fixup! Update submodule nuttx

Add 'do_transmit()' to UavcanNode
Add 'transmit()' to Publisher base class to call do_transmit()
Call transmit() after canardTxPush from Publishers

.ci/Jenkinsfile-compile

@@ -9,15 +9,14 @@ pipeline {
         script {
           def build_nodes = [:]
           def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2020-11-18",
-            arm64: "px4io/px4-dev-aarch64:2020-11-18",
-            base: "px4io/px4-dev-base-bionic:2020-11-18",
-            nuttx: "px4io/px4-dev-nuttx-focal:2020-11-18",
-            snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
+            armhf: "px4io/px4-dev-armhf:2021-09-08",
+            arm64: "px4io/px4-dev-aarch64:2021-09-08",
+            base: "px4io/px4-dev-base-bionic:2021-09-08",
+            nuttx: "px4io/px4-dev-nuttx-focal:2021-09-08",
           ]
 
           def armhf_builds = [
-            target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
+            target: ["beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
             image: docker_images.armhf,
             archive: false
           ]
@@ -37,52 +36,71 @@ pipeline {
           def nuttx_builds_archive = [
             target: [
                      "airmind_mindpx-v2_default",
+                     "ark_can-flow_canbootloader",
+                     "ark_can-flow_default",
+                     "ark_can-gps_canbootloader",
+                     "ark_can-gps_default",
+                     "ark_can-rtk-gps_canbootloader",
+                     "ark_can-rtk-gps_default",
+                     "atl_mantis-edu_default",
                      "av_x-v1_default",
                      "bitcraze_crazyflie_default",
+                     "bitcraze_crazyflie21_default",
                      "cuav_can-gps-v1_canbootloader",
                      "cuav_can-gps-v1_default",
                      "cuav_nora_default",
                      "cuav_x7pro_default",
-                     "cubepilot_cubeorange_console",
                      "cubepilot_cubeorange_default",
-                     "cubepilot_cubeyellow_console",
                      "cubepilot_cubeyellow_default",
+                     "freefly_can-rtk-gps_canbootloader",
+                     "freefly_can-rtk-gps_default",
+                     "holybro_can-gps-v1_canbootloader",
+                     "holybro_can-gps-v1_default",
                      "holybro_durandal-v1_default",
                      "holybro_kakutef7_default",
                      "holybro_pix32v5_default",
-                     "intel_aerofc-v1_default",
+                     "matek_h743-slim",
+                     "matek_gnss-m9n-f4_canbootloader",
+                     "matek_gnss-m9n-f4_default",
                      "modalai_fc-v1_default",
+                     "modalai_fc-v1_rtps",
+                     "modalai_fc-v2_default",
                      "mro_ctrl-zero-f7_default",
+                     "mro_ctrl-zero-f7-oem_default",
+                     "mro_ctrl-zero-h7_default",
+                     "mro_ctrl-zero-h7_rtps",
+                     "mro_ctrl-zero-h7-oem_default",
+                     "mro_ctrl-zero-h7-oem_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_socketcan",
                      "nxp_fmuk66-v3_rtps",
+                     "nxp_fmuk66-v3_socketcan",
                      "nxp_fmurt1062-v1_default",
+                     "nxp_ucans32k146_canbootloader",
                      "nxp_ucans32k146_default",
                      "omnibus_f4sd_default",
+                     "raspberrypi_pico_default",
                      "px4_fmu-v2_default",
                      "px4_fmu-v2_fixedwing",
-                     "px4_fmu-v2_lpe",
                      "px4_fmu-v2_multicopter",
                      "px4_fmu-v2_rover",
-                     "px4_fmu-v2_test",
                      "px4_fmu-v3_default",
-                     "px4_fmu-v4_cannode",
                      "px4_fmu-v4_default",
-                     "px4_fmu-v4_optimized",
                      "px4_fmu-v4pro_default",
-                     "px4_fmu-v5_default",
                      "px4_fmu-v5_debug",
-                     "px4_fmu-v5_fixedwing",
-                     "px4_fmu-v5_multicopter",
-                     "px4_fmu-v5_optimized",
-                     "px4_fmu-v5_rover",
+                     "px4_fmu-v5_default",
                      "px4_fmu-v5_rtps",
                      "px4_fmu-v5_stackcheck",
-                     "px4_fmu-v5x_base_phy_DP83848C",
+                     "px4_fmu-v5_uavcanv0periph",
+                     "px4_fmu-v5_uavcanv1",
                      "px4_fmu-v5x_default",
+                     "px4_fmu-v6u_default",
                      "px4_fmu-v6x_default",
                      "px4_io-v2_default",
                      "spracing_h7extreme_default",
@@ -92,14 +110,8 @@ pipeline {
             archive: true
           ]
 
-          def snapdragon_builds = [
-            target: ["atlflight_eagle_qurt", "atlflight_eagle_default"],
-            image: docker_images.snapdragon,
-            archive: false
-          ]
-
           def docker_builds = [
-            armhf_builds, base_builds, nuttx_builds_archive//, snapdragon_builds
+            armhf_builds, base_builds, nuttx_builds_archive
           ]
 
           for (def build_type = 0; build_type < docker_builds.size(); build_type++) {
@@ -119,7 +131,7 @@ pipeline {
     // TODO: actually upload artifacts to S3
     // stage('S3 Upload') {
     //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+    //     docker { image 'px4io/px4-dev-base-focal:2021-09-08' }
     //   }
     //   options {
     //         skipDefaultCheckout()
@@ -144,18 +156,14 @@ pipeline {
   }
   options {
     buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
-    timeout(time: 60, unit: 'MINUTES')
+    timeout(time: 90, unit: 'MINUTES')
   }
 }
 
 def createBuildNode(Boolean archive, String docker_image, String target) {
   return {
 
-    // TODO: fix the snapdragon image
     bypass_entrypoint = ''
-    if (docker_image == 'lorenzmeier/px4-dev-snapdragon:2020-04-01') {
-      bypass_entrypoint = ' --entrypoint=""'
-    }
 
     node {
       docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
@@ -164,7 +172,7 @@ def createBuildNode(Boolean archive, String docker_image, String target) {
             try {
               sh('export')
               checkout(scm)
-              sh('make distclean')
+              sh('make distclean; git clean -ff -x -d .')
               sh('git fetch --tags')
               sh('ccache -s')
               sh('make ' + target)
@@ -181,7 +189,7 @@ def createBuildNode(Boolean archive, String docker_image, String target) {
               throw (exc)
             }
             finally {
-              sh('make distclean')
+              sh('make distclean; git clean -ff -x -d .')
             }
           }
         }

.clang-tidy

@@ -74,6 +74,7 @@ Checks:          '*,
                   -modernize-deprecated-headers,
                   -modernize-loop-convert,
                   -modernize-pass-by-value,
+                  -modernize-raw-string-literal,
                   -modernize-return-braced-init-list,
                   -modernize-use-auto,
                   -modernize-use-bool-literals,
@@ -81,6 +82,7 @@ Checks:          '*,
                   -modernize-use-equals-default,
                   -modernize-use-equals-delete,
                   -modernize-use-override,
+                  -modernize-use-trailing-return-type,
                   -modernize-use-using,
                   -performance-inefficient-string-concatenation,
                   -readability-avoid-const-params-in-decls,

.clusterfuzzlite/Dockerfile

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

.clusterfuzzlite/build.sh

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

.clusterfuzzlite/project.yaml

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

.devcontainer/devcontainer.json

@@ -2,7 +2,7 @@
 // https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
 {
 	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2020-11-18",
+	"image": "px4io/px4-dev-nuttx-focal:2021-09-08",
 
 	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
 

.github/ISSUE_TEMPLATE/2_Feature_request.md

@@ -4,7 +4,7 @@ about: Suggest an idea for this project
 
 ---
 
-For general questions please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/).
+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 ...

.github/slack.svg

@@ -0,0 +1,24 @@
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="90" height="20">
+  <linearGradient id="smooth" x2="0" y2="100%">
+    <stop offset="0" stop-color="#bbb" stop-opacity=".1"/>
+    <stop offset="1" stop-opacity=".1"/>
+  </linearGradient>
+
+  <mask id="round">
+    <rect width="90" height="20" rx="3" fill="#fff"/>
+  </mask>
+
+  <g mask="url(#round)">
+    <rect width="42" height="20" fill="#555"/>
+    <rect x="42" width="48" height="20" fill="#E01563"/>
+    <rect width="90" height="20" fill="url(#smooth)"/>
+  </g>
+
+  <g fill="#fff" text-anchor="middle" font-family="DejaVu Sans,Verdana,Geneva,sans-serif" font-size="11">
+    <text x="22" y="15" fill="#010101" fill-opacity=".3">slack</text>
+    <text x="22" y="14">slack</text>
+    <text x="65" y="15" fill="#010101" fill-opacity=".3">Join us!</text>
+    <text x="65" y="14">Join us!</text>
+  </g>
+</svg>
+

.github/workflows/cflite_batch.yml

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

.github/workflows/checks.yml

@@ -17,47 +17,35 @@ jobs:
         check: [
           "check_format",
           "tests",
+          "tests_coverage",
           "px4_fmu-v2_default stack_check",
           "validate_module_configs",
           "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",
         ]
     container:
-      image: px4io/px4-dev-nuttx-focal:2020-11-18
+      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: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: tests_${{matrix.ubuntu_release}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: tests_${{matrix.ubuntu_release}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
     - name: check environment
       run: |
           export
           ulimit -a
     - name: ${{matrix.check}}
       run: make ${{matrix.check}}
+    - name: upload coverage
+      if: contains(matrix.check, 'coverage')
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: unittests
+        file: coverage/lcov.info

.github/workflows/clang-tidy.yml

@@ -11,36 +11,11 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2020-11-18
+    container: px4io/px4-dev-clang:2021-09-08
     steps:
     - uses: actions/checkout@v1
       with:
         token: ${{secrets.ACCESS_TOKEN}}
 
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: clang-tidy-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: clang-tidy-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
     - name: make clang-tidy-quiet
-      run: |
-        ccache -z
-        make clang-tidy-quiet
-        ccache -s
+      run: make clang-tidy-quiet

.github/workflows/compile_linux.yml

@@ -11,11 +11,10 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2020-11-18
+    container: px4io/px4-dev-armhf:2021-09-08
     strategy:
       matrix:
         config: [
-          aerotenna_ocpoc_default,
           beaglebone_blue_default,
           emlid_navio2_default,
           px4_raspberrypi_default,
@@ -44,7 +43,8 @@ jobs:
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
           echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 

.github/workflows/compile_linux_arm64.yml

@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2020-11-18
+    container: px4io/px4-dev-aarch64:2021-09-08
     strategy:
       matrix:
         config: [
@@ -40,7 +40,8 @@ jobs:
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
           echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 

.github/workflows/compile_macos.yml

@@ -15,7 +15,8 @@ jobs:
       matrix:
         config: [
           px4_fmu-v5_default,
-          tests, # includes px4_sitl
+          px4_sitl
+          #tests, # includes px4_sitl
           ]
     steps:
     - uses: actions/checkout@v1
@@ -43,7 +44,8 @@ jobs:
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
           echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "max_size = 40M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 

.github/workflows/compile_nuttx.yml

@@ -11,61 +11,57 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2020-11-18
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
     strategy:
+      fail-fast: false
       matrix:
         config: [
-          airmind_mindpx-v2_default,
-          av_x-v1_default,
-          bitcraze_crazyflie_default,
-          cuav_can-gps-v1_canbootloader,
-          cuav_can-gps-v1_default,
-          cuav_nora_default,
-          cuav_x7pro_default,
-          cubepilot_cubeorange_console,
-          cubepilot_cubeorange_default,
-          cubepilot_cubeyellow_console,
-          cubepilot_cubeyellow_default,
-          holybro_durandal-v1_default,
-          holybro_kakutef7_default,
-          holybro_pix32v5_default,
-          intel_aerofc-v1_default,
-          modalai_fc-v1_default,
-          mro_ctrl-zero-f7_default,
-          mro_pixracerpro_default,
-          mro_x21-777_default,
-          mro_x21_default,
-          nxp_fmuk66-v3_default,
-          nxp_fmuk66-e_default,
-          nxp_fmuk66-v3_socketcan,
-          nxp_fmuk66-v3_rtps,
-          nxp_fmurt1062-v1_default,
-          nxp_ucans32k146_default,
-          omnibus_f4sd_default,
-          px4_fmu-v2_default,
-          px4_fmu-v2_fixedwing,
-          px4_fmu-v2_lpe,
-          px4_fmu-v2_multicopter,
-          px4_fmu-v2_rover,
-          px4_fmu-v2_test,
-          px4_fmu-v3_default,
-          px4_fmu-v4_cannode,
-          px4_fmu-v4_default,
-          px4_fmu-v4_optimized,
-          px4_fmu-v4pro_default,
-          px4_fmu-v5_default,
-          px4_fmu-v5_fixedwing,
-          px4_fmu-v5_multicopter,
-          px4_fmu-v5_optimized,
-          px4_fmu-v5_rover,
-          px4_fmu-v5_rtps,
-          px4_fmu-v5_stackcheck,
-          px4_fmu-v5x_base_phy_DP83848C,
-          px4_fmu-v5x_default,
-          px4_fmu-v6x_default,
-          px4_io-v2_default,
-          spracing_h7extreme_default,
-          uvify_core_default
+          airmind_mindpx-v2,
+          ark_can-flow,
+          ark_can-gps,
+          ark_can-rtk-gps,
+          atl_mantis-edu,
+          av_x-v1,
+          bitcraze_crazyflie,
+          bitcraze_crazyflie21,
+          cuav_can-gps-v1,
+          cuav_nora,
+          cuav_x7pro,
+          cubepilot_cubeorange,
+          cubepilot_cubeyellow,
+          freefly_can-rtk-gps,
+          holybro_can-gps-v1,
+          holybro_durandal-v1,
+          holybro_kakutef7,
+          holybro_kakuteh7,
+          holybro_pix32v5,
+          matek_h743-slim,
+          matek_gnss-m9n-f4,
+          modalai_fc-v1,
+          modalai_fc-v2,
+          mro_ctrl-zero-f7,
+          mro_ctrl-zero-f7-oem,
+          mro_ctrl-zero-h7,
+          mro_ctrl-zero-h7-oem,
+          mro_pixracerpro,
+          mro_x21,
+          mro_x21-777,
+          nxp_fmuk66-e,
+          nxp_fmuk66-v3,
+          nxp_fmurt1062-v1,
+          nxp_ucans32k146,
+          omnibus_f4sd,
+          raspberrypi_pico,
+          px4_fmu-v2,
+          px4_fmu-v3,
+          px4_fmu-v4,
+          px4_fmu-v4pro,
+          px4_fmu-v5,
+          px4_fmu-v5x,
+          px4_fmu-v6u,
+          px4_fmu-v6x,
+          spracing_h7extreme,
+          uvify_core
           ]
     steps:
     - uses: actions/checkout@v1
@@ -90,12 +86,14 @@ jobs:
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
           echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "max_size = 120M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
+    - name: make all_variants_${{matrix.config}}
+      run: make all_variants_${{matrix.config}}
+      timeout-minutes: 45
     - name: make ${{matrix.config}} bloaty_compileunits
       run: make ${{matrix.config}} bloaty_compileunits || true
     - name: make ${{matrix.config}} bloaty_inlines
@@ -106,13 +104,17 @@ jobs:
       run: make ${{matrix.config}} bloaty_symbols || true
     - name: make ${{matrix.config}} bloaty_templates
       run: make ${{matrix.config}} bloaty_templates || true
+    - name: make ${{matrix.config}} bloaty_ram
+      run: make ${{matrix.config}} bloaty_ram || true
     - name: make ${{matrix.config}} bloaty_compare_master
       run: make ${{matrix.config}} bloaty_compare_master || true
     - name: ccache post-run
       run: ccache -s
 
     - name: Upload px4 package
-      uses: actions/upload-artifact@v1
+      uses: actions/upload-artifact@v2
       with:
         name: px4_package_${{matrix.config}}
-        path: build/${{matrix.config}}/${{matrix.config}}.px4
+        path: |
+          build/**/*.px4
+          build/**/*.bin

.github/workflows/coverage.yml

@@ -1,69 +0,0 @@
-name: Coverage
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container:
-      image: px4io/px4-dev-base-focal:2020-11-18
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    strategy:
-      matrix:
-        config: [
-          tests,
-          #python_coverage,
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: coverage_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: coverage_${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      env:
-        PX4_CMAKE_BUILD_TYPE: "Coverage"
-      run: make ${{matrix.config}}
-
-    # Report test coverage
-    - name: Upload coverage
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: ${{matrix.config}}
-        file: coverage/lcov.info

.github/workflows/deploy_all.yml

@@ -0,0 +1,54 @@
+name: Deploy metadata for all targets
+
+on:
+  push:
+    branches:
+    - 'master'
+    - 'release/*'
+    - 'pr-metadata-test'
+
+jobs:
+  enumerate_targets:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    outputs:
+      matrix: ${{ steps.set-matrix.outputs.matrix }}
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+    - id: set-matrix
+      run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py)"
+  build:
+    runs-on: ubuntu-latest
+    needs: enumerate_targets
+    strategy:
+      matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
+    container: px4io/px4-dev-${{ matrix.container }}:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: make ${{matrix.target}}
+      run: make ${{matrix.target}}
+
+    - name: parameter & events metadata
+      run: |
+        make ${{matrix.target}} ver_gen events_json actuators_json
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
+        cd build/${{ matrix.target }}
+        mkdir _metadata || true
+        cp parameters.* events/*.xz actuators.json* _metadata
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
+        DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
+

.github/workflows/ekf_functional_change_indicator.yml

@@ -0,0 +1,21 @@
+name: EKF Change Indicator
+
+on: pull_request
+
+jobs:
+  unit_tests:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v2.3.1
+      with:
+        fetch-depth: 0
+    - name: checkout newest version of branch
+      run: |
+        git fetch origin pull/${{github.event.pull_request.number}}/head:${{github.head_ref}}
+        git checkout ${GITHUB_HEAD_REF}
+    - name: main test
+      run: make tests TESTFILTER=EKF
+    - name: Check if there is a functional change
+      run: git diff --exit-code
+      working-directory: src/modules/ekf2/test/change_indication

.github/workflows/ekf_update_change_indicator.yml

@@ -0,0 +1,29 @@
+name: EKF Update Change Indicator
+
+on: push
+
+jobs:
+  unit_tests:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    env:
+      GIT_COMMITTER_EMAIL: bot@px4.io
+      GIT_COMMITTER_NAME: PX4BuildBot
+    steps:
+    - uses: actions/checkout@v2.3.1
+      with:
+        fetch-depth: 0
+    - name: main test updates change indication files
+      run: make tests TESTFILTER=EKF
+    - name: Check if there exists diff and save result in variable
+      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_ENV
+      working-directory: src/modules/ekf2/test/change_indication
+    - name: auto-commit any changes to change indication
+      uses: stefanzweifel/git-auto-commit-action@v4
+      with:
+        commit_message: '[AUTO COMMIT] update change indication'
+        commit_user_name: ${GIT_COMMITTER_NAME}
+        commit_user_email: ${GIT_COMMITTER_EMAIL}
+    - if: ${{env.CHANGE_INDICATED}}
+      name: if there is a functional change, fail check
+      run: exit 1

.github/workflows/mavros_avoidance_tests.yml

@@ -1,131 +0,0 @@
-name: MAVROS Avoidance Tests
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          - {test_file: "mavros_posix_test_avoidance.test",    vehicle: "iris_obs_avoid", mission: "avoidance",       build_type: "RelWithDebInfo"}
-          - {test_file: "mavros_posix_test_safe_landing.test", vehicle: "iris_obs_avoid", mission: "MC_safe_landing", build_type: "RelWithDebInfo"}
-
-    container:
-      image: px4io/px4-dev-ros-melodic:2020-11-18
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4 and sitl_gazebo
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        ccache -z
-        make px4_sitl_default
-        make px4_sitl_default sitl_gazebo
-        ccache -s
-
-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run SITL tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        export
-        ./test/rostest_avoidance_run.sh ${{matrix.config.test_file}} mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}} || true
-
-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: coredump
-        path: px4.core
-
-    # - name: ecl EKF analysis
-    #   if: always()
-    #   run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg
-
-    - name: Upload logs to flight review
-      if: always()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
-
-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
-
-    - name: Store PX4 log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_log
-        path: ~/.ros/log/*/*.ulg
-
-    - name: Store ROS log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: ros_log
-        path: ~/.ros/**/rostest-*.log
-
-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      if: contains(matrix.config.build_type, 'Coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavros_avoidance
-        file: coverage/lcov.info

.github/workflows/mavros_mission_tests.yml

@@ -17,15 +17,15 @@ jobs:
         config:
           - {vehicle: "iris",          mission: "MC_mission_box",  build_type: "RelWithDebInfo"}
           - {vehicle: "rover",         mission: "rover_mission_1", build_type: "RelWithDebInfo"}
-          - {vehicle: "plane",         mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
-          - {vehicle: "plane_catapult",mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
-          - {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "Coverage"}
-          - {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "AddressSanitizer"}
+          #- {vehicle: "plane",         mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
+          #- {vehicle: "plane_catapult",mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
+          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "Coverage"}
+          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "AddressSanitizer"}
           #- {vehicle: "tailsitter",    mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
-          - {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
+          #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
 
     container:
-      image: px4io/px4-dev-ros-melodic:2020-11-18
+      image: px4io/px4-dev-ros-melodic:2021-09-08
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1
@@ -50,7 +50,8 @@ jobs:
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
           echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 
@@ -78,6 +79,7 @@ jobs:
       run: |
         export
         ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
+      timeout-minutes: 45
 
     - name: Look at core files
       if: failure()

.github/workflows/mavros_offboard_tests.yml

@@ -20,7 +20,7 @@ jobs:
           #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
 
     container:
-      image: px4io/px4-dev-ros-melodic:2020-11-18
+      image: px4io/px4-dev-ros-melodic:2021-09-08
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1
@@ -45,7 +45,8 @@ jobs:
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
           echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 
@@ -73,6 +74,7 @@ jobs:
       run: |
         export
         ./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
+      timeout-minutes: 45
 
     - name: Look at core files
       if: failure()

.github/workflows/metadata.yml

@@ -4,15 +4,14 @@ on:
   push:
     branches:
     - 'master'
-  pull_request:
-    branches:
-    - '*'
+    - 'release/*'
+    - 'pr-metadata-test'
 
 jobs:
 
   airframe:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-focal:2021-09-08
     steps:
     - uses: actions/checkout@v1
       with:
@@ -21,13 +20,24 @@ jobs:
     - name: airframe metadata
       run: |
         make airframe_metadata
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
         cd build/px4_sitl_default/docs
-        ls -ls *
-      # TODO: deploy to devguide gitbook and s3
+      # TODO: deploy to userguide gitbook
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/px4_sitl_default/docs/'
+        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
 
   module:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-focal:2021-09-08
     steps:
     - uses: actions/checkout@v1
       with:
@@ -38,11 +48,11 @@ jobs:
         make module_documentation
         cd build/px4_sitl_default/docs
         ls -ls *
-      # TODO: deploy to devguide gitbook and s3
+      # TODO: deploy to userguide gitbook and s3
 
   parameter:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-focal:2021-09-08
     steps:
     - uses: actions/checkout@v1
       with:
@@ -51,13 +61,49 @@ jobs:
     - name: parameter metadata
       run: |
         make parameters_metadata
-        cd build/px4_sitl_default/docs
-        ls -ls *
-      # TODO: deploy 'parameters.md, parameters.xml to S3 px4-travis:Firmware/master/
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/px4_sitl_default/docs/'
+        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
+
+  events:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: events metadata
+      run: |
+        make extract_events
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
+        cd build/px4_sitl_default
+        mkdir _events_full || true
+        cp events/all_events_full.json.xz _events_full/all_events.json.xz
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/px4_sitl_default/_events_full/'
+        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
 
   uorb_graph:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2020-11-18
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
     steps:
     - uses: actions/checkout@v1
       with:
@@ -72,7 +118,7 @@ jobs:
 
   micrortps_agent:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-focal:2021-09-08
     steps:
     - uses: actions/checkout@v1
       with:
@@ -86,7 +132,7 @@ jobs:
 
   ROS_msgs:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-focal:2021-09-08
     steps:
     - uses: actions/checkout@v1
       with:
@@ -99,7 +145,7 @@ jobs:
 
   ROS2_bridge:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-focal:2021-09-08
     steps:
     - uses: actions/checkout@v1
       with:
@@ -108,4 +154,4 @@ jobs:
     - name: PX4 ROS2 bridge
       run: |
         git clone https://github.com/PX4/px4_ros_com.git
-        ./msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml
+        ./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml

.github/workflows/python_checks.yml

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

.github/workflows/sitl_tests.yml

@@ -15,12 +15,13 @@ jobs:
       fail-fast: false
       matrix:
         config:
-          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo", model: "iris"          } # Alaska
-          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "RelWithDebInfo", model: "standard_vtol" } # Australia
-          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo", model: "tailsitter"    } # Florida
-          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",       model: "standard_vtol" } # Zurich
+          - {model: "iris",          latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
+          - {model: "standard_vtol", latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer" } # Australia
+          - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
+          - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
+
     container:
-      image: px4io/px4-dev-simulation-focal:2020-11-18
+      image: px4io/px4-dev-simulation-focal:2021-09-08
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1
@@ -28,9 +29,9 @@ jobs:
         token: ${{ secrets.ACCESS_TOKEN }}
 
     - name: Download MAVSDK
-      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.33.1/mavsdk_0.33.1_ubuntu20.04_amd64.deb
+      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
     - name: Install MAVSDK
-      run: dpkg -i mavsdk_0.33.1_ubuntu20.04_amd64.deb
+      run: dpkg -i "mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
 
     - name: Prepare ccache timestamp
       id: ccache_cache_timestamp
@@ -50,7 +51,8 @@ jobs:
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
           echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 
@@ -94,7 +96,8 @@ jobs:
         PX4_HOME_LON: ${{matrix.config.longitude}}
         PX4_HOME_ALT: ${{matrix.config.altitude}}
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json
+      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
+      timeout-minutes: 45
 
     - name: Look at core files
       if: failure()
@@ -106,10 +109,6 @@ jobs:
         name: coredump
         path: px4.core
 
-    - name: Upload logs to flight review
-      if: failure()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ${GITHUB_WORKSPACE}/build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/*/*.ulg
-
     - name: Upload px4 binary
       if: failure()
       uses: actions/upload-artifact@v2-preview

.gitignore

@@ -101,15 +101,8 @@ msg/tmp/
 msg/topics_sources/
 platforms/posix/apps.cpp
 platforms/posix/apps.h
-src/lib/flight_tasks/FlightTasks_generated.cpp
-src/lib/flight_tasks/FlightTasks_generated.hpp
-src/lib/parameters/px4_parameters.c
-src/lib/parameters/px4_parameters.h
-src/lib/parameters/px4_parameters_public.h
 src/lib/version/build_git_version.h
 src/modules/simulator/simulator_config.h
 src/systemcmds/topic_listener/listener_generated.cpp
 
-# SITL
-dataman
-eeprom/
+!src/drivers/distance_sensor/broadcom/afbrs50/Lib/*

.gitmodules

@@ -1,11 +1,11 @@
-[submodule "mavlink/include/mavlink/v2.0"]
-	path = mavlink/include/mavlink/v2.0
-	url = https://github.com/mavlink/c_library_v2.git
+[submodule "src/modules/mavlink/mavlink"]
+	path = src/modules/mavlink/mavlink
+	url = https://github.com/mavlink/mavlink.git
 	branch = master
 [submodule "src/drivers/uavcan/libuavcan"]
 	path = src/drivers/uavcan/libuavcan
-	url = https://github.com/PX4/uavcan.git
-	branch = px4
+	url = https://github.com/dronecan/libuavcan.git
+	branch = main
 [submodule "Tools/jMAVSim"]
 	path = Tools/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
@@ -14,43 +14,53 @@
 	path = Tools/sitl_gazebo
 	url = https://github.com/PX4/PX4-SITL_gazebo.git
 	branch = master
-[submodule "src/lib/matrix"]
-	path = src/lib/matrix
-	url = https://github.com/PX4/PX4-Matrix
-	branch = master
-[submodule "src/lib/ecl"]
-	path = src/lib/ecl
-	url = https://github.com/PX4/PX4-ECL
-	branch = master
-[submodule "boards/atlflight/cmake_hexagon"]
-	path = boards/atlflight/cmake_hexagon
-	url = https://github.com/PX4/cmake_hexagon.git
-	branch = px4
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
-	url = https://github.com/PX4/PX4-GPSDrivers
+	url = https://github.com/PX4/PX4-GPSDrivers.git
 	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 = px4
+	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
-	branch = px4_firmware_nuttx-10.0.0+
+	url = https://github.com/JacobCrabill/incubator-nuttx.git
+	branch = dev-h7-socketcan
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-10.0.0+
-[submodule "platforms/qurt/dspal"]
-	path = platforms/qurt/dspal
-	url = https://github.com/ATLFlight/dspal.git
+	branch = px4_firmware_nuttx-10.1.0+
 [submodule "Tools/flightgear_bridge"]
 	path = Tools/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
 [submodule "Tools/jsbsim_bridge"]
 	path = Tools/jsbsim_bridge
 	url = https://github.com/PX4/px4-jsbsim-bridge.git
-[submodule "src/examples/gyro_fft/CMSIS_5"]
-	path = src/examples/gyro_fft/CMSIS_5
-	url = https://github.com/ARM-software/CMSIS_5.git
+[submodule "src/drivers/uavcan_v1/libcanard"]
+	path = src/drivers/uavcan_v1/libcanard
+	url = https://github.com/UAVCAN/libcanard.git
+[submodule "src/drivers/uavcan_v1/public_regulated_data_types"]
+	path = src/drivers/uavcan_v1/public_regulated_data_types
+	url = https://github.com/UAVCAN/public_regulated_data_types.git
+[submodule "src/drivers/uavcan_v1/legacy_data_types"]
+	path = src/drivers/uavcan_v1/legacy_data_types
+	url = https://github.com/PX4/public_regulated_data_types.git
+	branch = legacy
+[submodule "src/lib/crypto/monocypher"]
+	path = src/lib/crypto/monocypher
+	url = https://github.com/PX4/Monocypher.git
+	branch = px4
+[submodule "src/lib/events/libevents"]
+	path = src/lib/events/libevents
+	url = https://github.com/mavlink/libevents.git
+[submodule "Tools/simulation-ignition"]
+	path = Tools/simulation-ignition
+	url = https://github.com/PX4/px4-simulation-ignition.git
+[submodule "src/lib/crypto/libtomcrypt"]
+	path = src/lib/crypto/libtomcrypt
+	url = https://github.com/PX4/libtomcrypt.git
+	branch = px4
+[submodule "src/lib/crypto/libtommath"]
+	path = src/lib/crypto/libtommath
+	url = https://github.com/PX4/libtommath.git
+	branch = px4

.vscode/cmake-variants.yaml

@@ -6,6 +6,21 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_default
+    px4_sitl_rtps:
+      short: px4_sitl_rtps
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_rtps
+    px4_sitl_asan:
+      short: px4_sitl (AddressSanitizer)
+      buildType: AddressSanitizer
+      settings:
+        CONFIG: px4_sitl_default
+    px4_sitl_ubsan:
+      short: px4_sitl (UndefinedBehaviorSanitizer)
+      buildType: UndefinedBehaviorSanitizer
+      settings:
+        CONFIG: px4_sitl_default
     px4_sitl_replay:
       short: px4_sitl_replay
       buildType: RelWithDebInfo
@@ -46,26 +61,91 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: px4_fmu-v5_default
+    px4_fmu-v5_debug:
+      short: px4_fmu-v5_debug
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v5_debug
     px4_fmu-v5x_default:
       short: px4_fmu-v5x
       buildType: MinSizeRel
       settings:
         CONFIG: px4_fmu-v5x_default
+    px4_fmu-v6x_default:
+      short: px4_fmu-v6x
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6x_default
+    px4_fmu-v6x_bootloader:
+      short: px4_fmu-v6x_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6x_bootloader
     airmind_mindpx-v2_default:
       short: airmind_mindpx-v2
       buildType: MinSizeRel
       settings:
         CONFIG: airmind_mindpx-v2_default
+    ark_can-flow_default:
+      short: ark_can-flow_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-flow_default
+    ark_can-flow_canbootloader:
+      short: ark_can-flow_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-flow_canbootloader
+    ark_can-gps_default:
+      short: ark_can-gps_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-gps_default
+    ark_can-gps_canbootloader:
+      short: ark_can-gps_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-gps_canbootloader
+    ark_can-rtk-gps_default:
+      short: ark_can-rtk-gps_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-rtk-gps_default
+    ark_can-rtk-gps_debug:
+      short: ark_can-rtk-gps_debug
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-rtk-gps_debug
+    ark_can-rtk-gps_canbootloader:
+      short: ark_can-rtk-gps_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-rtk-gps_canbootloader
+    atl_mantis-edu_default:
+      short: atl_mantis-edu
+      buildType: MinSizeRel
+      settings:
+        CONFIG: atl_mantis-edu_default
     av_x-v1_default:
       short: av_x-v1
       buildType: MinSizeRel
       settings:
         CONFIG: av_x-v1_default
+    bitcraze_crazyflie_default:
+      short: bitcraze_crazyflie
+      buildType: MinSizeRel
+      settings:
+        CONFIG: bitcraze_crazyflie_default
     cuav_can-gps-v1_default:
       short: cuav_can-gps-v1_default
       buildType: MinSizeRel
       settings:
         CONFIG: cuav_can-gps-v1_default
+    cuav_can-gps-v1_canbootloader:
+      short: cuav_can-gps-v1_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cuav_can-gps-v1_canbootloader
     cuav_nora_default:
       short: cuav_nora
       buildType: MinSizeRel
@@ -76,41 +156,81 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: cuav_x7pro_default
-    cubepilot_cubeorange_default:
+    cubepilot_cubeorange_test:
       short: cubepilot_cubeorange
       buildType: MinSizeRel
       settings:
-        CONFIG: cubepilot_orange_default
-    cubepilot_cubeyellow_default:
-      short: cubepilot_cubeyellow
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cubepilot_cubeyellow_default
+        CONFIG: cubepilot_orange_test
     emlid_navio2_default:
       short: emlid_navio2
       buildType: MinSizeRel
       settings:
         CONFIG: emlid_navio2_default
+    freefly_can-rtk-gps_default:
+      short: freefly_can-rtk-gps_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: freefly_can-rtk-gps_default
+    freefly_can-rtk-gps_canbootloader:
+      short: freefly_can-rtk-gps_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: freefly_can-rtk-gps_canbootloader
+    holybro_can-gps-v1_canbootloader:
+      short: holybro_can-gps-v1_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: holybro_can-gps-v1_canbootloader
+    holybro_can-gps-v1_default:
+      short: holybro_can-gps-v1_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: holybro_can-gps-v1_default
     holybro_durandal-v1_default:
       short: holybro_durandal-v1
       buildType: MinSizeRel
       settings:
         CONFIG: holybro_durandal-v1_default
-    intel_aerofc-v1_default:
-      short: intel_aerofc-v1
+    matek_h743-slim_default:
+      short: matek_h743-slim
       buildType: MinSizeRel
       settings:
-        CONFIG: intel_aerofc-v1_default
+        CONFIG: matek_h743-slim_default
+    matek_gnss-m9n-f4_canbootloader:
+      short: matek_gnss-m9n-f4_canbootloader
+      buildType: MiniSizeRel
+      settings:
+        CONFIG: matek_m9nf4can_canbootloader
+    matek_gnss-m9n-f4_default:
+      short: matek_gnss-m9n-f4_default
+      buildType: MiniSizeRel
+      settings:
+        CONFIG: matek_gnss-m9n-f4_default
     modalai_fc-v1_default:
       short: modalai_fc-v1
       buildType: MinSizeRel
       settings:
         CONFIG: modalai_fc-v1_default
+    modalai_fc-v2_default:
+      short: modalai_fc-v2
+      buildType: MinSizeRel
+      settings:
+        CONFIG: modalai_fc-v2_default
     mro_ctrl-zero-f7_default:
       short: mro_ctrl-zero-f7
       buildType: MinSizeRel
       settings:
         CONFIG: mro_ctrl-zero-f7_default
+    mro_pixracerpro_bootloader:
+      short: mro_pixracerpro_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: mro_pixracerpro_bootloader
+    mro_pixracerpro_default:
+      short: mro_pixracerpro_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: mro_pixracerpro_default
     mro_x21-777_default:
       short: mro_x2.1-777
       buildType: MinSizeRel
@@ -121,3 +241,8 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: nxp_fmuk66-v3_default
+    raspberrypi_pico_default:
+      short: raspberrypi_pico
+      buildType: MinSizeRel
+      settings:
+        CONFIG: raspberrypi_pico_default

.vscode/settings.json

@@ -14,7 +14,6 @@
         "C_Cpp.workspaceParsingPriority": "low",
         "cmake.buildBeforeRun": true,
         "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
-        "cmake.buildTask": true,
         "cmake.configureOnOpen": true,
         "cmake.ctest.parallelJobs": 1,
         "cmake.skipConfigureIfCachePresent": true,
@@ -27,12 +26,10 @@
         "cSpell.showStatus": false,
         "cSpell.words": [
                 "acro",
-                "rattitude",
                 "nuttx",
                 "esc"
         ],
         "debug.toolBarLocation": "docked",
-        "editor.acceptSuggestionOnEnter": "off",
         "editor.defaultFormatter": "chiehyu.vscode-astyle",
         "editor.dragAndDrop": false,
         "editor.insertSpaces": false,
@@ -128,7 +125,6 @@
                 "${workspaceFolder}/build": true
         },
         "search.showLineNumbers": true,
-        "search.smartCase": true,
         "telemetry.enableTelemetry": false,
         "terminal.integrated.copyOnSelection": true,
         "terminal.integrated.rightClickBehavior": "paste",
@@ -139,5 +135,6 @@
         "workbench.settings.enableNaturalLanguageSearch": false,
         "yaml.schemas": {
                 "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
-        }
+        },
+        "cortex-debug.openocdPath": "${env:PICO_SDK_PATH}/../openocd/src/openocd"       // Added for rp2040
 }

CMakeLists.txt

@@ -40,7 +40,7 @@
 # * Common functions should be included in px_base.cmake.
 #
 # * OS/ board specific fucntions should be include in
-#	px_impl_${PX4_PLATFORM}.cmake or px4_impl_${PX4_PLATFORM}_${PX4_BOARD}.cmake.
+#	px_impl_${PX4_PLATFORM}.cmake
 #
 # Formatting
 # ---------------------------------------------------------------------------
@@ -101,8 +101,8 @@
 
 cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
 
-set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
-set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
+set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
+set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)
 
 list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake)
 include(px4_parse_function_args)
@@ -113,7 +113,7 @@ include(px4_parse_function_args)
 include(px4_git)
 
 execute_process(
-	COMMAND git describe --always --tags
+	COMMAND git describe --exclude ext/* --always --tags
 	OUTPUT_VARIABLE PX4_GIT_TAG
 	OUTPUT_STRIP_TRAILING_WHITESPACE
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
@@ -125,10 +125,19 @@ define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                  FULL_DOCS "List of all PX4 module libraries"
                  )
 
+define_property(GLOBAL PROPERTY PX4_KERNEL_MODULE_LIBRARIES
+                 BRIEF_DOCS "PX4 kernel side module libs"
+                 FULL_DOCS "List of all PX4 kernel module libraries"
+                 )
+
 define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
                  BRIEF_DOCS "PX4 module paths"
                  FULL_DOCS "List of paths to all PX4 modules"
                  )
+define_property(GLOBAL PROPERTY PX4_SRC_FILES
+                 BRIEF_DOCS "src files from all PX4 modules & libs"
+                 FULL_DOCS "SRC files from px4_add_{module,library}"
+                 )
 
 #=============================================================================
 # configuration
@@ -138,13 +147,35 @@ set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
 
 include(px4_add_module)
 set(config_module_list)
+set(config_kernel_list)
+
+# Find Python
+# If using catkin, Python 2 is found since it points
+# to the Python libs installed with the ROS distro
+if (NOT CATKIN_DEVEL_PREFIX)
+	find_package(PythonInterp 3)
+	# We have a custom error message to tell users how to install python3.
+	if (NOT PYTHONINTERP_FOUND)
+		message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
+			"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
+			"    macOS: brew install python")
+	endif()
+else()
+	find_package(PythonInterp REQUIRED)
+endif()
+
+option(PYTHON_COVERAGE "Python code coverage" OFF)
+if(PYTHON_COVERAGE)
+	message(STATUS "python coverage enabled")
+	set(PYTHON_EXECUTABLE coverage run -p)
+endif()
 
 include(px4_config)
-include(px4_add_board)
-include(${PX4_CONFIG_FILE})
+include(kconfig)
 message(STATUS "PX4 config: ${PX4_CONFIG}")
 message(STATUS "PX4 platform: ${PX4_PLATFORM}")
 
+
 if(${PX4_PLATFORM} STREQUAL "posix")
 	if(ENABLE_LOCKSTEP_SCHEDULER)
 		add_definitions(-DENABLE_LOCKSTEP_SCHEDULER)
@@ -185,6 +216,8 @@ if((CMAKE_BUILD_TYPE STREQUAL "Debug") OR (CMAKE_BUILD_TYPE STREQUAL "Coverage")
 	set(MAX_CUSTOM_OPT_LEVEL -O0)
 elseif(CMAKE_BUILD_TYPE MATCHES "Sanitizer")
 	set(MAX_CUSTOM_OPT_LEVEL -O1)
+elseif(CMAKE_BUILD_TYPE MATCHES "Release")
+	set(MAX_CUSTOM_OPT_LEVEL -O3)
 else()
 	if(px4_constrained_flash_build)
 		set(MAX_CUSTOM_OPT_LEVEL -Os)
@@ -277,27 +310,6 @@ if (CATKIN_DEVEL_PREFIX)
 	endif()
 endif()
 
-# Python
-# If using catkin, Python 2 is found since it points
-# to the Python libs installed with the ROS distro
-if (NOT CATKIN_DEVEL_PREFIX)
-	find_package(PythonInterp 3)
-	# We have a custom error message to tell users how to install python3.
-	if (NOT PYTHONINTERP_FOUND)
-		message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
-			"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
-			"    macOS: brew install python")
-	endif()
-else()
-	find_package(PythonInterp REQUIRED)
-endif()
-
-option(PYTHON_COVERAGE "Python code coverage" OFF)
-if(PYTHON_COVERAGE)
-	message(STATUS "python coverage enabled")
-	set(PYTHON_EXECUTABLE coverage run -p)
-endif()
-
 #=============================================================================
 # get chip and chip manufacturer
 #
@@ -406,7 +418,6 @@ add_subdirectory(src/lib EXCLUDE_FROM_ALL)
 
 add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
 add_subdirectory(platforms EXCLUDE_FROM_ALL)
-add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer
 
 if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
 	add_subdirectory(${PX4_BOARD_DIR})
@@ -416,6 +427,11 @@ foreach(module ${config_module_list})
 	add_subdirectory(src/${module})
 endforeach()
 
+# add events lib after modules and libs as it needs to know all source files (PX4_SRC_FILES)
+add_subdirectory(src/lib/events EXCLUDE_FROM_ALL)
+# metadata needs PX4_MODULE_CONFIG_FILES
+add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)
+
 # must be the last module before firmware
 add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
 target_link_libraries(parameters_interface INTERFACE parameters)
@@ -435,8 +451,10 @@ endforeach()
 
 add_custom_command(OUTPUT ${uorb_graph_config}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
-		${graph_module_list}
+		${graph_module_list} --src-path src/lib
+		--merge-depends
 		--exclude-path src/examples
+		--exclude-path src/lib/parameters # FIXME: enable & fix
 		--file ${PX4_SOURCE_DIR}/Tools/uorb_graph/graph_${uorb_graph_config}
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	COMMENT "Generating uORB graph"
@@ -455,3 +473,10 @@ add_custom_target(size
 	WORKING_DIRECTORY ${PX4_BINARY_DIR}
 	USES_TERMINAL
 	)
+
+# install python requirements using configured python
+add_custom_target(install_python_requirements
+	COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+	USES_TERMINAL
+)

Jenkinsfile

@@ -15,7 +15,7 @@ pipeline {
         // stage('Catkin build on ROS workspace') {
         //   agent {
         //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2020-11-18'
+        //       image 'px4io/px4-dev-ros-melodic:2021-08-18'
         //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
         //     }
         //   }
@@ -56,7 +56,7 @@ pipeline {
         stage('Colcon build on ROS2 workspace') {
           agent {
             docker {
-              image 'px4io/px4-dev-ros2-foxy:2020-11-18'
+              image 'px4io/px4-dev-ros2-foxy:2021-08-18'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
             }
           }
@@ -67,11 +67,9 @@ pipeline {
               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 clone --recursive ${WORKSPACE}/colcon_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
+              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/bouncy/setup.sh;
-              source /opt/ros/melodic/setup.sh;
+              source /opt/ros/foxy/setup.sh;
               colcon build --event-handlers console_direct+ --symlink-install;
             '''
           }
@@ -87,10 +85,11 @@ pipeline {
 
         stage('Airframe') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
           }
           steps {
-            sh 'make distclean'
+            sh 'make distclean; git clean -ff -x -d .'
+            sh 'git fetch --all --tags'
             sh 'make airframe_metadata'
             dir('build/px4_sitl_default/docs') {
               archiveArtifacts(artifacts: 'airframes.md, airframes.xml')
@@ -99,36 +98,38 @@ pipeline {
           }
           post {
             always {
-              sh 'make distclean'
+              sh 'make distclean; git clean -ff -x -d .'
             }
           }
         }
 
         stage('Parameter') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
           }
           steps {
-            sh 'make distclean'
+            sh 'make distclean; git clean -ff -x -d .'
+            sh 'git fetch --all --tags'
             sh 'make parameters_metadata'
             dir('build/px4_sitl_default/docs') {
-              archiveArtifacts(artifacts: 'parameters.md, parameters.xml')
-              stash includes: 'parameters.md, parameters.xml', name: 'metadata_parameters'
+              archiveArtifacts(artifacts: 'parameters.md, parameters.xml, parameters.json.xz')
+              stash includes: 'parameters.md, parameters.xml, parameters.json.xz', name: 'metadata_parameters'
             }
           }
           post {
             always {
-              sh 'make distclean'
+              sh 'make distclean; git clean -ff -x -d .'
             }
           }
         }
 
         stage('Module') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
           }
           steps {
-            sh 'make distclean'
+            sh 'make distclean; git clean -ff -x -d .'
+            sh 'git fetch --all --tags'
             sh 'make module_documentation'
             dir('build/px4_sitl_default/docs') {
               archiveArtifacts(artifacts: 'modules/*.md')
@@ -137,7 +138,25 @@ pipeline {
           }
           post {
             always {
-              sh 'make distclean'
+              sh 'make distclean; git clean -ff -x -d .'
+            }
+          }
+        }
+
+        stage('msg file docs') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+          }
+          steps {
+            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'
+            }
+          }
+          post {
+            always {
+              sh 'make distclean; git clean -ff -x -d .'
             }
           }
         }
@@ -145,22 +164,23 @@ pipeline {
         stage('uORB graphs') {
           agent {
             docker {
-              image 'px4io/px4-dev-nuttx-focal:2020-11-18'
+              image 'px4io/px4-dev-nuttx-focal:2021-08-18'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
           steps {
             sh 'export'
-            sh 'make distclean'
+            sh 'make distclean; git clean -ff -x -d .'
+            sh 'git fetch --all --tags'
             sh 'make uorb_graphs'
             dir('Tools/uorb_graph') {
-              archiveArtifacts(artifacts: 'graph_px4_sitl.json')
-              stash includes: 'graph_px4_sitl.json', name: 'uorb_graph'
+              archiveArtifacts(artifacts: 'graph_*.json')
+              stash includes: 'graph_*.json', name: 'uorb_graph'
             }
           }
           post {
             always {
-              sh 'make distclean'
+              sh 'make distclean; git clean -ff -x -d .'
             }
           }
         }
@@ -172,50 +192,24 @@ pipeline {
 
       parallel {
 
-        stage('Devguide') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
-          }
-          steps {
-            sh('export')
-            unstash 'metadata_airframes'
-            unstash 'metadata_parameters'
-            unstash 'metadata_module_documentation'
-            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/Devguide.git')
-              sh('cp airframes.md Devguide/en/airframes/airframe_reference.md')
-              sh('cp parameters.md Devguide/en/advanced/parameter_reference.md')
-              sh('cp -R modules/*.md Devguide/en/middleware/')
-              sh('cd Devguide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
-              sh('cd Devguide; git push origin master || true')
-              sh('rm -rf Devguide')
-            }
-          }
-          when {
-            anyOf {
-              branch 'master'
-              branch 'pr-jenkins' // for testing
-            }
-          }
-          options {
-            skipDefaultCheckout()
-          }
-        }
-
         stage('Userguide') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
           }
           steps {
             sh('export')
             unstash 'metadata_airframes'
             unstash 'metadata_parameters'
             unstash 'metadata_module_documentation'
+            unstash 'msg_documentation'
+            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')
               sh('cp airframes.md px4_user_guide/en/airframes/airframe_reference.md')
               sh('cp parameters.md px4_user_guide/en/advanced_config/parameter_reference.md')
               sh('cp -R modules/*.md px4_user_guide/en/modules/')
+              sh('cp -R graph_*.json px4_user_guide/.vuepress/public/en/middleware/')
+              sh('cp -R msg_docs/*.md px4_user_guide/en/msg_docs/')
               sh('cd px4_user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
               sh('cd px4_user_guide; git push origin master || true')
               sh('rm -rf px4_user_guide')
@@ -234,7 +228,7 @@ pipeline {
 
         stage('QGroundControl') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
           }
           steps {
             sh('export')
@@ -262,12 +256,12 @@ pipeline {
 
         stage('microRTPS agent') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
           }
           steps {
             sh('export')
             sh('git fetch --all --tags')
-            sh('make distclean')
+            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}")
@@ -292,11 +286,11 @@ pipeline {
 
         stage('PX4 ROS msgs') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
           }
           steps {
             sh('export')
-            sh('make distclean')
+            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")
               // 'master' branch
@@ -321,15 +315,15 @@ pipeline {
 
         stage('PX4 ROS2 bridge') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
           }
           steps {
             sh('export')
-            sh('make distclean')
+            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_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml')
+              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
@@ -364,7 +358,7 @@ pipeline {
 
         stage('S3') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
           }
           steps {
             sh('export')
@@ -374,6 +368,7 @@ pipeline {
             withAWS(credentials: 'px4_aws_s3_key', region: 'us-east-1') {
               s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'airframes.xml', path: 'Firmware/master/')
               s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.xml', path: 'Firmware/master/')
+              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.json.xz', path: 'Firmware/master/')
             }
           }
           when {
@@ -401,7 +396,7 @@ pipeline {
     GIT_COMMITTER_NAME = "PX4BuildBot"
   }
   options {
-    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
-    timeout(time: 60, unit: 'MINUTES')
+    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '30'))
+    timeout(time: 90, unit: 'MINUTES')
   }
 }

