drivers/device/nuttx/I2C: add transfer failure details

This should fix the CI issue where the test just hangs trying to
connect.

.ci/Jenkinsfile-compile

@@ -28,7 +28,7 @@ pipeline {
           ]
 
           def base_builds = [
-            target: ["px4_sitl_rtps"],
+            target: ["px4_sitl_default"],
             image: docker_images.base,
             archive: false
           ]
@@ -58,8 +58,11 @@ pipeline {
                      "holybro_can-gps-v1_default",
                      "holybro_durandal-v1_default",
                      "holybro_kakutef7_default",
+                     "holybro_kakuteh7_default",
                      "holybro_pix32v5_default",
                      "matek_h743-slim",
+                     "matek_gnss-m9n-f4_canbootloader",
+                     "matek_gnss-m9n-f4_default",
                      "modalai_fc-v1_default",
                      "modalai_fc-v1_rtps",
                      "modalai_fc-v2_default",

.ci/Jenkinsfile-hardware

@@ -73,10 +73,8 @@ pipeline {
                 }
               }
               post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                 always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
                 }
               }
@@ -145,10 +143,8 @@ pipeline {
                 }
               }
               post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                 always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
                 }
               }
@@ -217,10 +213,8 @@ pipeline {
                 }
               }
               post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                 always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
                 }
               }
@@ -288,10 +282,8 @@ pipeline {
                 }
               }
               post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                 always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
                 }
               }
@@ -360,10 +352,8 @@ pipeline {
                 }
               }
               post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                 always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
                 }
               }
@@ -452,10 +442,8 @@ pipeline {
                 }
               }
               post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                 always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
                 }
               }
@@ -536,10 +524,8 @@ pipeline {
                 }
               }
               post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                 always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
                 }
               }
@@ -608,10 +594,8 @@ pipeline {
                 }
               }
               post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                 always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
                 }
               }
@@ -680,10 +664,8 @@ pipeline {
                 }
               }
               post {
-                failure {
-                  sh 'cat /tmp/pyserial_spy_file.txt'
-                }
                 always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
                 }
               }
@@ -723,18 +705,21 @@ void quickCalibrate() {
 
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status || true"'
 
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick; sleep 1"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_ACC*"'
 
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro; sleep 2"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_GYRO*"'
 
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level; sleep 2"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SENS*"'
 
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick; sleep 1"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_MAG*"'
 
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate baro; sleep 5"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_BARO*"'
+
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters after
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
 }
@@ -743,8 +728,10 @@ void checkStatus() {
   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 "param status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
   sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
 
   // run logger
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
@@ -778,6 +765,7 @@ void checkStatus() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
@@ -789,8 +777,8 @@ void checkStatus() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uavcan status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
-  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 "uorb status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
   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"'
   // stop logger
@@ -812,6 +800,8 @@ void runTests() {
 
   sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_CAL_EN" --value "0" || true' // disable during testing
   sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_FFT_EN" --value "0" || true' // disable during testing
+  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_IMU_AUTOCAL" --value "0" || true' // disable during testing
+  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_MAG_AUTOCAL" --value "0" || true' // disable during testing
 
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
   sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
@@ -857,7 +847,7 @@ void runTests() {
 void printTopics() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
-  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 "uorb top -1 -a" || true'
 
   // these are for casually inspecting the system, output failure doesn't matter
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_armed" || true'
@@ -874,7 +864,7 @@ void printTopics() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf_gps_drift" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'

.clusterfuzzlite/Dockerfile

@@ -0,0 +1,7 @@
+FROM gcr.io/oss-fuzz-base/base-builder:v1
+COPY . $SRC/PX4-Autopilot
+RUN apt-get install -y libjpeg8-dev zlib1g-dev
+RUN pip3 install --upgrade pip
+RUN python3 -m pip install -r $SRC/PX4-Autopilot/Tools/setup/requirements.txt
+WORKDIR $SRC/PX4-Autopilot
+COPY ./.clusterfuzzlite/build.sh $SRC/

.clusterfuzzlite/build.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash -eu
+
+PX4_FUZZ=1 make px4_sitl
+cp build/px4_sitl_default/bin/px4 $OUT/px4

.clusterfuzzlite/project.yaml

@@ -0,0 +1 @@
+language: c++

.github/workflows/cflite_batch.yml

@@ -0,0 +1,34 @@
+name: ClusterFuzzLite batch fuzzing
+on:
+  schedule:
+    - cron: '0 6 * * *'  # UTC 6am every day.
+permissions: read-all
+jobs:
+  BatchFuzzing:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        sanitizer:
+        - address
+        - undefined
+        - memory
+    steps:
+    - name: Build Fuzzers (${{ matrix.sanitizer }})
+      id: build
+      uses: google/clusterfuzzlite/actions/build_fuzzers@v1
+      with:
+        sanitizer: ${{ matrix.sanitizer }}
+    - name: Run Fuzzers (${{ matrix.sanitizer }})
+      id: run
+      uses: google/clusterfuzzlite/actions/run_fuzzers@v1
+      with:
+        github-token: ${{ secrets.GITHUB_TOKEN }}
+        fuzz-seconds: 1800 # 30 mins
+        mode: 'batch'
+        sanitizer: ${{ matrix.sanitizer }}
+        # Optional but recommended: For storing certain artifacts from fuzzing.
+        # See later section on "Git repo for storage".
+        # storage-repo: https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/OWNER/STORAGE-REPO-NAME.git
+        # storage-repo-branch: main   # Optional. Defaults to "main"
+        # storage-repo-branch-coverage: gh-pages  # Optional. Defaults to "gh-pages".

.github/workflows/compile_nuttx.yml

@@ -20,6 +20,7 @@ jobs:
           ark_can-flow,
           ark_can-gps,
           ark_can-rtk-gps,
+          ark_cannode,
           atl_mantis-edu,
           av_x-v1,
           bitcraze_crazyflie,
@@ -33,8 +34,10 @@ jobs:
           holybro_can-gps-v1,
           holybro_durandal-v1,
           holybro_kakutef7,
+          holybro_kakuteh7,
           holybro_pix32v5,
           matek_h743-slim,
+          matek_gnss-m9n-f4,
           modalai_fc-v1,
           modalai_fc-v2,
           mro_ctrl-zero-f7,

.github/workflows/sitl_tests.yml

@@ -29,9 +29,9 @@ jobs:
         token: ${{ secrets.ACCESS_TOKEN }}
 
     - name: Download MAVSDK
-      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
     - name: Install MAVSDK
-      run: dpkg -i "mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+      run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
 
     - name: Prepare ccache timestamp
       id: ccache_cache_timestamp

.gitmodules

@@ -64,3 +64,6 @@
 	path = src/lib/crypto/libtommath
 	url = https://github.com/PX4/libtommath.git
 	branch = px4
+[submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
+	path = src/modules/microdds_client/Micro-XRCE-DDS-Client
+	url = https://github.com/eProsima/Micro-XRCE-DDS-Client.git

