Add windshear plugin

This commit adds SITL targets for the dynamic soaring aircraft and additional plugins in the sitl_gazebo submodule

.ci/Jenkinsfile-compile

@@ -17,7 +17,7 @@ pipeline {
           ]
 
           def armhf_builds = [
-            target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
+            target: ["beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
             image: docker_images.armhf,
             archive: false
           ]
@@ -55,31 +55,32 @@ pipeline {
                      "holybro_durandal-v1_default",
                      "holybro_kakutef7_default",
                      "holybro_pix32v5_default",
-                     "intel_aerofc-v1_default",
                      "modalai_fc-v1_default",
                      "mro_ctrl-zero-f7_default",
+                     "mro_ctrl-zero-f7-oem_default",
+                     "mro_ctrl-zero-h7_default",
+                     "mro_ctrl-zero-h7-oem_default",
                      "mro_pixracerpro_default",
                      "mro_x21-777_default",
                      "mro_x21_default",
                      "nxp_fmuk66-e_default",
+                     "nxp_fmuk66-e_rtps",
+                     "nxp_fmuk66-e_socketcan",
                      "nxp_fmuk66-v3_default",
                      "nxp_fmuk66-v3_rtps",
                      "nxp_fmuk66-v3_socketcan",
                      "nxp_fmurt1062-v1_default",
                      "nxp_ucans32k146_default",
+                     "nxp_ucans32k146_canbootloader",
                      "omnibus_f4sd_default",
                      "px4_fmu-v2_default",
                      "px4_fmu-v2_fixedwing",
-                     "px4_fmu-v2_lpe",
                      "px4_fmu-v2_multicopter",
                      "px4_fmu-v2_rover",
                      "px4_fmu-v2_test",
-                     "px4_fmu-v3_ctrlalloc",
                      "px4_fmu-v3_default",
                      "px4_fmu-v4_cannode",
-                     "px4_fmu-v4_ctrlalloc",
                      "px4_fmu-v4_default",
-                     "px4_fmu-v4_optimized",
                      "px4_fmu-v4pro_default",
                      "px4_fmu-v5_ctrlalloc",
                      "px4_fmu-v5_debug",
@@ -95,6 +96,7 @@ pipeline {
                      "px4_fmu-v5x_base_phy_DP83848C",
                      "px4_fmu-v5x_default",
                      "px4_fmu-v6u_default",
+                     "px4_fmu-v6u_test",
                      "px4_fmu-v6x_default",
                      "px4_io-v2_default",
                      "spracing_h7extreme_default",

.ci/Jenkinsfile-hardware

@@ -258,6 +258,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
@@ -333,6 +334,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                   }
@@ -407,6 +409,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
@@ -482,6 +485,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
@@ -560,6 +564,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'   // disable buzzer
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'   // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                 // reboot to apply
@@ -635,6 +640,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                   }
@@ -713,6 +719,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0"'       // limit cpu usage
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'   // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                 // reboot to apply
                   }
@@ -787,6 +794,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'  // generic vtol standardulticopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                   }
@@ -941,6 +949,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                   }
@@ -1000,10 +1009,12 @@ void statusFTDI() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dmesg"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status; param show CAL_GYRO*"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_local_position"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_selector_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_sensor_bias"'
@@ -1019,6 +1030,7 @@ void statusFTDI() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_selection"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status"'
@@ -1060,6 +1072,7 @@ void statusFTDI() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status; param show CAL_GYRO*"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
   // stop logger

.github/workflows/checks.yml

@@ -18,7 +18,7 @@ jobs:
           "check_format",
           "tests",
           "tests_coverage",
-          "px4_fmu-v2_default stack_check",
+          # "px4_fmu-v2_default stack_check",
           "validate_module_configs",
           "shellcheck_all",
           "NO_NINJA_BUILD=1 px4_fmu-v5_default",
@@ -52,8 +52,8 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
     - name: check environment

.github/workflows/clang-tidy.yml

@@ -34,8 +34,8 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 

.github/workflows/compile_linux.yml

@@ -15,7 +15,6 @@ jobs:
     strategy:
       matrix:
         config: [
-          aerotenna_ocpoc_default,
           beaglebone_blue_default,
           emlid_navio2_default,
           px4_raspberrypi_default,
@@ -43,8 +42,8 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 

.github/workflows/compile_linux_arm64.yml

@@ -39,8 +39,8 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 

.github/workflows/compile_macos.yml

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

.github/workflows/compile_nuttx.yml

@@ -15,52 +15,58 @@ jobs:
     strategy:
       matrix:
         config: [
-          airmind_mindpx-v2_default,
-          ark_can-flow_canbootloader,
-          ark_can-flow_default,
-          av_x-v1_default,
-          bitcraze_crazyflie21_default,
-          bitcraze_crazyflie_default,
-          cuav_can-gps-v1_canbootloader,
-          cuav_can-gps-v1_default,
-          cuav_nora_default,
-          cuav_x7pro_default,
-          cubepilot_cubeorange_console,
-          cubepilot_cubeorange_default,
-          cubepilot_cubeyellow_console,
-          cubepilot_cubeyellow_default,
+          # airmind_mindpx-v2_default,
+          # ark_can-flow_canbootloader,
+          # ark_can-flow_debug,
+          # ark_can-flow_default,
+          # av_x-v1_default,
+          # bitcraze_crazyflie21_default,
+          # bitcraze_crazyflie_default,
+          # cuav_can-gps-v1_canbootloader,
+          # cuav_can-gps-v1_debug,
+          # cuav_can-gps-v1_default,
+          # cuav_nora_default,
+          # cuav_x7pro_default,
+          # cubepilot_cubeorange_console,
+          # cubepilot_cubeorange_default,
+          # cubepilot_cubeyellow_console,
+          # cubepilot_cubeyellow_default,
+          # cubepilot_io-v2_default,
           holybro_can-gps-v1_canbootloader,
+          holybro_can-gps-v1_debug,
           holybro_can-gps-v1_default,
           holybro_durandal-v1_default,
           holybro_kakutef7_default,
           holybro_pix32v5_default,
-          intel_aerofc-v1_default,
           modalai_fc-v1_default,
-          mro_ctrl-zero-f7_default,
-          mro_pixracerpro_default,
-          mro_x21-777_default,
-          mro_x21_default,
-          nxp_fmuk66-e_default,
-          nxp_fmuk66-v3_default,
-          nxp_fmuk66-v3_rtps,
-          nxp_fmuk66-v3_socketcan,
-          nxp_fmurt1062-v1_default,
-          nxp_ucans32k146_default,
+          # mro_ctrl-zero-f7-oem_default,
+          # mro_ctrl-zero-f7_default,
+          # mro_ctrl-zero-h7-oem_default,
+          # mro_ctrl-zero-h7_default,
+          # mro_pixracerpro_default,
+          # mro_x21-777_default,
+          # mro_x21_default,
+          # nxp_fmuk66-e_default,
+          # nxp_fmuk66-e_rtps,
+          # nxp_fmuk66-e_socketcan,
+          # nxp_fmuk66-v3_default,
+          # nxp_fmuk66-v3_rtps,
+          # nxp_fmuk66-v3_socketcan,
+          # nxp_fmurt1062-v1_default,
+          # nxp_ucans32k146_canbootloader,
+          # nxp_ucans32k146_default,
           omnibus_f4sd_default,
-          px4_fmu-v2_default,
-          px4_fmu-v2_fixedwing,
-          px4_fmu-v2_lpe,
-          px4_fmu-v2_multicopter,
-          px4_fmu-v2_rover,
-          px4_fmu-v2_test,
-          px4_fmu-v3_ctrlalloc,
+          # px4_fmu-v2_default,
+          # px4_fmu-v2_fixedwing,
+          # px4_fmu-v2_multicopter,
+          # px4_fmu-v2_rover,
+          # px4_fmu-v2_test,
           px4_fmu-v3_default,
           px4_fmu-v4_cannode,
-          px4_fmu-v4_ctrlalloc,
           px4_fmu-v4_default,
-          px4_fmu-v4_optimized,
           px4_fmu-v4pro_default,
           px4_fmu-v5_ctrlalloc,
+          px4_fmu-v5_debug,
           px4_fmu-v5_default,
           px4_fmu-v5_fixedwing,
           px4_fmu-v5_multicopter,
@@ -70,13 +76,14 @@ jobs:
           px4_fmu-v5_stackcheck,
           px4_fmu-v5_uavcanv0periph,
           px4_fmu-v5_uavcanv1,
-          px4_fmu-v5x_base_phy_DP83848C,
-          px4_fmu-v5x_default,
+          # px4_fmu-v5x_base_phy_DP83848C,
+          # px4_fmu-v5x_default,
           px4_fmu-v6u_default,
+          px4_fmu-v6u_test,
           px4_fmu-v6x_default,
           px4_io-v2_default,
           spracing_h7extreme_default,
-          uvify_core_default
+          # uvify_core_default
           ]
     steps:
     - uses: actions/checkout@v1
@@ -100,8 +107,8 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 

.github/workflows/compile_nuttx_cannode.yml

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

.github/workflows/deploy_all.yml

@@ -0,0 +1,77 @@
+name: Deploy metadata for all targets
+
+on:
+  push:
+    branches:
+    - 'master'
+    - 'release/*'
+    - 'pr-metadata-test'
+
+jobs:
+  enumerate_targets:
+    runs-on: ubuntu-latest
+    outputs:
+      matrix: ${{ steps.set-matrix.outputs.matrix }}
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+    - id: set-matrix
+      run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py)"
+  build:
+    runs-on: ubuntu-latest
+    needs: enumerate_targets
+    strategy:
+      matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
+    container: px4io/px4-dev-${{ matrix.container }}:2021-02-04
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.target}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.target}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.target}}
+      run: make ${{matrix.target}}
+    - name: ccache post-run
+      run: ccache -s
+
+    - name: parameter metadata
+      run: |
+        make ${{matrix.target}} ver_gen
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
+        cd build/${{ matrix.target }}
+        mkdir _metadata || true
+        cp parameters.* _metadata
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
+        DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
+

.github/workflows/mavros_avoidance_tests.yml

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

.github/workflows/mavros_mission_tests.yml

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

.github/workflows/mavros_offboard_tests.yml

@@ -44,8 +44,8 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 

.github/workflows/metadata.yml

@@ -4,9 +4,8 @@ on:
   push:
     branches:
     - 'master'
-  pull_request:
-    branches:
-    - '*'
+    - 'release/*'
+    - 'pr-metadata-test'
 
 jobs:
 
@@ -51,9 +50,18 @@ jobs:
     - name: parameter metadata
       run: |
         make parameters_metadata
-        cd build/px4_sitl_default/docs
-        ls -ls *
-      # TODO: deploy 'parameters.md, parameters.xml to S3 px4-travis:Firmware/master/
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/px4_sitl_default/docs/'
+        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
 
   uorb_graph:
     runs-on: ubuntu-latest

.github/workflows/python_checks.yml

@@ -18,7 +18,7 @@ jobs:
     - name: Install Python3
       run: sudo apt-get install python3 python3-setuptools python3-pip -y
     - name: Install tools
-      run: pip3 install --user mypy flake8
+      run: pip3 install --user mypy types-requests flake8
     - name: Check MAVSDK test scripts with mypy
       run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
     - name: Check MAVSDK test scripts with flake8

.github/workflows/rotors_tests.yml

@@ -0,0 +1,55 @@
+name: RotorS PX4 Build Test
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        container:
+        - 'px4io/px4-dev-simulation-bionic:2020-11-18' # Gazebo 9
+    container:
+      image: ${{ matrix.container }}
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: rotors_tests-RelWithDebInfo-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: rotors_tests-RelWithDebInfo-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+    - name: Install glog
+      run: apt update && apt install -y libgoogle-glog-dev libyaml-cpp-dev
+    - name: Build PX4 RotorS
+      env:
+        PX4_CMAKE_BUILD_TYPE: RelWithDebInfo
+        DONT_RUN: 1
+      run: make px4_sitl rotors
+    - name: ccache post-run px4/firmware
+      run: ccache -s

.github/workflows/sitl_tests.yml

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

.github/workflows/upstream_sync.yml

@@ -0,0 +1,22 @@
+# This pipeline keeps the master branch up to date with upstream master
+name: Upstream Synchronization
+
+on:
+  schedule:
+  - cron:  "*/15 * * * *"
+  workflow_dispatch:
+
+jobs:
+  repo-sync:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        persist-credentials: false
+    - name: repo-sync
+      uses: repo-sync/github-sync@v2
+      with:
+        source_repo: "https://github.com/PX4/PX4-Autopilot.git"
+        source_branch: "master"
+        destination_branch: "master"
+        github_token: ${{ secrets.PAT }}

.gitmodules

@@ -1,6 +1,6 @@
 [submodule "mavlink/include/mavlink/v2.0"]
 	path = mavlink/include/mavlink/v2.0
-	url = https://github.com/mavlink/c_library_v2.git
+	url = https://github.com/ethz-asl/fw_mavlink_c_library_v2.git
 	branch = master
 [submodule "src/drivers/uavcan/libuavcan"]
 	path = src/drivers/uavcan/libuavcan
@@ -51,9 +51,6 @@
 [submodule "Tools/jsbsim_bridge"]
 	path = Tools/jsbsim_bridge
 	url = https://github.com/PX4/px4-jsbsim-bridge.git
-[submodule "src/examples/gyro_fft/CMSIS_5"]
-	path = src/examples/gyro_fft/CMSIS_5
-	url = https://github.com/ARM-software/CMSIS_5.git
 [submodule "src/drivers/uavcan_v1/libcanard"]
 	path = src/drivers/uavcan_v1/libcanard
 	url = https://github.com/UAVCAN/libcanard.git
@@ -66,3 +63,6 @@
 [submodule "src/drivers/uavcannode_gps_demo/libcanard"]
 	path = src/drivers/uavcannode_gps_demo/libcanard
 	url = https://github.com/UAVCAN/libcanard
+[submodule "Tools/rotors_simulator"]
+	path = Tools/rotors_simulator
+	url = https://github.com/ethz-asl/rotors_simulator.git

.vscode/cmake-variants.yaml

@@ -111,16 +111,21 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: emlid_navio2_default
+    holybro_can-gps-v1_canbootloader:
+      short: holybro_can-gps-v1_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: holybro_can-gps-v1_canbootloader
+    holybro_can-gps-v1_default:
+      short: holybro_can-gps-v1_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: holybro_can-gps-v1_default
     holybro_durandal-v1_default:
       short: holybro_durandal-v1
       buildType: MinSizeRel
       settings:
         CONFIG: holybro_durandal-v1_default
-    intel_aerofc-v1_default:
-      short: intel_aerofc-v1
-      buildType: MinSizeRel
-      settings:
-        CONFIG: intel_aerofc-v1_default
     modalai_fc-v1_default:
       short: modalai_fc-v1
       buildType: MinSizeRel

.vscode/settings.json

@@ -27,7 +27,6 @@
         "cSpell.showStatus": false,
         "cSpell.words": [
                 "acro",
-                "rattitude",
                 "nuttx",
                 "esc"
         ],

CMakeLists.txt

@@ -113,7 +113,7 @@ include(px4_parse_function_args)
 include(px4_git)
 
 execute_process(
-	COMMAND git describe --always --tags
+	COMMAND git describe --exclude ext/* --always --tags
 	OUTPUT_VARIABLE PX4_GIT_TAG
 	OUTPUT_STRIP_TRAILING_WHITESPACE
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
@@ -454,3 +454,10 @@ add_custom_target(size
 	WORKING_DIRECTORY ${PX4_BINARY_DIR}
 	USES_TERMINAL
 	)
+
+# install python requirements using configured python
+add_custom_target(install_python_requirements
+	COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+	USES_TERMINAL
+)

Jenkinsfile

@@ -110,8 +110,8 @@ pipeline {
             sh 'make distclean'
             sh 'make parameters_metadata'
             dir('build/px4_sitl_default/docs') {
-              archiveArtifacts(artifacts: 'parameters.md, parameters.xml, params.json.xz')
-              stash includes: 'parameters.md, parameters.xml, params.json.xz', name: 'metadata_parameters'
+              archiveArtifacts(artifacts: 'parameters.md, parameters.xml, parameters.json.xz')
+              stash includes: 'parameters.md, parameters.xml, parameters.json.xz', name: 'metadata_parameters'
             }
           }
           post {
@@ -342,7 +342,7 @@ pipeline {
             withAWS(credentials: 'px4_aws_s3_key', region: 'us-east-1') {
               s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'airframes.xml', path: 'Firmware/master/')
               s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.xml', path: 'Firmware/master/')
-              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'params.json.xz', path: 'Firmware/master/')
+              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.json.xz', path: 'Firmware/master/')
             }
           }
           when {

Makefile

@@ -174,6 +174,8 @@ define cmake-build
 	@$(call cmake-cache-check)
 	@# make sure to start from scratch when switching from GNU Make to Ninja
 	@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
+	@# make sure to start from scratch if ninja build file is missing
+	@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ ! -f $(BUILD_DIR)/build.ninja ]; then rm -rf $(BUILD_DIR); fi
 	@# only excplicitly configure the first build, if cache file already exists the makefile will rerun cmake automatically if necessary
 	@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ] || [ $(CMAKE_CACHE_CHECK) ]; then \
 		mkdir -p $(BUILD_DIR) \
@@ -268,7 +270,6 @@ px4fmu_firmware: \
 misc_qgc_extra_firmware: \
 	check_nxp_fmuk66-v3_default \
 	check_nxp_fmurt1062-v1_default \
-	check_intel_aerofc-v1_default \
 	check_mro_x21_default \
 	check_bitcraze_crazyflie_default \
 	check_bitcraze_crazyflie21_default \
@@ -302,7 +303,6 @@ check_%:
 	@echo
 
 uorb_graphs:
-	@./Tools/uorb_graph/create_from_startupscript.sh
 	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --file Tools/uorb_graph/graph_full
 	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
 	@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
@@ -318,7 +318,7 @@ coverity_scan: px4_sitl_default
 .PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata doxygen
 
 parameters_metadata:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters
+	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen
 
 airframe_metadata:
 	@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes

README.md

@@ -8,26 +8,30 @@
 
 This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
 
+PX4 is highly portable, OS-independent and supports Linux, NuttX and QuRT out of the box.
+
 * Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
 * [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
-  * [Multicopters](https://docs.px4.io/master/en/airframes/airframe_reference.html#copter)
-  * [Fixed wing](https://docs.px4.io/master/en/airframes/airframe_reference.html#plane)
-  * [VTOL](https://docs.px4.io/master/en/airframes/airframe_reference.html#vtol)
-  * many more experimental types (Rovers, Blimps, Boats, Submarines, Autogyros, etc)
+  * [Multicopters](https://docs.px4.io/master/en/frames_multicopter/)
+  * [Fixed wing](https://docs.px4.io/master/en/frames_plane/)
+  * [VTOL](https://docs.px4.io/master/en/frames_vtol/)
+  * [Autogyro](https://docs.px4.io/master/en/frames_autogyro/)
+  * [Rover](https://docs.px4.io/master/en/frames_rover/)
+  * many more experimental types (Blimps, Boats, Submarines, Autogyros, etc)
 * Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
 
 
-## PX4 Users
+## Building a PX4 based drone, rover, boat or robot
 
 The [PX4 User Guide](https://docs.px4.io/master/en/) explains how to assemble [supported vehicles](https://docs.px4.io/master/en/airframes/airframe_reference.html) and fly drones with PX4.
 See the [forum and chat](https://docs.px4.io/master/en/#support) if you need help!
 
 
-## PX4 Developers
+## Changing code and contributing
 
-This [Developer Guide](https://dev.px4.io/) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
+This [Developer Guide](https://docs.px4.io/master/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
 
-Developers should read the [Guide for Contributions](https://dev.px4.io/master/en/contribute/).
+Developers should read the [Guide for Contributions](https://docs.px4.io/master/en/contribute/).
 See the [forum and chat](https://dev.px4.io/master/en/#support) if you need help!
 
 
@@ -69,10 +73,8 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co
     * [Daniel Agar](https://github.com/dagar)
   * [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
     * [Paul Riseborough](https://github.com/priseborough)
-  * Vision based navigation
-    * [Julian Kent](https://github.com/jkflying)
-  * Obstacle Avoidance
-    * [Martina Rivizzigno](https://github.com/mrivi)
+  * Vision based navigation and Obstacle Avoidance
+    * [Markus Achtelik](https://github.com/markusachtelik)
   * RTPS/ROS2 Interface
     * [Nuno Marques](https://github.com/TSC21)
 
@@ -80,27 +82,36 @@ See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and
 
 ## Supported Hardware
 
-This repository contains code supporting these boards:
-  * FMUv2
-    * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
-    * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
-  * FMUv3
+This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.
+
+### Pixhawk Standard Boards
+  * FMUv6X and FMUv6U (STM32H7, 2021)
+    * Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
+  * FMUv5 and FMUv5X (STM32F7, 2019/20)
+    * [Pixhawk 4 (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
+    * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
+    * [CUAV V5+ (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
+    * [CUAV V5 nano (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
+    * [Auterion Skynode (FMUv5X)](https://docs.px4.io/master/en/flight_controller/auterion_skynode.html)
+  * FMUv4 (STM32F4, 2015)
+    * [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
+    * [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
+  * FMUv3 (STM32F4, 2014)
     * [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
     * [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
     * [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
-  * FMUv4
-    * [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
-    * [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
-  * FMUv5 (ARM Cortex M7)
-    * [Pixhawk 4](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
-    * [Pixhawk 4 mini](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
-    * [CUAV V5+](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
-    * [CUAV V5 nano](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
+  * FMUv2 (STM32F4, 2013)
+    * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
+    * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
+
+### Manufacturer and Community supported
+  * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
+  * [Hex Cube Orange](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_orange.html)
+  * [Hex Cube Yellow](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_yellow.html)
   * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
   * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
   * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/flight_controller/crazyflie2.html)
   * [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
-  * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
   * [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
   * [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)
 

ROMFS/CMakeLists.txt

@@ -31,11 +31,12 @@
 #
 ############################################################################
 
-message(STATUS "ROMFS: ${config_romfs_root}")
-
 set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
 set(romfs_gen_root_dir ${PX4_BINARY_DIR}/etc)
 
+file(RELATIVE_PATH romfs_path_relative ${PX4_SOURCE_DIR} ${romfs_src_dir})
+message(STATUS "ROMFS: ${romfs_path_relative}")
+
 set_property(GLOBAL PROPERTY PX4_ROMFS_FILES)
 set_property(GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
 
@@ -81,6 +82,9 @@ file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
 if (px4_constrained_flash_build)
 	set(added_arguments --constrained-flash)
 endif()
+if(PX4_ETHERNET)
+	set(added_arguments ${added_arguments} --ethernet)
+endif()
 # create list of relative romfs file names
 set(romfs_copy_files_relative)
 foreach(romfs_file IN LISTS romfs_copy_files)
@@ -146,15 +150,53 @@ if(config_io_board)
 		copy_px4io_bin
 		${fw_io_bin}
 	)
+	file(RELATIVE_PATH iofw_file_relative ${PX4_SOURCE_DIR} ${fw_io_bin})
+	message(STATUS "ROMFS:  Adding ${iofw_file_relative} -> /etc/extras/${config_io_board}.bin")
 endif()
 
-if(config_build_bootloader)
+
+# board bootloader (built or included)
+if(TARGET copy_bootloader_bin)
+
+	if(board_bootloader_firmware)
+		file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${board_bootloader_firmware})
+		message(STATUS "ROMFS:  Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
+	else()
+		file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${bootloader_bin})
+		message(STATUS "ROMFS:  Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
+	endif()
+
 	list(APPEND extras_dependencies
 		copy_bootloader_bin
 		${bootloader_bin}
 	)
 endif()
 
+
+# optional board architecture defaults
+set(board_arch_rc_file "rc.board_arch_defaults")
+if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}")
+	file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file})
+	message(STATUS "ROMFS:  Adding ${rc_file_relative} -> /etc/init.d/${board_arch_rc_file}")
+
+	add_custom_command(
+		OUTPUT
+			${romfs_gen_root_dir}/init.d/${board_arch_rc_file}
+			${board_arch_rc_file}.stamp
+		COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file} ${romfs_gen_root_dir}/init.d/${board_arch_rc_file}
+		COMMAND ${CMAKE_COMMAND} -E touch ${board_arch_rc_file}.stamp
+		DEPENDS
+			${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}
+			romfs_copy.stamp
+		COMMENT "ROMFS: copying ${board_arch_rc_file}"
+	)
+
+	list(APPEND extras_dependencies
+		${board_arch_rc_file}.stamp
+	)
+endif()
+
+
 set(OPTIONAL_BOARD_RC)
 list(APPEND OPTIONAL_BOARD_RC
 	rc.board_defaults
@@ -166,7 +208,8 @@ list(APPEND OPTIONAL_BOARD_RC
 foreach(board_rc_file ${OPTIONAL_BOARD_RC})
 
 	if(EXISTS "${PX4_BOARD_DIR}/init/${board_rc_file}")
-		message(STATUS "ROMFS: Adding ${board_rc_file}")
+		file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_BOARD_DIR}/init/${board_rc_file})
+		message(STATUS "ROMFS:  Adding ${rc_file_relative} -> /etc/init.d/${board_rc_file}")
 
 		add_custom_command(
 			OUTPUT
@@ -194,7 +237,7 @@ if(config_uavcan_peripheral_firmware)
 
 	foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
 		# include the px4io binary in ROMFS
-		message(STATUS "ROMFS: Building and including UAVCAN peripheral ${uavcan_peripheral_config}")
+		message(STATUS "ROMFS:  Adding UAVCAN peripheral ${uavcan_peripheral_config} -> /etc/uavcan/fw/")
 		ExternalProject_Add(build_${uavcan_peripheral_config}
 			SOURCE_DIR ${CMAKE_SOURCE_DIR}
 			DOWNLOAD_COMMAND ""

ROMFS/cannode/init.d/rcS

@@ -30,14 +30,16 @@ sercon
 #
 ver all
 
-#
-# Set the parameter file if mtd starts successfully.
-#
-if mtd start
+if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
 then
 	set PARAM_FILE /fs/mtd_params
 fi
 
+if mft query -q -k MTD -s MTD_PARAMETERS -v /dev/eeeprom0
+then
+	set PARAM_FILE /dev/eeeprom0
+fi
+
 #
 # Load parameters.
 #
@@ -47,6 +49,17 @@ then
 	param reset_all
 fi
 
+#
+# Optional board architecture defaults: rc.board_arch_defaults
+#
+set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults
+if [ -f $BOARD_ARCH_RC_DEFAULTS ]
+then
+	echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
+	. $BOARD_ARCH_RC_DEFAULTS
+fi
+unset BOARD_ARCH_RC_DEFAULTS
+
 #
 # Optional board defaults: rc.board_defaults
 #
@@ -63,15 +76,6 @@ unset BOARD_RC_DEFAULTS
 #
 rgbled start -X -q
 rgbled_ncp5623c start -X -q
-rgbled_pwm start
-
-if param greater -s LIGHT_EN_BLINKM 0
-then
-	if blinkm start -X
-	then
-		blinkm systemstate
-	fi
-fi
 
 #
 # board sensors: rc.sensors

ROMFS/px4fmu_common/extras/README.txt

@@ -1,5 +0,0 @@
-px4fmuv3_bl.bin: Bootloader binary of the PX4 Bootloader
-  (https://github.com/PX4/Bootloader)
-  based on commit 184b813699a9cfd6f43a5a21556a06b4372baf5f
-  for the target px4fmuv3_bl
-

ROMFS/px4fmu_common/init.d-posix/airframes/10018_iris_foggy_lidar

@@ -0,0 +1,14 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (foggy_lidar)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_RNG_AID 1
+	param set EKF2_RNG_A_HMAX 10
+fi

ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid.post

@@ -1,2 +1,2 @@
 # shellcheck disable=SC2154
-mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 # add mavlink stream for SDK
+mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 -p # add mavlink stream for SDK

ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer

@@ -0,0 +1,54 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default EKF2_ARSP_THR 8
+param set-default EKF2_FUSE_BETA 1
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
+
+param set-default FW_LND_AIRSPD_SC 1
+param set-default FW_LND_ANG 8
+param set-default FW_THR_LND_MAX 0
+
+param set-default FW_L1_PERIOD 12
+
+param set-default FW_MAN_P_MAX 30
+
+param set-default FW_PR_I 0.4
+param set-default FW_PR_P 0.9
+param set-default FW_PR_FF 0.2
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
+param set-default FW_P_LIM_MIN -15
+
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_P 0.3
+
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_THR_CRUISE 0.25
+
+param set-default FW_T_ALT_TC 2
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_TAS_TC 2
+
+param set-default FW_W_EN 1
+
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 30
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 50
+
+param set-default RWTO_TKOFF 1
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom

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

@@ -0,0 +1,58 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	param set EKF2_MAG_ACCLIM 0
+	param set EKF2_MAG_YAWLIM 0
+
+	param set FW_LND_AIRSPD_SC 1
+	param set FW_LND_ANG 8
+	param set FW_THR_LND_MAX 0
+
+	param set FW_L1_PERIOD 12
+
+	param set FW_MAN_P_MAX 30
+
+	param set FW_PR_I 0.4
+	param set FW_PR_P 0.9
+	param set FW_PR_FF 0.2
+	param set FW_PSP_OFF 2
+	param set FW_P_LIM_MAX 32
+	param set FW_P_LIM_MIN -15
+
+	param set FW_RR_FF 0.1
+	param set FW_RR_P 0.3
+
+	param set FW_THR_MAX 0.6
+	param set FW_THR_MIN 0.05
+	param set FW_THR_CRUISE 0.25
+
+	param set FW_T_ALT_TC 2
+	param set FW_T_CLMB_MAX 8
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MIN 2.2
+	param set FW_T_TAS_TC 2
+
+	param set FW_W_EN 1
+
+	param set MIS_LTRMIN_ALT 30
+	param set MIS_TAKEOFF_ALT 30
+
+	param set NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50
+
+	param set RWTO_TKOFF 1
+
+fi
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom

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

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

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

@@ -0,0 +1 @@
+mixer append /dev/pwm_output0 etc/mixers-sitl/package_drop.aux.mix

ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1

@@ -38,7 +38,6 @@ then
 	param set NAV_LOITER_RAD 100
 
 	param set RWTO_TKOFF 1
-	param set MAV_BROADCAST 1
 
 	param set FW_ARSP_SCALE_EN 0
 

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

@@ -9,11 +9,11 @@
 
 if [ $AUTOCNF = yes ]
 then
-	param set MC_PITCHRATE_P 0.1000
+	param set MC_PITCHRATE_P 0.0800
 	param set MC_PITCHRATE_I 0.0400
 	param set MC_PITCHRATE_D 0.0010
 	param set MC_PITCH_P 9.0
-	param set MC_ROLLRATE_P 0.1000
+	param set MC_ROLLRATE_P 0.0800
 	param set MC_ROLLRATE_I 0.0400
 	param set MC_ROLLRATE_D 0.0010
 	param set MC_ROLL_P 9.0

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

@@ -1,7 +1,7 @@
 
 mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
 
-mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
+mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
 
 # shellcheck disable=SC2154
 mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local

ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_ctrlalloc.post

@@ -1,7 +1,7 @@
 
 mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
 
-mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
+mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
 
 # shellcheck disable=SC2154
 mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -34,6 +34,7 @@
 px4_add_romfs_files(
 	10016_iris
 	10017_iris_ctrlalloc
+	10018_iris_foggy_lidar
 	10020_if750a
 	10030_px4vision
 	1010_iris_opt_flow
@@ -61,9 +62,13 @@ px4_add_romfs_files(
 	1034_rascal-electric
 	1035_techpod
 	1036_malolo
+	1037_believer
+	1038_plane_dynamicsoaring
 	1040_standard_vtol
 	1041_tailsitter
 	1042_tiltrotor
+	1043_standard_vtol_drop
+	1043_standard_vtol_drop.post
 	1060_rover
 	1061_r1_rover
 	1062_tf-r1

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -21,6 +21,7 @@ fi
 
 # initialize script variables
 set AUX_MODE                    none
+set AUX_BANK2			none
 set IO_PRESENT                  no
 set MAV_TYPE                    none
 set MIXER                       none
@@ -97,7 +98,7 @@ then
 	set AUTOCNF yes
 
 	# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
-	param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT_UUID
+	param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
 fi
 
 # multi-instance setup
@@ -117,49 +118,51 @@ if [ $AUTOCNF = yes ]
 then
 	param set SYS_AUTOSTART $REQUESTED_AUTOSTART
 
-	param set BAT_N_CELLS 4
-
-	param set CAL_ACC0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
-	param set CAL_ACC1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
-	param set CAL_ACC2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
+	param set CAL_ACC0_ID  1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
 	param set CAL_GYRO0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
+	param set CAL_ACC1_ID  1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
 	param set CAL_GYRO1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
+	param set CAL_ACC2_ID  1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
 	param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
+
 	param set CAL_MAG0_ID 197388
 	param set CAL_MAG1_ID 197644
 
-	param set CBRK_AIRSPD_CHK 0
-	param set CBRK_SUPPLY_CHK 894281
-
-	# Don't require RC calibration and configuration
-	param set COM_RC_IN_MODE 1
-
-	# Speedup SITL startup
-	param set EKF2_REQ_GPS_H 0.5
-
-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
-	param set EKF2_MULTI_MAG 2
-	param set SENS_MAG_MODE 0
-
-	# By default log from boot until first disarm.
-	param set SDLOG_MODE 1
-	# enable default, estimator replay and vision/avoidance logging profiles
-	param set SDLOG_PROFILE 131
-	param set SDLOG_DIRS_MAX 7
-	param set SENS_BOARD_ROT 0
 	param set SENS_BOARD_X_OFF 0.000001
 	param set SENS_DPRES_OFF 0.001
-	param set SYS_RESTART_TYPE 2
 
-	param set TRIG_INTERFACE 3
+	param set SYS_RESTART_TYPE 2
 fi
 
-param set COM_CPU_MAX -1 # disable check, no CPU load reported on posix yet
+param set-default BAT_N_CELLS 4
 
-# Simulator IMU data provided at 250 Hz
-param set IMU_INTEG_RATE 250
+param set-default CBRK_AIRSPD_CHK 0
+param set-default CBRK_SUPPLY_CHK 894281
+
+# disable check, no CPU load reported on posix yet
+param set-default COM_CPU_MAX -1
+
+# Don't require RC calibration and configuration
+param set-default COM_RC_IN_MODE 1
+
+# Speedup SITL startup
+param set-default EKF2_REQ_GPS_H 0.5
+
+# Multi-EKF
+param set-default EKF2_MULTI_IMU 3
+param set-default SENS_IMU_MODE 0
+param set-default EKF2_MULTI_MAG 2
+param set-default SENS_MAG_MODE 0
+
+param set-default IMU_GYRO_FFT_EN 1
+
+# By default log from boot until first disarm.
+param set-default SDLOG_MODE 1
+# enable default, estimator replay and vision/avoidance logging profiles
+param set-default SDLOG_PROFILE 131
+param set-default SDLOG_DIRS_MAX 7
+
+param set-default TRIG_INTERFACE 3
 
 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
@@ -174,6 +177,10 @@ if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
 	COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
 	echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
 	param set COM_OF_LOSS_T $COM_OF_LOSS_T_LONGER
+
+	COM_OBC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 5.0" | bc)
+	echo "COM_OBC_LOSS_T set to $COM_OBC_LOSS_T_LONGER"
+	param set COM_OBC_LOSS_T $COM_OBC_LOSS_T_LONGER
 fi
 
 # Autostart ID
@@ -206,11 +213,28 @@ then
 	param set SYS_AUTOCONFIG 0
 fi
 
+# Simulator IMU data provided at 250 Hz
+param set IMU_INTEG_RATE 250
+
 dataman start
 # only start the simulator if not in replay mode, as both control the lockstep time
 if ! replay tryapplyparams
 then
-	simulator start -c $simulator_tcp_port
+  # Check if PX4_SIM_HOSTNAME environment variable is empty
+  # If empty check if PX4_SIM_HOST_ADDR environment variable is empty
+  # If both are empty use localhost for simulator
+  if [ -z "${PX4_SIM_HOSTNAME}" ]; then
+    if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
+      echo "PX4 SIM HOST: localhost"
+      simulator start -c $simulator_tcp_port
+    else
+      echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
+      simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port 
+    fi
+  else
+    echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
+    simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port 
+  fi
 fi
 load_mon start
 battery_simulator start
@@ -232,6 +256,16 @@ then
 	camera_feedback start
 fi
 
+if param compare -s IMU_GYRO_FFT_EN 1
+then
+	gyro_fft start
+fi
+
+if param compare -s IMU_GYRO_CAL_EN 1
+then
+	gyro_calibration start
+fi
+
 # Configure vehicle type specific parameters.
 # Note: rc.vehicle_setup is the entry point for rc.interface,
 #       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
@@ -241,7 +275,7 @@ fi
 if [ -e etc/init.d-posix/rc.mavlink_override ]
 then
 	echo "Running non-default mavlink config rc.mavlink_override"
-	sh etc/init.d-posix/rc.mavlink_override
+	. ${R}etc/init.d-posix/rc.mavlink_override
 else
 	# GCS link
 	mavlink start -x -u $udp_gcs_port_local -r 4000000 -f

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

@@ -47,4 +47,13 @@ param set-default RWTO_TKOFF 1
 
 param set SYS_HITL 1
 
+# disable some checks to allow to fly
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default COM_PREARM_MODE 0
+param set-default CBRK_IO_SAFETY 22027
+
 set MIXER AERT

ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery

@@ -20,7 +20,6 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris

@@ -18,7 +18,6 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

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

@@ -20,7 +20,6 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance

@@ -20,7 +20,6 @@
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

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

@@ -14,3 +14,12 @@ set MIXER quad_x
 set PWM_OUT 1234
 
 param set SYS_HITL 1
+
+# disable some checks to allow to fly
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default COM_PREARM_MODE 0
+param set-default CBRK_IO_SAFETY 22027

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

@@ -8,7 +8,6 @@
 # @maintainer Roman Bapst <roman@auterion.com>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
@@ -67,6 +66,15 @@ param set-default VT_TYPE 2
 
 param set SYS_HITL 1
 
+# disable some checks to allow to fly
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default COM_PREARM_MODE 0
+param set-default CBRK_IO_SAFETY 22027
+
 set MAV_TYPE 22
 
 set MIXER standard_vtol_hitl

ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox

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

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

@@ -17,3 +17,12 @@ set PWM_OUT 1234
 
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2
+
+# disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default COM_PREARM_MODE 0
+param set-default CBRK_IO_SAFETY 22027

ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox

@@ -16,7 +16,6 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik

@@ -17,7 +17,6 @@
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

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

@@ -18,7 +18,6 @@
 # @output AUX5 Throttle
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

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

@@ -13,7 +13,6 @@
 # @maintainer Roman Bapst <roman@px4.io>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

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

@@ -18,7 +18,6 @@
 # @output AUX4 Gear
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

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

@@ -8,7 +8,6 @@
 # @maintainer Roman Bapst <roman@px4.io>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

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

@@ -17,7 +17,6 @@
 # @maintainer Roman Bapst <roman@px4.io>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

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

@@ -18,7 +18,6 @@
 # @output AUX5 Throttle
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

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

@@ -16,7 +16,6 @@
 # @output AUX3 Motor
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

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

@@ -8,7 +8,6 @@
 # @maintainer Sander Smeets <sander@droneslab.com>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

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

@@ -8,7 +8,6 @@
 # @maintainer Sander Smeets <sander@droneslab.com>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

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

@@ -8,7 +8,6 @@
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

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

@@ -8,7 +8,6 @@
 # @maintainer Samay Siga <samay_s@icloud.com>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

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

@@ -17,7 +17,6 @@
 # @output MAIN8 Elevon left
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

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

@@ -17,7 +17,6 @@
 # @output MAIN8 Pusher reverse channel
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

