ModuleBase add common base type and cleanup

- this is a bit wasteful, but we can afford it for now everywhere listener is enabled

.ci/Jenkinsfile-compile

@@ -10,17 +10,24 @@ pipeline {
           def build_nodes = [:]
           def docker_images = [
             armhf: "px4io/px4-dev-armhf:2020-04-01",
+            arm64: "px4io/px4-dev-aarch64:latest",
             base: "px4io/px4-dev-base-bionic:2020-04-01",
             nuttx: "px4io/px4-dev-nuttx-focal:2020-09-14",
             snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
           ]
 
           def armhf_builds = [
-            target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_airpi2_default"],
+            target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
             image: docker_images.armhf,
             archive: false
           ]
 
+          def arm64_builds = [
+            target: ["scumaker_pilotpi_arm64"],
+            image: docker_images.arm64,
+            archive: false
+          ]
+
           def base_builds = [
             target: ["px4_sitl_rtps"],
             image: docker_images.base,
@@ -41,7 +48,6 @@ pipeline {
                      "cubepilot_cubeyellow_console",
                      "cubepilot_cubeyellow_default",
                      "holybro_durandal-v1_default",
-                     "holybro_durandal-v1_stackcheck",
                      "holybro_kakutef7_default",
                      "holybro_pix32v5_default",
                      "intel_aerofc-v1_default",
@@ -53,7 +59,7 @@ pipeline {
                      "nxp_fmuk66-v3_socketcan",
                      "nxp_fmuk66-v3_rtps",
                      "nxp_fmurt1062-v1_default",
-                     "nxp_rddrone-uavcan146_default",
+                     "nxp_ucans32k146_default",
                      "omnibus_f4sd_default",
                      "px4_fmu-v2_default",
                      "px4_fmu-v2_fixedwing",

.ci/Jenkinsfile-hardware

@@ -836,6 +836,8 @@ void statusFTDI() {
   // run logger
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger on"'
   // status commands
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "free"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "work_queue status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "board_adc test"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander check"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander status"'
@@ -846,14 +848,15 @@ void statusFTDI() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "df"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dmesg"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ekf2 status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "free"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "gps status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener adc_report"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener battery_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener cpuload"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_sensor"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_attitude"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_local_position"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_selector_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_sensor_bias"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener logger_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel_fifo"'
@@ -884,6 +887,7 @@ void statusFTDI() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status streams"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mount"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "modules status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param show"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
@@ -901,6 +905,8 @@ void statusFTDI() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "uorb top -1 -a"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ver all"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "work_queue status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ekf2 status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "free"'
   // stop logger
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger off"'
 }
@@ -909,6 +915,8 @@ void statusSEGGER() {
   // run logger
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger on"'
   // status commands
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "free"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "work_queue status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "board_adc test"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander check"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander status"'
@@ -919,12 +927,13 @@ void statusSEGGER() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dataman status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "df -h"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dmesg"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ekf2 status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "free"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "gps status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener adc_report"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener battery_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener cpuload"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_attitude"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_local_position"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_selector_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_sensor_bias"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener logger_status"'
@@ -957,6 +966,7 @@ void statusSEGGER() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink status streams"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mount"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "modules status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mtd status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param show"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param status"'
@@ -974,12 +984,14 @@ void statusSEGGER() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "uorb top -1 -a"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ver all"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "work_queue status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ekf2 status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "free"'
   // stop logger
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger off"'
 }
 
 void cleanupFTDI() {
-  // wipe sdcard
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "modules stop-all"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander stop"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink stop-all"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "navigator stop"'
@@ -1009,7 +1021,7 @@ void cleanupFTDI() {
 }
 
 void cleanupSEGGER() {
-  // wipe sdcard
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "modules stop-all"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander stop"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink stop-all"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "navigator stop"'

.github/workflows/compile_linux.yml

@@ -19,6 +19,7 @@ jobs:
           beaglebone_blue_default,
           emlid_navio2_default,
           px4_raspberrypi_default,
+          scumaker_pilotpi_default,
           ]
     steps:
     - uses: actions/checkout@v1

.github/workflows/compile_linux_arm64.yml

@@ -0,0 +1,50 @@
+name: Linux ARM64 Targets
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-aarch64:latest
+    strategy:
+      matrix:
+        config: [
+          scumaker_pilotpi_arm64,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: ccache post-run
+      run: ccache -s

.github/workflows/compile_nuttx.yml

@@ -27,7 +27,6 @@ jobs:
           cubepilot_cubeyellow_console,
           cubepilot_cubeyellow_default,
           holybro_durandal-v1_default,
-          holybro_durandal-v1_stackcheck,
           holybro_kakutef7_default,
           holybro_pix32v5_default,
           intel_aerofc-v1_default,
@@ -40,7 +39,7 @@ jobs:
           nxp_fmuk66-v3_socketcan,
           nxp_fmuk66-v3_rtps,
           nxp_fmurt1062-v1_default,
-          nxp_rddrone-uavcan146_default,
+          nxp_ucans32k146_default,
           omnibus_f4sd_default,
           px4_fmu-v2_default,
           px4_fmu-v2_fixedwing,

.github/workflows/sitl_tests.yml

@@ -15,10 +15,10 @@ jobs:
       fail-fast: false
       matrix:
         config:
-          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo"} # Alaska
-          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "RelWithDebInfo"} # Australia
-          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo"} # Florida
-          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage"} # Zurich
+          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo", model: "iris"          } # Alaska
+          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "RelWithDebInfo", model: "standard_vtol" } # Australia
+          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo", model: "tailsitter"    } # Florida
+          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",       model: "standard_vtol" } # Zurich
     container:
       image: px4io/px4-dev-simulation-focal:2020-08-14
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
@@ -28,9 +28,9 @@ jobs:
         token: ${{ secrets.ACCESS_TOKEN }}
 
     - name: Download MAVSDK
-      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.30.1/mavsdk_0.30.1_ubuntu18.04_amd64.deb
+      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.33.1/mavsdk_0.33.1_ubuntu20.04_amd64.deb
     - name: Install MAVSDK
-      run: dpkg -i mavsdk_0.30.1_ubuntu18.04_amd64.deb
+      run: dpkg -i mavsdk_0.33.1_ubuntu20.04_amd64.deb
 
     - name: Prepare ccache timestamp
       id: ccache_cache_timestamp
@@ -92,7 +92,7 @@ jobs:
         PX4_HOME_LON: ${{matrix.config.longitude}}
         PX4_HOME_ALT: ${{matrix.config.altitude}}
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early test/mavsdk_tests/configs/sitl.json
+      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json
 
     - name: Look at core files
       if: failure()