.vscode/cmake-variants.yaml

@@ -121,6 +121,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_can-rtk-gps_canbootloader
+    ark_cannode_default:
+      short: ark_cannode_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_cannode_default
+    ark_cannode_canbootloader:
+      short: ark_cannode_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_cannode_canbootloader
     atl_mantis-edu_default:
       short: atl_mantis-edu
       buildType: MinSizeRel
@@ -196,6 +206,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: matek_h743-slim_default
+    matek_gnss-m9n-f4_canbootloader:
+      short: matek_gnss-m9n-f4_canbootloader
+      buildType: MiniSizeRel
+      settings:
+        CONFIG: matek_m9nf4can_canbootloader
+    matek_gnss-m9n-f4_default:
+      short: matek_gnss-m9n-f4_default
+      buildType: MiniSizeRel
+      settings:
+        CONFIG: matek_gnss-m9n-f4_default
     modalai_fc-v1_default:
       short: modalai_fc-v1
       buildType: MinSizeRel

CMakeLists.txt

@@ -125,6 +125,11 @@ define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                  FULL_DOCS "List of all PX4 module libraries"
                  )
 
+define_property(GLOBAL PROPERTY PX4_KERNEL_MODULE_LIBRARIES
+                 BRIEF_DOCS "PX4 kernel side module libs"
+                 FULL_DOCS "List of all PX4 kernel module libraries"
+                 )
+
 define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
                  BRIEF_DOCS "PX4 module paths"
                  FULL_DOCS "List of paths to all PX4 modules"
@@ -142,6 +147,7 @@ set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
 
 include(px4_add_module)
 set(config_module_list)
+set(config_kernel_list)
 
 # Find Python
 # If using catkin, Python 2 is found since it points
@@ -406,6 +412,7 @@ endif()
 # subdirectories
 #
 add_library(parameters_interface INTERFACE)
+add_library(kernel_parameters_interface INTERFACE)
 
 include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)
@@ -428,7 +435,13 @@ add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)
 
 # must be the last module before firmware
 add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
+
+if(${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT)
+target_link_libraries(parameters_interface INTERFACE usr_parameters)
+target_link_libraries(kernel_parameters_interface INTERFACE parameters)
+else()
 target_link_libraries(parameters_interface INTERFACE parameters)
+endif()
 
 # firmware added last to generate the builtin for included modules
 add_subdirectory(platforms/${PX4_PLATFORM})

Kconfig

@@ -118,6 +118,11 @@ config BOARD_CRYPTO
     help
         Enable PX4 Crypto Support. Select the implementation under drivers
 
+config BOARD_PROTECTED
+    bool "Memory protection"
+    help
+        Enable memory protection via MPU/MMU
+
 menu "Serial ports"
 
     config BOARD_SERIAL_URT6

LICENSE

@@ -1,6 +1,6 @@
 BSD 3-Clause License
 
-Copyright (c) 2012 - 2021, PX4 Development Team
+Copyright (c) 2012 - 2022, PX4 Development Team
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

Makefile

@@ -158,6 +158,11 @@ else
 		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
 	endif
 
+	# Fuzz Testing
+	ifdef PX4_FUZZ
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
+	endif
+
 endif
 
 # Pick up specific Python path if set

ROMFS/px4fmu_common/init.d-posix/airframes/1011_iris_irlock

@@ -10,6 +10,7 @@
 # enable fusion of landing target velocity
 param set-default LTEST_MODE 1
 param set-default PLD_HACC_RAD 0.1
+param set-default RTL_PLD_MD 2
 
 # Start up Landing Target Estimator module
 landing_target_estimator start

ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic

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

ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus

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

ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy

@@ -67,4 +67,3 @@ param set-default PWM_MAIN_FUNC7 107
 param set-default PWM_MAIN_FUNC8 108
 
 set MIXER skip
-

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

@@ -44,6 +44,8 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
 
+param set-default FW_USE_NPFG 1
+
 param set-default RWTO_TKOFF 1
 
 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix

ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol

@@ -10,7 +10,7 @@
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 2
 
-param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR_COUNT 5
 param set-default CA_ROTOR0_PX 0.1515
 param set-default CA_ROTOR0_PY 0.245
 param set-default CA_ROTOR0_KM 0.05
@@ -23,6 +23,9 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.1515
 param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05
+param set-default CA_ROTOR4_AX 1.0
+param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_PX 0.2
 
 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_CS0_TYPE 1
@@ -68,7 +71,6 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1
 
 param set-default NAV_ACC_RAD 5
-param set-default NAV_LOITER_RAD 80
 
 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75
@@ -77,7 +79,5 @@ param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2
 
-set MAV_TYPE 22
-
 set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
 set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter

@@ -7,6 +7,8 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-default MAV_TYPE 20
+
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 4
 
@@ -68,7 +70,6 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1
 
 param set-default NAV_ACC_RAD 5
-param set-default NAV_LOITER_RAD 80
 
 param set-default VT_FW_DIFTHR_EN 1
 param set-default VT_FW_DIFTHR_SC 0.5
@@ -78,7 +79,5 @@ param set-default VT_TYPE 0
 
 param set-default WV_EN 0
 
-set MAV_TYPE 20
-
 set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
 set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor

@@ -7,6 +7,8 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-default MAV_TYPE 21
+
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 3
 
@@ -80,7 +82,6 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1
 
 param set-default NAV_ACC_RAD 5
-param set-default NAV_LOITER_RAD 80
 
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_FWD_THRUST_EN 4
@@ -88,7 +89,5 @@ param set-default VT_MOT_ID 1234
 param set-default VT_TILT_TRANS 0.6
 param set-default VT_TYPE 1
 
-set MAV_TYPE 21
-
 set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
 set MIXER custom

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

@@ -38,7 +38,6 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1
 
 param set-default NAV_ACC_RAD 5
-param set-default NAV_LOITER_RAD 80
 
 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75
@@ -51,7 +50,5 @@ param set-default RC_MAP_AUX1 8
 param set-default RC_MAP_AUX2 9
 param set-default RC_MAP_AUX3 10
 
-set MAV_TYPE 22
-
 set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
 set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover

@@ -37,6 +37,4 @@ param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101
 
-set MAV_TYPE 10
-
 set MIXER_FILE skip

ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover

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

ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1

@@ -10,6 +10,8 @@
 
 . ${R}etc/init.d/rc.rover_defaults
 
+param set-default MAV_TYPE 10
+
 param set-default GND_L1_DIST 5
 param set-default GND_SP_CTRL_MODE 1
 param set-default GND_SPEED_D 3
@@ -33,6 +35,4 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 3.0
 
-set MAV_TYPE 10
-
 set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix

ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat

@@ -47,6 +47,4 @@ param set-default CA_R_REV 3
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 
-set MAV_TYPE 11
-
 set MIXER skip

ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x

@@ -9,6 +9,8 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+param set-default MAV_TYPE 13
+
 param set-default MC_PITCHRATE_P 0.1
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCH_P 6.0
@@ -24,6 +26,4 @@ param set-default TRIG_MODE 4
 param set-default MNT_MODE_IN 4
 param set-default MNT_DO_STAB 2
 
-set MAV_TYPE 13
-
 set MIXER hexa_x

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

@@ -7,6 +7,8 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+param set-default MAV_TYPE 13
+
 param set-default MC_PITCHRATE_P 0.0800
 param set-default MC_PITCHRATE_I 0.0400
 param set-default MC_PITCHRATE_D 0.0010
@@ -26,6 +28,4 @@ param set-default MNT_MODE_IN 4
 param set-default MNT_MODE_OUT 2
 param set-default MAV_PROTO_VER 2
 
-set MAV_TYPE 13
-
 set MIXER hexa_x

ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc

@@ -7,6 +7,8 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+param set-default MAV_TYPE 13
+
 param set-default SYS_CTRL_ALLOC 1
 
 param set-default MC_PITCHRATE_P 0.0800
@@ -58,7 +60,5 @@ param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 105
 param set-default PWM_MAIN_FUNC6 106
 