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

@@ -17,7 +17,6 @@
 # @output MAIN8 motor 4
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
@@ -27,48 +26,48 @@
 
 param set-default BAT_N_CELLS 6
 
-param set-default FW_AIRSPD_MAX   30
-param set-default FW_AIRSPD_MIN   19
-param set-default FW_AIRSPD_TRIM  23
+param set-default FW_AIRSPD_MAX 30
+param set-default FW_AIRSPD_MIN 19
+param set-default FW_AIRSPD_TRIM 23
 param set-default FW_L1_R_SLEW_MAX 40
 param set-default FW_LND_EARLYCFG 1
-param set-default FW_MAN_P_MAX	30
-param set-default FW_PR_I	0.1
-param set-default FW_PSP_OFF	3
+param set-default FW_MAN_P_MAX 30
+param set-default FW_PR_I 0.1
+param set-default FW_PSP_OFF 3
 param set-default FW_P_LIM_MAX 18
 param set-default FW_P_LIM_MIN -25
-param set-default FW_RLL_TO_YAW_FF	0.1
-param set-default FW_RR_I	0.1
-param set-default FW_RR_P	0.08
+param set-default FW_RLL_TO_YAW_FF 0.1
+param set-default FW_RR_I 0.1
+param set-default FW_RR_P 0.08
 param set-default FW_R_LIM 45
-param set-default FW_R_RMAX	50
+param set-default FW_R_RMAX 50
 param set-default FW_THR_CRUISE 0.65
 param set-default FW_THR_MIN 0.3
 param set-default FW_THR_SLEW_MAX 0.6
 param set-default FW_T_HRATE_FF 0
-param set-default FW_T_SINK_MAX	15
-param set-default FW_T_SINK_MIN	3
-param set-default FW_YR_I	0.1
-param set-default FW_YR_P	0.15
+param set-default FW_T_SINK_MAX 15
+param set-default FW_T_SINK_MIN 3
+param set-default FW_YR_I 0.1
+param set-default FW_YR_P 0.15
 
 param set-default IMU_GYRO_CUTOFF 40
 
 param set-default IMU_DGYRO_CUTOFF 15
-param set-default MC_PITCHRATE_I	0.2
+param set-default MC_PITCHRATE_I 0.2
 param set-default MC_PITCHRATE_MAX 60
-param set-default MC_ROLLRATE_I	0.2
+param set-default MC_ROLLRATE_I 0.2
 param set-default MC_ROLLRATE_MAX 60
 param set-default MC_YAWRATE_I 0.15
 param set-default MC_YAWRATE_MAX 40
 param set-default MC_YAWRATE_P 0.3
 
-param set-default MIS_TAKEOFF_ALT	30
+param set-default MIS_TAKEOFF_ALT 30
 
-param set-default MPC_ACC_DOWN_MAX	2
-param set-default MPC_ACC_HOR_MAX	2
-param set-default MPC_ACC_UP_MAX	3
+param set-default MPC_ACC_DOWN_MAX 2
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_ACC_UP_MAX 3
 param set-default MC_AIRMODE 1
-param set-default MPC_JERK_AUTO	4
+param set-default MPC_JERK_AUTO 4
 param set-default MPC_LAND_SPEED 1
 param set-default MPC_MAN_TILT_MAX 25
 param set-default MPC_MAN_Y_MAX 40
@@ -77,7 +76,7 @@ param set-default MPC_SPOOLUP_TIME 1.5
 param set-default MPC_THR_HOVER 0.45
 param set-default MPC_TILTMAX_AIR 25
 param set-default MPC_TKO_RAMP_T 1.8
-param set-default MPC_TKO_SPEED	1
+param set-default MPC_TKO_SPEED 1
 param set-default MPC_VEL_MANUAL 3
 param set-default MPC_XY_CRUISE 3
 param set-default MPC_XY_VEL_MAX 3.5
@@ -85,7 +84,7 @@ param set-default MPC_YAWRAUTO_MAX 40
 param set-default MPC_Z_VEL_MAX_DN 1.5
 param set-default MPC_Z_VEL_MAX_UP 2
 
-param set-default NAV_ACC_RAD	3
+param set-default NAV_ACC_RAD 3
 
 param set-default PWM_MAIN_DIS3 1000
 param set-default PWM_MAIN_MIN3 1120
@@ -113,3 +112,4 @@ set MIXER babyshark
 set MIXER_AUX pass
 
 set PWM_OUT 5678
+set PWM_AUX_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/13015_generic_vtol_standard

@@ -1,58 +0,0 @@
-#!/bin/sh
-#
-# @name Generic Quadplane VTOL (PWM14)
-#
-# @type Standard VTOL
-# @class VTOL
-#
-# @maintainer
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 Aileron 1
-# @output MAIN6 Aileron 2
-# @output MAIN7 Elevator
-# @output MAIN8 Rudder
-# @output MAIN9 Pusher motor
-#
-# @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-
-param set-default PWM_MAIN_RATE 400
-
-param set-default PWM_MAIN_MIN1 1100
-param set-default PWM_MAIN_MIN2 1100
-param set-default PWM_MAIN_MIN3 1100
-param set-default PWM_MAIN_MIN4 1100
-
-param set-default PWM_MAIN_MAX1 1900
-param set-default PWM_MAIN_MAX2 1900
-param set-default PWM_MAIN_MAX3 1900
-param set-default PWM_MAIN_MAX4 1900
-
-param set-default PWM_MAIN_DIS1 900
-param set-default PWM_MAIN_DIS2 900
-param set-default PWM_MAIN_DIS3 900
-param set-default PWM_MAIN_DIS4 900
-param set-default PWM_MAIN_DIS5 1500
-param set-default PWM_MAIN_DIS6 1500
-param set-default PWM_MAIN_DIS7 1500
-param set-default PWM_MAIN_DIS8 1500
-param set-default PWM_MAIN_DIS9 900
-
-param set-default VT_TYPE 2
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-set MAV_TYPE 22
-
-set MIXER quad_x_vtol_AAERT
-set MIXER_AUX none
-
-set PWM_OUT 1234

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

@@ -0,0 +1,41 @@
+#!/bin/sh
+#
+# @name Generic Quadplane VTOL Tiltrotor
+#
+# @type VTOL Tiltrotor
+# @class VTOL
+#
+# @maintainer
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output AUX1 Motor tilt front left
+# @output AUX2 Motor tilt front right
+# @output AUX3 Motor tilt rear left
+# @output AUX4 Motor tilt rear right
+# @output AUX5 Aileron left
+# @output AUX6 Aileron right
+# @output AUX7 Elevator
+# @output AUX8 Rudder
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+
+param set-default PWM_MAIN_RATE 400
+
+param set-default VT_IDLE_PWM_MC 1100
+param set-default VT_TYPE 1
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 24
+set MAV_TYPE 21
+
+set MIXER quad_x
+set MIXER_AUX vtol_TTTTAAER
+
+set PWM_OUT 1234

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

@@ -20,7 +20,6 @@
 # @output AUX5 Throttle
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

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

@@ -13,7 +13,6 @@
 # @maintainer Roman Bapst <roman@px4.io>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

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

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

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

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

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

@@ -13,7 +13,6 @@
 # @maintainer Emmanuel Roussel
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

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

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

ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2

@@ -20,7 +20,6 @@
 # @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

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

@@ -15,7 +15,6 @@
 # @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

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

@@ -10,7 +10,6 @@
 # @maintainer ThunderFly s.r.o.
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane

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

ROMFS/px4fmu_common/init.d/airframes/2105_maja

@@ -20,7 +20,6 @@
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/2106_albatross

@@ -20,7 +20,6 @@
 #
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/22000_asl_easyglider