.gitmodules

@@ -12,15 +12,15 @@
 	branch = master
 [submodule "Tools/sitl_gazebo"]
 	path = Tools/sitl_gazebo
-	url = https://github.com/PX4/sitl_gazebo.git
+	url = https://github.com/PX4/PX4-SITL_gazebo.git
 	branch = master
 [submodule "src/lib/matrix"]
 	path = src/lib/matrix
-	url = https://github.com/PX4/Matrix.git
+	url = https://github.com/PX4/PX4-Matrix
 	branch = master
 [submodule "src/lib/ecl"]
 	path = src/lib/ecl
-	url = https://github.com/PX4/ecl.git
+	url = https://github.com/PX4/PX4-ECL
 	branch = master
 [submodule "boards/atlflight/cmake_hexagon"]
 	path = boards/atlflight/cmake_hexagon
@@ -28,7 +28,7 @@
 	branch = px4
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
-	url = https://github.com/PX4/GpsDrivers.git
+	url = https://github.com/PX4/PX4-GPSDrivers
 	branch = master
 [submodule "src/modules/micrortps_bridge/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
@@ -37,11 +37,11 @@
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-9.1.0+
+	branch = px4_firmware_nuttx-10.0.0+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-9.1.0+
+	branch = px4_firmware_nuttx-10.0.0+
 [submodule "platforms/qurt/dspal"]
 	path = platforms/qurt/dspal
 	url = https://github.com/ATLFlight/dspal.git

.vscode/cmake-variants.yaml

@@ -86,6 +86,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: cubepilot_cubeyellow_default
+    emlid_navio2_default:
+      short: emlid_navio2
+      buildType: MinSizeRel
+      settings:
+        CONFIG: emlid_navio2_default
     holybro_durandal-v1_default:
       short: holybro_durandal-v1
       buildType: MinSizeRel

Jenkinsfile

@@ -210,10 +210,12 @@ pipeline {
             sh('export')
             unstash 'metadata_airframes'
             unstash 'metadata_parameters'
+            unstash 'metadata_module_documentation'
             withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
               sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_user_guide.git')
               sh('cp airframes.md px4_user_guide/en/airframes/airframe_reference.md')
               sh('cp parameters.md px4_user_guide/en/advanced_config/parameter_reference.md')
+              sh('cp -R modules/*.md px4_user_guide/en/modules/')
               sh('cd px4_user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
               sh('cd px4_user_guide; git push origin master || true')
               sh('rm -rf px4_user_guide')

README.md

@@ -40,8 +40,12 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co
 
 ## Maintenance Team
 
-  * Project: Founder - [Lorenz Meier](https://github.com/LorenzMeier), Architecture: [Daniel Agar](https://github.com/dagar)
-    * [Dev Call](https://github.com/PX4/Firmware/labels/devcall) - [Ramon Roche](https://github.com/mrpollo)
+  * Project: Founder
+    * [Lorenz Meier](https://github.com/LorenzMeier)
+  * Architecture
+    * [Daniel Agar](https://github.com/dagar)
+  * [Dev Call](https://github.com/PX4/Firmware/labels/devcall)
+    * [Ramon Roche](https://github.com/mrpollo)
   * Communication Architecture
     * [Beat Kueng](https://github.com/bkueng)
     * [Julian Oes](https://github.com/JulianOes)
@@ -55,15 +59,22 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co
     * [Roman Bapst](https://github.com/RomanBapst)
   * [Fixed Wing Flight Control](https://github.com/PX4/Firmware/labels/fixedwing)
     * [Roman Bapst](https://github.com/RomanBapst)
-  * OS / NuttX [David Sidrane](https://github.com/davids5)
-  * Driver Architecture [Daniel Agar](https://github.com/dagar)
-  * Commander Architecture [Julian Oes](https://github.com/julianoes)
-  * [UAVCAN](https://github.com/PX4/Firmware/labels/uavcan) [Daniel Agar](https://github.com/dagar)
-  * [State Estimation](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22) - [Paul Riseborough](https://github.com/priseborough)
+  * OS / NuttX
+    * [David Sidrane](https://github.com/davids5)
+  * Driver Architecture
+    * [Daniel Agar](https://github.com/dagar)
+  * Commander Architecture
+    * [Julian Oes](https://github.com/julianoes)
+  * [UAVCAN](https://github.com/PX4/Firmware/labels/uavcan)
+    * [Daniel Agar](https://github.com/dagar)
+  * [State Estimation](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
+    * [Paul Riseborough](https://github.com/priseborough)
   * Vision based navigation
     * [Julian Kent](https://github.com/jkflying)
-  * Obstacle Avoidance - [Martina Rivizzigno](https://github.com/mrivi)
-  * RTPS/ROS2 Interface - [Nuno Marques](https://github.com/TSC21)
+  * Obstacle Avoidance
+    * [Martina Rivizzigno](https://github.com/mrivi)
+  * RTPS/ROS2 Interface
+    * [Nuno Marques](https://github.com/TSC21)
 
 See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/Firmware/graphs/contributors) (Github).
 

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

@@ -0,0 +1,20 @@
+#!/bin/sh
+#
+# @name BlueROV2 Heavy Configuration
+#
+
+. ${R}etc/init.d/rc.uuv_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	#Set data link loss failsafe mode (0: disabled)
+	param set NAV_DLL_ACT 0
+
+	# disable circuit breaker for airspeed sensor
+	param set CBRK_AIRSPD_CHK 162128
+
+fi
+
+set PWM_OUT 12345678
+set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
+set MIXER custom

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

@@ -16,17 +16,13 @@ then
 
 	param set MC_ROLLRATE_P 0.3
 
-	param set MIS_LTRMIN_ALT 10
-	param set MIS_TAKEOFF_ALT 10
 	param set MIS_YAW_TMT 10
 
 	param set MPC_ACC_HOR_MAX 2
 	param set MPC_ACC_HOR_MAX 2
-	param set MPC_THR_MIN 0.1
-	param set MPC_TKO_SPEED 1
+	param set MPC_THR_MIN 0.3
 	param set MPC_XY_P 0.15
 	param set MPC_XY_VEL_D_ACC 0.1
-	param set MPC_XY_VEL_I_ACC 4
 	param set MPC_XY_VEL_P_ACC 1
 	param set MPC_Z_VEL_MAX_DN 1.5
 	param set MPC_Z_VEL_P_ACC 16
@@ -38,6 +34,8 @@ then
 	param set VT_F_TRANS_THR 0.7
 	param set VT_TYPE 0
 
+	param set WV_EN 0
+
 fi
 
 set MAV_TYPE 20

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

@@ -51,6 +51,7 @@ px4_add_romfs_files(
 	1019_iris_dual_gps
 	1020_uuv_generic
 	1021_uuv_hippocampus
+	1022_uuv_bluerov2_heavy
 	1030_plane
 	1031_plane_cam
 	1032_plane_catapult

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

@@ -2,6 +2,17 @@
 
 # EKF2 replay script
 
+# shellcheck disable=SC2154
+if [ ! -f ${replay} ]; then
+	echo "Invalid replay log file ${replay}"
+	exit 1
+fi
+
+if [ ! -f replay_params.txt ]; then
+	echo "Creating $(pwd)/replay_params.txt"
+	ulog_params -i "${replay}" -d ' ' | grep -e '^EKF2' > replay_params.txt
+fi
+
 publisher_rules_file="orb_publisher.rules"
 cat <<EOF > "$publisher_rules_file"
 restrict_topics: sensor_combined, vehicle_gps_position, vehicle_land_detected

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -141,6 +141,12 @@ then
 	# 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
@@ -210,11 +216,11 @@ if ! replay tryapplyparams
 then
 	simulator start -c $simulator_tcp_port
 fi
+load_mon start
 battery_simulator start
 tone_alarm start
 rc_update start
 sensors start
-mag_calibrator start
 commander start
 navigator start
 