-set MAV_TYPE 13
-
 set MIXER skip
 set MIXER_AUX none

ROMFS/px4fmu_common/init.d-posix/rc.replay

@@ -10,7 +10,7 @@ fi
 
 if [ ! -f replay_params.txt ]; then
 	echo "Creating $(pwd)/replay_params.txt"
-	ulog_params -i "${replay}" -d ' ' | grep -e '^EKF2' > replay_params.txt
+	ulog_params -i "${replay}" -l ' ' | grep -e '^EKF2' > replay_params.txt
 fi
 
 publisher_rules_file="orb_publisher.rules"
@@ -21,6 +21,7 @@ ignore_others: false
 EOF
 
 param set SDLOG_DIRS_MAX 7
+param set SDLOG_PROFILE 3
 
 # apply all params before ekf starts, as some params cannot be changed after startup
 replay tryapplyparams

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -24,7 +24,6 @@ fi
 
 # initialize script variables
 set IO_PRESENT                  no
-set MAV_TYPE                    none
 set MIXER                       none
 set MIXER_AUX                   none
 set MIXER_FILE                  none
@@ -224,6 +223,13 @@ rc_update start
 manual_control start
 sensors start
 commander start
+
+# Configure vehicle type specific parameters.
+# Note: rc.vehicle_setup is the entry point for rc.interface,
+#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
+#
+. ${R}etc/init.d/rc.vehicle_setup
+
 navigator start
 
 # Try to start the micrortps_client with UDP transport if module exists
@@ -234,7 +240,7 @@ fi
 
 if param greater -s MNT_MODE_IN -1
 then
-	vmount start
+	gimbal start
 fi
 
 if param greater -s TRIG_MODE 0
@@ -253,12 +259,6 @@ then
 	gyro_calibration start
 fi
 
-# Configure vehicle type specific parameters.
-# Note: rc.vehicle_setup is the entry point for rc.interface,
-#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
-#
-. ${R}etc/init.d/rc.vehicle_setup
-
 #user defined mavlink streams for instances can be in PATH
 . px4-rc.mavlink
 

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

@@ -39,6 +39,26 @@ param set-default FW_RR_P 0.3
 
 param set-default RWTO_TKOFF 1
 
+param set-default CA_AIRFRAME 1
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+param set-default CA_SV_CS_COUNT 4
+param set-default CA_SV_CS0_TRQ_R 0.5
+param set-default CA_SV_CS0_TYPE 2
+param set-default CA_SV_CS1_TRQ_P 1.0
+param set-default CA_SV_CS1_TYPE 3
+param set-default CA_SV_CS2_TRQ_Y 1.0
+param set-default CA_SV_CS2_TYPE 4
+param set-default CA_SV_CS3_TYPE 10
+
+param set-default HIL_ACT_REV 2
+param set-default HIL_ACT_FUNC1 201
+param set-default HIL_ACT_FUNC2 202
+param set-default HIL_ACT_FUNC3 203
+param set-default HIL_ACT_FUNC4 101
+param set-default HIL_ACT_FUNC5 204
+param set-default HIL_ACT_FUNC6 400
+
 param set SYS_HITL 1
 
 # disable some checks to allow to fly

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

@@ -35,6 +35,6 @@ param set-default MC_YAWRATE_P 0.25
 param set-default MC_YAWRATE_I 0.25
 
 param set-default BAT1_V_DIV 12.27559
-param set-default BAT1_A_PER_V 15.39103
+param set-default BAT1_A_PER_V 15.391030303103
 
 set MIXER quad_w

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

@@ -36,4 +36,5 @@ param set-default MC_PITCHRATE_P 0.19
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCHRATE_D 0.004
 param set-default MC_YAW_P 4
+
 set MIXER quad_w

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

@@ -15,6 +15,23 @@ set MIXER quad_x
 
 param set SYS_HITL 1
 
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.15
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default HIL_ACT_FUNC1 101
+param set-default HIL_ACT_FUNC2 102
+param set-default HIL_ACT_FUNC3 103
+param set-default HIL_ACT_FUNC4 104
+
 # disable some checks to allow to fly
 # - with usb
 param set-default CBRK_USB_CHK 197848

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

@@ -49,7 +49,6 @@ param set-default MPC_Z_VEL_MAX_DN 1.5
 
 param set-default NAV_ACC_RAD 5
 param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 80
 
 param set-default RTL_DESCEND_ALT 10
 param set-default RTL_RETURN_ALT 30
@@ -61,6 +60,37 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_TYPE 2
 
+param set-default CA_AIRFRAME 2
+param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.15
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_KM -0.05
+param set-default CA_ROTOR4_AX 1.0
+param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_PX 0.2
+
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+
+param set-default HIL_ACT_FUNC1 101
+param set-default HIL_ACT_FUNC2 102
+param set-default HIL_ACT_FUNC3 103
+param set-default HIL_ACT_FUNC4 104
+param set-default HIL_ACT_FUNC5 105
+param set-default HIL_ACT_FUNC6 201
+param set-default HIL_ACT_FUNC7 202
+param set-default HIL_ACT_FUNC8 203
+
 
 param set SYS_HITL 1
 
@@ -73,7 +103,7 @@ param set-default CBRK_SUPPLY_CHK 894281
 param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027
 
-set MAV_TYPE 22
+param set-default MAV_TYPE 22
 
 set MIXER standard_vtol_hitl
 

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

@@ -15,6 +15,25 @@
 set MIXER quad_x
 set PWM_OUT 1234
 
+param set UAVCAN_ENABLE 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.15
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default HIL_ACT_FUNC1 101
+param set-default HIL_ACT_FUNC2 102
+param set-default HIL_ACT_FUNC3 103
+param set-default HIL_ACT_FUNC4 104
+
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2
 

ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil

@@ -15,6 +15,28 @@
 set MIXER AERT
 set PWM_OUT 1234
 
+param set UAVCAN_ENABLE 0
+
+param set-default CA_AIRFRAME 1
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+param set-default CA_SV_CS_COUNT 4
+param set-default CA_SV_CS0_TRQ_R 0.5
+param set-default CA_SV_CS0_TYPE 2
+param set-default CA_SV_CS1_TRQ_P 1.0
+param set-default CA_SV_CS1_TYPE 3
+param set-default CA_SV_CS2_TRQ_Y 1.0
+param set-default CA_SV_CS2_TYPE 4
+param set-default CA_SV_CS3_TYPE 10
+
+param set-default HIL_ACT_REV 2
+param set-default HIL_ACT_FUNC1 201
+param set-default HIL_ACT_FUNC2 202
+param set-default HIL_ACT_FUNC3 203
+param set-default HIL_ACT_FUNC4 101
+param set-default HIL_ACT_FUNC5 204
+param set-default HIL_ACT_FUNC6 400
+
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set-default SYS_HITL 2
 
@@ -38,3 +60,4 @@ param set SIH_IXZ 0.00046
 param set SIH_KDV 0.2
 
 param set SIH_VEHICLE_TYPE 1 	# sih as fixed wing
+param set RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)

ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil

@@ -0,0 +1,81 @@
+#!/bin/sh
+#
+# @name SIH Tailsitter Duo
+#
+# @type Simulation
+# @class VTOL
+#
+# @output MAIN1 motor right
+# @output MAIN2 motor left
+# @output MAIN5 elevon right
+# @output MAIN6 elevon left
+#
+# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set UAVCAN_ENABLE 0
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_MOT_COUNT 2
+param set-default VT_TYPE 0
+param set-default VT_FW_DIFTHR_EN 1
+param set-default VT_FW_DIFTHR_SC 0.3
+param set-default MPC_MAN_Y_MAX 60
+param set-default MC_PITCH_P 5
+
+param set-default CA_AIRFRAME 4
+param set-default CA_ROTOR_COUNT 2
+param set-default CA_ROTOR0_KM -0.05
+param set-default CA_ROTOR0_PY 0.2
+param set-default CA_ROTOR1_KM -0.05
+param set-default CA_ROTOR1_PY -0.2
+param set-default CA_SV_CS_COUNT 2
+param set-default CA_SV_CS0_TRQ_P 0.3
+param set-default CA_SV_CS0_TRQ_Y 0.3
+param set-default CA_SV_CS0_TYPE 5
+param set-default CA_SV_CS1_TRQ_P 0.3
+param set-default CA_SV_CS1_TRQ_Y -0.3
+param set-default CA_SV_CS1_TYPE 6
+
+param set-default HIL_ACT_FUNC1 101
+param set-default HIL_ACT_FUNC2 102
+param set-default HIL_ACT_FUNC5 202
+param set-default HIL_ACT_FUNC6 201
+param set-default HIL_ACT_REV 32
+
+param set-default MAV_TYPE 19
+
+set MIXER vtol_tailsitter_duo_sat
+
+set PWM_OUT 1234
+
+# set SYS_HITL to 2 to start the SIH and avoid sensors startup
+param set-default 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
+
+param set-default BAT_N_CELLS 3
+
+param set SIH_T_MAX 2.0
+param set SIH_Q_MAX 0.0165
+param set SIH_MASS 0.2
+# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
+param set SIH_IXX 0.00354
+param set SIH_IYY 0.000625
+param set SIH_IZZ 0.00300
+param set SIH_IXZ 0.0
+param set SIH_KDV 0.2
+param set SIH_L_ROLL 0.145
+
+# sih as tailsitter
+param set SIH_VEHICLE_TYPE 2

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

@@ -24,13 +24,38 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-default CA_AIRFRAME 2
+param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.15
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_KM -0.05
+param set-default CA_ROTOR4_AX 1.0
+param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_PX 0.2
+param set-default CA_SV_CS_COUNT 4
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
 
 param set-default PWM_AUX_DIS5 950
 
 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
-set MAV_TYPE 22
+
+param set-default MAV_TYPE 22
 
 set MIXER quad_x
 set MIXER_AUX vtol_AAERT

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

@@ -19,7 +19,6 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
 param set-default MAV_TYPE 19
 
 param set-default MC_ROLL_P 6
@@ -38,7 +37,6 @@ param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_ID 12
 param set-default VT_TYPE 0
-set MAV_TYPE 19
 
 set MIXER vtol_tailsitter_duo
 

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

@@ -23,6 +23,7 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-default MAV_TYPE 21
 
 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.19
@@ -45,7 +46,6 @@ param set-default VT_TILT_TRANS 0.5
 param set-default VT_TILT_FW 0.9
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
-set MAV_TYPE 21
 
 set MIXER firefly6
 set MIXER_AUX firefly6

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

@@ -13,13 +13,33 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-default MAV_TYPE 20
+
+param set-default CA_AIRFRAME 4
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.15
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_KM -0.05
+param set-default CA_SV_CS_COUNT 2
+param set-default CA_SV_CS0_TRQ_P 0.5
+param set-default CA_SV_CS0_TRQ_Y 0.5
+param set-default CA_SV_CS0_TYPE 5
+param set-default CA_SV_CS1_TRQ_P 0.5
+param set-default CA_SV_CS1_TRQ_Y -0.5
+param set-default CA_SV_CS1_TYPE 6
 
 param set-default PWM_MAIN_MAX 2000
 
 param set-default VT_MOT_ID 1234
 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0
-set MAV_TYPE 20
 
 set MIXER quad_x_vtol
 

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

@@ -22,13 +22,13 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-default MAV_TYPE 20
+
 param set-default PWM_MAIN_MAX 2000
 
 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0
 
-set MAV_TYPE 20
-
 set MIXER quad_+_vtol
 
 set PWM_OUT 1234

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

@@ -52,7 +52,6 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
-set MAV_TYPE 22
 
 set MIXER quad_x
 set MIXER_AUX vtol_AAERT

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

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

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

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

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

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

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

@@ -77,8 +77,6 @@ param set-default VT_TRANS_MIN_TM 5
 param set-default VT_TRANS_TIMEOUT    30
 param set-default VT_TYPE 2
 
-set MAV_TYPE 22
-
 set MIXER quad_x
 set MIXER_AUX vtol_AAERT
 

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

@@ -13,6 +13,8 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-defualt MAV_TYPE 21
+
 param set-default PWM_AUX_DISARM 1000
 param set-default PWM_AUX_MAX 2000
 param set-default PWM_AUX_MIN 1000
@@ -28,7 +30,6 @@ param set-default VT_TILT_MC 0.08
 param set-default VT_TILT_TRANS 0.5
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
-set MAV_TYPE 21
 
 set MIXER claire
 set MIXER_AUX claire

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

@@ -22,6 +22,8 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-defualt MAV_TYPE 21
+
 param set-default CBRK_AIRSPD_CHK 162128
 
 param set-default FW_ARSP_MODE 1
@@ -64,7 +66,6 @@ param set-default VT_TRANS_MIN_TM 1.2
 param set-default VT_TRANS_P2_DUR 1.3
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
-set MAV_TYPE 21
 
 set MIXER vtol_convergence
 

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

@@ -22,6 +22,8 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-default MAV_TYPE 22
+
 param set-default BAT1_CAPACITY 23000
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_R_INTERNAL 0.0025
@@ -134,7 +136,6 @@ param set-default VT_TRANS_TIMEOUT 22
 param set-default VT_F_TRANS_RAMP 4
 
 param set-default COM_RC_OVERRIDE 0
-set MAV_TYPE 22
 
 set MIXER deltaquad
 set MIXER_AUX pass

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

@@ -23,6 +23,8 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-default MAV_TYPE 22
+
 param set-default BAT1_N_CELLS 6
 
 param set-default FW_AIRSPD_MAX 30
@@ -94,8 +96,6 @@ param set-default VT_PSHER_RMP_DT 2
 param set-default VT_TRANS_MIN_TM 4
 param set-default VT_TYPE 2
 
-set MAV_TYPE 22
-
 set MIXER babyshark
 set MIXER_AUX pass
 

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

@@ -27,11 +27,37 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-default MAV_TYPE 21
+
 param set-default VT_IDLE_PWM_MC 1100
 param set-default VT_TYPE 1
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 24
-set MAV_TYPE 21
+
+param set-default CA_AIRFRAME 3
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.15
+param set-default CA_ROTOR0_TILT 1
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+param set-default CA_ROTOR1_TILT 2
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR2_TILT 3
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_KM -0.05
+param set-default CA_ROTOR3_TILT 4
+param set-default CA_SV_CS_COUNT 4
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_TL_COUNT 4
 
 set MIXER quad_x
 set MIXER_AUX vtol_TTTTAAER

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

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

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

@@ -19,12 +19,26 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+param set-default MAV_TYPE 19
+
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0
 
-param set-default MAV_TYPE 19
-set MAV_TYPE 19
+param set-default CA_AIRFRAME 4
+param set-default CA_ROTOR_COUNT 2
+param set-default CA_ROTOR0_KM -0.05
+param set-default CA_ROTOR0_PY 0.2
+param set-default CA_ROTOR1_KM -0.05
+param set-default CA_ROTOR1_PY -0.2
+param set-default CA_SV_CS_COUNT 2
+param set-default CA_SV_CS0_TRQ_P 0.5
+param set-default CA_SV_CS0_TRQ_Y 0.5
+param set-default CA_SV_CS0_TYPE 5
+param set-default CA_SV_CS1_TRQ_P 0.5
+param set-default CA_SV_CS1_TRQ_Y -0.5
+param set-default CA_SV_CS1_TYPE 6
+
 set MIXER vtol_tailsitter_duo
 
 set PWM_OUT 1234

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

@@ -18,4 +18,7 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+# MAV_TYPE_TRICOPTER 15
+param set-default MAV_TYPE 15
+
 set MIXER tri_y_yaw+

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

@@ -18,4 +18,7 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+# MAV_TYPE_TRICOPTER 15
+param set-default MAV_TYPE 15
+
 set MIXER tri_y_yaw-

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

@@ -17,7 +17,9 @@
 #
 
 . ${R}etc/init.d/rc.mc_defaults
-set MIXER coax
+
+# MAV_TYPE_COAXIAL 3
+param set-default MAV_TYPE 3
 
 param set-default MC_ROLLRATE_P 0.17
 param set-default MC_ROLLRATE_I 0.05
@@ -36,6 +38,9 @@ param set-default PWM_MAIN_RATE 400
 
 param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10
+
+set MIXER coax
+
 # This is the gimbal pass mixer
 set MIXER_AUX pass
 

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

@@ -20,7 +20,7 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 # Configure as helicopter (number 4 defined in commander_helper.cpp)
-set MAV_TYPE 4
+param set-default MAV_TYPE 4
 
 set MIXER blade130
 

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

@@ -41,5 +41,6 @@ param set-default FW_R_LIM 40
 param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
+
 set MIXER TF-G2
 set MIXER_AUX pass

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

@@ -24,8 +24,5 @@ param set-default MAV_0_CONFIG 102
 param set-default GPS_UBX_DYNMODEL 8
 param set-default SER_TEL2_BAUD 9600
 
-set MAV_TYPE 8
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER IO_pass
 set MIXER_AUX pass

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

@@ -23,6 +23,18 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
+param set-default CA_AIRFRAME 1
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+param set-default CA_SV_CS_COUNT 4
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+
 param set-default PWM_AUX_RATE 50
 param set-default PWM_MAIN_RATE 50
 

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

@@ -26,7 +26,7 @@
 # @board px4_fmu-v2 exclude
 #
 
-set VEHICLE_TYPE mc
+. ${R}etc/init.d/rc.mc_defaults
 
 param set-default NAV_ACC_RAD 2
 
@@ -39,6 +39,7 @@ param set-default PWM_MAIN_RATE 400
 
 param set-default RTL_DESCEND_ALT 10
 param set-default RTL_RETURN_ALT 30
+
 set MIXER dodeca_top_cox
 set MIXER_AUX dodeca_bottom_cox
 

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

@@ -41,9 +41,6 @@ param set-default FW_RR_P 0.04
 
 param set-default PWM_MAIN_DISARM 1000
 
-# Configure this as plane.
-set MAV_TYPE 1
-
 # Set mixer.
 set MIXER fw_generic_wing
 

ROMFS/px4fmu_common/init.d/airframes/4001_quad_x

@@ -21,3 +21,16 @@
 #
 
 . ${R}etc/init.d/rc.mc_defaults
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.15
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_KM -0.05
+

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

@@ -1,39 +0,0 @@
-#!/bin/sh
-#
-# @name S500 with control allocation
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @maintainer Silvan Fuhrer
-#
-# @board px4_fmu-v2 exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER skip
-set MIXER_AUX none
-
-param set-default SYS_CTRL_ALLOC 1
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.177
-param set-default CA_ROTOR0_PY 0.177
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.177
-param set-default CA_ROTOR1_PY -0.177
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.177
-param set-default CA_ROTOR2_PY -0.177
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.177
-param set-default CA_ROTOR3_PY 0.177
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104

ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2

@@ -0,0 +1,23 @@
+#!/bin/sh
+#
+# @name Holybro X500 V2
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Farhang Naderi <farhang.nba@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default IMU_GYRO_CUTOFF 30
+
+param set-default MC_ROLLRATE_P 0.14
+param set-default MC_PITCHRATE_P 0.14
+param set-default MC_ROLLRATE_I 0.3
+param set-default MC_PITCHRATE_I 0.3
+param set-default MC_ROLLRATE_D 0.004
+param set-default MC_PITCHRATE_D 0.004

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

@@ -24,8 +24,6 @@
 
 set MIXER quad_s250aq
 
-set MAV_TYPE 2
-
 param set-default ATT_BIAS_MAX 0
 
 param set-default CBRK_IO_SAFETY 22027

ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu

@@ -16,8 +16,10 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER none
-set MIXER_AUX none
+# We set the mixer and ESC manually.
+set MIXER skip
+set MIXER_AUX skip
+set MIXER_FILE ""
 
 # Battery settings
 param set-default BAT_CRIT_THR 0.20
@@ -33,17 +35,18 @@ param set-default CBRK_SUPPLY_CHK 894281
 
 param set-default COM_DISARM_LAND 0.1
 param set-default COM_DISARM_PRFLT 3
-param set-default COM_FLTMODE1 -1
+param set-default COM_DL_LOSS_T 10
+param set-default COM_FLTMODE1  2
 param set-default COM_FLTMODE2 -1
 param set-default COM_FLTMODE3 -1
-param set-default COM_FLTMODE4  2
+param set-default COM_FLTMODE4 -1
 param set-default COM_FLTMODE5 -1
-param set-default COM_FLTMODE6  6
+param set-default COM_FLTMODE6  1
 param set-default COM_RC_LOSS_T 3
 
 
 # ekf2
-param set-default EKF2_AID_MASK 35
+param set-default EKF2_AID_MASK 33
 param set-default EKF2_BARO_DELAY 0
 param set-default EKF2_BARO_NOISE 2.0
 
@@ -68,6 +71,9 @@ param set-default EKF2_OF_GATE 2.0
 param set-default EKF2_OF_POS_X -0.035
 param set-default EKF2_OF_POS_Y 0.0
 param set-default EKF2_OF_POS_Z 0.033
+param set-default EKF2_OF_MIN_RNG 0.01
+param set-default EKF2_OF_A_HMAX 7.0
+param set-default EKF2_OF_QMIN 30
 
 param set-default EKF2_PCOEF_XN -0.3
 param set-default EKF2_PCOEF_XP -0.4
@@ -141,58 +147,33 @@ param set-default MPC_Z_VEL_P 0.27
 
 
 # gimbal configuration
-param set-default MNT_MODE_IN 1
-param set-default MNT_MODE_OUT 2
-param set-default MNT_MAN_PITCH 1
-
+param set-default MNT_MODE_IN 0
+param set-default MNT_MODE_OUT 1
+param set-default MNT_MAN_PITCH 2
+param set-default MNT_RC_IN_MODE 1
+param set-default MNT_RATE_PITCH 30
 