Kconfig

@@ -0,0 +1,185 @@
+# PX4 Firmware Configuration
+
+
+mainmenu "PX4 Firmware Configuration"
+
+comment "Vendor: $(VENDOR)"
+comment "Model: $(MODEL)"
+comment "Label: $(LABEL)"
+
+menu "Toolchain"
+    choice
+        prompt "Platform"
+        default PLATFORM_NUTTX
+        config PLATFORM_NUTTX
+            bool "nuttx"
+        config PLATFORM_POSIX
+            bool "posix"
+        config PLATFORM_QURT
+            bool "qurt"
+    endchoice
+
+    config BOARD_PLATFORM
+        string
+        default "nuttx" if PLATFORM_NUTTX
+        default "posix" if PLATFORM_POSIX
+        default "qurt" if PLATFORM_QURT
+
+    config BOARD_LOCKSTEP
+        bool "Force enable lockstep"
+        depends on PLATFORM_POSIX
+        help
+            forces lockstep behaviour, despite REPLAY env variable
+
+    config BOARD_NOLOCKSTEP
+        bool "Force disable lockstep"
+        depends on PLATFORM_POSIX
+        help
+            forces nolockstep behaviour, despite REPLAY env variable
+
+    config BOARD_LINUX
+        bool "Linux OS"
+        depends on PLATFORM_POSIX
+        help
+            Board Platform is running the Linux operating system
+
+    config BOARD_TOOLCHAIN
+        string "Toolchain"
+        default ""
+
+    config BOARD_ARCHITECTURE
+        string "Architecture"
+        default ""
+
+    config BOARD_FULL_OPTIMIZATION
+        bool "Full optmization (O3)"
+        default n
+        help
+            Enables Cmake Release for -O3 optimization
+
+    config BOARD_ROMFSROOT
+        string "ROMFSROOT"
+        default "px4fmu_common"
+        help
+            relative path to the ROMFS root directory
+
+    config BOARD_IO
+        string "IO board name"
+        default "px4_io-v2_default"
+        depends on DRIVERS_PX4IO
+        help
+            name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT)
+
+    config BOARD_CONSTRAINED_FLASH
+        bool "Contrained flash"
+        help
+            flag to enable constrained flash options (eg limit init script status text)
+
+    config BOARD_NO_HELP
+        bool "No help"
+        help
+            optional condition flag to disable help text on constrained flash systems
+
+    config BOARD_CONSTRAINED_MEMORY
+        bool "Contrained memory"
+        help
+            flag to enable constrained memory options (eg limit maximum number of uORB publications)
+
+    config BOARD_EXTERNAL_METADATA
+        bool "External metadata"
+        help
+            flag to exclude metadata to reduce flash
+
+    config BOARD_LINKER_PREFIX
+        string "linker prefix"
+        help
+            optional to prefix on the Linker script.
+
+    config BOARD_COMPILE_DEFINITIONS
+        string "add custom compile definitions"
+        help
+            add custom compile defitions to this specific target
+endmenu #Toolchain
+
+config BOARD_TESTING
+    bool "Testing"
+    select SYSTEMCMDS_TESTS
+    help
+        flag to enable automatic inclusion of PX4 testing modules
+
+
+config BOARD_ETHERNET
+    bool "Ethernet"
+    help
+        flag to indicate that ethernet is enabled
+
+config BOARD_CRYPTO
+    bool "Crypto support"
+    help
+        Enable PX4 Crypto Support. Select the implementation under drivers
+
+config BOARD_PROTECTED
+    bool "Memory protection"
+    help
+        Enable memory protection via MPU/MMU
+
+menu "Serial ports"
+
+    config BOARD_SERIAL_URT6
+        string "URT6 tty port"
+
+    config BOARD_SERIAL_GPS1
+        string "GPS1 tty port"
+
+    config BOARD_SERIAL_GPS2
+        string "GPS2 tty port"
+
+    config BOARD_SERIAL_GPS3
+        string "GPS3 tty port"
+
+    config BOARD_SERIAL_GPS4
+        string "GPS4 tty port"
+
+    config BOARD_SERIAL_GPS5
+        string "GPS5 tty port"
+
+    config BOARD_SERIAL_TEL1
+        string "TEL1 tty port"
+
+    config BOARD_SERIAL_TEL2
+        string "TEL2 tty port"
+
+    config BOARD_SERIAL_TEL3
+        string "TEL3 tty port"
+
+    config BOARD_SERIAL_TEL4
+        string "TEL4 tty port"
+
+    config BOARD_SERIAL_TEL5
+        string "TEL5 tty port"
+
+    config BOARD_SERIAL_RC
+        string "RC tty port"
+
+    config BOARD_SERIAL_WIFI
+        string "WIFI tty port"
+
+    config BOARD_SERIAL_PPB
+        string "PPB (Pixhawk Payload Bus) tty port"
+endmenu
+
+menu "drivers"
+source "src/drivers/Kconfig"
+endmenu
+
+menu "modules"
+source "src/modules/Kconfig"
+endmenu
+
+menu "systemcmds"
+source "src/systemcmds/Kconfig"
+endmenu
+
+menu "examples"
+source "src/examples/Kconfig"
+endmenu

LICENSE

@@ -1,6 +1,6 @@
 BSD 3-Clause License
 
-Copyright (c) 2012 - 2020, PX4 Development Team
+Copyright (c) 2012 - 2022, PX4 Development Team
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

Makefile

@@ -63,7 +63,7 @@ all: px4_sitl_default
 space := $(subst ,, )
 
 define make_list
-     $(shell cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
+     $(shell [ -f .github/workflows/compile_${1}.yml ] && cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
 endef
 
 # Parsing
@@ -158,6 +158,11 @@ else
 		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
 	endif
 
+	# Fuzz Testing
+	ifdef PX4_FUZZ
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
+	endif
+
 endif
 
 # Pick up specific Python path if set
@@ -165,15 +170,23 @@ ifdef 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
+	$(eval CMAKE_ARGS += -DCONFIG=$(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)
 	@# make sure to start from scratch when switching from GNU Make to Ninja
 	@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
+	@# make sure to start from scratch if ninja build file is missing
+	@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ ! -f $(BUILD_DIR)/build.ninja ]; then rm -rf $(BUILD_DIR); fi
 	@# only excplicitly configure the first build, if cache file already exists the makefile will rerun cmake automatically if necessary
 	@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ] || [ $(CMAKE_CACHE_CHECK) ]; then \
 		mkdir -p $(BUILD_DIR) \
@@ -205,8 +218,8 @@ define colorecho
 +@echo -e '${COLOR_BLUE}${1} ${NO_COLOR}'
 endef
 
-# Get a list of all config targets boards/*/*.cmake
-ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 ! -name '*common*' ! -name '*sdflight*' -name '*.cmake' -print | sed -e 's|boards\/||' | sed -e 's|\.cmake||' | sed -e 's|\/|_|g' | sort)
+# Get a list of all config targets boards/*/*.px4board
+ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 -name '*.px4board' -print | sed -e 's|boards\/||' | sed -e 's|\.px4board||' | sed -e 's|\/|_|g' | sort)
 
 # ADD CONFIGS HERE
 # --------------------------------------------------------------------
@@ -214,20 +227,19 @@ ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 ! -name '*comm
 
 # All targets.
 $(ALL_CONFIG_TARGETS):
-	@$(eval PX4_CONFIG = $@)
-	@$(eval CMAKE_ARGS += -DCONFIG=$(PX4_CONFIG))
-	@$(call cmake-build,$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))
+	@$(call cmake-build,$@$(BUILD_DIR_SUFFIX))
 
 # Filter for only default targets to allow omiting the "_default" postfix
 CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG_TARGETS)))
 $(CONFIG_TARGETS_DEFAULT):
-	@$(eval PX4_CONFIG = $@_default)
-	@$(eval CMAKE_ARGS += -DCONFIG=$(PX4_CONFIG))
-	@$(call cmake-build,$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))
+	@$(call cmake-build,$@_default$(BUILD_DIR_SUFFIX))
 
 all_config_targets: $(ALL_CONFIG_TARGETS)
 all_default_targets: $(CONFIG_TARGETS_DEFAULT)
 
+updateconfig:
+	@./Tools/kconfig/updateconfig.py
+
 # board reorganization deprecation warnings (2018-11-22)
 define deprecation_warning
 	$(warning $(1) has been deprecated and will be removed, please use $(2)!)
@@ -236,16 +248,6 @@ endef
 # All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
 .PHONY: all px4_sitl_default all_config_targets all_default_targets
 
-# Multi- config targets.
-eagle_default: atlflight_eagle_default atlflight_eagle_qurt
-eagle_rtps: atlflight_eagle_rtps atlflight_eagle_qurt-rtps
-
-excelsior_default: atlflight_excelsior_default atlflight_excelsior_qurt
-excelsior_rtps: atlflight_excelsior_rtps atlflight_excelsior_qurt-rtps
-
-.PHONY: eagle_default eagle_rtps
-.PHONY: excelsior_default excelsior_rtps
-
 # Other targets
 # --------------------------------------------------------------------
 
@@ -268,11 +270,10 @@ px4fmu_firmware: \
 misc_qgc_extra_firmware: \
 	check_nxp_fmuk66-v3_default \
 	check_nxp_fmurt1062-v1_default \
-	check_intel_aerofc-v1_default \
 	check_mro_x21_default \
 	check_bitcraze_crazyflie_default \
+	check_bitcraze_crazyflie21_default \
 	check_airmind_mindpx-v2_default \
-	check_px4_fmu-v2_lpe \
 	sizes
 
 # builds with RTPS
@@ -300,13 +301,37 @@ check_%:
 	@$(MAKE) --no-print-directory $(subst check_,,$@)
 	@echo
 
+all_variants_%:
+	@echo 'Building all $(subst all_variants_,,$@) variants:'  $(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS))
+	@echo
+	$(foreach a,$(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS)), $(call cmake-build,$(a)$(BUILD_DIR_SUFFIX)))
+
 uorb_graphs:
-	@./Tools/uorb_graph/create_from_startupscript.sh
-	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --file Tools/uorb_graph/graph_full
+	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --merge-depends --file Tools/uorb_graph/graph_full
+	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --exclude-path src/modules/mavlink --merge-depends --file Tools/uorb_graph/graph_full_no_mavlink
 	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
 	@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
+	@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
 	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
 
+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/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/x21-777/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
+	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin
+	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5/extras/px4_io-v2_default.bin
+	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5x/extras/px4_io-v2_default.bin
+	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6x/extras/px4_io-v2_default.bin
+	# cubepilot_io-v2_default
+	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin
+	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
+	git status
+
+bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
+	git status
 
 .PHONY: coverity_scan
 
@@ -314,18 +339,21 @@ coverity_scan: px4_sitl_default
 
 # Documentation
 # --------------------------------------------------------------------
-.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata doxygen
+.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata doxygen
 
 parameters_metadata:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters
+	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen
 
 airframe_metadata:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes
+	@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes ver_gen
 
 module_documentation:
 	@$(MAKE) --no-print-directory px4_sitl_default metadata_module_documentation
 
-px4_metadata: parameters_metadata airframe_metadata module_documentation
+extract_events:
+	@$(MAKE) --no-print-directory px4_sitl_default metadata_extract_events ver_gen
+
+px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events
 
 doxygen:
 	@mkdir -p "$(SRC_DIR)"/build/doxygen
@@ -352,7 +380,6 @@ format:
 .PHONY: rostest python_coverage
 
 tests:
-	$(eval CMAKE_ARGS += -DCONFIG=px4_sitl_test)
 	$(eval CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
 	$(eval ARGS += test_results)
 	$(eval ASAN_OPTIONS += color=always:check_initialization_order=1:detect_stack_use_after_return=1)
@@ -361,8 +388,10 @@ tests:
 
 tests_coverage:
 	@$(MAKE) clean
-	@$(MAKE) --no-print-directory px4_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
-	@echo "Open "$(SRC_DIR)"/build/px4_sitl_default/coverage-html/index.html to see coverage"
+	@$(MAKE) --no-print-directory tests PX4_CMAKE_BUILD_TYPE=Coverage
+	@mkdir -p coverage
+	@lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
+
 
 rostest: px4_sitl_default
 	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
@@ -458,34 +487,39 @@ shellcheck_all:
 	@make px4_fmu-v5_default shellcheck
 
 validate_module_configs:
-	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
+	@find "$(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/lib/crypto/libtommath/*" -print0 | \
+	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
 
 # Cleanup
 # --------------------------------------------------------------------
 .PHONY: clean submodulesclean submodulesupdate gazeboclean distclean
 
 clean:
-	@rm -rf "$(SRC_DIR)"/build
+	@[ ! -d "$(SRC_DIR)/build" ] || find "$(SRC_DIR)/build" -mindepth 1 -maxdepth 1 -type d -exec sh -c "echo {}; cmake --build {} -- clean || rm -rf {}" \; # use generated build system to clean, wipe build directory if it fails
+	@git submodule foreach git clean -dX --force # some submodules generate build artifacts in source
 
 submodulesclean:
 	@git submodule foreach --quiet --recursive git clean -ff -x -d
 	@git submodule update --quiet --init --recursive --force || true
 	@git submodule sync --recursive
-	@git submodule update --init --recursive --force
+	@git submodule update --init --recursive --force --jobs 4
 
 submodulesupdate:
-	@git submodule update --quiet --init --recursive || true
+	@git submodule update --quiet --init --recursive --jobs 4 || true
 	@git submodule sync --recursive
-	@git submodule update --init --recursive
+	@git submodule update --init --recursive --jobs 4
+	@git fetch --all --tags --recurse-submodules=yes --jobs=4
 
 gazeboclean:
 	@rm -rf ~/.gazebo/*
 
 distclean: gazeboclean
-	@git submodule deinit -f .
-	@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode"
+	@git submodule deinit --force $(SRC_DIR)
+	@rm -rf "$(SRC_DIR)/build"
+	@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"
 
-# Help / Error
+# Help / Error / Misc
 # --------------------------------------------------------------------
 
 # All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
@@ -499,7 +533,7 @@ help:
 	@echo "Where <target> is one of:"
 	@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
 		awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
-		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(posix|eagle|Makefile)'
+		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(Makefile)'
 	@echo
 	@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
 	@echo "Use '$(MAKE) list_config_targets' for a list of configuration targets."
@@ -519,3 +553,18 @@ check_px4: $(call make_list,nuttx,"px4") \
 
 check_nxp: $(call make_list,nuttx,"nxp") \
 	sizes
+
+ifneq ($(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

README.md

@@ -4,30 +4,34 @@
 
 [![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)
 
-[![Slack](https://px4-slack.herokuapp.com/badge.svg)](http://slack.px4.io)
+[![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/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
 
+PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.
+
 * Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
 * [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
-  * [Multicopters](https://docs.px4.io/master/en/airframes/airframe_reference.html#copter)
-  * [Fixed wing](https://docs.px4.io/master/en/airframes/airframe_reference.html#plane)
-  * [VTOL](https://docs.px4.io/master/en/airframes/airframe_reference.html#vtol)
-  * many more experimental types (Rovers, Blimps, Boats, Submarines, Autogyros, etc)
+  * [Multicopters](https://docs.px4.io/master/en/frames_multicopter/)
+  * [Fixed wing](https://docs.px4.io/master/en/frames_plane/)
+  * [VTOL](https://docs.px4.io/master/en/frames_vtol/)
+  * [Autogyro](https://docs.px4.io/master/en/frames_autogyro/)
+  * [Rover](https://docs.px4.io/master/en/frames_rover/)
+  * many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
 * Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
 
 
-## PX4 Users
+## Building a PX4 based drone, rover, boat or robot
 
 The [PX4 User Guide](https://docs.px4.io/master/en/) explains how to assemble [supported vehicles](https://docs.px4.io/master/en/airframes/airframe_reference.html) and fly drones with PX4.
 See the [forum and chat](https://docs.px4.io/master/en/#support) if you need help!
 
 
-## PX4 Developers
+## Changing code and contributing
 
-This [Developer Guide](https://dev.px4.io/) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
+This [Developer Guide](https://docs.px4.io/master/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
 
-Developers should read the [Guide for Contributions](https://dev.px4.io/master/en/contribute/).
+Developers should read the [Guide for Contributions](https://docs.px4.io/master/en/contribute/).
 See the [forum and chat](https://dev.px4.io/master/en/#support) if you need help!
 
 
@@ -69,10 +73,8 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co
     * [Daniel Agar](https://github.com/dagar)
   * [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
     * [Paul Riseborough](https://github.com/priseborough)
-  * Vision based navigation
-    * [Julian Kent](https://github.com/jkflying)
-  * Obstacle Avoidance
-    * [Martina Rivizzigno](https://github.com/mrivi)
+  * Vision based navigation and Obstacle Avoidance
+    * [Markus Achtelik](https://github.com/markusachtelik)
   * RTPS/ROS2 Interface
     * [Nuno Marques](https://github.com/TSC21)
 
@@ -80,27 +82,36 @@ See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and
 
 ## Supported Hardware
 
-This repository contains code supporting these boards:
-  * FMUv2
-    * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
-    * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
-  * FMUv3
+This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.
+
+### Pixhawk Standard Boards
+  * FMUv6X and FMUv6U (STM32H7, 2021)
+    * Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
+  * FMUv5 and FMUv5X (STM32F7, 2019/20)
+    * [Pixhawk 4 (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
+    * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
+    * [CUAV V5+ (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
+    * [CUAV V5 nano (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
+    * [Auterion Skynode (FMUv5X)](https://docs.px4.io/master/en/flight_controller/auterion_skynode.html)
+  * FMUv4 (STM32F4, 2015)
+    * [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
+    * [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
+  * FMUv3 (STM32F4, 2014)
     * [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
     * [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
     * [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
-  * FMUv4
-    * [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
-    * [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
-  * FMUv5 (ARM Cortex M7)
-    * [Pixhawk 4](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
-    * [Pixhawk 4 mini](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
-    * [CUAV V5+](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
-    * [CUAV V5 nano](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
+  * FMUv2 (STM32F4, 2013)
+    * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
+    * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
+
+### Manufacturer and Community supported
+  * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
+  * [Hex Cube Orange](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_orange.html)
+  * [Hex Cube Yellow](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_yellow.html)
   * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
   * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
-  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/flight_controller/crazyflie2.html)
+  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/complete_vehicles/crazyflie2.html)
   * [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
-  * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
   * [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
   * [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)
 
@@ -108,4 +119,4 @@ Additional information about supported hardware can be found in [PX4 user Guide
 
 ## Project Roadmap
 
-A high level project roadmap is available [here](https://www.dronecode.org/roadmap/).
+A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).

ROMFS/CMakeLists.txt

@@ -31,11 +31,12 @@
 #
 ############################################################################
 
-message(STATUS "ROMFS: ${config_romfs_root}")
-
 set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
 set(romfs_gen_root_dir ${PX4_BINARY_DIR}/etc)
 
+file(RELATIVE_PATH romfs_path_relative ${PX4_SOURCE_DIR} ${romfs_src_dir})
+message(STATUS "ROMFS: ${romfs_path_relative}")
+
 set_property(GLOBAL PROPERTY PX4_ROMFS_FILES)
 set_property(GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
 
@@ -81,6 +82,9 @@ file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
 if (px4_constrained_flash_build)
 	set(added_arguments --constrained-flash)
 endif()
+if(PX4_ETHERNET)
+	set(added_arguments ${added_arguments} --ethernet)
+endif()
 # create list of relative romfs file names
 set(romfs_copy_files_relative)
 foreach(romfs_file IN LISTS romfs_copy_files)
@@ -111,10 +115,12 @@ add_custom_command(
 set(romfs_extract_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_extract.stamp)
 add_custom_command(
 	OUTPUT ${romfs_extract_stamp}
+	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
 	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
 	WORKING_DIRECTORY ${romfs_gen_root_dir}
 	DEPENDS ${romfs_tar_file}
+	VERBATIM
 	)
 
 add_custom_command(
@@ -137,24 +143,39 @@ add_custom_command(
 	COMMENT "ROMFS: copying, generating airframes"
 	)
 
+if(EXISTS ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)
+	set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
+	configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
+endif()
+
 # copy extras into ROMFS
 set(extras_dependencies)
 
-# copy px4io binary if configured
-if(config_io_board)
+# optional board architecture defaults
+set(board_arch_rc_file "rc.board_arch_defaults")
+if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}")
+	file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file})
+	message(STATUS "ROMFS:  Adding ${rc_file_relative} -> /etc/init.d/${board_arch_rc_file}")
+
+	add_custom_command(
+		OUTPUT
+			${romfs_gen_root_dir}/init.d/${board_arch_rc_file}
+			${board_arch_rc_file}.stamp
+		COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file} ${romfs_gen_root_dir}/init.d/${board_arch_rc_file}
+		COMMAND ${CMAKE_COMMAND} -E touch ${board_arch_rc_file}.stamp
+		DEPENDS
+			${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}
+			romfs_copy.stamp
+		COMMENT "ROMFS: copying ${board_arch_rc_file}"
+	)
+
 	list(APPEND extras_dependencies
-		copy_px4io_bin
-		${fw_io_bin}
+		${board_arch_rc_file}.stamp
 	)
 endif()
 
-if(config_build_bootloader)
-	list(APPEND extras_dependencies
-		copy_bootloader_bin
-		${bootloader_bin}
-	)
-endif()
 
+# board custom init files
 set(OPTIONAL_BOARD_RC)
 list(APPEND OPTIONAL_BOARD_RC
 	rc.board_defaults
@@ -166,7 +187,8 @@ list(APPEND OPTIONAL_BOARD_RC
 foreach(board_rc_file ${OPTIONAL_BOARD_RC})
 
 	if(EXISTS "${PX4_BOARD_DIR}/init/${board_rc_file}")
-		message(STATUS "ROMFS: Adding ${board_rc_file}")
+		file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_BOARD_DIR}/init/${board_rc_file})
+		message(STATUS "ROMFS:  Adding ${rc_file_relative} -> /etc/init.d/${board_rc_file}")
 
 		add_custom_command(
 			OUTPUT
@@ -187,6 +209,84 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})
 
 endforeach()
 
+
+# board extras
+set(OPTIONAL_BOARD_EXTRAS)
+file(GLOB OPTIONAL_BOARD_EXTRAS ${PX4_BOARD_DIR}/extras/*)
+
+foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
+
+	if(EXISTS "${board_extra_file}")
+		file(RELATIVE_PATH extra_file_base_name ${PX4_BOARD_DIR}/extras/ ${board_extra_file})
+		file(RELATIVE_PATH extra_file_relative_source ${PX4_SOURCE_DIR} ${board_extra_file})
+		message(STATUS "ROMFS:  Adding ${extra_file_relative_source} -> /etc/extras/${extra_file_base_name}")
+
+		add_custom_command(
+			OUTPUT
+				${romfs_gen_root_dir}/extras/${extra_file_base_name}
+				${extra_file_base_name}.stamp
+			COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/extras/${extra_file_base_name} ${romfs_gen_root_dir}/extras/${extra_file_base_name}
+			COMMAND ${CMAKE_COMMAND} -E touch ${extra_file_base_name}.stamp
+			DEPENDS
+				${board_extra_file}
+				romfs_copy.stamp
+			COMMENT "ROMFS: copying ${board_extra_file}"
+		)
+
+		list(APPEND extras_dependencies
+			${extra_file_base_name}.stamp
+		)
+	endif()
+
+endforeach()
+
+
+
+if(config_uavcan_peripheral_firmware)
+
+	include(ExternalProject)
+
+	foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
+		# include the UAVCAN peripheral binaries in ROMFS
+		message(STATUS "ROMFS:  Adding UAVCAN peripheral ${uavcan_peripheral_config} -> /etc/uavcan/fw/")
+
+		# ExternalProject_Add() with GIT_SUBMODULES "" initializes no submodules.
+		cmake_policy(SET CMP0097 NEW)
+
+		include(ExternalProject)
+
+		ExternalProject_Add(build_${uavcan_peripheral_config}
+			GIT_REPOSITORY ${CMAKE_SOURCE_DIR}
+			GIT_TAG ${PX4_GIT_TAG}
+			GIT_SUBMODULES ""
+			DOWNLOAD_NO_PROGRESS true
+			CMAKE_ARGS -DCONFIG=${uavcan_peripheral_config}
+			INSTALL_COMMAND ""
+			USES_TERMINAL_BUILD true
+			BUILD_ALWAYS 1
+		)
+
+		ExternalProject_Get_Property(build_${uavcan_peripheral_config} BINARY_DIR)
+
+		add_custom_command(
+			OUTPUT
+				${romfs_gen_root_dir}/uavcan/fw/_${uavcan_board_id}.bin
+				${uavcan_peripheral_config}.stamp
+			COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/uavcan/fw/
+			COMMAND ${CMAKE_COMMAND} -E copy ${BINARY_DIR}/deploy/*.bin ${romfs_gen_root_dir}/uavcan/fw/
+			COMMAND ls -lsa ${romfs_gen_root_dir}/uavcan/fw/
+			COMMAND ${CMAKE_COMMAND} -E touch ${uavcan_peripheral_config}.stamp
+			DEPENDS
+				build_${uavcan_peripheral_config}
+			COMMENT "ROMFS: copying ${uavcan_peripheral_config}"
+		)
+
+		list(APPEND extras_dependencies
+			${uavcan_peripheral_config}.stamp
+		)
+	endforeach()
+endif()
+
 list(APPEND extras_dependencies
 	${config_romfs_extra_dependencies}
 	)

ROMFS/cannode/init.d/rcS

@@ -15,36 +15,22 @@ set +e
 #
 #------------------------------------------------------------------------------
 set R /
-#
-# Mount the procfs.
-#
-mount -t procfs /proc
-
-#
-# Start CDC/ACM serial driver.
-#
-sercon
 
 #
 # Print full system version.
 #
 ver all
 
-#
-# Start the ORB (first app to start)
-# tone_alarm and tune_control
-# is dependent.
-#
-uorb start
-
-#
-# Set the parameter file if mtd starts successfully.
-#
-if mtd start
+if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
 then
 	set PARAM_FILE /fs/mtd_params
 fi
 
+if mft query -q -k MTD -s MTD_PARAMETERS -v /dev/eeeprom0
+then
+	set PARAM_FILE /dev/eeeprom0
+fi
+
 #
 # Load parameters.
 #
@@ -54,6 +40,17 @@ then
 	param reset_all
 fi
 
+#
+# Optional board architecture defaults: rc.board_arch_defaults
+#
+set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults
+if [ -f $BOARD_ARCH_RC_DEFAULTS ]
+then
+	echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
+	. $BOARD_ARCH_RC_DEFAULTS
+fi
+unset BOARD_ARCH_RC_DEFAULTS
+
 #
 # Optional board defaults: rc.board_defaults
 #
@@ -70,15 +67,6 @@ unset BOARD_RC_DEFAULTS
 #
 rgbled start -X -q
 rgbled_ncp5623c start -X -q
-rgbled_pwm start
-
-if param greater -s LIGHT_EN_BLINKM 0
-then
-	if blinkm start -X
-	then
-		blinkm systemstate
-	fi
-fi
 
 #
 # board sensors: rc.sensors

ROMFS/px4fmu_common/extras/README.txt

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

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

@@ -34,6 +34,10 @@
 add_subdirectory(airframes)
 
 px4_add_romfs_files(
+	px4-rc.mavlink
+	px4-rc.params
+	px4-rc.rtps
+	px4-rc.simulator
 	rc.replay
 	rcS
 )

ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc

@@ -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

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

@@ -0,0 +1,11 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (foggy_lidar)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+param set-default EKF2_RNG_A_HMAX 10
+

ROMFS/px4fmu_common/init.d-posix/airframes/10020_if750a

@@ -8,10 +8,12 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	# EKF2: Multi GPS blending (as the model has 2 GPS's)
-	param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
-fi
+# 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

ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow

@@ -7,16 +7,14 @@
 
 . ${R}etc/init.d-posix/airframes/10016_iris
 
-if [ $AUTOCNF = yes ]
-then
-	# EKF2
-	param set EKF2_AID_MASK 2
-	param set EKF2_EVP_NOISE 0.05
-	param set EKF2_EVA_NOISE 0.05
+# EKF2
+param set-default EKF2_AID_MASK 2
+param set-default EKF2_EVP_NOISE 0.05
+param set-default EKF2_EVA_NOISE 0.05
 
-	# LPE: Flow-only mode
-	param set LPE_FUSION 242
-	param set LPE_FAKE_ORIGIN 1
+# LPE: Flow-only mode
+param set-default LPE_FUSION 242
+param set-default LPE_FAKE_ORIGIN 1
+
+param set-default MPC_ALT_MODE 2
 
-	param set MPC_ALT_MODE 2
-fi

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

@@ -7,12 +7,9 @@
 
 . ${R}etc/init.d-posix/airframes/10016_iris
 
-if [ $AUTOCNF = yes ]
-then
-	# enable fusion of landing target velocity
-	param set LTEST_MODE 1
-	param set PLD_HACC_RAD 0.1
-fi
+# enable fusion of landing target velocity
+param set-default LTEST_MODE 1
+param set-default PLD_HACC_RAD 0.1
 
 # Start up Landing Target Estimator module
 landing_target_estimator start

ROMFS/px4fmu_common/init.d-posix/airframes/1012_iris_rplidar

@@ -7,7 +7,5 @@
 
 . ${R}etc/init.d-posix/airframes/10016_iris
 
-if [ $AUTOCNF = yes ]
-then
-	param set LPE_FUSION 242
-fi
+param set-default LPE_FUSION 242
+

ROMFS/px4fmu_common/init.d-posix/airframes/1013_iris_vision

@@ -7,15 +7,13 @@
 
 . ${R}etc/init.d-posix/airframes/10016_iris
 
-if [ $AUTOCNF = yes ]
-then
-	# EKF2: Vision position and heading
-	param set EKF2_AID_MASK 24
-	param set EKF2_EV_DELAY 5
+# EKF2: Vision position and heading
+param set-default EKF2_AID_MASK 24
+param set-default EKF2_EV_DELAY 5
 
-	# LPE: Vision + baro
-	param set LPE_FUSION 132
+# LPE: Vision + baro
+param set-default LPE_FUSION 132
+
+# AEQ: External heading set to use vision input
+param set-default ATT_EXT_HDG_M 1
 
-	# AEQ: External heading set to use vision input
-	param set ATT_EXT_HDG_M 1
-fi

ROMFS/px4fmu_common/init.d-posix/airframes/1014_solo

@@ -7,10 +7,7 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set MC_PITCHRATE_P 0.1
-	param set MC_ROLLRATE_P 0.1
-fi
+param set-default MC_PITCHRATE_P 0.1
+param set-default MC_ROLLRATE_P 0.05
 
 set MIXER quad_x

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

@@ -7,8 +7,6 @@
 
 . ${R}etc/init.d-posix/airframes/10016_iris
 
-if [ $AUTOCNF = yes ]
-then
-	param set COM_OBS_AVOID 1
-	param set MPC_XY_CRUISE 5.0
-fi
+param set-default COM_OBS_AVOID 1
+param set-default MPC_XY_CRUISE 5.0
+

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

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

ROMFS/px4fmu_common/init.d-posix/airframes/1016_iris_rtps

@@ -1,8 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (RTPS)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris

ROMFS/px4fmu_common/init.d-posix/airframes/1017_iris_opt_flow_mockup

@@ -7,15 +7,12 @@
 
 . ${R}etc/init.d-posix/airframes/10016_iris
 
-if [ $AUTOCNF = yes ]
-then
-	# EKF2
-	param set EKF2_AID_MASK 2
-	param set SENS_FLOW_ROT 0
+# EKF2
+param set-default EKF2_AID_MASK 2
+param set-default SENS_FLOW_ROT 0
 
-	# LPE: Flow-only mode
-	param set LPE_FUSION 242
-	param set LPE_FAKE_ORIGIN 1
+# LPE: Flow-only mode
+param set-default LPE_FUSION 242
+param set-default LPE_FAKE_ORIGIN 1
 
-	param set MPC_ALT_MODE 2
-fi
+param set-default MPC_ALT_MODE 2

ROMFS/px4fmu_common/init.d-posix/airframes/1018_iris_vision_velocity

@@ -7,9 +7,6 @@
 
 . ${R}etc/init.d-posix/airframes/10016_iris
 
-if [ $AUTOCNF = yes ]
-then
-	# EKF2: Vision velocity and heading
-	param set EKF2_AID_MASK 272
-	param set EKF2_EV_DELAY 5
-fi
+# EKF2: Vision velocity and heading
+param set-default EKF2_AID_MASK 272
+param set-default EKF2_EV_DELAY 5

ROMFS/px4fmu_common/init.d-posix/airframes/1019_iris_dual_gps

@@ -7,8 +7,5 @@
 
 . ${R}etc/init.d-posix/airframes/10016_iris
 
-if [ $AUTOCNF = yes ]
-then
-	# EKF2: Multi GPS blending
-	param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
-fi
+# EKF2: Multi GPS blending
+param set-default SENS_GPS_MASK 7

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

@@ -5,16 +5,8 @@
 
 . ${R}etc/init.d/rc.uuv_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	#Set data link loss failsafe mode (0: disabled)
-	param set NAV_DLL_ACT 0
-
-	# disable circuit breaker for airspeed sensor
-	param set CBRK_AIRSPD_CHK 162128
-
-	#param set CBRK_GPSFAIL 240024
-fi
+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
 
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}

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

@@ -5,16 +5,8 @@
 
 . ${R}etc/init.d/rc.uuv_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	#Set data link loss failsafe mode (0: disabled)
-	param set NAV_DLL_ACT 0
-
-	# disable circuit breaker for airspeed sensor
-	param set CBRK_AIRSPD_CHK 162128
-
-	#param set CBRK_GPSFAIL 240024
-fi
+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
 
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}

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

@@ -5,16 +5,66 @@
 
 . ${R}etc/init.d/rc.uuv_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	#Set data link loss failsafe mode (0: disabled)
-	param set NAV_DLL_ACT 0
+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
 
-	# disable circuit breaker for airspeed sensor
-	param set CBRK_AIRSPD_CHK 162128
+param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 7
 
-fi
+param set-default CA_ROTOR_COUNT 8
+param set-default CA_R_REV 255
+param set-default CA_ROTOR0_AX 1.0000
+param set-default CA_ROTOR0_AY -1.0000
+param set-default CA_ROTOR0_AZ 0.0000
+param set-default CA_ROTOR0_KM 0.0000
+param set-default CA_ROTOR0_PX 0.5000
+param set-default CA_ROTOR0_PY 0.3000
+param set-default CA_ROTOR0_PZ 0.2000
+param set-default CA_ROTOR1_AX 1.0000
+param set-default CA_ROTOR1_AY 1.0000
+param set-default CA_ROTOR1_AZ 0.0000
+param set-default CA_ROTOR1_KM 0.0000
+param set-default CA_ROTOR1_PX 0.5000
+param set-default CA_ROTOR1_PY -0.3000
+param set-default CA_ROTOR1_PZ 0.2000
+param set-default CA_ROTOR2_AX 1.0000
+param set-default CA_ROTOR2_AY 1.0000
+param set-default CA_ROTOR2_AZ 0.0000
+param set-default CA_ROTOR2_KM 0.0000
+param set-default CA_ROTOR2_PX -0.5000
+param set-default CA_ROTOR2_PY 0.3000
+param set-default CA_ROTOR2_PZ 0.2000
+param set-default CA_ROTOR3_AX 1.0000
+param set-default CA_ROTOR3_AY -1.0000
+param set-default CA_ROTOR3_AZ 0.0000
+param set-default CA_ROTOR3_KM 0.0000
+param set-default CA_ROTOR3_PX -0.5000
+param set-default CA_ROTOR3_PY -0.3000
+param set-default CA_ROTOR3_PZ 0.2000
+param set-default CA_ROTOR4_AZ -1.0000
+param set-default CA_ROTOR4_KM 0.0000
+param set-default CA_ROTOR4_PX 0.5000
+param set-default CA_ROTOR4_PY 0.5000
+param set-default CA_ROTOR5_AZ 1.0000
+param set-default CA_ROTOR5_KM 0.0000
+param set-default CA_ROTOR5_PX 0.5000
+param set-default CA_ROTOR5_PY -0.5000
+param set-default CA_ROTOR6_AZ 1.0000
+param set-default CA_ROTOR6_KM 0.0000
+param set-default CA_ROTOR6_PX -0.5000
+param set-default CA_ROTOR6_PY 0.5000
+param set-default CA_ROTOR7_KM 0.0000
+param set-default CA_ROTOR7_PX -0.5000
+param set-default CA_ROTOR7_PY -0.5000
+
+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
+param set-default PWM_MAIN_FUNC7 107
+param set-default PWM_MAIN_FUNC8 108
+
+set MIXER skip
 
-set PWM_OUT 12345678
-set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
-set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane

@@ -5,43 +5,70 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	param set EKF2_MAG_ACCLIM 0
-	param set EKF2_MAG_YAWLIM 0
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
 
-	param set FW_LND_AIRSPD_SC 1
-	param set FW_LND_ANG 8
-	param set FW_THR_LND_MAX 0
+param set-default FW_LND_AIRSPD_SC 1
+param set-default FW_LND_ANG 8
+param set-default FW_THR_LND_MAX 0
 
-	param set FW_L1_PERIOD 15
+param set-default FW_L1_PERIOD 12
 
-	param set FW_P_TC 0.5
-	param set FW_PR_FF 0.40
-	param set FW_PR_I 0.05
-	param set FW_PR_P 0.05
+param set-default FW_MAN_P_MAX 30
 
-	param set FW_R_TC 0.7
-	param set FW_RR_FF 0.20
-	param set FW_RR_I 0.02
-	param set FW_RR_P 0.22
+param set-default FW_PR_P 0.9
+param set-default FW_PR_FF 0.2
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
+param set-default FW_P_LIM_MIN -15
 
-	param set FW_L1_PERIOD 12
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_P 0.3
 
-	param set FW_W_EN 1
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_THR_CRUISE 0.25
 
-	param set MIS_LTRMIN_ALT 30
-	param set MIS_TAKEOFF_ALT 30
+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 NAV_ACC_RAD 15
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 50
+param set-default FW_W_EN 1
 
-	param set RWTO_TKOFF 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
 
-fi
 
 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1031_plane_cam

@@ -5,10 +5,8 @@
 
 . ${R}etc/init.d-posix/airframes/1030_plane
 
-if [ $AUTOCNF = yes ]
-then
-	# Camera trigger interface is MAVLink
-	param set TRIG_INTERFACE 3
-	# Distance trigger mode enabled
-	param set TRIG_MODE 4
-fi
+# Camera trigger interface is MAVLink
+param set-default TRIG_INTERFACE 3
+
+# Distance trigger mode enabled
+param set-default TRIG_MODE 4

ROMFS/px4fmu_common/init.d-posix/airframes/1032_plane_catapult

@@ -5,8 +5,5 @@
 
 . ${R}etc/init.d-posix/airframes/1030_plane
 
-if [ $AUTOCNF = yes ]
-then
-	param set RWTO_TKOFF 0
+param set-default RWTO_TKOFF 0
 
-fi

ROMFS/px4fmu_common/init.d-posix/airframes/1033_plane_lidar

@@ -5,8 +5,5 @@
 
 . ${R}etc/init.d-posix/airframes/1030_plane
 
-if [ $AUTOCNF = yes ]
-then
-	param set FW_LND_USETER 1
+param set-default FW_LND_USETER 1
 
-fi

ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal

@@ -5,54 +5,44 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	#param set EKF2_MAG_ACCLIM 0
-	#param set EKF2_MAG_YAWLIM 0
+param set-default FW_LND_AIRSPD_SC 1.1
+param set-default FW_LND_ANG 5
+param set-default FW_THR_LND_MAX 0
+param set-default FW_LND_HHDIST 30
+param set-default FW_LND_FL_PMIN 9.5
+param set-default FW_LND_FL_PMAX 20
+param set-default FW_LND_FLALT 5
+param set-default FW_LND_TLALT 15
 
-	param set FW_LND_AIRSPD_SC 1.1
-	param set FW_LND_ANG 5
-	param set FW_THR_LND_MAX 0
-	param set FW_LND_HHDIST 30
-	param set FW_LND_FL_PMIN 9.5
-	param set FW_LND_FL_PMAX 20
-	param set FW_LND_FLALT 5
-	param set FW_LND_TLALT 15
+param set-default FW_L1_PERIOD 25
 
-	param set FW_L1_PERIOD 25
+param set-default FW_PR_FF 0.40
+param set-default FW_PR_I 0.05
+param set-default FW_PR_P 0.05
 
-	param set FW_P_TC 0.4
-	param set FW_PR_FF 0.40
-	param set FW_PR_I 0.05
-	param set FW_PR_P 0.05
+param set-default FW_R_TC 0.45
+param set-default FW_RR_FF 0.40
+param set-default FW_RR_I 0.132
+param set-default FW_RR_P 0.085
 
-	param set FW_R_TC 0.45
-	param set FW_RR_FF 0.40
-	param set FW_RR_I 0.132
-	param set FW_RR_P 0.085
+param set-default FW_W_EN 1
 
-	param set FW_W_EN 1
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000
 
-	param set MIS_LTRMIN_ALT 30
-	param set MIS_TAKEOFF_ALT 20
-	param set MIS_DIST_1WP 2500
-	param set MIS_DIST_WPS 10000
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
 
-	param set NAV_ACC_RAD 15
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 50
+param set-default RWTO_TKOFF 1
 
-	param set RWTO_TKOFF 1
-	#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
-	param set RWTO_MAX_PITCH 20
-	param set RWTO_MAX_ROLL 10
-	#param set RWTO_MAX_THR 0.6		# fix takeoff failure for JSBsim in autonomous mission mode.
-	param set RWTO_PSP 8
-	param set RWTO_AIRSPD_SCL 1.8
+param set-default RWTO_MAX_PITCH 20
+param set-default RWTO_MAX_ROLL 10
+
+param set-default RWTO_PSP 8
+param set-default RWTO_AIRSPD_SCL 1.8
 
-fi
 
 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric

@@ -5,54 +5,43 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	#param set EKF2_MAG_ACCLIM 0
-	#param set EKF2_MAG_YAWLIM 0
+param set-default FW_LND_AIRSPD_SC 1.1
+param set-default FW_LND_ANG 5
+param set-default FW_THR_LND_MAX 0
+param set-default FW_LND_HHDIST 30
+param set-default FW_LND_FL_PMIN 9.5
+param set-default FW_LND_FL_PMAX 20
+param set-default FW_LND_FLALT 5
+param set-default FW_LND_TLALT 15
 
-	param set FW_LND_AIRSPD_SC 1.1
-	param set FW_LND_ANG 5
-	param set FW_THR_LND_MAX 0
-	param set FW_LND_HHDIST 30
-	param set FW_LND_FL_PMIN 9.5
-	param set FW_LND_FL_PMAX 20
-	param set FW_LND_FLALT 5
-	param set FW_LND_TLALT 15
+param set-default FW_L1_PERIOD 25
 
-	param set FW_L1_PERIOD 25
+param set-default FW_PR_FF 0.40
+param set-default FW_PR_I 0.05
+param set-default FW_PR_P 0.05
 
-	param set FW_P_TC 0.4
-	param set FW_PR_FF 0.40
-	param set FW_PR_I 0.05
-	param set FW_PR_P 0.05
+param set-default FW_R_TC 0.45
+param set-default FW_RR_FF 0.40
+param set-default FW_RR_I 0.132
+param set-default FW_RR_P 0.085
 
-	param set FW_R_TC 0.45
-	param set FW_RR_FF 0.40
-	param set FW_RR_I 0.132
-	param set FW_RR_P 0.085
+param set-default FW_W_EN 1
 
-	param set FW_W_EN 1
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000
 
-	param set MIS_LTRMIN_ALT 30
-	param set MIS_TAKEOFF_ALT 20
-	param set MIS_DIST_1WP 2500
-	param set MIS_DIST_WPS 10000
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
 
-	param set NAV_ACC_RAD 15
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 50
+param set-default RWTO_TKOFF 1
 
-	param set RWTO_TKOFF 1
-	#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
-	param set RWTO_MAX_PITCH 20
-	param set RWTO_MAX_ROLL 10
-	#param set RWTO_MAX_THR 0.6		# fix takeoff failure for JSBsim in autonomous mission mode.
-	param set RWTO_PSP 8
-	param set RWTO_AIRSPD_SCL 1.8
+param set-default RWTO_MAX_PITCH 20
+param set-default RWTO_MAX_ROLL 10
 
-fi
+param set-default RWTO_PSP 8
+param set-default RWTO_AIRSPD_SCL 1.8
 
 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod

@@ -5,43 +5,36 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	param set EKF2_MAG_ACCLIM 0
-	param set EKF2_MAG_YAWLIM 0
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
 
-	param set FW_LND_AIRSPD_SC 1
-	param set FW_LND_ANG 8
-	param set FW_THR_LND_MAX 0
+param set-default FW_LND_AIRSPD_SC 1
+param set-default FW_LND_ANG 8
+param set-default FW_THR_LND_MAX 0
 
-	param set FW_L1_PERIOD 15
+param set-default FW_L1_PERIOD 15
 
-	param set FW_P_TC 0.5
-	param set FW_PR_FF 0.40
-	param set FW_PR_I 0.05
-	param set FW_PR_P 0.05
+param set-default FW_P_TC 0.5
+param set-default FW_PR_FF 0.40
+param set-default FW_PR_I 0.05
+param set-default FW_PR_P 0.05
 
-	param set FW_R_TC 0.7
-	param set FW_RR_FF 0.20
-	param set FW_RR_I 0.02
-	param set FW_RR_P 0.22
+param set-default FW_R_TC 0.7
+param set-default FW_RR_FF 0.20
+param set-default FW_RR_I 0.02
+param set-default FW_RR_P 0.22
 
-	param set FW_L1_PERIOD 12
+param set-default FW_L1_PERIOD 12
 
-	param set FW_W_EN 1
+param set-default FW_W_EN 1
 
-	param set MIS_LTRMIN_ALT 30
-	param set MIS_TAKEOFF_ALT 30
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 30
 
-	param set NAV_ACC_RAD 15
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 50
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
 
-	param set RWTO_TKOFF 1
-
-fi
+param set-default RWTO_TKOFF 1
 
 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1036_malolo

@@ -5,52 +5,41 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	#param set EKF2_MAG_ACCLIM 0
-	#param set EKF2_MAG_YAWLIM 0
+param set-default FW_LND_AIRSPD_SC 1.1
+param set-default FW_LND_ANG 5
+param set-default FW_THR_LND_MAX 0
+param set-default FW_LND_HHDIST 30
+param set-default FW_LND_FL_PMIN 9.5
+param set-default FW_LND_FL_PMAX 20
+param set-default FW_LND_FLALT 5
+param set-default FW_LND_TLALT 15
 
-	param set FW_LND_AIRSPD_SC 1.1
-	param set FW_LND_ANG 5
-	param set FW_THR_LND_MAX 0
-	param set FW_LND_HHDIST 30
-	param set FW_LND_FL_PMIN 9.5
-	param set FW_LND_FL_PMAX 20
-	param set FW_LND_FLALT 5
-	param set FW_LND_TLALT 15
+param set-default FW_L1_PERIOD 25
 
-	param set FW_L1_PERIOD 25
+param set-default FW_PR_FF 0.40
+param set-default FW_PR_I 0.05
+param set-default FW_PR_P 0.05
 
-	param set FW_P_TC 0.4
-	param set FW_PR_FF 0.40
-	param set FW_PR_I 0.05
-	param set FW_PR_P 0.05
+param set-default FW_R_TC 0.45
+param set-default FW_RR_FF 0.40
+param set-default FW_RR_I 0.132
+param set-default FW_RR_P 0.085
 
-	param set FW_R_TC 0.45
-	param set FW_RR_FF 0.40
-	param set FW_RR_I 0.132
-	param set FW_RR_P 0.085
+param set-default FW_W_EN 1
 
-	param set FW_W_EN 1
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000
 
-	param set MIS_LTRMIN_ALT 30
-	param set MIS_TAKEOFF_ALT 20
-	param set MIS_DIST_1WP 2500
-	param set MIS_DIST_WPS 10000
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
 
-	param set NAV_ACC_RAD 15
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 50
-
-	param set RWTO_TKOFF 1
-	param set RWTO_MAX_PITCH 20
-	param set RWTO_MAX_ROLL 10
-	param set RWTO_PSP 8
-	param set RWTO_AIRSPD_SCL 1.8
-
-fi
+param set-default RWTO_TKOFF 1
+param set-default RWTO_MAX_PITCH 20
+param set-default RWTO_MAX_ROLL 10
+param set-default RWTO_PSP 8
+param set-default RWTO_AIRSPD_SCL 1.8
 
 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom

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

@@ -0,0 +1,52 @@
+#!/bin/sh
+#
+# @name 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_PR_P 0.9
+param set-default FW_PR_FF 0.2
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
+param set-default FW_P_LIM_MIN -15
+
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_P 0.3
+
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_THR_CRUISE 0.25
+
+param set-default FW_T_ALT_TC 2
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_TAS_TC 2
+
+param set-default FW_W_EN 1
+
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 30
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+
+param set-default FW_USE_NPFG 1
+
+param set-default RWTO_TKOFF 1
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom

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

@@ -0,0 +1,9 @@
+#!/bin/sh
+#
+# @name Plane SITL with catapult
+#
+
+. ${R}etc/init.d-posix/airframes/1030_plane
+
+param set-default FW_THR_CRUISE 0.0
+param set-default RWTO_TKOFF 0

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

@@ -7,44 +7,78 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set FW_AIRSPD_MAX 25
-	param set FW_AIRSPD_MIN 14
-	param set FW_AIRSPD_TRIM 16
-	param set FW_L1_PERIOD 12
+# param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 2
 
-	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.01
+param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+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 CA_ROTOR4_AX 1.0
+param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_PX 0.2
 
-	param set MC_ROLLRATE_P 0.3
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default 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 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
 
-	param set MIS_LTRMIN_ALT 10
-	param set MIS_TAKEOFF_ALT 10
-	param set MIS_YAW_TMT 10
+param set-default FW_L1_PERIOD 12
+param set-default FW_MAN_P_MAX 30
+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_MAX 32
+param set-default FW_P_LIM_MIN -15
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_P 0.3
+param set-default FW_THR_CRUISE 0.25
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+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 MPC_ACC_HOR_MAX 2
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_THR_HOVER 0.58
-	param set MPC_TKO_SPEED 1
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P_ACC 3
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_D_ACC 0.1
-	param set MPC_Z_VEL_MAX_DN 1.5
+param set-default MC_ROLLRATE_P 0.3
+param set-default MC_YAW_P 1.6
 
-	param set NAV_ACC_RAD 5
-	param set NAV_LOITER_RAD 80
+param set-default MIS_TAKEOFF_ALT 10
 
-	param set VT_F_TRANS_DUR 5
-	param set VT_F_TRANS_THR 0.75
-	param set VT_ARSP_TRANS 16
-	param set VT_MOT_ID 1234
-	param set VT_FW_MOT_OFFID 1234
-	param set VT_TYPE 2
-	param set VT_B_TRANS_DUR 8
+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
 
-fi
+param set-default NAV_ACC_RAD 5
+param set-default NAV_LOITER_RAD 80
+
+param set-default VT_FWD_THRUST_EN 4
+param set-default VT_F_TRANS_THR 0.75
+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 MAV_TYPE 22
 

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

@@ -7,36 +7,76 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set FW_AIRSPD_MAX 25
-	param set FW_AIRSPD_MIN 14
-	param set FW_AIRSPD_TRIM 16
-	param set FW_L1_PERIOD 12
+# param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 4
 
-	param set MC_ROLLRATE_P 0.3
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 2
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05
 
-	param set MIS_YAW_TMT 10
+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 MPC_ACC_HOR_MAX 2
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_THR_MIN 0.3
-	param set MPC_XY_P 0.15
-	param set MPC_XY_VEL_D_ACC 0.1
-	param set MPC_XY_VEL_P_ACC 1
-	param set MPC_Z_VEL_MAX_DN 1.5
-	param set MPC_Z_VEL_P_ACC 16
+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 0
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_REV 96 # invert both elevons
 
-	param set NAV_ACC_RAD 5
-	param set NAV_LOITER_RAD 80
+param set-default FW_L1_PERIOD 12
+param set-default FW_MAN_P_MAX 30
+param set-default FW_PR_I 0.2
+param set-default FW_PR_P 0.2
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
+param set-default FW_P_LIM_MIN -15
+param set-default FW_RR_P 0.2
+param set-default FW_THR_CRUISE 0.33
+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 VT_F_TRANS_DUR 1.5
-	param set VT_F_TRANS_THR 0.7
-	param set VT_TYPE 0
+param set-default MC_ROLLRATE_P 0.3
 
-	param set WV_EN 0
+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
 
-fi
+param set-default NAV_ACC_RAD 5
+param set-default NAV_LOITER_RAD 80
+
+param set-default VT_FW_DIFTHR_EN 1
+param set-default VT_FW_DIFTHR_SC 0.5
+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 MAV_TYPE 20
 

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

@@ -7,37 +7,86 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set FW_L1_PERIOD 12
-	param set FW_MAN_P_MAX 30
-	param set FW_PR_FF 0.2
-	param set FW_PR_I 0.4
-	param set FW_PR_P 0.9
-	param set FW_PSP_OFF 3
-	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.3
+# param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 3
 
-	param set MC_YAW_P 1.6
+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 MIS_TAKEOFF_ALT 10
+param set-default CA_ROTOR0_TILT 1
+param set-default CA_ROTOR1_TILT 2
+param set-default CA_ROTOR2_TILT 3
+param set-default CA_ROTOR3_TILT 4
+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_CS_COUNT 3
+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 MPC_ACC_HOR_MAX 2
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P_ACC 3
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_D_ACC 0.1
+param set-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 204
+param set-default PWM_MAIN_FUNC6 205
+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 NAV_LOITER_RAD 100
+param set-default FW_L1_PERIOD 12
+param set-default FW_MAN_P_MAX 30
+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_MAX 32
+param set-default FW_P_LIM_MIN -15
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_P 0.3
+param set-default FW_THR_CRUISE 0.38
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+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 VT_B_TRANS_DUR 8
-	param set VT_ELEV_MC_LOCK 0
-	param set VT_FWD_THRUST_EN 4
-	param set VT_MOT_ID 1234
-	param set VT_TILT_TRANS 0.6
-	param set VT_TYPE 1
+param set-default MC_YAW_P 1.6
 
-fi
+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 NAV_LOITER_RAD 80
+
+param set-default VT_B_TRANS_DUR 8
+param set-default VT_FWD_THRUST_EN 4
+param set-default VT_MOT_ID 1234
+param set-default VT_TILT_TRANS 0.6
+param set-default VT_TYPE 1
 
 set MAV_TYPE 21
 

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

@@ -0,0 +1,57 @@
+#!/bin/sh
+#
+# @name Standard VTOL
+#
+# @type Standard VTOL
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set-default FW_L1_PERIOD 12
+param set-default FW_MAN_P_MAX 30
+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_MAX 32
+param set-default FW_P_LIM_MIN -15
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_P 0.3
+param set-default FW_THR_CRUISE 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 NAV_LOITER_RAD 80
+
+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 MAV_TYPE 22
+
+set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
+set MIXER custom

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

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

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

@@ -5,33 +5,38 @@
 
 . ${R}etc/init.d/rc.rover_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set GND_L1_DIST 5
-	param set GND_SP_CTRL_MODE 1
-	param set GND_SPEED_D 0.001
-	param set GND_SPEED_I 3
-	param set GND_SPEED_IMAX 0.125
-	param set GND_SPEED_P 0.25
-	param set GND_SPEED_THR_SC 1
-	param set GND_SPEED_TRIM 4
-	param set GND_THR_CRUISE 0.3
-	param set GND_THR_IDLE 0
-	param set GND_THR_MAX 0.5
-	param set GND_THR_MIN 0
+param set-default GND_L1_DIST 5
+param set-default GND_L1_PERIOD 10
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_SPEED_D 0.001
+param set-default GND_SPEED_I 3
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_P 0.25
+param set-default GND_SPEED_THR_SC 1
+param set-default GND_SPEED_TRIM 4
+param set-default GND_THR_CRUISE 0.3
+param set-default GND_THR_MAX 0.5
+param set-default GND_THR_MIN 0
 
-	param set MIS_LTRMIN_ALT 0.01
-	param set MIS_TAKEOFF_ALT 0.01
-	param set NAV_ACC_RAD 0.5
-	param set NAV_LOITER_RAD 2
+param set-default MIS_LTRMIN_ALT 0.01
+param set-default MIS_TAKEOFF_ALT 0.01
+param set-default NAV_ACC_RAD 0.5
+param set-default NAV_LOITER_RAD 2
 
-	param set CBRK_AIRSPD_CHK 162128
+param set-default CBRK_AIRSPD_CHK 162128
 
-	param set GND_MAX_ANG 0.6
-	param set GND_WHEEL_BASE 2.0
+param set-default GND_MAX_ANG 0.6
+param set-default GND_WHEEL_BASE 2.0
 
-fi
+param set-default SYS_CTRL_ALLOC 1
+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 MAV_TYPE 10
 
-set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
+set MIXER_FILE skip

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

@@ -6,33 +6,37 @@
 
 . ${R}etc/init.d/rc.rover_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set GND_L1_DIST 5
-	param set GND_SP_CTRL_MODE 1
-	param set GND_SPEED_D 3
-	param set GND_SPEED_I 0.001
-	param set GND_SPEED_IMAX 0.125
-	param set GND_SPEED_P 0.25
-	param set GND_SPEED_THR_SC 1
-	param set GND_SPEED_TRIM 4
-	param set GND_THR_CRUISE 0.3
-	param set GND_THR_IDLE 0
-	param set GND_THR_MAX 0.5
-	param set GND_THR_MIN 0
+param set-default GND_L1_DIST 5
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_SPEED_D 3
+param set-default GND_SPEED_I 0.001
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_P 0.25
+param set-default GND_SPEED_THR_SC 1
+param set-default GND_SPEED_TRIM 4
+param set-default GND_THR_CRUISE 0.3
+param set-default GND_THR_MAX 0.5
+param set-default GND_THR_MIN 0
 
-	param set MIS_LTRMIN_ALT 0.01
-	param set MIS_TAKEOFF_ALT 0.01
-	param set NAV_ACC_RAD 0.5
-	param set NAV_LOITER_RAD 2
+param set-default MIS_LTRMIN_ALT 0.01
+param set-default MIS_TAKEOFF_ALT 0.01
+param set-default NAV_ACC_RAD 0.5
+param set-default NAV_LOITER_RAD 2
 
-	param set CBRK_AIRSPD_CHK 162128
+param set-default CBRK_AIRSPD_CHK 162128
 
-	param set GND_MAX_ANG 0.6
-	param set GND_WHEEL_BASE 2.0
+param set-default GND_MAX_ANG 0.6
+param set-default GND_WHEEL_BASE 2.0
 
-fi
+param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 6
+
+param set-default CA_R_REV 3
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 101
+param set-default PWM_MAIN_FUNC6 102
+param set-default PWM_MAIN_FUNC7 102
 
 set MAV_TYPE 10
 
-set MIXER_FILE etc/mixers-sitl/rover_diff_sitl.main.mix
+set MIXER_FILE skip

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

@@ -10,33 +10,28 @@
 
 . ${R}etc/init.d/rc.rover_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set GND_L1_DIST 5
-	param set GND_SP_CTRL_MODE 1
-	param set GND_SPEED_D 3
-	param set GND_SPEED_I 0.001
-	param set GND_SPEED_IMAX 0.125
-	param set GND_SPEED_P 0.25
-	param set GND_SPEED_THR_SC 1
-	param set GND_SPEED_TRIM 15
-	param set GND_SPEED_MAX 25
-	param set GND_THR_CRUISE 0.3
-	param set GND_THR_IDLE 0
-	param set GND_THR_MAX 0.5
-	param set GND_THR_MIN 0
+param set-default GND_L1_DIST 5
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_SPEED_D 3
+param set-default GND_SPEED_I 0.001
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_P 0.25
+param set-default GND_SPEED_THR_SC 1
+param set-default GND_SPEED_TRIM 15
+param set-default GND_SPEED_MAX 25
+param set-default GND_THR_CRUISE 0.3
+param set-default GND_THR_MAX 0.5
+param set-default GND_THR_MIN 0
 
-	param set MIS_LTRMIN_ALT 0.01
-	param set MIS_TAKEOFF_ALT 0.01
-	param set NAV_ACC_RAD 0.5
-	param set NAV_LOITER_RAD 2
+param set-default MIS_LTRMIN_ALT 0.01
+param set-default MIS_TAKEOFF_ALT 0.01
+param set-default NAV_ACC_RAD 0.5
+param set-default NAV_LOITER_RAD 2
 
-	param set CBRK_AIRSPD_CHK 162128
+param set-default CBRK_AIRSPD_CHK 162128
 
-	param set GND_MAX_ANG 0.6
-	param set GND_WHEEL_BASE 3.0
-
-fi
+param set-default GND_MAX_ANG 0.6
+param set-default GND_WHEEL_BASE 3.0
 
 set MAV_TYPE 10
 

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

@@ -5,33 +5,48 @@
 
 . ${R}etc/init.d/rc.boat_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set GND_L1_DIST 5
-	param set GND_SP_CTRL_MODE 1
-	param set GND_SPEED_D 0.001
-	param set GND_SPEED_I 3
-	param set GND_SPEED_IMAX 0.125
-	param set GND_SPEED_P 0.25
-	param set GND_SPEED_THR_SC 1
-	param set GND_SPEED_TRIM 4
-	param set GND_THR_CRUISE 0.3
-	param set GND_THR_IDLE 0
-	param set GND_THR_MAX 0.5
-	param set GND_THR_MIN 0
+param set-default GND_L1_DIST 5
+param set-default GND_L1_PERIOD 100
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_SPEED_D 0.001
+param set-default GND_SPEED_I 8
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_P 2
+param set-default GND_SPEED_THR_SC 1
+param set-default GND_SPEED_TRIM 1
+param set-default GND_THR_CRUISE 0.85
+param set-default GND_THR_MAX 1
+param set-default GND_THR_MIN 0
 
-	param set MIS_LTRMIN_ALT 0.01
-	param set MIS_TAKEOFF_ALT 0.01
-	param set NAV_ACC_RAD 0.5
-	param set NAV_LOITER_RAD 2
+param set-default MIS_LTRMIN_ALT 0.01
+param set-default MIS_TAKEOFF_ALT 0.01
+param set-default NAV_ACC_RAD 0.5
+param set-default NAV_LOITER_RAD 2
 
-	param set CBRK_AIRSPD_CHK 162128
+param set-default CBRK_AIRSPD_CHK 162128
 
-	param set GND_MAX_ANG 0.6
-	param set GND_WHEEL_BASE 2.0
+param set-default GND_MAX_ANG 0.6
+param set-default GND_WHEEL_BASE 2.0
 
-fi
+param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 9
+
+param set-default CA_ROTOR_COUNT 2
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AZ 0
+param set-default CA_ROTOR0_KM 0
+param set-default CA_ROTOR0_PX -2
+param set-default CA_ROTOR0_PY -1
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AZ 0
+param set-default CA_ROTOR1_KM 0
+param set-default CA_ROTOR1_PX -2
+param set-default CA_ROTOR1_PY 1
+param set-default CA_R_REV 3
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
 
 set MAV_TYPE 11
 
-set MIXER_FILE etc/mixers-sitl/boat_sitl.main.mix
+set MIXER skip

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

@@ -12,53 +12,38 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	param set ASPD_STALL 10.0
+param set-default FW_AIRSPD_STALL 8
 
-	param set FW_P_RMAX_NEG 20.0
-	param set FW_P_RMAX_POS 60.0
-	param set FW_W_RMAX 10
-	param set FW_W_EN 1
+param set-default FW_P_RMAX_NEG 20.0
+param set-default FW_W_RMAX 10
+param set-default FW_W_EN 1
 
-	param set FW_PR_IMAX 0.4
-	param set FW_R_TC 0.4
-	param set FW_RR_FF 0.5
-	param set FW_RR_I 0.1
-	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.08
+param set-default FW_RR_P 0.08
 
-	param set MIS_LTRMIN_ALT 50
-	param set MIS_TAKEOFF_ALT 3
+param set-default MIS_LTRMIN_ALT 50
+param set-default MIS_TAKEOFF_ALT 3
 
-	param set NAV_ACC_RAD 20
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 100
+param set-default NAV_ACC_RAD 20
+param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 100
 
-	param set RWTO_TKOFF 1
-	param set MAV_BROADCAST 1
+param set-default RWTO_TKOFF 1
 
-	param set FW_ARSP_SCALE_EN 0
+param set-default FW_ARSP_SCALE_EN 0
 
-	param set FW_AIRSPD_MAX 35
-	param set FW_AIRSPD_MIN 7
-	param set FW_AIRSPD_TRIM 15
+param set-default FW_AIRSPD_MAX 35
+param set-default FW_AIRSPD_MIN 7
 
-	param set FW_P_LIM_MAX 25
-	param set FW_P_LIM_MIN -5
-	param set FW_R_LIM 30
+param set-default FW_P_LIM_MAX 25
+param set-default FW_P_LIM_MIN -5
+param set-default FW_R_LIM 30
 
-	param set FW_MAN_P_MAX 30.0
-	param set FW_MAN_R_MAX 30.0
-
-	param set FW_THR_CRUISE 0.8
-	param set FW_THR_IDLE 0
-	param set COM_DISARM_PRFLT 0
-
-fi
+param set-default FW_MAN_P_MAX 30.0
+param set-default FW_MAN_R_MAX 30.0
 
+param set-default FW_THR_CRUISE 0.8
+param set-default FW_THR_IDLE 0
+param set-default COM_DISARM_PRFLT 0
 
 set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
 set MIXER custom

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

@@ -11,5 +11,31 @@
 
 . ${R}etc/init.d/rc.airship_defaults
 
-set MIXER cloudship
-set PWM_OUT 1234
+param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 9
+
+param set-default CA_ROTOR_COUNT 3
+param set-default CA_ROTOR0_AX 1.0000
+param set-default CA_ROTOR0_AZ 0.0000
+param set-default CA_ROTOR0_KM 0.0000
+param set-default CA_ROTOR0_PY 2.0000
+param set-default CA_ROTOR1_AX 1.0000
+param set-default CA_ROTOR1_AZ 0.0000
+param set-default CA_ROTOR1_KM 0.0000
+param set-default CA_ROTOR1_PY -2.0000
+param set-default CA_ROTOR2_AY -1.0000
+param set-default CA_ROTOR2_AZ 0.0000
+param set-default CA_ROTOR2_KM 0.0000
+param set-default CA_ROTOR2_PX -10.0000
+
+param set-default CA_SV_CS_COUNT 1
+param set-default CA_SV_CS0_TRQ_P 1.0000
+
+param set-default CA_R_REV 7
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 201
+param set-default PWM_MAIN_FUNC4 103
+
+set MIXER skip

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

@@ -9,26 +9,20 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set MC_PITCHRATE_P 0.1
-	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCH_P 6.0
-	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.1
-	param set MC_ROLL_P 6.0
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_P_ACC 3
+param set-default MC_PITCHRATE_P 0.1
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCH_P 6.0
+param set-default MC_ROLLRATE_I 0.1
+param set-default MC_ROLL_P 6.0
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_P_ACC 3
 
-	param set RTL_DESCEND_ALT 10
-	param set RTL_LAND_DELAY 0
+param set-default RTL_DESCEND_ALT 10
 
-	param set TRIG_INTERFACE 3
-	param set TRIG_MODE 4
-	param set MNT_MODE_IN 4
-	param set MNT_DO_STAB 2
-	param set MAV_PROTO_VER 2
-fi
+param set-default TRIG_INTERFACE 3
+param set-default TRIG_MODE 4
+param set-default MNT_MODE_IN 4
+param set-default MNT_DO_STAB 2
 
 set MAV_TYPE 13
 

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

@@ -7,25 +7,24 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set MC_PITCHRATE_P 0.1
-	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCH_P 6.0
-	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.1
-	param set MC_ROLL_P 6.0
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_P_ACC 3
+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 RTL_DESCEND_ALT 10
-	param set RTL_LAND_DELAY 0
+param set-default RTL_DESCEND_ALT 10
 
-	param set TRIG_INTERFACE 3
-	param set TRIG_MODE 4
-	param set MNT_MODE_IN 0
-	param set MAV_PROTO_VER 2
-fi
+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 MAV_PROTO_VER 2
 
 set MAV_TYPE 13
 

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

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

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

@@ -0,0 +1,64 @@
+#!/bin/sh
+#
+# @name Typhoon H480 SITL
+#
+# @type Hexarotor x
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+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 MAV_TYPE 13
+
+set MIXER skip
+set MIXER_AUX none

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

@@ -0,0 +1,10 @@
+
+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
+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

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

@@ -33,6 +33,8 @@
 
 px4_add_romfs_files(
 	10016_iris
+	10017_iris_ctrlalloc
+	10018_iris_foggy_lidar
 	10020_if750a
 	10030_px4vision
 	1010_iris_opt_flow
@@ -44,8 +46,6 @@ px4_add_romfs_files(
 	1014_solo
 	1015_iris_obs_avoid
 	1015_iris_obs_avoid.post
-	1016_iris_rtps
-	1016_iris_rtps.post
 	1017_iris_opt_flow_mockup
 	1018_iris_vision_velocity
 	1019_iris_dual_gps
@@ -60,9 +60,13 @@ px4_add_romfs_files(
 	1034_rascal-electric
 	1035_techpod
 	1036_malolo
+	1037_believer
+	1038_glider
 	1040_standard_vtol
 	1041_tailsitter
 	1042_tiltrotor
+	1043_standard_vtol_drop
+	1043_standard_vtol_drop.post
 	1060_rover
 	1061_r1_rover
 	1062_tf-r1
@@ -73,4 +77,6 @@ px4_add_romfs_files(
 	2507_cloudship
 	6011_typhoon_h480
 	6011_typhoon_h480.post
+	6012_typhoon_h480_ctrlalloc
+	6012_typhoon_h480_ctrlalloc.post
 )

ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlink

@@ -0,0 +1,32 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+udp_offboard_port_local=$((14580+px4_instance))
+udp_offboard_port_remote=$((14540+px4_instance))
+[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
+udp_onboard_payload_port_local=$((14280+px4_instance))
+udp_onboard_payload_port_remote=$((14030+px4_instance))
+udp_onboard_gimbal_port_local=$((13030+px4_instance))
+udp_onboard_gimbal_port_remote=$((13280+px4_instance))
+udp_gcs_port_local=$((18570+px4_instance))
+
+# GCS link
+mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
+mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
+mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
+mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
+mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
+mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
+mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
+mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
+mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
+mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
+
+# API/Offboard link
+mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
+
+# Onboard link to camera
+mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
+
+# Onboard link to gimbal
+mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote

ROMFS/px4fmu_common/init.d-posix/px4-rc.params

@@ -0,0 +1,5 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+#param set-default MAV_SYS_ID $((px4_instance+1))
+#param set-default IMU_INTEG_RATE 250

ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator

@@ -0,0 +1,20 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+simulator_tcp_port=$((4560+px4_instance))
+
+# Check if PX4_SIM_HOSTNAME environment variable is empty
+# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
+# If both are empty use localhost for simulator
+if [ -z "${PX4_SIM_HOSTNAME}" ]; then
+  if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
+    echo "PX4 SIM HOST: localhost"
+    simulator start -c $simulator_tcp_port
+  else
+    echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
+    simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
+  fi
+else
+  echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
+  simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
+fi

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

@@ -10,7 +10,7 @@ fi
 
 if [ ! -f replay_params.txt ]; then
 	echo "Creating $(pwd)/replay_params.txt"
-	ulog_params -i "${replay}" -d ' ' | grep -e '^EKF2' > replay_params.txt
+	ulog_params -i "${replay}" -l ' ' | grep -e '^EKF2' > replay_params.txt
 fi
 
 publisher_rules_file="orb_publisher.rules"
@@ -20,8 +20,8 @@ module: replay
 ignore_others: false
 EOF
 
-uorb start
 param set SDLOG_DIRS_MAX 7
+param set SDLOG_PROFILE 3
 
 # apply all params before ekf starts, as some params cannot be changed after startup
 replay tryapplyparams

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -1,11 +1,14 @@
 #!/bin/sh
 
+set -e
+
 # PX4 commands need the 'px4-' prefix in bash.
 # (px4-alias.sh is expected to be in the PATH)
 # shellcheck disable=SC1091
 . px4-alias.sh
 
-SCRIPT_DIR="$(CDPATH='' cd -- "$(dirname -- "$0")" && pwd)"
+#search path for sourcing px4-rc.*
+PATH="$PATH:${R}etc/init.d-posix"
 
 #
 # Main SITL startup script
@@ -20,13 +23,13 @@ then
 fi
 
 # initialize script variables
-set AUX_MODE                    none
 set IO_PRESENT                  no
 set MAV_TYPE                    none
 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
@@ -43,17 +46,15 @@ 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 "$SCRIPT_DIR/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
+	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: Unknown model $PX4_SIM_MODEL (not found by name on $SCRIPT_DIR/airframes)"
+		echo "ERROR  [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
 		exit 1
 	else
-		echo "Info: found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
+		echo "INFO  [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
 	fi
 fi
 
-uorb start
-
 # Load parameters
 set PARAM_FILE eeprom/parameters_"$REQUESTED_AUTOSTART"
 param select $PARAM_FILE
@@ -98,67 +99,62 @@ then
 	set AUTOCNF yes
 
 	# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
-	param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT_UUID
+	param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
 fi
 
 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
-simulator_tcp_port=$((4560+px4_instance))
-udp_offboard_port_local=$((14580+px4_instance))
-udp_offboard_port_remote=$((14540+px4_instance))
-[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
-udp_onboard_payload_port_local=$((14280+px4_instance))
-udp_onboard_payload_port_remote=$((14030+px4_instance))
-udp_gcs_port_local=$((18570+px4_instance))
 
 if [ $AUTOCNF = yes ]
 then
 	param set SYS_AUTOSTART $REQUESTED_AUTOSTART
 
-	param set BAT_N_CELLS 4
-
-	param set CAL_ACC0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
-	param set CAL_ACC1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
-	param set CAL_ACC2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
+	param set CAL_ACC0_ID  1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
 	param set CAL_GYRO0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
+	param set CAL_ACC1_ID  1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
 	param set CAL_GYRO1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
+	param set CAL_ACC2_ID  1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
 	param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
+
 	param set CAL_MAG0_ID 197388
 	param set CAL_MAG1_ID 197644
 
-	param set CBRK_AIRSPD_CHK 0
-	param set CBRK_SUPPLY_CHK 894281
-
-	# Don't require RC calibration and configuration
-	param set COM_RC_IN_MODE 1
-
-	# Speedup SITL startup
-	param set EKF2_REQ_GPS_H 0.5
-
-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
-	param set EKF2_MULTI_MAG 2
-	param set SENS_MAG_MODE 0
-
-	# By default log from boot until first disarm.
-	param set SDLOG_MODE 1
-	# enable default, estimator replay and vision/avoidance logging profiles
-	param set SDLOG_PROFILE 131
-	param set SDLOG_DIRS_MAX 7
-	param set SENS_BOARD_ROT 0
 	param set SENS_BOARD_X_OFF 0.000001
 	param set SENS_DPRES_OFF 0.001
-	param set SYS_RESTART_TYPE 2
-
-	param set TRIG_INTERFACE 3
 fi
 
-param set COM_CPU_MAX -1 # disable check, no CPU load reported on posix yet
+param set-default BAT1_N_CELLS 4
 
-# Simulator IMU data provided at 250 Hz
-param set IMU_INTEG_RATE 250
+param set-default CBRK_AIRSPD_CHK 0
+param set-default CBRK_SUPPLY_CHK 894281
+
+# disable check, no CPU load reported on posix yet
+param set-default COM_CPU_MAX -1
+
+# Don't require RC calibration and configuration
+param set-default COM_RC_IN_MODE 1
+
+# Speedup SITL startup
+param set-default EKF2_REQ_GPS_H 0.5
+
+# Multi-EKF
+param set-default EKF2_MULTI_IMU 3
+param set-default SENS_IMU_MODE 0
+param set-default EKF2_MULTI_MAG 2
+param set-default SENS_MAG_MODE 0
+
+param set-default IMU_GYRO_FFT_EN 1
+
+param set-default -s MC_AT_EN 1
+
+# By default log from boot until first disarm.
+param set-default SDLOG_MODE 1
+# enable default, estimator replay and vision/avoidance logging profiles
+param set-default SDLOG_PROFILE 131
+param set-default SDLOG_DIRS_MAX 7
+
+param set-default TRIG_INTERFACE 3
 
 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
@@ -173,6 +169,10 @@ if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
 	COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
 	echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
 	param set COM_OF_LOSS_T $COM_OF_LOSS_T_LONGER
+
+	COM_OBC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 5.0" | bc)
+	echo "COM_OBC_LOSS_T set to $COM_OBC_LOSS_T_LONGER"
+	param set COM_OBC_LOSS_T $COM_OBC_LOSS_T_LONGER
 fi
 
 # Autostart ID
@@ -205,24 +205,36 @@ then
 	param set SYS_AUTOCONFIG 0
 fi
 
+# 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
 # only start the simulator if not in replay mode, as both control the lockstep time
 if ! replay tryapplyparams
 then
-	simulator start -c $simulator_tcp_port
+  . px4-rc.simulator
 fi
 load_mon start
 battery_simulator start
 tone_alarm start
 rc_update start
+manual_control start
 sensors start
 commander start
 navigator start
 
+# 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
-	vmount start
+	gimbal start
 fi
 
 if param greater -s TRIG_MODE 0
@@ -231,29 +243,24 @@ then
 	camera_feedback start
 fi
 
+if param compare -s IMU_GYRO_FFT_EN 1
+then
+	gyro_fft start
+fi
+
+if param compare -s IMU_GYRO_CAL_EN 1
+then
+	gyro_calibration start
+fi
+
 # Configure vehicle type specific parameters.
 # Note: rc.vehicle_setup is the entry point for rc.interface,
 #       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
 #
 . ${R}etc/init.d/rc.vehicle_setup
 
-# GCS link
-mavlink start -x -u $udp_gcs_port_local -r 4000000
-mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
-mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
-mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
-mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
-mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
-mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
-mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
-
-# API/Offboard link
-mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offboard_port_remote
-
-# Onboard link to camera
-mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
+#user defined mavlink streams for instances can be in PATH
+. px4-rc.mavlink
 
 # execute autostart post script if any
 [ -e "$autostart_file".post ] && . "$autostart_file".post

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -36,11 +36,12 @@ add_subdirectory(airframes)
 px4_add_romfs_files(
 	rc.airship_apps
 	rc.airship_defaults
+	rc.balloon_apps
+	rc.balloon_defaults
 	rc.boat_defaults
 	rc.fw_apps
 	rc.fw_defaults
 	rc.interface
-	rc.io
 	rc.logging
 	rc.mc_apps
 	rc.mc_defaults

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

@@ -13,39 +13,61 @@
 # @output MAIN6 gear
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
+# @board px4_fmu-v2 exclude
 #
 
 . ${R}etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set BAT_N_CELLS 3
+param set-default BAT1_N_CELLS 3
 
-	param set FW_AIRSPD_MAX 20
-	param set FW_AIRSPD_MIN 12
-	param set FW_AIRSPD_TRIM 14
-	param set FW_R_TC 0.3
-	param set FW_P_TC 0.3
-	param set FW_L1_DAMPING 0.74
-	param set FW_L1_PERIOD 16
-	param set FW_LND_ANG 15
-	param set FW_LND_FLALT 5
-	param set FW_LND_HHDIST 15
-	param set FW_LND_HVIRT 13
-	param set FW_LND_TLALT 5
-	param set FW_THR_LND_MAX 0
-	param set FW_PR_FF 0.35
-	param set FW_PR_I 0.1
-	param set FW_PR_IMAX 0.4
-	param set FW_PR_P 0.2
-	param set FW_RR_FF 0.6
-	param set FW_RR_I 0.1
-	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.3
+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_LND_HVIRT 13
+param set-default FW_LND_TLALT 5
+param set-default FW_THR_LND_MAX 0
+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 RWTO_TKOFF 1
-fi
+param set-default RWTO_TKOFF 1
+
+param set-default CA_AIRFRAME 1
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+param set-default CA_SV_CS_COUNT 4
+param set-default CA_SV_CS0_TRQ_R 0.5
+param set-default CA_SV_CS0_TYPE 2
+param set-default CA_SV_CS1_TRQ_P 1.0
+param set-default CA_SV_CS1_TYPE 3
+param set-default CA_SV_CS2_TRQ_Y 1.0
+param set-default CA_SV_CS2_TYPE 4
+param set-default CA_SV_CS3_TYPE 10
+
+param set-default HIL_ACT_REV 2
+param set-default HIL_ACT_FUNC1 201
+param set-default HIL_ACT_FUNC2 202
+param set-default HIL_ACT_FUNC3 203
+param set-default HIL_ACT_FUNC4 101
+param set-default HIL_ACT_FUNC5 204
+param set-default HIL_ACT_FUNC6 400
 
 param set SYS_HITL 1
 
+# disable some checks to allow to fly
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default COM_PREARM_MODE 0
+param set-default CBRK_IO_SAFETY 22027
+
 set MIXER AERT

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

@@ -20,28 +20,17 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set MC_ROLL_P 6.5
-	param set MC_ROLLRATE_P 0.1
-	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_D 0.0017
-	param set MC_PITCH_P 6.5
-	param set MC_PITCHRATE_P 0.14
-	param set MC_PITCHRATE_I 0.1
-	param set MC_PITCHRATE_D 0.0025
-	param set MC_YAW_P 2.8
-	param set MC_YAWRATE_P 0.28
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0
-fi
+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
-
-set PWM_OUT 1234

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

@@ -18,32 +18,23 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	# TODO tune roll/pitch separately
-	param set MC_ROLL_P 7
-	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_D 0.004
-	param set MC_PITCH_P 7
-	param set MC_PITCHRATE_P 0.15
-	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCHRATE_D 0.004
-	param set MC_YAW_P 2.5
-	param set MC_YAWRATE_P 0.25
-	param set MC_YAWRATE_I 0.25
-	param set MC_YAWRATE_D 0
+# 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 BAT_V_DIV 12.27559
-	param set BAT_A_PER_V 15.39103
-fi
+param set-default BAT1_V_DIV 12.27559
+param set-default BAT1_A_PER_V 15.391030303103
 
 set MIXER quad_w
-
-set PWM_OUT 1234

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

@@ -20,30 +20,20 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set BAT_N_CELLS 4
-
-	param set MC_ROLL_P 7
-	param set MC_ROLLRATE_P 0.13
-	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_D 0.004
-	param set MC_PITCH_P 7
-	param set MC_PITCHRATE_P 0.19
-	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCHRATE_D 0.004
-	param set MC_YAW_P 4
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0
-fi
+param set-default BAT1_N_CELLS 4
 
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_P 0.13
+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_P 0.19
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCHRATE_D 0.004
+param set-default MC_YAW_P 4
 set MIXER quad_w
-
-set PWM_OUT 1234

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

@@ -20,35 +20,24 @@
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set BAT_N_CELLS 6
-	param set BAT_V_EMPTY 3.5
+param set-default BAT1_N_CELLS 6
+param set-default BAT1_V_EMPTY 3.5
 
-	param set MC_ROLL_P 7
-	param set MC_ROLLRATE_P 0.08
-	param set MC_ROLLRATE_I 0.02
-	param set MC_ROLLRATE_D 0.003
-	param set MC_PITCH_P 7
-	param set MC_PITCHRATE_P 0.13
-	param set MC_PITCHRATE_I 0.02
-	param set MC_PITCHRATE_D 0.005
-	param set MC_YAW_P 2.8
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0
+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 MPC_XY_VEL_MAX 2
+param set-default MPC_XY_VEL_MAX 2
 
-	param set PWM_MIN 1080
-fi
+param set-default PWM_MAIN_MIN 1080
 
 set MIXER quad_w
-
-set PWM_OUT 1234

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

@@ -6,11 +6,37 @@
 # @class Copter
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
+# @board px4_fmu-v2 exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
-set PWM_OUT 1234
 
 param set SYS_HITL 1
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.15
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default HIL_ACT_FUNC1 101
+param set-default HIL_ACT_FUNC2 102
+param set-default HIL_ACT_FUNC3 103
+param set-default HIL_ACT_FUNC4 104
+
+# disable some checks to allow to fly
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default COM_PREARM_MODE 0
+param set-default CBRK_IO_SAFETY 22027

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

@@ -8,67 +8,102 @@
 # @maintainer Roman Bapst <roman@auterion.com>
 #
 # @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set BAT_N_CELLS 3
 
-	param set COM_RC_IN_MODE 1
+param set-default BAT1_N_CELLS 3
 
-	param set EKF2_AID_MASK 1
-	param set EKF2_ANGERR_INIT 0.01
-	param set EKF2_GBIAS_INIT 0.01
-	param set EKF2_HGT_MODE 0
-	param set EKF2_MAG_TYPE 1
+param set-default COM_RC_IN_MODE 1
 
-	param set FW_AIRSPD_MAX 25
-	param set FW_AIRSPD_MIN 14
-	param set FW_AIRSPD_TRIM 16
+param set-default EKF2_ANGERR_INIT 0.01
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_MAG_TYPE 1
 
-	param set MC_PITCH_P 6
-	param set MC_PITCHRATE_P 0.2
-	param set MC_ROLL_P 6
-	param set MC_ROLLRATE_P 0.3
-	param set MIS_LTRMIN_ALT 10
-	param set MIS_TAKEOFF_ALT 10
-	param set MIS_YAW_TMT 10
+param set-default FW_AIRSPD_MAX 25
+param set-default FW_AIRSPD_MIN 14
+param set-default FW_AIRSPD_TRIM 16
 
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_THR_MIN 0.1
-	param set MPC_TKO_SPEED 1
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_D_ACC 0.1
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_P_ACC 3
-	param set MPC_Z_VEL_P_ACC 12
-	param set MPC_Z_VEL_I_ACC 3
-	param set MPC_Z_VEL_MAX_DN 1.5
+param set-default MC_PITCH_P 6
+param set-default MC_PITCHRATE_P 0.2
+param set-default MC_ROLL_P 6
+param set-default MC_ROLLRATE_P 0.3
+param set-default MIS_LTRMIN_ALT 10
+param set-default MIS_TAKEOFF_ALT 10
+param set-default MIS_YAW_TMT 10
 
-	param set NAV_ACC_RAD 5
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 80
+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
+param set-default MPC_XY_VEL_P_ACC 3
+param set-default MPC_Z_VEL_P_ACC 12
+param set-default MPC_Z_VEL_I_ACC 3
+param set-default MPC_Z_VEL_MAX_DN 1.5
 
-	param set RTL_DESCEND_ALT 10
-	param set RTL_LAND_DELAY 0
-	param set RTL_RETURN_ALT 30
+param set-default NAV_ACC_RAD 5
+param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 80
 
-	param set SDLOG_DIRS_MAX 7
-	param set SYS_RESTART_TYPE 2
+param set-default RTL_DESCEND_ALT 10
+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
+param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.15
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_KM -0.05
+param set-default CA_ROTOR4_AX 1.0
+param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_PX 0.2
+
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+
+param set-default HIL_ACT_FUNC1 101
+param set-default HIL_ACT_FUNC2 102
+param set-default HIL_ACT_FUNC3 103
+param set-default HIL_ACT_FUNC4 104
+param set-default HIL_ACT_FUNC5 105
+param set-default HIL_ACT_FUNC6 201
+param set-default HIL_ACT_FUNC7 202
+param set-default HIL_ACT_FUNC8 203
 
-	param set VT_F_TRANS_THR 0.75
-	param set VT_MOT_ID 1234
-	param set VT_FW_MOT_OFFID 1234
-	param set VT_TYPE 2
-fi
 
 param set SYS_HITL 1
 
+# disable some checks to allow to fly
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default COM_PREARM_MODE 0
+param set-default CBRK_IO_SAFETY 22027
+
 set MAV_TYPE 22
 
 set MIXER standard_vtol_hitl

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

@@ -18,8 +18,8 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
-# @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v2 exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults

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

@@ -7,11 +7,43 @@
 #
 # @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
 #
+# @board px4_fmu-v2 exclude
+#
 
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
 set PWM_OUT 1234
 
+param set UAVCAN_ENABLE 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.15
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default HIL_ACT_FUNC1 101
+param set-default HIL_ACT_FUNC2 102
+param set-default HIL_ACT_FUNC3 103
+param set-default HIL_ACT_FUNC4 104
+
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2
+
+# disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default COM_PREARM_MODE 0
+param set-default CBRK_IO_SAFETY 22027
+
+param set SIH_VEHICLE_TYPE 0