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

@@ -0,0 +1,39 @@
+#!/bin/sh
+#
+# @name NXP HoverGames
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+# @maintainer Iain Galloway <iain.galloway@nxp.com>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER quad_x
+set PWM_OUT 1234
+
+if [ $AUTOCNF = yes ]
+then
+
+	param set IMU_GYRO_CUTOFF 40
+	param set IMU_DGYRO_CUTOFF 20
+	param set IMU_GYRO_RATEMAX 400
+
+	param set MC_ROLLRATE_P 0.18
+	param set MC_ROLLRATE_I 0.15
+	param set MC_ROLLRATE_D 0.003
+
+	param set MC_PITCHRATE_P 0.18
+	param set MC_PITCHRATE_I 0.15
+	param set MC_PITCHRATE_D 0.003
+
+fi

ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy

@@ -0,0 +1,51 @@
+#!/bin/sh
+#
+# @name BlueROV2 (Heavy Configuration)
+#
+# @type Vectored 6 DOF UUV
+# @class Underwater Robot
+#
+# @output MAIN1 motor 1 CCW, bow starboard horizontal, , propeller CCW
+# @output MAIN2 motor 2 CCW, bow port horizontal, propeller CCW
+# @output MAIN3 motor 3 CCW, stern starboard horizontal, propeller CW
+# @output MAIN4 motor 4 CCW, stern port horizontal, propeller CW
+# @output MAIN5 motor 5 CCW, bow starboard vertical, propeller CCW
+# @output MAIN6 motor 6 CCW, bow port vertical, propeller CW
+# @output MAIN7 motor 7 CCW, stern starboard vertical, propeller CW
+# @output MAIN8 motor 8 CCW, stern port vertical, propeller CCW
+#
+# @maintainer Thies Lennart Alff <thies.lennart.alff@tuhh.de>
+#
+# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.uuv_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	#Set data link loss failsafe mode (0: disabled)
+	param set NAV_DLL_ACT 0
+
+	# disable circuit breaker for airspeed sensor
+	param set CBRK_AIRSPD_CHK 162128
+	# companion computer is connected via USB permanently
+	param set CBRK_USB_CHK 197848
+	param set CBRK_IO_SAFETY 22027
+
+	param set COM_PREARM_MODE 0
+
+	param set MAV_1_CONFIG 102
+
+	param set BAT1_A_PER_V 37.8798
+	param set BAT1_CAPACITY 18000
+	param set BAT1_V_DIV 11.0
+	param set BAT1_N_CELLS 4
+	param set BAT_V_OFFS_CURR 0.33
+fi
+
+set PWM_OUT 12345678
+# set MIXER IO_pass
+set MIXER vectored6dof
+

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

@@ -69,6 +69,7 @@ px4_add_romfs_files(
 	4014_s500
 	4015_holybro_s500
 	4016_holybro_px4vision
+	4017_nxp_hovergames
 	4020_hk_micro_pcb
 	4030_3dr_solo
 	4031_3dr_quad
@@ -158,4 +159,5 @@ px4_add_romfs_files(
 	# [60000, 61000] (Unmanned) Underwater Robots
 	60000_uuv_generic
 	60001_uuv_hippocampus
+	60002_uuv_bluerov2_heavy
 )

ROMFS/px4fmu_common/init.d/rc.airship_apps

@@ -40,7 +40,7 @@ else
 		# EKF2
 		#
 		param set SYS_MC_EST_GROUP 2
-		ekf2 start
+		ekf2 start &
 	fi
 fi
 

ROMFS/px4fmu_common/init.d/rc.fw_apps

@@ -8,7 +8,7 @@
 #
 # Start the attitude and position estimator.
 #
-ekf2 start
+ekf2 start &
 
 #
 # Start attitude controller.

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -40,7 +40,7 @@ else
 		# EKF2
 		#
 		param set SYS_MC_EST_GROUP 2
-		ekf2 start
+		ekf2 start &
 	fi
 fi
 

ROMFS/px4fmu_common/init.d/rc.rover_apps

@@ -8,7 +8,7 @@
 #
 # Start the attitude and position estimator.
 #
-ekf2 start
+ekf2 start &
 #attitude_estimator_q start
 #local_position_estimator start
 

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -71,6 +71,13 @@ then
 	lightware_laser_i2c start -X
 fi
 
+# Sensor HY-SRF05 or HC-SR05 ultrasonic sensor
+if param compare -s SENS_EN_SR05 1
+then
+	srf05 start
+fi
+
+
 # Heater driver for temperature regulated IMUs.
 if param compare -s SENS_EN_THERMAL 1
 then
@@ -139,5 +146,3 @@ fi
 ###############################################################################
 
 sensors start
-
-mag_calibrator start

ROMFS/px4fmu_common/init.d/rc.uuv_apps

@@ -9,7 +9,7 @@
 #                       Begin Estimator Group Selection                       #
 ###############################################################################
 
-ekf2 start
+ekf2 start &
 
 ###############################################################################
 #                        End Estimator Group Selection                        #

ROMFS/px4fmu_common/init.d/rc.vehicle_setup

@@ -183,6 +183,13 @@ 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
 
@@ -199,5 +206,5 @@ fi
 if [ $VEHICLE_TYPE = none ]
 then
 	echo "No autostart ID found"
-	ekf2 start
+	ekf2 start &
 fi

ROMFS/px4fmu_common/init.d/rc.vtol_apps

@@ -9,7 +9,7 @@
 #                       Begin Estimator group selection                       #
 ###############################################################################
 
-ekf2 start
+ekf2 start &
 
 ###############################################################################
 #                        End Estimator group selection                        #

ROMFS/px4fmu_common/init.d/rcS

@@ -526,6 +526,11 @@ else
 		bst start -X
 	fi
 
+	if param compare IMU_GYRO_FFT_EN 1
+	then
+		gyro_fft start
+	fi
+
 	#
 	# Optional board supplied extras: rc.board_extras
 	#

ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt

@@ -42,4 +42,5 @@ px4_add_romfs_files(
 	standard_vtol_sitl.main.mix
 	tiltrotor_sitl.main.mix
 	uuv_x_sitl.main.mix
+	vectored6dof_sitl.main.mix
 )

ROMFS/px4fmu_common/mixers-sitl/vectored6dof_sitl.main.mix

@@ -0,0 +1,32 @@
+# Motor 1
+M: 2
+S: 0 2  -4000  -4000  0   -4000  +4000
+S: 0 3  +4000  +4000  0   -4000  +4000
+# Motor 2
+M: 2
+S: 0 2  +4000  +4000  0   -4000  +4000
+S: 0 3  +4000  +4000  0   -4000  +4000
+# Motor 3
+M: 2
+S: 0 2  -4000  -4000  0   -4000  +4000
+S: 0 3  +4000  +4000  0   -4000  +4000
+# Motor 4
+M: 2
+S: 0 2  +4000  +4000  0   -4000  +4000
+S: 0 3  +4000  +4000  0   -4000  +4000
+# Motor 5
+M: 2
+S: 0 0  -4000  -4000  0   -4000  +4000
+S: 0 1  +4000  +4000  0   -4000  +4000
+# Motor 6
+M: 2
+S: 0 0  -4000  -4000  0   -4000  +4000
+S: 0 1  -4000  -4000  0   -4000  +4000
+# Motor 7
+M: 2
+S: 0 0  +4000  +4000  0   -4000  +4000
+S: 0 1  +4000  +4000  0   -4000  +4000
+# Motor 8
+M: 2
+S: 0 0  +4000  +4000  0   -4000  +4000
+S: 0 1  -4000  -4000  0   -4000  +4000