 # RC
 param set-default RC_CHAN_CNT       12
 
 param set-default RC_MAP_THROTTLE   1
-param set-default RC_MAP_ROLL       2
+param set-default RC_MAP_YAW        2
 param set-default RC_MAP_PITCH      3
-param set-default RC_MAP_YAW        4
-param set-default RC_MAP_FLTMODE    5
-param set-default RC_MAP_AUX1       7
+param set-default RC_MAP_ROLL       4
+param set-default RC_MAP_AUX2       5
+param set-default RC_MAP_AUX3       10
+param set-default RC_MAP_AUX4       8
+param set-default RC_MAP_FLTMODE    6
+param set-default RC_MAP_RETURN_SW  7
 
-param set-default RC1_DZ            10
-param set-default RC1_MAX           3413
-param set-default RC1_MIN           683
-param set-default RC1_REV           1
-param set-default RC1_TRIM          683
-param set-default RC2_DZ            10
-param set-default RC2_MAX           3413
-param set-default RC2_MIN           683
-param set-default RC2_REV           -1
-param set-default RC2_TRIM          2048
-param set-default RC3_DZ            10
-param set-default RC3_MAX           3413
-param set-default RC3_MIN           683
-param set-default RC3_REV           1
-param set-default RC3_TRIM          2048
-param set-default RC4_DZ            10
-param set-default RC4_MAX           3413
-param set-default RC4_MIN           683
-param set-default RC4_REV           -1
-param set-default RC4_TRIM          2048
-param set-default RC5_DZ            10
-param set-default RC5_MAX           3414
-param set-default RC5_MIN           2048
-param set-default RC5_REV           1
-param set-default RC5_TRIM          2048
-param set-default RC7_DZ            10
-param set-default RC7_MAX           3413
-param set-default RC7_MIN           683
-param set-default RC7_REV           1
-param set-default RC7_TRIM          2048
+param set-default RC1_TRIM          1000
 
 
 # optical flow
 param set-default SENS_FLOW_MAXR   7.4
 param set-default SENS_FLOW_MINHGT 0.15
 param set-default SENS_FLOW_MAXHGT 5.0
-param set-default SENS_FLOW_ROT    4
+param set-default SENS_FLOW_ROT    0
 
-
-mixer load /dev/tap_esc /etc/mixers/quad_x.main.mix
+# ignore the SD card errors and use normal startup sound
+set STARTUP_TUNE "1"

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

@@ -21,10 +21,7 @@
 # @board cuav_x7pro exclude
 #
 
-set VEHICLE_TYPE mc
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_defaults
 
 # Attitude & rate gains
 param set-default MC_ROLLRATE_D 0.0013

ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s

@@ -21,10 +21,7 @@
 # @maintainer Hyon Lim <lim@uvify.com>
 #
 
-set VEHICLE_TYPE mc
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_defaults
 
 # Attitude & rate gains
 param set-default MC_ROLLRATE_D 0.0013

ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor

@@ -24,10 +24,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-
-# Configure this as Quadrotor
-# set MAV_TYPE 14
-
 # Set mixer
 set MIXER tilt_quad
 set MIXER_AUX tilt_quad

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

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

ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover

@@ -76,9 +76,6 @@ param set-default RBCLW_SER_CFG 104
 # Start this driver after setting parameters, because the driver uses some of those parameters.
 # roboclaw start /dev/ttyS3
 
-# Configure this as rover
-set MAV_TYPE 10
-
 # Set mixer
 set MIXER generic_diff_rover
 

ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx

@@ -65,9 +65,6 @@ param set-default PWM_MAIN_MIN4 970
 # Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
 
-# Configure this as rover
-set MAV_TYPE 10
-
 # Set mixer
 set MIXER rover_diff_and_servo
 

ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic

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

ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus

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

ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x

@@ -23,6 +23,26 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+# MAV_TYPE_HEXAROTOR 13
+param set-default MAV_TYPE 13
+
+param set-default CA_ROTOR_COUNT 6
+param set-default CA_ROTOR0_PX 0.0
+param set-default CA_ROTOR0_PY 0.5
+param set-default CA_ROTOR0_KM -0.05
+param set-default CA_ROTOR1_PX 0.0
+param set-default CA_ROTOR1_PY -0.5
+param set-default CA_ROTOR2_PX 0.43
+param set-default CA_ROTOR2_PY -0.25
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.43
+param set-default CA_ROTOR3_PY 0.25
+param set-default CA_ROTOR4_PX 0.43
+param set-default CA_ROTOR4_PY 0.25
+param set-default CA_ROTOR5_PX -0.43
+param set-default CA_ROTOR5_PY -0.25
+param set-default CA_ROTOR5_KM -0.05
+
 set MIXER hexa_x
 
 # Need to set all 8 channels

ROMFS/px4fmu_common/init.d/airframes/6002_draco_r

@@ -27,9 +27,8 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER hexa_x
-set PWM_OUT 12345678
-
+# MAV_TYPE_HEXAROTOR 13
+param set-default MAV_TYPE 13
 
 ###############################################
 # Attitude & rate gains
@@ -120,3 +119,7 @@ param set-default MAV_1_MODE 2
 param set-default MAV_1_FORWARD 1
 param set-default MAV_1_RATE 800000
 param set-default SER_TEL2_BAUD 921600
+
+
+set MIXER hexa_x
+set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/airframes/6003_hexa_x_ctrlalloc

@@ -1,52 +0,0 @@
-#!/bin/sh
-#
-# @name Hex X with control allocation
-#
-# @type Hexarotor x
-# @class Copter
-#
-# @maintainer Silvan Fuhrer
-#
-# @board px4_fmu-v2 exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default SYS_CTRL_ALLOC 1
-
-param set-default CA_AIRFRAME 0
-param set-default CA_ROTOR_COUNT 6
-
-param set-default CA_ROTOR0_PX 0.0
-param set-default CA_ROTOR0_PY 0.275
-param set-default CA_ROTOR0_KM -0.05
-
-param set-default CA_ROTOR1_PX 0.0
-param set-default CA_ROTOR1_PY -0.275
-param set-default CA_ROTOR1_KM 0.05
-
-param set-default CA_ROTOR2_PX 0.238
-param set-default CA_ROTOR2_PY -0.1375
-param set-default CA_ROTOR2_KM -0.05
-
-param set-default CA_ROTOR3_PX -0.238
-param set-default CA_ROTOR3_PY 0.1375
-param set-default CA_ROTOR3_KM 0.05
-
-param set-default CA_ROTOR4_PX 0.238
-param set-default CA_ROTOR4_PY 0.1375
-param set-default CA_ROTOR4_KM 0.05
-
-param set-default CA_ROTOR5_PX -0.238
-param set-default CA_ROTOR5_PY -0.1375
-param set-default CA_ROTOR5_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 105
-param set-default PWM_MAIN_FUNC6 106
-
-set MIXER skip
-set MIXER_AUX none

ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+

@@ -23,6 +23,26 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+# MAV_TYPE_HEXAROTOR 13
+param set-default MAV_TYPE 13
+
+param set-default CA_ROTOR_COUNT 6
+param set-default CA_ROTOR0_PX 0.5
+param set-default CA_ROTOR0_PY 0.0
+param set-default CA_ROTOR0_KM -0.05
+param set-default CA_ROTOR1_PX -0.5
+param set-default CA_ROTOR1_PY 0.0
+param set-default CA_ROTOR2_PX -0.25
+param set-default CA_ROTOR2_PY -0.43
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX 0.25
+param set-default CA_ROTOR3_PY 0.43
+param set-default CA_ROTOR4_PX 0.25
+param set-default CA_ROTOR4_PY -0.43
+param set-default CA_ROTOR5_PX -0.25
+param set-default CA_ROTOR5_PY 0.43
+param set-default CA_ROTOR5_KM -0.05
+
 set MIXER hexa_+
 
