WIP: icm20602 skip reset if already configured (quick start)

- adds new ulog message & compatibility flag
- separately add airframe and system-wide defaults
- log only non-volatile defaults that are different from the current value
- additional size is ~3KB for 100 params

.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
           ]
@@ -55,13 +55,17 @@ 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",
@@ -70,16 +74,12 @@ pipeline {
                      "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",

.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
                   }
@@ -1004,6 +1013,7 @@ void statusFTDI() {
   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 +1029,7 @@ 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"'

.github/workflows/checks.yml

@@ -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

@@ -34,13 +34,17 @@ jobs:
           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,
@@ -49,16 +53,12 @@ jobs:
           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_default,
@@ -67,7 +67,6 @@ jobs:
           px4_fmu-v5_optimized,
           px4_fmu-v5_rover,
           px4_fmu-v5_rtps,
-          px4_fmu-v5_stackcheck,
           px4_fmu-v5_uavcanv0periph,
           px4_fmu-v5_uavcanv1,
           px4_fmu-v5x_base_phy_DP83848C,
@@ -100,8 +99,8 @@ 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/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/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
 

.gitmodules

@@ -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

.vscode/cmake-variants.yaml

@@ -116,11 +116,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: holybro_durandal-v1_default
-    intel_aerofc-v1_default:
-      short: intel_aerofc-v1
-      buildType: MinSizeRel
-      settings:
-        CONFIG: intel_aerofc-v1_default
     modalai_fc-v1_default:
       short: modalai_fc-v1
       buildType: MinSizeRel

.vscode/settings.json

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

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 \

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
 #

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/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
@@ -64,6 +65,8 @@ px4_add_romfs_files(
 	1040_standard_vtol
 	1041_tailsitter
 	1042_tiltrotor
+	1043_standard_vtol_drop
+	1043_standard_vtol_drop.post
 	1060_rover
 	1061_r1_rover
 	1062_tf-r1

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -117,49 +117,49 @@ 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
+
+# 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
@@ -206,6 +206,9 @@ 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
@@ -244,7 +247,7 @@ then
 	sh etc/init.d-posix/rc.mavlink_override
 else
 	# GCS link
-	mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
+	mavlink start -x -u $udp_gcs_port_local -r 4000000 -f -p
 	mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
 	mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
 	mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
@@ -256,13 +259,13 @@ else
 	mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
 
 	# API/Offboard link
-	mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
+	mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote -p
 
 	# Onboard link to camera
-	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
+	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote -p
 
 	# Onboard link to gimbal
-	mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
+	mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote -p
 fi
 
 # execute autostart post script if any

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -42,6 +42,7 @@ px4_add_romfs_files(
 	rc.fw_apps
 	rc.fw_defaults
 	rc.interface
+	rc.io
 	rc.logging
 	rc.mc_apps
 	rc.mc_defaults

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
 #
 

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

@@ -18,7 +18,6 @@
 # @output MAIN9 Pusher motor
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

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/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
 #
 
@@ -49,6 +48,7 @@ param set-default CBRK_IO_SAFETY    22027
 param set-default CBRK_SUPPLY_CHK   894281
 
 # RC configuration
+param set-default RC_MAP_MODE_SW    5
 param set-default RC_MAP_PITCH      2
 param set-default RC_MAP_ROLL       1
 param set-default RC_MAP_THROTTLE   3

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
 #
 

ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2

@@ -8,7 +8,6 @@
 # @maintainer Beat Kueng <beat@px4.io>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100

@@ -8,7 +8,6 @@
 # @maintainer James Goppert <james.goppert@gmail.com>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/4070_aerofc