@@ -0,0 +1,54 @@
+#!/bin/sh
+#
+# @name ASL_EasyGlider
+#
+# @type Standard Plane
+# @class Plane
+#
+# @output MAIN1 aileron
+# @output MAIN2 aileron
+# @output MAIN3 elevator
+# @output MAIN4 rudder
+# @output MAIN5 throttle
+# @output MAIN6 wheel
+# @output MAIN7 flaps
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Philipp Oettershagen <philipp.oettershagen@mavt.ethz.ch>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF == yes ]
+then
+    param set FW_AIRSPD_MIN 10
+    param set FW_AIRSPD_TRIM 15
+    param set FW_AIRSPD_MAX 20
+
+    param set FW_MAN_P_MAX 45
+    param set FW_MAN_R_MAX 45
+    param set FW_R_LIM 45
+
+    param set FW_WR_FF 0.2
+    param set FW_WR_I 0.2
+    param set FW_WR_IMAX 0.8
+    param set FW_WR_P 1
+    param set FW_W_RMAX 0
+
+    # set disarmed value for the ESC
+    param set PWM_DISARMED 1000
+
+    param set-default SENS_EN_ADIS164X 1
+    param set SENS_EN_ADIS164X 4
+fi
+
+set MIXER asl_easyglider
+
+# use PWM parameters for throttle channel
+set PWM_OUT 5

ROMFS/px4fmu_common/init.d/airframes/22001_asl_techpod

@@ -0,0 +1,52 @@
+#!/bin/sh
+#
+# @name ASL_Techpod
+#
+# @type Plane A-Tail
+# @class Plane
+#
+# @output MAIN1 aileron right
+# @output MAIN2 aileron left
+# @output MAIN3 v-tail right
+# @output MAIN4 v-tail left
+# @output MAIN5 throttle
+# @output MAIN6 wheel
+# @output MAIN7 flaps right
+# @output MAIN8 flaps left
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Philipp Oettershagen <philipp.oettershagen@mavt.ethz.ch>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF == yes ]
+then
+    param set FW_AIRSPD_MIN 10
+    param set FW_AIRSPD_TRIM 15
+    param set FW_AIRSPD_MAX 20
+
+    param set FW_MAN_P_MAX 55
+    param set FW_MAN_R_MAX 55
+    param set FW_R_LIM 55
+
+    param set FW_WR_FF 0.2
+    param set FW_WR_I 0.2
+    param set FW_WR_IMAX 0.8
+    param set FW_WR_P 1
+    param set FW_W_RMAX 0
+
+    # set disarmed value for the ESC
+    param set PWM_DISARMED 1000
+fi
+
+set MIXER asl_techpod
+
+# use PWM parameters for throttle channel
+set PWM_OUT 5

ROMFS/px4fmu_common/init.d/airframes/22002_asl_sensesoar2

@@ -0,0 +1,52 @@
+#!/bin/sh
+#
+# @name ASL_SenseSoar2
+#
+# @type Plane A-Tail
+# @class Plane
+#
+# @output MAIN1 aileron right
+# @output MAIN2 aileron left
+# @output MAIN3 v-tail right
+# @output MAIN4 v-tail left
+# @output MAIN5 throttle
+# @output MAIN6 wheel
+# @output MAIN7 flaps right
+# @output MAIN8 flaps left
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Philipp Oettershagen <philipp.oettershagen@mavt.ethz.ch>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF == yes ]
+then
+    param set FW_AIRSPD_MIN 12
+    param set FW_AIRSPD_TRIM 15
+    param set FW_AIRSPD_MAX 20
+
+    param set FW_MAN_P_MAX 45
+    param set FW_MAN_R_MAX 45
+    param set FW_R_LIM 55
+
+    param set FW_WR_FF 0.2
+    param set FW_WR_I 0.2
+    param set FW_WR_IMAX 0.8
+    param set FW_WR_P 1
+    param set FW_W_RMAX 0
+
+    # set disarmed value for the ESC
+    param set PWM_DISARMED 1000
+fi
+
+set MIXER asl_sensoar2
+
+# use PWM parameters for throttle channel
+set PWM_OUT 5

ROMFS/px4fmu_common/init.d/airframes/22003_asl_believer

@@ -0,0 +1,54 @@
+#!/bin/sh
+#
+# @name Autonomous Systems Lab, ETH Zurich Believer
+#
+# @type Plane V-Tail
+# @class Plane
+#
+# @output MAIN1 aileron right
+# @output MAIN2 aileron left
+# @output MAIN3 v-tail right
+# @output MAIN4 v-tail left
+# @output MAIN5 throttle
+# @output MAIN6 wheel
+# @output MAIN7 flaps right
+# @output MAIN8 flaps left
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Jaeyoung Lim <jalim@ethz.ch>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default FW_AIRSPD_MIN 10
+param set-default FW_AIRSPD_TRIM 15
+param set-default FW_AIRSPD_MAX 20
+
+param set-default FW_MAN_P_MAX 55
+param set-default FW_MAN_R_MAX 55
+param set-default FW_R_LIM 55
+
+param set-default FW_WR_FF 0.2
+param set-default FW_WR_I 0.2
+param set-default FW_WR_IMAX 0.8
+param set-default FW_WR_P 1
+param set-default FW_W_RMAX 0
+
+# set disarmed value for the ESC
+param set-default PWM_MAIN_DISARM 1500
+param set-default PWM_MAIN_DIS5 900
+param set-default PWM_MAIN_DIS6 900
+
+# The Mini Talon does not have a wheel and
+# no flaps. I leave them here because the mixer
+# computes also wheel and flap controls.
+set MIXER AAVVTTFF_vtail
+
+# use PWM parameters for throttle channel
+set PWM_OUT 56

ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon

@@ -21,7 +21,6 @@
 # @maintainer Friedrich Beckmann <friedrich.beckmann@hs-augsburg.de>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

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

@@ -22,7 +22,6 @@
 # @maintainer Ian McNanie <ianmcnanie@gmail.com>
 # @maintainer William Peale <develop707@gmail.com>
 #
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/2507_cloudship

@@ -10,7 +10,6 @@
 # @output MAIN4 tail thruster
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing

@@ -15,7 +15,6 @@
 #
 # @maintainer
 #
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer

@@ -16,7 +16,6 @@
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/3031_phantom

@@ -18,7 +18,6 @@
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5

@@ -16,7 +16,6 @@
 # @maintainer Julian Oes <julian@px4.io>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

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

@@ -18,7 +18,6 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames

@@ -21,11 +21,8 @@
 set MIXER quad_x
 set PWM_OUT 1234
 
-
-
 param set-default IMU_GYRO_CUTOFF 40
 param set-default IMU_DGYRO_CUTOFF 20
-param set-default IMU_GYRO_RATEMAX 400
 
 param set-default MC_ROLLRATE_P 0.18
 param set-default MC_ROLLRATE_I 0.15

ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb

@@ -13,7 +13,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo

@@ -13,7 +13,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad

@@ -8,7 +8,6 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/4040_reaper

@@ -15,7 +15,6 @@
 # @maintainer Blankered
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/4041_beta75x

@@ -18,7 +18,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/4050_generic_250

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

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

@@ -17,7 +17,6 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250

@@ -10,7 +10,6 @@
 # @maintainer Beat Kueng <beat-kueng@gmx.net>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #