN"), &pwm_min_default);
-		param_get(param_find("PWM_MAIN_MAX"), &pwm_max_default);
-		param_get(param_find("PWM_MAIN_DISARM"), &pwm_disarmed_default);
-
-	} else if (_class_instance == CLASS_DEVICE_SECONDARY) {
-		prefix = "PWM_AUX";
-
-		param_get(param_find("PWM_AUX_MIN"), &pwm_min_default);
-		param_get(param_find("PWM_AUX_MAX"), &pwm_max_default);
-		param_get(param_find("PWM_AUX_DISARM"), &pwm_disarmed_default);
-
-	} else if (_class_instance == CLASS_DEVICE_TERTIARY) {
-		prefix = "PWM_EXTRA";
-
-		param_get(param_find("PWM_EXTRA_MIN"), &pwm_min_default);
-		param_get(param_find("PWM_EXTRA_MAX"), &pwm_max_default);
-		param_get(param_find("PWM_EXTRA_DISARM"), &pwm_disarmed_default);
-
-	} else {
-		PX4_ERR("invalid class instance %d", _class_instance);
-		return;
-	}
-
-	char str[17];
-
-	for (unsigned i = 0; i < MAX_ACTUATORS; i++) {
-		// PWM_MAIN_MINx
-		{
-			sprintf(str, "%s_MIN%u", prefix, i + 1);
-			int32_t pwm_min = -1;
-
-			if (param_get(param_find(str), &pwm_min) == PX4_OK && pwm_min >= 0) {
-				_mixing_output.minValue(i) = math::constrain(pwm_min, PWM_LOWEST_MIN, PWM_HIGHEST_MIN);
-
-				if (pwm_min != _mixing_output.minValue(i)) {
-					int32_t pwm_min_new = _mixing_output.minValue(i);
-					param_set(param_find(str), &pwm_min_new);
-				}
-
-			} else {
-				_mixing_output.minValue(i) = pwm_min_default;
-			}
-		}
-
-		// PWM_MAIN_MAXx
-		{
-			sprintf(str, "%s_MAX%u", prefix, i + 1);
-			int32_t pwm_max = -1;
-
-			if (param_get(param_find(str), &pwm_max) == PX4_OK && pwm_max >= 0) {
-				_mixing_output.maxValue(i) = math::constrain(pwm_max, PWM_LOWEST_MAX, PWM_HIGHEST_MAX);
-
-				if (pwm_max != _mixing_output.maxValue(i)) {
-					int32_t pwm_max_new = _mixing_output.maxValue(i);
-					param_set(param_find(str), &pwm_max_new);
-				}
-
-			} else {
-				_mixing_output.maxValue(i) = pwm_max_default;
-			}
-		}
-
-		// PWM_MAIN_FAILx
-		{
-			sprintf(str, "%s_FAIL%u", prefix, i + 1);
-			int32_t pwm_failsafe = -1;
-
-			if (param_get(param_find(str), &pwm_failsafe) == PX4_OK && pwm_failsafe >= 0) {
-				_mixing_output.failsafeValue(i) = math::constrain(pwm_failsafe, 0, PWM_HIGHEST_MAX);
-
-				if (pwm_failsafe != _mixing_output.failsafeValue(i)) {
-					int32_t pwm_fail_new = _mixing_output.failsafeValue(i);
-					param_set(param_find(str), &pwm_fail_new);
-				}
-			}
-		}
-
-		// PWM_MAIN_DISx
-		{
-			sprintf(str, "%s_DIS%u", prefix, i + 1);
-			int32_t pwm_dis = -1;
-
-			if (param_get(param_find(str), &pwm_dis) == PX4_OK && pwm_dis >= 0) {
-				_mixing_output.disarmedValue(i) = math::constrain(pwm_dis, 0, PWM_HIGHEST_MAX);
-
-				if (pwm_dis != _mixing_output.disarmedValue(i)) {
-					int32_t pwm_dis_new = _mixing_output.disarmedValue(i);
-					param_set(param_find(str), &pwm_dis_new);
-				}
-
-			} else {
-				_mixing_output.disarmedValue(i) = pwm_disarmed_default;
-			}
-		}
-
-		// PWM_MAIN_REVx
-		{
-			sprintf(str, "%s_REV%u", prefix, i + 1);
-			int32_t pwm_rev = 0;
-
-			if (param_get(param_find(str), &pwm_rev) == PX4_OK) {
-				uint16_t &reverse_pwm_mask = _mixing_output.reverseOutputMask();
-
-				if (pwm_rev >= 1) {
-					reverse_pwm_mask = reverse_pwm_mask | (2 << i);
-
-				} else {
-					reverse_pwm_mask = reverse_pwm_mask & ~(2 << i);
-				}
-			}
-		}
-	}
-
 	if (_mixing_output.mixers()) {
 		int16_t values[MAX_ACTUATORS] {};
 

src/drivers/linux_pwm_out/module.yaml

@@ -9,4 +9,3 @@ actuator_output:
         max: { min: 1600, max: 2200, default: 2000 }
         failsafe: { min: 800, max: 2200 }
       num_channels: 8
-

src/drivers/pca9685_pwm_out/main.cpp

@@ -124,10 +124,6 @@ PCA9685Wrapper::PCA9685Wrapper(int schd_rate_limit) :
 	_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")),
 	_schd_rate_limit(schd_rate_limit)
 {
-	if (!_mixing_output.useDynamicMixing()) {
-		_mixing_output.setAllMinValues(PWM_DEFAULT_MIN);
-		_mixing_output.setAllMaxValues(PWM_DEFAULT_MAX);
-	}
 }
 
 PCA9685Wrapper::~PCA9685Wrapper()
@@ -179,151 +175,6 @@ void PCA9685Wrapper::updatePWMParams()
 		return;
 	}
 
-	// update pwm params
-	const char *pname_format_pwm_ch_max[2] = {"PWM_MAIN_MAX%d", "PWM_AUX_MAX%d"};
-	const char *pname_format_pwm_ch_min[2] = {"PWM_MAIN_MIN%d", "PWM_AUX_MIN%d"};
-	const char *pname_format_pwm_ch_fail[2] = {"PWM_MAIN_FAIL%d", "PWM_AUX_FAIL%d"};
-	const char *pname_format_pwm_ch_dis[2] = {"PWM_MAIN_DIS%d", "PWM_AUX_DIS%d"};
-	const char *pname_format_pwm_ch_rev[2] = {"PWM_MAIN_REV%d", "PWM_AUX_REV%d"};
-
-	int32_t default_pwm_max = PWM_DEFAULT_MAX,
-		default_pwm_min = PWM_DEFAULT_MIN,
-		default_pwm_fail = PWM_DEFAULT_MIN,
-		default_pwm_dis = PWM_MOTOR_OFF;
-
-	param_t param_h = param_find("PWM_MAIN_MAX");
-
-	if (param_h != PARAM_INVALID) {
-		param_get(param_h, &default_pwm_max);
-
-	} else {
-		PX4_DEBUG("PARAM_INVALID: %s", "PWM_MAIN_MAX");
-	}
-
-	param_h = param_find("PWM_MAIN_MIN");
-
-	if (param_h != PARAM_INVALID) {
-		param_get(param_h, &default_pwm_min);
-
-	} else {
-		PX4_DEBUG("PARAM_INVALID: %s", "PWM_MAIN_MIN");
-	}
-
-	param_h = param_find("PWM_MAIN_RATE");
-
-	if (param_h != PARAM_INVALID) {
-		int32_t pval = 0;
-		param_get(param_h, &pval);
-
-		if (_last_fetched_Freq != pval) {
-			_last_fetched_Freq = pval;
-			_targetFreq = (float)pval;  // update only if changed
-		}
-
-	} else {
-		PX4_DEBUG("PARAM_INVALID: %s", "PWM_MAIN_RATE");
-	}
-
-	for (int i = 0; i < PCA9685_PWM_CHANNEL_COUNT; i++) {
-		char pname[16];
-		uint8_t param_group, param_index;
-
-		if (i <= 7) {	// Main channel
-			param_group = 0;
-			param_index = i + 1;
-
-		} else {	// AUX
-			param_group = 1;
-			param_index = i - 8 + 1;
-		}
-
-		sprintf(pname, pname_format_pwm_ch_max[param_group], param_index);
-		param_h = param_find(pname);
-
-		if (param_h != PARAM_INVALID) {
-			int32_t pval = 0;
-			param_get(param_h, &pval);
-
-			if (pval != -1) {
-				_mixing_output.maxValue(i) = pval;
-
-			} else {
-				_mixing_output.maxValue(i) = default_pwm_max;
-			}
-
-		} else {
-			PX4_DEBUG("PARAM_INVALID: %s", pname);
-		}
-
-		sprintf(pname, pname_format_pwm_ch_min[param_group], param_index);
-		param_h = param_find(pname);
-
-		if (param_h != PARAM_INVALID) {
-			int32_t pval = 0;
-			param_get(param_h, &pval);
-
-			if (pval != -1) {
-				_mixing_output.minValue(i) = pval;
-
-			} else {
-				_mixing_output.minValue(i) = default_pwm_min;
-			}
-
-		} else {
-			PX4_DEBUG("PARAM_INVALID: %s", pname);
-		}
-
-		sprintf(pname, pname_format_pwm_ch_fail[param_group], param_index);
-		param_h = param_find(pname);
-
-		if (param_h != PARAM_INVALID) {
-			int32_t pval = 0;
-			param_get(param_h, &pval);
-
-			if (pval != -1) {
-				_mixing_output.failsafeValue(i) = pval;
-
-			} else {
-				_mixing_output.failsafeValue(i) = default_pwm_fail;
-			}
-
-		} else {
-			PX4_DEBUG("PARAM_INVALID: %s", pname);
-		}
-
-		sprintf(pname, pname_format_pwm_ch_dis[param_group], param_index);
-		param_h = param_find(pname);
-
-		if (param_h != PARAM_INVALID) {
-			int32_t pval = 0;
-			param_get(param_h, &pval);
-
-			if (pval != -1) {
-				_mixing_output.disarmedValue(i) = pval;
-
-			} else {
-				_mixing_output.disarmedValue(i) = default_pwm_dis;
-			}
-
-		} else {
-			PX4_DEBUG("PARAM_INVALID: %s", pname);
-		}
-
-		sprintf(pname, pname_format_pwm_ch_rev[param_group], param_index);
-		param_h = param_find(pname);
-
-		if (param_h != PARAM_INVALID) {
-			uint16_t &reverse_pwm_mask = _mixing_output.reverseOutputMask();
-			int32_t pval = 0;
-			param_get(param_h, &pval);
-			reverse_pwm_mask &= (0xfffe << i);  // clear this bit
-			reverse_pwm_mask |= (((uint16_t)(pval != 0)) << i); // set to new val
-
-		} else {
-			PX4_DEBUG("PARAM_INVALID: %s", pname);
-		}
-	}
-
 	if (_mixing_output.mixers()) { // only update trims if mixer loaded
 		updatePWMParamTrim();
 	}

src/drivers/pca9685_pwm_out/module.yaml

@@ -9,4 +9,3 @@ actuator_output:
         max: { min: 1600, max: 2200, default: 2000 }
         failsafe: { min: 800, max: 2200 }
       num_channels: 16
-

src/drivers/pwm_out/PWMOut.cpp

@@ -56,10 +56,6 @@ PWMOut::PWMOut(int instance, uint8_t output_base) :
 	_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")),
 	_interval_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": interval"))
 {
-	if (!_mixing_output.useDynamicMixing()) {
-		_mixing_output.setAllMinValues(PWM_DEFAULT_MIN);
-		_mixing_output.setAllMaxValues(PWM_DEFAULT_MAX);
-	}
 }
 
 PWMOut::~PWMOut()
@@ -487,10 +483,6 @@ void PWMOut::Run()
 		}
 	}
 
-	if (_pwm_initialized && _current_update_rate == 0 && !_mixing_output.useDynamicMixing()) {
-		update_current_rate();
-	}
-
 	// check at end of cycle (updateSubscriptions() can potentially change to a different WorkQueue thread)
 	_mixing_output.updateSubscriptions(true, true);
 
@@ -505,9 +497,6 @@ void PWMOut::update_params()
 		return;
 	}
 
-	int32_t pwm_min_default = PWM_DEFAULT_MIN;
-	int32_t pwm_max_default = PWM_DEFAULT_MAX;
-	int32_t pwm_disarmed_default = 0;
 	int32_t pwm_rate_default = 50;
 	int32_t pwm_default_channels = 0;
 
@@ -516,28 +505,20 @@ void PWMOut::update_params()
 	if (_class_instance == CLASS_DEVICE_PRIMARY) {
 		prefix = "PWM_MAIN";
 
-		param_get(param_find("PWM_MAIN_MIN"), &pwm_min_default);
-		param_get(param_find("PWM_MAIN_MAX"), &pwm_max_default);
-		param_get(param_find("PWM_MAIN_DISARM"), &pwm_disarmed_default);
 		param_get(param_find("PWM_MAIN_RATE"), &pwm_rate_default);
 		param_get(param_find("PWM_MAIN_OUT"), &pwm_default_channels);
 
 	} else if (_class_instance == CLASS_DEVICE_SECONDARY) {
 		prefix = "PWM_AUX";
 
-		param_get(param_find("PWM_AUX_MIN"), &pwm_min_default);
-		param_get(param_find("PWM_AUX_MAX"), &pwm_max_default);
-		param_get(param_find("PWM_AUX_DISARM"), &pwm_disarmed_default);
 		param_get(param_find("PWM_AUX_RATE"), &pwm_rate_default);
 		param_get(param_find("PWM_AUX_OUT"), &pwm_default_channels);
 
 	} else if (_class_instance == CLASS_DEVICE_TERTIARY) {
 		prefix = "PWM_EXTRA";
 
-		param_get(param_find("PWM_EXTRA_MIN"), &pwm_min_default);
-		param_get(param_find("PWM_EXTRA_MAX"), &pwm_max_default);
-		param_get(param_find("PWM_EXTRA_DISARM"), &pwm_disarmed_default);
 		param_get(param_find("PWM_EXTRA_RATE"), &pwm_rate_default);
+		param_get(param_find("PWM_EXTRA_OUT"), &pwm_default_channels);
 
 	} else {
 		PX4_ERR("invalid class instance %d", _class_instance);
@@ -558,106 +539,6 @@ void PWMOut::update_params()
 
 	char str[17];
 
-	for (unsigned i = 0; i < _num_outputs; i++) {
-		// PWM_MAIN_MINx
-		{
-			sprintf(str, "%s_MIN%u", prefix, i + 1);
-			int32_t pwm_min = -1;
-
-			if (param_get(param_find(str), &pwm_min) == PX4_OK) {
-				if (pwm_min >= 0 && pwm_min != 1000) {
-					_mixing_output.minValue(i) = math::constrain(pwm_min, (int32_t) PWM_LOWEST_MIN, (int32_t) PWM_HIGHEST_MIN);
-
-					if (pwm_min != _mixing_output.minValue(i)) {
-						int32_t pwm_min_new = _mixing_output.minValue(i);
-						param_set(param_find(str), &pwm_min_new);
-					}
-
-				} else if (pwm_default_channel_mask & 1 << i) {
-					_mixing_output.minValue(i) = pwm_min_default;
-				}
-			}
-		}
-
-		// PWM_MAIN_MAXx
-		{
-			sprintf(str, "%s_MAX%u", prefix, i + 1);
-			int32_t pwm_max = -1;
-
-			if (param_get(param_find(str), &pwm_max) == PX4_OK) {
-				if (pwm_max >= 0 && pwm_max != 2000) {
-					_mixing_output.maxValue(i) = math::constrain(pwm_max, (int32_t) PWM_LOWEST_MAX, (int32_t) PWM_HIGHEST_MAX);
-
-					if (pwm_max != _mixing_output.maxValue(i)) {
-						int32_t pwm_max_new = _mixing_output.maxValue(i);
-						param_set(param_find(str), &pwm_max_new);
-					}
-
-				} else if (pwm_default_channel_mask & 1 << i) {
-					_mixing_output.maxValue(i) = pwm_max_default;
-				}
-			}
-		}
-
-		// PWM_MAIN_FAILx
-		{
-			sprintf(str, "%s_FAIL%u", prefix, i + 1);
-			int32_t pwm_failsafe = -1;
-
-			if (param_get(param_find(str), &pwm_failsafe) == PX4_OK) {
-				if (pwm_failsafe >= 0) {
-					_mixing_output.failsafeValue(i) = math::constrain(pwm_failsafe, (int32_t) 0, (int32_t) PWM_HIGHEST_MAX);
-
-					if (pwm_failsafe != _mixing_output.failsafeValue(i)) {
-						int32_t pwm_fail_new = _mixing_output.failsafeValue(i);
-						param_set(param_find(str), &pwm_fail_new);
-					}
-				}
-			}
-		}
-
-		// PWM_MAIN_DISx
-		{
-			sprintf(str, "%s_DIS%u", prefix, i + 1);
-			int32_t pwm_dis = -1;
-
-			if (param_get(param_find(str), &pwm_dis) == PX4_OK) {
-				if (pwm_dis >= 0 && pwm_dis != 900) {
-					_mixing_output.disarmedValue(i) = math::constrain(pwm_dis, (int32_t) 0, (int32_t) PWM_HIGHEST_MAX);
-
-					if (pwm_dis != _mixing_output.disarmedValue(i)) {
-						int32_t pwm_dis_new = _mixing_output.disarmedValue(i);
-						param_set(param_find(str), &pwm_dis_new);
-					}
-
-				} else if (pwm_default_channel_mask & 1 << i) {
-					_mixing_output.disarmedValue(i) = pwm_disarmed_default;
-				}
-			}
-
-			if (_mixing_output.disarmedValue(i) > 0) {
-				num_disarmed_set++;
-			}
-		}
-
-		// PWM_MAIN_REVx
-		{
-			sprintf(str, "%s_REV%u", prefix, i + 1);
-			int32_t pwm_rev = 0;
-
-			if (param_get(param_find(str), &pwm_rev) == PX4_OK) {
-				uint16_t &reverse_pwm_mask = _mixing_output.reverseOutputMask();
-
-				if (pwm_rev >= 1) {
-					reverse_pwm_mask = reverse_pwm_mask | (1 << i);
-
-				} else {
-					reverse_pwm_mask = reverse_pwm_mask & ~(1 << i);
-				}
-			}
-		}
-	}
-
 	if (_mixing_output.mixers()) {
 		int16_t values[FMU_MAX_ACTUATORS] {};
 
@@ -736,40 +617,6 @@ int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 		*(uint32_t *)arg = _pwm_alt_rate_channels;
 		break;
 
-	case PWM_SERVO_SET_FAILSAFE_PWM: {
-			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
-
-			/* discard if too many values are sent */
-			if (pwm->channel_count > FMU_MAX_ACTUATORS || _mixing_output.useDynamicMixing()) {
-				ret = -EINVAL;
-				break;
-			}
-
-			for (unsigned i = 0; i < pwm->channel_count; i++) {
-				if (pwm->values[i] == 0) {
-					/* ignore 0 */
-				} else if (pwm->values[i] > PWM_HIGHEST_MAX) {
-					_mixing_output.failsafeValue(i) = PWM_HIGHEST_MAX;
-
-				}
-
-#if PWM_LOWEST_MIN > 0
-
-				else if (pwm->values[i] < PWM_LOWEST_MIN) {
-					_mixing_output.failsafeValue(i) = PWM_LOWEST_MIN;
-
-				}
-
-#endif
-
-				else {
-					_mixing_output.failsafeValue(i) = pwm->values[i];
-				}
-			}
-
-			break;
-		}
-
 	case PWM_SERVO_GET_FAILSAFE_PWM: {
 			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
 
@@ -781,50 +628,6 @@ int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 			break;
 		}
 
-	case PWM_SERVO_SET_DISARMED_PWM: {
-			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
-
-			/* discard if too many values are sent */
-			if (pwm->channel_count > FMU_MAX_ACTUATORS || _mixing_output.useDynamicMixing()) {
-				ret = -EINVAL;
-				break;
-			}
-
-			for (unsigned i = 0; i < pwm->channel_count; i++) {
-				if (pwm->values[i] == 0) {
-					/* ignore 0 */
-				} else if (pwm->values[i] > PWM_HIGHEST_MAX) {
-					_mixing_output.disarmedValue(i) = PWM_HIGHEST_MAX;
-				}
-
-#if PWM_LOWEST_MIN > 0
-
-				else if (pwm->values[i] < PWM_LOWEST_MIN) {
-					_mixing_output.disarmedValue(i) = PWM_LOWEST_MIN;
-				}
-
-#endif
-
-				else {
-					_mixing_output.disarmedValue(i) = pwm->values[i];
-				}
-			}
-
-			/*
-			 * update the counter
-			 * this is needed to decide if disarmed PWM output should be turned on or not
-			 */
-			_num_disarmed_set = 0;
-
-			for (unsigned i = 0; i < FMU_MAX_ACTUATORS; i++) {
-				if (_mixing_output.disarmedValue(i) > 0) {
-					_num_disarmed_set++;
-				}
-			}
-
-			break;
-		}
-
 	case PWM_SERVO_GET_DISARMED_PWM: {
 			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
 

src/drivers/pwm_out/module.yaml

@@ -4,7 +4,7 @@ actuator_output:
     - generator: pwm
       param_prefix: '${PWM_MAIN_OR_AUX}'
       channel_labels: ['${PWM_MAIN_OR_AUX}', 'PWM Capture']
-      standard_params: 
+      standard_params:
         disarmed: { min: 800, max: 2200, default: 900 }
         min: { min: 800, max: 1400, default: 1000 }
         max: { min: 1600, max: 2200, default: 2000 }
@@ -30,4 +30,3 @@ actuator_output:
             200: PWM200
             400: PWM400
         reboot_required: true
-

src/drivers/pwm_out_sim/module.yaml

@@ -5,4 +5,3 @@ actuator_output:
     - param_prefix: ${PWM_MAIN_OR_HIL}
       channel_label: ${PWM_MAIN_OR_HIL}
       num_channels: 16
-

src/drivers/px4io/module.yaml

@@ -26,4 +26,3 @@ actuator_output:
             200: PWM200
             400: PWM400
         reboot_required: true
-

src/drivers/px4io/px4io.cpp

@@ -178,7 +178,6 @@ private:
 
 	static int checkcrc(int argc, char *argv[]);
 	static int bind(int argc, char *argv[]);
-	static int lockdown(int argc, char *argv[]);
 	static int monitor();
 
 	static constexpr int PX4IO_MAX_ACTUATORS = 8;
@@ -239,12 +238,6 @@ private:
 
 	MixingOutput _mixing_output{"PWM_MAIN", PX4IO_MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, true};
 
-	bool _pwm_min_configured{false};
-	bool _pwm_max_configured{false};
-	bool _pwm_fail_configured{false};
-	bool _pwm_dis_configured{false};
-	bool _pwm_rev_configured{false};
-
 	/**
 	 * Update IO's arming-related state
 	 */
@@ -366,11 +359,6 @@ PX4IO::PX4IO(device::Device *interface) :
 	OutputModuleInterface(MODULE_NAME, px4::serial_port_to_wq(PX4IO_SERIAL_DEVICE)),
 	_interface(interface)
 {
-	if (!_mixing_output.useDynamicMixing()) {
-		_mixing_output.setAllMinValues(PWM_DEFAULT_MIN);
-		_mixing_output.setAllMaxValues(PWM_DEFAULT_MAX);
-	}
-
 	_mixing_output.setLowrateSchedulingInterval(20_ms);
 }
 
@@ -708,7 +696,7 @@ void PX4IO::Run()
 		}
 	}
 
-	_mixing_output.updateSubscriptions(false, true);
+	_mixing_output.updateSubscriptions(true, true);
 
 	perf_end(_cycle_perf);
 }
@@ -757,11 +745,14 @@ void PX4IO::updateTimerRateGroups()
 
 void PX4IO::update_params()
 {
+	if (!_mixing_output.armed().armed) {
+		updateFailsafe();
+		updateDisarmed();
+	}
+
 	if (!_mixing_output.armed().armed && _mixing_output.useDynamicMixing()) {
 		// sync params to IO
 		updateTimerRateGroups();
-		updateFailsafe();
-		updateDisarmed();
 		return;
 	}
 
@@ -770,17 +761,11 @@ void PX4IO::update_params()
 		return;
 	}
 
-	int32_t pwm_min_default = PWM_DEFAULT_MIN;
-	int32_t pwm_max_default = PWM_DEFAULT_MAX;
-	int32_t pwm_disarmed_default = 0;
 	int32_t pwm_rate_default = 50;
 	int32_t pwm_default_channels = 0;
 
 	const char *prefix = "PWM_MAIN";
 
-	param_get(param_find("PWM_MAIN_MIN"), &pwm_min_default);
-	param_get(param_find("PWM_MAIN_MAX"), &pwm_max_default);
-	param_get(param_find("PWM_MAIN_DISARM"), &pwm_disarmed_default);
 	param_get(param_find("PWM_MAIN_RATE"), &pwm_rate_default);
 	param_get(param_find("PWM_MAIN_OUT"), &pwm_default_channels);
 
@@ -794,125 +779,6 @@ void PX4IO::update_params()
 
 	char str[17];
 
-	// PWM_MAIN_MINx
-	if (!_pwm_min_configured) {
-		for (unsigned i = 0; i < _max_actuators; i++) {
-			sprintf(str, "%s_MIN%u", prefix, i + 1);
-			int32_t pwm_min = -1;
-
-			if (param_get(param_find(str), &pwm_min) == PX4_OK) {
-				if (pwm_min >= 0 && pwm_min != 1000) {
-					_mixing_output.minValue(i) = math::constrain(pwm_min, static_cast<int32_t>(PWM_LOWEST_MIN),
-								     static_cast<int32_t>(PWM_HIGHEST_MIN));
-
-					if (pwm_min != _mixing_output.minValue(i)) {
-						int32_t pwm_min_new = _mixing_output.minValue(i);
-						param_set(param_find(str), &pwm_min_new);
-					}
-
-				} else if (pwm_default_channel_mask & 1 << i) {
-					_mixing_output.minValue(i) = pwm_min_default;
-				}
-			}
-		}
-
-		_pwm_min_configured = true;
-	}
-
-	// PWM_MAIN_MAXx
-	if (!_pwm_max_configured) {
-		for (unsigned i = 0; i < _max_actuators; i++) {
-			sprintf(str, "%s_MAX%u", prefix, i + 1);
-			int32_t pwm_max = -1;
-
-			if (param_get(param_find(str), &pwm_max) == PX4_OK) {
-				if (pwm_max >= 0 && pwm_max != 2000) {
-					_mixing_output.maxValue(i) = math::constrain(pwm_max, static_cast<int32_t>(PWM_LOWEST_MAX),
-								     static_cast<int32_t>(PWM_HIGHEST_MAX));
-
-					if (pwm_max != _mixing_output.maxValue(i)) {
-						int32_t pwm_max_new = _mixing_output.maxValue(i);
-						param_set(param_find(str), &pwm_max_new);
-					}
-
-				} else if (pwm_default_channel_mask & 1 << i) {
-					_mixing_output.maxValue(i) = pwm_max_default;
-				}
-			}
-		}
-
-		_pwm_max_configured = true;
-	}
-
-	// PWM_MAIN_FAILx
-	if (!_pwm_fail_configured) {
-		for (unsigned i = 0; i < _max_actuators; i++) {
-			sprintf(str, "%s_FAIL%u", prefix, i + 1);
-			int32_t pwm_fail = -1;
-
-			if (param_get(param_find(str), &pwm_fail) == PX4_OK) {
-				if (pwm_fail >= 0) {
-					_mixing_output.failsafeValue(i) = math::constrain(pwm_fail, static_cast<int32_t>(0),
-									  static_cast<int32_t>(PWM_HIGHEST_MAX));
-
-					if (pwm_fail != _mixing_output.failsafeValue(i)) {
-						int32_t pwm_fail_new = _mixing_output.failsafeValue(i);
-						param_set(param_find(str), &pwm_fail_new);
-					}
-				}
-			}
-		}
-
-		_pwm_fail_configured = true;
-		updateFailsafe();
-	}
-
-	// PWM_MAIN_DISx
-	if (!_pwm_dis_configured) {
-		for (unsigned i = 0; i < _max_actuators; i++) {
-			sprintf(str, "%s_DIS%u", prefix, i + 1);
-			int32_t pwm_dis = -1;
-
-			if (param_get(param_find(str), &pwm_dis) == PX4_OK) {
-				if (pwm_dis >= 0 && pwm_dis != 900) {
-					_mixing_output.disarmedValue(i) = math::constrain(pwm_dis, static_cast<int32_t>(0),
-									  static_cast<int32_t>(PWM_HIGHEST_MAX));
-
-					if (pwm_dis != _mixing_output.disarmedValue(i)) {
-						int32_t pwm_dis_new = _mixing_output.disarmedValue(i);
-						param_set(param_find(str), &pwm_dis_new);
-					}
-
-				} else if (pwm_default_channel_mask & 1 << i) {
-					_mixing_output.disarmedValue(i) = pwm_disarmed_default;
-				}
-			}
-		}
-
-		_pwm_dis_configured = true;
-		updateDisarmed();
-	}
-
-	// PWM_MAIN_REVx
-	if (!_pwm_rev_configured) {
-		uint16_t &reverse_pwm_mask = _mixing_output.reverseOutputMask();
-		reverse_pwm_mask = 0;
-
-		for (unsigned i = 0; i < _max_actuators; i++) {
-			sprintf(str, "%s_REV%u", prefix, i + 1);
-			int32_t pwm_rev = -1;
-
-			if (param_get(param_find(str), &pwm_rev) == PX4_OK) {
-				if (pwm_rev >= 1) {
-					reverse_pwm_mask |= (1 << i);
-				}
-
-			}
-		}
-
-		_pwm_rev_configured = true;
-	}
-
 	// PWM_MAIN_TRIMx
 	if (_mixing_output.mixers()) {
 		int16_t values[8] {};
@@ -1508,7 +1374,7 @@ int PX4IO::print_status()
 	uORB::SubscriptionData<px4io_status_s> status_sub{ORB_ID(px4io_status)};
 	status_sub.update();
 
-	print_message(status_sub.get());
+	print_message(ORB_ID(px4io_status), status_sub.get());
 
 	/* now clear alarms */
 	io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, 0x0000);
@@ -1648,27 +1514,6 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 		*(unsigned *)arg = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES);
 		break;
 
-	case PWM_SERVO_SET_FAILSAFE_PWM: {
-			PX4_DEBUG("PWM_SERVO_SET_FAILSAFE_PWM");
-			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
-
-			if (pwm->channel_count > _max_actuators)
-				/* fail with error */
-			{
-				return -E2BIG;
-			}
-
-			for (unsigned i = 0; i < pwm->channel_count; i++) {
-				if (pwm->values[i] != 0 && !_mixing_output.useDynamicMixing()) {
-					_mixing_output.failsafeValue(i) = math::constrain(pwm->values[i], (uint16_t)PWM_LOWEST_MIN, (uint16_t)PWM_HIGHEST_MAX);
-				}
-			}
-
-			updateFailsafe();
-
-			break;
-		}
-
 	case PWM_SERVO_GET_FAILSAFE_PWM: {
 			PX4_DEBUG("PWM_SERVO_GET_FAILSAFE_PWM");
 			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
@@ -1683,26 +1528,6 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 			break;
 		}
 
-	case PWM_SERVO_SET_DISARMED_PWM: {
-			PX4_DEBUG("PWM_SERVO_SET_DISARMED_PWM");
-			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
-
-			if (pwm->channel_count > _max_actuators) {
-				/* fail with error */
-				return -E2BIG;
-			}
-
-			for (unsigned i = 0; i < pwm->channel_count; i++) {
-				if (pwm->values[i] != 0 && !_mixing_output.useDynamicMixing()) {
-					_mixing_output.disarmedValue(i) = math::constrain(pwm->values[i], (uint16_t)PWM_LOWEST_MIN, (uint16_t)PWM_HIGHEST_MAX);
-				}
-			}
-
-			updateDisarmed();
-
-			break;
-		}
-
 	case PWM_SERVO_GET_DISARMED_PWM: {
 			PX4_DEBUG("PWM_SERVO_GET_DISARMED_PWM");
 			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
@@ -1794,16 +1619,6 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 		*(unsigned *)arg = _max_actuators;
 		break;
 
-	case PWM_SERVO_SET_DISABLE_LOCKDOWN:
-		PX4_DEBUG("PWM_SERVO_SET_DISABLE_LOCKDOWN");
-		_lockdown_override = arg;
-		break;
-
-	case PWM_SERVO_GET_DISABLE_LOCKDOWN:
-		PX4_DEBUG("PWM_SERVO_GET_DISABLE_LOCKDOWN");
-		*(unsigned *)arg = _lockdown_override;
-		break;
-
 	case PWM_SERVO_SET_FORCE_SAFETY_OFF:
 		PX4_DEBUG("PWM_SERVO_SET_FORCE_SAFETY_OFF");
 		/* force safety swith off */
@@ -1816,36 +1631,6 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 		ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC);
 		break;
 
-	case PWM_SERVO_SET_FORCE_FAILSAFE:
-		PX4_DEBUG("PWM_SERVO_SET_FORCE_FAILSAFE");
-
-		/* force failsafe mode instantly */
-		if (arg == 0) {
-			/* clear force failsafe flag */
-			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE, 0);
-
-		} else {
-			/* set force failsafe flag */
-			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE);
-		}
-
-		break;
-
-	case PWM_SERVO_SET_TERMINATION_FAILSAFE:
-		PX4_DEBUG("PWM_SERVO_SET_TERMINATION_FAILSAFE");
-
-		/* if failsafe occurs, do not allow the system to recover */
-		if (arg == 0) {
-			/* clear termination failsafe flag */
-			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE, 0);
-
-		} else {
-			/* set termination failsafe flag */
-			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE);
-		}
-
-		break;
-
 	case DSM_BIND_START:
 		/* bind a DSM receiver */
 		ret = dsm_bind_ioctl(arg);
@@ -2211,60 +1996,6 @@ int PX4IO::monitor()
 	return 0;
 }
 
-int PX4IO::lockdown(int argc, char *argv[])
-{
-	if (argc > 1 && !strcmp(argv[1], "disable")) {
-
-		PX4_WARN("WARNING: ACTUATORS WILL BE LIVE IN HIL! PROCEED?");
-		PX4_WARN("Press 'y' to enable, any other key to abort.");
-
-		/* check if user wants to abort */
-		char c;
-
-		struct pollfd fds;
-		int ret;
-		hrt_abstime start = hrt_absolute_time();
-		const unsigned long timeout = 5000000;
-
-		while (hrt_elapsed_time(&start) < timeout) {
-			fds.fd = 0; /* stdin */
-			fds.events = POLLIN;
-			ret = ::poll(&fds, 1, 0);
-
-			if (ret > 0) {
-
-				if (::read(0, &c, 1) > 0) {
-
-					if (c != 'y') {
-						return 0;
-
-					} else if (c == 'y') {
-						break;
-					}
-				}
-			}
-
-			px4_usleep(10000);
-		}
-
-		if (hrt_elapsed_time(&start) > timeout) {
-			PX4_ERR("TIMEOUT! ABORTED WITHOUT CHANGES.");
-			return 1;
-		}
-
-		get_instance()->ioctl(0, PWM_SERVO_SET_DISABLE_LOCKDOWN, 1);
-
-		PX4_WARN("ACTUATORS ARE NOW LIVE IN HIL!");
-
-	} else {
-		get_instance()->ioctl(0, PWM_SERVO_SET_DISABLE_LOCKDOWN, 0);
-		PX4_WARN("ACTUATORS ARE NOW SAFE IN HIL.");
-	}
-
-	return 0;
-}
-
-
 int PX4IO::task_spawn(int argc, char *argv[])
 {
 	device::Device *interface = get_interface();
@@ -2468,10 +2199,6 @@ int PX4IO::custom_command(int argc, char *argv[])
 		return bind(argc - 1, argv + 1);
 	}
 
-	if (!strcmp(verb, "lockdown")) {
-		return lockdown(argc, argv);
-	}
-
 	if (!strcmp(verb, "sbus1_out")) {
 		int ret = get_instance()->ioctl(nullptr, SBUS_SET_PROTO_VERSION, 1);
 
@@ -2534,8 +2261,6 @@ Output driver communicating with the IO co-processor.
 	PRINT_MODULE_USAGE_COMMAND_DESCR("monitor", "continuously monitor status");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("bind", "DSM bind");
 	PRINT_MODULE_USAGE_ARG("dsm2|dsmx|dsmx8", "protocol", false);
-	PRINT_MODULE_USAGE_COMMAND_DESCR("lockdown", "enable (or disable) lockdown");
-	PRINT_MODULE_USAGE_ARG("disable", "disable lockdown", true);
 	PRINT_MODULE_USAGE_COMMAND_DESCR("sbus1_out", "enable sbus1 out");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("sbus2_out", "enable sbus2 out");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("test_fmu_fail", "test: turn off IO updates");

src/drivers/rc_input/RCInput.cpp

@@ -861,7 +861,7 @@ int RCInput::print_status()
 	perf_print_counter(_publish_interval_perf);
 
 	if (hrt_elapsed_time(&_rc_in.timestamp) < 1_s) {
-		print_message(_rc_in);
+		print_message(ORB_ID(input_rc), _rc_in);
 	}
 
 	return 0;

src/drivers/rpm/rpm_simulator/rpm_simulator.cpp

@@ -72,7 +72,7 @@ int rpm_simulator_main(int argc, char *argv[])
 
 	// Publish data and let the user know what was published
 	rpm_pub.publish(rpm);
-	print_message(rpm);
+	print_message(ORB_ID(rpm), rpm);
 
 	return 0;
 }

src/drivers/tap_esc/CMakeLists.txt

@@ -50,4 +50,3 @@ px4_add_module(
 		output_limit
 		tunes
 	)
-

src/drivers/tap_esc/module.yaml

@@ -4,4 +4,3 @@ actuator_output:
     - param_prefix: TAP_ESC
       channel_label: 'TAP ESC'
       num_channels: 8
-

src/drivers/uavcan/module.yaml

@@ -17,4 +17,3 @@ actuator_output:
         max: { min: 0, max: 1000, default: 1000 }
         failsafe: { min: 0, max: 1000 }
       num_channels: 8
-

src/drivers/uavcan/sensors/sensor_bridge.cpp

@@ -56,28 +56,89 @@
  */
 void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge *> &list)
 {
-	list.add(new UavcanBarometerBridge(node));
-	list.add(new UavcanMagnetometerBridge(node));
-	list.add(new UavcanGnssBridge(node));
-	list.add(new UavcanFlowBridge(node));
+	// airspeed
+	int32_t uavcan_sub_aspd = 1;
+	param_get(param_find("UAVCAN_SUB_ASPD"), &uavcan_sub_aspd);
 
-	int32_t bat_monitor;
-	param_t _param_bat_monitor = param_find("UAVCAN_BAT_MON");
-	param_get(_param_bat_monitor, &bat_monitor);
+	if (uavcan_sub_aspd != 0) {
+		list.add(new UavcanAirspeedBridge(node));
+	}
 
-	if (bat_monitor == 0) {
+	// baro
+	int32_t uavcan_sub_baro = 1;
+	param_get(param_find("UAVCAN_SUB_BARO"), &uavcan_sub_baro);
+
+	if (uavcan_sub_baro != 0) {
+		list.add(new UavcanBarometerBridge(node));
+	}
+
+	// battery
+	int32_t uavcan_sub_bat = 1;
+	param_get(param_find("UAVCAN_SUB_BAT"), &uavcan_sub_bat);
+
+	if (uavcan_sub_bat == 1) {
 		list.add(new UavcanBatteryBridge(node));
 
-	} else if (bat_monitor == 1) {
+	} else if (uavcan_sub_bat == 2) {
 		list.add(new UavcanCBATBridge(node));
 	}
 
-	list.add(new UavcanAirspeedBridge(node));
-	list.add(new UavcanDifferentialPressureBridge(node));
-	list.add(new UavcanRangefinderBridge(node));
-	list.add(new UavcanAccelBridge(node));
-	list.add(new UavcanGyroBridge(node));
-	list.add(new UavcanIceStatusBridge(node));
+	// differential pressure
+	int32_t uavcan_sub_dpres = 1;
+	param_get(param_find("UAVCAN_SUB_DPRES"), &uavcan_sub_dpres);
+
+	if (uavcan_sub_dpres != 0) {
+		list.add(new UavcanDifferentialPressureBridge(node));
+	}
+
+	// flow
+	int32_t uavcan_sub_flow = 1;
+	param_get(param_find("UAVCAN_SUB_FLOW"), &uavcan_sub_flow);
+
+	if (uavcan_sub_flow != 0) {
+		list.add(new UavcanFlowBridge(node));
+	}
+
+	// GPS
+	int32_t uavcan_sub_gps = 1;
+	param_get(param_find("UAVCAN_SUB_GPS"), &uavcan_sub_gps);
+
+	if (uavcan_sub_gps != 0) {
+		list.add(new UavcanGnssBridge(node));
+	}
+
+	// ice (internal combustion engine)
+	int32_t uavcan_sub_ice = 1;
+	param_get(param_find("UAVCAN_SUB_ICE"), &uavcan_sub_ice);
+
+	if (uavcan_sub_ice != 0) {
+		list.add(new UavcanIceStatusBridge(node));
+	}
+
+	// IMU
+	int32_t uavcan_sub_imu = 1;
+	param_get(param_find("UAVCAN_SUB_IMU"), &uavcan_sub_imu);
+
+	if (uavcan_sub_imu != 0) {
+		list.add(new UavcanAccelBridge(node));
+		list.add(new UavcanGyroBridge(node));
+	}
+
+	// magnetometer
+	int32_t uavcan_sub_mag = 1;
+	param_get(param_find("UAVCAN_SUB_MAG"), &uavcan_sub_mag);
+
+	if (uavcan_sub_mag != 0) {
+		list.add(new UavcanMagnetometerBridge(node));
+	}
+
+	// range finder
+	int32_t uavcan_sub_rng = 1;
+	param_get(param_find("UAVCAN_SUB_RNG"), &uavcan_sub_rng);
+
+	if (uavcan_sub_rng != 0) {
+		list.add(new UavcanRangefinderBridge(node));
+	}
 }
 
 /*

src/drivers/uavcan/sensors/sensor_bridge.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2014, 2015 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2014-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

src/drivers/uavcan/uavcan_main.cpp

@@ -676,17 +676,6 @@ UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events)
 		return -EINVAL;
 	}
 
-	_mixing_interface_esc.mixingOutput().setAllDisarmedValues(UavcanEscController::DISARMED_OUTPUT_VALUE);
-
-	if (!_mixing_interface_esc.mixingOutput().useDynamicMixing()) {
-		// these are configurable with dynamic mixing
-		_mixing_interface_esc.mixingOutput().setAllMinValues(0); // Can be changed to 1 later, according to UAVCAN_ESC_IDLT
-		_mixing_interface_esc.mixingOutput().setAllMaxValues(UavcanEscController::max_output_value());
-
-		param_get(param_find("UAVCAN_ESC_IDLT"), &_idle_throttle_when_armed_param);
-		enable_idle_throttle_when_armed(true);
-	}
-
 	/*  Start the Node   */
 	return _node.start();
 }
@@ -791,10 +780,6 @@ UavcanNode::Run()
 
 	node_spin_once(); // expected to be non-blocking
 
-	// Check arming state
-	const actuator_armed_s &armed = _mixing_interface_esc.mixingOutput().armed();
-	enable_idle_throttle_when_armed(!armed.soft_stop);
-
 	// check for parameter updates
 	if (_parameter_update_sub.updated()) {
 		// clear update
@@ -838,19 +823,6 @@ UavcanNode::Run()
 	}
 }
 
-void
-UavcanNode::enable_idle_throttle_when_armed(bool value)
-{
-	value &= _idle_throttle_when_armed_param > 0;
-
-	if (!_mixing_interface_esc.mixingOutput().useDynamicMixing()) {
-		if (value != _idle_throttle_when_armed) {
-			_mixing_interface_esc.mixingOutput().setAllMinValues(value ? 1 : 0);
-			_idle_throttle_when_armed = value;
-		}
-	}
-}
-
 int
 UavcanNode::teardown()
 {

src/drivers/uavcan/uavcan_main.hpp

@@ -216,8 +216,6 @@ private:
 	void		set_setget_response(uavcan::protocol::param::GetSet::Response *resp) { _setget_response = resp; }
 	void		free_setget_response(void) { _setget_response = nullptr; }
 
-	void enable_idle_throttle_when_armed(bool value);
-
 	px4::atomic_bool	_task_should_exit{false};	///< flag to indicate to tear down the CAN driver
 	px4::atomic<int>	_fw_server_action{None};
 	int			 _fw_server_status{-1};

src/drivers/uavcan/uavcan_params.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2014-2017 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2014-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -77,15 +77,6 @@ PARAM_DEFINE_INT32(UAVCAN_NODE_ID, 1);
  */
 PARAM_DEFINE_INT32(UAVCAN_BITRATE, 1000000);
 
-/**
- * UAVCAN ESC will spin at idle throttle when armed, even if the mixer outputs zero setpoints.
- *
- * @boolean
- * @reboot_required true
- * @group UAVCAN
- */
-PARAM_DEFINE_INT32(UAVCAN_ESC_IDLT, 1);
-
 /**
  * UAVCAN rangefinder minimum range
  *
@@ -195,18 +186,131 @@ PARAM_DEFINE_INT32(UAVCAN_LGT_NAV, 3);
 PARAM_DEFINE_INT32(UAVCAN_LGT_LAND, 0);
 
 /**
- * UAVCAN BATTERY_MONITOR battery monitor selection
+ * subscription airspeed
  *
- * This parameter defines that the system will select the battery monitor under the following conditions
+ * Enable UAVCAN airspeed subscriptions.
+ *  uavcan::equipment::air_data::IndicatedAirspeed
+ *  uavcan::equipment::air_data::TrueAirspeed
+ *  uavcan::equipment::air_data::StaticTemperature
  *
- *  0 - default battery monitor
- *  1 - CUAV battery monitor
- *
- * @min 0
- * @max 1
- * @value 0 default battery monitor
- * @value 1 CUAV battery monitor
+ * @boolean
  * @reboot_required true
  * @group UAVCAN
  */
-PARAM_DEFINE_INT32(UAVCAN_BAT_MON, 0);
+PARAM_DEFINE_INT32(UAVCAN_SUB_ASPD, 0);
+
+/**
+ * subscription barometer
+ *
+ * Enable UAVCAN barometer subscription.
+ *  uavcan::equipment::air_data::StaticPressure
+ *  uavcan::equipment::air_data::StaticTemperature
+ *
+ * @boolean
+ * @reboot_required true
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(UAVCAN_SUB_BARO, 0);
+
+/**
+ * subscription battery
+ *
+ * Enable UAVCAN battery subscription.
+ *  1) uavcan::equipment::power::BatteryInfo
+ *  2) cuav::equipment::power::CBAT
+ *
+ * @min 0
+ * @max 2
+ * @value 0 disabled
+ * @value 1 default
+ * @value 2 CUAV battery monitor
+ * @reboot_required true
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(UAVCAN_SUB_BAT, 0);
+
+/**
+ * subscription differential pressure
+ *
+ * Enable UAVCAN differential pressure subscription.
+ *  uavcan::equipment::air_data::RawAirData
+ *
+ * @boolean
+ * @reboot_required true
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(UAVCAN_SUB_DPRES, 0);
+
+/**
+ * subscription flow
+ *
+ * Enable UAVCAN optical flow subscription.
+ *
+ * @boolean
+ * @reboot_required true
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(UAVCAN_SUB_FLOW, 0);
+
+/**
+ * subscription GPS
+ *
+ * Enable UAVCAN GPS subscriptions.
+ *  uavcan::equipment::gnss::Fix
+ *  uavcan::equipment::gnss::Fix2
+ *  uavcan::equipment::gnss::Auxiliary
+ *
+ * @boolean
+ * @reboot_required true
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(UAVCAN_SUB_GPS, 1);
+
+/**
+ * subscription ICE
+ *
+ * Enable UAVCAN internal combusion engine (ICE) subscription.
+ *  uavcan::equipment::ice::reciprocating::Status
+ *
+ * @boolean
+ * @reboot_required true
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(UAVCAN_SUB_ICE, 0);
+
+/**
+ * subscription IMU
+ *
+ * Enable UAVCAN IMU subscription.
+ *  uavcan::equipment::ahrs::RawIMU
+ *
+ * @boolean
+ * @reboot_required true
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(UAVCAN_SUB_IMU, 0);
+
+/**
+ * subscription magnetometer
+ *
+ * Enable UAVCAN GPS subscription.
+ *  uavcan::equipment::ahrs::MagneticFieldStrength
+ *  uavcan::equipment::ahrs::MagneticFieldStrength2
+ *
+ * @boolean
+ * @reboot_required true
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(UAVCAN_SUB_MAG, 1);
+
+/**
+ * subscription range finder
+ *
+ * Enable UAVCAN GPS subscription.
+ *  uavcan::equipment::range_sensor::Measurement
+ *
+ * @boolean
+ * @reboot_required true
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(UAVCAN_SUB_RNG, 0);

src/drivers/uavcan_v1/Subscribers/legacy/LegacyBatteryInfo.hpp

@@ -120,7 +120,7 @@ public:
 
 
 		_battery_status_pub.publish(bat_status);
-		print_message(bat_status);
+		print_message(ORB_ID(battery_status), bat_status);
 	};
 
 private:

src/lib/component_information/CMakeLists.txt

@@ -89,6 +89,3 @@ add_custom_command(OUTPUT ${component_general_json} ${component_general_json}.xz
 	COMMENT "Generating component_general.json and checksums.h"
 )
 add_custom_target(component_general_json DEPENDS ${component_general_json})
-
-
-

src/lib/events/CMakeLists.txt

@@ -110,4 +110,3 @@ add_custom_command(OUTPUT ${generated_events_header}
 )
 add_custom_target(events_header DEPENDS ${generated_events_header})
 add_dependencies(prebuild_targets events_header)
-

src/lib/mixer_module/functions.hpp

@@ -240,4 +240,3 @@ private:
 	uORB::Subscription _topic{ORB_ID(actuator_controls_2)};
 	float _data[3] { NAN, NAN, NAN };
 };
-

src/lib/mixer_module/generate_function_header.py

@@ -72,4 +72,3 @@ enum class OutputFunction : int32_t {{
 {2}
 }};
 '''.format(os.path.basename(__file__), yaml_file, function_defs))
-

src/lib/mixer_module/mixer_module.cpp

@@ -104,15 +104,13 @@ _param_prefix(param_prefix)
 
 	_use_dynamic_mixing = _param_sys_ctrl_alloc.get();
 
-	if (_use_dynamic_mixing) {
-		initParamHandles();
+	initParamHandles();
 
-		for (unsigned i = 0; i < MAX_ACTUATORS; i++) {
-			_failsafe_value[i] = UINT16_MAX;
-		}
-
-		updateParams();
+	for (unsigned i = 0; i < MAX_ACTUATORS; i++) {
+		_failsafe_value[i] = UINT16_MAX;
 	}
+
+	updateParams();
 }
 
 MixingOutput::~MixingOutput()
@@ -129,8 +127,6 @@ void MixingOutput::initParamHandles()
 	char param_name[17];
 
 	for (unsigned i = 0; i < _max_num_outputs; ++i) {
-		snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "FUNC", i + 1);
-		_param_handles[i].function = param_find(param_name);
 		snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "DIS", i + 1);
 		_param_handles[i].disarmed = param_find(param_name);
 		snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "MIN", i + 1);
@@ -140,6 +136,13 @@ void MixingOutput::initParamHandles()
 		snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "FAIL", i + 1);
 		_param_handles[i].failsafe = param_find(param_name);
 	}
+
+	if (_use_dynamic_mixing) {
+		for (unsigned i = 0; i < _max_num_outputs; ++i) {
+			snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "FUNC", i + 1);
+			_param_handles[i].function = param_find(param_name);
+		}
+	}
 }
 
 void MixingOutput::printStatus() const
@@ -190,13 +193,40 @@ void MixingOutput::updateParams()
 		_mixers->set_airmode((Mixer::Airmode)_param_mc_airmode.get());
 	}
 
+	_reverse_output_mask = 0;
+
+	for (unsigned i = 0; i < _max_num_outputs; i++) {
+		int32_t val;
+
+		if (_param_handles[i].disarmed != PARAM_INVALID && param_get(_param_handles[i].disarmed, &val) == 0) {
+			_disarmed_value[i] = val;
+		}
+
+		if (_param_handles[i].min != PARAM_INVALID && param_get(_param_handles[i].min, &val) == 0) {
+			_min_value[i] = val;
+		}
+
+		if (_param_handles[i].max != PARAM_INVALID && param_get(_param_handles[i].max, &val) == 0) {
+			_max_value[i] = val;
+		}
+
+		if (_min_value[i] > _max_value[i]) {
+			_reverse_output_mask |= 1 << i;
+			uint16_t tmp = _min_value[i];
+			_min_value[i] = _max_value[i];
+			_max_value[i] = tmp;
+		}
+
+		if (_param_handles[i].failsafe != PARAM_INVALID && param_get(_param_handles[i].failsafe, &val) == 0) {
+			_failsafe_value[i] = val;
+		}
+	}
+
 	if (_use_dynamic_mixing) {
 		_param_mot_ordering.set(0); // not used with dynamic mixing
 
 		bool function_changed = false;
 
-		_reverse_output_mask = 0;
-
 		for (unsigned i = 0; i < _max_num_outputs; i++) {
 			int32_t val;
 
@@ -207,29 +237,6 @@ void MixingOutput::updateParams()
 
 				// we set _function_assignment[i] later to ensure _functions[i] is updated at the same time
 			}
-
-			if (_param_handles[i].disarmed != PARAM_INVALID && param_get(_param_handles[i].disarmed, &val) == 0) {
-				_disarmed_value[i] = val;
-			}
-
-			if (_param_handles[i].min != PARAM_INVALID && param_get(_param_handles[i].min, &val) == 0) {
-				_min_value[i] = val;
-			}
-
-			if (_param_handles[i].max != PARAM_INVALID && param_get(_param_handles[i].max, &val) == 0) {
-				_max_value[i] = val;
-			}
-
-			if (_min_value[i] > _max_value[i]) {
-				_reverse_output_mask |= 1 << i;
-				uint16_t tmp = _min_value[i];
-				_min_value[i] = _max_value[i];
-				_max_value[i] = tmp;
-			}
-
-			if (_param_handles[i].failsafe != PARAM_INVALID && param_get(_param_handles[i].failsafe, &val) == 0) {
-				_failsafe_value[i] = val;
-			}
 		}
 
 		if (function_changed) {
@@ -1067,6 +1074,11 @@ void MixingOutput::handleCommands()
 
 void MixingOutput::resetMixerThreadSafe()
 {
+	if (_use_dynamic_mixing) {
+		PX4_ERR("mixer reset unavailable, not using static mixers");
+		return;
+	}
+
 	if ((Command::Type)_command.command.load() != Command::Type::None) {
 		// Cannot happen, because we expect only one other thread to call this.
 		// But as a safety precaution we return here.
@@ -1091,6 +1103,11 @@ void MixingOutput::resetMixerThreadSafe()
 
 int MixingOutput::loadMixerThreadSafe(const char *buf, unsigned len)
 {
+	if (_use_dynamic_mixing) {
+		PX4_ERR("mixer load unavailable, not using static mixers");
+		return -1;
+	}
+
 	if ((Command::Type)_command.command.load() != Command::Type::None) {
 		// Cannot happen, because we expect only one other thread to call this.
 		// But as a safety precaution we return here.

src/lib/parameters/param_translation.cpp

@@ -155,29 +155,6 @@ bool param_modify_on_import(bson_node_t node)
 		}
 	}
 
-	// 2021-01-31 (v1.12 alpha): translate PWM_MIN/PWM_MAX/PWM_DISARMED to PWM_MAIN
-	{
-		if (strcmp("PWM_MIN", node->name) == 0) {
-			strcpy(node->name, "PWM_MAIN_MIN");
-			PX4_INFO("copying %s -> %s", "PWM_MIN", "PWM_MAIN_MIN");
-		}
-
-		if (strcmp("PWM_MAX", node->name) == 0) {
-			strcpy(node->name, "PWM_MAIN_MAX");
-			PX4_INFO("copying %s -> %s", "PWM_MAX", "PWM_MAIN_MAX");
-		}
-
-		if (strcmp("PWM_RATE", node->name) == 0) {
-			strcpy(node->name, "PWM_MAIN_RATE");
-			PX4_INFO("copying %s -> %s", "PWM_RATE", "PWM_MAIN_RATE");
-		}
-
-		if (strcmp("PWM_DISARMED", node->name) == 0) {
-			strcpy(node->name, "PWM_MAIN_DISARM");
-			PX4_INFO("copying %s -> %s", "PWM_DISARMED", "PWM_MAIN_DISARM");
-		}
-	}
-
 	// 2021-04-30: translate ASPD_STALL to FW_AIRSPD_STALL
 	{
 		if (strcmp("ASPD_STALL", node->name) == 0) {

src/lib/pwm/pwm_aux_params.yaml

@@ -29,40 +29,6 @@ parameters:
             max: 2000
             default: 50
 
-        PWM_AUX_MIN:
-            description:
-                short: PWM aux minimum value
-                long: |
-                    Set to 1000 for industry default or 900 to increase servo travel.
-            type: int32
-            unit: us
-            min: 800
-            max: 1400
-            default: 1000
-
-        PWM_AUX_MAX:
-            description:
-                short: PWM aux maximum value
-                long: |
-                    Set to 2000 for industry default or 2100 to increase servo travel.
-            type: int32
-            unit: us
-            min: 1600
-            max: 2200
-            default: 2000
-
-        PWM_AUX_DISARM:
-            description:
-                short: PWM aux disarmed value
-                long: |
-                    This is the PWM pulse the autopilot is outputting if not armed.
-                    The main use of this parameter is to silence ESCs when they are disarmed.
-            type: int32
-            unit: us
-            min: 0
-            max: 2200
-            default: 1500
-
         PWM_AUX_TRIM${i}:
             description:
                 short: PWM aux ${i} trim value
@@ -75,27 +41,3 @@ parameters:
             num_instances: *max_num_config_instances
             instance_start: 1
             default: 0
-
-        PWM_AUX_REV${i}:
-            description:
-                short: PWM aux ${i} reverse value
-                long: |
-                    Enable to invert the channel.
-                    Warning: Use this parameter when connected to a servo only.
-                    For a brushless motor, invert manually two phases to reverse the direction.
-            type: boolean
-            num_instances: *max_num_config_instances
-            instance_start: 1
-            default: 0
-
-        PWM_AUX_RATE${i}:
-            description:
-                short: PWM aux ${i} rate
-                long: |
-                    Set the default PWM output frequency for the aux outputs
-            type: int32
-            unit: Hz
-            min: 0
-            max: 400
-            instance_start: 1
-            default: 50

src/lib/pwm/pwm_extra_params.yaml

@@ -121,27 +121,3 @@ parameters:
             num_instances: *max_num_config_instances
             instance_start: 1
             default: 0
-
-        PWM_EXTRA_REV${i}:
-            description:
-                short: PWM extra ${i} reverse value
-                long: |
-                    Enable to invert the channel.
-                    Warning: Use this parameter when connected to a servo only.
-                    For a brushless motor, invert manually two phases to reverse the direction.
-            type: boolean
-            num_instances: *max_num_config_instances
-            instance_start: 1
-            default: 0
-
-        PWM_EXTRA_RATE${i}:
-            description:
-                short: PWM extra ${i} rate
-                long: |
-                    Set the default PWM output frequency for the main outputs
-            type: int32
-            unit: Hz
-            min: 0
-            max: 400
-            instance_start: 1
-            default: 50

src/lib/pwm/pwm_main_params.yaml

@@ -29,40 +29,6 @@ parameters:
             max: 2000
             default: 400
 
-        PWM_MAIN_MIN:
-            description:
-                short: PWM main minimum value
-                long: |
-                    Set to 1000 for industry default or 900 to increase servo travel.
-            type: int32
-            unit: us
-            min: 800
-            max: 1400
-            default: 1000
-
-        PWM_MAIN_MAX:
-            description:
-                short: PWM main maximum value
-                long: |
-                    Set to 2000 for industry default or 2100 to increase servo travel.
-            type: int32
-            unit: us
-            min: 1600
-            max: 2200
-            default: 2000
-
-        PWM_MAIN_DISARM:
-            description:
-                short: PWM main disarmed value
-                long: |
-                    This is the PWM pulse the autopilot is outputting if not armed.
-                    The main use of this parameter is to silence ESCs when they are disarmed.
-            type: int32
-            unit: us
-            min: 0
-            max: 2200
-            default: 900
-
         PWM_MAIN_TRIM${i}:
             description:
                 short: PWM main ${i} trim value
@@ -75,27 +41,3 @@ parameters:
             num_instances: *max_num_config_instances
             instance_start: 1
             default: 0
-
-        PWM_MAIN_REV${i}:
-            description:
-                short: PWM main ${i} reverse value
-                long: |
-                    Enable to invert the channel.
-                    Warning: Use this parameter when connected to a servo only.
-                    For a brushless motor, invert manually two phases to reverse the direction.
-            type: boolean
-            num_instances: *max_num_config_instances
-            instance_start: 1
-            default: 0
-
-        PWM_MAIN_RATE${i}:
-            description:
-                short: PWM main ${i} rate
-                long: |
-                    Set the default PWM output frequency for the main outputs
-            type: int32
-            unit: Hz
-            min: 0
-            max: 400
-            instance_start: 1
-            default: 50

src/lib/systemlib/system_params.c

@@ -281,4 +281,3 @@ PARAM_DEFINE_INT32(SYS_FAILURE_EN, 0);
  * @group System
  */
 PARAM_DEFINE_INT32(SYS_CTRL_ALLOC, 0);
-

src/modules/airship_att_control/airship_att_control_main.cpp

@@ -170,7 +170,7 @@ int AirshipAttitudeControl::print_status()
 
 	perf_print_counter(_loop_perf);
 
-	print_message(_actuators);
+	print_message(ORB_ID(actuator_controls), _actuators);
 
 	return 0;
 }

src/modules/commander/Commander.cpp

@@ -2036,13 +2036,6 @@ Commander::run()
 					_status_flags.vtol_transition_failure = _vtol_status.vtol_transition_failsafe;
 					_status_changed = true;
 				}
-
-				const bool should_soft_stop = (_status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROTARY_WING);
-
-				if (_armed.soft_stop != should_soft_stop) {
-					_armed.soft_stop = should_soft_stop;
-					_status_changed = true;
-				}
 			}
 		}
 

src/modules/ekf2/EKF/matlab/EKF_replay/Common/EulToQuat.m

@@ -19,5 +19,3 @@ quaterion(3,1) = (cosPhi*sinTheta*cosPsi + sinPhi*cosTheta*sinPsi);
 quaterion(4,1) = (cosPhi*cosTheta*sinPsi - sinPhi*sinTheta*cosPsi);
 
 return;
-
-   

src/modules/ekf2/EKF/matlab/EKF_replay/Common/Quat2Tbn.m

@@ -8,7 +8,7 @@ q0 = quat(1);
 q1 = quat(2);
 q2 = quat(3);
 q3 = quat(4);
-  
+
 Tbn = [q0^2 + q1^2 - q2^2 - q3^2, 2*(q1*q2 - q0*q3), 2*(q1*q3 + q0*q2); ...
      2*(q1*q2 + q0*q3), q0^2 - q1^2 + q2^2 - q3^2, 2*(q2*q3 - q0*q1); ...
-     2*(q1*q3-q0*q2), 2*(q2*q3 + q0*q1), q0^2 - q1^2 - q2^2 + q3^2];
+     2*(q1*q3-q0*q2), 2*(q2*q3 + q0*q1), q0^2 - q1^2 - q2^2 + q3^2];

src/modules/ekf2/EKF/matlab/EKF_replay/Common/QuatMult.m

@@ -1,5 +1,5 @@
 function quatOut = QuatMult(quatA,quatB)
-% Calculate the following quaternion product quatA * quatB using the 
+% Calculate the following quaternion product quatA * quatB using the
 % standard identity 
 
 quatOut = [quatA(1)*quatB(1)-quatA(2:4)'*quatB(2:4); quatA(1)*quatB(2:4) + quatB(1)*quatA(2:4) + cross(quatA(2:4),quatB(2:4))];

src/modules/ekf2/EKF/matlab/EKF_replay/Filter/AlignHeading.m

@@ -1,6 +1,6 @@
 function quat = AlignHeading( ...
     quat, ... % quaternion state vector
-    magMea, ... % body frame magnetic flux measurements 
+    magMea, ... % body frame magnetic flux measurements
     declination)  % Estimated magnetic field delination at current location (rad)
 
 % Get the Euler angles and set yaw to zero
@@ -20,4 +20,4 @@ euler(3) = declination - atan2(magMeasNED(2),magMeasNED(1));
 % convert to a quaternion
 quat = EulToQuat(euler);
 
-end
+end

src/modules/ekf2/EKF/matlab/EKF_replay/Filter/FuseBodyVel.m

@@ -28,7 +28,7 @@ relVelBodyPred = transpose(Tbn)*[vn;ve;vd];
 
 % calculate the observation jacobian, innovation variance and innovation
 for obsIndex = 1:3
-    
+
     % Calculate corrections using X component
     if (obsIndex == 1)
         H(1,:) = calcH_VELX(q0,q1,q2,q3,vd,ve,vn);
@@ -53,30 +53,30 @@ end
 for obsIndex = 1:3
 
     Kfusion = (P*transpose(H(obsIndex,:)))/varInnov(obsIndex);
-    
+
     % correct the state vector
     states = states - Kfusion * innovation(obsIndex);
-    
+
     % normalise the updated quaternion states
     quatMag = sqrt(states(1)^2 + states(2)^2 + states(3)^2 + states(4)^2);
     if (quatMag > 1e-12)
         states(1:4) = states(1:4) / quatMag;
     end
-    
+
     % correct the covariance P = P - K*H*P
     P = P - Kfusion*H(obsIndex,:)*P;
-    
+
     % Force symmetry on the covariance matrix to prevent ill-conditioning
     % of the matrix which would cause the filter to blow-up
     P = 0.5*(P + transpose(P));
-    
+
     % ensure diagonals are positive
     for i=1:24
         if P(i,i) < 0
             P(i,i) = 0;
         end
     end
-    
+
 end
 
-end
+end

src/modules/ekf2/EKF/matlab/EKF_replay/Filter/FuseMagnetometer.m

@@ -33,7 +33,7 @@ magPred = transpose(Tbn)*[magN;magE;magD] + [magXbias;magYbias;magZbias];
 
 % calculate the observation jacobian, innovation variance and innovation
 for obsIndex = 1:3
-    
+
     % Calculate corrections using X component
     if (obsIndex == 1)
         H(1,:) = calcH_MAGX(magD,magE,magN,q0,q1,q2,q3);
@@ -58,30 +58,30 @@ end
 for obsIndex = 1:3
 
     Kfusion = (P*transpose(H(obsIndex,:)))/varInnov(obsIndex);
-    
+
     % correct the state vector
     states = states - Kfusion * innovation(obsIndex);
-    
+
     % normalise the updated quaternion states
     quatMag = sqrt(states(1)^2 + states(2)^2 + states(3)^2 + states(4)^2);
     if (quatMag > 1e-12)
         states(1:4) = states(1:4) / quatMag;
     end
-    
+
     % correct the covariance P = P - K*H*P
     P = P - Kfusion*H(obsIndex,:)*P;
-    
+
     % Force symmetry on the covariance matrix to prevent ill-conditioning
     % of the matrix which would cause the filter to blow-up
     P = 0.5*(P + transpose(P));
-    
+
     % ensure diagonals are positive
     for i=1:24
         if P(i,i) < 0
             P(i,i) = 0;
         end
     end
-    
+
 end
 
-end
+end

src/modules/ekf2/EKF/matlab/EKF_replay/Filter/FuseOpticalFlow.m

@@ -36,7 +36,7 @@ losRateMea = - flowRate + bodyRate;
 
 % calculate the observation jacobian, innovation variance and innovation
 for obsIndex = 1:2
-    
+
     % Calculate corrections using X component
     if (obsIndex == 1)
         H(1,:) = calcH_LOSX(q0,q1,q2,q3,range,vd,ve,vn);
@@ -59,30 +59,30 @@ end
 for obsIndex = 1:2
 
     Kfusion = (P*transpose(H(obsIndex,:)))/varInnov(obsIndex);
-    
+
     % correct the state vector
     states = states - Kfusion * innovation(obsIndex);
-    
+
     % normalise the updated quaternion states
     quatMag = sqrt(states(1)^2 + states(2)^2 + states(3)^2 + states(4)^2);
     if (quatMag > 1e-12)
         states(1:4) = states(1:4) / quatMag;
     end
-    
+
     % correct the covariance P = P - K*H*P
     P = P - Kfusion*H(obsIndex,:)*P;
-    
+
     % Force symmetry on the covariance matrix to prevent ill-conditioning
     % of the matrix which would cause the filter to blow-up
     P = 0.5*(P + transpose(P));
-    
+
     % ensure diagonals are positive
     for i=1:24
         if P(i,i) < 0
             P(i,i) = 0;
         end
     end
-    
+
 end
 
-end
+end

src/modules/ekf2/EKF/matlab/EKF_replay/Filter/FusePosition.m

@@ -15,54 +15,54 @@ varInnov = zeros(1,2);
 H = zeros(2,24);
 
 for obsIndex = 1:2
-    
+
     % velocity states start at index 8
     stateIndex = 7 + obsIndex;
 
     % Calculate the velocity measurement innovation
     innovation(obsIndex) = states(stateIndex) - measPos(obsIndex);
-    
+
     % Calculate the observation Jacobian
     H(obsIndex,stateIndex) = 1;
-    
+
     varInnov(obsIndex) = (H(obsIndex,:)*P*transpose(H(obsIndex,:)) + R_OBS);
-    
+
 end
 
 % Apply an innovation consistency check
 for obsIndex = 1:2
-    
+
     if (innovation(obsIndex)^2 / (gateSize^2 * varInnov(obsIndex))) > 1.0
         return;
     end
-    
+
 end
 
 % Calculate Kalman gains and update states and covariances
 for obsIndex = 1:2
-    
+
     % Calculate the Kalman gains
     K = (P*transpose(H(obsIndex,:)))/varInnov(obsIndex);
-    
+
     % Calculate state corrections
     xk = K * innovation(obsIndex);
-    
+
     % Apply the state corrections
     states = states - xk;
-    
+
     % Update the covariance
     P = P - K*H(obsIndex,:)*P;
-    
+
     % Force symmetry on the covariance matrix to prevent ill-conditioning
     P = 0.5*(P + transpose(P));
-    
+
     % ensure diagonals are positive
     for i=1:24
         if P(i,i) < 0
             P(i,i) = 0;
         end
     end
-    
+
 end
 
-end
+end

src/modules/ekf2/EKF/matlab/EKF_replay/Filter/FuseVelocity.m

@@ -15,54 +15,54 @@ varInnov = zeros(1,3);
 H = zeros(3,24);
 
 for obsIndex = 1:3
-    
+
     % velocity states start at index 5
     stateIndex = 4 + obsIndex;
 
     % Calculate the velocity measurement innovation
     innovation(obsIndex) = states(stateIndex) - measVel(obsIndex);
-    
+
     % Calculate the observation Jacobian
     H(obsIndex,stateIndex) = 1;
-    
+
     varInnov(obsIndex) = (H(obsIndex,:)*P*transpose(H(obsIndex,:)) + R_OBS);
-    
+
 end
 
 % Apply an innovation consistency check
 for obsIndex = 1:3
-    
+
     if (innovation(obsIndex)^2 / (gateSize^2 * varInnov(obsIndex))) > 1.0
         return;
     end
-    
+
 end
 
 % Calculate Kalman gains and update states and covariances
 for obsIndex = 1:3
-    
+
     % Calculate the Kalman gains
     K = (P*transpose(H(obsIndex,:)))/varInnov(obsIndex);
-    
+
     % Calculate state corrections
     xk = K * innovation(obsIndex);
-    
+
     % Apply the state corrections
     states = states - xk;
-    
+
     % Update the covariance
     P = P - K*H(obsIndex,:)*P;
-    
+
     % Force symmetry on the covariance matrix to prevent ill-conditioning
     P = 0.5*(P + transpose(P));
-    
+
     % ensure diagonals are positive
     for i=1:24
         if P(i,i) < 0
             P(i,i) = 0;
         end
     end
-    
+
 end
 
-end
+end

src/modules/ekf2/EKF/matlab/EKF_replay/Filter/GenerateEquations24.m

@@ -32,7 +32,7 @@ quat = [q0;q1;q2;q3];
 Tbn = Quat2Tbn(quat);
 
 % define the truth delta angle
-% ignore coning compensation as these effects are negligible in terms of 
+% ignore coning compensation as these effects are negligible in terms of
 % covariance growth for our application and grade of sensor
 dAngTruth = dAngMeas - dAngBias;
 
@@ -137,7 +137,7 @@ f = matlabFunction(H_MAGD,'file','calcH_MAGD.m');
 %% derive equations for fusion of a single magneic compass  heading measurement
 
 % rotate body measured field into earth axes
-magMeasNED = Tbn*[magX;magY;magZ]; 
+magMeasNED = Tbn*[magX;magY;magZ];
 
