Run ignition gazebo as distributed lockstep

ign sim fix alt ground truth and baro
WIP: add X3
2026-05-24 08:47:35 +08:00 · 2022-08-15 11:15:03 +02:00 · 2022-08-14 15:22:24 -04:00 · 2022-08-14 15:15:24 -04:00 · 2022-08-14 13:04:08 -04:00 · 2022-08-14 17:14:25 +02:00
1838 changed files with 87094 additions and 64062 deletions
@@ -42,8 +42,6 @@ pipeline {
                     "ark_can-gps_default",
                     "ark_can-rtk-gps_canbootloader",
                     "ark_can-rtk-gps_default",
-                     "ark_fmu-v6x_bootloader",
-                     "ark_fmu-v6x_default",
                     "atl_mantis-edu_default",
                     "av_x-v1_default",
                     "bitcraze_crazyflie_default",
@@ -69,18 +67,23 @@ pipeline {
                     "matek_h743-slim_default",
                     "matek_h743_default",
                     "modalai_fc-v1_default",
+                     "modalai_fc-v1_rtps",
                     "modalai_fc-v2_default",
-                     "modalai_voxl2-io_default",
                     "mro_ctrl-zero-f7_default",
                     "mro_ctrl-zero-f7-oem_default",
                     "mro_ctrl-zero-h7-oem_default",
+                     "mro_ctrl-zero-h7-oem_rtps",
                     "mro_ctrl-zero-h7_default",
+                     "mro_ctrl-zero-h7_rtps",
                     "mro_pixracerpro_default",
+                     "mro_pixracerpro_rtps",
                     "mro_x21-777_default",
                     "mro_x21_default",
                     "nxp_fmuk66-e_default",
+                     "nxp_fmuk66-e_rtps",
                     "nxp_fmuk66-e_socketcan",
                     "nxp_fmuk66-v3_default",
+                     "nxp_fmuk66-v3_rtps",
                     "nxp_fmuk66-v3_socketcan",
                     "nxp_fmurt1062-v1_default",
                     "nxp_ucans32k146_canbootloader",
@@ -98,6 +101,7 @@ pipeline {
                     "px4_fmu-v5_debug",
                     "px4_fmu-v5_default",
                     "px4_fmu-v5_lto",
+                     "px4_fmu-v5_rtps",
                     "px4_fmu-v5_stackcheck",
                     "px4_fmu-v5_uavcanv0periph",
                     "px4_fmu-v5x_default",
@@ -771,6 +771,8 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ps"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output0"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output1" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm_out status"'
  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"'
@@ -792,7 +794,7 @@ void resetParameters() {
 void runTests() {

  // test loading a range of airframes
-  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 2100 3000 4001 6001 8001'
+  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 2100 3000 4001 6001 8001 10016'

  resetParameters()

@@ -855,6 +857,7 @@ void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_0" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_1" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_2" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_3" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_outputs" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_validated" || true'
@@ -916,10 +919,12 @@ void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener task_stack_info" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener test_motor" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener trajectory_setpoint" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener tune_control" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_acceleration" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude_setpoint" || true'
@@ -936,7 +941,7 @@ void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_odometry" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_rates_setpoint" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener failsafe_flags" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status_flags" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vtol_vehicle_status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener yaw_estimator_status" || true'
 }
@@ -19,8 +19,9 @@
 *.jar    binary
 *.xml    text eol=lf

-# PX4 msgs, etc
+# PX4 mixers, msgs, etc
 *.bin    binary
+*.mix    text eol=lf
 *.msg    text eol=lf
 *.config text eol=lf
 *.sdf    text eol=lf
@@ -5,7 +5,7 @@ labels: feature-request

 ---

-For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Discord (you can find an invite link on this project README).
+For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Slack (you can find an invite link on this project README).

 ## Describe problem solved by the proposed feature
 A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
@@ -1,29 +1,17 @@
-<!--
+Please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.

-Thank you for your contribution!
+## Describe problem solved by this pull request
+A clear and concise description of the problem this proposed change will solve. Or, what it will improve.
+E.g. For this use case I ran into...

-Get early feedback through
- Dronecode Discord: https://discord.gg/dronecode
- PX4 Discuss: http://discuss.px4.io/
- opening a draft pr and sharing the link
+## Describe your solution
+A clear and concise description of what you have implemented.

-->
+## Describe possible alternatives
+A clear and concise description of alternative solutions or features you've considered.

-### Solved Problem
-When ... I found that ...
+## Test data / coverage
+How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.

-Fixes #{Github issue ID}
-
-### Solution
- Add ... for ...
- Refactor ...
-
-### Alternatives
-We could also ...
-
-### Test coverage
- Unit/integration test: ...
- Simulation/hardware testing logs: https://review.px4.io/
-
-### Context
-Related links, screenshot before/after, video
+## Additional context
+Add any other related context or media.
@@ -3,7 +3,7 @@ name: Checks
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
  pull_request:
    branches:
    - '*'
@@ -23,6 +23,7 @@ jobs:
          "shellcheck_all",
          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
          "NO_NINJA_BUILD=1 px4_sitl_default",
+          "BUILD_MICRORTPS_AGENT=1 px4_sitl_rtps",
          "airframe_metadata",
          "module_documentation",
          "parameters_metadata",
@@ -3,7 +3,7 @@ name: Clang Tidy
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: Linux Targets
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: Linux ARM64 Targets
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: MacOS build
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: Nuttx Targets
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
  pull_request:
    branches:
    - '*'
@@ -21,7 +21,6 @@ jobs:
          ark_can-gps,
          ark_can-rtk-gps,
          ark_cannode,
-          ark_fmu-v6x,
          atl_mantis-edu,
          av_x-v1,
          bitcraze_crazyflie,
@@ -3,7 +3,7 @@ name: Deploy metadata for all targets
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
    - 'release/*'
    - 'pr-metadata-test'

@@ -1,44 +0,0 @@
-name: Failsafe Simulator Build
-
-on:
-  push:
-    branches:
-    - 'main'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    defaults:
-      run:
-        shell: bash
-    strategy:
-      fail-fast: false
-      matrix:
-        check: [
-          "failsafe_web",
-        ]
-    container:
-      image: px4io/px4-dev-nuttx-focal:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: install emscripten
-      run: |
-        git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
-        cd _emscripten_sdk
-        ./emsdk install latest
-        ./emsdk activate latest
-    - name: ${{matrix.check}}
-      run: |
-        . ./_emscripten_sdk/emsdk_env.sh
-        make ${{matrix.check}}
@@ -3,7 +3,7 @@ name: MAVROS Mission Tests
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: MAVROS Offboard Tests
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: Metadata
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
    - 'release/*'
    - 'pr-metadata-test'

@@ -116,7 +116,7 @@ jobs:
        ls -ls *
      # TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/

-  ROS2_msgs:
+  micrortps_agent:
    runs-on: ubuntu-latest
    container: px4io/px4-dev-base-focal:2021-09-08
    steps:
@@ -124,8 +124,34 @@ jobs:
      with:
        token: ${{ secrets.ACCESS_TOKEN }}

-    - name: PX4 ROS2 msgs
+    - name: microRTPS agent
+      run: |
+        make px4_sitl_rtps
+        git clone https://github.com/PX4/micrortps_agent.git
+        cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent
+
+  ROS_msgs:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: PX4 ROS msgs
      run: |
        git clone https://github.com/PX4/px4_msgs.git
-        rm px4_msgs/msg/*.msg
-        cp msg/*.msg px4_msgs/msg/
+        python3 msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/
+
+  ROS2_bridge:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: PX4 ROS2 bridge
+      run: |
+        git clone https://github.com/PX4/px4_ros_com.git
+        ./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml
@@ -3,7 +3,7 @@ name: Python CI Checks
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
  pull_request:
    branches:
    - '*'
@@ -3,7 +3,7 @@ name: SITL Tests
 on:
  push:
    branches:
-    - 'main'
+    - 'master'
  pull_request:
    branches:
    - '*'
@@ -93,6 +93,7 @@ rules.ninja
 /googletest-*/
 /logs
 /mavsdk_tests
+/test_mixer_multirotor
 /unit-*
 /uORB/
 DartConfiguration.tcl
@@ -6,18 +6,22 @@
 	path = src/drivers/uavcan/libuavcan
 	url = https://github.com/dronecan/libuavcan.git
 	branch = main
-[submodule "Tools/simulation/jmavsim/jMAVSim"]
-	path = Tools/simulation/jmavsim/jMAVSim
+[submodule "Tools/jMAVSim"]
+	path = Tools/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
-	branch = main
-[submodule "Tools/simulation/gazebo/sitl_gazebo"]
-	path = Tools/simulation/gazebo/sitl_gazebo
+	branch = master
+[submodule "Tools/sitl_gazebo"]
+	path = Tools/sitl_gazebo
 	url = https://github.com/PX4/PX4-SITL_gazebo.git
-	branch = main
+	branch = master
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/PX4-GPSDrivers.git
-	branch = main
+	branch = master
+[submodule "src/modules/micrortps_bridge/micro-CDR"]
+	path = src/modules/micrortps_bridge/micro-CDR
+	url = https://github.com/PX4/Micro-CDR.git
+	branch = master
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
@@ -27,10 +31,10 @@
 	url = https://github.com/PX4/NuttX-apps.git
 	branch = px4_firmware_nuttx-10.1.0+
 [submodule "Tools/flightgear_bridge"]
-	path = Tools/simulation/flightgear/flightgear_bridge
+	path = Tools/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
-[submodule "Tools/simulation/jsbsim/jsbsim_bridge"]
-	path = Tools/simulation/jsbsim/jsbsim_bridge
+[submodule "Tools/jsbsim_bridge"]
+	path = Tools/jsbsim_bridge
 	url = https://github.com/PX4/px4-jsbsim-bridge.git
 [submodule "src/drivers/cyphal/libcanard"]
 	path = src/drivers/cyphal/libcanard
@@ -49,7 +53,6 @@
 [submodule "src/lib/events/libevents"]
 	path = src/lib/events/libevents
 	url = https://github.com/mavlink/libevents.git
-	branch = main
 [submodule "src/lib/crypto/libtomcrypt"]
 	path = src/lib/crypto/libtomcrypt
 	url = https://github.com/PX4/libtomcrypt.git
@@ -60,5 +63,4 @@
 	branch = px4
 [submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
 	path = src/modules/microdds_client/Micro-XRCE-DDS-Client
-	url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
-	branch = px4
+	url = https://github.com/eProsima/Micro-XRCE-DDS-Client.git
@@ -11,7 +11,7 @@ matrix:
      dist: xenial
      # In order to stay under the coverity rate limit, we only run this weekly
      # and not on push which is configured in travis-ci settings.
-      if: branch = main
+      if: branch = master

 before_install:
    - echo -n | openssl s_client -connect scan.coverity.com:443 | sed -ne '/-BEGIN CERTIFICATE-/,/-END CERTIFICATE-/p' | sudo tee -a /etc/ssl/certs/ca-
@@ -2,15 +2,20 @@ CONFIG:
  default: px4_sitl_default
  choices:
    px4_sitl_default:
-      short: px4_sitl_default
+      short: px4_sitl
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_default
-    px4_sitl_nolockstep:
-      short: px4_sitl_nolockstep
+    px4_sitl_ign:
+      short: px4_sitl_ign
      buildType: RelWithDebInfo
      settings:
-        CONFIG: px4_sitl_nolockstep
+        CONFIG: px4_sitl_ign
+    px4_sitl_rtps:
+      short: px4_sitl_rtps
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_rtps
    px4_sitl_asan:
      short: px4_sitl (AddressSanitizer)
      buildType: AddressSanitizer
@@ -131,16 +136,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_cannode_canbootloader
-    ark_fmu-v6x_bootloader:
-      short: ark_fmu-v6x_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_fmu-v6x_bootloader
-    ark_fmu-v6x_default:
-      short: ark_fmu-v6x_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_fmu-v6x_default
    atl_mantis-edu_default:
      short: atl_mantis-edu
      buildType: MinSizeRel
@@ -236,11 +231,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: modalai_fc-v2_default
-    modalai_voxl2-io_default:
-      short: modalai_voxl2-io
-      buildType: MinSizeRel
-      settings:
-        CONFIG: modalai_voxl2-io_default
    mro_ctrl-zero-f7_default:
      short: mro_ctrl-zero-f7
      buildType: MinSizeRel
@@ -49,150 +49,26 @@
                "group": "test"
            }
        },
-        {
-            "label": "jmavsim build",
-            "type": "shell",
-            "command": "ant create_run_jar copy_res",
-            "options": {
-                "cwd": "${workspaceFolder}/Tools/simulation/jmavsim/jMAVSim"
-            },
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
-                "focus": false,
-                "panel": "dedicated",
-                "showReuseMessage": false,
-                "clear": false,
-                "close": true
-            },
-            "problemMatcher": []
-        },
-        {
-            "label": "jmavsim",
-            "type": "shell",
-            "dependsOn": "jmavsim build",
-            "command": "java -Djava.ext.dirs= -jar jmavsim_run.jar -r 250 -lockstep -tcp localhost:4560 -qgc",
-            "options": {
-                "cwd": "${workspaceFolder}/Tools/simulation/jmavsim/jMAVSim/out/production",
-                "env": {
-                    "PX4_SIM_SPEED_FACTOR": "1"
-                }
-            },
-            "isBackground": true,
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
-                "focus": false,
-                "panel": "dedicated",
-                "showReuseMessage": false,
-                "clear": false,
-                "close": true
-            },
-            "problemMatcher": []
-        },
-        {
-            "label": "jmavsim kill",
-            "type": "shell",
-            "command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}') || true",
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
-                "focus": false,
-                "panel": "dedicated",
-                "showReuseMessage": false,
-                "clear": false,
-                "close": true
-            },
-            "problemMatcher": [],
-            "dependsOn":["px4_sitl_cleanup"]
-        },
-        {
-            "label": "gazebo build",
-            "type": "shell",
-            "command": "make px4_sitl_default sitl_gazebo",
-            "options": {
-                "cwd": "${workspaceFolder}"
-            },
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
-                "focus": false,
-                "panel": "dedicated",
-                "showReuseMessage": false,
-                "clear": false,
-                "close": true
-            },
-            "problemMatcher": [],
-        },
-        {
-            "label": "gazebo start",
-            "type": "shell",
-            "dependsOn": "gazebo build",
-            "options": {
-                "cwd": "${workspaceFolder}",
-                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models",
-                    "PX4_SIM_SPEED_FACTOR": "1"
-                }
-            },
-            "command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/worlds/empty.world",
-            "isBackground": true,
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
-                "focus": false,
-                "panel": "dedicated",
-                "showReuseMessage": false,
-                "clear": false,
-                "close": true
-            },
-            "problemMatcher": [
-                {
-                    "pattern": [
-                        {
-                            "regexp": ".",
-                            "file": 1,
-                            "location": 2,
-                            "message": 3
-                        }
-                    ],
-                    "background": {
-                        "activeOnStart": true,
-                        "beginsPattern": ".",
-                        "endsPattern": ".",
-                    }
-                }
-            ]
-        },
+
        {
            "label": "gazebo",
            "type": "shell",
-            "dependsOn": "gazebo start",
            "options": {
                "cwd": "${workspaceFolder}",
                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models",
+                    "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/gazebo/models",
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
-            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models/iris/iris.sdf --model-name=iris -x 1.01 -y 0.98 -z 0.83",
-            "isBackground": false,
+            "command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/gazebo/worlds/${input:gazeboWorld}.sdf",
+            "isBackground": true,
            "presentation": {
                "echo": true,
                "reveal": "never",
-                "revealProblems": "onProblem",
                "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                "showReuseMessage": false,
-                "clear": false,
-                "close": true
+                "clear": false
            },
            "problemMatcher": [
                {
@@ -212,60 +88,18 @@
                }
            ]
        },
-        {
-            "label": "ign gazebo",
-            "type": "shell",
-            "options": {
-                "cwd": "${workspaceFolder}",
-                "env": {
-                    "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/gz/models",
-                }
-            },
-            "command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/gz/worlds/${input:gzWorld}.sdf",
-            "isBackground": true,
-            "presentation": {
-                "echo": true,
-                "reveal": "always",
-                "revealProblems": "onProblem",
-                "focus": true,
-                "panel": "dedicated",
-                "showReuseMessage": false,
-                "clear": false,
-                "close": false
-            },
-            "problemMatcher": [],
-            "dependsOn":["ign gazebo kill"]
-        },
+
        {
            "label": "gazebo kill",
            "type": "shell",
-            "command": "pkill -9 -f gzserver || true",
+            "command": "killall ign",
            "presentation": {
                "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
+                "reveal": "silent",
                "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                "showReuseMessage": false,
-                "clear": false,
-                "close": true
-            },
-            "problemMatcher": [],
-            "dependsOn":["px4_sitl_cleanup"]
-        },
-        {
-            "label": "ign gazebo kill",
-            "type": "shell",
-            "command": "pkill -9 -f 'ign gazebo' || true",
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
-                "focus": false,
-                "panel": "dedicated",
-                "showReuseMessage": false,
-                "clear": false,
-                "close": true
+                "clear": false
            },
            "problemMatcher": [],
            "dependsOn":["px4_sitl_cleanup"]
@@ -274,16 +108,14 @@
        {
            "label": "px4_sitl_cleanup",
            "type": "shell",
-            "command": "rm -rfv /tmp/px4* || true",
+            "command": "rm -rfv /tmp/px4*",
            "presentation": {
                "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
+                "reveal": "silent",
                "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                "showReuseMessage": false,
-                "clear": false,
-                "close": true
+                "clear": false
            },
            "problemMatcher": [],
            "dependsOn":["px4_kill"]
@@ -291,16 +123,14 @@
        {
            "label": "px4_kill",
            "type": "shell",
-            "command": "pkill -9 px4 || true",
+            "command": "killall px4 || true",
            "presentation": {
                "echo": true,
-                "reveal": "never",
-                "revealProblems": "onProblem",
+                "reveal": "silent",
                "focus": false,
-                "panel": "dedicated",
+                "panel": "shared",
                "showReuseMessage": false,
-                "clear": false,
-                "close": true
+                "clear": false
            },
            "problemMatcher": []
        },
@@ -342,12 +172,12 @@
    "inputs": [
        {
            "type": "pickString",
-            "id": "gzWorld",
-            "description": "gz world",
+            "id": "gazeboWorld",
+            "description": "gazebo world",
            "options": [
-                "default"
+                "x4"
            ],
-            "default": "default"
+            "default": "x4"
        }
    ]
 }
@@ -414,6 +414,7 @@ if(BUILD_TESTING)
 			DEPENDS
 				px4
 				examples__dyn_hello
+				test_mixer_multirotor
 			USES_TERMINAL
 			COMMENT "Running tests"
 			WORKING_DIRECTORY ${PX4_BINARY_DIR})
@@ -829,6 +829,7 @@ RECURSIVE              = YES
 # run.

 EXCLUDE                = @CMAKE_SOURCE_DIR@/src/modules/uavcan/libuavcan \
+                         @CMAKE_SOURCE_DIR@/src/modules/micrortps_bridge/micro-CDR \
                         @CMAKE_SOURCE_DIR@/src/examples \
                         @CMAKE_SOURCE_DIR@/src/templates

@@ -13,6 +13,76 @@ pipeline {
        }
      }
      parallel {
+        // stage('Catkin build on ROS workspace') {
+        //   agent {
+        //     docker {
+        //       image 'px4io/px4-dev-ros-melodic:2021-08-18'
+        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+        //     }
+        //   }
+        //   steps {
+        //     sh 'ls -l'
+        //     sh '''#!/bin/bash -l
+        //       echo $0;
+        //       mkdir -p catkin_ws/src;
+        //       cd catkin_ws;
+        //       git -C ${WORKSPACE}/catkin_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
+        //       git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
+        //       git -C ${WORKSPACE}/catkin_ws/src/Firmware fetch --tags;
+        //       source /opt/ros/melodic/setup.bash;
+        //       export PYTHONPATH=/opt/ros/$ROS_DISTRO/lib/python2.7/dist-packages:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages;
+        //       catkin init;
+        //       catkin build -j$(nproc) -l$(nproc);
+        //     '''
+        //     // test if the binary was correctly installed and runs using 'mavros_posix_silt.launch'
+        //     sh '''#!/bin/bash -l
+        //       echo $0;
+        //       source catkin_ws/devel/setup.bash;
+        //       rostest px4 pub_test.launch;
+        //     '''
+        //   }
+        //   post {
+        //     always {
+        //       sh 'rm -rf catkin_ws'
+        //     }
+        //     failure {
+        //       archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.xml, .ros/**/*.log')
+        //     }
+        //   }
+        //   options {
+        //     checkoutToSubdirectory('catkin_ws/src/Firmware')
+        //   }
+        // }
+
+        stage('Colcon build on ROS2 workspace') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros2-foxy:2021-08-18'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'ls -l'
+            sh '''#!/bin/bash -l
+              echo $0;
+              unset ROS_DISTRO;
+              mkdir -p colcon_ws/src;
+              cd colcon_ws;
+              git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo;
+              git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
+              source /opt/ros/foxy/setup.sh;
+              colcon build --event-handlers console_direct+ --symlink-install;
+            '''
+          }
+          post {
+            always {
+              sh 'rm -rf colcon_ws'
+            }
+          }
+          options {
+            checkoutToSubdirectory('colcon_ws/src/Firmware')
+          }
+        }

        stage('Airframe') {
          agent {
@@ -79,7 +149,7 @@ pipeline {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
-            sh 'mkdir -p build/msg_docs; ./Tools/msg/generate_msg_docs.py -d build/msg_docs'
+            sh 'mkdir -p build/msg_docs; ./msg/tools/generate_msg_docs.py -d build/msg_docs'
            dir('build') {
              archiveArtifacts(artifacts: 'msg_docs/*.md')
              stash includes: 'msg_docs/*.md', name: 'msg_documentation'
@@ -92,36 +162,6 @@ pipeline {
          }
        }

-        stage('failsafe docs') {
-          agent {
-            docker { image 'px4io/px4-dev-nuttx-focal:2021-08-18' }
-          }
-          steps {
-            sh '''#!/bin/bash -l
-            echo $0;
-            git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk;
-            cd _emscripten_sdk;
-            ./emsdk install latest;
-            ./emsdk activate latest;
-            cd ..;
-            . ./_emscripten_sdk/emsdk_env.sh;
-            make failsafe_web;
-            cd build/px4_sitl_default_failsafe_web;
-            mkdir -p failsafe_sim;
-            cp index.* parameters.json failsafe_sim;
-            '''
-            dir('build/px4_sitl_default_failsafe_web') {
-              archiveArtifacts(artifacts: 'failsafe_sim/*')
-              stash includes: 'failsafe_sim/*', name: 'failsafe_sim'
-            }
-          }
-          post {
-            always {
-              sh 'make distclean; git clean -ff -x -d .'
-            }
-          }
-        }
-
        stage('uORB graphs') {
          agent {
            docker {
@@ -163,7 +203,6 @@ pipeline {
            unstash 'metadata_parameters'
            unstash 'metadata_module_documentation'
            unstash 'msg_documentation'
-            unstash 'failsafe_sim'
            unstash 'uorb_graph'
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/PX4-user_guide.git')
@@ -172,7 +211,6 @@ pipeline {
              sh('cp -R modules/*.md PX4-user_guide/en/modules/')
              sh('cp -R graph_*.json PX4-user_guide/.vuepress/public/en/middleware/')
              sh('cp -R msg_docs/*.md PX4-user_guide/en/msg_docs/')
-              sh('cp -R failsafe_sim/* PX4-user_guide/.vuepress/public/en/config/failsafe')
              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 main || true')
              sh('rm -rf PX4-user_guide')
@@ -219,6 +257,37 @@ pipeline {
          }
        }

+        stage('microRTPS agent') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+          }
+          steps {
+            sh('export')
+            sh('git fetch --all --tags')
+            sh('make distclean; git clean -ff -x -d .')
+            sh('make px4_sitl_rtps')
+            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
+              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/micrortps_agent.git -b ${BRANCH_NAME}")
+              sh("rm -rf micrortps_agent/src micrortps_agent/idl")
+              sh('cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent')
+              sh('cd micrortps_agent; git status; git add src; git commit -a -m "Update microRTPS agent source code `date`" || true')
+              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
+              sh('cd micrortps_agent; git status; git add idl; git commit -a -m "Update IDL definitions `date`" || true')
+              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
+              sh('cd micrortps_agent; git status; git add CMakeLists.txt; git commit -a -m "Update CMakeLists.txt `date`" || true')
+              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
+              sh('rm -rf micrortps_agent')
+            }
+          }
+          when {
+            anyOf {
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
+              branch 'pr-jenkins' // for testing
+            }
+          }
+        }
+
        stage('PX4 ROS msgs') {
          agent {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
@@ -228,17 +297,67 @@ pipeline {
            sh('make distclean; git clean -ff -x -d .')
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
-              // 'main' branch
-              sh('rm -f px4_msgs/msg/*.msg')
-              sh('cp msg/*.msg px4_msgs/msg/')
+              // 'master' branch
+              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
-              sh('cd px4_msgs; git push origin main || true')
+              sh('cd px4_msgs; git push origin master || true')
+              // 'ros1' branch
+              sh('cd px4_msgs; git checkout ros1')
+              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
+              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
+              sh('cd px4_msgs; git push origin ros1 || true')
              sh('rm -rf px4_msgs')
            }
          }
          when {
            anyOf {
              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
+              branch 'pr-jenkins' // for testing
+            }
+          }
+        }
+
+        stage('PX4 ROS2 bridge') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+          }
+          steps {
+            sh('export')
+            sh('make distclean; git clean -ff -x -d .')
+            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
+              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
+              // deploy uORB RTPS ID map
+              sh('./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml')
+              sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
+              sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
+              // deploy uORB RTPS required tools
+              sh('cp msg/tools/uorb_rtps_classifier.py px4_ros_com/scripts/uorb_rtps_classifier.py')
+              sh('cp msg/tools/generate_microRTPS_bridge.py px4_ros_com/scripts/generate_microRTPS_bridge.py')
+              sh('cp msg/tools/px_generate_uorb_topic_files.py px4_ros_com/scripts/px_generate_uorb_topic_files.py')
+              sh('cp msg/tools/px_generate_uorb_topic_helper.py px4_ros_com/scripts/px_generate_uorb_topic_helper.py')
+              // deploy templates
+              sh('cp msg/templates/urtps/microRTPS_agent.cpp.em px4_ros_com/templates/microRTPS_agent.cpp.em')
+              sh('cp msg/templates/urtps/microRTPS_timesync.cpp.em px4_ros_com/templates/microRTPS_timesync.cpp.em')
+              sh('cp msg/templates/urtps/microRTPS_timesync.h.em px4_ros_com/templates/microRTPS_timesync.h.em')
+              sh('cp msg/templates/urtps/microRTPS_transport.cpp px4_ros_com/templates/microRTPS_transport.cpp')
+              sh('cp msg/templates/urtps/microRTPS_transport.h px4_ros_com/templates/microRTPS_transport.h')
+              sh('cp msg/templates/urtps/Publisher.cpp.em px4_ros_com/templates/Publisher.cpp.em')
+              sh('cp msg/templates/urtps/Publisher.h.em px4_ros_com/templates/Publisher.h.em')
+              sh('cp msg/templates/urtps/Subscriber.cpp.em px4_ros_com/templates/Subscriber.cpp.em')
+              sh('cp msg/templates/urtps/Subscriber.h.em px4_ros_com/templates/Subscriber.h.em')
+              sh('cp msg/templates/urtps/RtpsTopics.cpp.em px4_ros_com/templates/RtpsTopics.cpp.em')
+              sh('cp msg/templates/urtps/RtpsTopics.h.em px4_ros_com/templates/RtpsTopics.h.em')
+              sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS script tools `date`" || true')
+              sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
+              sh('rm -rf px4_msgs')
+            }
+          }
+          when {
+            anyOf {
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
+              branch 'pr-jenkins' // for testing
            }
          }
        }
@@ -190,7 +190,3 @@ endmenu
 menu "examples"
 source "src/examples/Kconfig"
 endmenu
-
-menu "platforms"
-source "platforms/common/Kconfig"
-endmenu
@@ -129,54 +129,57 @@ else
 	BUILD_DIR_SUFFIX :=
 endif

-CMAKE_ARGS ?=
-
 # additional config parameters passed to cmake
 ifdef EXTERNAL_MODULES_LOCATION
-	override CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
+	CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
 endif

 ifdef PX4_CMAKE_BUILD_TYPE
-	override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
+	CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
 else

 	# Address Sanitizer
 	ifdef PX4_ASAN
-		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=AddressSanitizer
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=AddressSanitizer
 	endif

 	# Memory Sanitizer
 	ifdef PX4_MSAN
-		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=MemorySanitizer
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=MemorySanitizer
 	endif

 	# Thread Sanitizer
 	ifdef PX4_TSAN
-		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=ThreadSanitizer
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=ThreadSanitizer
 	endif

 	# Undefined Behavior Sanitizer
 	ifdef PX4_UBSAN
-		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
 	endif

 	# Fuzz Testing
 	ifdef PX4_FUZZ
-		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
 	endif

 endif

 # Pick up specific Python path if set
 ifdef PYTHON_EXECUTABLE
-	override CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
+	CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
+endif
+
+# Check if the microRTPS agent is to be built
+ifdef BUILD_MICRORTPS_AGENT
+  CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
 endif

 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-	$(eval override CMAKE_ARGS += -DCONFIG=$(1))
+	$(eval CMAKE_ARGS += -DCONFIG=$(1))
 	@$(eval BUILD_DIR = "$(SRC_DIR)/build/$(1)")
 	@# check if the desired cmake configuration matches the cache then CMAKE_CACHE_CHECK stays empty
 	@$(call cmake-cache-check)
@@ -248,7 +251,7 @@ endef
 # Other targets
 # --------------------------------------------------------------------

-.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware
+.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware check_rtps

 # QGroundControl flashable NuttX firmware
 qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
@@ -273,7 +276,15 @@ misc_qgc_extra_firmware: \
 	check_airmind_mindpx-v2_default \
 	sizes

-.PHONY: sizes check quick_check uorb_graphs
+# builds with RTPS
+check_rtps: \
+	check_px4_fmu-v3_rtps \
+	check_px4_fmu-v4_rtps \
+	check_px4_fmu-v4pro_rtps \
+	check_px4_sitl_rtps \
+	sizes
+
+.PHONY: sizes check quick_check check_rtps uorb_graphs

 sizes:
 	@-find build -name *.elf -type f | xargs size 2> /dev/null || :
@@ -303,14 +314,10 @@ uorb_graphs:
 	@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
 	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph

-px4io_update:
-	@$(MAKE) --no-print-directory px4_io-v2_default
-	@$(MAKE) --no-print-directory cubepilot_io-v2_default
+px4io_update: px4_io-v2_default cubepilot_io-v2_default
 	# px4_io-v2_default
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/ark/fmu-v6x/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/pix32v5/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21-777/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v2/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v3/extras/px4_io-v2_default.bin
@@ -324,7 +331,7 @@ px4io_update:
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status

-bootloaders_update: ark_fmu-v6x_bootloader cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
+bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
 	git status

 .PHONY: coverity_scan
@@ -374,7 +381,7 @@ format:
 .PHONY: rostest python_coverage

 tests:
-	$(eval override CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
+	$(eval CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
 	$(eval ARGS += test_results)
 	$(eval ASAN_OPTIONS += color=always:check_initialization_order=1:detect_stack_use_after_return=1)
 	$(eval UBSAN_OPTIONS += color=always)
@@ -482,9 +489,7 @@ shellcheck_all:

 validate_module_configs:
 	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
-	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" \
-	-not -path "$(SRC_DIR)/src/modules/microdds_client/dds_topics.yaml" \
-	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
+	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" -not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
 	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml

 # Cleanup
@@ -550,12 +555,17 @@ check_px4: $(call make_list,nuttx,"px4") \
 check_nxp: $(call make_list,nuttx,"nxp") \
 	sizes

-.PHONY: failsafe_web run_failsafe_web_server
-failsafe_web:
-	@if ! command -v emcc; then echo -e "Install emscripten first: https://emscripten.org/docs/getting_started/downloads.html\nAnd source the env: source <path>/emsdk_env.sh"; exit 1; fi
-	@$(MAKE) --no-print-directory px4_sitl_default failsafe_test parameters_xml \
-		PX4_CMAKE_BUILD_TYPE=Release BUILD_DIR_SUFFIX=_failsafe_web \
-		CMAKE_ARGS="-DCMAKE_CXX_COMPILER=em++ -DCMAKE_C_COMPILER=emcc"
-run_failsafe_web_server: failsafe_web
-	@cd build/px4_sitl_default_failsafe_web && \
-		python3 -m http.server
+ifneq ($(ROS2_WS_DIR),)
+  ROS2_WS_DIR := $(basename ${ROS2_WS_DIR})
+else
+  ROS2_WS_DIR := ~/colcon_ws
+endif
+
+update_ros2_bridge:
+	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --all
+
+update_px4_ros_com:
+	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_ros_com
+
+update_px4_msgs:
+	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_msgs
@@ -4,7 +4,7 @@

 [![Nuttx Targets](https://github.com/PX4/PX4-Autopilot/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)

-[![Discord Shield](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.gg/dronecode)
+[![Slack](/.github/slack.svg)](https://join.slack.com/t/px4/shared_invite/zt-si4xo5qs-R4baYFmMjlrT4rQK5yUnaA)

 This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.

@@ -75,7 +75,7 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/con
    * [Paul Riseborough](https://github.com/priseborough)
  * Vision based navigation and Obstacle Avoidance
    * [Markus Achtelik](https://github.com/markusachtelik)
-  * DDS/ROS2 Interface
+  * 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/PX4-Autopilot/graphs/contributors) (Github).
@@ -32,7 +32,9 @@
 ############################################################################

 add_subdirectory(init.d)
+add_subdirectory(mixers)
 # TODO: make this configurable from the board config, or better combine
 if("${PX4_BOARD}" MATCHES "sitl")
+	add_subdirectory(mixers-sitl)
 	add_subdirectory(init.d-posix)
 endif()
@@ -36,6 +36,7 @@ add_subdirectory(airframes)
 px4_add_romfs_files(
 	px4-rc.mavlink
 	px4-rc.params
+	px4-rc.rtps
 	px4-rc.simulator
 	rc.replay
 	rcS
@@ -9,24 +9,4 @@

 . ${R}etc/init.d/rc.mc_defaults

-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-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 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
+set MIXER quad_w
@@ -0,0 +1,37 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL
+#
+# @type Quadrotor Wide
+#
+# @maintainer Julian Oes <julian@oes.ch>
+#
+
+. ${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 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+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 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
+
+set MIXER skip
+set MIXER_AUX none
@@ -9,6 +9,8 @@

 . ${R}etc/init.d/rc.mc_defaults

+param set-default SYS_CTRL_ALLOC 1
+

 param set-default CA_AIRFRAME 0

@@ -95,3 +97,5 @@ param set-default CA_METHOD 0
 param set-default FD_FAIL_P 0
 param set-default FD_FAIL_R 0

+set MIXER skip
+set MIXER_AUX none
@@ -0,0 +1,19 @@
+#!/bin/sh
+#
+# @name IF750A SITL
+# InspiredFlight 750 Auterion edition. Gazebo Only.
+#
+# @type Quadrotor
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+# EKF2: Multi GPS blending (as the model has 2 GPS's)
+param set-default SENS_GPS_MASK 7
+param set-default TRIG_INTERFACE 3
+param set-default TRIG_MODE 4
+param set-default MNT_MODE_IN 4
+param set-default MNT_MODE_OUT 2
+param set-default MNT_DO_STAB 2
+
+set MIXER quad_x
@@ -8,8 +8,4 @@

 . ${R}etc/init.d/airframes/4016_holybro_px4vision

-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
-
+set MIXER quad_x
@@ -9,8 +9,7 @@

 . ${R}etc/init.d/rc.mc_defaults

-PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadx}
+set MIXER quad_x

 # disable some checks to allow to fly:
 # - with usb
@@ -21,24 +20,4 @@ param set-default CBRK_SUPPLY_CHK 894281
 param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

-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_KM 0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_KM 0.05
-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 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 SIH_VEHICLE_TYPE 0
-
@@ -8,8 +8,7 @@

 . ${R}etc/init.d/rc.fw_defaults

-PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=airplane}
+set MIXER AERT

 # disable some checks to allow to fly:
 # - with usb
@@ -22,30 +21,13 @@ param set-default CBRK_IO_SAFETY 22027

 param set-default BAT_N_CELLS 3

-param set-default SIH_T_MAX 6.0
-param set-default SIH_MASS 0.3
-param set-default SIH_IXX 0.00402
-param set-default SIH_IYY 0.0144
-param set-default SIH_IZZ 0.0177
-param set-default SIH_IXZ 0.00046
-param set-default SIH_KDV 0.2
+param set SIH_T_MAX 6.0
+param set SIH_MASS 0.3
+param set SIH_IXX 0.00402
+param set SIH_IYY 0.0144
+param set SIH_IZZ 0.0177
+param set SIH_IXZ 0.00046
+param set SIH_KDV 0.2

-param set-default SIH_VEHICLE_TYPE 1 	# sih as fixed wing
-param set-default RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)
-
-
-param set-default CA_AIRFRAME 1
-
-param set-default CA_ROTOR_COUNT 1
-
-param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-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 PWM_MAIN_FUNC3 201
-param set-default PWM_MAIN_FUNC4 202
-param set-default PWM_MAIN_FUNC5 203
-param set-default PWM_MAIN_FUNC6 101
+param set SIH_VEHICLE_TYPE 1 	# sih as fixed wing
+param set RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)
@@ -8,17 +8,16 @@

 . ${R}etc/init.d/rc.vtol_defaults

-PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}
-
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 0
 param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_S_Y 0.3
+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 MAV_TYPE 19
+set MAV_TYPE 19
+set MIXER vtol_tailsitter_duo_sat

 # disable some checks to allow to fly:
 # - with usb
@@ -31,39 +30,16 @@ param set-default CBRK_IO_SAFETY 22027

 param set-default BAT_N_CELLS 3

-param set-default SIH_T_MAX 2.0
-param set-default SIH_Q_MAX 0.0165
-param set-default SIH_MASS 0.2
+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-default SIH_IXX 0.00354
-param set-default SIH_IYY 0.000625
-param set-default SIH_IZZ 0.00300
-param set-default SIH_IXZ 0.0
-param set-default SIH_KDV 0.2
-param set-default SIH_L_ROLL 0.145
+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-default SIH_VEHICLE_TYPE 2
-
-param set-default CA_AIRFRAME 4
-
-param set-default CA_ROTOR_COUNT 2
-param set-default CA_ROTOR0_PX 0
-param set-default CA_ROTOR0_PY 2
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX 0
-param set-default CA_ROTOR1_PY -1
-param set-default CA_ROTOR1_KM 0.05
-
-param set-default CA_SV_CS_COUNT 2
-param set-default CA_SV_CS0_TYPE 5
-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_CS1_TYPE 6
-param set-default CA_SV_CS1_TRQ_P 0.5
-param set-default CA_SV_CS1_TRQ_Y 0.5
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC5 201
-param set-default PWM_MAIN_FUNC6 202
+param set SIH_VEHICLE_TYPE 2
@@ -9,7 +9,6 @@

 # EKF2
 param set-default EKF2_AID_MASK 2
-param set-default EKF2_GPS_CTRL 0
 param set-default EKF2_EVP_NOISE 0.05
 param set-default EKF2_EVA_NOISE 0.05

@@ -10,8 +10,6 @@
 # EKF2: Vision position and heading
 param set-default EKF2_AID_MASK 24
 param set-default EKF2_EV_DELAY 5
-param set-default EKF2_EV_CTRL 15
-param set-default EKF2_GPS_CTRL 0

 # LPE: Vision + baro
 param set-default LPE_FUSION 132
@@ -0,0 +1,13 @@
+#!/bin/sh
+#
+# @name Solo
+#
+# @type Quadrotor
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default MC_PITCHRATE_P 0.1
+param set-default MC_ROLLRATE_P 0.05
+
+set MIXER quad_x
@@ -9,7 +9,6 @@

 # EKF2
 param set-default EKF2_AID_MASK 2
-param set-default EKF2_GPS_CTRL 0

 # LPE: Flow-only mode
 param set-default LPE_FUSION 242
@@ -10,4 +10,3 @@
 # EKF2: Vision velocity and heading
 param set-default EKF2_AID_MASK 272
 param set-default EKF2_EV_DELAY 5
-param set-default EKF2_GPS_CTRL 0
@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name UUV
+#
+
+. ${R}etc/init.d/rc.uuv_defaults
+
+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
+set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
+set MIXER custom
@@ -8,40 +8,5 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-param set-default CA_AIRFRAME 7
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_R_REV 255
-param set-default CA_ROTOR0_AX 1.0000
-param set-default CA_ROTOR0_AY 0.0000
-param set-default CA_ROTOR0_AZ 0.0000
-param set-default CA_ROTOR0_KM 0.0000
-param set-default CA_ROTOR0_PX 0.0000
-param set-default CA_ROTOR0_PY -0.3000
-param set-default CA_ROTOR0_PZ -0.3000
-param set-default CA_ROTOR1_AX 1.0000
-param set-default CA_ROTOR1_AY 0.0000
-param set-default CA_ROTOR1_AZ 0.0000
-param set-default CA_ROTOR1_KM 0.0000
-param set-default CA_ROTOR1_PX 0.0000
-param set-default CA_ROTOR1_PY 0.3000
-param set-default CA_ROTOR1_PZ -0.3000
-param set-default CA_ROTOR2_AX 1.0000
-param set-default CA_ROTOR2_AY 0.0000
-param set-default CA_ROTOR2_AZ 0.0000
-param set-default CA_ROTOR2_KM 0.0000
-param set-default CA_ROTOR2_PX 0.0000
-param set-default CA_ROTOR2_PY 0.3000
-param set-default CA_ROTOR2_PZ 0.3000
-param set-default CA_ROTOR3_AX 1.0000
-param set-default CA_ROTOR3_AY 0.0000
-param set-default CA_ROTOR3_AZ 0.0000
-param set-default CA_ROTOR3_KM 0.0000
-param set-default CA_ROTOR3_PX 0.0000
-param set-default CA_ROTOR3_PY -0.3000
-param set-default CA_ROTOR3_PZ 0.3000
-
-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
-
+set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
+set MIXER custom
@@ -8,6 +8,7 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

+param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 7

 param set-default CA_ROTOR_COUNT 8
@@ -65,3 +66,4 @@ param set-default PWM_MAIN_FUNC6 106
 param set-default PWM_MAIN_FUNC7 107
 param set-default PWM_MAIN_FUNC8 108

+set MIXER skip
@@ -14,20 +14,12 @@ param set-default FW_LND_ANG 8
 param set-default FW_L1_PERIOD 12

 param set-default FW_PR_P 0.9
-param set-default FW_PR_FF 0.5
-param set-default FW_PR_I 0.5
-param set-default TRIM_PITCH -0.15
-
+param set-default FW_PR_FF 0.2
 param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MIN -15

-param set-default FW_RR_FF 0.5
+param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3
-param set-default FW_RR_I 0.5
-
-param set-default FW_YR_FF 0.5
-param set-default FW_YR_P 0.6
-param set-default FW_YR_I 0.5

 param set-default FW_SPOILERS_LND 0.4

@@ -49,6 +41,7 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

+#param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 1

 param set-default CA_ROTOR_COUNT 1
@@ -75,3 +68,5 @@ param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256


+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom
@@ -39,28 +39,6 @@ param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8

-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 6
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-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_CS4_TYPE 9
-param set-default CA_SV_CS5_TYPE 10
-param set-default PWM_MAIN_FUNC3 204
-param set-default PWM_MAIN_FUNC4 205
-param set-default PWM_MAIN_FUNC5 101
-param set-default PWM_MAIN_FUNC6 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_FUNC8 203
-param set-default PWM_MAIN_FUNC9 206
-param set-default PWM_MAIN_REV 256

+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom
@@ -39,28 +39,5 @@ param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8

-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 6
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-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_CS4_TYPE 9
-param set-default CA_SV_CS5_TYPE 10
-param set-default PWM_MAIN_FUNC3 204
-param set-default PWM_MAIN_FUNC4 205
-param set-default PWM_MAIN_FUNC5 101
-param set-default PWM_MAIN_FUNC6 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_FUNC8 203
-param set-default PWM_MAIN_FUNC9 206
-param set-default PWM_MAIN_REV 256
-
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom
@@ -35,28 +35,5 @@ param set-default NAV_DLL_ACT 2

 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 6
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-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_CS4_TYPE 9
-param set-default CA_SV_CS5_TYPE 10
-param set-default PWM_MAIN_FUNC3 204
-param set-default PWM_MAIN_FUNC4 205
-param set-default PWM_MAIN_FUNC5 101
-param set-default PWM_MAIN_FUNC6 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_FUNC8 203
-param set-default PWM_MAIN_FUNC9 206
-param set-default PWM_MAIN_REV 256
-
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom
@@ -37,28 +37,5 @@ param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8

-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 6
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-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_CS4_TYPE 9
-param set-default CA_SV_CS5_TYPE 10
-param set-default PWM_MAIN_FUNC3 204
-param set-default PWM_MAIN_FUNC4 205
-param set-default PWM_MAIN_FUNC5 101
-param set-default PWM_MAIN_FUNC6 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_FUNC8 203
-param set-default PWM_MAIN_FUNC9 206
-param set-default PWM_MAIN_REV 256
-
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom
@@ -44,28 +44,5 @@ param set-default FW_USE_NPFG 1

 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 6
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-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_CS4_TYPE 9
-param set-default CA_SV_CS5_TYPE 10
-param set-default PWM_MAIN_FUNC3 204
-param set-default PWM_MAIN_FUNC4 205
-param set-default PWM_MAIN_FUNC5 101
-param set-default PWM_MAIN_FUNC6 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_FUNC8 203
-param set-default PWM_MAIN_FUNC9 206
-param set-default PWM_MAIN_REV 256
-
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom
@@ -1,70 +0,0 @@
-#!/bin/sh
-#
-# @name Advanced Plane SITL
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default EKF2_MAG_ACCLIM 0
-param set-default EKF2_MAG_YAWLIM 0
-
-param set-default FW_LND_AIRSPD_SC 1
-param set-default FW_LND_ANG 8
-param set-default FW_THR_LND_MAX 0
-
-param set-default FW_L1_PERIOD 12
-
-param set-default FW_MAN_P_MAX 30
-
-param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
-param set-default FW_P_LIM_MIN -15
-
-param set-default FW_SPOILERS_LND 0.4
-
-param set-default FW_THR_MIN 0.05
-param set-default FW_THR_TRIM 0.25
-
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
-
-param set-default FW_W_EN 1
-
-param set-default MIS_LTRMIN_ALT 30
-param set-default MIS_TAKEOFF_ALT 30
-
-param set-default NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
-
-param set-default RWTO_TKOFF 1
-
-#param set-default SYS_CTRL_ALLOC 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 6
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-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_CS4_TYPE 9
-param set-default CA_SV_CS5_TYPE 10
-param set-default PWM_MAIN_FUNC3 204
-param set-default PWM_MAIN_FUNC4 205
-param set-default PWM_MAIN_FUNC5 101
-param set-default PWM_MAIN_FUNC6 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_FUNC8 203
-param set-default PWM_MAIN_FUNC9 206
-param set-default PWM_MAIN_REV 256
-
-
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
@@ -12,6 +12,7 @@
 param set-default FD_ACT_EN 0
 param set-default FD_ACT_MOT_TOUT 500

+# param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 2

 param set-default CA_ROTOR_COUNT 5
@@ -61,7 +62,6 @@ param set-default FW_T_CLMB_MAX 8
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2

-param set-default MC_AIRMODE 1
 param set-default MC_ROLLRATE_P 0.3
 param set-default MC_YAW_P 1.6

@@ -77,6 +77,10 @@ param set-default NAV_ACC_RAD 5

 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2

+set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
+set MIXER custom
@@ -9,6 +9,7 @@

 param set-default MAV_TYPE 20

+# param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 4

 param set-default CA_ROTOR_COUNT 4
@@ -58,7 +59,6 @@ param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
 param set-default FW_T_TAS_TC 2

-param set-default MC_AIRMODE 1
 param set-default MC_ROLLRATE_P 0.3

 param set-default MPC_ACC_HOR_MAX 2
@@ -70,10 +70,12 @@ param set-default MPC_XY_VEL_D_ACC 0.1
 param set-default NAV_ACC_RAD 5

 param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_S_Y 0.5
+param set-default VT_FW_DIFTHR_SC 0.5
 param set-default VT_F_TRANS_DUR 1.5
 param set-default VT_F_TRANS_THR 0.7
 param set-default VT_TYPE 0

 param set-default WV_EN 0

+set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
+set MIXER custom
@@ -9,6 +9,7 @@

 param set-default MAV_TYPE 21

+param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 3

 param set-default CA_ROTOR_COUNT 4
@@ -26,7 +27,7 @@ param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05

 param set-default CA_ROTOR0_TILT 1
-param set-default CA_ROTOR2_TILT 2
+param set-default CA_ROTOR2_TILT 3
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
@@ -34,7 +35,11 @@ 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_CS_COUNT 3
-param set-default CA_SV_TL_COUNT 2
+param set-default CA_SV_TL0_CT 0
+param set-default CA_SV_TL1_CT 0
+param set-default CA_SV_TL2_CT 0
+param set-default CA_SV_TL3_CT 0
+param set-default CA_SV_TL_COUNT 4

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
@@ -42,9 +47,11 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 204
 param set-default PWM_MAIN_FUNC6 205
-param set-default PWM_MAIN_FUNC7 201
-param set-default PWM_MAIN_FUNC8 202
-param set-default PWM_MAIN_FUNC9 203
+param set-default PWM_MAIN_FUNC7 206
+param set-default PWM_MAIN_FUNC8 207
+param set-default PWM_MAIN_FUNC9 201
+param set-default PWM_MAIN_FUNC10 202
+param set-default PWM_MAIN_FUNC11 203

 param set-default FW_L1_PERIOD 12
 param set-default FW_PR_FF 0.2
@@ -60,18 +67,23 @@ param set-default FW_T_CLMB_MAX 8
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2

-param set-default MC_AIRMODE 1
-param set-default MC_YAWRATE_P 0.3
-param set-default MC_YAWRATE_I 0.3
+param set-default MC_YAW_P 1.6

+param set-default MIS_TAKEOFF_ALT 10
+
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_XY_P 0.8
 param set-default MPC_XY_VEL_P_ACC 3
 param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1

-param set-default MIS_TAKEOFF_ALT 10
+param set-default NAV_ACC_RAD 5

 param set-default VT_B_TRANS_DUR 8
 param set-default VT_FWD_THRUST_EN 4
-param set-default VT_FWD_THRUST_SC 0.6
+param set-default VT_MOT_ID 1234
 param set-default VT_TILT_TRANS 0.6
 param set-default VT_TYPE 1
+
+set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
+set MIXER custom
@@ -5,14 +5,48 @@
 # @type Standard VTOL
 #

-. ${R}etc/init.d-posix/airframes/1040_standard_vtol
+. ${R}etc/init.d/rc.vtol_defaults

-# Gimbal
-param set-default PWM_MAIN_FUNC9 420
-param set-default PWM_MAIN_FUNC10 421
-param set-default PWM_MAIN_FUNC11 422
+param set-default FW_L1_PERIOD 12
+param set-default FW_PR_FF 0.2
+param set-default FW_PR_P 0.9
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MIN -15
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_P 0.3
+param set-default FW_THR_TRIM 0.25
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_T_ALT_TC 2
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_TAS_TC 2
+
+param set-default MC_ROLLRATE_P 0.3
+param set-default MC_YAW_P 1.6
+
+param set-default MIS_TAKEOFF_ALT 10
+
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_XY_P 0.8
+param set-default MPC_XY_VEL_P_ACC 3
+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 VT_FWD_THRUST_EN 4
+param set-default VT_F_TRANS_THR 0.75
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
+param set-default VT_B_TRANS_DUR 8
+param set-default VT_TYPE 2

 param set-default RC_MAP_AUX1 8
 param set-default RC_MAP_AUX2 9
 param set-default RC_MAP_AUX3 10

+set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
+set MIXER custom
@@ -0,0 +1 @@
+mixer append /dev/pwm_output0 etc/mixers-sitl/package_drop.aux.mix
@@ -28,6 +28,7 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

+param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 5

 param set-default CA_R_REV 1
@@ -36,3 +37,4 @@ param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101

+set MIXER_FILE skip
@@ -28,6 +28,7 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

+param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 6

 param set-default CA_R_REV 3
@@ -36,3 +37,4 @@ param set-default PWM_MAIN_FUNC2 101
 param set-default PWM_MAIN_FUNC6 102
 param set-default PWM_MAIN_FUNC7 102

+set MIXER_FILE skip
@@ -35,11 +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

-param set-default CA_AIRFRAME 5
-
-param set-default CA_R_REV 1
-param set-default PWM_MAIN_FUNC1 201
-param set-default PWM_MAIN_FUNC2 201
-param set-default PWM_MAIN_FUNC6 101
-param set-default PWM_MAIN_FUNC7 101
-
+set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
@@ -28,6 +28,7 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

+param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 9

 param set-default CA_ROTOR_COUNT 2
@@ -46,3 +47,4 @@ param set-default CA_R_REV 3
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102

+set MIXER skip
@@ -44,25 +44,5 @@ param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 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 3
-param set-default CA_SV_CS0_TRQ_R 0
-param set-default CA_SV_CS0_TRQ_Y 1
-param set-default CA_SV_CS0_TYPE 4
-param set-default CA_SV_CS1_TRQ_P 0
-param set-default CA_SV_CS1_TRQ_R -0.5
-param set-default CA_SV_CS1_TYPE 1
-param set-default CA_SV_CS2_TRQ_P 1
-param set-default CA_SV_CS2_TYPE 3
-param set-default PWM_MAIN_FUNC1 201
-param set-default PWM_MAIN_FUNC2 101
-param set-default PWM_MAIN_FUNC3 202
-param set-default PWM_MAIN_FUNC4 203
-param set-default PWM_MAIN_FUNC5 407
-param set-default PWM_MAIN_FUNC6 408
-param set-default PWM_MAIN_FUNC7 409
-
+set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
+set MIXER custom
@@ -50,25 +50,5 @@ param set-default FW_THR_CRUISE 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 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 3
-param set-default CA_SV_CS0_TRQ_R 0
-param set-default CA_SV_CS0_TRQ_Y 1
-param set-default CA_SV_CS0_TYPE 4
-param set-default CA_SV_CS1_TRQ_P 0
-param set-default CA_SV_CS1_TRQ_R -0.5
-param set-default CA_SV_CS1_TYPE 1
-param set-default CA_SV_CS2_TRQ_P 1
-param set-default CA_SV_CS2_TYPE 3
-param set-default PWM_MAIN_FUNC1 201
-param set-default PWM_MAIN_FUNC2 101
-param set-default PWM_MAIN_FUNC3 202
-param set-default PWM_MAIN_FUNC4 203
-param set-default PWM_MAIN_FUNC5 407
-param set-default PWM_MAIN_FUNC6 408
-param set-default PWM_MAIN_FUNC7 409
-
+set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
+set MIXER custom
@@ -11,6 +11,7 @@

 . ${R}etc/init.d/rc.airship_defaults

+param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 9

 param set-default CA_ROTOR_COUNT 3
@@ -37,3 +38,4 @@ param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 201
 param set-default PWM_MAIN_FUNC4 103

+set MIXER skip
@@ -9,24 +9,4 @@

 . ${R}etc/init.d/rc.mc_defaults

-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-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 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
+set MIXER quad_w
@@ -26,29 +26,4 @@ param set-default TRIG_MODE 4
 param set-default MNT_MODE_IN 4
 param set-default MNT_DO_STAB 2

-
-param set-default CA_ROTOR0_PX 0.0
-param set-default CA_ROTOR0_PY 1.0
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0.0
-param set-default CA_ROTOR1_PY -1.0
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.866025
-param set-default CA_ROTOR2_PY -0.5
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.866025
-param set-default CA_ROTOR3_PY 0.5
-param set-default CA_ROTOR3_KM 0.05
-param set-default CA_ROTOR4_PX 0.866025
-param set-default CA_ROTOR4_PY 0.5
-param set-default CA_ROTOR4_KM 0.05
-param set-default CA_ROTOR5_PX -0.866025
-param set-default CA_ROTOR5_PY -0.5
-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 hexa_x
@@ -0,0 +1,10 @@
+#!/bin/sh
+#
+# @name Ignition Gazebo X3
+#
+# @type Quadrotor
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER quad_w
@@ -1,48 +0,0 @@
-#!/bin/sh
-#
-# @name Gazebo x500
-#
-# @type Quadrotor
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}
-
-param set-default CA_AIRFRAME 0
-param set-default CA_ROTOR_COUNT 4
-
-param set-default CA_ROTOR0_PX 0.13
-param set-default CA_ROTOR0_PY 0.22
-param set-default CA_ROTOR0_KM  0.05
-
-param set-default CA_ROTOR1_PX -0.13
-param set-default CA_ROTOR1_PY -0.20
-param set-default CA_ROTOR1_KM  0.05
-
-param set-default CA_ROTOR2_PX 0.13
-param set-default CA_ROTOR2_PY -0.22
-param set-default CA_ROTOR2_KM -0.05
-
-param set-default CA_ROTOR3_PX -0.13
-param set-default CA_ROTOR3_PY 0.20
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default SIM_GZ_FUNC1 101
-param set-default SIM_GZ_FUNC2 102
-param set-default SIM_GZ_FUNC3 103
-param set-default SIM_GZ_FUNC4 104
-
-param set-default SIM_GZ_MIN1 150
-param set-default SIM_GZ_MIN2 150
-param set-default SIM_GZ_MIN3 150
-param set-default SIM_GZ_MIN4 150
-
-param set-default SIM_GZ_MAX1 1000
-param set-default SIM_GZ_MAX2 1000
-param set-default SIM_GZ_MAX3 1000
-param set-default SIM_GZ_MAX4 1000
-
-param set-default MPC_THR_HOVER 0.60
@@ -0,0 +1,13 @@
+#!/bin/sh
+#
+# @name Ignition Gazebo X4
+#
+# @type Quadrotor
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default MC_PITCHRATE_P 0.1
+param set-default MC_ROLLRATE_P 0.05
+
+set MIXER hexa_x
@@ -28,39 +28,4 @@ param set-default MNT_MODE_IN 4
 param set-default MNT_MODE_OUT 2
 param set-default MAV_PROTO_VER 2

-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 1.0
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0.0
-param set-default CA_ROTOR1_PY -1.0
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.866025
-param set-default CA_ROTOR2_PY -0.5
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.866025
-param set-default CA_ROTOR3_PY 0.5
-param set-default CA_ROTOR3_KM 0.05
-param set-default CA_ROTOR4_PX 0.866025
-param set-default CA_ROTOR4_PY 0.5
-param set-default CA_ROTOR4_KM 0.05
-param set-default CA_ROTOR5_PX -0.866025
-param set-default CA_ROTOR5_PY -0.5
-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
-# Gimbal
-param set-default PWM_MAIN_FUNC7 420
-param set-default PWM_MAIN_FUNC8 421
-param set-default PWM_MAIN_FUNC9 422
-# Landing gear
-param set-default PWM_MAIN_FUNC10 400
-param set-default PWM_MAIN_FUNC11 400
-
+set MIXER hexa_x
@@ -1,4 +1,6 @@

+mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
+
 mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p

 # shellcheck disable=SC2154
@@ -0,0 +1,64 @@
+#!/bin/sh
+#
+# @name Typhoon H480 SITL
+#
+# @type Hexarotor x
+#
+
+. ${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
+param set-default MC_PITCHRATE_I 0.0400
+param set-default MC_PITCHRATE_D 0.0010
+param set-default MC_PITCH_P 9.0
+param set-default MC_ROLLRATE_P 0.0800
+param set-default MC_ROLLRATE_I 0.0400
+param set-default MC_ROLLRATE_D 0.0010
+param set-default MC_ROLL_P 9.0
+
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_P_ACC 3
+
+param set-default RTL_DESCEND_ALT 10
+param set-default RTL_LAND_DELAY 0
+
+param set-default TRIG_INTERFACE 3
+param set-default TRIG_MODE 4
+param set-default MNT_MODE_IN 0
+param set-default MAV_PROTO_VER 2
+
+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 1.0
+param set-default CA_ROTOR0_KM -0.05
+param set-default CA_ROTOR1_PX 0.0
+param set-default CA_ROTOR1_PY -1.0
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.866025
+param set-default CA_ROTOR2_PY -0.5
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.866025
+param set-default CA_ROTOR3_PY 0.5
+param set-default CA_ROTOR3_KM 0.05
+param set-default CA_ROTOR4_PX 0.866025
+param set-default CA_ROTOR4_PY 0.5
+param set-default CA_ROTOR4_KM 0.05
+param set-default CA_ROTOR5_PX -0.866025
+param set-default CA_ROTOR5_PY -0.5
+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
@@ -0,0 +1,8 @@
+
+mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
+
+# shellcheck disable=SC2154
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
+# shellcheck disable=SC2154
+mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local
@@ -33,8 +33,10 @@

 px4_add_romfs_files(
 	10016_iris
+	10017_iris_ctrlalloc
 	10018_iris_foggy_lidar
 	10019_omnicopter
+	10020_if750a
 	10030_px4vision
 	10040_quadx
 	10041_airplane
@@ -45,28 +47,30 @@ px4_add_romfs_files(
 	1012_iris_rplidar
 	1013_iris_vision
 	1013_iris_vision.post
+	1014_solo
 	1015_iris_obs_avoid
 	1015_iris_obs_avoid.post
 	1017_iris_opt_flow_mockup
 	1018_iris_vision_velocity
 	1019_iris_dual_gps
+	1020_uuv_generic
 	1021_uuv_hippocampus
 	1022_uuv_bluerov2_heavy
 	1030_plane
 	1031_plane_cam
 	1032_plane_catapult
+	1033_plane_lidar
 	1033_rascal
 	1034_rascal-electric
 	1035_techpod
 	1036_malolo
 	1037_believer
 	1038_glider
-	1039_advanced_plane
 	1040_standard_vtol
 	1041_tailsitter
 	1042_tiltrotor
 	1043_standard_vtol_drop
-	1044_plane_lidar
+	1043_standard_vtol_drop.post
 	1060_rover
 	1061_r1_rover
 	1062_tf-r1
@@ -74,12 +78,15 @@ px4_add_romfs_files(
 	3010_quadrotor_x
 	3011_hexarotor_x

-	4001_x500
+	4001_x3

 	17001_tf-g1
 	17002_tf-g2
 	2507_cloudship

+	6001_x4
 	6011_typhoon_h480
 	6011_typhoon_h480.post
+	6012_typhoon_h480_ctrlalloc
+	6012_typhoon_h480_ctrlalloc.post
 )
@@ -32,7 +32,7 @@ mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $ud
 mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote

 # To display for SIH sitl
-if [ "$PX4_SIMULATOR" = "sihsim" ]; then
+if [ "$SIM_MODE" = "sihsim" ]; then
 	udp_sihsim_port_local=$((19450+px4_instance))
 	udp_sihsim_port_remote=$((19410+px4_instance))
 	mavlink start -x -u $udp_sihsim_port_local -r 400000 -m custom -o $udp_sihsim_port_remote
@@ -0,0 +1,4 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
@@ -1,125 +1,15 @@
 #!/bin/sh
 # shellcheck disable=SC2154

-# Simulator IMU data provided at 250 Hz
-param set-default IMU_INTEG_RATE 250

-if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then
+if ignition_simulator start
+then

-	if simulator_sih start; then
-
-		sensor_baro_sim start
-		sensor_gps_sim start
-		sensor_mag_sim start
-
-	else
-		echo "ERROR  [init] simulator_sih failed to start"
-		exit 1
-	fi
-
-elif [ "$PX4_SIMULATOR" = "gz" ]; then
-
-	# source generated gazebo_env.sh for IGN_GAZEBO_RESOURCE_PATH
-	if [ -f gazebo_env.sh ]; then
-		. ./gazebo_env.sh
-	elif [ -f ../gazebo_env.sh ]; then
-		. ../gazebo_env.sh
-	fi
-
-# shellcheck disable=SC2236
-	if [ ! -z $PX4_GZ_VERBOSE ]; then
-		if [ "$PX4_GZ_VERBOSE" -le "4" ] && [ "$PX4_GZ_VERBOSE" -ge "1" ]; then
-			gz_verbose=$PX4_GZ_VERBOSE
-		else
-			gz_verbose=4
-			echo "WARN  [init] PX4_GZ_VERBOSE was passed: $PX4_GZ_VERBOSE, not in range [1,4], defaulting to: $gz_verbose."
-		fi
-		echo "INFO  [init] PX4_GZ_VERBOSE set to $gz_verbose."
-	else
-		gz_verbose=1
-		echo "INFO  [init] PX4_GZ_VERBOSE not explicitly set, defaulting to: $gz_verbose."
-	fi
-
-	gz_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
-	
-	gz_version_major=$( ign gazebo --versions | sed 's/\..*//g' )
-	gz_version_minor=$( ign gazebo --versions | sed 's/'"${gz_version_major}"\.'//; s/\..*//g' )
-	gz_version_point=$( ign gazebo --versions | sed 's/'"${gz_version_major}"\.'//; s/'"${gz_version_minor}"\.'//')
-
-	if [ "$gz_version_major" -gt "6" ] || { [ "$gz_version_major" -eq "6" ] && [ "$gz_version_minor" -gt "12" ]; } || { [ "$gz_version_major" -eq "6" ] && [ "$gz_version_minor" -eq "12" ] && [ "$gz_version_point" -gt "0" ]; }; then
-		echo "INFO  [init] using latest version of MultiCopterMotor plugin."
-	else
-		echo "WARN  [init] using older version of MultiCopterMotor plugin, please update to latest gazebo > 6.12.0."
-		if [ "$PX4_SIM_MODEL" = "x500" ]; then
-			PX4_SIM_MODEL="x500-Legacy"
-			echo "WARN  [init] setting PX4_SIM_MODEL -> $PX4_SIM_MODEL from x500 till gazebo > 6.12.0"
-		fi
-	fi
-
-	if [ -z $gz_world ]; then
-
-		# starting ign gazebo with ${PX4_GZ_WORLD} world
-		echo "INFO  [init] starting ign gazebo"
-# shellcheck disable=SC2153
-		ign gazebo --verbose=$gz_verbose -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
-
-		if [ -z $HEADLESS ]; then
-			# HEADLESS not set, starting ign gazebo gui
-			ign gazebo -g &
-		fi
-	else
-		echo "INFO  [init] ign gazebo already running world: $gz_world"
-		PX4_GZ_WORLD=$gz_world
-	fi
-
-# shellcheck disable=SC2236
-	if [ ! -z $PX4_GZ_MODEL ] && [ -z $PX4_GZ_MODEL_NAME ]; then
-
-# shellcheck disable=SC2236
-		if [ ! -z $PX4_GZ_MODEL_POSE ]; then
-			# Clean potential input line formatting.
-			model_pose="$( echo ${PX4_GZ_MODEL_POSE} | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
-			echo "INFO  [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
-		else
-			echo "WARN  [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
-			model_pose="0,0,0,0,0,0"
-		fi
-		# start gz bridge with pose arg.
-		if gz_bridge start -p "${model_pose}"  -m "${PX4_GZ_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
-			sensor_baro_sim start
-			sensor_gps_sim start
-			sensor_mag_sim start
-		else
-			echo "ERROR  [init] ign gazebo failed to start"
-			exit 1
-		fi
-	elif [ ! -z $PX4_GZ_MODEL_NAME ] && [ -z $PX4_GZ_MODEL ]; then
-		if gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
-			sensor_baro_sim start
-			sensor_gps_sim start
-			sensor_mag_sim start
-		else
-			echo "ERROR  [init] ign gazebo failed to start"
-			exit 1
-		fi
-	elif [ ! -z $PX4_SIM_MODEL ] && [ -z $PX4_GZ_MODEL_NAME ] && [ -z $PX4_GZ_MODEL ]; then
-		echo "WARN  [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."
-		if gz_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
-			sensor_baro_sim start
-			sensor_gps_sim start
-			sensor_mag_sim start
-		else
-			echo "ERROR  [init] ign gazebo failed to start"
-			exit 1
-		fi
-
-	else
-		echo "ERROR  [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
-		exit 1
-	fi
+	sensor_baro_sim start
+	sensor_gps_sim start
+	sensor_mag_sim start

 else
-	# otherwise start simulator (mavlink) module
 	simulator_tcp_port=$((4560+px4_instance))

 	# Check if PX4_SIM_HOSTNAME environment variable is empty
@@ -129,15 +19,15 @@ else

 		if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
 			echo "PX4 SIM HOST: localhost"
-			simulator_mavlink start -c $simulator_tcp_port
+			simulator start -c $simulator_tcp_port
 		else
 			echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
-			simulator_mavlink start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
+			simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
 		fi

 	else
 		echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
-		simulator_mavlink start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
+		simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
 	fi

 fi
@@ -1,9 +1,6 @@
 #!/bin/sh

-# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
-set +e
-# Un comment the line below to help debug scripts by printing a trace of the script commands
-#set -x
+#set -e

 # PX4 commands need the 'px4-' prefix in bash.
 # (px4-alias.sh is expected to be in the PATH)
@@ -26,92 +23,69 @@ then
 fi

 # initialize script variables
+set IO_PRESENT                  no
+set MIXER                       none
+set MIXER_AUX                   none
+set MIXER_FILE                  none
+set OUTPUT_MODE                 sim
+set EXTRA_MIXER_MODE            none
+set PWM_OUT                     none
+set SDCARD_MIXERS_PATH          etc/mixers
+set USE_IO                      no
 set VEHICLE_TYPE                none
 set LOGGER_ARGS                 ""
 set LOGGER_BUF                  1000

 set RUN_MINIMAL_SHELL           no

-set SYS_AUTOSTART=0
-
-if [ "$PX4_SIM_MODEL" = "shell" ]
-then
+# Use the variable set by sitl_run.sh to choose the model settings.
+if [ "$PX4_SIM_MODEL" = "shell" ]; then
 	set RUN_MINIMAL_SHELL yes
-
-elif [ -n "$PX4_SYS_AUTOSTART" ]
-then
-	echo "env SYS_AUTOSTART: ${PX4_SYS_AUTOSTART}"
-	SYS_AUTOSTART=${PX4_SYS_AUTOSTART}
-
-elif [ "$PX4_SIM_MODEL" = "none" ] || [ -z $PX4_SIM_MODEL ]
-then
-	# no airframe selected
-	SYS_AUTOSTART=0
-
-elif [ -n "$PX4_SIM_MODEL" ]
-then
+else
 	# Find the matching Autostart ID (file name has the form: [0-9]+_${PX4_SIM_MODEL})
 	# TODO: unify with rc.autostart generation
 	# shellcheck disable=SC2012
 	REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
 	if [ -z "$REQUESTED_AUTOSTART" ]; then
-		echo "ERROR [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
+		echo "ERROR  [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
 		exit 1
 	else
-		SYS_AUTOSTART=$REQUESTED_AUTOSTART
 		echo "INFO  [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
 	fi
 fi

 # Load parameters
-set PARAM_FILE parameters.bson
-set PARAM_BACKUP_FILE parameters_backup.bson
-
+set PARAM_FILE eeprom/parameters_"$REQUESTED_AUTOSTART"
 param select $PARAM_FILE
-if [ -f $PARAM_FILE ]; then

-	if ! param import
+if [ -f $PARAM_FILE ]
+then
+	if param load
 	then
-		echo "ERROR [init] param import failed"
-
-		param dump $PARAM_FILE
-
-		# try to make a backup copy
-		cp $PARAM_FILE param_import_fail.bson
-
-		# try importing from backup file
-		if [ -f $PARAM_BACKUP_FILE ]
-		then
-			echo "[init] importing from parameter backup"
-
-			# dump current backup file contents for comparison
-			param dump $PARAM_BACKUP_FILE
-
-			param import $PARAM_BACKUP_FILE
-
-			# overwrite invalid $PARAM_FILE with backup
-			cp $PARAM_BACKUP_FILE $PARAM_FILE
-		fi
-
-		param status
+		echo "[param] Loaded: $PARAM_FILE"
+	else
+		echo "[param] FAILED loading $PARAM_FILE"
 	fi
-
-elif [ -f $PARAM_BACKUP_FILE ]; then
-	echo "ERROR [init] primary param file $PARAM_FILE unavailable, using backup $PARAM_BACKUP_FILE"
-	param import $PARAM_BACKUP_FILE
+else
+	echo "[param] parameter file not found, creating $PARAM_FILE"
 fi

-param select-backup $PARAM_BACKUP_FILE
-
-
 # exit early when the minimal shell is requested
 [ $RUN_MINIMAL_SHELL = yes ] && exit 0

-if param compare SYS_AUTOSTART $SYS_AUTOSTART
-then
-	set AUTOCNF no

-elif [ "$SYS_AUTOSTART" -eq 0 ]
+# Use environment variable PX4_ESTIMATOR to choose estimator.
+if [ "$PX4_ESTIMATOR" = "q" ]; then
+	param set SYS_MC_EST_GROUP 3
+elif [ "$PX4_ESTIMATOR" = "ekf2" ]; then
+	param set SYS_MC_EST_GROUP 2
+elif [ "$PX4_ESTIMATOR" = "lpe" ]; then
+	param set SYS_MC_EST_GROUP 1
+elif [ "$PX4_ESTIMATOR" = "inav" ]; then
+	param set SYS_MC_EST_GROUP 0
+fi
+
+if param compare SYS_AUTOSTART $REQUESTED_AUTOSTART
 then
 	set AUTOCNF no
 else
@@ -132,7 +106,7 @@ param set MAV_SYS_ID $((px4_instance+1))

 if [ $AUTOCNF = yes ]
 then
-	param set SYS_AUTOSTART $SYS_AUTOSTART
+	param set SYS_AUTOSTART $REQUESTED_AUTOSTART

 	param set CAL_ACC0_ID  1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
 	param set CAL_GYRO0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
@@ -169,7 +143,6 @@ param set-default EKF2_MULTI_MAG 2
 param set-default SENS_MAG_MODE 0

 param set-default IMU_GYRO_FFT_EN 1
-param set-default MAV_PROTO_VER 2 # Ensures QGC does not drop the first few packets after a SITL restart due to MAVLINK 1 packets

 param set-default -s MC_AT_EN 1

@@ -217,26 +190,27 @@ do
 			;;
 	esac
 done
-
-if [ -e "$autostart_file" ]
-then
-	. "$autostart_file"
-
-elif [ ! -e "$autostart_file" ] && [ "$SYS_AUTOSTART" -ne "0" ]
-then
+if [ ! -e "$autostart_file" ]; then
 	echo "Error: no autostart file found ($autostart_file)"
 	exit 1
 fi

+. "$autostart_file"
+
+# Simulator IMU data provided at 250 Hz
+param set IMU_INTEG_RATE 250
+
 #user defined params for instances can be in PATH
 . px4-rc.params

 dataman start
-
+# start sih in sih_sim mode, otherwise simulator module
+if [ "$SIM_MODE" = "sihsim" ]; then
+	sih start
 # only start the simulator if not in replay mode, as both control the lockstep time
-if ! replay tryapplyparams
+elif ! replay tryapplyparams
 then
-	. px4-rc.simulator
+  . px4-rc.simulator
 fi

 load_mon start
@@ -247,20 +221,19 @@ manual_control start
 sensors start
 commander start

-if ! pwm_out_sim start -m sim
-then
-	tune_control play error
-fi
-
-#
 # Configure vehicle type specific parameters.
-# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.
+# 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 microdds_client with UDP transport if module exists
-microdds_client start -t udp -p 8888
+# Try to start the micrortps_client with UDP transport if module exists
+if px4-micrortps_client status > /dev/null 2>&1
+then
+	. px4-rc.rtps
+fi

 if param greater -s MNT_MODE_IN -1
 then
@@ -283,12 +256,6 @@ then
 	gyro_calibration start
 fi

-# Payload deliverer module if gripper is enabled
-if param compare -s PD_GRIPPER_EN 1
-then
-	payload_deliverer start
-fi
-
 #user defined mavlink streams for instances can be in PATH
 . px4-rc.mavlink

@@ -41,7 +41,7 @@ px4_add_romfs_files(
 	rc.boat_defaults
 	rc.fw_apps
 	rc.fw_defaults
-	rc.heli_defaults
+	rc.interface
 	rc.logging
 	rc.mc_apps
 	rc.mc_defaults
@@ -0,0 +1,72 @@
+#!/bin/sh
+#
+# @name HILStar (XPlane)
+#
+# @type Simulation
+# @class Plane
+#
+# @output MAIN1 aileron
+# @output MAIN2 elevator
+# @output MAIN3 rudder
+# @output MAIN4 throttle
+# @output MAIN5 flaps
+# @output MAIN6 gear
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default BAT1_N_CELLS 3
+
+param set-default FW_AIRSPD_MAX 20
+param set-default FW_AIRSPD_MIN 12
+param set-default FW_AIRSPD_TRIM 14
+param set-default FW_R_TC 0.3
+param set-default FW_P_TC 0.3
+param set-default FW_L1_DAMPING 0.74
+param set-default FW_L1_PERIOD 16
+param set-default FW_LND_ANG 15
+param set-default FW_LND_FLALT 5
+param set-default FW_PR_FF 0.35
+param set-default FW_PR_P 0.2
+param set-default FW_RR_FF 0.6
+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
+
+param set UAVCAN_ENABLE 0
+
+# disable some checks to allow to fly
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default COM_PREARM_MODE 0
+param set-default CBRK_IO_SAFETY 22027
+
+set MIXER AERT
@@ -0,0 +1,36 @@
+#!/bin/sh
+#
+# @name Team Blacksheep Discovery
+#
+# @type Quadrotor Wide
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 feed-through of RC AUX1 channel
+# @output MAIN6 feed-through of RC AUX2 channel
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+# @output AUX4 feed-through of RC FLAPS channel
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default MC_ROLLRATE_P 0.1
+param set-default MC_ROLLRATE_I 0.05
+param set-default MC_ROLLRATE_D 0.0017
+param set-default MC_PITCHRATE_P 0.14
+param set-default MC_PITCHRATE_I 0.1
+param set-default MC_PITCHRATE_D 0.0025
+param set-default MC_YAWRATE_P 0.28
+
+set MIXER quad_w
@@ -0,0 +1,40 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor
+#
+# @type Quadrotor Wide
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+# @output AUX4 feed-through of RC FLAPS channel
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+# TODO tune roll/pitch separately
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_I 0.05
+param set-default MC_ROLLRATE_D 0.004
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCHRATE_D 0.004
+param set-default MC_YAW_P 2.5
+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 15.391030303103
+
+set MIXER quad_w
@@ -0,0 +1,43 @@
+#!/bin/sh
+#
+# @name Team Blacksheep Discovery Endurance
+#
+# @type Quadrotor Wide
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 feed-through of RC AUX1 channel
+# @output MAIN6 feed-through of RC AUX2 channel
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+# @output AUX4 feed-through of RC FLAPS channel
+#
+# @maintainer Simon Wilks <simon@uaventure.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default BAT1_N_CELLS 6
+param set-default BAT1_V_EMPTY 3.5
+
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_P 0.08
+param set-default MC_ROLLRATE_I 0.02
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_P 0.13
+param set-default MC_PITCHRATE_I 0.02
+param set-default MC_PITCHRATE_D 0.005
+
+param set-default MPC_XY_VEL_MAX 2
+
+param set-default PWM_MAIN_MIN 1080
+
+set MIXER quad_w
@@ -11,6 +11,7 @@

 . ${R}etc/init.d/rc.mc_defaults

+set MIXER quad_x

 param set SYS_HITL 1

@@ -38,6 +38,7 @@ param set-default MIS_YAW_TMT 10
 param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_THR_MIN 0.1
+param set-default MPC_TKO_SPEED 1
 param set-default MPC_XY_P 0.8
 param set-default MPC_XY_VEL_D_ACC 0.1
 param set-default MPC_XY_VEL_I_ACC 4
@@ -54,6 +55,8 @@ param set-default RTL_RETURN_ALT 30
 param set-default SDLOG_DIRS_MAX 7

 param set-default VT_F_TRANS_THR 0.75
+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
@@ -73,8 +76,6 @@ 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_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
 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
@@ -105,4 +106,6 @@ param set-default CBRK_IO_SAFETY 22027

 param set-default MAV_TYPE 22

+set MIXER standard_vtol_hitl

+set PWM_OUT 1234
@@ -5,12 +5,16 @@
 # @type Hexarotor Coaxial
 # @class Copter
 #
-# @output Motor1 front right top, CW; angle:60; direction:CW
-# @output Motor2 front right bottom, CCW; angle:60; direction:CCW
-# @output Motor3 back top, CW; angle:180; direction:CW
-# @output Motor4 back bottom, CCW; angle:180; direction:CCW
-# @output Motor5 front left top, CW; angle:-60; direction:CW
-# @output Motor6 front left bottom, CCW;angle:-60; direction:CCW
+# @output MAIN1 front right top, CW; angle:60; direction:CW
+# @output MAIN2 front right bottom, CCW; angle:60; direction:CCW
+# @output MAIN3 back top, CW; angle:180; direction:CW
+# @output MAIN4 back bottom, CCW; angle:180; direction:CCW
+# @output MAIN5 front left top, CW; angle:-60; direction:CW
+# @output MAIN6 front left bottom, CCW;angle:-60; direction:CCW
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
@@ -20,28 +24,7 @@

 . ${R}etc/init.d/rc.mc_defaults

-param set-default MAV_TYPE 13
-
-param set-default CA_ROTOR_COUNT 6
-param set-default CA_ROTOR0_PX 0.25
-param set-default CA_ROTOR0_PY 0.433
-param set-default CA_ROTOR0_PZ -0.05
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0.25
-param set-default CA_ROTOR1_PY 0.433
-param set-default CA_ROTOR1_PZ 0.05
-param set-default CA_ROTOR2_PX -0.5
-param set-default CA_ROTOR2_PY 0
-param set-default CA_ROTOR2_PZ -0.05
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.5
-param set-default CA_ROTOR3_PY 0
-param set-default CA_ROTOR3_PZ 0.05
-param set-default CA_ROTOR4_PX 0.25
-param set-default CA_ROTOR4_PY -0.433
-param set-default CA_ROTOR4_PZ -0.05
-param set-default CA_ROTOR4_KM -0.05
-param set-default CA_ROTOR5_PX 0.25
-param set-default CA_ROTOR5_PY -0.433
-param set-default CA_ROTOR5_PZ 0.05
+set MIXER hexa_cox

+# Need to set all 8 channels
+set PWM_OUT 12345678
@@ -12,6 +12,8 @@

 . ${R}etc/init.d/rc.mc_defaults

+set MIXER quad_x
+set PWM_OUT 1234

 param set UAVCAN_ENABLE 0

@@ -12,6 +12,8 @@

 . ${R}etc/init.d/rc.fw_defaults

+set MIXER AERT
+set PWM_OUT 1234

 param set UAVCAN_ENABLE 0

@@ -5,10 +5,10 @@
 # @type Simulation
 # @class VTOL
 #
-# @output Motor1 motor right
-# @output Motor2 motor left
-# @output Servo1 elevon right
-# @output Servo2 elevon left
+# @output MAIN1 motor right
+# @output MAIN2 motor left
+# @output MAIN5 elevon right
+# @output MAIN6 elevon left
 #
 # @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
 #
@@ -22,7 +22,7 @@ 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_S_Y 0.3
+param set-default VT_FW_DIFTHR_SC 0.3
 param set-default MPC_MAN_Y_MAX 60
 param set-default MC_PITCH_P 5

@@ -48,7 +48,9 @@ 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
@@ -5,14 +5,14 @@
 # @type Octorotor Coaxial
 # @class Copter
 #
-# @output Motor1 motor 1
-# @output Motor2 motor 2
-# @output Motor3 motor 3
-# @output Motor4 motor 4
-# @output Motor5 motor 5
-# @output Motor6 motor 6
-# @output Motor7 motor 7
-# @output Motor8 motor 8
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 motor 5
+# @output MAIN6 motor 6
+# @output MAIN7 motor 7
+# @output MAIN8 motor 8
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
@@ -21,35 +21,6 @@

 . ${R}etc/init.d/rc.mc_defaults

+set MIXER octo_cox

-param set-default MAV_TYPE 14
-
-param set-default CA_ROTOR_COUNT 8
-param set-default CA_ROTOR0_PX 0.35
-param set-default CA_ROTOR0_PY 0.35
-param set-default CA_ROTOR0_PZ -0.05
-param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR1_PX 0.35
-param set-default CA_ROTOR1_PY -0.35
-param set-default CA_ROTOR1_PZ -0.05
-param set-default CA_ROTOR2_PX -0.35
-param set-default CA_ROTOR2_PY -0.35
-param set-default CA_ROTOR2_PZ -0.05
-param set-default CA_ROTOR3_PX -0.35
-param set-default CA_ROTOR3_PY 0.35
-param set-default CA_ROTOR3_PZ -0.05
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_PX 0.35
-param set-default CA_ROTOR4_PY -0.35
-param set-default CA_ROTOR4_PZ 0.05
-param set-default CA_ROTOR5_PX 0.35
-param set-default CA_ROTOR5_PY 0.35
-param set-default CA_ROTOR5_PZ 0.05
-param set-default CA_ROTOR5_KM -0.05
-param set-default CA_ROTOR6_PX -0.35
-param set-default CA_ROTOR6_PY 0.35
-param set-default CA_ROTOR6_PZ 0.05
-param set-default CA_ROTOR7_KM -0.05
-param set-default CA_ROTOR7_PX -0.35
-param set-default CA_ROTOR7_PY -0.35
-param set-default CA_ROTOR7_PZ 0.05
+set PWM_OUT 12345678
@@ -12,6 +12,7 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 2
 param set-default CA_ROTOR_COUNT 5
 param set-default CA_ROTOR0_PX 1
@@ -0,0 +1,43 @@
+#!/bin/sh
+#
+# @name Caipiroshka Duo Tailsitter
+#
+# @type VTOL Duo Tailsitter
+# @class VTOL
+#
+# @output MAIN1 motor right
+# @output MAIN2 motor left
+# @output MAIN5 elevon right
+# @output MAIN6 elevon left
+#
+# @maintainer Roman Bapst <roman@px4.io>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set-default MAV_TYPE 19
+
+param set-default MC_ROLL_P 6
+param set-default MC_ROLLRATE_P 0.12
+param set-default MC_ROLLRATE_I 0.002
+
+param set-default MC_PITCH_P 4.5
+param set-default MC_PITCHRATE_P 0.3
+param set-default MC_PITCHRATE_I 0.002
+
+param set-default MC_YAW_P 3.8
+param set-default MC_YAWRATE_P 0.22
+param set-default MC_YAWRATE_I 0.02
+
+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 MIXER vtol_tailsitter_duo
+
+set PWM_OUT 123456
@@ -0,0 +1,53 @@
+#!/bin/sh
+#
+# @name BirdsEyeView Aerobotics FireFly6
+# @type VTOL Tiltrotor
+# @class VTOL
+#
+# @maintainer Roman Bapst <roman@uaventure.com>
+#
+# @output MAIN1 Front right motor bottom
+# @output MAIN2 Front right motor top
+# @output MAIN3 Back motor bottom
+# @output MAIN4 Back motor top
+# @output MAIN5 Front left motor bottom
+# @output MAIN6 Front left motor top
+# @output AUX1 Tilt servo
+# @output AUX2 Elevon 1
+# @output AUX3 Elevon 2
+# @output AUX4 Gear
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${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
+param set-default MC_ROLLRATE_I 0.002
+param set-default MC_ROLLRATE_D 0.005
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_P 0.14
+param set-default MC_PITCHRATE_I 0.002
+param set-default MC_PITCHRATE_D 0.004
+param set-default MC_YAW_P 4
+param set-default MC_YAWRATE_P 0.22
+param set-default MC_YAWRATE_I 0.02
+
+param set-default VT_FW_MOT_OFFID 34
+param set-default VT_IDLE_PWM_MC 1080
+param set-default VT_MOT_ID 123456
+param set-default VT_FW_MOT_OFFID 56
+param set-default VT_TILT_MC 0.08
+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 MIXER firefly6
+set MIXER_AUX firefly6
+
+set PWM_OUT 12345678
@@ -0,0 +1,46 @@
+#!/bin/sh
+#
+# @name Quadrotor X Tailsitter
+#
+# @type VTOL Quad Tailsitter
+# @class VTOL
+#
+# @maintainer Roman Bapst <roman@px4.io>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${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 MIXER quad_x_vtol
+
+set PWM_OUT 1234
@@ -0,0 +1,34 @@
+#!/bin/sh
+#
+# @name Quadrotor + Tailsitter
+#
+# @type VTOL Quad Tailsitter
+# @class VTOL
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 elevon left
+# @output MAIN6 elevon right
+# @output MAIN7 canard surface
+# @output MAIN8 rudder
+#
+# @maintainer Roman Bapst <roman@px4.io>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${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 MIXER quad_+_vtol
+
+set PWM_OUT 1234
@@ -0,0 +1,59 @@
+#!/bin/sh
+#
+# @name Fun Cub Quad VTOL
+#
+# @type Standard VTOL
+# @class VTOL
+#
+# @maintainer Simon Wilks <simon@uaventure.com>
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output AUX1 Aileron 1
+# @output AUX2 Aileron 2
+# @output AUX3 Elevator
+# @output AUX4 Rudder
+# @output AUX5 Throttle
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set-default PWM_AUX_DIS5 950
+
+param set-default MC_ROLL_P 6
+param set-default MC_ROLLRATE_P 0.17
+param set-default MC_ROLLRATE_I 0.002
+param set-default MC_ROLLRATE_D 0.004
+param set-default MC_PITCH_P 6
+param set-default MC_PITCHRATE_P 0.19
+param set-default MC_PITCHRATE_I 0.002
+param set-default MC_PITCHRATE_D 0.004
+param set-default MC_YAWRATE_P 0.22
+param set-default MC_YAWRATE_I 0.02
+param set-default MC_YAWRATE_MAX 40
+
+param set-default MPC_YAWRAUTO_MAX 40
+
+param set-default FW_PR_I 0.02
+param set-default FW_RR_FF 0.6
+param set-default FW_RR_I 0.01
+param set-default FW_THR_TRIM 0.75
+
+param set-default VT_ARSP_BLEND 6
+param set-default VT_ARSP_TRANS 12
+param set-default VT_F_TRANS_THR 0.75
+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 MIXER quad_x
+set MIXER_AUX vtol_AAERT
+
+set PWM_OUT 1234
@@ -0,0 +1,48 @@
+#!/bin/sh
+#
+# @name Generic quad delta VTOL
+#
+# @type Standard VTOL
+# @class VTOL
+#
+# @maintainer Simon Wilks <simon@uaventure.com>
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output AUX1 Right elevon
+# @output AUX2 Left elevon
+# @output AUX3 Motor
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+
+param set-default MC_ROLLRATE_I 0.01
+param set-default MC_PITCHRATE_I 0.01
+param set-default MC_YAW_P 3.5
+
+param set-default MC_YAWRATE_MAX 50
+
+param set-default MPC_XY_P 0.8
+param set-default MPC_XY_VEL_P_ACC 2
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_YAWRAUTO_MAX 20
+
+param set-default PWM_AUX_DIS3 950
+
+param set-default VT_MOT_ID 1234
+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 MIXER quad_x
+set MIXER_AUX vtol_delta
+
+set PWM_OUT 1234
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Jaeyoung-Lim	8c7e64fb74	Run ignition gazebo as distributed lockstep	2022-08-15 11:15:03 +02:00
Daniel Agar	4c3da85b97	ign sim fix alt ground truth and baro	2022-08-14 15:22:24 -04:00
Daniel Agar	04ac07f07a	WIP: add X3	2022-08-14 15:15:24 -04:00
Daniel Agar	61226a39bd	fixed gyro scale and groundtruth dt	2022-08-14 13:04:08 -04:00
Jaeyoung-Lim	c0dec6cb6c	Fix motor layout for hexacopter_x	2022-08-14 17:14:25 +02:00
Daniel Agar	70697cd41c	WIP	2022-08-10 20:43:14 -04:00
Daniel Agar	91064202f6	WIP	2022-08-10 15:26:20 -04:00
Daniel Agar	93d00528ac	WIP: ignition gazebo direclty use transport	2022-08-10 15:26:20 -04:00
				`@@ -0,0 +1 @@`
				`mixer append /dev/pwm_output0 etc/mixers-sitl/package_drop.aux.mix`