 # Need to set all 8 channels

ROMFS/px4fmu_common/init.d/airframes/8001_octo_x

@@ -25,6 +25,31 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+# MAV_TYPE_OCTOROTOR 14
+param set-default MAV_TYPE 14
+
+param set-default CA_ROTOR_COUNT 8
+param set-default CA_ROTOR0_KM -0.05
+param set-default CA_ROTOR0_PX 0.46
+param set-default CA_ROTOR0_PY 0.19
+param set-default CA_ROTOR1_KM -0.05
+param set-default CA_ROTOR1_PX -0.46
+param set-default CA_ROTOR1_PY -0.19
+param set-default CA_ROTOR2_PX 0.19
+param set-default CA_ROTOR2_PY 0.46
+param set-default CA_ROTOR3_PX -0.46
+param set-default CA_ROTOR3_PY 0.19
+param set-default CA_ROTOR4_PX 0.46
+param set-default CA_ROTOR4_PY -0.19
+param set-default CA_ROTOR5_PX -0.19
+param set-default CA_ROTOR5_PY -0.46
+param set-default CA_ROTOR6_KM -0.05
+param set-default CA_ROTOR6_PX 0.19
+param set-default CA_ROTOR6_PY -0.46
+param set-default CA_ROTOR7_KM -0.05
+param set-default CA_ROTOR7_PX -0.19
+param set-default CA_ROTOR7_PY 0.46
+
 set MIXER octo_x
 
 set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/airframes/9001_octo_+

@@ -25,6 +25,9 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+# MAV_TYPE_OCTOROTOR 14
+param set-default MAV_TYPE 14
+
 set MIXER octo_+
 
 set PWM_OUT 12345678

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

@@ -40,6 +40,7 @@ px4_add_romfs_files(
 	1002_standard_vtol.hil
 	1100_rc_quad_x_sih.hil
 	1101_rc_plane_sih.hil
+	1102_tailsitter_duo_sih.hil
 
 	# [2000, 2999] Standard planes"
 	2100_standard_plane
@@ -71,7 +72,7 @@ px4_add_romfs_files(
 	4015_holybro_s500
 	4016_holybro_px4vision
 	4017_nxp_hovergames
-	4018_s500_ctrlalloc
+	4019_x500_v2
 	4030_3dr_solo
 	4031_3dr_quad
 	4040_reaper
@@ -98,7 +99,6 @@ px4_add_romfs_files(
 	# [6000, 6999] Hexarotor x"
 	6001_hexa_x
 	6002_draco_r
-	6003_hexa_x_ctrlalloc
 
 	# [7000, 7999] Hexarotor +"
 	7001_hexa_+

ROMFS/px4fmu_common/init.d/rc.airship_defaults

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

ROMFS/px4fmu_common/init.d/rc.balloon_defaults

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

ROMFS/px4fmu_common/init.d/rc.boat_defaults

@@ -7,6 +7,9 @@
 
 set VEHICLE_TYPE rover
 
+# MAV_TYPE_SURFACE_BOAT 11
+param set-default MAV_TYPE 11
+
 #
 # Default parameters for UGVs.
 #

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -7,14 +7,15 @@
 
 set VEHICLE_TYPE fw
 
+# MAV_TYPE_FIXED_WING 1
+param set-default MAV_TYPE 1
+
 #
 # Default parameters for fixed wing UAVs.
 #
 param set-default COM_POS_FS_DELAY 5
 param set-default COM_POS_FS_EPH 15
 param set-default COM_POS_FS_EPV 30
-param set-default COM_POS_FS_GAIN 0
-param set-default COM_POS_FS_PROB 1
 param set-default COM_VEL_FS_EVH 5
 # Disable preflight disarm to not interfere with external launching
 param set-default COM_DISARM_PRFLT -1

ROMFS/px4fmu_common/init.d/rc.interface

@@ -45,7 +45,7 @@ fi
 #
 # Set the default output mode if none was set.
 #
-if [ $OUTPUT_MODE = none ]
+if [ $OUTPUT_MODE = none -a $OUTPUT_MODE != skip ]
 then
 	if [ $USE_IO = yes ]
 	then
@@ -72,7 +72,7 @@ fi
 #
 # If OUTPUT_MODE = none then something is wrong with setup and we shouldn't try to enable output.
 #
-if [ $OUTPUT_MODE != none ]
+if [ $OUTPUT_MODE != none -a $OUTPUT_MODE != skip ]
 then
 
 	if [ $OUTPUT_MODE = hil -o $OUTPUT_MODE = sim ]

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -7,7 +7,13 @@
 
 set VEHICLE_TYPE mc
 
-param set-default IMU_GYRO_RATEMAX 800
+# MAV_TYPE_QUADROTOR 2
+param set-default MAV_TYPE 2
+
+if param compare IMU_GYRO_RATEMAX 400
+then
+	param set-default IMU_GYRO_RATEMAX 800
+fi
 
 param set-default NAV_ACC_RAD 2
 

ROMFS/px4fmu_common/init.d/rc.rover_defaults

@@ -7,6 +7,9 @@
 
 set VEHICLE_TYPE rover
 
+# MAV_TYPE_GROUND_ROVER 10
+param set-default MAV_TYPE 10
+
 #
 # Default parameters for UGVs.
 #

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -83,16 +83,28 @@ then
 	teraranger start -X
 fi
 
-# Possible external pmw3901 optical flow sensor
+# paa3905 optical flow sensor (external SPI)
+if param greater -s SENS_EN_PAA3905 0
+then
+	paa3905 -S start
+fi
+
+# paw3902 optical flow sensor (external SPI)
+if param greater -s SENS_EN_PAW3902 0
+then
+	paw3902 -S start
+fi
+
+# pmw3901 optical flow sensor (external SPI)
 if param greater -s SENS_EN_PMW3901 0
 then
 	pmw3901 -S start
 fi
 
-# Possible external paw3902 optical flow sensor
-if param greater -s SENS_EN_PAW3902 0
+# Check for px4flow sensor
+if param compare -s SENS_EN_PX4FLOW 1
 then
-	paw3902 -S start
+	px4flow start -X
 fi
 
 # vl53l1x i2c distance sensor
@@ -130,6 +142,13 @@ then
 	fi
 fi
 
+# SHT3x temperature and hygrometer sensor, external I2C
+if param compare -s SENS_EN_SHT3X 1
+then
+	sht3x start -X
+	sht3x start -X -a 0x45
+fi
+
 # TE MS4525 differential pressure sensor external I2C
 if param compare -s SENS_EN_MS4525 1
 then
@@ -142,6 +161,26 @@ then
 	ms5525_airspeed start -X
 fi
 
+# IR-LOCK sensor external I2C
+if param compare -s SENS_EN_IRLOCK 1
+then
+	irlock start -X
+fi
+
+# SPL06 sensor external I2C
+if param compare -s SENS_EN_SPL06 1
+then
+	spl06 -X start
+	spl06 -X -a 0x77 start
+fi
+
+# PCF8583 counter (RPM sensor)
+if param compare -s SENS_EN_PCF8583 1
+then
+	pcf8583 start -X
+	pcf8583 start -X -a 0x51
+fi
+
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then

ROMFS/px4fmu_common/init.d/rc.uuv_defaults

@@ -7,6 +7,9 @@
 
 set VEHICLE_TYPE uuv
 
+# MAV_TYPE_SUBMARINE 12
+param set-default MAV_TYPE 12
+
 param set-default PWM_MAIN_MAX 1950
 param set-default PWM_MAIN_MIN 1050
 param set-default PWM_MAIN_DISARM 1500

ROMFS/px4fmu_common/init.d/rc.vehicle_setup

@@ -12,19 +12,9 @@ if [ $VEHICLE_TYPE = fw ]
 then
 	if [ $MIXER = none ]
 	then
-		# Set default mixer for fixed wing if not defined.
-		set MIXER AERT
+		echo "FW mixer undefined"
 	fi
 
-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 1 if not defined.
-		set MAV_TYPE 1
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface
 
@@ -42,41 +32,6 @@ then
 		echo "MC mixer undefined"
 	fi
 
-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 2 if not defined.
-		set MAV_TYPE 2
-
-		# Use mixer to detect vehicle type
-		if [ $MIXER = coax ]
-		then
-			set MAV_TYPE 3
-		fi
-		if [ $MIXER = hexa_x -o $MIXER = hexa_+ ]
-		then
-			set MAV_TYPE 13
-		fi
-		if [ $MIXER = hexa_cox ]
-		then
-			set MAV_TYPE 13
-		fi
-		if [ $MIXER = octo_x -o $MIXER = octo_+ ]
-		then
-			set MAV_TYPE 14
-		fi
-		if [ $MIXER = octo_cox -o $MIXER = octo_cox_w ]
-		then
-			set MAV_TYPE 14
-		fi
-		if [ $MIXER = tri_y_yaw- -o $MIXER = tri_y_yaw+ ]
-		then
-			set MAV_TYPE 15
-		fi
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface
 
@@ -91,19 +46,9 @@ if [ $VEHICLE_TYPE = rover ]
 then
 	if [ $MIXER = none ]
 	then
-		# Set default mixer for UGV if not defined.
-		set MIXER rover_generic
+		echo "rover mixer undefined"
 	fi
 
-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 10 if not defined.
-		set MAV_TYPE 10
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface
 
@@ -121,25 +66,6 @@ then
 		echo "VTOL mixer undefined"
 	fi
 
-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 19 if not defined.
-		set MAV_TYPE 19
-
-		# Use mixer to detect vehicle type.
-		if [ $MIXER = firefly6 ]
-		then
-			set MAV_TYPE 21
-		fi
-		if [ $MIXER = quad_x_pusher_vtol ]
-		then
-			set MAV_TYPE 22
-		fi
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface
 
@@ -157,15 +83,6 @@ then
 		echo "Airship mixer undefined"
 	fi
 
-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 7 if not defined.
-		set MAV_TYPE 7
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface
 
@@ -183,19 +100,11 @@ then
 		echo "UUV mixer undefined"
 	fi
 
-	if [ $MAV_TYPE = none ]
-	then
-		# Set default MAV_TYPE to submarine if not defined
-		set MAV_TYPE 12
-	fi
-
-	param set MAV_TYPE ${MAV_TYPE}
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface
 
 	# Start standard vtol apps.
 	. ${R}etc/init.d/rc.uuv_apps
-
 fi
 
 

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -7,6 +7,9 @@
 
 set VEHICLE_TYPE vtol
 
+# MAV_TYPE_VTOL_FIXEDROTOR 22
+param set-default MAV_TYPE 22
+
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_YAW_TMT 10
 

ROMFS/px4fmu_common/init.d/rcS

@@ -29,7 +29,6 @@ set IOFW "/etc/extras/px4_io-v2_default.bin"
 set IO_PRESENT no
 set LOGGER_ARGS ""
 set LOGGER_BUF 8
-set MAV_TYPE none
 set MIXER none
 set MIXER_AUX none
 set MIXER_FILE none
@@ -291,15 +290,9 @@ else
 		# Start core UAVCAN module.
 		if uavcan start
 		then
-			if param greater UAVCAN_ENABLE 1
+			if param greater UAVCAN_ENABLE 2
 			then
-				# Start UAVCAN firmware update server and dynamic node ID allocation server.
-				uavcan start fw
-
-				if param greater UAVCAN_ENABLE 2
-				then
-					set OUTPUT_MODE uavcan_esc
-				fi
+				set OUTPUT_MODE uavcan_esc
 			fi
 		else
 			tune_control play error
@@ -415,16 +408,12 @@ else
 		commander start
 	fi
 
-
 	#
-	# Play the startup tune (if not disabled or there is an error)
+	# 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.
 	#
-	param compare CBRK_BUZZER 782090
-	if [ $? != 0 -o $STARTUP_TUNE != 1 ]
-	then
-		tune_control play -t $STARTUP_TUNE
-	fi
-
+	. ${R}etc/init.d/rc.vehicle_setup
 
 	# Pre-takeoff continuous magnetometer calibration
 	if param compare -s MBE_ENABLE 1
@@ -444,7 +433,7 @@ else
 	set BOARD_RC_MAVLINK ${R}etc/init.d/rc.board_mavlink
 	if [ -f $BOARD_RC_MAVLINK ]
 	then
-		echo "Board extras: ${BOARD_RC_MAVLINK}"
+		echo "Board mavlink: ${BOARD_RC_MAVLINK}"
 		. $BOARD_RC_MAVLINK
 	fi
 	unset BOARD_RC_MAVLINK
@@ -477,11 +466,13 @@ else
 	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.
+	# Play the startup tune (if not disabled or there is an error)
 	#
-	. ${R}etc/init.d/rc.vehicle_setup
+	param compare CBRK_BUZZER 782090
+	if [ "$?" != "0" -o "$STARTUP_TUNE" != "1" ]
+	then
+		tune_control play -t $STARTUP_TUNE
+	fi
 
 	#
 	# Start the navigator.
@@ -494,17 +485,11 @@ else
 	. ${R}etc/init.d/rc.thermal_cal
 
 	#
-	# Start vmount to control mounts such as gimbals, disabled by default.
+	# Start gimbal to control mounts such as gimbals, disabled by default.
 	#
 	if param greater -s MNT_MODE_IN -1
 	then
-		vmount start
-	fi
-
-	# Check for flow sensor
-	if param compare -s SENS_EN_PX4FLOW 1
-	then
-		px4flow start -X
+		gimbal start
 	fi
 
 	# Blacksheep telemetry
@@ -581,7 +566,6 @@ unset IO_PRESENT
 unset IOFW
 unset LOGGER_ARGS
 unset LOGGER_BUF
-unset MAV_TYPE
 unset MIXER
 unset MIXER_AUX
 unset MIXER_FILE

ROMFS/px4fmu_common/mixers/CMakeLists.txt

@@ -90,4 +90,5 @@ px4_add_romfs_files(
 	vtol_convergence.main.mix
 	vtol_delta.aux.mix
 	vtol_tailsitter_duo.main.mix
+	vtol_tailsitter_duo_sat.main.mix
 )

ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix

@@ -1,5 +1,7 @@
 Mixer for Tailsitter with x motor configuration and elevons
 ===========================================================
+# @board px4_fmu-v2 exclude
+# @board omnibus_f4sd exclude
 
 This file defines a single mixer for tailsitter with motors in X configuration.  All controls
 are mixed 100%.