@@ -1,81 +0,0 @@
-#!/bin/sh
-#
-# @name Intel Aero Ready to Fly Drone
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @maintainer Beat Kueng <beat@px4.io>
-#
-# @board px4_fmu-v2 exclude
-# @board px4_fmu-v3 exclude
-# @board px4_fmu-v4 exclude
-# @board px4_fmu-v4pro exclude
-# @board px4_fmu-v5 exclude
-# @board px4_fmu-v5x exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-#
-# Load default params for this platform
-#
-
-# Set all params here, then disable autoconfig
-param set-default EKF2_GPS_POS_X -0.06
-param set-default EKF2_GPS_POS_Z -0.1
-param set-default EKF2_MIN_OBS_DT 50
-
-param set-default EKF2_BARO_GATE 10
-param set-default EKF2_BARO_NOISE 5
-param set-default EKF2_ACC_NOISE 0.7
-
-param set-default LNDMC_Z_VEL_MAX 2
-
-param set-default MC_ROLL_P 8
-param set-default MC_ROLLRATE_P 0.13
-param set-default MC_ROLLRATE_I 0.07
-param set-default MC_ROLLRATE_D 0.0012
-param set-default MC_ROLLRATE_MAX 360
-param set-default MC_PITCH_P 8
-param set-default MC_PITCHRATE_P 0.13
-param set-default MC_PITCHRATE_I 0.07
-param set-default MC_PITCHRATE_D 0.0012
-param set-default MC_PITCHRATE_MAX 360
-param set-default MC_YAW_P 4
-param set-default MC_YAWRATE_P 0.12
-param set-default MC_YAWRATE_I 0.05
-param set-default MC_YAWRATE_D 0
-
-param set-default MPC_LAND_SPEED 0.7
-param set-default MPC_MANTHR_MIN 0.04
-param set-default MPC_THR_HOVER 0.5
-param set-default MPC_THR_MAX 0.94
-param set-default MPC_THR_MIN 0.1
-param set-default MPC_XY_CRUISE 8
-param set-default MPC_XY_P 1.5
-param set-default MPC_XY_VEL_P_ACC 3
-param set-default MPC_Z_P 1.5
-param set-default MPC_Z_VEL_P_ACC 16
-param set-default MPC_Z_VEL_I_ACC 3
-param set-default MPC_Z_VEL_MAX_DN 4
-param set-default MPC_Z_VEL_MAX_UP 5
-
-# TELEM2 config
-param set-default MAV_1_CONFIG 102
-param set-default MAV_1_RATE 80000
-param set-default MAV_1_FORWARD 1
-param set-default SER_TEL2_BAUD 921600
-
-if ! param greater SYS_HITL 0
-then
-	tap_esc start -d /dev/ttyS0 -n 4
-	usleep 300000
-
-	set OUTPUT_MODE tap_esc
-fi
-
-set MIXER quad_x
-set USE_IO no
-

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

@@ -17,7 +17,6 @@
 # @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/4072_draco

@@ -17,7 +17,6 @@
 # @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/4073_ifo-s

@@ -15,7 +15,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board intel_aerofc-v1 exclude
 #
 # @maintainer Hyon Lim <lim@uvify.com>
 #

ROMFS/px4fmu_common/init.d/airframes/4080_zmr250

@@ -8,7 +8,6 @@
 # @maintainer Anton Matosov <anton.matosov@gmail.com>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/4090_nanomind

@@ -12,7 +12,6 @@
 # @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/4100_tiltquadrotor

@@ -19,7 +19,6 @@
 # @maintainer Ricardo Marques <marques.ricardo17@gmail.com>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/4250_teal

@@ -17,7 +17,6 @@
 # @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/4500_clover4

@@ -8,7 +8,6 @@
 # @maintainer Oleg Kalachev <okalachev@gmail.com>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie

@@ -13,7 +13,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board intel_aerofc-v1 exclude
 #
 . ${R}etc/init.d/rc.mc_defaults
 

ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21

@@ -13,15 +13,16 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board intel_aerofc-v1 exclude
 #
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x_cw
 set PWM_OUT 1234
 
-param set-default SYS_MC_EST_GROUP 3
+param set-default SYS_MC_EST_GROUP 2
 param set-default SYS_HAS_MAG 0
+param set-default EKF2_AID_MASK 2
+param set-default EKF2_MAG_TYPE 5
 
 param set-default BAT_N_CELLS 1
 param set-default BAT1_N_CELLS 1
@@ -59,7 +60,7 @@ param set-default MPC_MAX_FLOW_HGT 3
 param set-default NAV_RCL_ACT 3
 
 param set-default PWM_MAIN_DISARM 0
-param set-default PWM_MAIN_MIN 0
+param set-default PWM_MAIN_MIN 20
 param set-default PWM_MAIN_MAX 255
 
 # Run the motors at 328.125 kHz (recommended)

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

@@ -10,7 +10,6 @@
 #
 # @maintainer
 #
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #