Add a simple commandline tool

This commandline tool will start to capture more and more aspects of the build and deploy process and become a very similar tool compared to ADB

.ci/Jenkinsfile-compile

@@ -37,8 +37,10 @@ pipeline {
           def nuttx_builds_archive = [
             target: [
                      "airmind_mindpx-v2_default",
+                     "ark_can-flow_default",
                      "av_x-v1_default",
                      "bitcraze_crazyflie_default",
+                     "bitcraze_crazyflie21_default",
                      "cuav_can-gps-v1_canbootloader",
                      "cuav_can-gps-v1_default",
                      "cuav_nora_default",
@@ -57,8 +59,9 @@ pipeline {
                      "mro_x21-777_default",
                      "mro_x21_default",
                      "nxp_fmuk66-v3_default",
-                     "nxp_fmuk66-v3_socketcan",
                      "nxp_fmuk66-v3_rtps",
+                     "nxp_fmuk66-v3_socketcan",
+                     "nxp_fmuk66-e_default",
                      "nxp_fmurt1062-v1_default",
                      "nxp_ucans32k146_default",
                      "omnibus_f4sd_default",
@@ -68,13 +71,16 @@ pipeline {
                      "px4_fmu-v2_multicopter",
                      "px4_fmu-v2_rover",
                      "px4_fmu-v2_test",
+                     "px4_fmu-v3_ctrlalloc",
                      "px4_fmu-v3_default",
                      "px4_fmu-v4_cannode",
+                     "px4_fmu-v4_ctrlalloc",
                      "px4_fmu-v4_default",
                      "px4_fmu-v4_optimized",
                      "px4_fmu-v4pro_default",
-                     "px4_fmu-v5_default",
+                     "px4_fmu-v5_ctrlalloc",
                      "px4_fmu-v5_debug",
+                     "px4_fmu-v5_default",
                      "px4_fmu-v5_fixedwing",
                      "px4_fmu-v5_multicopter",
                      "px4_fmu-v5_optimized",

.ci/Jenkinsfile-hardware

@@ -7,6 +7,157 @@ pipeline {
 
       parallel {
 
+        stage("cubepilot_cubeorange_console") {
+          stages {
+            stage("build cubepilot_cubeorange_console") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                sh 'export'
+                sh 'make distclean'
+                sh 'ccache -s'
+                sh 'git fetch --tags'
+                sh 'make cubepilot_cubeorange_console'
+                sh 'make sizes'
+                sh 'ccache -s'
+                stash includes: 'build/cubepilot_cubeorange_console/cubepilot_cubeorange_console.elf', name: 'cubepilot_cubeorange_console'
+              }
+              post {
+                always {
+                    sh 'make distclean'
+                }
+              }
+            } // stage build
+            stage("test") {
+              agent {
+                label 'cubepilot_cubeorange'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'cubepilot_cubeorange_console'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_console/cubepilot_cubeorange_console.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                  }
+                }
+                stage("configure") {
+                  steps {
+                    // configure
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/cubepilot_io-v2_default.bin" || true' // force px4io update
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
+                  }
+                }
+                stage("status") {
+                  steps {
+                    statusFTDI()
+                  }
+                }
+                stage("tests") {
+                  steps {
+                    // run tests
+                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
+                  }
+                }
+                stage("reset") {
+                  steps {
+                    cleanupFTDI();
+                  }
+                }
+              }
+              options {
+                timeout(time: 90, unit: 'MINUTES')
+              }
+            } // stage test
+          }
+        }
+
+        stage("cuav_x7pro_default") {
+          stages {
+            stage("build cuav_x7pro_default") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                sh 'export'
+                sh 'make distclean'
+                sh 'ccache -s'
+                sh 'git fetch --tags'
+                sh 'make cuav_x7pro_default'
+                sh 'make sizes'
+                sh 'ccache -s'
+                stash includes: 'build/cuav_x7pro_default/cuav_x7pro_default.elf', name: 'cuav_x7pro_default'
+              }
+              post {
+                always {
+                    sh 'make distclean'
+                }
+              }
+            } // stage build
+            stage("test") {
+              agent {
+                label 'cuav_x7pro'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'cuav_x7pro_default'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_default/cuav_x7pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                  }
+                }
+                stage("configure") {
+                  steps {
+                    // configure
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
+                  }
+                }
+                stage("status") {
+                  steps {
+                    statusFTDI()
+                  }
+                }
+                stage("tests") {
+                  steps {
+                    // run tests
+                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
+                  }
+                }
+                stage("reset") {
+                  steps {
+                    cleanupFTDI();
+                  }
+                }
+              }
+              options {
+                timeout(time: 90, unit: 'MINUTES')
+              }
+            } // stage test
+          }
+        }
+
         // stage("px4_fmu-v2_test") {
         //   stages {
         //     stage("build px4_fmu-v2_test") {
@@ -43,7 +194,7 @@ pipeline {
         //             sh 'find /dev/serial'
         //             unstash 'px4_fmu-v2_test'
         //             // flash board and watch bootup
-        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
         //           }
         //         }
         //         stage("reset") {
@@ -95,18 +246,18 @@ pipeline {
                     sh 'find /dev/serial'
                     unstash 'px4_fmu-v3_default'
                     // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_default/px4_fmu-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_default/px4_fmu-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
                   steps {
                     // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                   }
                 }
                 stage("status") {
@@ -117,7 +268,7 @@ pipeline {
                 stage("tests") {
                   steps {
                     // run tests
-                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
+                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
                   }
                 }
                 stage("reset") {
@@ -169,17 +320,17 @@ pipeline {
                     sh 'find /dev/serial'
                     unstash 'px4_fmu-v4_default'
                     // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_default/px4_fmu-v4_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_default/px4_fmu-v4_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
                   steps {
                     // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                   }
                 }
                 stage("status") {
@@ -190,7 +341,7 @@ pipeline {
                 stage("tests") {
                   steps {
                     // run tests
-                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
+                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
                   }
                 }
                 stage("reset") {
@@ -242,18 +393,18 @@ pipeline {
                     sh 'find /dev/serial'
                     unstash 'px4_fmu-v4pro_default'
                     // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
                   steps {
                     // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                   }
                 }
                 stage("status") {
@@ -264,7 +415,7 @@ pipeline {
                 stage("tests") {
                   steps {
                     // run tests
-                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
+                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
                   }
                 }
                 stage("reset") {
@@ -316,19 +467,19 @@ pipeline {
                     sh 'find /dev/serial'
                     unstash 'px4_fmu-v5_default'
                     // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_default/px4_fmu-v5_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_default/px4_fmu-v5_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
                   steps {
                     // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                   }
                 }
                 stage("status") {
@@ -339,7 +490,7 @@ pipeline {
                 stage("tests") {
                   steps {
                     // run tests
-                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
+                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
                   }
                 }
                 stage("reset") {
@@ -389,23 +540,23 @@ pipeline {
                   steps {
                     sh 'export'
                     sh 'find /dev/serial'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic multicopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 250" || true'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
                     unstash 'px4_fmu-v5_debug'
                     // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
                   steps {
                     // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'   // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'   // generic multicopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                 // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'   // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'   // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                 // reboot to apply
                   }
                 }
                 stage("status") {
@@ -416,7 +567,7 @@ pipeline {
                 stage("tests") {
                   steps {
                     // run tests
-                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
+                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
                   }
                 }
                 stage("reset") {
@@ -468,17 +619,17 @@ pipeline {
                     sh 'find /dev/serial'
                     unstash 'px4_fmu-v5_optimized'
                     // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_optimized/px4_fmu-v5_optimized.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_optimized/px4_fmu-v5_optimized.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
                   steps {
                     // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                   }
                 }
                 stage("status") {
@@ -489,7 +640,7 @@ pipeline {
                 stage("tests") {
                   steps {
                     // run tests
-                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
+                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
                   }
                 }
                 stage("reset") {
@@ -539,23 +690,23 @@ pipeline {
                   steps {
                     sh 'export'
                     sh 'find /dev/serial'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic multicopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 250" || true'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
                     unstash 'px4_fmu-v5_stackcheck'
                     // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
                   steps {
                     // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'   // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set MAV_0_CONFIG 0"'       // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'   // generic multicopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                 // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'   // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0"'       // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'   // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                 // reboot to apply
                   }
                 }
                 stage("status") {
@@ -566,7 +717,7 @@ pipeline {
                 stage("tests") {
                   steps {
                     // run tests
-                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
+                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
                   }
                 }
                 stage("reset") {
@@ -618,33 +769,33 @@ pipeline {
                     sh 'find /dev/serial'
                     unstash 'modalai_fc-v1_default'
                     // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_default/modalai_fc-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-SEGGER_*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_default/modalai_fc-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
                   steps {
                     // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SYS_AUTOSTART 4001"'  // generic vtol standardulticopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "reboot" || true'                // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'  // generic vtol standardulticopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                   }
                 }
                 stage("status") {
                   steps {
-                    statusSEGGER()
+                    statusFTDI()
                   }
                 }
                 stage("tests") {
                   steps {
                     // run tests
-                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-SEGGER_*`'
+                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
                   }
                 }
                 stage("reset") {
                   steps {
-                    cleanupSEGGER()
+                    cleanupFTDI()
                   }
                 }
               }
@@ -691,34 +842,34 @@ pipeline {
                     sh 'find /dev/serial'
                     unstash 'holybro_durandal-v1_default'
                     // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
                   steps {
                     // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set DSHOT_CONFIG 600"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 4000"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_USE_IO 0"'          // for dshot
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                  // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set DSHOT_CONFIG 600"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 4000"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_USE_IO 0"'          // for dshot
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
                   }
                 }
                 stage("status") {
                   steps {
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dshot status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dshot status"'
                     statusFTDI()
                   }
                 }
                 stage("tests") {
                   steps {
                     // run tests
-                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
+                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
                   }
                 }
                 stage("reset") {
@@ -770,17 +921,17 @@ pipeline {
                     sh 'find /dev/serial'
                     unstash 'nxp_fmuk66-v3_default'
                     // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
                   steps {
                     // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                   }
                 }
                 stage("status") {
@@ -791,7 +942,7 @@ pipeline {
                 stage("tests") {
                   steps {
                     // run tests
-                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*` || true' // allow failure due to intermittent serial console issues
+                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*` || true' // allow failure due to intermittent serial console issues
                   }
                 }
                 stage("reset") {
@@ -822,220 +973,111 @@ pipeline {
 
 void statusFTDI() {
   // run logger
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger on"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
   // status commands
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "free"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "work_queue status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "board_adc test"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander check"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander calibrate accel quick; sleep 2; param show CAL_ACC*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander calibrate gyro; sleep 2; param show CAL_GYRO*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander calibrate level; sleep 2; param show SENS_BOARD*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander calibrate mag quick; sleep 2; param show CAL_MAG*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "df"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dmesg"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "gps status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener adc_report"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener battery_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener cpuload"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_attitude"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_local_position"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_selector_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_sensor_bias"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_status_flags"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener logger_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel_fifo"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_baro"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_combined"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_gyro"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_gyro_fifo"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_mag"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensors_status_imu"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener px4io_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener system_power"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_air_data"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_angular_acceleration"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_angular_velocity"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_attitude"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_imu"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_imu_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_local_position"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_magnetometer"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /dev"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /etc"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /obj"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /proc"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "cat /proc/meminfo"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "cat /proc/uptime"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status streams"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mount"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param show"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "perf latency"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "perf"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ps"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "pwm info -d /dev/pwm_output0"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "pwm info -d /dev/pwm_output1"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "pwm_out status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sd_bench -r 2"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sensors status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener cpuload; top once; listener cpuload"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "uorb status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "uorb top -1 -a"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ver all"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "work_queue status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ekf2 status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "free"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "board_adc test"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander check"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick; sleep 2; param show CAL_ACC*"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro; sleep 2; param show CAL_GYRO*"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level; sleep 2; param show SENS_BOARD*"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick; sleep 2; param show CAL_MAG*"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dmesg"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_local_position"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_selector_status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_sensor_bias"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status_flags"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener logger_status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener px4io_status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_magnetometer"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/meminfo"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/uptime"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ps"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output0"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output1"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm_out status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -r 2"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload; top once; listener cpuload"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
   // stop logger
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger off"'
-}
-
-void statusSEGGER() {
-  // run logger
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger on"'
-  // status commands
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "free"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "work_queue status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "board_adc test"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander check"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander calibrate accel quick; sleep 2; param show CAL_ACC*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander calibrate gyro; sleep 2; param show CAL_GYRO*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander calibrate level; sleep 2; param show SENS_BOARD*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander calibrate mag quick; sleep 2; param show CAL_MAG*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dataman status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "df -h"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dmesg"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "gps status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener adc_report"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener battery_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener cpuload"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_attitude"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_local_position"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_selector_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_sensor_bias"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_status_flags"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener logger_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_accel"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_accel_fifo"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_baro"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_combined"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_gyro"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_gyro_fifo"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_mag"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensors_status_imu"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener px4io_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener system_power"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_air_data"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_angular_acceleration"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_angular_velocity"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_attitude"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_imu"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_imu_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_local_position"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_magnetometer"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ls /"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ls /dev"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ls /etc"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ls /obj"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ls /proc"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "cat /proc/meminfo"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "cat /proc/uptime"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink status streams"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mount"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mtd status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param show"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "perf latency"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "perf"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ps"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "pwm info -d /dev/pwm_output0"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "pwm info -d /dev/pwm_output1"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "pwm_out status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "px4io status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "sd_bench -r 2"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "sensors status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener cpuload; top once; listener cpuload"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "uorb status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "uorb top -1 -a"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ver all"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "work_queue status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ekf2 status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "free"'
-  // stop logger
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger off"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
 }
 
 void cleanupFTDI() {
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander stop"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink stop-all"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "navigator stop"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman stop"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger off"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander stop"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink stop-all"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "navigator stop"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman stop"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
 
   // wipe sdcard
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "umount /fs/microsd"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mkfatfs /dev/mmcsd0"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "umount /fs/microsd"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mkfatfs /dev/mmcsd0"'
 
   // drop any uncommited hardfaults
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "hardfault_log rearm"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "hardfault_log reset"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "hardfault_log rearm"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "hardfault_log reset"'
 
   // erase mtd
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd readtest"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd rwtest"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd erase"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
 
   // disable buzzer and cleanup storage
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param reset_all"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SDLOG_DIRS_MAX 1"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param reset_all"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_DIRS_MAX 1"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
 
   // reboot
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'
-}
-
-void cleanupSEGGER() {
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander stop"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink stop-all"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "navigator stop"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dataman stop"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger off"'
-
-  // wipe sdcard
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "umount /fs/microsd"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mkfatfs /dev/mmcsd0"'
-
-  // drop any uncommited hardfaults
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "hardfault_log rearm"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "hardfault_log reset"'
-
-  // erase mtd
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mtd readtest"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mtd rwtest"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mtd erase"'
-
-  // disable buzzer and cleanup storage
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param reset_all"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set CBRK_BUZZER 782097"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SDLOG_DIRS_MAX 1"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param save"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param status"'
-
-  // reboot
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "reboot" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
 }

.github/workflows/checks.yml

@@ -17,6 +17,7 @@ jobs:
         check: [
           "check_format",
           "tests",
+          "tests_coverage",
           "px4_fmu-v2_default stack_check",
           "validate_module_configs",
           "shellcheck_all",
@@ -61,3 +62,10 @@ jobs:
           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/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

.github/workflows/compile_nuttx.yml

@@ -16,8 +16,11 @@ jobs:
       matrix:
         config: [
           airmind_mindpx-v2_default,
+          ark_can-flow_canbootloader,
+          ark_can-flow_default,
           av_x-v1_default,
           bitcraze_crazyflie_default,
+          bitcraze_crazyflie21_default,
           cuav_can-gps-v1_canbootloader,
           cuav_can-gps-v1_default,
           cuav_nora_default,
@@ -35,10 +38,10 @@ jobs:
           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_default,
           nxp_fmuk66-v3_rtps,
+          nxp_fmuk66-v3_socketcan,
           nxp_fmurt1062-v1_default,
           nxp_ucans32k146_default,
           omnibus_f4sd_default,
@@ -48,11 +51,14 @@ jobs:
           px4_fmu-v2_multicopter,
           px4_fmu-v2_rover,
           px4_fmu-v2_test,
+          px4_fmu-v3_ctrlalloc,
           px4_fmu-v3_default,
           px4_fmu-v4_cannode,
+          px4_fmu-v4_ctrlalloc,
           px4_fmu-v4_default,
           px4_fmu-v4_optimized,
           px4_fmu-v4pro_default,
+          px4_fmu-v5_ctrlalloc,
           px4_fmu-v5_default,
           px4_fmu-v5_fixedwing,
           px4_fmu-v5_multicopter,

.github/workflows/compile_nuttx_cannode.yml

@@ -0,0 +1,60 @@
+name: NuttX UAVCAN firmware
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-nuttx-focal:2020-11-18
+    strategy:
+      matrix:
+        config: [
+          ark_can-flow_default,
+          cuav_can-gps-v1_default,
+          #nxp_ucans32k146_default,
+          px4_fmu-v4_cannode
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+
+    - name: ccache post-run
+      run: ccache -s
+
+    - name: Upload px4 package
+      uses: actions/upload-artifact@v2
+      with:
+        name: px4_cannode_${{matrix.config}}
+        path: build/${{matrix.config}}/*.uavcan.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/mavros_mission_tests.yml

@@ -17,12 +17,12 @@ 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

.github/workflows/metadata.yml

@@ -23,7 +23,7 @@ jobs:
         make airframe_metadata
         cd build/px4_sitl_default/docs
         ls -ls *
-      # TODO: deploy to devguide gitbook and s3
+      # TODO: deploy to userguide gitbook and s3
 
   module:
     runs-on: ubuntu-latest
@@ -38,7 +38,7 @@ 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

.gitignore

@@ -101,8 +101,6 @@ 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

.gitmodules

@@ -4,7 +4,7 @@
 	branch = master
 [submodule "src/drivers/uavcan/libuavcan"]
 	path = src/drivers/uavcan/libuavcan
-	url = https://github.com/PX4/uavcan.git
+	url = https://github.com/PX4/libuavcan.git
 	branch = px4
 [submodule "Tools/jMAVSim"]
 	path = Tools/jMAVSim
@@ -16,11 +16,11 @@
 	branch = master
 [submodule "src/lib/matrix"]
 	path = src/lib/matrix
-	url = https://github.com/PX4/PX4-Matrix
+	url = https://github.com/PX4/PX4-Matrix.git
 	branch = master
 [submodule "src/lib/ecl"]
 	path = src/lib/ecl
-	url = https://github.com/PX4/PX4-ECL
+	url = https://github.com/PX4/PX4-ECL.git
 	branch = master
 [submodule "boards/atlflight/cmake_hexagon"]
 	path = boards/atlflight/cmake_hexagon
@@ -28,11 +28,11 @@
 	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
+	url = https://github.com/PX4/Micro-CDR.git
 	branch = px4
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx

.vscode/cmake-variants.yaml

@@ -6,6 +6,16 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_default
+    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
@@ -56,16 +66,36 @@ CONFIG:
       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
     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

.vscode/settings.json

@@ -128,7 +128,6 @@
                 "${workspaceFolder}/build": true
         },
         "search.showLineNumbers": true,
-        "search.smartCase": true,
         "telemetry.enableTelemetry": false,
         "terminal.integrated.copyOnSelection": true,
         "terminal.integrated.rightClickBehavior": "paste",

Jenkinsfile

@@ -172,36 +172,6 @@ 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' }

Makefile

@@ -271,6 +271,7 @@ misc_qgc_extra_firmware: \
 	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
@@ -361,8 +362,10 @@ 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

README.md

@@ -108,4 +108,4 @@ 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/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc

@@ -0,0 +1,52 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL
+#
+# @type Quadrotor Wide
+#
+# @maintainer Julian Oes <julian@oes.ch>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.ctrlalloc
+
+if [ $AUTOCNF = yes ]
+then
+	param set MPC_USE_HTE 0
+
+	param set VM_MASS 1.5
+	param set VM_INERTIA_XX 0.03
+	param set VM_INERTIA_YY 0.03
+	param set VM_INERTIA_ZZ 0.05
+
+	param set CA_AIRFRAME 0
+	param set CA_METHOD 1
+	param set CA_ACT0_MIN 0.0
+	param set CA_ACT1_MIN 0.0
+	param set CA_ACT2_MIN 0.0
+	param set CA_ACT3_MIN 0.0
+	param set CA_ACT0_MAX 1.0
+	param set CA_ACT1_MAX 1.0
+	param set CA_ACT2_MAX 1.0
+	param set CA_ACT3_MAX 1.0
+
+	param set CA_MC_R0_PX 0.1515
+	param set CA_MC_R0_PY 0.245
+	param set CA_MC_R0_CT 6.5
+	param set CA_MC_R0_KM 0.05
+	param set CA_MC_R1_PX -0.1515
+	param set CA_MC_R1_PY -0.1875
+	param set CA_MC_R1_CT 6.5
+	param set CA_MC_R1_KM 0.05
+	param set CA_MC_R2_PX 0.1515
+	param set CA_MC_R2_PY -0.245
+	param set CA_MC_R2_CT 6.5
+	param set CA_MC_R2_KM -0.05
+	param set CA_MC_R3_PX -0.1515
+	param set CA_MC_R3_PY 0.1875
+	param set CA_MC_R3_CT 6.5
+	param set CA_MC_R3_KM -0.05
+
+fi
+
+set MIXER direct

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

@@ -16,20 +16,31 @@ then
 	param set FW_LND_ANG 8
 	param set FW_THR_LND_MAX 0
 
-	param set 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 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 FW_L1_PERIOD 12
 
+	param set FW_MAN_P_MAX 30
+
+	param set FW_PR_I 0.4
+	param set FW_PR_P 0.9
+	param set FW_PR_FF 0.2
+	param set FW_PSP_OFF 2
+	param set FW_P_LIM_MAX 32
+	param set FW_P_LIM_MIN -15
+
+	param set FW_RR_FF 0.1
+	param set FW_RR_P 0.3
+
+	param set FW_THR_MAX 0.6
+	param set FW_THR_MIN 0.05
+	param set FW_THR_CRUISE 0.25
+
+	param set FW_T_ALT_TC 2
+	param set FW_T_CLMB_MAX 8
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MIN 2.2
+	param set FW_T_TAS_TC 2
+
 	param set FW_W_EN 1
 
 	param set MIS_LTRMIN_ALT 30

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

@@ -9,40 +9,46 @@
 
 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 FW_MAN_P_MAX 30
+	param set FW_PR_FF 0.2
+	param set FW_PR_I 0.4
+	param set FW_PR_P 0.9
+	param set FW_PSP_OFF 2
+	param set FW_P_LIM_MAX 32
+	param set FW_P_LIM_MIN -15
 	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.01
+	param set FW_RR_P 0.3
+	param set FW_THR_CRUISE 0.25
+	param set FW_THR_MAX 0.6
+	param set FW_THR_MIN 0.05
+	param set FW_T_ALT_TC 2
+	param set FW_T_CLMB_MAX 8
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MIN 2.2
+	param set FW_T_TAS_TC 2
 
 	param set MC_ROLLRATE_P 0.3
+	param set MC_YAW_P 1.6
 
-	param set MIS_LTRMIN_ALT 10
 	param set MIS_TAKEOFF_ALT 10
-	param set MIS_YAW_TMT 10
 
 	param set MPC_ACC_HOR_MAX 2
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_THR_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 NAV_ACC_RAD 5
 	param set NAV_LOITER_RAD 80
 
-	param set VT_F_TRANS_DUR 5
+	param set VT_FWD_THRUST_EN 4
 	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 VT_TYPE 2
 
 fi
 

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

@@ -9,23 +9,31 @@
 
 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 FW_MAN_P_MAX 30
+	param set FW_PR_I 0.2
+	param set FW_PR_P 0.3
+	param set FW_PSP_OFF 2
+	param set FW_P_LIM_MAX 32
+	param set FW_P_LIM_MIN -15
+	param set FW_RR_P 0.3
+	param set FW_THR_CRUISE 0.33
+	param set FW_THR_MAX 0.6
+	param set FW_THR_MIN 0.05
+	param set FW_T_ALT_TC 2
+	param set FW_T_CLMB_MAX 8
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MIN 2.2
+	param set FW_T_TAS_TC 2
 
 	param set MC_ROLLRATE_P 0.3
 
-	param set MIS_YAW_TMT 10
-
 	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_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_XY_VEL_P_ACC 1
-	param set MPC_Z_VEL_MAX_DN 1.5
-	param set MPC_Z_VEL_P_ACC 16
 
 	param set NAV_ACC_RAD 5
 	param set NAV_LOITER_RAD 80

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

@@ -14,9 +14,20 @@ then
 	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_PSP_OFF 2
+	param set FW_P_LIM_MAX 32
+	param set FW_P_LIM_MIN -15
 	param set FW_RR_FF 0.1
 	param set FW_RR_P 0.3
+	param set FW_THR_CRUISE 0.38
+	param set FW_THR_MAX 0.6
+	param set FW_THR_MIN 0.05
+	param set FW_T_ALT_TC 2
+	param set FW_T_CLMB_MAX 8
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MIN 2.2
+	param set FW_T_TAS_TC 2
 
 	param set MC_YAW_P 1.6
 
@@ -28,10 +39,10 @@ then
 	param set MPC_XY_VEL_I_ACC 4
 	param set MPC_XY_VEL_D_ACC 0.1
 
-	param set NAV_LOITER_RAD 100
+	param set NAV_ACC_RAD 5
+	param set NAV_LOITER_RAD 80
 
 	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

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

@@ -21,7 +21,6 @@ then
 	param set MPC_XY_VEL_P_ACC 3
 
 	param set RTL_DESCEND_ALT 10
-	param set RTL_LAND_DELAY 0
 
 	param set TRIG_INTERFACE 3
 	param set TRIG_MODE 4

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

@@ -9,17 +9,18 @@
 
 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 MC_PITCHRATE_P 0.1000
+	param set MC_PITCHRATE_I 0.0400
+	param set MC_PITCHRATE_D 0.0010
+	param set MC_PITCH_P 9.0
+	param set MC_ROLLRATE_P 0.1000
+	param set MC_ROLLRATE_I 0.0400
+	param set MC_ROLLRATE_D 0.0010
+	param set MC_ROLL_P 9.0
 	param set MPC_XY_VEL_I_ACC 4
 	param set MPC_XY_VEL_P_ACC 3
 
 	param set RTL_DESCEND_ALT 10
-	param set RTL_LAND_DELAY 0
 
 	param set TRIG_INTERFACE 3
 	param set TRIG_MODE 4

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

@@ -0,0 +1,75 @@
+#!/bin/sh
+#
+# @name Typhoon H480 SITL
+#
+# @type Hexarotor x
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.ctrlalloc
+
+if [ $AUTOCNF = yes ]
+then
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_P_ACC 3
+
+	param set RTL_DESCEND_ALT 10
+	param set RTL_LAND_DELAY 0
+
+	param set TRIG_INTERFACE 3
+	param set TRIG_MODE 4
+	param set MNT_MODE_IN 0
+	param set MAV_PROTO_VER 2
+
+	param set MPC_USE_HTE 0
+
+	param set VM_MASS 2.66
+	param set VM_INERTIA_XX 0.06
+	param set VM_INERTIA_YY 0.06
+	param set VM_INERTIA_ZZ 0.10
+
+	param set CA_AIRFRAME 0
+	param set CA_METHOD 1
+	param set CA_ACT0_MIN 0.0
+	param set CA_ACT1_MIN 0.0
+	param set CA_ACT2_MIN 0.0
+	param set CA_ACT3_MIN 0.0
+	param set CA_ACT4_MIN 0.0
+	param set CA_ACT5_MIN 0.0
+	param set CA_ACT0_MAX 1.0
+	param set CA_ACT1_MAX 1.0
+	param set CA_ACT2_MAX 1.0
+	param set CA_ACT3_MAX 1.0
+	param set CA_ACT4_MAX 1.0
+	param set CA_ACT5_MAX 1.0
+
+	param set CA_MC_R0_PX 0.0
+	param set CA_MC_R0_PY 1.0
+	param set CA_MC_R0_CT 9.5
+	param set CA_MC_R0_KM -0.05
+	param set CA_MC_R1_PX 0.0
+	param set CA_MC_R1_PY -1.0
+	param set CA_MC_R1_CT 9.5
+	param set CA_MC_R1_KM 0.05
+	param set CA_MC_R2_PX 0.866025
+	param set CA_MC_R2_PY -0.5
+	param set CA_MC_R2_CT 9.5
+	param set CA_MC_R2_KM -0.05
+	param set CA_MC_R3_PX -0.866025
+	param set CA_MC_R3_PY 0.5
+	param set CA_MC_R3_CT 9.5
+	param set CA_MC_R3_KM 0.05
+	param set CA_MC_R4_PX 0.866025
+	param set CA_MC_R4_PY 0.5
+	param set CA_MC_R4_CT 9.5
+	param set CA_MC_R4_KM 0.05
+	param set CA_MC_R5_PX -0.866025
+	param set CA_MC_R5_PY -0.5
+	param set CA_MC_R5_CT 9.5
+	param set CA_MC_R5_KM -0.05
+fi
+
+set MAV_TYPE 13
+
+# set MIXER hexa_x
+set MIXER direct

ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_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
+
+# 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 +33,7 @@
 
 px4_add_romfs_files(
 	10016_iris
+	10017_iris_ctrlalloc
 	10020_if750a
 	10030_px4vision
 	1010_iris_opt_flow
@@ -73,4 +74,6 @@ px4_add_romfs_files(
 	2507_cloudship
 	6011_typhoon_h480
 	6011_typhoon_h480.post
+	6012_typhoon_ctrlalloc
+	6012_typhoon_ctrlalloc.post
 )

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -27,6 +27,7 @@ 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
@@ -45,10 +46,10 @@ else
 	# shellcheck disable=SC2012
 	REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR/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 $SCRIPT_DIR/airframes)"
 		exit 1
 	else
-		echo "Info: found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
+		echo "INFO  [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
 	fi
 fi
 
@@ -62,12 +63,12 @@ if [ -f $PARAM_FILE ]
 then
 	if param load
 	then
-		echo "[param] Loaded: $PARAM_FILE"
+		echo "INFO  [init] Loaded: $PARAM_FILE"
 	else
-		echo "[param] FAILED loading $PARAM_FILE"
+		echo "ERROR  [init] FAILED loading $PARAM_FILE"
 	fi
 else
-	echo "[param] parameter file not found, creating $PARAM_FILE"
+	echo "INFO  [init] parameter file not found, creating $PARAM_FILE"
 fi
 
 # exit early when the minimal shell is requested
@@ -191,7 +192,7 @@ do
 	esac
 done
 if [ ! -e "$autostart_file" ]; then
-	echo "Error: no autostart file found ($autostart_file)"
+	echo "ERROR  [init] no autostart file found ($autostart_file)"
 	exit 1
 fi
 
@@ -237,24 +238,30 @@ fi
 #
 . ${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
+if [ -e etc/init.d-posix/rc.mavlink_override ]
+then
+	echo "Running non-default mavlink config rc.mavlink_override"
+	sh etc/init.d-posix/rc.mavlink_override
+else
+	# 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
+	# 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
+	# Onboard link to camera
+	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
 
+fi
 # execute autostart post script if any
 [ -e "$autostart_file".post ] && . "$autostart_file".post
 

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -36,6 +36,8 @@ 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
@@ -54,4 +56,5 @@ px4_add_romfs_files(
 	rc.vehicle_setup
 	rc.vtol_apps
 	rc.vtol_defaults
+	rc.ctrlalloc
 )

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

@@ -46,7 +46,7 @@ then
 
 	param set MPC_XY_VEL_MAX 2
 
-	param set PWM_MIN 1080
+	param set PWM_MAIN_MIN 1080
 fi
 
 set MIXER quad_w

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

@@ -55,7 +55,6 @@ then
 	param set NAV_LOITER_RAD 80
 
 	param set RTL_DESCEND_ALT 10
-	param set RTL_LAND_DELAY 0
 	param set RTL_RETURN_ALT 30
 
 	param set SDLOG_DIRS_MAX 7

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

@@ -27,7 +27,7 @@
 if [ $AUTOCNF = yes ]
 then
 	param set PWM_AUX_DIS5 950
-	param set PWM_RATE 400
+	param set PWM_MAIN_RATE 400
 
 	param set VT_TYPE 2
 	param set VT_MOT_ID 1234

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

@@ -51,4 +51,4 @@ set MAV_TYPE 19
 
 set MIXER vtol_tailsitter_duo
 
-set PWM_OUT 1234
+set PWM_OUT 123456

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

@@ -42,7 +42,7 @@ then
 	param set MC_YAWRATE_D 0
 	param set MC_YAWRATE_FF 0
 
-	param set PWM_RATE 400
+	param set PWM_MAIN_RATE 400
 
 	param set VT_FW_MOT_OFFID 34
 	param set VT_IDLE_PWM_MC 1080

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

@@ -16,8 +16,8 @@
 
 if [ $AUTOCNF = yes ]
 then
-	param set PWM_MAX 2000
-	param set PWM_RATE 400
+	param set PWM_MAIN_MAX 2000
+	param set PWM_MAIN_RATE 400
 
 	param set VT_MOT_ID 1234
 	param set VT_IDLE_PWM_MC  1080

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

@@ -25,8 +25,8 @@
 
 if [ $AUTOCNF = yes ]
 then
-	param set PWM_MAX 2000
-	param set PWM_RATE 400
+	param set PWM_MAIN_MAX 2000
+	param set PWM_MAIN_RATE 400
 
 	param set VT_IDLE_PWM_MC  1080
 	param set VT_TYPE 0

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

@@ -28,7 +28,7 @@ if [ $AUTOCNF = yes ]
 then
 	param set PWM_AUX_DIS5 950
 
-	param set PWM_RATE 400
+	param set PWM_MAIN_RATE 400
 
 	param set MC_ROLL_P 6
 	param set MC_ROLLRATE_P 0.17

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

@@ -47,7 +47,7 @@ then
 	param set MPC_YAWRAUTO_MAX 20
 
 	param set PWM_AUX_DIS3 950
-	param set PWM_RATE 400
+	param set PWM_MAIN_RATE 400
 
 	param set VT_MOT_ID 1234
 	param set VT_FW_MOT_OFFID 1234

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

@@ -36,7 +36,7 @@ then
 	param set MPC_YAWRAUTO_MAX 40
 
 	param set PWM_AUX_DIS5 950
-	param set PWM_RATE 400
+	param set PWM_MAIN_RATE 400
 
 	param set VT_F_TRANS_THR 0.75
 	param set VT_MOT_ID 1234

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

@@ -50,7 +50,7 @@ then
 	param set PWM_AUX_DIS5 950
 	param set PWM_AUX_REV1 1
 	param set PWM_AUX_REV2 1
-	param set PWM_RATE 400
+	param set PWM_MAIN_RATE 400
 
 	param set VT_ARSP_TRANS 15
 	param set VT_ARSP_BLEND 8

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

@@ -70,7 +70,7 @@ then
 
 	param set PWM_AUX_DIS5 950
 
-	param set PWM_RATE 400
+	param set PWM_MAIN_RATE 400
 
 	param set VT_ARSP_TRANS   15
 	param set VT_B_TRANS_DUR  4

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

@@ -21,8 +21,8 @@ then
 	param set PWM_AUX_MIN 1000
 	param set PWM_AUX_RATE 50
 
-	param set PWM_MAX 2000
-	param set PWM_RATE 400
+	param set PWM_MAIN_MAX 2000
+	param set PWM_MAIN_RATE 400
 
 	param set VT_MOT_ID 1234
 	param set VT_FW_MOT_OFFID 13

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

@@ -61,7 +61,7 @@ then
 	param set MPC_TKO_SPEED 2.5
 	param set MPC_Z_VEL_MAX_UP 3
 
-	param set PWM_RATE 400
+	param set PWM_MAIN_RATE 400
 
 	param set SENS_BOARD_ROT 8
 

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

@@ -54,7 +54,6 @@ then
 	param set FW_T_SINK_MAX 3
 	param set FW_T_SINK_MIN 1
 	param set FW_T_VERT_ACC 6
-	param set FW_T_HRATE_P 0.1
 	param set FW_THR_CRUISE 0.70
 	param set FW_THR_SLEW_MAX 1
 	param set FW_MAN_P_MAX 30
@@ -123,7 +122,7 @@ then
 	param set PWM_MAIN_DIS7 900
 	param set PWM_MAIN_DIS8 900
 
-	param set PWM_RATE 400
+	param set PWM_MAIN_RATE 400
 
 	param set SENS_BOARD_ROT 18
 

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

@@ -49,8 +49,6 @@ then
 	param set FW_T_HRATE_FF 0
 	param set FW_T_SINK_MAX	15
 	param set FW_T_SINK_MIN	3
-	param set FW_T_THRO_CONST	6
-	param set FW_T_TIME_CONST	6
 	param set FW_YR_I	0.1
 	param set FW_YR_P	0.15
 
@@ -92,7 +90,7 @@ then
 
 	param set PWM_MAIN_DIS3 1000
 	param set PWM_MAIN_MIN3 1120
-	param set PWM_MIN 950
+	param set PWM_MAIN_MIN 950
 
 	param set SENS_BOARD_ROT 4
 

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

@@ -29,7 +29,7 @@
 if [ $AUTOCNF = yes ]
 then
 	param set PWM_AUX_DIS5 950
-	param set PWM_RATE 400
+	param set PWM_MAIN_RATE 400
 
 	param set VT_TYPE 2
 	param set VT_MOT_ID 12345678

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

@@ -41,10 +41,10 @@ then
 	param set NAV_ACC_RAD 2
 
 	param set PWM_AUX_RATE 50
-	param set PWM_DISARMED 900
-	param set PWM_MIN 1075
-	param set PWM_MAX 1950
-	param set PWM_RATE 400
+	param set PWM_MAIN_DISARM 900
+	param set PWM_MAIN_MIN 1075
+	param set PWM_MAIN_MAX 1950
+	param set PWM_MAIN_RATE 400
 
 	param set RTL_RETURN_ALT 30
 	param set RTL_DESCEND_ALT 10

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

@@ -56,5 +56,5 @@ then
 	param set MPC_THR_MIN 0.06
 	param set MPC_MANTHR_MIN 0.06
 
-	param set PWM_MIN 1075
+	param set PWM_MAIN_MIN 1075
 fi

ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2

@@ -32,7 +32,7 @@ then
 	param set BAT_N_CELLS 3
 
 	param set PWM_AUX_RATE 50
-	param set PWM_RATE 50
+	param set PWM_MAIN_RATE 50
 
 	param set SENS_BOARD_ROT 8
 

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

@@ -0,0 +1,49 @@
+#!/bin/sh
+#
+# @name ThunderFly TF-G2
+#
+# @type Autogyro
+# @class Autogyro
+#
+# @output MAIN2 rotor_head_L
+# @output MAIN3 rotor_head_R
+# @output MAIN4 rudder
+# @output MAIN5 throttle
+#
+#
+# @url https://github.com/ThunderFly-aerospace/TF-G2/
+# @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
+#
+# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set BAT_CAPACITY 3300
+	param set BAT_N_CELLS 3
+
+	param set PWM_AUX_RATE 50
+	param set PWM_MAIN_RATE 50
+
+	param set SENS_BOARD_ROT 4
+
+	param set FW_AIRSPD_MAX 20
+	param set FW_AIRSPD_MIN 7
+	param set FW_AIRSPD_TRIM 13
+	param set FW_THR_CRUISE 0.8
+
+	param set FW_MAN_P_MAX 25
+	param set FW_MAN_R_MAX 25
+	param set FW_PR_I 0.02
+	param set FW_R_LIM 40
+	param set FW_P_LIM_MAX 25
+	param set FW_P_LIM_MIN -5
+	param set FW_P_RMAX_NEG 20
+fi
+
+set MIXER TF-G2
+set MIXER_AUX pass

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

@@ -0,0 +1,37 @@
+#!/bin/sh
+#
+# @name ThunderFly balloon TF-B1
+#
+# @type Balloon
+# @class Balloon
+#
+#
+# @url https://github.com/ThunderFly-aerospace/TF-B1/
+# @maintainer ThunderFly s.r.o.
+#
+# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.balloon_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set COM_PREARM_MODE 2  # always in prearm state
+	param set CBRK_IO_SAFETY 22027
+	param set SDLOG_PROFILE 17
+	param set SDLOG_MODE 2
+	param set MAV_0_MODE 1
+	param set MAV_0_CONFIG 102
+	param set GPS_UBX_DYNMODEL 8
+	param set SER_TEL2_BAUD 9600
+
+	param set SENS_BOARD_ROT 0
+        param set MAV_TYPE 8  # MAV_TYPE_FREE_BALLOON
+
+fi
+
+
+set MIXER IO_pass
+set MIXER_AUX pass

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

@@ -27,7 +27,7 @@
 if [ $AUTOCNF = yes ]
 then
 	param set PWM_AUX_RATE 50
-	param set PWM_RATE 50
+	param set PWM_MAIN_RATE 50
 fi
 
 set MIXER AETRFG

ROMFS/px4fmu_common/init.d/airframes/2105_maja

@@ -43,7 +43,7 @@ then
 	param set FW_W_RMAX 0
 
 	# set disarmed value for the ESC
-	param set PWM_DISARMED 1000
+	param set PWM_MAIN_DISARM 1000
 fi
 
 set MIXER AAERTWF

ROMFS/px4fmu_common/init.d/airframes/2106_albatross

@@ -43,7 +43,7 @@ then
 	param set FW_W_RMAX 0
 
 	# set disarmed value for the ESC
-	param set PWM_DISARMED 1000
+	param set PWM_MAIN_DISARM 1000
 fi
 
 set MIXER AAVVTWFF

ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon

@@ -44,7 +44,7 @@ then
 	param set FW_W_RMAX 0
 
 	# set disarmed value for the ESC
-	param set PWM_DISARMED 1000
+	param set PWM_MAIN_DISARM 1000
 fi
 
 # The Mini Talon does not have a wheel and

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

@@ -37,12 +37,11 @@ then
 	param set PWM_AUX_MIN 1075
 	param set PWM_AUX_MAX 1950
 
-	param set PWM_MIN 1075
-	param set PWM_MAX 1950
-	param set PWM_RATE 400
+	param set PWM_MAIN_MIN 1075
+	param set PWM_MAIN_MAX 1950
+	param set PWM_MAIN_RATE 400
 
 	param set RTL_DESCEND_ALT 10
-	param set RTL_LAND_DELAY 0
 	param set RTL_RETURN_ALT 30
 fi
 

ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer

@@ -44,7 +44,7 @@ then
 	param set FW_RR_IMAX 0.2
 	param set FW_RR_P 0.04
 
-	param set PWM_DISARMED 1000
+	param set PWM_MAIN_DISARM 1000
 fi
 
 set MIXER fw_generic_wing

ROMFS/px4fmu_common/init.d/airframes/3031_phantom

@@ -45,7 +45,7 @@ then
 	param set FW_R_LIM 50
 	param set FW_R_RMAX 50
 
-	param set PWM_DISARMED 1000
+	param set PWM_MAIN_DISARM 1000
 
 	# Bottom of bay and nominal zero-pitch attitude differ
 	# the payload bay is pitched up about 7 degrees

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

@@ -44,7 +44,7 @@ then
 	param set FW_RR_FF 0.6
 	param set FW_RR_P 0.04
 
-	param set PWM_DISARMED 1000
+	param set PWM_MAIN_DISARM 1000
 fi
 
 # Configure this as plane.

ROMFS/px4fmu_common/init.d/airframes/3036_pigeon

@@ -45,7 +45,7 @@ then
 	param set FW_R_RMAX 50
 	param set FW_R_TC 0.3
 
-	param set PWM_DISARMED 1000
+	param set PWM_MAIN_DISARM 1000
 
 	# Bottom of bay and nominal zero-pitch attitude differ
 	# the payload bay is pitched up about 7 degrees

ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod

@@ -85,7 +85,7 @@ then
 	# Roll Integrator Anti-Windup
 	param set FW_RR_IMAX 0.2
 
-	param set PWM_DISARMED 1000
+	param set PWM_MAIN_DISARM 1000
 fi
 
 set MIXER fw_generic_wing.main.mix

ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha

@@ -61,8 +61,8 @@ then
 
 	param set PWM_MAIN_REV1 1
 	param set PWM_MAIN_REV2 1
-	param set PWM_MIN 900
-	param set PWM_MAX 2100
+	param set PWM_MAIN_MIN 900
+	param set PWM_MAIN_MAX 2100
 fi
 
 set MIXER caipi

ROMFS/px4fmu_common/init.d/airframes/4003_qavr5

@@ -34,5 +34,5 @@ then
 	param set MPC_THR_MIN 0.06
 	param set MPC_MANTHR_MIN 0.06
 
-	param set PWM_MIN 1075
+	param set PWM_MAIN_MIN 1075
 fi

ROMFS/px4fmu_common/init.d/airframes/4009_qav250

@@ -37,5 +37,5 @@ then
 	param set MC_YAWRATE_D 0
 	param set MPC_THR_MIN 0.06
 
-	param set PWM_MIN 1075
+	param set PWM_MAIN_MIN 1075
 fi

ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330

@@ -29,5 +29,5 @@ then
 	param set MC_YAWRATE_D 0
 
 	# DJI ESCs do not support calibration and need a higher min
-	param set PWM_MIN 1230
+	param set PWM_MAIN_MIN 1230
 fi

ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450

@@ -29,5 +29,5 @@ then
 	param set MC_YAWRATE_D 0
 
 	# DJI ESCs do not support calibration and need a higher min
-	param set PWM_MIN 1230
+	param set PWM_MAIN_MIN 1230
 fi

ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision

@@ -104,15 +104,14 @@ then
 	param set NAV_ACC_RAD 2
 
 	# PWM and RC Parameters
-	param set PWM_MAX 1950
-	param set PWM_MIN 1075
+	param set PWM_MAIN_MAX 1950
+	param set PWM_MAIN_MIN 1075
 
 	# use oneshot motor output protocol
-	param set PWM_RATE 0
+	param set PWM_MAIN_RATE 0
 
 	# RTL Parameters
 	param set RTL_DESCEND_ALT 5
-	param set RTL_LAND_DELAY 0
 	param set RTL_RETURN_ALT 5
 	param set RTL_CONE_ANG 45
 

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

@@ -0,0 +1,57 @@
+#!/bin/sh
+#
+# @name S500 with control allocation
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Silvan Fuhrer
+#
+
+. ${R}etcinit.d/rc.mc_defaults
+. ${R}etc/init.d/rc.ctrlalloc
+
+if [ $AUTOCNF = yes ]
+then
+	param set MPC_USE_HTE 0
+
+	param set VM_MASS 1.5
+	param set VM_INERTIA_XX 0.03
+	param set VM_INERTIA_YY 0.03
+	param set VM_INERTIA_ZZ 0.05
+
+	param set CA_AIRFRAME 0
+	param set CA_METHOD 1
+	param set CA_ACT0_MIN 0.0
+	param set CA_ACT1_MIN 0.0
+	param set CA_ACT2_MIN 0.0
+	param set CA_ACT3_MIN 0.0
+	param set CA_ACT0_MAX 1.0
+	param set CA_ACT1_MAX 1.0
+	param set CA_ACT2_MAX 1.0
+	param set CA_ACT3_MAX 1.0
+
+	param set CA_MC_R0_PX 0.177
+	param set CA_MC_R0_PY 0.177
+	param set CA_MC_R0_CT 6.5
+	param set CA_MC_R0_KM 0.05
+	param set CA_MC_R1_PX -0.177
+	param set CA_MC_R1_PY -0.177
+	param set CA_MC_R1_CT 6.5
+	param set CA_MC_R1_KM 0.05
+	param set CA_MC_R2_PX 0.177
+	param set CA_MC_R2_PY -0.177
+	param set CA_MC_R2_CT 6.5
+	param set CA_MC_R2_KM -0.05
+	param set CA_MC_R3_PX -0.177
+	param set CA_MC_R3_PY 0.177
+	param set CA_MC_R3_CT 6.5
+	param set CA_MC_R3_KM -0.05
+
+fi
+
+set MIXER direct
+set PWM_OUT 1234
+
+set MIXER_AUX direct_aux
+set PWM_AUX_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb

@@ -37,5 +37,5 @@ then
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0
 
-	param set PWM_MIN 1200
+	param set PWM_MAIN_MIN 1200
 fi

ROMFS/px4fmu_common/init.d/airframes/4040_reaper

@@ -37,9 +37,9 @@ then
 
 	param set PWM_AUX_DISARMED 950
 	param set PWM_AUX_RATE 50
-	param set PWM_MIN 1100
-	param set PWM_MAX 1900
-	param set PWM_RATE 50
+	param set PWM_MAIN_MIN 1100
+	param set PWM_MAIN_MAX 1900
+	param set PWM_MAIN_RATE 50
 
 	param set RTL_RETURN_ALT 30
 	param set RTL_DESCEND_ALT 10

ROMFS/px4fmu_common/init.d/airframes/4050_generic_250

@@ -41,9 +41,9 @@ then
 	# use thrust curve factor (instead of TPA)
 	param set THR_MDL_FAC 0.3
 
-	param set PWM_MIN 1075
+	param set PWM_MAIN_MIN 1075
 	# enable one-shot
-	param set PWM_RATE 0
+	param set PWM_MAIN_RATE 0
 
 	# enable high-rate logging profile (helps with tuning)
 	param set SDLOG_PROFILE 19

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

@@ -55,5 +55,5 @@ then
 	param set MPC_THR_MIN 0.06
 	param set MPC_MANTHR_MIN 0.06
 
-	param set PWM_MIN 1075
+	param set PWM_MAIN_MIN 1075
 fi

ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250

@@ -50,10 +50,10 @@ then
 	param set MPC_THR_MIN 0.05
 	param set MPC_Z_VEL_I_ACC 1.7
 
-	param set PWM_MAX 1950
-	param set PWM_MIN 1050
+	param set PWM_MAIN_MAX 1950
+	param set PWM_MAIN_MIN 1050
 
-	param set PWM_RATE 0
+	param set PWM_MAIN_RATE 0
 	param set THR_MDL_FAC 0.3
 fi
 

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

@@ -33,5 +33,5 @@ then
 	param set MC_YAWRATE_I 0
 	param set MC_YAWRATE_D 0
 
-	param set PWM_MIN 1200
+	param set PWM_MAIN_MIN 1200
 fi

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

@@ -65,9 +65,9 @@ then
 	#param set THR_MDL_FAC 0.25
 
 	# System
-	param set PWM_MAX 1950
-	param set PWM_MIN 1100
-	param set PWM_RATE 0
+	param set PWM_MAIN_MAX 1950
+	param set PWM_MAIN_MIN 1100
+	param set PWM_MAIN_RATE 0
 
 	#param set SYS_FMU_TASK 1
 	param set SENS_BOARD_ROT 10

ROMFS/px4fmu_common/init.d/airframes/4072_draco

@@ -67,11 +67,11 @@ then
 	param set THR_MDL_FAC 0.3
 
 	# System
-	param set PWM_MAX 1950
-	param set PWM_MIN 1180
+	param set PWM_MAIN_MAX 1950
+	param set PWM_MAIN_MIN 1180
 
 	# enable one-shot
-	param set PWM_RATE 0
+	param set PWM_MAIN_RATE 0
 
 	param set SENS_BOARD_ROT 2
 

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

@@ -61,9 +61,9 @@ then
 	#param set THR_MDL_FAC 0.25
 
 	# Obsolete
-	#param set PWM_MAX 1950
-	#param set PWM_MIN 1100
-	#param set PWM_RATE 0
+	#param set PWM_MAIN_MAX 1950
+	#param set PWM_MAIN_MIN 1100
+	#param set PWM_MAIN_RATE 0
 
 	# Sensors
 	param set SENS_BOARD_ROT 10

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

@@ -21,8 +21,6 @@ if [ $AUTOCNF = yes ]
 then
 	param set CBRK_IO_SAFETY 22027
 
-	param set FAILSAFE 100
-
 	param set MC_ROLL_P 2.2
 	param set MC_ROLLRATE_P 0.06
 	param set MC_ROLLRATE_I 0.2
@@ -44,7 +42,7 @@ then
 
 	# param set NAV_RCL_ACT 6 # Lockdown
 
-	param set PWM_MIN 1075
-	param set PWM_RATE 400
-	param set PWM_DISARMED 900
+	param set PWM_MAIN_MIN 1075
+	param set PWM_MAIN_RATE 400
+	param set PWM_MAIN_DISARM 900
 fi

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

@@ -38,7 +38,7 @@ then
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0
 
-	param set PWM_DISARMED 0
-	param set PWM_MIN 500
-	param set PWM_MAX 2200
+	param set PWM_MAIN_DISARM 0
+	param set PWM_MAIN_MIN 500
+	param set PWM_MAIN_MAX 2200
 fi

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

@@ -171,11 +171,11 @@ then
 	param set NAV_RCL_ACT 1
 
 	# pwm control
-	param set PWM_DISARMED 900
-	param set PWM_MAX 1850
-	param set PWM_MIN 1075
+	param set PWM_MAIN_DISARM 900
+	param set PWM_MAIN_MAX 1850
+	param set PWM_MAIN_MIN 1075
 	# Oneshot125
-	param set PWM_RATE 0
+	param set PWM_MAIN_RATE 0
 
 	# rtl
 	param set RTL_DESCEND_ALT 5

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

@@ -60,12 +60,12 @@ then
 
 	param set NAV_RCL_ACT 3
 
-	param set PWM_DISARMED 0
-	param set PWM_MIN 0
-	param set PWM_MAX 255
+	param set PWM_MAIN_DISARM 0
+	param set PWM_MAIN_MIN 0
+	param set PWM_MAIN_MAX 255
 
 	# Run the motors at 328.125 kHz (recommended)
-	param set PWM_RATE 3921
+	param set PWM_MAIN_RATE 3921
 
 	param set SDLOG_PROFILE 1
 
@@ -73,9 +73,9 @@ then
 
 fi
 
-set PWM_DISARMED none
-set PWM_MAX none
-set PWM_MIN none
+set PWM_MAIN_DISARM none
+set PWM_MAIN_MAX none
+set PWM_MAIN_MIN none
 
 syslink start
 mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000

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

@@ -0,0 +1,81 @@
+#!/bin/sh
+#
+# @name Crazyflie 2.1
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Dennis Shtatov <densht@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+# @board px4_fmu-v3 exclude
+# @board px4_fmu-v4 exclude
+# @board px4_fmu-v4pro exclude
+# @board px4_fmu-v5 exclude
+# @board px4_fmu-v5x exclude
+# @board intel_aerofc-v1 exclude
+#
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER quad_x_cw
+set PWM_OUT 1234
+if [ $AUTOCNF = yes ]
+then
+	param set SYS_MC_EST_GROUP 3
+	param set SYS_HAS_MAG 0
+
+	param set BAT_N_CELLS 1
+	param set BAT1_N_CELLS 1
+	param set BAT1_SOURCE 1
+
+	param set CBRK_SUPPLY_CHK 894281
+	param set CBRK_USB_CHK 197848
+	param set COM_RC_IN_MODE 1
+
+	param set IMU_GYRO_CUTOFF 100
+	param set IMU_ACCEL_CUTOFF 30
+
+	param set MC_AIRMODE 1
+	param set IMU_DGYRO_CUTOFF 70
+	param set MC_PITCHRATE_D 0.002
+	param set MC_PITCHRATE_I 0.2
+	param set MC_PITCHRATE_P 0.07
+	param set MC_PITCH_P 6.5
+	param set MC_ROLLRATE_D 0.002
+	param set MC_ROLLRATE_I 0.2
+	param set MC_ROLLRATE_P 0.07
+	param set MC_ROLL_P 6.5
+	param set MC_YAW_P 3
+
+	param set MPC_THR_HOVER 0.7
+	param set MPC_THR_MAX 1
+	param set MPC_Z_P 1.5
+	param set MPC_Z_VEL_P_ACC 8
+	param set MPC_Z_VEL_I_ACC 6
+	param set MPC_HOLD_MAX_XY 0.1
+	param set MPC_MAX_FLOW_HGT 3
+	#param set IMU_GYRO_NF_FREQ 10
+	#param set IMU_GYRO_NF_BW 20
+
+	param set NAV_RCL_ACT 3
+
+	param set PWM_MAIN_DISARM 0
+	param set PWM_MAIN_MIN 0
+	param set PWM_MAIN_MAX 255
+
+	# Run the motors at 328.125 kHz (recommended)
+	param set PWM_MAIN_RATE 3921
+
+	param set SDLOG_PROFILE 1
+
+	param set SENS_FLOW_MINRNG 0.05
+
+
+fi
+
+set PWM_MAIN_DISARM none
+set PWM_MAIN_MAX none
+set PWM_MAIN_MIN none
+
+syslink start
+mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000

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

@@ -50,9 +50,9 @@ then
 	param set NAV_ACC_RAD 0.5
 
 	# Provide ESC a constant 1500 us pulse
-	param set PWM_DISARMED 1500
-	param set PWM_MAX 2000
-	param set PWM_MIN 1000
+	param set PWM_MAIN_DISARM 1500
+	param set PWM_MAIN_MAX 2000
+	param set PWM_MAIN_MIN 1000
 fi
 
 # Configure this as rover

ROMFS/px4fmu_common/init.d/airframes/50001_axialracing_ax10

@@ -1,42 +0,0 @@
-#!/bin/sh
-#
-# @name Axial Racing AX10
-#
-# @type Rover
-# @class Rover
-#
-# @board px4_fmu-v2 exclude
-#
-# @output MAIN1 pass-through of control group 0, channel 0
-# @output MAIN2 pass-through of control group 0, channel 1
-# @output MAIN3 pass-through of control group 0, channel 2
-# @output MAIN4 pass-through of control group 0, channel 3
-# @output MAIN5 pass-through of control group 0, channel 4
-# @output MAIN6 pass-through of control group 0, channel 5
-# @output MAIN7 pass-through of control group 0, channel 6
-# @output MAIN8 pass-through of control group 0, channel 7
-#
-# @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.rover_defaults
-
-#
-# This section can be enabled once tuning parameters for this particular
-# rover model are known. It allows to configure default gains via the GUI.
-#
-if [ $AUTOCNF = yes ]
-then
-	# PWM default value for "disarmed" mode.
-	# This centers the steering and throttle, which means
-	# no motion for a rover.
-	param set PWM_DISARMED 1500
-
-	# PWM range.
-	param set PWM_MIN 1200
-	param set PWM_MAX 1800
-fi
-
-set MIXER IO_pass

ROMFS/px4fmu_common/init.d/airframes/50002_traxxas_stampede_2wd

@@ -1,69 +0,0 @@
-#!/bin/sh
-#
-# @name Traxxas stampede vxl 2wd
-#
-# @url https://traxxas.com/products/models/electric/stampede-vxl-tsm
-#
-# @type Rover
-# @class Rover
-#
-# @board px4_fmu-v2 exclude
-#
-# @output MAIN2 steering
-# @output MAIN4 throttle
-#
-# @maintainer Marco Zorzi
-#
-# @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.rover_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set BAT_N_CELLS 7
-
-	param set EKF2_GBIAS_INIT 0.01
-	param set EKF2_ANGERR_INIT 0.01
-	param set EKF2_MAG_TYPE 1
-
-	param set FW_AIRSPD_MIN 0
-	param set FW_AIRSPD_TRIM 1
-	param set FW_AIRSPD_MAX 3
-
-	param set GND_WR_P 2
-	param set GND_WR_I 0.9674
-	param set GND_WR_IMAX 0.1
-	param set GND_WR_D 1.2
-	param set GND_SP_CTRL_MODE 1
-	param set GND_L1_DIST 10
-	param set GND_THR_IDLE 0
-	param set GND_THR_CRUISE 0
-	param set GND_THR_MAX 0.5
-	param set GND_THR_MIN 0
-	param set GND_SPEED_P 0.25
-	param set GND_SPEED_I 3
-	param set GND_SPEED_D 0.001
-	param set GND_SPEED_IMAX 0.125
-	param set GND_SPEED_THR_SC 1
-
-	param set MIS_LTRMIN_ALT 0.01
-	param set MIS_TAKEOFF_ALT 0.01
-
-	param set NAV_ACC_RAD 0.5
-
-	# Provide ESC a constant 1500 us pulse
-	param set PWM_DISARMED 1500
-	param set PWM_MAX 2000
-	param set PWM_MIN 1000
-fi
-
-# Configure this as rover
-set MAV_TYPE 10
-
-# Set mixer
-set MIXER stampede
-
-set PWM_MAIN_REV2 1

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

@@ -62,11 +62,11 @@ then
 
 	# Provide ESC a constant 1500 us pulse, which corresponds to
 	# idle on the Roboclaw motor controller on the Aion R1
-	param set PWM_DISARMED 1500
+	param set PWM_MAIN_DISARM 1500
 	param set PWM_MAIN_DIS0 1500
 	param set PWM_MAIN_DIS1 1500
-	param set PWM_MAX 2000
-	param set PWM_MIN 1000
+	param set PWM_MAIN_MAX 2000
+	param set PWM_MAIN_MIN 1000
 
 	# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
 	param set CBRK_AIRSPD_CHK 162128

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

@@ -56,13 +56,13 @@ then
 	param set NAV_ACC_RAD 0.5
 
 	# Provide ESC a constant 1500 us pulse to idle
-	param set PWM_DISARMED 1500
+	param set PWM_MAIN_DISARM 1500
 	param set PWM_MAIN_DIS3 1485
 	param set PWM_MAIN_DIS4 1485
 	param set PWM_MAIN_FAIL3 1485
 	param set PWM_MAIN_FAIL4 1485
-	param set PWM_MAX 2000
-	param set PWM_MIN 1000
+	param set PWM_MAIN_MAX 2000
+	param set PWM_MAIN_MIN 1000
 	param set PWM_MAIN_MIN3 970
 	param set PWM_MAIN_MIN4 970
 

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

@@ -83,8 +83,8 @@ then
 	param set THR_MDL_FAC 0.25
 
 	# System
-	param set PWM_MAX 1950
-	param set PWM_MIN 1100
+	param set PWM_MAIN_MAX 1950
+	param set PWM_MAIN_MIN 1100
 	param set PWM_MAIN_DIS5 980
 	param set PWM_MAIN_DIS6 980
 
@@ -115,7 +115,7 @@ then
 	param set COM_DISARM_LAND 3
 
 	# PWM ONESHOT
-	param set PWM_RATE 0
+	param set PWM_MAIN_RATE 0
 
 	# Battery
 	param set BAT_SOURCE 0

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

@@ -0,0 +1,75 @@
+#!/bin/sh
+#
+# @name Hex X with control allocation
+#
+# @type Hexarotor x
+# @class Copter
+#
+# @maintainer Silvan Fuhrer
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.ctrlalloc
+
+if [ $AUTOCNF = yes ]
+then
+	param set MPC_USE_HTE 0
+
+	param set VM_MASS 1.5
+	param set VM_INERTIA_XX 0.03
+	param set VM_INERTIA_YY 0.03
+	param set VM_INERTIA_ZZ 0.05
+
+	param set CA_AIRFRAME 0
+	param set CA_METHOD 1
+	param set CA_ACT0_MIN 0.0
+	param set CA_ACT1_MIN 0.0
+	param set CA_ACT2_MIN 0.0
+	param set CA_ACT3_MIN 0.0
+	param set CA_ACT4_MIN 0.0
+	param set CA_ACT5_MIN 0.0
+
+	param set CA_ACT0_MAX 1.0
+	param set CA_ACT1_MAX 1.0
+	param set CA_ACT2_MAX 1.0
+	param set CA_ACT3_MAX 1.0
+	param set CA_ACT4_MAX 1.0
+	param set CA_ACT5_MAX 1.0
+
+	param set CA_MC_R0_PX 0.0
+	param set CA_MC_R0_PY 0.275
+	param set CA_MC_R0_CT 6.5
+	param set CA_MC_R0_KM -0.05
+
+	param set CA_MC_R1_PX 0.0
+	param set CA_MC_R1_PY -0.275
+	param set CA_MC_R1_CT 6.5
+	param set CA_MC_R1_KM 0.05
+
+	param set CA_MC_R2_PX 0.238
+	param set CA_MC_R2_PY -0.1375
+	param set CA_MC_R2_CT 6.5
+	param set CA_MC_R2_KM -0.05
+
+	param set CA_MC_R3_PX -0.238
+	param set CA_MC_R3_PY 0.1375
+	param set CA_MC_R3_CT 6.5
+	param set CA_MC_R3_KM 0.05
+
+	param set CA_MC_R4_PX 0.238
+	param set CA_MC_R4_PY 0.1375
+	param set CA_MC_R4_CT 6.5
+	param set CA_MC_R4_KM 0.05
+
+	param set CA_MC_R5_PX -0.238
+	param set CA_MC_R5_PY -0.1375
+	param set CA_MC_R5_CT 6.5
+	param set CA_MC_R5_KM -0.05
+
+fi
+
+set MIXER direct
+set PWM_OUT 123456
+
+set MIXER_AUX direct_aux
+set PWM_AUX_OUT 123456

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

@@ -70,6 +70,7 @@ px4_add_romfs_files(
 	4015_holybro_s500
 	4016_holybro_px4vision
 	4017_nxp_hovergames
+	4018_s500_ctrlalloc
 	4020_hk_micro_pcb
 	4030_3dr_solo
 	4031_3dr_quad
@@ -90,6 +91,7 @@ px4_add_romfs_files(
 	4250_teal
 	4500_clover4
 	4900_crazyflie
+	4901_crazyflie21
 
 	# [5000, 5999] Quadrotor +"
 	5001_quad_+
@@ -97,6 +99,7 @@ px4_add_romfs_files(
 	# [6000, 6999] Hexarotor x"
 	6001_hexa_x
 	6002_draco_r
+	6003_hexa_x_ctrlalloc
 
 	# [7000, 7999] Hexarotor +"
 	7001_hexa_+
@@ -146,13 +149,16 @@ px4_add_romfs_files(
 
 	16001_helicopter
 
+	# [17000, 17999] Autogyro
 	17002_TF-AutoG2
+	17003_TF-G2
+
+	# [18000, 18999] High-altitude balloons
+	18001_TF-B1
 
 	24001_dodeca_cox
 
 	50000_generic_ground_vehicle
-	50001_axialracing_ax10
-	50002_traxxas_stampede_2wd
 	50003_aion_robotics_r1_rover
 	50004_nxpcup_car_dfrobot_gpx
 

ROMFS/px4fmu_common/init.d/rc.balloon_apps

@@ -0,0 +1,42 @@
+#!/bin/sh
+#
+# Standard apps for balloons
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+#
+# Start the attitude and position estimator.
+#
+
+if param compare SYS_MC_EST_GROUP 1
+then
+	#
+	# Try to start LPE. If it fails, start EKF2 as a default.
+	# Unfortunately we do not build it on px4_fmu-v2 due to a limited flash.
+	#
+	if attitude_estimator_q start
+	then
+		echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
+		local_position_estimator start
+	else
+		echo "ERROR [init] Estimator LPE not available. Using EKF2"
+		param set SYS_MC_EST_GROUP 2
+		param save
+		reboot
+	fi
+else
+	#
+	# Q estimator (attitude estimation only)
+	#
+	if param compare SYS_MC_EST_GROUP 3
+	then
+		attitude_estimator_q start
+	else
+		#
+		# EKF2
+		#
+		param set SYS_MC_EST_GROUP 2
+		ekf2 start &
+	fi
+fi

ROMFS/px4fmu_common/init.d/rc.balloon_defaults

@@ -0,0 +1,20 @@
+#!/bin/sh
+#
+# Balloon default parameters
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+set VEHICLE_TYPE fw
+
+if [ $AUTOCNF = yes ]
+then
+	#
+	# Default parameters for balloon UAVs.
+	#
+	#
+	# FW takeoff acceleration can easily exceed ublox GPS 2G default.
+	#
+	param set GPS_UBX_DYNMODEL 8
+  param set SYS_MC_EST_GROUP 1
+fi

ROMFS/px4fmu_common/init.d/rc.boat_defaults

@@ -33,7 +33,7 @@ set PWM_OUT 1234
 # PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
 # may damage analog servos.
 #
-set PWM_RATE 50
+set PWM_MAIN_RATE 50
 
 #
 # This is the gimbal pass mixer.

ROMFS/px4fmu_common/init.d/rc.ctrlalloc

@@ -0,0 +1,26 @@
+#!/bin/sh
+#
+# Standard apps for new control allocation and controllers
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+#
+# Start angular velocity controller
+#
+angular_velocity_controller start
+mc_rate_control stop
+
+#
+# Start Control Allocator
+#
+control_allocator start
+
+#
+# Disable hover thrust estimator and prearming
+# These features are currently incompatible with control allocation
+#
+# TODO: fix
+#
+param set MPC_USE_HTE 0
+param set COM_PREARM_MODE 0

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -41,10 +41,11 @@ then
 	#
 	param set NAV_ACC_RAD 10
 
+	param set MIS_DIST_WPS 5000
 	param set MIS_LTRMIN_ALT 25
 	param set MIS_TAKEOFF_ALT 25
 
-	param set PWM_RATE 50
+	param set PWM_MAIN_RATE 50
 
 	#
 	# FW takeoff acceleration can easily exceed ublox GPS 2G default.

ROMFS/px4fmu_common/init.d/rc.interface

@@ -11,8 +11,11 @@
 
 set OUTPUT_CMD pwm_out
 set MIXER_AUX_FILE none
-set OUTPUT_AUX_DEV /dev/pwm_output1
+set MIXER_EXTRA_FILE none
+
 set OUTPUT_DEV none
+set OUTPUT_AUX_DEV /dev/pwm_output1
+set OUTPUT_EXTRA_DEV /dev/pwm_output0
 
 #
 # If mount (gimbal) control is enabled and output mode is AUX, set the aux
@@ -223,13 +226,11 @@ then
 				fi
 			else
 				set PWM_AUX_OUT none
-				set FAILSAFE_AUX none
 			fi
 		else
 			echo "ERROR: Could not start: pwm_out mode_pwm"
 			tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 			set PWM_AUX_OUT none
-			set FAILSAFE_AUX none
 		fi
 
 		# for DShot do not configure pwm values
@@ -243,74 +244,7 @@ then
 				then
 					pwm rate -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
 				fi
-
-				# Set disarmed, min and max PWM_AUX values.
-				if [ $PWM_AUX_DISARMED != none ]
-				then
-					pwm disarmed -c ${PWM_AUX_OUT} -p ${PWM_AUX_DISARMED} -d ${OUTPUT_AUX_DEV}
-				fi
-				if [ $PWM_AUX_MIN != none ]
-				then
-					pwm min -c ${PWM_AUX_OUT} -p ${PWM_AUX_MIN} -d ${OUTPUT_AUX_DEV}
-				fi
-				if [ $PWM_AUX_MAX != none ]
-				then
-					pwm max -c ${PWM_AUX_OUT} -p ${PWM_AUX_MAX} -d ${OUTPUT_AUX_DEV}
-				fi
 			fi
-
-			#
-			# Per channel disarmed settings.
-			#
-			pwm disarmed -c 1 -p p:PWM_AUX_DIS1 -d ${OUTPUT_AUX_DEV}
-			pwm disarmed -c 2 -p p:PWM_AUX_DIS2 -d ${OUTPUT_AUX_DEV}
-			pwm disarmed -c 3 -p p:PWM_AUX_DIS3 -d ${OUTPUT_AUX_DEV}
-			pwm disarmed -c 4 -p p:PWM_AUX_DIS4 -d ${OUTPUT_AUX_DEV}
-			pwm disarmed -c 5 -p p:PWM_AUX_DIS5 -d ${OUTPUT_AUX_DEV}
-			pwm disarmed -c 6 -p p:PWM_AUX_DIS6 -d ${OUTPUT_AUX_DEV}
-			pwm disarmed -c 7 -p p:PWM_AUX_DIS7 -d ${OUTPUT_AUX_DEV}
-			pwm disarmed -c 8 -p p:PWM_AUX_DIS8 -d ${OUTPUT_AUX_DEV}
-
-			#
-			# Per channel min settings.
-			#
-			pwm min -c 1 -p p:PWM_AUX_MIN1 -d ${OUTPUT_AUX_DEV}
-			pwm min -c 2 -p p:PWM_AUX_MIN2 -d ${OUTPUT_AUX_DEV}
-			pwm min -c 3 -p p:PWM_AUX_MIN3 -d ${OUTPUT_AUX_DEV}
-			pwm min -c 4 -p p:PWM_AUX_MIN4 -d ${OUTPUT_AUX_DEV}
-			pwm min -c 5 -p p:PWM_AUX_MIN5 -d ${OUTPUT_AUX_DEV}
-			pwm min -c 6 -p p:PWM_AUX_MIN6 -d ${OUTPUT_AUX_DEV}
-			pwm min -c 7 -p p:PWM_AUX_MIN7 -d ${OUTPUT_AUX_DEV}
-			pwm min -c 8 -p p:PWM_AUX_MIN8 -d ${OUTPUT_AUX_DEV}
-
-			#
-			# Per channel max settings.
-			#
-			pwm max -c 1 -p p:PWM_AUX_MAX1 -d ${OUTPUT_AUX_DEV}
-			pwm max -c 2 -p p:PWM_AUX_MAX2 -d ${OUTPUT_AUX_DEV}
-			pwm max -c 3 -p p:PWM_AUX_MAX3 -d ${OUTPUT_AUX_DEV}
-			pwm max -c 4 -p p:PWM_AUX_MAX4 -d ${OUTPUT_AUX_DEV}
-			pwm max -c 5 -p p:PWM_AUX_MAX5 -d ${OUTPUT_AUX_DEV}
-			pwm max -c 6 -p p:PWM_AUX_MAX6 -d ${OUTPUT_AUX_DEV}
-			pwm max -c 7 -p p:PWM_AUX_MAX7 -d ${OUTPUT_AUX_DEV}
-			pwm max -c 8 -p p:PWM_AUX_MAX8 -d ${OUTPUT_AUX_DEV}
-
-			if [ $FAILSAFE_AUX != none ]
-			then
-				pwm failsafe -c ${PWM_AUX_OUT} -p ${FAILSAFE} -d ${OUTPUT_AUX_DEV}
-			fi
-
-			#
-			# Per channel failsafe settings.
-			#
-			pwm failsafe -c 1 -p p:PWM_AUX_FAIL1 -d ${OUTPUT_AUX_DEV}
-			pwm failsafe -c 2 -p p:PWM_AUX_FAIL2 -d ${OUTPUT_AUX_DEV}
-			pwm failsafe -c 3 -p p:PWM_AUX_FAIL3 -d ${OUTPUT_AUX_DEV}
-			pwm failsafe -c 4 -p p:PWM_AUX_FAIL4 -d ${OUTPUT_AUX_DEV}
-			pwm failsafe -c 5 -p p:PWM_AUX_FAIL5 -d ${OUTPUT_AUX_DEV}
-			pwm failsafe -c 6 -p p:PWM_AUX_FAIL6 -d ${OUTPUT_AUX_DEV}
-			pwm failsafe -c 7 -p p:PWM_AUX_FAIL7 -d ${OUTPUT_AUX_DEV}
-			pwm failsafe -c 8 -p p:PWM_AUX_FAIL8 -d ${OUTPUT_AUX_DEV}
 		fi
 	fi
 fi
@@ -320,81 +254,53 @@ then
 	if [ $PWM_OUT != none ]
 	then
 		# Set PWM output frequency.
-		if [ $PWM_RATE != none ]
+		if [ $PWM_MAIN_RATE != none ]
 		then
-			pwm rate -c ${PWM_OUT} -r ${PWM_RATE}
-		fi
-
-		# Set disarmed, min and max PWM values.
-		if [ $PWM_DISARMED != none ]
-		then
-			pwm disarmed -c ${PWM_OUT} -p ${PWM_DISARMED}
-		fi
-		if [ $PWM_MIN != none ]
-		then
-			pwm min -c ${PWM_OUT} -p ${PWM_MIN}
-		fi
-		if [ $PWM_MAX != none ]
-		then
-			pwm max -c ${PWM_OUT} -p ${PWM_MAX}
+			pwm rate -c ${PWM_OUT} -r ${PWM_MAIN_RATE}
 		fi
 	fi
+fi
 
-	#
-	# Per channel disarmed settings.
-	#
-	pwm disarmed -c 1 -p p:PWM_MAIN_DIS1
-	pwm disarmed -c 2 -p p:PWM_MAIN_DIS2
-	pwm disarmed -c 3 -p p:PWM_MAIN_DIS3
-	pwm disarmed -c 4 -p p:PWM_MAIN_DIS4
-	pwm disarmed -c 5 -p p:PWM_MAIN_DIS5
-	pwm disarmed -c 6 -p p:PWM_MAIN_DIS6
-	pwm disarmed -c 7 -p p:PWM_MAIN_DIS7
-	pwm disarmed -c 8 -p p:PWM_MAIN_DIS8
+if [ $EXTRA_MIXER_MODE != none ]
+then
 
-	#
-	# Per channel min settings.
-	#
-	pwm min -c 1 -p p:PWM_MAIN_MIN1
-	pwm min -c 2 -p p:PWM_MAIN_MIN2
-	pwm min -c 3 -p p:PWM_MAIN_MIN3
-	pwm min -c 4 -p p:PWM_MAIN_MIN4
-	pwm min -c 5 -p p:PWM_MAIN_MIN5
-	pwm min -c 6 -p p:PWM_MAIN_MIN6
-	pwm min -c 7 -p p:PWM_MAIN_MIN7
-	pwm min -c 8 -p p:PWM_MAIN_MIN8
-
-	#
-	# Per channel max settings.
-	#
-	pwm max -c 1 -p p:PWM_MAIN_MAX1
-	pwm max -c 2 -p p:PWM_MAIN_MAX2
-	pwm max -c 3 -p p:PWM_MAIN_MAX3
-	pwm max -c 4 -p p:PWM_MAIN_MAX4
-	pwm max -c 5 -p p:PWM_MAIN_MAX5
-	pwm max -c 6 -p p:PWM_MAIN_MAX6
-	pwm max -c 7 -p p:PWM_MAIN_MAX7
-	pwm max -c 8 -p p:PWM_MAIN_MAX8
-
-	if [ $FAILSAFE != none ]
+	if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.aux.mix ]
 	then
-		pwm failsafe -c ${PWM_OUT} -p ${FAILSAFE} -d ${OUTPUT_DEV}
+		# Use the mixer file from the SD-card if it exists.
+		set MIXER_EXTRA_FILE ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.aux.mix
+	else
+		# Try out the old convention, for backward compatibility.
+		if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.mix ]
+		then
+			set MIXER_EXTRA_FILE ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.mix
+		else
+			set MIXER_EXTRA_FILE /etc/mixers/${MIXER_EXTRA}.aux.mix
+		fi
 	fi
 
-	#
-	# Per channel failsafe settings.
-	#
-	pwm failsafe -c 1 -p p:PWM_MAIN_FAIL1
-	pwm failsafe -c 2 -p p:PWM_MAIN_FAIL2
-	pwm failsafe -c 3 -p p:PWM_MAIN_FAIL3
-	pwm failsafe -c 4 -p p:PWM_MAIN_FAIL4
-	pwm failsafe -c 5 -p p:PWM_MAIN_FAIL5
-	pwm failsafe -c 6 -p p:PWM_MAIN_FAIL6
-	pwm failsafe -c 7 -p p:PWM_MAIN_FAIL7
-	pwm failsafe -c 8 -p p:PWM_MAIN_FAIL8
+
+	if mixer load ${OUTPUT_EXTRA_DEV} ${MIXER_EXTRA_FILE}
+	then
+		echo "INFO  [init] Mixer: ${MIXER_EXTRA_FILE} on ${OUTPUT_EXTRA_DEV}"
+	else
+		echo "ERROR  [init] Failed loading mixer: ${MIXER_EXTRA_FILE}"
+		tune_control play -t 20
+	fi
+
+	if [ $PWM_EXTRA_OUT != none ]
+	then
+		# Set PWM output frequency.
+		if [ $PWM_EXTRA_RATE != none ]
+		then
+			pwm rate -c ${PWM_EXTRA_OUT} -r ${PWM_EXTRA_RATE}
+		fi
+	fi
 fi
 
 unset OUTPUT_CMD
 unset MIXER_AUX_FILE
-unset OUTPUT_AUX_DEV
+unset MIXER_EXTRA_FILE
+
 unset OUTPUT_DEV
+unset OUTPUT_AUX_DEV
+unset OUTPUT_EXTRA_DEV

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -13,11 +13,10 @@ then
 
 	param set RTL_RETURN_ALT 30
 	param set RTL_DESCEND_ALT 10
-	param set RTL_LAND_DELAY 0
 
-	param set PWM_MAX 1950
-	param set PWM_MIN 1075
-	param set PWM_RATE 400
+	param set PWM_MAIN_MAX 1950
+	param set PWM_MAIN_MIN 1075
+	param set PWM_MAIN_RATE 400
 
 	param set GPS_UBX_DYNMODEL 6
 fi

ROMFS/px4fmu_common/init.d/rc.rover_defaults

@@ -33,7 +33,7 @@ set PWM_OUT 1234
 # PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
 # may damage analog servos.
 #
-set PWM_RATE 50
+set PWM_MAIN_RATE 50
 
 #
 # This is the gimbal pass mixer.

ROMFS/px4fmu_common/init.d/rc.uuv_defaults

@@ -9,9 +9,9 @@ set VEHICLE_TYPE uuv
 
 if [ $AUTOCNF = yes ]
 then
-        param set PWM_MAX 1950
-        param set PWM_MIN 1050
-        param set PWM_DISARMED 1500
+        param set PWM_MAIN_MAX 1950
+        param set PWM_MAIN_MIN 1050
+        param set PWM_MAIN_DISARM 1500
 
 fi
 
@@ -19,13 +19,11 @@ fi
 # PWM Hz - 50 Hz is the normal rate in RC cars, boats etc,
 # higher rates may damage analog servos.
 #
-set PWM_RATE 50
+set PWM_MAIN_RATE 50
 
 #
 # Enable servo output on pins 1-4
 set PWM_OUT 1234
-set PWM_DISARMED 1500
-
 
 #
 # This is the gimbal pass mixer.

ROMFS/px4fmu_common/init.d/rc.vtol_apps

@@ -21,7 +21,7 @@ vtol_att_control start
 
 mc_rate_control start vtol
 mc_att_control start vtol
-flight_mode_manager start vtol
+flight_mode_manager start
 mc_pos_control start vtol
 mc_hover_thrust_estimator start
 

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -18,6 +18,8 @@ then
 	param set EKF2_ARSP_THR 10
 	param set EKF2_FUSE_BETA 1
 
+	param set MIS_DIST_WPS 5000
+
 	param set MPC_ACC_HOR_MAX 2
 	param set MPC_TKO_SPEED 1
 	param set MPC_VEL_MANUAL 3
@@ -29,9 +31,8 @@ then
 	param set NAV_ACC_RAD 3
 
 	param set PWM_AUX_RATE 50
-	param set PWM_RATE 400
+	param set PWM_MAIN_RATE 400
 
-	param set RTL_LAND_DELAY 0
 	param set RTL_TYPE 1
 
 	param set WV_EN 1