ROMFS/px4fmu_common/mixers/CMakeLists.txt

@@ -85,6 +85,7 @@ px4_add_romfs_files(
 	tri_y_yaw+.main.mix
 	tri_y_yaw-.main.mix
 	uuv_x.main.mix
+	vectored6dof.main.mix
 	Viper.main.mix
 	vtol_AAERT.aux.mix
 	vtol_AAVVT.aux.mix

ROMFS/px4fmu_common/mixers/vectored6dof.main.mix

@@ -0,0 +1,32 @@
+# Motor 1
+M: 2
+S: 0 2  -4000  -4000  0   -4000  +4000
+S: 0 3  +4000  +4000  0   -4000  +4000
+# Motor 2
+M: 2
+S: 0 2  +4000  +4000  0   -4000  +4000
+S: 0 3  +4000  +4000  0   -4000  +4000
+# Motor 3
+M: 2
+S: 0 2  -4000  -4000  0   -4000  +4000
+S: 0 3  +4000  +4000  0   -4000  +4000
+# Motor 4
+M: 2
+S: 0 2  +4000  +4000  0   -4000  +4000
+S: 0 3  +4000  +4000  0   -4000  +4000
+# Motor 5
+M: 2
+S: 0 0  -4000  -4000  0   -4000  +4000
+S: 0 1  +4000  +4000  0   -4000  +4000
+# Motor 6
+M: 2
+S: 0 0  -4000  -4000  0   -4000  +4000
+S: 0 1  -4000  -4000  0   -4000  +4000
+# Motor 7
+M: 2
+S: 0 0  +4000  +4000  0   -4000  +4000
+S: 0 1  +4000  +4000  0   -4000  +4000
+# Motor 8
+M: 2
+S: 0 0  +4000  +4000  0   -4000  +4000
+S: 0 1  -4000  -4000  0   -4000  +4000

Tools/check_submodules.sh

@@ -5,8 +5,8 @@ function check_git_submodule {
 # The .git exists in a submodule if init and update have been done.
 if [[ -f $1"/.git" || -d $1"/.git" ]]; then
 
-	# CI environment always update
-	if [ "$CI" == "true" ]; then
+	# always update within CI environment or configuring withing VSCode CMake where you can't interact
+	if [ "$CI" == "true" ] || [ -n "${VSCODE_PID+set}" ]; then
 		git submodule --quiet sync --recursive -- $1
 		git submodule --quiet update --init --recursive --jobs=8 -- $1  || true
 		git submodule --quiet update --init --recursive --jobs=8 -- $1

Tools/docker_run.sh

@@ -5,9 +5,12 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	if [[ $@ =~ .*px4_fmu.* ]]; then
 		# nuttx-px4fmu-v{1,2,3,4,5}
 		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2020-09-14"
-	elif [[ $@ =~ .*ocpoc.* ]] || [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*airpi2.* ]]; then
-		# aerotenna_ocpoc_default, beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_airpi2_default
+	elif [[ $@ =~ .*ocpoc.* ]] || [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
+		# aerotenna_ocpoc_default, beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
 		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2020-04-01"
+	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
+		# scumaker_pilotpi_arm64
+		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest"
 	elif [[ $@ =~ .*eagle.* ]] || [[ $@ =~ .*excelsior.* ]]; then
 		# eagle, excelsior
 		PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2020-04-01"

Tools/ecl_ekf/analyse_logdata_ekf.py

@@ -14,13 +14,14 @@ from analysis.checks import perform_ecl_ekf_checks
 from analysis.post_processing import get_estimator_check_flags
 
 def analyse_ekf(
-        ulog: ULog, check_levels: Dict[str, float], red_thresh: float = 1.0,
-        amb_thresh: float = 0.5, min_flight_duration_seconds: float = 5.0,
+        ulog: ULog, check_levels: Dict[str, float], multi_instance: int = 0,
+        red_thresh: float = 1.0, amb_thresh: float = 0.5, min_flight_duration_seconds: float = 5.0,
         in_air_margin_seconds: float = 5.0, pos_checks_when_sensors_not_fused: bool = False) -> \
         Tuple[str, Dict[str, str], Dict[str, float], Dict[str, float]]:
     """
     :param ulog:
     :param check_levels:
+    :param multi_instance:
     :param red_thresh:
     :param amb_thresh:
     :param min_flight_duration_seconds:
@@ -30,22 +31,19 @@ def analyse_ekf(
     """
 
     try:
-        estimator_states = ulog.get_dataset('estimator_states').data
-        print('found estimator_states data')
+        estimator_states = ulog.get_dataset('estimator_states', multi_instance).data
     except:
-        raise PreconditionError('could not find estimator_states data')
+        raise PreconditionError('could not find estimator_states instance', multi_instance)
 
     try:
-        estimator_status = ulog.get_dataset('estimator_status').data
-        print('found estimator_status data')
+        estimator_status = ulog.get_dataset('estimator_status', multi_instance).data
     except:
-        raise PreconditionError('could not find estimator_status data')
+        raise PreconditionError('could not find estimator_status instance', multi_instance)
 
     try:
-        _ = ulog.get_dataset('estimator_innovations').data
-        print('found estimator_innovations data')
+        _ = ulog.get_dataset('estimator_innovations', multi_instance).data
     except:
-        raise PreconditionError('could not find estimator_innovations data')
+        raise PreconditionError('could not find estimator_innovations instance', multi_instance)
 
     try:
         in_air = InAirDetector(
@@ -71,7 +69,7 @@ def analyse_ekf(
 
     metrics = calculate_ecl_ekf_metrics(
         ulog, innov_flags, innov_fail_checks, sensor_checks, in_air, in_air_no_ground_effects,
-        red_thresh=red_thresh, amb_thresh=amb_thresh)
+        multi_instance, red_thresh=red_thresh, amb_thresh=amb_thresh)
 
     check_status, master_status = perform_ecl_ekf_checks(
         metrics, sensor_checks, innov_fail_checks, check_levels)

Tools/ecl_ekf/analysis/metrics.py

@@ -13,7 +13,7 @@ from analysis.detectors import InAirDetector
 def calculate_ecl_ekf_metrics(
         ulog: ULog, innov_flags: Dict[str, float], innov_fail_checks: List[str],
         sensor_checks: List[str], in_air: InAirDetector, in_air_no_ground_effects: InAirDetector,
-        red_thresh: float = 1.0, amb_thresh: float = 0.5) -> Tuple[dict, dict, dict, dict]:
+        multi_instance: int = 0, red_thresh: float = 1.0, amb_thresh: float = 0.5) -> Tuple[dict, dict, dict, dict]:
 
     sensor_metrics = calculate_sensor_metrics(
         ulog, sensor_checks, in_air, in_air_no_ground_effects,
@@ -22,9 +22,9 @@ def calculate_ecl_ekf_metrics(
     innov_fail_metrics = calculate_innov_fail_metrics(
         innov_flags, innov_fail_checks, in_air, in_air_no_ground_effects)
 
-    imu_metrics = calculate_imu_metrics(ulog, in_air_no_ground_effects)
+    imu_metrics = calculate_imu_metrics(ulog, multi_instance, in_air_no_ground_effects)
 
-    estimator_status_data = ulog.get_dataset('estimator_status').data
+    estimator_status_data = ulog.get_dataset('estimator_status', multi_instance).data
 
     # Check for internal filter nummerical faults
     ekf_metrics = {'filter_faults_max': np.amax(estimator_status_data['filter_fault_flags'])}
@@ -44,10 +44,10 @@ def calculate_ecl_ekf_metrics(
 
 def calculate_sensor_metrics(
         ulog: ULog, sensor_checks: List[str], in_air: InAirDetector,
-        in_air_no_ground_effects: InAirDetector, red_thresh: float = 1.0,
-        amb_thresh: float = 0.5) -> Dict[str, float]:
+        in_air_no_ground_effects: InAirDetector, multi_instance: int = 0,
+        red_thresh: float = 1.0, amb_thresh: float = 0.5) -> Dict[str, float]:
 
-    estimator_status_data = ulog.get_dataset('estimator_status').data
+    estimator_status_data = ulog.get_dataset('estimator_status', multi_instance).data
 
     sensor_metrics = dict()
 
@@ -131,10 +131,9 @@ def calculate_innov_fail_metrics(
     return innov_fail_metrics
 
 
-def calculate_imu_metrics(
-        ulog: ULog, in_air_no_ground_effects: InAirDetector) -> dict:
+def calculate_imu_metrics(ulog: ULog, multi_instance, in_air_no_ground_effects: InAirDetector) -> dict:
 
-    estimator_status_data = ulog.get_dataset('estimator_status').data
+    estimator_status_data = ulog.get_dataset('estimator_status', multi_instance).data
 
     imu_metrics = dict()
 
@@ -158,7 +157,7 @@ def calculate_imu_metrics(
                 in_air_no_ground_effects, np.mean)
 
     # IMU bias checks
-    estimator_states_data = ulog.get_dataset('estimator_states').data
+    estimator_states_data = ulog.get_dataset('estimator_states', multi_instance).data
 
     imu_metrics['imu_dang_bias_median'] = np.sqrt(np.sum([np.square(calculate_stat_from_signal(
         estimator_states_data, 'estimator_states', signal, in_air_no_ground_effects, np.median))

Tools/ecl_ekf/plotting/pdf_report.py

@@ -17,7 +17,7 @@ from plotting.data_plots import TimeSeriesPlot, InnovationPlot, ControlModeSumma
 from analysis.detectors import PreconditionError
 import analysis.data_version_handler as dvh
 
-def create_pdf_report(ulog: ULog, output_plot_filename: str) -> None:
+def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str) -> None:
     """
     creates a pdf report of the ekf analysis.
     :param ulog:
@@ -29,20 +29,18 @@ def create_pdf_report(ulog: ULog, output_plot_filename: str) -> None:
     # save the plots to PDF
 
     try:
-        estimator_status = ulog.get_dataset('estimator_status').data
-        print('found estimator_status data')
+        estimator_status = ulog.get_dataset('estimator_status', multi_instance).data
     except:
-        raise PreconditionError('could not find estimator_status data')
+        raise PreconditionError('could not find estimator_status instance', multi_instance)
 
     try:
-        estimator_states = ulog.get_dataset('estimator_states').data
-        print('found estimator_states data')
+        estimator_states = ulog.get_dataset('estimator_states', multi_instance).data
     except:
-        raise PreconditionError('could not find estimator_states data')
+        raise PreconditionError('could not find estimator_states instance', multi_instance)
 
     try:
-        estimator_innovations = ulog.get_dataset('estimator_innovations').data
-        estimator_innovation_variances = ulog.get_dataset('estimator_innovation_variances').data
+        estimator_innovations = ulog.get_dataset('estimator_innovations', multi_instance).data
+        estimator_innovation_variances = ulog.get_dataset('estimator_innovation_variances', multi_instance).data
         innovation_data = estimator_innovations
         for key in estimator_innovation_variances:
             # append 'var' to the field name such that we can distingush between innov and innov_var
@@ -65,7 +63,7 @@ def create_pdf_report(ulog: ULog, output_plot_filename: str) -> None:
             for key in innovation_data:
                 innovation_data[key] = innovation_data[key][0:innovation_data_min_length]
 
-        print('found innovation data (merged estimator_innovations + estimator_innovation_variances)')
+        print('found innovation data (merged estimator_innovations + estimator_innovation_variances) instance', multi_instance)
 
     except:
         raise PreconditionError('could not find innovation data')

Tools/ecl_ekf/process_logdata_ekf.py

@@ -90,6 +90,21 @@ def process_logdata_ekf(
     except:
         raise PreconditionError('could not open {:s}'.format(filename))
 
+    ekf_instances = 1
+
+    try:
+        estimator_selector_status = ulog.get_dataset('estimator_selector_status',).data
+        print('found estimator_selector_status (multi-ekf) data')
+
+        for instances_available in estimator_selector_status['instances_available']:
+            if instances_available > ekf_instances:
+                ekf_instances = instances_available
+
+        print(ekf_instances, 'ekf instances')
+
+    except:
+        print('could not find estimator_selector_status data')
+
     try:
         # get the dictionary of fail and warning test thresholds from a csv file
         with open(check_level_dict_filename, 'r') as file:
@@ -100,30 +115,35 @@ def process_logdata_ekf(
         raise PreconditionError('could not find {:s}'.format(check_level_dict_filename))
 
     in_air_margin = 5.0 if sensor_safety_margins else 0.0
-    # perform the ekf analysis
-    master_status, check_status, metrics, airtime_info = analyse_ekf(
-        ulog, check_levels, red_thresh=1.0, amb_thresh=0.5, min_flight_duration_seconds=5.0,
-        in_air_margin_seconds=in_air_margin)
 
-    test_results = create_results_table(
-        check_table_filename, master_status, check_status, metrics, airtime_info)
+    for multi_instance in range(ekf_instances):
 
-    # write metadata to a .csv file
-    with open('{:s}.mdat.csv'.format(filename), "w") as file:
+        print('\nestimator instance:', multi_instance)
 
-        file.write("name,value,description\n")
+        # perform the ekf analysis
+        master_status, check_status, metrics, airtime_info = analyse_ekf(
+            ulog, check_levels, multi_instance, red_thresh=1.0, amb_thresh=0.5, min_flight_duration_seconds=5.0,
+            in_air_margin_seconds=in_air_margin)
 
-        # loop through the test results dictionary and write each entry on a separate row, with data comma separated
-        # save data in alphabetical order
-        key_list = list(test_results.keys())
-        key_list.sort()
-        for key in key_list:
-            file.write(key + "," + str(test_results[key][0]) + "," + test_results[key][1] + "\n")
-    print('Test results written to {:s}.mdat.csv'.format(filename))
+        test_results = create_results_table(
+            check_table_filename, master_status, check_status, metrics, airtime_info)
 