 % the predicted measurement is the angle wrt true north of the horizontal
 % component of the measured field

src/modules/ekf2/EKF/matlab/EKF_replay/Filter/InitCovariance.m

@@ -33,4 +33,3 @@ Sigma_wind = param.alignment.windErrNE * [1;1];
 % Convert to variances and write to covariance matrix diagonals
 covariance = diag([Sigma_quat;Sigma_velocity;Sigma_position;Sigma_dAngBias;Sigma_dVelBias;Sigma_magNED;Sigma_magXYZ;Sigma_wind].^2);
 end
-

src/modules/ekf2/EKF/matlab/EKF_replay/Filter/PlotData.m

@@ -215,7 +215,7 @@ if (output.magFuseMethod <= 1)
     set(h,'PaperOrientation','portrait');
     set(h,'PaperUnits','normalized');
     set(h,'PaperPosition', [0 0 1 1]);
-    
+
     subplot(3,1,1);
     plot(output.time_lapsed',[output.mag_XYZ(:,1),output.mag_XYZ(:,1)+2*sqrt(output.state_variances(:,20)),output.mag_XYZ(:,1)-2*sqrt(output.state_variances(:,20))]);
     grid on;
@@ -224,21 +224,21 @@ if (output.magFuseMethod <= 1)
     ylabel('X bias (gauss)');
     xlabel('time (sec)');
     legend('estimate','upper 95% bound','lower 95% bound');
-    
+
     subplot(3,1,2);
     plot(output.time_lapsed',[output.mag_XYZ(:,2),output.mag_XYZ(:,2)+2*sqrt(output.state_variances(:,21)),output.mag_XYZ(:,2)-2*sqrt(output.state_variances(:,21))]);
     grid on;
     ylabel('Y bias (gauss)');
     xlabel('time (sec)');
     legend('estimate','upper 95% bound','lower 95% bound');
-    
+
     subplot(3,1,3);
     plot(output.time_lapsed',[output.mag_XYZ(:,3),output.mag_XYZ(:,3)+2*sqrt(output.state_variances(:,22)),output.mag_XYZ(:,3)-2*sqrt(output.state_variances(:,22))]);
     grid on;
     ylabel('Z bias (gauss)');
     xlabel('time (sec)');
     legend('estimate','upper 95% bound','lower 95% bound');
-    
+
     fileName='body_field_estimates.png';
     fullFileName = fullfile(folder, fileName);
     saveas(h,fullFileName);
@@ -251,9 +251,9 @@ if (output.magFuseMethod <= 1)
     set(h,'PaperOrientation','portrait');
     set(h,'PaperUnits','normalized');
     set(h,'PaperPosition', [0 0 1 1]);
-    
+
     margin = 0.1;
-    
+
     subplot(4,1,1);
     plot(output.time_lapsed',[output.mag_NED(:,1),output.mag_NED(:,1)+2*sqrt(output.state_variances(:,17)),output.mag_NED(:,1)-2*sqrt(output.state_variances(:,17))]);
     minVal = min(output.mag_NED(:,1))-margin;
@@ -265,7 +265,7 @@ if (output.magFuseMethod <= 1)
     ylabel('North (gauss)');
     xlabel('time (sec)');
     legend('estimate','upper 95% bound','lower 95% bound');
-    
+
     subplot(4,1,2);
     plot(output.time_lapsed',[output.mag_NED(:,2),output.mag_NED(:,2)+2*sqrt(output.state_variances(:,18)),output.mag_NED(:,2)-2*sqrt(output.state_variances(:,18))]);
     minVal = min(output.mag_NED(:,2))-margin;
@@ -275,7 +275,7 @@ if (output.magFuseMethod <= 1)
     ylabel('East (gauss)');
     xlabel('time (sec)');
     legend('estimate','upper 95% bound','lower 95% bound');
-    
+
     subplot(4,1,3);
     plot(output.time_lapsed',[output.mag_NED(:,3),output.mag_NED(:,3)+2*sqrt(output.state_variances(:,19)),output.mag_NED(:,3)-2*sqrt(output.state_variances(:,19))]);
     grid on;
@@ -285,7 +285,7 @@ if (output.magFuseMethod <= 1)
     ylabel('Down (gauss)');
     xlabel('time (sec)');
     legend('estimate','upper 95% bound','lower 95% bound');
-    
+
     subplot(4,1,4);
     plot(output.time_lapsed',rad2deg*atan2(output.mag_NED(:,2),output.mag_NED(:,1)));
     grid on;
@@ -293,7 +293,7 @@ if (output.magFuseMethod <= 1)
     title(titleText);
     ylabel('declination (deg)');
     xlabel('time (sec)');
-    
+
     fileName='earth_field_estimates.png';
     fullFileName = fullfile(folder, fileName);
     saveas(h,fullFileName);
@@ -301,13 +301,13 @@ end
 
 %% plot velocity innovations
 if isfield(output.innovations,'vel_innov')
-    
+
     figure('Units','Pixels','Position',plotDimensions,'PaperOrientation','portrait');
     h=gcf;
     set(h,'PaperOrientation','portrait');
     set(h,'PaperUnits','normalized');
     set(h,'PaperPosition', [0 0 1 1]);
-    
+
     subplot(3,1,1);
     plot(output.innovations.vel_time_lapsed',[output.innovations.vel_innov(:,1),sqrt(output.innovations.vel_innov_var(:,1)),-sqrt(output.innovations.vel_innov_var(:,1))]);
     grid on;
@@ -316,21 +316,21 @@ if isfield(output.innovations,'vel_innov')
     ylabel('North (m/s)');
     xlabel('time (sec)');
     legend('innovation','variance sqrt','variance sqrt');
-    
+
     subplot(3,1,2);
     plot(output.innovations.vel_time_lapsed',[output.innovations.vel_innov(:,2),sqrt(output.innovations.vel_innov_var(:,2)),-sqrt(output.innovations.vel_innov_var(:,2))]);
     grid on;
     ylabel('East (m/s)');
     xlabel('time (sec)');
     legend('innovation','variance sqrt','variance sqrt');
-    
+
     subplot(3,1,3);
     plot(output.innovations.vel_time_lapsed',[output.innovations.vel_innov(:,3),sqrt(output.innovations.vel_innov_var(:,3)),-sqrt(output.innovations.vel_innov_var(:,3))]);
     grid on;
     ylabel('Down (m/s)');
     xlabel('time (sec)');
     legend('innovation','variance sqrt','variance sqrt');
-    
+
     fileName='velocity_fusion.png';
     fullFileName = fullfile(folder, fileName);
     saveas(h,fullFileName);
@@ -343,7 +343,7 @@ if isfield(output.innovations,'posInnov')
     set(h,'PaperOrientation','portrait');
     set(h,'PaperUnits','normalized');
     set(h,'PaperPosition', [0 0 1 1]);
-    
+
     subplot(3,1,1);
     plot(output.innovations.vel_time_lapsed',[output.innovations.posInnov(:,1),sqrt(output.innovations.posInnovVar(:,1)),-sqrt(output.innovations.posInnovVar(:,1))]);
     grid on;
@@ -352,21 +352,21 @@ if isfield(output.innovations,'posInnov')
     ylabel('North (m)');
     xlabel('time (sec)');
     legend('innovation','variance sqrt','variance sqrt');
-    
+
     subplot(3,1,2);
     plot(output.innovations.vel_time_lapsed',[output.innovations.posInnov(:,2),sqrt(output.innovations.posInnovVar(:,2)),-sqrt(output.innovations.posInnovVar(:,2))]);
     grid on;
     ylabel('East (m)');
     xlabel('time (sec)');
     legend('innovation','variance sqrt','variance sqrt');
-    
+
     subplot(3,1,3);
     plot(output.innovations.hgt_time_lapsed',[output.innovations.hgtInnov(:),sqrt(output.innovations.hgtInnovVar(:)),-sqrt(output.innovations.hgtInnovVar(:))]);
     grid on;
     ylabel('Up (m)');
     xlabel('time (sec)');
     legend('innovation','variance sqrt','variance sqrt');
-    
+
     fileName='position_fusion.png';
     fullFileName = fullfile(folder, fileName);
     saveas(h,fullFileName);
@@ -374,7 +374,7 @@ end
 
 %% plot magnetometer innovations
 if isfield(output.innovations,'magInnov')
-    
+
     figure('Units','Pixels','Position',plotDimensions,'PaperOrientation','portrait');
     h=gcf;
     set(h,'PaperOrientation','portrait');
@@ -412,18 +412,18 @@ if isfield(output.innovations,'magInnov')
     fileName='magnetometer_fusion.png';
     fullFileName = fullfile(folder, fileName);
     saveas(h,fullFileName);
-    
+
 end
 
 %% plot magnetic yaw innovations
 if isfield(output.innovations,'hdgInnov')
-    
+
     figure('Units','Pixels','Position',plotDimensions,'PaperOrientation','portrait');
     h=gcf;
     set(h,'PaperOrientation','portrait');
     set(h,'PaperUnits','normalized');
     set(h,'PaperPosition', [0 0 1 1]);
-    
+
     subplot(2,1,1);
     plot(output.innovations.mag_time_lapsed,[output.innovations.hdgInnov*rad2deg;sqrt(output.innovations.hdgInnovVar)*rad2deg;-sqrt(output.innovations.hdgInnovVar)*rad2deg]);
     ylim([-30 30]);
@@ -442,12 +442,12 @@ if isfield(output.innovations,'hdgInnov')
     fileName='magnetometer_fusion.png';
     fullFileName = fullfile(folder, fileName);
     saveas(h,fullFileName);
-    
+
 end
 
 %% plot optical flow innovations
 if isfield(output.innovations,'flowInnov')
-    
+
     figure('Units','Pixels','Position',plotDimensions,'PaperOrientation','portrait');
     h=gcf;
     set(h,'PaperOrientation','portrait');
@@ -471,17 +471,18 @@ if isfield(output.innovations,'flowInnov')
     fileName='optical_flow_fusion.png';
     fullFileName = fullfile(folder, fileName);
     saveas(h,fullFileName);
-    
+
 end
+
 %% plot ZED camera innovations
 if isfield(output.innovations,'bodyVelInnov')
-    
+
     figure('Units','Pixels','Position',plotDimensions,'PaperOrientation','portrait');
     h=gcf;
     set(h,'PaperOrientation','portrait');
     set(h,'PaperUnits','normalized');
     set(h,'PaperPosition', [0 0 1 1]);
-    
+
     subplot(3,1,1);
     plot(output.innovations.bodyVel_time_lapsed,[output.innovations.bodyVelInnov(:,1)';sqrt(output.innovations.bodyVelInnovVar(:,1))';-sqrt(output.innovations.bodyVelInnovVar(:,1))']);
     grid on;
@@ -489,23 +490,23 @@ if isfield(output.innovations,'bodyVelInnov')
     ylabel('X (m/sec)');
     xlabel('time (sec)');
     legend('innovation','innovation variance sqrt','innovation variance sqrt');
-    
+
     subplot(3,1,2);
     plot(output.innovations.bodyVel_time_lapsed,[output.innovations.bodyVelInnov(:,2)';sqrt(output.innovations.bodyVelInnovVar(:,2))';-sqrt(output.innovations.bodyVelInnovVar(:,2))']);
     grid on;
     ylabel('Y (m/sec)');
     xlabel('time (sec)');
     legend('innovation','innovation variance sqrt','innovation variance sqrt');
-    
+
     subplot(3,1,3);
     plot(output.innovations.bodyVel_time_lapsed,[output.innovations.bodyVelInnov(:,3)';sqrt(output.innovations.bodyVelInnovVar(:,3))';-sqrt(output.innovations.bodyVelInnovVar(:,3))']);
     grid on;
     ylabel('Z (m/sec)');
     xlabel('time (sec)');
     legend('innovation','innovation variance sqrt','innovation variance sqrt');
-    
+
     fileName='zed_camera_fusion.png';
     fullFileName = fullfile(folder, fileName);
     saveas(h,fullFileName);
-    
+
 end