containers/List: fix default add (O(1)) and create new addFront() addBack() methods

- ecl in PX4/Firmware (6a278fb230365aaf369956878ee08c3161ae739d): https://github/commit/df7f261e038aa80b07a91857f2f952280938bfc6
    - ecl current upstream: https://github/commit/18f334f4dbca61e3bcd1743c22cf820b5a8ff7ef
    - Changes: https://github/compare/df7f261e038aa80b07a91857f2f952280938bfc6...18f334f4dbca61e3bcd1743c22cf820b5a8ff7ef

    18f334f 2020-12-25 Mathieu Bresciani - flow: add unit test for yaw motion (#950)

.ci/Jenkinsfile-compile

@@ -9,18 +9,25 @@ pipeline {
         script {
           def build_nodes = [:]
           def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2020-04-01",
-            base: "px4io/px4-dev-base-bionic:2020-04-01",
-            nuttx: "px4io/px4-dev-nuttx-focal:2020-09-14",
+            armhf: "px4io/px4-dev-armhf:2020-11-18",
+            arm64: "px4io/px4-dev-aarch64:2020-11-18",
+            base: "px4io/px4-dev-base-bionic:2020-11-18",
+            nuttx: "px4io/px4-dev-nuttx-focal:2020-11-18",
             snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
           ]
 
           def armhf_builds = [
-            target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_airpi2_default"],
+            target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
             image: docker_images.armhf,
             archive: false
           ]
 
+          def arm64_builds = [
+            target: ["scumaker_pilotpi_arm64"],
+            image: docker_images.arm64,
+            archive: false
+          ]
+
           def base_builds = [
             target: ["px4_sitl_rtps"],
             image: docker_images.base,
@@ -41,7 +48,6 @@ pipeline {
                      "cubepilot_cubeyellow_console",
                      "cubepilot_cubeyellow_default",
                      "holybro_durandal-v1_default",
-                     "holybro_durandal-v1_stackcheck",
                      "holybro_kakutef7_default",
                      "holybro_pix32v5_default",
                      "intel_aerofc-v1_default",
@@ -53,7 +59,7 @@ pipeline {
                      "nxp_fmuk66-v3_socketcan",
                      "nxp_fmuk66-v3_rtps",
                      "nxp_fmurt1062-v1_default",
-                     "nxp_rddrone-uavcan146_default",
+                     "nxp_ucans32k146_default",
                      "omnibus_f4sd_default",
                      "px4_fmu-v2_default",
                      "px4_fmu-v2_fixedwing",
@@ -112,7 +118,7 @@ pipeline {
     // TODO: actually upload artifacts to S3
     // stage('S3 Upload') {
     //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+    //     docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
     //   }
     //   options {
     //         skipDefaultCheckout()

.ci/Jenkinsfile-hardware

@@ -43,23 +43,7 @@ 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'
-                    sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --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_AUTOSTART 0"'     // no airframe
-                    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"' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
-                  }
-                }
-                stage("status") {
-                  steps {
-                    statusFTDI()
+                    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'
                   }
                 }
                 stage("reset") {
@@ -111,8 +95,7 @@ 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'
-                    sh './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-FTDI_*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
@@ -121,8 +104,8 @@ pipeline {
                     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_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"' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
+                    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
                   }
                 }
                 stage("status") {
@@ -185,8 +168,7 @@ 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'
-                    sh './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-FTDI_*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
@@ -195,7 +177,7 @@ pipeline {
                     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_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"'                        // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                // reboot to apply
                   }
                 }
                 stage("status") {
@@ -258,8 +240,7 @@ 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'
-                    sh './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-FTDI_*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
@@ -268,8 +249,8 @@ pipeline {
                     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_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"' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
+                    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
                   }
                 }
                 stage("status") {
@@ -332,8 +313,7 @@ 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'
-                    sh './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-FTDI_*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
@@ -343,8 +323,8 @@ pipeline {
                     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"' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
+                    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
                   }
                 }
                 stage("status") {
@@ -405,21 +385,23 @@ 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'
                     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'
-                    sh './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-FTDI_*` --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 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 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"' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
+                    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
                   }
                 }
                 stage("status") {
@@ -482,8 +464,7 @@ 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'
-                    sh './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-FTDI_*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
@@ -492,7 +473,7 @@ pipeline {
                     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_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"'                        // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                // reboot to apply
                   }
                 }
                 stage("status") {
@@ -553,10 +534,12 @@ 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'
                     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'
-                    sh './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-FTDI_*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
@@ -567,7 +550,7 @@ pipeline {
                     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"'                         // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                 // reboot to apply
                   }
                 }
                 stage("status") {
@@ -630,17 +613,16 @@ 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'
-                    sh './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-SEGGER_*` --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_AUTOSTART 4001"' // generic vtol standardulticopter
+                    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"'                        // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "reboot" || true'                // reboot to apply
                   }
                 }
                 stage("status") {
@@ -703,22 +685,21 @@ 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'
-                    sh './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-FTDI_*` --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 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_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 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"' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
+                    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
                   }
                 }
                 stage("status") {
@@ -782,8 +763,7 @@ 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'
-                    sh './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-FTDI_*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
@@ -792,7 +772,7 @@ pipeline {
                     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_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"'                        // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                // reboot to apply
                   }
                 }
                 stage("status") {
@@ -803,7 +783,7 @@ 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-FTDI_*` || true' // allow failure due to intermittent serial console issues
                   }
                 }
                 stage("reset") {
@@ -836,6 +816,8 @@ void statusFTDI() {
   // run logger
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger on"'
   // status commands
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "free"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "work_queue status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "board_adc test"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander check"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander status"'
@@ -846,14 +828,15 @@ void statusFTDI() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "df"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dmesg"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ekf2 status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "free"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "gps status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener adc_report"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener battery_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener cpuload"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_sensor"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_attitude"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_local_position"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_selector_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_sensor_bias"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener logger_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel_fifo"'
@@ -901,6 +884,8 @@ void statusFTDI() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "uorb top -1 -a"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ver all"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "work_queue status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ekf2 status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "free"'
   // stop logger
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger off"'
 }
@@ -909,6 +894,8 @@ void statusSEGGER() {
   // run logger
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger on"'
   // status commands
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "free"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "work_queue status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "board_adc test"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander check"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander status"'
@@ -919,12 +906,13 @@ void statusSEGGER() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dataman status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "df -h"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dmesg"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ekf2 status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "free"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "gps status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener adc_report"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener battery_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener cpuload"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_attitude"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_local_position"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_selector_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_sensor_bias"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener logger_status"'
@@ -974,17 +962,20 @@ void statusSEGGER() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "uorb top -1 -a"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ver all"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "work_queue status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ekf2 status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "free"'
   // stop logger
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger off"'
 }
 
 void cleanupFTDI() {
-  // wipe sdcard
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "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"'
+
+  // 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"'
 
@@ -1005,16 +996,17 @@ void cleanupFTDI() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
 
   // reboot
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'
 }
 
 void cleanupSEGGER() {
-  // wipe sdcard
   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"'
 
@@ -1035,5 +1027,5 @@ void cleanupSEGGER() {
   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"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "reboot" || true'
 }

.devcontainer/devcontainer.json

@@ -2,7 +2,7 @@
 // https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
 {
 	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2020-09-14",
+	"image": "px4io/px4-dev-nuttx-focal:2020-11-18",
 
 	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
 

.github/workflows/checks.yml

@@ -26,7 +26,9 @@ jobs:
           "module_documentation",
           "parameters_metadata",
         ]
-    container: px4io/px4-dev-nuttx-focal:2020-09-14
+    container:
+      image: px4io/px4-dev-nuttx-focal:2020-11-18
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1
       with:
@@ -53,6 +55,9 @@ jobs:
           echo "max_size = 400M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
-
+    - name: check environment
+      run: |
+          export
+          ulimit -a
     - name: ${{matrix.check}}
       run: make ${{matrix.check}}

.github/workflows/clang-tidy.yml

@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2020-08-14
+    container: px4io/px4-dev-clang:2020-11-18
     steps:
     - uses: actions/checkout@v1
       with:

.github/workflows/compile_linux.yml

@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2020-08-14
+    container: px4io/px4-dev-armhf:2020-11-18
     strategy:
       matrix:
         config: [
@@ -19,6 +19,7 @@ jobs:
           beaglebone_blue_default,
           emlid_navio2_default,
           px4_raspberrypi_default,
+          scumaker_pilotpi_default,
           ]
     steps:
     - uses: actions/checkout@v1

.github/workflows/compile_linux_arm64.yml

@@ -0,0 +1,50 @@
+name: Linux ARM64 Targets
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-aarch64:2020-11-18
+    strategy:
+      matrix:
+        config: [
+          scumaker_pilotpi_arm64,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: ccache post-run
+      run: ccache -s

.github/workflows/compile_macos.yml

@@ -15,8 +15,7 @@ jobs:
       matrix:
         config: [
           px4_fmu-v5_default,
-          px4_sitl_default,
-          #tests, # includes px4_sitl
+          tests, # includes px4_sitl
           ]
     steps:
     - uses: actions/checkout@v1

.github/workflows/compile_nuttx.yml

@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2020-09-14
+    container: px4io/px4-dev-nuttx-focal:2020-11-18
     strategy:
       matrix:
         config: [
@@ -27,7 +27,6 @@ jobs:
           cubepilot_cubeyellow_console,
           cubepilot_cubeyellow_default,
           holybro_durandal-v1_default,
-          holybro_durandal-v1_stackcheck,
           holybro_kakutef7_default,
           holybro_pix32v5_default,
           intel_aerofc-v1_default,
@@ -40,7 +39,7 @@ jobs:
           nxp_fmuk66-v3_socketcan,
           nxp_fmuk66-v3_rtps,
           nxp_fmurt1062-v1_default,
-          nxp_rddrone-uavcan146_default,
+          nxp_ucans32k146_default,
           omnibus_f4sd_default,
           px4_fmu-v2_default,
           px4_fmu-v2_fixedwing,

.github/workflows/coverage.yml

@@ -11,7 +11,9 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-09-14
+    container:
+      image: px4io/px4-dev-base-focal:2020-11-18
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     strategy:
       matrix:
         config: [

.github/workflows/mavros_avoidance_tests.yml

@@ -19,7 +19,7 @@ jobs:
           - {test_file: "mavros_posix_test_safe_landing.test", vehicle: "iris_obs_avoid", mission: "MC_safe_landing", build_type: "RelWithDebInfo"}
 
     container:
-      image: px4io/px4-dev-ros-melodic:2020-08-14
+      image: px4io/px4-dev-ros-melodic:2020-11-18
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1
@@ -49,7 +49,9 @@ jobs:
           ccache -z
 
     - name: check environment
-      run: export
+      run: |
+          export
+          ulimit -a
     - name: Build PX4 and sitl_gazebo
       env:
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}

.github/workflows/mavros_mission_tests.yml

@@ -25,7 +25,7 @@ jobs:
           - {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
 
     container:
-      image: px4io/px4-dev-ros-melodic:2020-08-14
+      image: px4io/px4-dev-ros-melodic:2020-11-18
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1
@@ -55,7 +55,9 @@ jobs:
           ccache -z
 
     - name: check environment
-      run: export
+      run: |
+          export
+          ulimit -a
     - name: Build PX4 and sitl_gazebo
       env:
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}

.github/workflows/mavros_offboard_tests.yml

@@ -20,7 +20,7 @@ jobs:
           #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
 
     container:
-      image: px4io/px4-dev-ros-melodic:2020-08-14
+      image: px4io/px4-dev-ros-melodic:2020-11-18
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1
@@ -50,7 +50,9 @@ jobs:
           ccache -z
 
     - name: check environment
-      run: export
+      run: |
+          export
+          ulimit -a
     - name: Build PX4 and sitl_gazebo
       env:
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}

.github/workflows/metadata.yml

@@ -12,7 +12,7 @@ jobs:
 
   airframe:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-09-14
+    container: px4io/px4-dev-base-focal:2020-11-18
     steps:
     - uses: actions/checkout@v1
       with:
@@ -27,7 +27,7 @@ jobs:
 
   module:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-09-14
+    container: px4io/px4-dev-base-focal:2020-11-18
     steps:
     - uses: actions/checkout@v1
       with:
@@ -42,7 +42,7 @@ jobs:
 
   parameter:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-09-14
+    container: px4io/px4-dev-base-focal:2020-11-18
     steps:
     - uses: actions/checkout@v1
       with:
@@ -57,7 +57,7 @@ jobs:
 
   uorb_graph:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2020-09-14
+    container: px4io/px4-dev-nuttx-focal:2020-11-18
     steps:
     - uses: actions/checkout@v1
       with:
@@ -72,7 +72,7 @@ jobs:
 
   micrortps_agent:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-09-14
+    container: px4io/px4-dev-base-focal:2020-11-18
     steps:
     - uses: actions/checkout@v1
       with:
@@ -86,7 +86,7 @@ jobs:
 
   ROS_msgs:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-09-14
+    container: px4io/px4-dev-base-focal:2020-11-18
     steps:
     - uses: actions/checkout@v1
       with:
@@ -99,7 +99,7 @@ jobs:
 
   ROS2_bridge:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-09-14
+    container: px4io/px4-dev-base-focal:2020-11-18
     steps:
     - uses: actions/checkout@v1
       with:

.github/workflows/sitl_tests.yml

@@ -15,12 +15,12 @@ jobs:
       fail-fast: false
       matrix:
         config:
-          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo"} # Alaska
-          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "RelWithDebInfo"} # Australia
-          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo"} # Florida
-          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage"} # Zurich
+          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo", model: "iris"          } # Alaska
+          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "RelWithDebInfo", model: "standard_vtol" } # Australia
+          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo", model: "tailsitter"    } # Florida
+          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",       model: "standard_vtol" } # Zurich
     container:
-      image: px4io/px4-dev-simulation-focal:2020-08-14
+      image: px4io/px4-dev-simulation-focal:2020-11-18
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1
@@ -28,9 +28,9 @@ jobs:
         token: ${{ secrets.ACCESS_TOKEN }}
 
     - name: Download MAVSDK
-      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.30.1/mavsdk_0.30.1_ubuntu18.04_amd64.deb
+      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.33.1/mavsdk_0.33.1_ubuntu20.04_amd64.deb
     - name: Install MAVSDK
-      run: dpkg -i mavsdk_0.30.1_ubuntu18.04_amd64.deb
+      run: dpkg -i mavsdk_0.33.1_ubuntu20.04_amd64.deb
 
     - name: Prepare ccache timestamp
       id: ccache_cache_timestamp
@@ -60,7 +60,9 @@ jobs:
         PX4_HOME_LON: ${{matrix.config.longitude}}
         PX4_HOME_ALT: ${{matrix.config.altitude}}
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: export
+      run: |
+          export
+          ulimit -a
     - name: Build PX4
       env:
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
@@ -92,7 +94,7 @@ jobs:
         PX4_HOME_LON: ${{matrix.config.longitude}}
         PX4_HOME_ALT: ${{matrix.config.altitude}}
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early test/mavsdk_tests/configs/sitl.json
+      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json
 
     - name: Look at core files
       if: failure()

.gitmodules

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

.vscode/cmake-variants.yaml

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

Jenkinsfile

@@ -15,7 +15,7 @@ pipeline {
         // stage('Catkin build on ROS workspace') {
         //   agent {
         //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2020-08-20'
+        //       image 'px4io/px4-dev-ros-melodic:2020-11-18'
         //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
         //     }
         //   }
@@ -56,7 +56,7 @@ pipeline {
         stage('Colcon build on ROS2 workspace') {
           agent {
             docker {
-              image 'px4io/px4-dev-ros2-foxy:2020-08-20'
+              image 'px4io/px4-dev-ros2-foxy:2020-11-18'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
             }
           }
@@ -87,7 +87,7 @@ pipeline {
 
         stage('Airframe') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
           }
           steps {
             sh 'make distclean'
@@ -106,7 +106,7 @@ pipeline {
 
         stage('Parameter') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
           }
           steps {
             sh 'make distclean'
@@ -125,7 +125,7 @@ pipeline {
 
         stage('Module') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
           }
           steps {
             sh 'make distclean'
@@ -145,7 +145,7 @@ pipeline {
         stage('uORB graphs') {
           agent {
             docker {
-              image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+              image 'px4io/px4-dev-nuttx-focal:2020-11-18'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
@@ -174,7 +174,7 @@ pipeline {
 
         stage('Devguide') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
           }
           steps {
             sh('export')
@@ -204,16 +204,18 @@ pipeline {
 
         stage('Userguide') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+            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/px4_user_guide.git')
               sh('cp airframes.md px4_user_guide/en/airframes/airframe_reference.md')
               sh('cp parameters.md px4_user_guide/en/advanced_config/parameter_reference.md')
+              sh('cp -R modules/*.md px4_user_guide/en/modules/')
               sh('cd px4_user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
               sh('cd px4_user_guide; git push origin master || true')
               sh('rm -rf px4_user_guide')
@@ -232,7 +234,7 @@ pipeline {
 
         stage('QGroundControl') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
           }
           steps {
             sh('export')
@@ -260,7 +262,7 @@ pipeline {
 
         stage('microRTPS agent') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
           }
           steps {
             sh('export')
@@ -290,7 +292,7 @@ pipeline {
 
         stage('PX4 ROS msgs') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
           }
           steps {
             sh('export')
@@ -319,7 +321,7 @@ pipeline {
 
         stage('PX4 ROS2 bridge') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
           }
           steps {
             sh('export')
@@ -362,7 +364,7 @@ pipeline {
 
         stage('S3') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
           }
           steps {
             sh('export')

README.md

@@ -1,20 +1,20 @@
 # PX4 Drone Autopilot
 
-[![Releases](https://img.shields.io/github/release/PX4/Firmware.svg)](https://github.com/PX4/Firmware/releases) [![DOI](https://zenodo.org/badge/22634/PX4/Firmware.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/Firmware)
+[![Releases](https://img.shields.io/github/release/PX4/PX4-Autopilot.svg)](https://github.com/PX4/PX4-Autopilot/releases) [![DOI](https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot)
 
-[![Nuttx Targets](https://github.com/PX4/Firmware/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/Firmware/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/Firmware/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/Firmware/actions?query=workflow%3A%22SITL+Tests%22)
+[![Nuttx Targets](https://github.com/PX4/PX4-Autopilot/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)
 
 [![Slack](https://px4-slack.herokuapp.com/badge.svg)](http://slack.px4.io)
 
-This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/Firmware/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
+This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
 
-* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/Firmware/blob/master/LICENSE))
+* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
 * [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
   * [Multicopters](https://docs.px4.io/master/en/airframes/airframe_reference.html#copter)
   * [Fixed wing](https://docs.px4.io/master/en/airframes/airframe_reference.html#plane)
   * [VTOL](https://docs.px4.io/master/en/airframes/airframe_reference.html#vtol)
   * many more experimental types (Rovers, Blimps, Boats, Submarines, Autogyros, etc)
-* Releases: [Downloads](https://github.com/PX4/Firmware/releases)
+* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
 
 
 ## PX4 Users
@@ -40,32 +40,43 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co
 
 ## Maintenance Team
 
-  * Project: Founder - [Lorenz Meier](https://github.com/LorenzMeier), Architecture: [Daniel Agar](https://github.com/dagar)
-    * [Dev Call](https://github.com/PX4/Firmware/labels/devcall) - [Ramon Roche](https://github.com/mrpollo)
+  * Project: Founder
+    * [Lorenz Meier](https://github.com/LorenzMeier)
+  * Architecture
+    * [Daniel Agar](https://github.com/dagar)
+  * [Dev Call](https://github.com/PX4/PX4-Autopilot/labels/devcall)
+    * [Ramon Roche](https://github.com/mrpollo)
   * Communication Architecture
     * [Beat Kueng](https://github.com/bkueng)
     * [Julian Oes](https://github.com/JulianOes)
   * UI in QGroundControl
     * [Gus Grubba](https://github.com/dogmaphobic)
-  * [Multicopter Flight Control](https://github.com/PX4/Firmware/labels/multicopter)
+  * [Multicopter Flight Control](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
     * [Mathieu Bresciani](https://github.com/bresch)
-  * [Multicopter Software Architecture](https://github.com/PX4/Firmware/labels/multicopter)
+  * [Multicopter Software Architecture](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
     * [Matthias Grob](https://github.com/MaEtUgR)
-  * [VTOL Flight Control](https://github.com/PX4/Firmware/labels/vtol)
+  * [VTOL Flight Control](https://github.com/PX4/PX4-Autopilot/labels/vtol)
     * [Roman Bapst](https://github.com/RomanBapst)
-  * [Fixed Wing Flight Control](https://github.com/PX4/Firmware/labels/fixedwing)
+  * [Fixed Wing Flight Control](https://github.com/PX4/PX4-Autopilot/labels/fixedwing)
     * [Roman Bapst](https://github.com/RomanBapst)
-  * OS / NuttX [David Sidrane](https://github.com/davids5)
-  * Driver Architecture [Daniel Agar](https://github.com/dagar)
-  * Commander Architecture [Julian Oes](https://github.com/julianoes)
-  * [UAVCAN](https://github.com/PX4/Firmware/labels/uavcan) [Daniel Agar](https://github.com/dagar)
-  * [State Estimation](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22) - [Paul Riseborough](https://github.com/priseborough)
+  * OS / NuttX
+    * [David Sidrane](https://github.com/davids5)
+  * Driver Architecture
+    * [Daniel Agar](https://github.com/dagar)
+  * Commander Architecture
+    * [Julian Oes](https://github.com/julianoes)
+  * [UAVCAN](https://github.com/PX4/PX4-Autopilot/labels/uavcan)
+    * [Daniel Agar](https://github.com/dagar)
+  * [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
+    * [Paul Riseborough](https://github.com/priseborough)
   * Vision based navigation
     * [Julian Kent](https://github.com/jkflying)
-  * Obstacle Avoidance - [Martina Rivizzigno](https://github.com/mrivi)
-  * RTPS/ROS2 Interface - [Nuno Marques](https://github.com/TSC21)
+  * Obstacle Avoidance
+    * [Martina Rivizzigno](https://github.com/mrivi)
+  * RTPS/ROS2 Interface
+    * [Nuno Marques](https://github.com/TSC21)
 
-See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/Firmware/graphs/contributors) (Github).
+See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github).
 
 ## Supported Hardware
 

ROMFS/cannode/init.d/rcS

@@ -72,7 +72,7 @@ rgbled start -X -q
 rgbled_ncp5623c start -X -q
 rgbled_pwm start
 
-if param greater LIGHT_EN_BLINKM 0
+if param greater -s LIGHT_EN_BLINKM 0
 then
 	if blinkm start -X
 	then

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

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

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

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

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

@@ -9,40 +9,33 @@
 
 if [ $AUTOCNF = yes ]
 then
-	param set FW_ARSP_MODE 1
-	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 3
+	param set FW_RR_FF 0.1
+	param set FW_RR_P 0.3
 
-	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_MIN 0.1
-	param set MPC_TKO_SPEED 1
-	param set MPC_XY_P 0.15
-	param set MPC_XY_VEL_D_ACC 0.1
+	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_P_ACC 1
-	param set MPC_Z_VEL_MAX_DN 1.5
-	param set MPC_Z_VEL_P_ACC 16
+	param set MPC_XY_VEL_D_ACC 0.1
 
-	param set NAV_ACC_RAD 5
-	param set NAV_LOITER_RAD 80
+	param set NAV_LOITER_RAD 100
 
-	param set VT_F_TRANS_DUR 5.0
-	param set VT_F_TRANS_THR 0.75
-	param set VT_FWD_THRUST_SC 1.1
-	param set VT_TILT_FW 1
-	param set VT_TILT_TRANS 0.6
-	param set VT_ELEV_MC_LOCK 0
-	param set VT_TYPE 1
 	param set VT_B_TRANS_DUR 8
+	param set VT_ELEV_MC_LOCK 0
+	param set VT_FWD_THRUST_EN 4
+	param set VT_MOT_ID 1234
+	param set VT_TILT_TRANS 0.6
+	param set VT_TYPE 1
 
 fi
 

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

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

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

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

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -22,7 +22,6 @@ fi
 # initialize script variables
 set AUX_MODE                    none
 set IO_PRESENT                  no
-set LOG_FILE                    bootlog.txt
 set MAV_TYPE                    none
 set MIXER                       none
 set MIXER_AUX                   none
@@ -53,10 +52,6 @@ else
 	fi
 fi
 
-# clear bootlog
-[ -f $LOG_FILE ] && rm $LOG_FILE
-
-
 uorb start
 
 # Load parameters
@@ -141,6 +136,12 @@ then
 	# Speedup SITL startup
 	param set EKF2_REQ_GPS_H 0.5
 
+	# Multi-EKF
+	param set EKF2_MULTI_IMU 3
+	param set SENS_IMU_MODE 0
+	param set EKF2_MULTI_MAG 2
+	param set SENS_MAG_MODE 0
+
 	# By default log from boot until first disarm.
 	param set SDLOG_MODE 1
 	# enable default, estimator replay and vision/avoidance logging profiles
@@ -210,6 +211,7 @@ if ! replay tryapplyparams
 then
 	simulator start -c $simulator_tcp_port
 fi
+load_mon start
 battery_simulator start
 tone_alarm start
 rc_update start
@@ -218,7 +220,7 @@ commander start
 navigator start
 
 
-if ! param compare -s MNT_MODE_IN -1
+if param greater -s MNT_MODE_IN -1
 then
 	vmount start
 fi

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

@@ -2,7 +2,7 @@
 #
 # @name Wing Wing (aka Z-84) Flying Wing
 #
-# @url https://docs.px4.io/master/en/framebuild_plane/wing_wing_z84.html
+# @url https://docs.px4.io/master/en/frames_plane/wing_wing_z84.html
 #
 # @type Flying Wing
 # @class Plane

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

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

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

@@ -1,7 +1,7 @@
 #!/bin/sh
 #
 # @name Spedix S250AQ
-# @url https://docs.px4.io/master/en/framebuild_multicopter/spedix_s250_pixracer.html
+# @url https://docs.px4.io/master/en/frames_multicopter/spedix_s250_pixracer.html
 #
 # @type Quadrotor asymmetric
 # @class Copter

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

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

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

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

ROMFS/px4fmu_common/init.d/rc.airship_apps

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

ROMFS/px4fmu_common/init.d/rc.fw_apps

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

ROMFS/px4fmu_common/init.d/rc.interface

@@ -18,7 +18,7 @@ set OUTPUT_DEV none
 # If mount (gimbal) control is enabled and output mode is AUX, set the aux
 # mixer to mount (override the airframe-specific MIXER_AUX setting).
 #
-if ! param compare -s MNT_MODE_IN -1
+if param greater -s MNT_MODE_IN -1
 then
         if param compare -s MNT_MODE_OUT 0
         then
@@ -43,13 +43,13 @@ then
 		if [ $IO_PRESENT = yes ]
 		then
 			set OUTPUT_MODE io
-			if param greater DSHOT_CONFIG 0
+			if param greater -s DSHOT_CONFIG 0
 			then
 				set OUTPUT_CMD dshot
 			fi
 		fi
 	else
-		if param greater DSHOT_CONFIG 0
+		if param greater -s DSHOT_CONFIG 0
 		then
 			set OUTPUT_MODE dshot
 			set OUTPUT_CMD dshot
@@ -93,7 +93,7 @@ then
 	then
 		if ! $OUTPUT_CMD mode_$FMU_MODE
 		then
-			echo "$OUTPUT_CMD start failed" >> $LOG_FILE
+			echo "$OUTPUT_CMD start failed"
 			tune_control play error
 		fi
 	fi
@@ -172,7 +172,6 @@ then
 		echo "INFO  [init] Mixer: ${MIXER_FILE} on ${OUTPUT_DEV}"
 	else
 		echo "ERROR  [init] Failed loading mixer: ${MIXER_FILE}"
-		echo "ERROR  [init] Failed loading mixer: ${MIXER_FILE}" >> $LOG_FILE
 		tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 	fi
 
@@ -180,7 +179,6 @@ else
 	if [ $MIXER != skip ]
 	then
 		echo "ERROR  [init] Mixer undefined"
-		echo "ERROR  [init] Mixer undefined" >> $LOG_FILE
 		tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 	fi
 fi
@@ -213,7 +211,6 @@ then
 					echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
 				else
 					echo "ERROR  [init] Failed appending mixer: ${MIXER_AUX_FILE}"
-					echo "ERROR  [init] Failed appending mixer: ${MIXER_AUX_FILE}" >> $LOG_FILE
 				fi
 			fi
 			if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
@@ -223,14 +220,13 @@ then
 					echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
 				else
 					echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
-					echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}" >> $LOG_FILE
 				fi
 			else
 				set PWM_AUX_OUT none
 				set FAILSAFE_AUX none
 			fi
 		else
-			echo "ERROR: Could not start: pwm_out mode_pwm" >> $LOG_FILE
+			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

ROMFS/px4fmu_common/init.d/rc.io

@@ -17,7 +17,7 @@ then
 		# Allow PX4IO to recover from midair restarts.
 		px4io recovery
 	else
-		echo "PX4IO start failed" >> $LOG_FILE
+		echo "PX4IO start failed"
 		tune_control play -t 18 # PROG_PX4IO_ERR
 	fi
 fi

ROMFS/px4fmu_common/init.d/rc.mc_apps

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

ROMFS/px4fmu_common/init.d/rc.rover_apps

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

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -71,6 +71,13 @@ then
 	lightware_laser_i2c start -X
 fi
 
+# Sensor HY-SRF05 or HC-SR05 ultrasonic sensor
+if param compare -s SENS_EN_SR05 1
+then
+	srf05 start
+fi
+
+
 # Heater driver for temperature regulated IMUs.
 if param compare -s SENS_EN_THERMAL 1
 then
@@ -95,6 +102,12 @@ then
 	paw3902 -S start
 fi
 
+# vl53l1x i2c distance sensor
+if param compare -s SENS_EN_VL53L1X 1
+then
+	vl53l1x start -X
+fi
+
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then

ROMFS/px4fmu_common/init.d/rc.thermal_cal

@@ -7,17 +7,17 @@
 
 set TEMP_COMP_START ""
 
-if param compare TC_A_ENABLE 1
+if param compare -s TC_A_ENABLE 1
 then
 	set TEMP_COMP_START "true"
 fi
 
-if param compare TC_B_ENABLE 1
+if param compare -s TC_B_ENABLE 1
 then
 	set TEMP_COMP_START "true"
 fi
 
-if param compare TC_G_ENABLE 1
+if param compare -s TC_G_ENABLE 1
 then
 	set TEMP_COMP_START "true"
 fi

ROMFS/px4fmu_common/init.d/rc.uuv_apps

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

ROMFS/px4fmu_common/init.d/rc.vehicle_setup

@@ -183,6 +183,13 @@ then
 		echo "UUV mixer undefined"
 	fi
 
+	if [ $MAV_TYPE = none ]
+	then
+		# Set default MAV_TYPE to submarine if not defined
+		set MAV_TYPE 12
+	fi
+
+	param set MAV_TYPE ${MAV_TYPE}
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface
 
@@ -199,5 +206,5 @@ fi
 if [ $VEHICLE_TYPE = none ]
 then
 	echo "No autostart ID found"
-	ekf2 start
+	ekf2 start &
 fi

ROMFS/px4fmu_common/init.d/rc.vtol_apps

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

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -15,8 +15,10 @@ then
 	param set MIS_TAKEOFF_ALT 20
 	param set MIS_YAW_TMT 10
 
+	param set EKF2_ARSP_THR 10
+	param set EKF2_FUSE_BETA 1
+
 	param set MPC_ACC_HOR_MAX 2
-	param set MPC_LAND_SPEED 0.7
 	param set MPC_TKO_SPEED 1
 	param set MPC_VEL_MANUAL 3
 	param set MPC_XY_CRUISE 3

ROMFS/px4fmu_common/init.d/rcS

@@ -32,7 +32,6 @@ set FMU_MODE pwm
 set FRC /fs/microsd/etc/rc.txt
 set IOFW "/etc/extras/px4_io-v2_default.bin"
 set IO_PRESENT no
-set LOG_FILE /fs/microsd/bootlog.txt
 set LOGGER_ARGS ""
 set LOGGER_BUF  14
 set MAV_TYPE none
@@ -140,10 +139,7 @@ else
 		else
 			set STARTUP_TUNE 15 # tune 15 = SD_ERROR
 			echo "ERROR [init] format failed"
-			set LOG_FILE /dev/null
 		fi
-	else
-		set LOG_FILE /dev/null
 	fi
 fi
 
@@ -157,9 +153,10 @@ then
 else
 
 	#
-	# Set the parameter file if mtd starts successfully.
+	# Set the parameter file the board supports params on
+	# MTD device.
 	#
-	if mtd start
+	if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
 	then
 		set PARAM_FILE /fs/mtd_params
 	fi
@@ -167,13 +164,10 @@ else
 	#
 	# Load parameters.
 	#
-	# if MTD has a secondary storage it is used for (factory) calibration data
-	if mtd has-secondary
+	# if the board has a storage for (factory) calibration data
+	if mft query -q -k MTD -s MTD_CALDATA -v /fs/mtd_caldata
 	then
-		if mtd start -i 1 /fs/mtd_caldata
-		then
-			param load /fs/mtd_caldata
-		fi
+		param load /fs/mtd_caldata
 	fi
 
 	param select $PARAM_FILE
@@ -244,7 +238,7 @@ else
 	rgbled start -X -q
 	rgbled_ncp5623c start -X -q
 
-	if param greater LIGHT_EN_BLINKM 0
+	if param greater -s LIGHT_EN_BLINKM 0
 	then
 		if blinkm start -X
 		then
@@ -313,7 +307,7 @@ else
 					tune_control stop
 					if px4io checkcrc ${IOFW}
 					then
-						echo "PX4IO CRC OK after updating" >> $LOG_FILE
+						echo "PX4IO CRC OK after updating"
 						tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
 						set IO_PRESENT yes
 					fi
@@ -321,7 +315,7 @@ else
 
 				if [ $IO_PRESENT = no ]
 				then
-					echo "PX4IO update failed" >> $LOG_FILE
+					echo "PX4IO update failed"
 					tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 				fi
 			fi
@@ -338,7 +332,7 @@ else
 
 	if [ $USE_IO = yes -a $IO_PRESENT = no ]
 	then
-		echo "PX4IO not found" >> $LOG_FILE
+		echo "PX4IO not found"
 		tune_control play error
 	fi
 
@@ -410,7 +404,7 @@ else
 		set AUX_MODE pwm4
 	fi
 
-	if param greater TRIG_MODE 0
+	if param greater -s TRIG_MODE 0
 	then
 		# We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
 		if param compare TRIG_PINS 56
@@ -509,23 +503,28 @@ else
 	#
 	# Start vmount to control mounts such as gimbals, disabled by default.
 	#
-	if ! param compare MNT_MODE_IN -1
+	if param greater -s MNT_MODE_IN -1
 	then
 		vmount start
 	fi
 
 	# Check for flow sensor
-	if param compare SENS_EN_PX4FLOW 1
+	if param compare -s SENS_EN_PX4FLOW 1
 	then
 		px4flow start -X
 	fi
 
 	# Blacksheep telemetry
-	if param greater TEL_BST_EN 0
+	if param compare -s TEL_BST_EN 1
 	then
 		bst start -X
 	fi
 
+	if param compare -s IMU_GYRO_FFT_EN 1
+	then
+		gyro_fft start
+	fi
+
 	#
 	# Optional board supplied extras: rc.board_extras
 	#
@@ -588,7 +587,6 @@ unset FMU_MODE
 unset FRC
 unset IO_PRESENT
 unset IOFW
-unset LOG_FILE
 unset LOGGER_ARGS
 unset LOGGER_BUF
 unset MAV_TYPE

ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt

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

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

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

ROMFS/px4fmu_common/mixers/CMakeLists.txt

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

ROMFS/px4fmu_common/mixers/vectored6dof.main.mix

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

ROMFS/px4fmu_common/mixers/vtol_tailsitter_duo.main.mix

@@ -29,11 +29,9 @@ Channel 5 connects to the right (starboard) elevon.
 Channel 6 connects to the left (port) elevon.
 
 M: 2
-O:        7500    7500    0 -10000  10000
 S: 1 0   10000   10000    0 -10000  10000
 S: 1 1   10000   10000    0 -10000  10000
 
 M: 2
-O:        7500    7500    0 -10000  10000
 S: 1 0   10000   10000    0 -10000  10000
 S: 1 1  -10000  -10000    0 -10000  10000

Tools/HIL/monitor_firmware_upload.py

@@ -1,4 +1,4 @@
-#! /usr/bin/python
+#! /usr/bin/env python3
 
 import serial, time
 import subprocess
@@ -10,7 +10,7 @@ def monitor_firmware_upload(port, baudrate):
     databits = serial.EIGHTBITS
     stopbits = serial.STOPBITS_ONE
     parity = serial.PARITY_NONE
-    ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=10)
+    ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=1)
 
     finished = 0
 
@@ -19,8 +19,9 @@ def monitor_firmware_upload(port, baudrate):
     timeout_newline = time.time()
 
     while finished == 0:
-        serial_line = ser.readline()
-        print(serial_line.replace('\n',''))
+        serial_line = ser.readline().decode("ascii", errors='ignore')
+        if (len(serial_line) > 0):
+            print(serial_line.replace('\n', ''))
 
         if "NuttShell (NSH)" in serial_line:
             finished = 1
@@ -36,16 +37,17 @@ def monitor_firmware_upload(port, baudrate):
             finished = 1
             break
 
-        # newline every 30 seconds if still running
-        if time.time() - timeout_newline > 30:
-            ser.write('\n')
+        # newline every 10 seconds if still running
+        if time.time() - timeout_newline > 10:
             timeout_newline = time.time()
+            ser.write('\n'.encode("ascii"))
+            ser.flush()
 
     ser.close()
 
 def main():
     parser = ArgumentParser(description=__doc__)
-    parser.add_argument('--device', "-d", nargs='?', default = None, help='')
+    parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
     parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
     args = parser.parse_args()
 

Tools/HIL/run_nsh_cmd.py

@@ -1,72 +1,87 @@
-#! /usr/bin/python
+#! /usr/bin/env python3
 
 import serial, time
 import subprocess
 from subprocess import call, Popen
 from argparse import ArgumentParser
 import re
+import sys
 
 def do_nsh_cmd(port, baudrate, cmd):
     databits = serial.EIGHTBITS
     stopbits = serial.STOPBITS_ONE
     parity = serial.PARITY_NONE
-    ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=10)
-
-    ser.write('\n')
-
-    finished = 0
-    success = False
-
-    timeout = 10  # 10 seconds
-    timeout_start = time.time()
-
-    while True:
-        serial_line = ser.readline()
-        print(serial_line.replace('\n',''))
-
-        if "nsh>" in serial_line:
-            break
-        elif "NuttShell (NSH)" in serial_line:
-            break
-
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout")
-            break
-
-        ser.write('\n')
-        time.sleep(0.01)
-
+    ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=0.1)
 
     # run command
-    ser.write(cmd + '\n')
-
-    timeout = 30  # 30 seconds
     timeout_start = time.time()
-    timeout_newline = timeout_start
+    timeout = 10  # 10 seconds
+
+    # clear
+    ser.write("\n".encode("ascii"))
+    ser.flush()
+    ser.readline()
+
+    success_cmd = "cmd succeeded!"
+
+    serial_cmd = '{0}; echo "{1}"\n'.format(cmd, success_cmd)
+    ser.write(serial_cmd.encode("ascii"))
+    ser.flush()
+    ser.readline()
+
+    # TODO: require successful command echo
+    # while True:
+    #     serial_cmd = '{0}; echo "{1}"\n'.format(cmd, success_cmd)
+    #     ser.write(serial_cmd.encode("ascii"))
+    #     ser.flush()
+
+    #     serial_line = ser.readline().decode("ascii", errors='ignore')
+
+    #     if cmd in serial_line:
+    #         break
+    #     else:
+    #         print(serial_line, end='')
+
+    #     if time.time() > timeout_start + timeout:
+    #         print("Error, timeout")
+    #         sys.exit(-1)
+    #         break
+
+    #     time.sleep(1)
+
+
+    timeout_start = time.time()
+    timeout = 30  # 30 seconds
 
     while True:
-        serial_line = ser.readline()
-        print(serial_line.replace('\n',''))
+        serial_line = ser.readline().decode("ascii", errors='ignore')
 
-        if cmd in serial_line:
-            continue
-        elif "nsh>" in serial_line:
-            break
-        elif "NuttShell (NSH)" in serial_line:
+        if success_cmd in serial_line:
             break
+        else:
+            if len(serial_line) > 0:
+                print(serial_line, end='')
+
+            if "nsh>" in serial_line:
+                #sys.exit(-1) # error, command didn't complete successfully
+                break # TODO: return error on failure
+            elif "NuttShell (NSH)" in serial_line:
+                #sys.exit(-1) # error, command didn't complete successfully
+                break # TODO: return error on failure
+
+        if len(serial_line) <= 0:
+            ser.write("\n".encode("ascii"))
+            ser.flush()
 
         if time.time() > timeout_start + timeout:
             print("Error, timeout")
-            break
-
-        ser.write('\n')
-        time.sleep(0.01)
+            sys.exit(-1)
 
     ser.close()
 
 def main():
     parser = ArgumentParser(description=__doc__)
-    parser.add_argument('--device', "-d", nargs='?', default = None, help='')
+    parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
     parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
     parser.add_argument("--cmd", "-c", dest="cmd", help="Command to run")
     args = parser.parse_args()

Tools/HIL/run_tests.py

@@ -1,4 +1,4 @@
-#! /usr/bin/python
+#! /usr/bin/env python3
 
 import serial, time
 import subprocess
@@ -7,64 +7,70 @@ from argparse import ArgumentParser
 import re
 import unittest
 import os
+import sys
 
 def do_test(port, baudrate, test_name):
     databits = serial.EIGHTBITS
     stopbits = serial.STOPBITS_ONE
     parity = serial.PARITY_NONE
-    ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=10)
+    ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=1)
 
-    ser.write('\n')
-
-    finished = 0
     success = False
 
-    timeout = 10  # 10 seconds
-    timeout_start = time.time()
-
-    while True:
-        serial_line = ser.readline()
-        print(serial_line.replace('\n',''))
-
-        if "nsh>" in serial_line:
-            break
-        elif "NuttShell (NSH)" in serial_line:
-            break
-
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout")
-            break
-
-        ser.write('\n')
-        time.sleep(0.01)
-
-
     # run test cmd
+    print('\n|======================================================================')
     cmd = 'tests ' + test_name
-    ser.write(cmd + '\n')
+    print("| Running:", cmd)
+    print('|======================================================================')
+    timeout_start = time.time()
+    timeout = 10  # 10 seconds
 
+    # clear
+    ser.write("\n".encode("ascii"))
+    ser.flush()
+    ser.readline()
+
+    serial_cmd = '{0}\n'.format(cmd)
+    ser.write(serial_cmd.encode("ascii"))
+    ser.flush()
+    ser.readline()
+
+    # TODO: retry command
+    # while True:
+    #     serial_cmd = '{0}\n'.format(cmd)
+    #     ser.write(serial_cmd.encode("ascii"))
+    #     ser.flush()
+
+    #     serial_line = ser.readline().decode("ascii", errors='ignore')
+
+    #     if cmd in serial_line:
+    #         break
+    #     else:
+    #         print(serial_line.replace('\n', ''))
+
+    #     if time.time() > timeout_start + timeout:
+    #         print("Error, unable to write cmd")
+    #         return False
+
+    #     time.sleep(1)
+
+
+    # print results, wait for final result (PASSED or FAILED)
     timeout = 180  # 3 minutes
     timeout_start = time.time()
     timeout_newline = timeout_start
 
     while True:
-        serial_line = ser.readline()
-        print(serial_line.replace('\n',''))
+        serial_line = ser.readline().decode("ascii", errors='ignore')
+        if (len(serial_line) > 0):
+            print(serial_line, end='')
 
-        if cmd in serial_line:
-            continue
-        elif test_name + " PASSED" in serial_line:
+        if test_name + " PASSED" in serial_line:
             success = True
             break
         elif test_name + " FAILED" in serial_line:
             success = False
             break
-        elif "nsh>" in serial_line:
-            success = False
-            break
-        elif "NuttShell (NSH)" in serial_line:
-            success = False
-            break
 
         if time.time() > timeout_start + timeout:
             print("Error, timeout")
@@ -72,22 +78,28 @@ def do_test(port, baudrate, test_name):
             success = False
             break
 
-        # newline every 30 seconds if still running
-        if time.time() - timeout_newline > 30:
-            ser.write('\n')
+        # newline every 10 seconds if still running
+        if time.time() - timeout_newline > 10:
+            ser.write("\n".encode("ascii"))
             timeout_newline = time.time()
 
     ser.close()
 
     return success
 
-class TestHadrwareMethods(unittest.TestCase):
+class TestHardwareMethods(unittest.TestCase):
     TEST_DEVICE = 0
     TEST_BAUDRATE = 0
 
+    def test_atomic_bitset(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "atomic_bitset"))
+
     def test_bezier(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bezier"))
 
+    def test_bitset(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bitset"))
+
     def test_bson(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))
 
@@ -97,8 +109,8 @@ class TestHadrwareMethods(unittest.TestCase):
     def test_controllib(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "controllib"))
 
-#    def test_dataman(self):
-#        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
+    # def test_dataman(self):
+    #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
 
     def floattest_float(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "float"))
@@ -109,6 +121,9 @@ class TestHadrwareMethods(unittest.TestCase):
     def test_IntrusiveQueue(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "IntrusiveQueue"))
 
+    def test_IntrusiveSortedList(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "IntrusiveSortedList"))
+
     def test_List(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "List"))
 
@@ -133,8 +148,8 @@ class TestHadrwareMethods(unittest.TestCase):
     def test_microbench_uorb(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_uorb"))
 
-#    def test_mixer(self):
-#        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "mixer"))
+    # def test_mixer(self):
+    #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "mixer"))
 
     def test_param(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "param"))
@@ -145,34 +160,34 @@ class TestHadrwareMethods(unittest.TestCase):
     def test_perf(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "perf"))
 
-    def search_mintest_xxx(self):
+    # def test_rc(self):
+    #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "rc"))
+
+    def test_search_min(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "search_min"))
 
     def test_sleep(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "sleep"))
 
-    def test_smoothz(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "smoothz"))
-
     def test_time(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "time"))
 
-    #def test_uorb(self):
-    #    self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "uorb"))
+    def test_uorb(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "uorb"))
 
     def test_versioning(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "versioning"))
 
 def main():
     parser = ArgumentParser(description=__doc__)
-    parser.add_argument('--device', "-d", nargs='?', default = None, help='')
+    parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
     parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
     args = parser.parse_args()
 
-    TestHadrwareMethods.TEST_DEVICE = args.device
-    TestHadrwareMethods.TEST_BAUDRATE =  args.baudrate
+    TestHardwareMethods.TEST_DEVICE = args.device
+    TestHardwareMethods.TEST_BAUDRATE = args.baudrate
 
-    unittest.main(__name__, argv=['main'])
+    unittest.main(__name__, failfast=True, verbosity=0, argv=['main'])
 
 if __name__ == "__main__":
    main()

Tools/check_submodules.sh

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

Tools/docker_run.sh

@@ -4,22 +4,25 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	echo "guessing PX4_DOCKER_REPO based on input";
 	if [[ $@ =~ .*px4_fmu.* ]]; then
 		# nuttx-px4fmu-v{1,2,3,4,5}
-		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2020-09-14"
-	elif [[ $@ =~ .*ocpoc.* ]] || [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*airpi2.* ]]; then
-		# aerotenna_ocpoc_default, beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_airpi2_default
-		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2020-04-01"
+		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2020-11-18"
+	elif [[ $@ =~ .*ocpoc.* ]] || [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
+		# aerotenna_ocpoc_default, beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2020-11-18"
+	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
+		# scumaker_pilotpi_arm64
+		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest"
 	elif [[ $@ =~ .*eagle.* ]] || [[ $@ =~ .*excelsior.* ]]; then
 		# eagle, excelsior
 		PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2020-04-01"
 	elif [[ $@ =~ .*ocpoc.* ]] || [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
 		# aerotenna_ocpoc_default, posix_rpi_cross, posix_bebop_default
-		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2020-04-01"
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2020-11-18"
 	elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
 		# clang tools
-		PX4_DOCKER_REPO="px4io/px4-dev-clang:2020-04-01"
+		PX4_DOCKER_REPO="px4io/px4-dev-clang:2020-11-18"
 	elif [[ $@ =~ .*tests* ]]; then
 		# run all tests with simulation
-		PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2020-04-01"
+		PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2020-11-18"
 	fi
 else
 	echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";

Tools/ecl_ekf/analyse_logdata_ekf.py

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

Tools/ecl_ekf/analysis/metrics.py

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

Tools/ecl_ekf/plotting/pdf_report.py

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

Tools/ecl_ekf/process_logdata_ekf.py

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

Tools/gazebo_sitl_multiple_run.sh

@@ -16,8 +16,8 @@ function spawn_model() {
 	MODEL=$1
 	N=$2 #Instance Number
 
-	SUPPORTED_MODELS=("iris" "iris_rtps" "plane" "standard_vtol")
-	if [[ " ${SUPPORTED_MODELS[*]} " != *"$MODEL "* ]];
+	SUPPORTED_MODELS=("iris" "iris_rtps" "plane" "standard_vtol" "rover" "r1_rover" "typhoon_h480")
+	if [[ " ${SUPPORTED_MODELS[*]} " != *"$MODEL"* ]];
 	then
 		echo "ERROR: Currently only vehicle model $MODEL is not supported!"
 		echo "       Supported Models: [${SUPPORTED_MODELS[@]}]"

Tools/jsbsim_bridge

@@ -1 +1 @@
-Subproject commit 9f46d5529158096e955a7950dc6ac55d0cdb1710
+Subproject commit c51a61b9ebf9aed10fedba249e643ec296d5c40e

Tools/px4moduledoc/markdownout.py

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

Tools/setup/requirements.txt

@@ -11,6 +11,8 @@ pandas>=0.21
 pkgconfig
 psutil
 pygments
+wheel>=0.31.1
+pymavlink
 pyros-genmsg
 pyserial>=3.0
 pyulog>=0.5.0
@@ -19,4 +21,3 @@ requests
 setuptools>=39.2.0
 six>=1.12.0
 toml>=0.9
-wheel>=0.31.1

Tools/setup/shell.nix

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

Tools/sitl_gazebo

@@ -1 +1 @@
-Subproject commit 4f03afc7def0b958e7567a35093bacf93dcc824f
+Subproject commit 4043287bbe07a9d091d579b755796e70d45058e8

Tools/sitl_run.sh

@@ -127,7 +127,30 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
 		gzserver $verbose $world_path &
 		SIM_PID=$!
 
-		while gz model --verbose --spawn-file="${src_path}/Tools/sitl_gazebo/models/${model}/${model_name}.sdf" --model-name=${model} -x 1.01 -y 0.98 -z 0.83 2>&1 | grep -q "An instance of Gazebo is not running."; do
+		# Check all paths in ${GAZEBO_MODEL_PATH} for specified model
+		IFS_bak=$IFS
+		IFS=":"
+		for possible_model_path in ${GAZEBO_MODEL_PATH}; do
+			if [ -z $possible_model_path ]; then
+				continue
+			fi
+			# trim \r from path
+			possible_model_path=$(echo $possible_model_path | tr -d '\r')
+			if test -f "${possible_model_path}/${model}/${model}.sdf" ; then
+				modelpath=$possible_model_path
+				break
+			fi
+		done
+		IFS=$IFS_bak
+
+		if [ -z $modelpath ]; then
+			echo "Model ${model} not found in model path: ${GAZEBO_MODEL_PATH}"
+			exit 1
+		else
+			echo "Using: ${modelpath}/${model}/${model}.sdf"
+		fi
+
+		while gz model --verbose --spawn-file="${modelpath}/${model}/${model_name}.sdf" --model-name=${model} -x 1.01 -y 0.98 -z 0.83 2>&1 | grep -q "An instance of Gazebo is not running."; do
 			echo "gzserver not ready yet, trying again!"
 			sleep 1
 		done

boards/airmind/mindpx-v2/default.cmake

@@ -87,6 +87,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		mft
 		mixer
 		motor_ramp
 		motor_test

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

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

boards/airmind/mindpx-v2/src/init.c

@@ -307,5 +307,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 #endif
 
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
 	return OK;
 }

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

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

boards/av/x-v1/src/init.c

@@ -192,6 +192,10 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	configure_switch();
 
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
 	return OK;
 }
 

boards/bitcraze/crazyflie/default.cmake

@@ -43,6 +43,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		mft
 		mixer
 		motor_ramp
 		motor_test

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

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

boards/bitcraze/crazyflie/nuttx-config/scripts/script.ld

@@ -64,6 +64,7 @@ EXTERN(_vectors)	/* force the vectors to be included in the output */
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
+EXTERN(board_get_manifest)
 
 SECTIONS
 {

boards/bitcraze/crazyflie/src/CMakeLists.txt

@@ -35,6 +35,7 @@ add_library(drivers_board
 	i2c.cpp
 	init.c
 	led.c
+	mtd.cpp
 	spi.cpp
 	timer_config.cpp
 	usb.c

boards/bitcraze/crazyflie/src/init.c

@@ -169,5 +169,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 #endif
 
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
 	return OK;
 }

boards/bitcraze/crazyflie/src/mtd.cpp

@@ -0,0 +1,81 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <nuttx/spi/spi.h>
+#include <px4_platform_common/px4_manifest.h>
+//                                                                      KiB BS    nB
+static const px4_mft_device_t i2c1 = {             // 24AA64FT on Base  8K 32 X 256
+	.bus_type = px4_mft_device_t::I2C,
+	.devid    = PX4_MK_I2C_DEVID(1, 0x50)
+};
+
+
+static const px4_mtd_entry_t fmu_eeprom = {
+	.device = &i2c1,
+	.npart = 2,
+	.partd = {
+		{
+			.type = MTD_PARAMETERS,
+			.path = "/fs/mtd_params",
+			.nblocks = 128
+		},
+		{
+			.type = MTD_WAYPOINTS,
+			.path = "/fs/mtd_waypoints",
+			.nblocks = 128
+
+		}
+	},
+};
+
+static const px4_mtd_manifest_t board_mtd_config = {
+	.nconfigs   = 1,
+	.entries = {
+		&fmu_eeprom,
+	}
+};
+
+static const px4_mft_entry_s mtd_mft = {
+	.type = MTD,
+	.pmft = (void *) &board_mtd_config,
+};
+
+static const px4_mft_s mft = {
+	.nmft = 1,
+	.mfts = &mtd_mft
+};
+
+const px4_mft_s *board_get_manifest(void)
+{
+	return &mft;
+}

boards/bitcraze/crazyflie/syslink/CMakeLists.txt

@@ -37,6 +37,7 @@ px4_add_module(
 	COMPILE_FLAGS
 		-Wno-cast-align # TODO: fix and enable
 	SRCS
+		ringbuffer.cpp
 		syslink_main.cpp
 		syslink_bridge.cpp
 		syslink_memory.cpp

boards/bitcraze/crazyflie/syslink/syslink_main.h

@@ -38,7 +38,7 @@
 #include <battery/battery.h>
 
 #include <drivers/device/device.h>
-#include <drivers/device/ringbuffer.h>
+#include "ringbuffer.h"
 
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/topics/parameter_update.h>

boards/cuav/can-gps-v1/default.cmake

@@ -51,6 +51,7 @@ px4_add_board(
 		#hardfault_log
 		#i2cdetect
 		#led_control
+		#mft
 		#mixer
 		#motor_ramp
 		#motor_test

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

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

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

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

boards/cuav/can-gps-v1/src/init.c

@@ -123,5 +123,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	px4_platform_init();
 
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
 	return OK;
 }

boards/cuav/nora/default.cmake

@@ -92,6 +92,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		mft
 		mixer
 		motor_ramp
 		motor_test

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

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

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

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

boards/cuav/nora/src/board_config.h

@@ -129,7 +129,7 @@
 #define GPIO_nVDD_5V_PERIPH_OC          /* PJ4 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTJ|GPIO_PIN4)
 
 /* Power switch controls ******************************************************/
-#define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, !(on_true))
+#define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, (on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_EN, (on_true))
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
 

boards/cuav/nora/src/bootloader_main.c

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

boards/cuav/nora/src/init.c

@@ -209,5 +209,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	sdio_mediachange(sdio_dev, true);
 #endif /* CONFIG_MMCSD */
 
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
 	return OK;
 }

boards/cuav/x7pro/default.cmake

@@ -95,6 +95,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		mft
 		mixer
 		motor_ramp
 		motor_test

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

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

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

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

boards/cuav/x7pro/src/bootloader_main.c

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

boards/cuav/x7pro/src/init.c

@@ -209,5 +209,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	sdio_mediachange(sdio_dev, true);
 #endif /* CONFIG_MMCSD */
 
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
 	return OK;
 }

boards/cubepilot/cubeorange/console.cmake

@@ -97,6 +97,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		mft
 		mixer
 		motor_ramp
 		motor_test

boards/cubepilot/cubeorange/default.cmake

@@ -97,6 +97,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		mft
 		mixer
 		motor_ramp
 		motor_test

boards/cubepilot/cubeorange/init/rc.board_sensors

@@ -4,14 +4,14 @@
 #------------------------------------------------------------------------------
 board_adc start
 
-# SPI1
-ms5611 -s -b 1 start
-icm20649 -s -b 1 start
-
 # SPI4
 ms5611 -s -b 4 start
 icm20602 -s -b 4 -R 12 start
 icm20948 -s -b 4 -R 10 -M start
 
+# SPI1
+ms5611 -s -b 1 start
+icm20649 -s -b 1 start
+
 # standard Here/Here2 connected to GPS1
 ak09916 -X -b 1 -R 6 start # external AK09916 (Here2) is rotated 270 degrees yaw

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

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

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

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