-    if plot:
-        create_pdf_report(ulog, '{:s}.pdf'.format(filename))
-        print('Plots saved to {:s}.pdf'.format(filename))
+        # write metadata to a .csv file
+        with open('{:s}-{:d}.mdat.csv'.format(filename, multi_instance), "w") as file:
+
+            file.write("name,value,description\n")
+
+            # loop through the test results dictionary and write each entry on a separate row, with data comma separated
+            # save data in alphabetical order
+            key_list = list(test_results.keys())
+            key_list.sort()
+            for key in key_list:
+                file.write(key + "," + str(test_results[key][0]) + "," + test_results[key][1] + "\n")
+        print('Test results written to {:s}-{:d}.mdat.csv'.format(filename, multi_instance))
+
+        if plot:
+            create_pdf_report(ulog, multi_instance, '{:s}-{:d}.pdf'.format(filename, multi_instance))
+            print('Plots saved to {:s}-{:d}.pdf'.format(filename, multi_instance))
 
     return test_results
 

Tools/gazebo_sitl_multiple_run.sh

@@ -16,7 +16,7 @@ function spawn_model() {
 	MODEL=$1
 	N=$2 #Instance Number
 
-	SUPPORTED_MODELS=("iris" "iris_rtps" "plane" "standard_vtol")
+	SUPPORTED_MODELS=("iris" "iris_rtps" "plane" "standard_vtol" "rover" "r1_rover")
 	if [[ " ${SUPPORTED_MODELS[*]} " != *"$MODEL "* ]];
 	then
 		echo "ERROR: Currently only vehicle model $MODEL is not supported!"

Tools/px4moduledoc/markdownout.py

@@ -26,7 +26,7 @@ as well (such as `free`). Use `help` on the console to get a list of all
 available commands, and in most cases `command help` will print the usage.
 
 Since this is generated from source, errors must be reported/fixed
-in the [Firmware](https://github.com/PX4/Firmware) repository.
+in the [PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) repository.
 The documentation pages can be generated by running the following command from
 the root of the Firmware directory:
 ```
@@ -72,7 +72,7 @@ The generated files will be written to the `modules` directory.
                 result += "%s\n" % doc
             usage_string = module.usage_string()
             if len(usage_string) > 0:
-                result += "### Usage {#%s_usage}\n```\n%s\n```\n" % (module.name(), usage_string)
+                result += '<a id="%s_usage"></a>\n### Usage\n```\n%s\n```\n' % (module.name(), usage_string)
         return result
 
     def Save(self, dirname):

Tools/setup/shell.nix

@@ -0,0 +1,64 @@
+let
+	pkgs = import (builtins.fetchTarball {
+		name = "nixos-20.09-2020-10-29";
+		url = "https://github.com/nixos/nixpkgs/archive/edb26126d98bc696f4f3e206583faa65d3d6e818.tar.gz";
+		sha256 = "1cl4ka4kk7kh3bl78g06dhiidazf65q8miyzaxi9930d6gwyzkci";
+	}) {};
+	empy = with pkgs.python3Packages; buildPythonPackage rec {
+		pname = "empy";
+		version = "3.3.4";
+		src = fetchPypi {
+			inherit pname version;
+			sha256 = "1cq1izl6l87i5i3vj0jcqfksh10kpiwpr2m19vgpj530bdw4kb3k";
+		};
+		doCheck = false;
+	};
+	pyros-genmsg = with pkgs.python3Packages; buildPythonPackage rec {
+		pname = "pyros-genmsg";
+		version = "0.5.8";
+		src = fetchPypi {
+			inherit version;
+			pname = "pyros_genmsg";
+			sha256 = "0y7l131lc77v0c1rhxza41cxnnxc7acfqzlqf84fdya0kiyv071w";
+		};
+		doCheck = false;
+	};
+	pyulog = with pkgs.python3Packages; buildPythonPackage rec {
+		pname = "pyulog";
+		version = "0.8.0";
+		src = fetchPypi {
+			inherit pname version;
+			sha256 = "1ivvhfi9rsrqdk9f06rj0q1d367ngyy0xyc2x9mdwjx3dazwgn45";
+		};
+		propagatedBuildInputs = [ numpy ];
+		doCheck = false;
+	};
+in pkgs.mkShell {
+	nativeBuildInputs = [ pkgs.cmake ];
+	buildInputs = [
+		pkgs.gcc-arm-embedded
+		pkgs.python3
+	] ++ (with pkgs.python3Packages; [
+		argcomplete
+		cerberus
+		coverage
+		empy
+		jinja2
+		matplotlib
+		numpy
+		packaging
+		pandas
+		pkgconfig
+		psutil
+		pygments
+		pyros-genmsg
+		pyserial
+		pyulog
+		pyyaml
+		requests
+		setuptools
+		six
+		toml
+		wheel
+	]);
+}

Tools/sitl_gazebo

@@ -1 +1 @@
-Subproject commit 4f03afc7def0b958e7567a35093bacf93dcc824f
+Subproject commit 487f6283f4c0923f52bdc253dbf04d0e66cdb3a5

boards/aerotenna/ocpoc/default.cmake

@@ -71,6 +71,7 @@ px4_add_board(
 		esc_calib
 		led_control
 		mixer
+		modules
 		motor_ramp
 		param
 		perf

boards/airmind/mindpx-v2/default.cmake

@@ -88,6 +88,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		mtd

boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig

@@ -89,8 +89,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y

boards/atlflight/eagle/default.cmake

@@ -95,6 +95,7 @@ px4_add_board(
 		#hardfault_log
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		#mtd

boards/atlflight/excelsior/default.cmake

@@ -93,6 +93,7 @@ px4_add_board(
 		#hardfault_log
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		#mtd

boards/av/x-v1/default.cmake

@@ -88,6 +88,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		nshterm

boards/av/x-v1/nuttx-config/nsh/defconfig

@@ -122,7 +122,6 @@ CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_UDP=y
 CONFIG_NET_UDP_CHECKSUMS=y
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y

boards/beaglebone/blue/default.cmake

@@ -67,6 +67,7 @@ px4_add_board(
 		esc_calib
 		led_control
 		mixer
+		modules
 		motor_ramp
 		param
 		perf

boards/bitcraze/crazyflie/default.cmake

@@ -15,7 +15,7 @@ px4_add_board(
 		optical_flow/pmw3901
 		pwm_out
 	MODULES
-		#attitude_estimator_q
+		attitude_estimator_q
 		#camera_feedback
 		commander
 		dataman
@@ -24,7 +24,7 @@ px4_add_board(
 		land_detector
 		landing_target_estimator
 		load_mon
-		#local_position_estimator
+		local_position_estimator
 		logger
 		mavlink
 		mc_att_control
@@ -41,9 +41,10 @@ px4_add_board(
 		dumpfile
 		esc_calib
 		hardfault_log
-		#i2cdetect
+		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		mtd

boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig

@@ -85,7 +85,6 @@ CONFIG_MTD_AT24XX=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y

boards/cuav/can-gps-v1/nuttx-config/canbootloader/defconfig

@@ -39,7 +39,6 @@ CONFIG_LIB_BOARDCTL=y
 CONFIG_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
-CONFIG_NFILE_STREAMS=0
 CONFIG_NUNGET_CHARS=0
 CONFIG_NXFONTS_DISABLE_16BPP=y
 CONFIG_NXFONTS_DISABLE_1BPP=y

boards/cuav/can-gps-v1/nuttx-config/nsh/defconfig

@@ -69,8 +69,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y

boards/cuav/nora/nuttx-config/bootloader/defconfig

@@ -56,7 +56,6 @@ CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
-CONFIG_NFILE_STREAMS=3
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760

boards/cuav/nora/nuttx-config/nsh/defconfig

@@ -94,8 +94,8 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y

boards/cuav/nora/src/bootloader_main.c

@@ -46,6 +46,8 @@
 #include <stm32_uart.h>
 #include <arch/board/board.h>
 #include "arm_internal.h"
+#include <px4_platform_common/init.h>
+
 
 extern int sercon_main(int c, char **argv);
 
@@ -64,6 +66,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 void board_late_initialize(void)
 {
+	px4_platform_console_init();
 	sercon_main(0, NULL);
 }
 

boards/cuav/x7pro/nuttx-config/bootloader/defconfig

@@ -56,7 +56,6 @@ CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
-CONFIG_NFILE_STREAMS=3
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760

boards/cuav/x7pro/nuttx-config/nsh/defconfig

@@ -94,8 +94,8 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -156,7 +156,6 @@ CONFIG_STDIO_BUFFER_SIZE=256
 CONFIG_STM32H7_ADC1=y
 CONFIG_STM32H7_BBSRAM=y
 CONFIG_STM32H7_BBSRAM_FILES=5
-CONFIG_STM32H7_BDMA=y
 CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y

boards/cuav/x7pro/src/bootloader_main.c

@@ -46,6 +46,7 @@
 #include <stm32_uart.h>
 #include <arch/board/board.h>
 #include "arm_internal.h"
+#include <px4_platform_common/init.h>
 
 extern int sercon_main(int c, char **argv);
 
@@ -64,6 +65,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 void board_late_initialize(void)
 {
+	px4_platform_console_init();
 	sercon_main(0, NULL);
 }
 

boards/cubepilot/cubeorange/nuttx-config/bootloader/defconfig

@@ -56,7 +56,6 @@ CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
-CONFIG_NFILE_STREAMS=3
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760

boards/cubepilot/cubeorange/nuttx-config/console/defconfig

@@ -95,8 +95,8 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y

boards/cubepilot/cubeorange/nuttx-config/nsh/defconfig

@@ -96,8 +96,8 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y

boards/cubepilot/cubeorange/src/bootloader_main.c

@@ -46,6 +46,7 @@
 #include <stm32_uart.h>
 #include <arch/board/board.h>
 #include "arm_internal.h"
+#include <px4_platform_common/init.h>
 
 extern int sercon_main(int c, char **argv);
 
@@ -64,6 +65,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 void board_late_initialize(void)
 {
+	px4_platform_console_init();
 	sercon_main(0, NULL);
 }
 

boards/cubepilot/cubeyellow/nuttx-config/console/defconfig

@@ -94,8 +94,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y

boards/cubepilot/cubeyellow/nuttx-config/nsh/defconfig

@@ -95,8 +95,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y

boards/cubepilot/io-v2/nuttx-config/nsh/defconfig

@@ -33,7 +33,6 @@ CONFIG_MM_FILL_ALLOCATIONS=y
 CONFIG_MM_SMALL=y
 CONFIG_NAME_MAX=12
 CONFIG_NFILE_DESCRIPTORS=3
-CONFIG_NFILE_STREAMS=1
 CONFIG_PREALLOC_TIMERS=0
 CONFIG_RAM_SIZE=8192
 CONFIG_RAM_START=0x20000000

boards/emlid/navio2/default.cmake

@@ -67,6 +67,7 @@ px4_add_board(
 		esc_calib
 		led_control
 		mixer
+		modules
 		motor_ramp
 		param
 		perf

boards/emlid/navio2/navio_rgbled/NavioRGBLed.cpp

@@ -130,8 +130,7 @@ int NavioRGBLed::task_spawn(int argc, char *argv[])
 	NavioRGBLed *instance = new NavioRGBLed();
 
 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		instance->set_task_id(task_id_is_work_queue);
 
 		if (instance->init() == PX4_OK) {
 			return PX4_OK;
@@ -142,8 +141,6 @@ int NavioRGBLed::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
 
 	return PX4_ERROR;
 }

boards/holybro/durandal-v1/default.cmake

@@ -93,6 +93,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		mtd

boards/holybro/durandal-v1/nuttx-config/bootloader/defconfig

@@ -56,7 +56,6 @@ CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
-CONFIG_NFILE_STREAMS=3
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760

boards/holybro/durandal-v1/nuttx-config/nsh/defconfig

@@ -95,8 +95,8 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y

boards/holybro/durandal-v1/nuttx-config/stackcheck/defconfig

@@ -96,8 +96,8 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y

boards/holybro/durandal-v1/src/bootloader_main.c

@@ -46,6 +46,7 @@
 #include <stm32_uart.h>
 #include <arch/board/board.h>
 #include "arm_internal.h"
+#include <px4_platform_common/init.h>
 
 extern int sercon_main(int c, char **argv);
 
@@ -64,6 +65,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 void board_late_initialize(void)
 {
+	px4_platform_console_init();
 	sercon_main(0, NULL);
 }
 

boards/holybro/durandal-v1/stackcheck.cmake

@@ -1,128 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR holybro
-	MODEL durandal-v1
-	LABEL stackcheck
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m7
-	ROMFSROOT px4fmu_common
-	#BUILD_BOOTLOADER
-	IO px4_io-v2_default
-	TESTING
-#	UAVCAN_INTERFACES 2  - No H7 or FD can support in UAVCAN
-	SERIAL_PORTS
-		GPS1:/dev/ttyS0
-		TEL1:/dev/ttyS1
-		TEL2:/dev/ttyS2
-		TEL4:/dev/ttyS3
-	DRIVERS
-		adc/board_adc
-		#barometer # all available barometer drivers
-		barometer/ms5611
-		batt_smbus
-		#camera_capture
-		#camera_trigger
-		#differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		#dshot
-		gps
-		heater
-		#imu # all available imu drivers
-		#imu/adis16448
-		#imu/adis16477
-		#imu/adis16497
-		#imu/bosch/bmi088
-		imu/invensense/icm20689
-		#irlock
-		#lights/blinkm
-		#lights/rgbled
-		lights/rgbled_ncp5623c
-		#magnetometer # all available magnetometer drivers
-		magnetometer/isentek/ist8310
-		#mkblctrl
-		#optical_flow # all available optical flow drivers
-		#osd
-		#pca9685
-		#power_monitor/ina226
-		#protocol_splitter
-#		pwm_input  - Need to create arch/stm32 arch/stm32h7 arch/kinetis and reloacate
-#					   all arch dependant code there
-		pwm_out_sim
-		pwm_out
-		px4io
-		#roboclaw
-		#tap_esc
-		telemetry # all available telemetry drivers
-		test_ppm
-		tone_alarm
-#		uavcan - No H7 or FD can support in UAVCAN yet
-	MODULES
-		airspeed_selector
-		#attitude_estimator_q
-		battery_status
-		#camera_feedback
-		commander
-		dataman
-		ekf2
-		#esc_battery
-		events
-		fw_att_control
-		fw_pos_control_l1
-		land_detector
-		#landing_target_estimator
-		load_mon
-		#local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		#micrortps_bridge
-		navigator
-		rc_update
-		#rover_pos_control
-		sensors
-		#sih
-		#temperature_compensation
-		#vmount
-		vtol_att_control
-	SYSTEMCMDS
-		#bl_update
-		dmesg
-		dumpfile
-		esc_calib
-		hardfault_log
-		i2cdetect
-		led_control
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		system_time
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		usb_connected
-		ver
-		work_queue
-	EXAMPLES
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
-		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
-	)

boards/holybro/kakutef7/nuttx-config/nsh/defconfig

@@ -95,8 +95,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y

boards/holybro/pix32v5/nuttx-config/nsh/defconfig

@@ -94,8 +94,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y

boards/intel/aerofc-v1/default.cmake

@@ -69,6 +69,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		mtd

boards/intel/aerofc-v1/nuttx-config/nsh/defconfig

@@ -77,7 +77,6 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y

boards/intel/aerofc-v1/rtps.cmake

@@ -69,6 +69,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		mtd

boards/modalai/fc-v1/default.cmake

@@ -87,6 +87,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		mtd

boards/modalai/fc-v1/nuttx-config/nsh/defconfig

@@ -93,8 +93,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y

boards/mro/ctrl-zero-f7/default.cmake

@@ -93,6 +93,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		mtd

boards/mro/ctrl-zero-f7/nuttx-config/nsh/defconfig

@@ -93,8 +93,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y

boards/mro/x21-777/nuttx-config/nsh/defconfig

@@ -93,8 +93,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y

boards/mro/x21/default.cmake

@@ -90,6 +90,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		mtd

boards/mro/x21/nuttx-config/nsh/defconfig

@@ -89,8 +89,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y

boards/nxp/fmuk66-e/default.cmake

@@ -22,6 +22,7 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
+		distance_sensor/srf05 # Specific driver
 		gps
 		#heater
 		#imu # all available imu drivers

boards/nxp/fmuk66-e/nuttx-config/nsh/defconfig

@@ -133,7 +133,6 @@ CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_UDP=y
 CONFIG_NET_UDP_CHECKSUMS=y
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_BUILTIN_APPS=y

boards/nxp/fmuk66-e/nuttx-config/socketcan/defconfig

@@ -129,7 +129,6 @@ CONFIG_NET_TCP=y
 CONFIG_NET_TIMESTAMP=y
 CONFIG_NET_UDP=y
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_BUILTIN_APPS=y

boards/nxp/fmuk66-e/src/board_config.h

@@ -269,8 +269,11 @@ __END_DECLS
  */
 // todo:Design this!
 
-#define DIRECT_PWM_OUTPUT_CHANNELS  10
-#define DIRECT_INPUT_TIMER_CHANNELS 10
+#define DIRECT_PWM_OUTPUT_CHANNELS  8
+#define DIRECT_INPUT_TIMER_CHANNELS 8
+
+#define GPIO_ULTRASOUND_TRIGGER  /* PTD0 */  (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTD | PIN0)
+#define GPIO_ULTRASOUND_ECHO     /* PTA10 */ (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTA | PIN10)
 
 /* Power supply control and monitoring GPIOs */
 // None

boards/nxp/fmuk66-e/src/init.c

@@ -120,9 +120,6 @@ void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	px4_arch_configgpio(io_timer_channel_get_gpio_output(6)); // Echo trigger pin
-	px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(7)));
-
 	if (status >= 0) {
 		up_mdelay(6);
 	}

boards/nxp/fmuk66-e/src/timer_config.cpp

@@ -66,8 +66,8 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::FTM0, Timer::Channel7}, {GPIO::PortD, GPIO::Pin7}),
 	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel6}, {GPIO::PortE, GPIO::Pin11}),
 	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel7}, {GPIO::PortE, GPIO::Pin12}),
-	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel0}, {GPIO::PortD, GPIO::Pin0}),
-	initIOTimerChannel(io_timers, {Timer::FTM2, Timer::Channel0}, {GPIO::PortA, GPIO::Pin10}),
+//	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel0}, {GPIO::PortD, GPIO::Pin0}),
+//	initIOTimerChannel(io_timers, {Timer::FTM2, Timer::Channel0}, {GPIO::PortA, GPIO::Pin10}),
 };
 
 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =

boards/nxp/fmuk66-v3/default.cmake

@@ -22,6 +22,7 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
+		distance_sensor/srf05 # Specific driver
 		gps
 		#heater
 		#imu # all available imu drivers
@@ -88,6 +89,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		mtd

boards/nxp/fmuk66-v3/nuttx-config/nsh/defconfig

@@ -135,7 +135,6 @@ CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_UDP=y
 CONFIG_NET_UDP_CHECKSUMS=y
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_BUILTIN_APPS=y

boards/nxp/fmuk66-v3/nuttx-config/socketcan/defconfig

@@ -130,7 +130,6 @@ CONFIG_NET_TCP=y
 CONFIG_NET_TIMESTAMP=y
 CONFIG_NET_UDP=y
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_BUILTIN_APPS=y

boards/nxp/fmuk66-v3/src/board_config.h

@@ -273,8 +273,11 @@ __END_DECLS
  */
 // todo:Design this!
 
-#define DIRECT_PWM_OUTPUT_CHANNELS  8
-#define DIRECT_INPUT_TIMER_CHANNELS 8
+#define DIRECT_PWM_OUTPUT_CHANNELS  6
+#define DIRECT_INPUT_TIMER_CHANNELS 6
+
+#define GPIO_ULTRASOUND_TRIGGER  /* PTD0 */  (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTD | PIN0)
+#define GPIO_ULTRASOUND_ECHO     /* PTA10 */ (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTA | PIN10)
 
 /* Power supply control and monitoring GPIOs */
 // None

boards/nxp/fmuk66-v3/src/init.c

@@ -120,9 +120,6 @@ void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	px4_arch_configgpio(io_timer_channel_get_gpio_output(6)); // Echo trigger pin
-	px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(7)));
-
 	if (status >= 0) {
 		up_mdelay(6);
 	}

boards/nxp/fmuk66-v3/src/timer_config.cpp

@@ -64,8 +64,8 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::FTM0, Timer::Channel5}, {GPIO::PortD, GPIO::Pin5}),
 	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel6}, {GPIO::PortE, GPIO::Pin11}),
 	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel7}, {GPIO::PortE, GPIO::Pin12}),
-	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel0}, {GPIO::PortD, GPIO::Pin0}),
-	initIOTimerChannel(io_timers, {Timer::FTM2, Timer::Channel0}, {GPIO::PortA, GPIO::Pin10}),
+//	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel0}, {GPIO::PortD, GPIO::Pin0}),
+//	initIOTimerChannel(io_timers, {Timer::FTM2, Timer::Channel0}, {GPIO::PortA, GPIO::Pin10}),
 };
 
 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =

boards/nxp/fmurt1062-v1/nuttx-config/nsh/defconfig

@@ -163,8 +163,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y