WIP: in tree Dockerfile and github actions push to github registry

Update submodule ecl to latest Thu May 6 12:39:12 UTC 2021
- ecl in PX4/Firmware (a300d32523e24df3f366a0d564b764261e1c1909): https://github.com/PX4/PX4-ECL/commit/a7b8afe420f438554ad90bcba0f1f4872325e75b - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/29243ac5cbb5d27ac71744e88afcd786df6f748d - Changes: https://github.com/PX4/PX4-ECL/compare/a7b8afe420f438554ad90bcba0f1f4872325e75b...29243ac5cbb5d27ac71744e88afcd786df6f748d 29243ac 2021-05-05 bresch - yaw_reset: reduce minimum vector length to compute yaw error aad4840 2021-05-02 Kabir Mohammed - EKF: increase allowed difference between flow and gyro ODRs
2026-05-24 09:17:35 +08:00 · 2021-05-06 15:08:03 -04:00 · 2021-05-06 13:53:40 -04:00 · 2021-05-06 13:52:43 -04:00 · 2021-05-06 10:20:24 +02:00 · 2021-05-06 08:12:07 +02:00
782 changed files with 19936 additions and 11927 deletions
@@ -9,10 +9,10 @@ pipeline {
        script {
          def build_nodes = [:]
          def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2021-02-04",
-            arm64: "px4io/px4-dev-aarch64:2021-02-04",
-            base: "px4io/px4-dev-base-bionic:2021-02-04",
-            nuttx: "px4io/px4-dev-nuttx-focal:2021-02-04",
+            armhf: "px4io/px4-dev-armhf:2021-04-29",
+            arm64: "px4io/px4-dev-aarch64:2021-04-29",
+            base: "px4io/px4-dev-base-bionic:2021-04-29",
+            nuttx: "px4io/px4-dev-nuttx-focal:2021-04-29",
            snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
          ]

@@ -46,9 +46,7 @@ pipeline {
                     "cuav_can-gps-v1_default",
                     "cuav_nora_default",
                     "cuav_x7pro_default",
-                     "cubepilot_cubeorange_console",
                     "cubepilot_cubeorange_default",
-                     "cubepilot_cubeyellow_console",
                     "cubepilot_cubeyellow_default",
                     "holybro_can-gps-v1_canbootloader",
                     "holybro_can-gps-v1_default",
@@ -56,6 +54,7 @@ pipeline {
                     "holybro_kakutef7_default",
                     "holybro_pix32v5_default",
                     "modalai_fc-v1_default",
+                     "modalai_fc-v1_rtps",
                     "mro_ctrl-zero-f7_default",
                     "mro_ctrl-zero-f7-oem_default",
                     "mro_ctrl-zero-h7_default",
@@ -71,12 +70,12 @@ pipeline {
                     "nxp_fmuk66-v3_socketcan",
                     "nxp_fmurt1062-v1_default",
                     "nxp_ucans32k146_default",
+                     "nxp_ucans32k146_canbootloader",
                     "omnibus_f4sd_default",
                     "px4_fmu-v2_default",
                     "px4_fmu-v2_fixedwing",
                     "px4_fmu-v2_multicopter",
                     "px4_fmu-v2_rover",
-                     "px4_fmu-v2_test",
                     "px4_fmu-v3_default",
                     "px4_fmu-v4_cannode",
                     "px4_fmu-v4_default",
@@ -131,7 +130,7 @@ pipeline {
    // TODO: actually upload artifacts to S3
    // stage('S3 Upload') {
    //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+    //     docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
    //   }
    //   options {
    //         skipDefaultCheckout()
@@ -7,12 +7,12 @@ pipeline {

      parallel {

-        stage("cubepilot_cubeorange_console") {
+        stage("cubepilot_cubeorange_test") {
          stages {
-            stage("build cubepilot_cubeorange_console") {
+            stage("build cubepilot_cubeorange_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -22,10 +22,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make cubepilot_cubeorange_console'
+                sh 'make cubepilot_cubeorange_test'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cubepilot_cubeorange_console'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
              }
              post {
                always {
@@ -42,9 +42,9 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'cubepilot_cubeorange_console'
+                    unstash 'cubepilot_cubeorange_test'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_console/cubepilot_cubeorange_console.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
@@ -52,12 +52,12 @@ pipeline {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/cubepilot_io-v2_default.bin" || true' // force px4io update
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                  }
                }
                stage("status") {
@@ -84,12 +84,12 @@ pipeline {
          }
        }

-        stage("cuav_x7pro_default") {
+        stage("cuav_x7pro_test") {
          stages {
-            stage("build cuav_x7pro_default") {
+            stage("build cuav_x7pro_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -99,10 +99,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make cuav_x7pro_default'
+                sh 'make cuav_x7pro_test'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cuav_x7pro_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cuav_x7pro_test'
              }
              post {
                always {
@@ -119,21 +119,21 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'cuav_x7pro_default'
+                    unstash 'cuav_x7pro_test'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_default/cuav_x7pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                  }
                }
                stage("status") {
@@ -160,64 +160,12 @@ pipeline {
          }
        }

-        // stage("px4_fmu-v2_test") {
-        //   stages {
-        //     stage("build px4_fmu-v2_test") {
-        //       agent {
-        //         docker {
-        //           image 'px4io/px4-dev-nuttx-focal:2020-09-14'
-        //           args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-        //         }
-        //       }
-        //       steps {
-        //         sh 'export'
-        //         sh 'make distclean'
-        //         sh 'ccache -s'
-        //         sh 'git fetch --tags'
-        //         sh 'make px4_fmu-v2_test'
-        //         sh 'make sizes'
-        //         sh 'ccache -s'
-        //         stash includes: 'build/px4_fmu-v2_test/px4_fmu-v2_test.elf', name: 'px4_fmu-v2_test'
-        //       }
-        //       post {
-        //         always {
-        //             sh 'make distclean'
-        //         }
-        //       }
-        //     } // stage build
-        //     stage("test") {
-        //       agent {
-        //         label 'px4_fmu-v2'
-        //       }
-        //       stages {
-        //         stage("flash") {
-        //           steps {
-        //             sh 'export'
-        //             sh 'find /dev/serial'
-        //             unstash 'px4_fmu-v2_test'
-        //             // flash board and watch bootup
-        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-        //           }
-        //         }
-        //         stage("reset") {
-        //           steps {
-        //             cleanupFTDI();
-        //           }
-        //         }
-        //       }
-        //       options {
-        //         timeout(time: 90, unit: 'MINUTES')
-        //       }
-        //     }
-        //   }
-        // }
-
-        stage("px4_fmu-v3_default") {
+        stage("px4_fmu-v3_test") {
          stages {
-            stage("build px4_fmu-v3_default") {
+            stage("build px4_fmu-v3_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -227,10 +175,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make px4_fmu-v3_default'
+                sh 'make px4_fmu-v3_test'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v3_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
              }
              post {
                always {
@@ -247,20 +195,21 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v3_default'
+                    unstash 'px4_fmu-v3_test'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_default/px4_fmu-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"'   // generic vtol standard
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                  }
                }
                stage("status") {
@@ -287,12 +236,12 @@ pipeline {
          }
        }

-        stage("px4_fmu-v4_default") {
+        stage("px4_fmu-v4_test") {
          stages {
-            stage("build px4_fmu-v4_default") {
+            stage("build px4_fmu-v4_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -302,10 +251,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make px4_fmu-v4_default'
+                sh 'make px4_fmu-v4_test'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
              }
              post {
                always {
@@ -322,19 +271,21 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v4_default'
+                    unstash 'px4_fmu-v4_test'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_default/px4_fmu-v4_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                  }
                }
                stage("status") {
@@ -361,12 +312,12 @@ pipeline {
          }
        }

-        stage("px4_fmu-v4pro_default") {
+        stage("px4_fmu-v4pro_test") {
          stages {
-            stage("build px4_fmu-v4pro_default") {
+            stage("build px4_fmu-v4pro_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -376,10 +327,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make px4_fmu-v4pro_default'
+                sh 'make px4_fmu-v4pro_test'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4pro_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
              }
              post {
                always {
@@ -396,20 +347,21 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v4pro_default'
+                    unstash 'px4_fmu-v4pro_test'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"'   // generic vtol standard
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                  }
                }
                stage("status") {
@@ -436,12 +388,12 @@ pipeline {
          }
        }

-        stage("px4_fmu-v5_default") {
+        stage("px4_fmu-v5_test") {
          stages {
-            stage("build px4_fmu-v5_default") {
+            stage("build px4_fmu-v5_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -451,10 +403,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make px4_fmu-v5_default'
+                sh 'make px4_fmu-v5_test'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
              }
              post {
                always {
@@ -471,20 +423,21 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v5_default'
+                    unstash 'px4_fmu-v5_test'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_default/px4_fmu-v5_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                  }
                }
                stage("status") {
@@ -516,7 +469,7 @@ pipeline {
            stage("build px4_fmu-v5_debug") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -557,12 +510,14 @@ pipeline {
                stage("configure") {
                  steps {
                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'   // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'   // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"'  // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                 // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                  }
                }
                stage("status") {
@@ -594,7 +549,7 @@ pipeline {
            stage("build px4_fmu-v5_optimized") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -632,11 +587,13 @@ pipeline {
                stage("configure") {
                  steps {
                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                  }
                }
                stage("status") {
@@ -668,7 +625,7 @@ pipeline {
            stage("build px4_fmu-v5_stackcheck") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -709,12 +666,14 @@ pipeline {
                stage("configure") {
                  steps {
                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'   // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0"'       // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'   // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"'  // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0"'        // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                 // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                  }
                }
                stage("status") {
@@ -741,12 +700,12 @@ pipeline {
          }
        }

-        stage("modalai_fc-v1_default") {
+        stage("modalai_fc-v1_test") {
          stages {
-            stage("build modalai_fc-v1_default") {
+            stage("build modalai_fc-v1_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -756,10 +715,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make modalai_fc-v1_default'
+                sh 'make modalai_fc-v1_test'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_test'
              }
              post {
                always {
@@ -776,19 +735,21 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'modalai_fc-v1_default'
+                    unstash 'modalai_fc-v1_test'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_default/modalai_fc-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'  // generic vtol standardulticopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                  }
                }
                stage("status") {
@@ -815,12 +776,12 @@ pipeline {
          }
        }

-        stage("holybro_durandal-v1_default") {
+        stage("holybro_durandal-v1_test") {
          stages {
-            stage("build holybro_durandal-v1_default") {
+            stage("build holybro_durandal-v1_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -830,10 +791,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make holybro_durandal-v1_default'
+                sh 'make holybro_durandal-v1_test'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'holybro_durandal-v1_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'holybro_durandal-v1_test'
              }
              post {
                always {
@@ -850,24 +811,21 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'holybro_durandal-v1_default'
+                    unstash 'holybro_durandal-v1_test'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_test/holybro_durandal-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set DSHOT_CONFIG 600"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 4000"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_USE_IO 0"'          // for dshot
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                  }
                }
                stage("status") {
@@ -895,12 +853,12 @@ pipeline {
          }
        }

-        stage("nxp_fmuk66-v3_default") {
+        stage("nxp_fmuk66-v3_test") {
          stages {
-            stage("build nxp_fmuk66-v3_default") {
+            stage("build nxp_fmuk66-v3_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -910,10 +868,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make nxp_fmuk66-v3_default'
+                sh 'make nxp_fmuk66-v3_test'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
              }
              post {
                always {
@@ -930,19 +888,21 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'nxp_fmuk66-v3_default'
+                    unstash 'nxp_fmuk66-v3_test'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                  }
                }
                stage("status") {
@@ -1000,6 +960,7 @@ void statusFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dmesg"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status; param show CAL_GYRO*"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload"'
@@ -1017,6 +978,7 @@ void statusFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gps"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag"'
@@ -1028,6 +990,7 @@ void statusFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_gps_position"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position"'
@@ -1062,6 +1025,7 @@ void statusFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status; param show CAL_GYRO*"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
  // stop logger
@@ -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:2021-02-04",
+	"image": "px4io/px4-dev-nuttx-focal:2021-04-29",

 	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],

@@ -28,7 +28,7 @@ jobs:
          "parameters_metadata",
        ]
    container:
-      image: px4io/px4-dev-nuttx-focal:2021-02-04
+      image: ghcr.io/px4/px4-dev:2021-05-06
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2021-02-04
+    container: px4io/px4-dev-clang:2021-04-29
    steps:
    - uses: actions/checkout@v1
      with:
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2021-02-04
+    container: px4io/px4-dev-armhf:2021-04-29
    strategy:
      matrix:
        config: [
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2021-02-04
+    container: px4io/px4-dev-aarch64:2021-04-29
    strategy:
      matrix:
        config: [
@@ -4,6 +4,7 @@ on:
  push:
    branches:
    - 'master'
+    - 'github-actions'
  pull_request:
    branches:
    - '*'
@@ -11,34 +12,39 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-02-04
+    container: ghcr.io/px4/px4-dev:2021-05-06
    strategy:
      matrix:
        config: [
          airmind_mindpx-v2_default,
          ark_can-flow_canbootloader,
+          ark_can-flow_debug,
          ark_can-flow_default,
          av_x-v1_default,
          bitcraze_crazyflie21_default,
          bitcraze_crazyflie_default,
          cuav_can-gps-v1_canbootloader,
+          cuav_can-gps-v1_debug,
          cuav_can-gps-v1_default,
          cuav_nora_default,
          cuav_x7pro_default,
-          cubepilot_cubeorange_console,
          cubepilot_cubeorange_default,
-          cubepilot_cubeyellow_console,
+          cubepilot_cubeorange_test,
          cubepilot_cubeyellow_default,
+          cubepilot_cubeyellow_test,
+          cubepilot_io-v2_default,
          holybro_can-gps-v1_canbootloader,
+          holybro_can-gps-v1_debug,
          holybro_can-gps-v1_default,
          holybro_durandal-v1_default,
          holybro_kakutef7_default,
          holybro_pix32v5_default,
          modalai_fc-v1_default,
-          mro_ctrl-zero-f7_default,
+          modalai_fc-v1_rtps,
          mro_ctrl-zero-f7-oem_default,
-          mro_ctrl-zero-h7_default,
+          mro_ctrl-zero-f7_default,
          mro_ctrl-zero-h7-oem_default,
+          mro_ctrl-zero-h7_default,
          mro_pixracerpro_default,
          mro_x21-777_default,
          mro_x21_default,
@@ -49,24 +55,26 @@ jobs:
          nxp_fmuk66-v3_rtps,
          nxp_fmuk66-v3_socketcan,
          nxp_fmurt1062-v1_default,
+          nxp_ucans32k146_canbootloader,
          nxp_ucans32k146_default,
          omnibus_f4sd_default,
          px4_fmu-v2_default,
          px4_fmu-v2_fixedwing,
          px4_fmu-v2_multicopter,
          px4_fmu-v2_rover,
-          px4_fmu-v2_test,
          px4_fmu-v3_default,
          px4_fmu-v4_cannode,
          px4_fmu-v4_default,
          px4_fmu-v4pro_default,
          px4_fmu-v5_ctrlalloc,
+          px4_fmu-v5_debug,
          px4_fmu-v5_default,
          px4_fmu-v5_fixedwing,
          px4_fmu-v5_multicopter,
          px4_fmu-v5_optimized,
          px4_fmu-v5_rover,
          px4_fmu-v5_rtps,
+          px4_fmu-v5_stackcheck,
          px4_fmu-v5_uavcanv0periph,
          px4_fmu-v5_uavcanv1,
          px4_fmu-v5x_base_phy_DP83848C,
@@ -116,6 +124,8 @@ jobs:
      run: make ${{matrix.config}} bloaty_symbols || true
    - name: make ${{matrix.config}} bloaty_templates
      run: make ${{matrix.config}} bloaty_templates || true
+    - name: make ${{matrix.config}} bloaty_ram
+      run: make ${{matrix.config}} bloaty_ram || true
    - name: make ${{matrix.config}} bloaty_compare_master
      run: make ${{matrix.config}} bloaty_compare_master || true
    - name: ccache post-run
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-02-04
+    container: ghcr.io/px4/px4-dev:2021-05-06
    strategy:
      matrix:
        config: [
@@ -0,0 +1,31 @@
+name: Build and publish Docker image
+
+on:
+  push:
+    branches:
+    - 'master'
+    - 'github-actions'
+
+jobs:
+  docker:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v1
+        with:
+          registry: ghcr.io
+          username: ${{ github.repository_owner }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Build and push
+        uses: docker/build-push-action@v2
+        with:
+          context: .
+          platforms: linux/amd64
+          push: true
+          tags: |
+            px4/px4-dev:latest
+            ghcr.io/px4/px4-dev:latest
+
+      - name: Image digest
+        run: echo ${{ steps.docker_build.outputs.digest }}
@@ -0,0 +1,77 @@
+name: Deploy metadata for all targets
+
+on:
+  push:
+    branches:
+    - 'master'
+    - 'release/*'
+    - 'pr-metadata-test'
+
+jobs:
+  enumerate_targets:
+    runs-on: ubuntu-latest
+    outputs:
+      matrix: ${{ steps.set-matrix.outputs.matrix }}
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+    - id: set-matrix
+      run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py)"
+  build:
+    runs-on: ubuntu-latest
+    needs: enumerate_targets
+    strategy:
+      matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
+    container: px4io/px4-dev-${{ matrix.container }}:2021-04-29
+    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: ${{matrix.target}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.target}}-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 = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.target}}
+      run: make ${{matrix.target}}
+    - name: ccache post-run
+      run: ccache -s
+
+    - name: parameter metadata
+      run: |
+        make ${{matrix.target}} ver_gen
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
+        cd build/${{ matrix.target }}
+        mkdir _metadata || true
+        cp parameters.* _metadata
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
+        DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
+
@@ -1,131 +0,0 @@
-name: MAVROS Avoidance Tests
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          - {test_file: "mavros_posix_test_avoidance.test",    vehicle: "iris_obs_avoid", mission: "avoidance",       build_type: "RelWithDebInfo"}
-          - {test_file: "mavros_posix_test_safe_landing.test", vehicle: "iris_obs_avoid", mission: "MC_safe_landing", build_type: "RelWithDebInfo"}
-
-    container:
-      image: px4io/px4-dev-ros-melodic:2021-02-04
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4 and sitl_gazebo
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        ccache -z
-        make px4_sitl_default
-        make px4_sitl_default sitl_gazebo
-        ccache -s
-
-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run SITL tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        export
-        ./test/rostest_avoidance_run.sh ${{matrix.config.test_file}} mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}} || true
-
-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: coredump
-        path: px4.core
-
-    # - name: ecl EKF analysis
-    #   if: always()
-    #   run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg
-
-    - name: Upload logs to flight review
-      if: always()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
-
-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
-
-    - name: Store PX4 log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_log
-        path: ~/.ros/log/*/*.ulg
-
-    - name: Store ROS log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: ros_log
-        path: ~/.ros/**/rostest-*.log
-
-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      if: contains(matrix.config.build_type, 'Coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavros_avoidance
-        file: coverage/lcov.info
@@ -25,7 +25,7 @@ jobs:
          #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2021-02-04
+      image: px4io/px4-dev-ros-melodic:2021-04-29
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -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:2021-02-04
+      image: px4io/px4-dev-ros-melodic:2021-04-29
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -4,15 +4,14 @@ on:
  push:
    branches:
    - 'master'
-  pull_request:
-    branches:
-    - '*'
+    - 'release/*'
+    - 'pr-metadata-test'

 jobs:

  airframe:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: ghcr.io/px4/px4-dev:2021-05-06
    steps:
    - uses: actions/checkout@v1
      with:
@@ -27,7 +26,7 @@ jobs:

  module:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: ghcr.io/px4/px4-dev:2021-05-06
    steps:
    - uses: actions/checkout@v1
      with:
@@ -42,7 +41,7 @@ jobs:

  parameter:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: ghcr.io/px4/px4-dev:2021-05-06
    steps:
    - uses: actions/checkout@v1
      with:
@@ -51,13 +50,22 @@ jobs:
    - name: parameter metadata
      run: |
        make parameters_metadata
-        cd build/px4_sitl_default/docs
-        ls -ls *
-      # TODO: deploy 'parameters.md, parameters.xml to S3 px4-travis:Firmware/master/
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/px4_sitl_default/docs/'
+        DEST_DIR: 'Firmware/${{ env.version }}/_general/'

  uorb_graph:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-02-04
+    container: ghcr.io/px4/px4-dev:2021-05-06
    steps:
    - uses: actions/checkout@v1
      with:
@@ -72,7 +80,7 @@ jobs:

  micrortps_agent:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: ghcr.io/px4/px4-dev:2021-05-06
    steps:
    - uses: actions/checkout@v1
      with:
@@ -86,7 +94,7 @@ jobs:

  ROS_msgs:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: ghcr.io/px4/px4-dev:2021-05-06
    steps:
    - uses: actions/checkout@v1
      with:
@@ -99,7 +107,7 @@ jobs:

  ROS2_bridge:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: ghcr.io/px4/px4-dev:2021-05-06
    steps:
    - uses: actions/checkout@v1
      with:
@@ -20,7 +20,7 @@ jobs:
          - {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:2021-02-04
+      image: px4io/px4-dev-simulation-focal:2021-04-29
      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/v0.36.0/mavsdk_0.36.0_ubuntu20.04_amd64.deb
+      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
    - name: Install MAVSDK
-      run: dpkg -i mavsdk_0.36.0_ubuntu20.04_amd64.deb
+      run: dpkg -i "mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@@ -33,7 +33,7 @@
 [submodule "src/modules/micrortps_bridge/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
 	url = https://github.com/PX4/Micro-CDR.git
-	branch = px4
+	branch = master
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
@@ -59,7 +59,11 @@
 	url = https://github.com/UAVCAN/public_regulated_data_types.git
 [submodule "src/drivers/uavcannode_gps_demo/public_regulated_data_types"]
 	path = src/drivers/uavcannode_gps_demo/public_regulated_data_types
-	url = https://github.com/UAVCAN/public_regulated_data_types
+	url = https://github.com/UAVCAN/public_regulated_data_types.git
 [submodule "src/drivers/uavcannode_gps_demo/libcanard"]
 	path = src/drivers/uavcannode_gps_demo/libcanard
-	url = https://github.com/UAVCAN/libcanard
+	url = https://github.com/UAVCAN/libcanard.git
+[submodule "src/drivers/uavcan_v1/legacy_data_types"]
+	path = src/drivers/uavcan_v1/legacy_data_types
+	url = https://github.com/px4/public_regulated_data_types/
+	branch = legacy
@@ -96,21 +96,26 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: cuav_x7pro_default
-    cubepilot_cubeorange_default:
+    cubepilot_cubeorange_test:
      short: cubepilot_cubeorange
      buildType: MinSizeRel
      settings:
-        CONFIG: cubepilot_orange_default
-    cubepilot_cubeyellow_default:
-      short: cubepilot_cubeyellow
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cubepilot_cubeyellow_default
+        CONFIG: cubepilot_orange_test
    emlid_navio2_default:
      short: emlid_navio2
      buildType: MinSizeRel
      settings:
        CONFIG: emlid_navio2_default
+    holybro_can-gps-v1_canbootloader:
+      short: holybro_can-gps-v1_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: holybro_can-gps-v1_canbootloader
+    holybro_can-gps-v1_default:
+      short: holybro_can-gps-v1_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: holybro_can-gps-v1_default
    holybro_durandal-v1_default:
      short: holybro_durandal-v1
      buildType: MinSizeRel
@@ -113,7 +113,7 @@ include(px4_parse_function_args)
 include(px4_git)

 execute_process(
-	COMMAND git describe --always --tags
+	COMMAND git describe --exclude ext/* --always --tags
 	OUTPUT_VARIABLE PX4_GIT_TAG
 	OUTPUT_STRIP_TRAILING_WHITESPACE
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
@@ -185,6 +185,8 @@ if((CMAKE_BUILD_TYPE STREQUAL "Debug") OR (CMAKE_BUILD_TYPE STREQUAL "Coverage")
 	set(MAX_CUSTOM_OPT_LEVEL -O0)
 elseif(CMAKE_BUILD_TYPE MATCHES "Sanitizer")
 	set(MAX_CUSTOM_OPT_LEVEL -O1)
+elseif(CMAKE_BUILD_TYPE MATCHES "Release")
+	set(MAX_CUSTOM_OPT_LEVEL -O3)
 else()
 	if(px4_constrained_flash_build)
 		set(MAX_CUSTOM_OPT_LEVEL -Os)
@@ -454,3 +456,10 @@ add_custom_target(size
 	WORKING_DIRECTORY ${PX4_BINARY_DIR}
 	USES_TERMINAL
 	)
+
+# install python requirements using configured python
+add_custom_target(install_python_requirements
+	COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+	USES_TERMINAL
+)
@@ -0,0 +1,29 @@
+#
+# PX4 development environment
+#
+
+FROM ubuntu:20.04
+LABEL maintainer="Daniel Agar <daniel@agar.ca>"
+
+COPY Tools/setup/ubuntu.sh /tmp/ubuntu.sh
+COPY Tools/setup/requirements.txt /tmp/requirements.txt
+RUN DEBIAN_FRONTEND=noninteractive /tmp/ubuntu.sh --no-sim-tools \
+	&& apt-get -y autoremove \
+	&& apt-get clean autoclean \
+	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+
+# create user with id 1001 (jenkins docker workflow default)
+RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout user
+
+ENV CCACHE_UMASK=000
+ENV PATH="/usr/lib/ccache:$PATH"
+
+# SITL UDP PORTS
+EXPOSE 14556/udp
+EXPOSE 14557/udp
+
+# create and start as LOCAL_USER_ID
+COPY Tools/setup/entrypoint.sh /usr/local/bin/entrypoint.sh
+ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
+
+CMD ["/bin/bash"]
@@ -15,7 +15,7 @@ pipeline {
        // stage('Catkin build on ROS workspace') {
        //   agent {
        //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2021-02-04'
+        //       image 'px4io/px4-dev-ros-melodic:2021-04-29'
        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
        //     }
        //   }
@@ -56,7 +56,7 @@ pipeline {
        stage('Colcon build on ROS2 workspace') {
          agent {
            docker {
-              image 'px4io/px4-dev-ros2-foxy:2021-02-04'
+              image 'px4io/px4-dev-ros2-foxy:2021-04-29'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
            }
          }
@@ -85,10 +85,11 @@ pipeline {

        stage('Airframe') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh 'make distclean'
+            sh 'git fetch --all --tags'
            sh 'make airframe_metadata'
            dir('build/px4_sitl_default/docs') {
              archiveArtifacts(artifacts: 'airframes.md, airframes.xml')
@@ -104,14 +105,15 @@ pipeline {

        stage('Parameter') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh 'make distclean'
+            sh 'git fetch --all --tags'
            sh 'make parameters_metadata'
            dir('build/px4_sitl_default/docs') {
-              archiveArtifacts(artifacts: 'parameters.md, parameters.xml, params.json.xz')
-              stash includes: 'parameters.md, parameters.xml, params.json.xz', name: 'metadata_parameters'
+              archiveArtifacts(artifacts: 'parameters.md, parameters.xml, parameters.json.xz')
+              stash includes: 'parameters.md, parameters.xml, parameters.json.xz', name: 'metadata_parameters'
            }
          }
          post {
@@ -123,10 +125,11 @@ pipeline {

        stage('Module') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh 'make distclean'
+            sh 'git fetch --all --tags'
            sh 'make module_documentation'
            dir('build/px4_sitl_default/docs') {
              archiveArtifacts(artifacts: 'modules/*.md')
@@ -143,13 +146,14 @@ pipeline {
        stage('uORB graphs') {
          agent {
            docker {
-              image 'px4io/px4-dev-nuttx-focal:2021-02-04'
+              image 'px4io/px4-dev-nuttx-focal:2021-04-29'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
            }
          }
          steps {
            sh 'export'
            sh 'make distclean'
+            sh 'git fetch --all --tags'
            sh 'make uorb_graphs'
            dir('Tools/uorb_graph') {
              archiveArtifacts(artifacts: 'graph_px4_sitl.json')
@@ -172,7 +176,7 @@ pipeline {

        stage('Userguide') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh('export')
@@ -202,7 +206,7 @@ pipeline {

        stage('QGroundControl') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh('export')
@@ -230,7 +234,7 @@ pipeline {

        stage('microRTPS agent') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh('export')
@@ -260,7 +264,7 @@ pipeline {

        stage('PX4 ROS msgs') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh('export')
@@ -289,7 +293,7 @@ pipeline {

        stage('PX4 ROS2 bridge') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh('export')
@@ -332,7 +336,7 @@ pipeline {

        stage('S3') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh('export')
@@ -342,7 +346,7 @@ pipeline {
            withAWS(credentials: 'px4_aws_s3_key', region: 'us-east-1') {
              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'airframes.xml', path: 'Firmware/master/')
              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.xml', path: 'Firmware/master/')
-              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'params.json.xz', path: 'Firmware/master/')
+              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.json.xz', path: 'Firmware/master/')
            }
          }
          when {
@@ -303,8 +303,7 @@ check_%:
 	@echo

 uorb_graphs:
-	@./Tools/uorb_graph/create_from_startupscript.sh
-	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --file Tools/uorb_graph/graph_full
+	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib --file Tools/uorb_graph/graph_full
 	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
 	@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
 	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
@@ -319,7 +318,7 @@ coverity_scan: px4_sitl_default
 .PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata doxygen

 parameters_metadata:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters
+	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen

 airframe_metadata:
 	@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes
@@ -470,6 +469,7 @@ validate_module_configs:

 clean:
 	@rm -rf "$(SRC_DIR)"/build
+	@git submodule foreach git clean -df

 submodulesclean:
 	@git submodule foreach --quiet --recursive git clean -ff -x -d
@@ -487,7 +487,7 @@ gazeboclean:

 distclean: gazeboclean
 	@git submodule deinit -f .
-	@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode"
+	@git clean -ff -x -d -e ".cproject" -e ".idea" -e ".project" -e ".settings" -e ".vscode"

 # Help / Error
 # --------------------------------------------------------------------
@@ -8,26 +8,30 @@

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

+PX4 is highly portable, OS-independent and supports Linux, NuttX and QuRT out of the box.
+
 * Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
 * [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
-  * [Multicopters](https://docs.px4.io/master/en/airframes/airframe_reference.html#copter)
-  * [Fixed wing](https://docs.px4.io/master/en/airframes/airframe_reference.html#plane)
-  * [VTOL](https://docs.px4.io/master/en/airframes/airframe_reference.html#vtol)
-  * many more experimental types (Rovers, Blimps, Boats, Submarines, Autogyros, etc)
+  * [Multicopters](https://docs.px4.io/master/en/frames_multicopter/)
+  * [Fixed wing](https://docs.px4.io/master/en/frames_plane/)
+  * [VTOL](https://docs.px4.io/master/en/frames_vtol/)
+  * [Autogyro](https://docs.px4.io/master/en/frames_autogyro/)
+  * [Rover](https://docs.px4.io/master/en/frames_rover/)
+  * many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
 * Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)


-## PX4 Users
+## Building a PX4 based drone, rover, boat or robot

 The [PX4 User Guide](https://docs.px4.io/master/en/) explains how to assemble [supported vehicles](https://docs.px4.io/master/en/airframes/airframe_reference.html) and fly drones with PX4.
 See the [forum and chat](https://docs.px4.io/master/en/#support) if you need help!


-## PX4 Developers
+## Changing code and contributing

-This [Developer Guide](https://dev.px4.io/) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
+This [Developer Guide](https://docs.px4.io/master/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.

-Developers should read the [Guide for Contributions](https://dev.px4.io/master/en/contribute/).
+Developers should read the [Guide for Contributions](https://docs.px4.io/master/en/contribute/).
 See the [forum and chat](https://dev.px4.io/master/en/#support) if you need help!


@@ -69,10 +73,8 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co
    * [Daniel Agar](https://github.com/dagar)
  * [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
    * [Paul Riseborough](https://github.com/priseborough)
-  * Vision based navigation
-    * [Julian Kent](https://github.com/jkflying)
-  * Obstacle Avoidance
-    * [Martina Rivizzigno](https://github.com/mrivi)
+  * Vision based navigation and Obstacle Avoidance
+    * [Markus Achtelik](https://github.com/markusachtelik)
  * RTPS/ROS2 Interface
    * [Nuno Marques](https://github.com/TSC21)

@@ -80,27 +82,36 @@ See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and

 ## Supported Hardware

-This repository contains code supporting these boards:
-  * FMUv2
-    * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
-    * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
-  * FMUv3
+This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.
+
+### Pixhawk Standard Boards
+  * FMUv6X and FMUv6U (STM32H7, 2021)
+    * Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
+  * FMUv5 and FMUv5X (STM32F7, 2019/20)
+    * [Pixhawk 4 (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
+    * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
+    * [CUAV V5+ (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
+    * [CUAV V5 nano (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
+    * [Auterion Skynode (FMUv5X)](https://docs.px4.io/master/en/flight_controller/auterion_skynode.html)
+  * FMUv4 (STM32F4, 2015)
+    * [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
+    * [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
+  * FMUv3 (STM32F4, 2014)
    * [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
    * [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
    * [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
-  * FMUv4
-    * [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
-    * [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
-  * FMUv5 (ARM Cortex M7)
-    * [Pixhawk 4](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
-    * [Pixhawk 4 mini](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
-    * [CUAV V5+](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
-    * [CUAV V5 nano](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
+  * FMUv2 (STM32F4, 2013)
+    * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
+    * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
+
+### Manufacturer and Community supported
+  * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
+  * [Hex Cube Orange](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_orange.html)
+  * [Hex Cube Yellow](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_yellow.html)
  * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
  * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/flight_controller/crazyflie2.html)
  * [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
-  * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
  * [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
  * [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)

@@ -31,11 +31,12 @@
 #
 ############################################################################

-message(STATUS "ROMFS: ${config_romfs_root}")
-
 set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
 set(romfs_gen_root_dir ${PX4_BINARY_DIR}/etc)

+file(RELATIVE_PATH romfs_path_relative ${PX4_SOURCE_DIR} ${romfs_src_dir})
+message(STATUS "ROMFS: ${romfs_path_relative}")
+
 set_property(GLOBAL PROPERTY PX4_ROMFS_FILES)
 set_property(GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)

@@ -149,9 +150,22 @@ if(config_io_board)
 		copy_px4io_bin
 		${fw_io_bin}
 	)
+	file(RELATIVE_PATH iofw_file_relative ${PX4_SOURCE_DIR} ${fw_io_bin})
+	message(STATUS "ROMFS:  Adding ${iofw_file_relative} -> /etc/extras/${config_io_board}.bin")
 endif()

-if(config_build_bootloader)
+
+# board bootloader (built or included)
+if(TARGET copy_bootloader_bin)
+
+	if(board_bootloader_firmware)
+		file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${board_bootloader_firmware})
+		message(STATUS "ROMFS:  Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
+	else()
+		file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${bootloader_bin})
+		message(STATUS "ROMFS:  Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
+	endif()
+
 	list(APPEND extras_dependencies
 		copy_bootloader_bin
 		${bootloader_bin}
@@ -162,7 +176,8 @@ endif()
 # optional board architecture defaults
 set(board_arch_rc_file "rc.board_arch_defaults")
 if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}")
-	message(STATUS "ROMFS: Adding ${board_arch_rc_file}")
+	file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file})
+	message(STATUS "ROMFS:  Adding ${rc_file_relative} -> /etc/init.d/${board_arch_rc_file}")

 	add_custom_command(
 		OUTPUT
@@ -193,7 +208,8 @@ list(APPEND OPTIONAL_BOARD_RC
 foreach(board_rc_file ${OPTIONAL_BOARD_RC})

 	if(EXISTS "${PX4_BOARD_DIR}/init/${board_rc_file}")
-		message(STATUS "ROMFS: Adding ${board_rc_file}")
+		file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_BOARD_DIR}/init/${board_rc_file})
+		message(STATUS "ROMFS:  Adding ${rc_file_relative} -> /etc/init.d/${board_rc_file}")

 		add_custom_command(
 			OUTPUT
@@ -221,7 +237,7 @@ if(config_uavcan_peripheral_firmware)

 	foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
 		# include the px4io binary in ROMFS
-		message(STATUS "ROMFS: Building and including UAVCAN peripheral ${uavcan_peripheral_config}")
+		message(STATUS "ROMFS:  Adding UAVCAN peripheral ${uavcan_peripheral_config} -> /etc/uavcan/fw/")
 		ExternalProject_Add(build_${uavcan_peripheral_config}
 			SOURCE_DIR ${CMAKE_SOURCE_DIR}
 			DOWNLOAD_COMMAND ""
@@ -76,15 +76,6 @@ unset BOARD_RC_DEFAULTS
 #
 rgbled start -X -q
 rgbled_ncp5623c start -X -q
-rgbled_pwm start
-
-if param greater -s LIGHT_EN_BLINKM 0
-then
-	if blinkm start -X
-	then
-		blinkm systemstate
-	fi
-fi

 #
 # board sensors: rc.sensors
@@ -1,5 +0,0 @@
-px4fmuv3_bl.bin: Bootloader binary of the PX4 Bootloader
-  (https://github.com/PX4/Bootloader)
-  based on commit 184b813699a9cfd6f43a5a21556a06b4372baf5f
-  for the target px4fmuv3_bl
-
@@ -34,6 +34,9 @@
 add_subdirectory(airframes)

 px4_add_romfs_files(
+	px4-rc.params
+	px4-rc.simulator
+	px4-rc.mavlink
 	rc.replay
 	rcS
 )
@@ -10,43 +10,39 @@
 . ${R}etc/init.d/rc.mc_defaults
 . ${R}etc/init.d/rc.ctrlalloc

-if [ $AUTOCNF = yes ]
-then
-	param set MPC_USE_HTE 0
+param set-default MPC_USE_HTE 0

-	param set VM_MASS 1.5
-	param set VM_INERTIA_XX 0.03
-	param set VM_INERTIA_YY 0.03
-	param set VM_INERTIA_ZZ 0.05
+param set-default VM_MASS 1.5
+param set-default VM_INERTIA_XX 0.03
+param set-default VM_INERTIA_YY 0.03
+param set-default VM_INERTIA_ZZ 0.05

-	param set CA_AIRFRAME 0
-	param set CA_METHOD 1
-	param set CA_ACT0_MIN 0.0
-	param set CA_ACT1_MIN 0.0
-	param set CA_ACT2_MIN 0.0
-	param set CA_ACT3_MIN 0.0
-	param set CA_ACT0_MAX 1.0
-	param set CA_ACT1_MAX 1.0
-	param set CA_ACT2_MAX 1.0
-	param set CA_ACT3_MAX 1.0
+param set-default CA_AIRFRAME 0
+param set-default CA_METHOD 1
+param set-default CA_ACT0_MIN 0.0
+param set-default CA_ACT1_MIN 0.0
+param set-default CA_ACT2_MIN 0.0
+param set-default CA_ACT3_MIN 0.0
+param set-default CA_ACT0_MAX 1.0
+param set-default CA_ACT1_MAX 1.0
+param set-default CA_ACT2_MAX 1.0
+param set-default CA_ACT3_MAX 1.0

-	param set CA_MC_R0_PX 0.1515
-	param set CA_MC_R0_PY 0.245
-	param set CA_MC_R0_CT 6.5
-	param set CA_MC_R0_KM 0.05
-	param set CA_MC_R1_PX -0.1515
-	param set CA_MC_R1_PY -0.1875
-	param set CA_MC_R1_CT 6.5
-	param set CA_MC_R1_KM 0.05
-	param set CA_MC_R2_PX 0.1515
-	param set CA_MC_R2_PY -0.245
-	param set CA_MC_R2_CT 6.5
-	param set CA_MC_R2_KM -0.05
-	param set CA_MC_R3_PX -0.1515
-	param set CA_MC_R3_PY 0.1875
-	param set CA_MC_R3_CT 6.5
-	param set CA_MC_R3_KM -0.05
-
-fi
+param set-default CA_MC_R0_PX 0.1515
+param set-default CA_MC_R0_PY 0.245
+param set-default CA_MC_R0_CT 6.5
+param set-default CA_MC_R0_KM 0.05
+param set-default CA_MC_R1_PX -0.1515
+param set-default CA_MC_R1_PY -0.1875
+param set-default CA_MC_R1_CT 6.5
+param set-default CA_MC_R1_KM 0.05
+param set-default CA_MC_R2_PX 0.1515
+param set-default CA_MC_R2_PY -0.245
+param set-default CA_MC_R2_CT 6.5
+param set-default CA_MC_R2_KM -0.05
+param set-default CA_MC_R3_PX -0.1515
+param set-default CA_MC_R3_PY 0.1875
+param set-default CA_MC_R3_CT 6.5
+param set-default CA_MC_R3_KM -0.05

 set MIXER direct
@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (foggy_lidar)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+param set-default EKF2_RNG_AID 1
+param set-default EKF2_RNG_A_HMAX 10
+
@@ -8,15 +8,12 @@

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

-if [ $AUTOCNF = yes ]
-then
-	# EKF2: Multi GPS blending (as the model has 2 GPS's)
-	param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
-	param set TRIG_INTERFACE 3
-	param set TRIG_MODE 4
-	param set MNT_MODE_IN 4
-	param set MNT_MODE_OUT 2
-	param set MNT_DO_STAB 2
-fi
+# EKF2: Multi GPS blending (as the model has 2 GPS's)
+param set-default SENS_GPS_MASK 7
+param set-default TRIG_INTERFACE 3
+param set-default TRIG_MODE 4
+param set-default MNT_MODE_IN 4
+param set-default MNT_MODE_OUT 2
+param set-default MNT_DO_STAB 2

 set MIXER quad_x
@@ -7,16 +7,14 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-if [ $AUTOCNF = yes ]
-then
-	# EKF2
-	param set EKF2_AID_MASK 2
-	param set EKF2_EVP_NOISE 0.05
-	param set EKF2_EVA_NOISE 0.05
+# EKF2
+param set-default EKF2_AID_MASK 2
+param set-default EKF2_EVP_NOISE 0.05
+param set-default EKF2_EVA_NOISE 0.05

-	# LPE: Flow-only mode
-	param set LPE_FUSION 242
-	param set LPE_FAKE_ORIGIN 1
+# LPE: Flow-only mode
+param set-default LPE_FUSION 242
+param set-default LPE_FAKE_ORIGIN 1
+
+param set-default MPC_ALT_MODE 2

-	param set MPC_ALT_MODE 2
-fi
@@ -7,12 +7,9 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-if [ $AUTOCNF = yes ]
-then
-	# enable fusion of landing target velocity
-	param set LTEST_MODE 1
-	param set PLD_HACC_RAD 0.1
-fi
+# enable fusion of landing target velocity
+param set-default LTEST_MODE 1
+param set-default PLD_HACC_RAD 0.1

 # Start up Landing Target Estimator module
 landing_target_estimator start
@@ -7,7 +7,5 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-if [ $AUTOCNF = yes ]
-then
-	param set LPE_FUSION 242
-fi
+param set-default LPE_FUSION 242
+
@@ -7,15 +7,13 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-if [ $AUTOCNF = yes ]
-then
-	# EKF2: Vision position and heading
-	param set EKF2_AID_MASK 24
-	param set EKF2_EV_DELAY 5
+# EKF2: Vision position and heading
+param set-default EKF2_AID_MASK 24
+param set-default EKF2_EV_DELAY 5

-	# LPE: Vision + baro
-	param set LPE_FUSION 132
+# LPE: Vision + baro
+param set-default LPE_FUSION 132
+
+# AEQ: External heading set to use vision input
+param set-default ATT_EXT_HDG_M 1

-	# AEQ: External heading set to use vision input
-	param set ATT_EXT_HDG_M 1
-fi
@@ -7,10 +7,7 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set MC_PITCHRATE_P 0.1
-	param set MC_ROLLRATE_P 0.1
-fi
+param set-default MC_PITCHRATE_P 0.1
+param set-default MC_ROLLRATE_P 0.1

 set MIXER quad_x
@@ -7,8 +7,6 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-if [ $AUTOCNF = yes ]
-then
-	param set COM_OBS_AVOID 1
-	param set MPC_XY_CRUISE 5.0
-fi
+param set-default COM_OBS_AVOID 1
+param set-default MPC_XY_CRUISE 5.0
+
@@ -7,15 +7,12 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-if [ $AUTOCNF = yes ]
-then
-	# EKF2
-	param set EKF2_AID_MASK 2
-	param set SENS_FLOW_ROT 0
+# EKF2
+param set-default EKF2_AID_MASK 2
+param set-default SENS_FLOW_ROT 0

-	# LPE: Flow-only mode
-	param set LPE_FUSION 242
-	param set LPE_FAKE_ORIGIN 1
+# LPE: Flow-only mode
+param set-default LPE_FUSION 242
+param set-default LPE_FAKE_ORIGIN 1

-	param set MPC_ALT_MODE 2
-fi
+param set-default MPC_ALT_MODE 2
@@ -7,9 +7,6 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-if [ $AUTOCNF = yes ]
-then
-	# EKF2: Vision velocity and heading
-	param set EKF2_AID_MASK 272
-	param set EKF2_EV_DELAY 5
-fi
+# EKF2: Vision velocity and heading
+param set-default EKF2_AID_MASK 272
+param set-default EKF2_EV_DELAY 5
@@ -7,8 +7,5 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-if [ $AUTOCNF = yes ]
-then
-	# EKF2: Multi GPS blending
-	param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
-fi
+# EKF2: Multi GPS blending
+param set-default SENS_GPS_MASK 7
@@ -5,16 +5,13 @@

 . ${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
+#Set data link loss failsafe mode (0: disabled)
+param set-default NAV_DLL_ACT 0

-	# disable circuit breaker for airspeed sensor
-	param set CBRK_AIRSPD_CHK 162128
+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128

-	#param set CBRK_GPSFAIL 240024
-fi
+#param set CBRK_GPSFAIL 240024

 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}
@@ -5,16 +5,13 @@

 . ${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
+#Set data link loss failsafe mode (0: disabled)
+param set-default NAV_DLL_ACT 0

-	# disable circuit breaker for airspeed sensor
-	param set CBRK_AIRSPD_CHK 162128
+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128

-	#param set CBRK_GPSFAIL 240024
-fi
+#param set CBRK_GPSFAIL 240024

 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}
@@ -5,15 +5,11 @@

 . ${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
+#Set data link loss failsafe mode (0: disabled)
+param set-default NAV_DLL_ACT 0

-	# disable circuit breaker for airspeed sensor
-	param set CBRK_AIRSPD_CHK 162128
-
-fi
+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128

 set PWM_OUT 12345678
 set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
@@ -5,54 +5,50 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	param set EKF2_MAG_ACCLIM 0
-	param set EKF2_MAG_YAWLIM 0
+param set-default EKF2_ARSP_THR 8
+param set-default EKF2_FUSE_BETA 1
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

-	param set FW_LND_AIRSPD_SC 1
-	param set FW_LND_ANG 8
-	param set FW_THR_LND_MAX 0
+param set-default FW_LND_AIRSPD_SC 1
+param set-default FW_LND_ANG 8
+param set-default FW_THR_LND_MAX 0

-	param set FW_L1_PERIOD 12
+param set-default FW_L1_PERIOD 12

-	param set FW_MAN_P_MAX 30
+param set-default FW_MAN_P_MAX 30

-	param set FW_PR_I 0.4
-	param set FW_PR_P 0.9
-	param set FW_PR_FF 0.2
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
+param set-default FW_PR_I 0.4
+param set-default FW_PR_P 0.9
+param set-default FW_PR_FF 0.2
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
+param set-default FW_P_LIM_MIN -15

-	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.3
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_P 0.3

-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_THR_CRUISE 0.25
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_THR_CRUISE 0.25

-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2
+param set-default FW_T_ALT_TC 2
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_TAS_TC 2

-	param set FW_W_EN 1
+param set-default FW_W_EN 1

-	param set MIS_LTRMIN_ALT 30
-	param set MIS_TAKEOFF_ALT 30
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 30

-	param set NAV_ACC_RAD 15
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 50
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 50

-	param set RWTO_TKOFF 1
-
-fi
+param set-default RWTO_TKOFF 1

 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom
@@ -5,10 +5,8 @@

 . ${R}etc/init.d-posix/airframes/1030_plane

-if [ $AUTOCNF = yes ]
-then
-	# Camera trigger interface is MAVLink
-	param set TRIG_INTERFACE 3
-	# Distance trigger mode enabled
-	param set TRIG_MODE 4
-fi
+# Camera trigger interface is MAVLink
+param set-default TRIG_INTERFACE 3
+
+# Distance trigger mode enabled
+param set-default TRIG_MODE 4
@@ -5,8 +5,5 @@

 . ${R}etc/init.d-posix/airframes/1030_plane

-if [ $AUTOCNF = yes ]
-then
-	param set RWTO_TKOFF 0
+param set-default RWTO_TKOFF 0

-fi
@@ -5,8 +5,5 @@

 . ${R}etc/init.d-posix/airframes/1030_plane

-if [ $AUTOCNF = yes ]
-then
-	param set FW_LND_USETER 1
+param set-default FW_LND_USETER 1

-fi
@@ -5,54 +5,55 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	#param set EKF2_MAG_ACCLIM 0
-	#param set EKF2_MAG_YAWLIM 0
+param set-default EKF2_ARSP_THR 8
+param set-default EKF2_FUSE_BETA 1

-	param set FW_LND_AIRSPD_SC 1.1
-	param set FW_LND_ANG 5
-	param set FW_THR_LND_MAX 0
-	param set FW_LND_HHDIST 30
-	param set FW_LND_FL_PMIN 9.5
-	param set FW_LND_FL_PMAX 20
-	param set FW_LND_FLALT 5
-	param set FW_LND_TLALT 15
+param set-default FW_LND_AIRSPD_SC 1.1
+param set-default FW_LND_ANG 5
+param set-default FW_THR_LND_MAX 0
+param set-default FW_LND_HHDIST 30
+param set-default FW_LND_FL_PMIN 9.5
+param set-default FW_LND_FL_PMAX 20
+param set-default FW_LND_FLALT 5
+param set-default FW_LND_TLALT 15

-	param set FW_L1_PERIOD 25
+param set-default FW_L1_PERIOD 25

-	param set FW_P_TC 0.4
-	param set FW_PR_FF 0.40
-	param set FW_PR_I 0.05
-	param set FW_PR_P 0.05
+param set-default FW_P_TC 0.4
+param set-default FW_PR_FF 0.40
+param set-default FW_PR_I 0.05
+param set-default FW_PR_P 0.05

-	param set FW_R_TC 0.45
-	param set FW_RR_FF 0.40
-	param set FW_RR_I 0.132
-	param set FW_RR_P 0.085
+param set-default FW_R_TC 0.45
+param set-default FW_RR_FF 0.40
+param set-default FW_RR_I 0.132
+param set-default FW_RR_P 0.085

-	param set FW_W_EN 1
+param set-default FW_W_EN 1

-	param set MIS_LTRMIN_ALT 30
-	param set MIS_TAKEOFF_ALT 20
-	param set MIS_DIST_1WP 2500
-	param set MIS_DIST_WPS 10000
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000

-	param set NAV_ACC_RAD 15
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 50
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 50

-	param set RWTO_TKOFF 1
-	#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
-	param set RWTO_MAX_PITCH 20
-	param set RWTO_MAX_ROLL 10
-	#param set RWTO_MAX_THR 0.6		# fix takeoff failure for JSBsim in autonomous mission mode.
-	param set RWTO_PSP 8
-	param set RWTO_AIRSPD_SCL 1.8
+param set-default RWTO_TKOFF 1
+
+# fix takeoff failure for JSBsim in autonomous mission mode.
+#param set FW_THR_SLEW_MAX 0.3
+
+param set-default RWTO_MAX_PITCH 20
+param set-default RWTO_MAX_ROLL 10
+
+# fix takeoff failure for JSBsim in autonomous mission mode.
+#param set-default RWTO_MAX_THR 0.6
+
+param set-default RWTO_PSP 8
+param set-default RWTO_AIRSPD_SCL 1.8

-fi

 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom
@@ -5,54 +5,54 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	#param set EKF2_MAG_ACCLIM 0
-	#param set EKF2_MAG_YAWLIM 0
+param set-default EKF2_ARSP_THR 8
+param set-default EKF2_FUSE_BETA 1

-	param set FW_LND_AIRSPD_SC 1.1
-	param set FW_LND_ANG 5
-	param set FW_THR_LND_MAX 0
-	param set FW_LND_HHDIST 30
-	param set FW_LND_FL_PMIN 9.5
-	param set FW_LND_FL_PMAX 20
-	param set FW_LND_FLALT 5
-	param set FW_LND_TLALT 15
+param set-default FW_LND_AIRSPD_SC 1.1
+param set-default FW_LND_ANG 5
+param set-default FW_THR_LND_MAX 0
+param set-default FW_LND_HHDIST 30
+param set-default FW_LND_FL_PMIN 9.5
+param set-default FW_LND_FL_PMAX 20
+param set-default FW_LND_FLALT 5
+param set-default FW_LND_TLALT 15

-	param set FW_L1_PERIOD 25
+param set-default FW_L1_PERIOD 25

-	param set FW_P_TC 0.4
-	param set FW_PR_FF 0.40
-	param set FW_PR_I 0.05
-	param set FW_PR_P 0.05
+param set-default FW_P_TC 0.4
+param set-default FW_PR_FF 0.40
+param set-default FW_PR_I 0.05
+param set-default FW_PR_P 0.05

-	param set FW_R_TC 0.45
-	param set FW_RR_FF 0.40
-	param set FW_RR_I 0.132
-	param set FW_RR_P 0.085
+param set-default FW_R_TC 0.45
+param set-default FW_RR_FF 0.40
+param set-default FW_RR_I 0.132
+param set-default FW_RR_P 0.085

-	param set FW_W_EN 1
+param set-default FW_W_EN 1

-	param set MIS_LTRMIN_ALT 30
-	param set MIS_TAKEOFF_ALT 20
-	param set MIS_DIST_1WP 2500
-	param set MIS_DIST_WPS 10000
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000

-	param set NAV_ACC_RAD 15
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 50
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 50

-	param set RWTO_TKOFF 1
-	#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
-	param set RWTO_MAX_PITCH 20
-	param set RWTO_MAX_ROLL 10
-	#param set RWTO_MAX_THR 0.6		# fix takeoff failure for JSBsim in autonomous mission mode.
-	param set RWTO_PSP 8
-	param set RWTO_AIRSPD_SCL 1.8
+param set-default RWTO_TKOFF 1

-fi
+# fix takeoff failure for JSBsim in autonomous mission mode.
+#param set FW_THR_SLEW_MAX 0.3
+
+param set-default RWTO_MAX_PITCH 20
+param set-default RWTO_MAX_ROLL 10
+
+# fix takeoff failure for JSBsim in autonomous mission mode.
+#param set RWTO_MAX_THR 0.6
+
+param set-default RWTO_PSP 8
+param set-default RWTO_AIRSPD_SCL 1.8

 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom
@@ -5,43 +5,39 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	param set EKF2_MAG_ACCLIM 0
-	param set EKF2_MAG_YAWLIM 0
+param set-default EKF2_ARSP_THR 8
+param set-default EKF2_FUSE_BETA 1
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0

-	param set FW_LND_AIRSPD_SC 1
-	param set FW_LND_ANG 8
-	param set FW_THR_LND_MAX 0
+param set-default FW_LND_AIRSPD_SC 1
+param set-default FW_LND_ANG 8
+param set-default FW_THR_LND_MAX 0

-	param set FW_L1_PERIOD 15
+param set-default FW_L1_PERIOD 15

-	param set FW_P_TC 0.5
-	param set FW_PR_FF 0.40
-	param set FW_PR_I 0.05
-	param set FW_PR_P 0.05
+param set-default FW_P_TC 0.5
+param set-default FW_PR_FF 0.40
+param set-default FW_PR_I 0.05
+param set-default FW_PR_P 0.05

-	param set FW_R_TC 0.7
-	param set FW_RR_FF 0.20
-	param set FW_RR_I 0.02
-	param set FW_RR_P 0.22
+param set-default FW_R_TC 0.7
+param set-default FW_RR_FF 0.20
+param set-default FW_RR_I 0.02
+param set-default FW_RR_P 0.22

-	param set FW_L1_PERIOD 12
+param set-default FW_L1_PERIOD 12

-	param set FW_W_EN 1
+param set-default FW_W_EN 1

-	param set MIS_LTRMIN_ALT 30
-	param set MIS_TAKEOFF_ALT 30
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 30

-	param set NAV_ACC_RAD 15
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 50
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 50

-	param set RWTO_TKOFF 1
-
-fi
+param set-default RWTO_TKOFF 1

 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom
@@ -5,52 +5,46 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	#param set EKF2_MAG_ACCLIM 0
-	#param set EKF2_MAG_YAWLIM 0
+param set-default EKF2_ARSP_THR 8
+param set-default EKF2_FUSE_BETA 1

-	param set FW_LND_AIRSPD_SC 1.1
-	param set FW_LND_ANG 5
-	param set FW_THR_LND_MAX 0
-	param set FW_LND_HHDIST 30
-	param set FW_LND_FL_PMIN 9.5
-	param set FW_LND_FL_PMAX 20
-	param set FW_LND_FLALT 5
-	param set FW_LND_TLALT 15
+param set-default FW_LND_AIRSPD_SC 1.1
+param set-default FW_LND_ANG 5
+param set-default FW_THR_LND_MAX 0
+param set-default FW_LND_HHDIST 30
+param set-default FW_LND_FL_PMIN 9.5
+param set-default FW_LND_FL_PMAX 20
+param set-default FW_LND_FLALT 5
+param set-default FW_LND_TLALT 15

-	param set FW_L1_PERIOD 25
+param set-default FW_L1_PERIOD 25

-	param set FW_P_TC 0.4
-	param set FW_PR_FF 0.40
-	param set FW_PR_I 0.05
-	param set FW_PR_P 0.05
+param set-default FW_P_TC 0.4
+param set-default FW_PR_FF 0.40
+param set-default FW_PR_I 0.05
+param set-default FW_PR_P 0.05

-	param set FW_R_TC 0.45
-	param set FW_RR_FF 0.40
-	param set FW_RR_I 0.132
-	param set FW_RR_P 0.085
+param set-default FW_R_TC 0.45
+param set-default FW_RR_FF 0.40
+param set-default FW_RR_I 0.132
+param set-default FW_RR_P 0.085

-	param set FW_W_EN 1
+param set-default FW_W_EN 1

-	param set MIS_LTRMIN_ALT 30
-	param set MIS_TAKEOFF_ALT 20
-	param set MIS_DIST_1WP 2500
-	param set MIS_DIST_WPS 10000
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000

-	param set NAV_ACC_RAD 15
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 50
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 50

-	param set RWTO_TKOFF 1
-	param set RWTO_MAX_PITCH 20
-	param set RWTO_MAX_ROLL 10
-	param set RWTO_PSP 8
-	param set RWTO_AIRSPD_SCL 1.8
-
-fi
+param set-default RWTO_TKOFF 1
+param set-default RWTO_MAX_PITCH 20
+param set-default RWTO_MAX_ROLL 10
+param set-default RWTO_PSP 8
+param set-default RWTO_AIRSPD_SCL 1.8

 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom
@@ -7,50 +7,46 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set FW_L1_PERIOD 12
-	param set FW_MAN_P_MAX 30
-	param set FW_PR_FF 0.2
-	param set FW_PR_I 0.4
-	param set FW_PR_P 0.9
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
-	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.3
-	param set FW_THR_CRUISE 0.25
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2
+param set-default FW_L1_PERIOD 12
+param set-default FW_MAN_P_MAX 30
+param set-default FW_PR_FF 0.2
+param set-default FW_PR_I 0.4
+param set-default FW_PR_P 0.9
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
+param set-default FW_P_LIM_MIN -15
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_P 0.3
+param set-default FW_THR_CRUISE 0.25
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_T_ALT_TC 2
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_TAS_TC 2

-	param set MC_ROLLRATE_P 0.3
-	param set MC_YAW_P 1.6
+param set-default MC_ROLLRATE_P 0.3
+param set-default MC_YAW_P 1.6

-	param set MIS_TAKEOFF_ALT 10
+param set-default MIS_TAKEOFF_ALT 10

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

-	param set NAV_ACC_RAD 5
-	param set NAV_LOITER_RAD 80
+param set-default NAV_ACC_RAD 5
+param set-default NAV_LOITER_RAD 80

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

 set MAV_TYPE 22

@@ -7,44 +7,40 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set FW_L1_PERIOD 12
-	param set FW_MAN_P_MAX 30
-	param set FW_PR_I 0.2
-	param set FW_PR_P 0.3
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
-	param set FW_RR_P 0.3
-	param set FW_THR_CRUISE 0.33
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2
+param set-default FW_L1_PERIOD 12
+param set-default FW_MAN_P_MAX 30
+param set-default FW_PR_I 0.2
+param set-default FW_PR_P 0.3
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
+param set-default FW_P_LIM_MIN -15
+param set-default FW_RR_P 0.3
+param set-default FW_THR_CRUISE 0.33
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_T_ALT_TC 2
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_TAS_TC 2

-	param set MC_ROLLRATE_P 0.3
+param set-default MC_ROLLRATE_P 0.3

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

-	param set NAV_ACC_RAD 5
-	param set NAV_LOITER_RAD 80
+param set-default NAV_ACC_RAD 5
+param set-default NAV_LOITER_RAD 80

-	param set VT_F_TRANS_DUR 1.5
-	param set VT_F_TRANS_THR 0.7
-	param set VT_TYPE 0
+param set-default VT_F_TRANS_DUR 1.5
+param set-default VT_F_TRANS_THR 0.7
+param set-default VT_TYPE 0

-	param set WV_EN 0
-
-fi
+param set-default WV_EN 0

 set MAV_TYPE 20

@@ -7,48 +7,44 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set FW_L1_PERIOD 12
-	param set FW_MAN_P_MAX 30
-	param set FW_PR_FF 0.2
-	param set FW_PR_I 0.4
-	param set FW_PR_P 0.9
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
-	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.3
-	param set FW_THR_CRUISE 0.38
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2
+param set-default FW_L1_PERIOD 12
+param set-default FW_MAN_P_MAX 30
+param set-default FW_PR_FF 0.2
+param set-default FW_PR_I 0.4
+param set-default FW_PR_P 0.9
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
+param set-default FW_P_LIM_MIN -15
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_P 0.3
+param set-default FW_THR_CRUISE 0.38
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_T_ALT_TC 2
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_TAS_TC 2

-	param set MC_YAW_P 1.6
+param set-default MC_YAW_P 1.6

-	param set MIS_TAKEOFF_ALT 10
+param set-default MIS_TAKEOFF_ALT 10

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

-	param set NAV_ACC_RAD 5
-	param set NAV_LOITER_RAD 80
+param set-default NAV_ACC_RAD 5
+param set-default NAV_LOITER_RAD 80

-	param set VT_B_TRANS_DUR 8
-	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
+param set-default VT_B_TRANS_DUR 8
+param set-default VT_FWD_THRUST_EN 4
+param set-default VT_MOT_ID 1234
+param set-default VT_TILT_TRANS 0.6
+param set-default VT_TYPE 1

 set MAV_TYPE 21

@@ -7,53 +7,50 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set FW_L1_PERIOD 12
-	param set FW_MAN_P_MAX 30
-	param set FW_PR_FF 0.2
-	param set FW_PR_I 0.4
-	param set FW_PR_P 0.9
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
-	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.3
-	param set FW_THR_CRUISE 0.25
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2
+param set-default FW_L1_PERIOD 12
+param set-default FW_MAN_P_MAX 30
+param set-default FW_PR_FF 0.2
+param set-default FW_PR_I 0.4
+param set-default FW_PR_P 0.9
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
+param set-default FW_P_LIM_MIN -15
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_P 0.3
+param set-default FW_THR_CRUISE 0.25
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_T_ALT_TC 2
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_TAS_TC 2

-	param set MC_ROLLRATE_P 0.3
-	param set MC_YAW_P 1.6
+param set-default MC_ROLLRATE_P 0.3
+param set-default MC_YAW_P 1.6

-	param set MIS_TAKEOFF_ALT 10
+param set-default MIS_TAKEOFF_ALT 10

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

-	param set NAV_ACC_RAD 5
-	param set NAV_LOITER_RAD 80
+param set-default NAV_ACC_RAD 5
+param set-default NAV_LOITER_RAD 80

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

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

 set MAV_TYPE 22

@@ -5,32 +5,28 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set GND_L1_DIST 5
-	param set GND_L1_PERIOD 10
-	param set GND_SP_CTRL_MODE 1
-	param set GND_SPEED_D 0.001
-	param set GND_SPEED_I 3
-	param set GND_SPEED_IMAX 0.125
-	param set GND_SPEED_P 0.25
-	param set GND_SPEED_THR_SC 1
-	param set GND_SPEED_TRIM 4
-	param set GND_THR_CRUISE 0.3
-	param set GND_THR_MAX 0.5
-	param set GND_THR_MIN 0
+param set-default GND_L1_DIST 5
+param set-default GND_L1_PERIOD 10
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_SPEED_D 0.001
+param set-default GND_SPEED_I 3
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_P 0.25
+param set-default GND_SPEED_THR_SC 1
+param set-default GND_SPEED_TRIM 4
+param set-default GND_THR_CRUISE 0.3
+param set-default GND_THR_MAX 0.5
+param set-default GND_THR_MIN 0

-	param set MIS_LTRMIN_ALT 0.01
-	param set MIS_TAKEOFF_ALT 0.01
-	param set NAV_ACC_RAD 0.5
-	param set NAV_LOITER_RAD 2
+param set-default MIS_LTRMIN_ALT 0.01
+param set-default MIS_TAKEOFF_ALT 0.01
+param set-default NAV_ACC_RAD 0.5
+param set-default NAV_LOITER_RAD 2

-	param set CBRK_AIRSPD_CHK 162128
+param set-default CBRK_AIRSPD_CHK 162128

-	param set GND_MAX_ANG 0.6
-	param set GND_WHEEL_BASE 2.0
-
-fi
+param set-default GND_MAX_ANG 0.6
+param set-default GND_WHEEL_BASE 2.0

 set MAV_TYPE 10

@@ -6,31 +6,27 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set GND_L1_DIST 5
-	param set GND_SP_CTRL_MODE 1
-	param set GND_SPEED_D 3
-	param set GND_SPEED_I 0.001
-	param set GND_SPEED_IMAX 0.125
-	param set GND_SPEED_P 0.25
-	param set GND_SPEED_THR_SC 1
-	param set GND_SPEED_TRIM 4
-	param set GND_THR_CRUISE 0.3
-	param set GND_THR_MAX 0.5
-	param set GND_THR_MIN 0
+param set-default GND_L1_DIST 5
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_SPEED_D 3
+param set-default GND_SPEED_I 0.001
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_P 0.25
+param set-default GND_SPEED_THR_SC 1
+param set-default GND_SPEED_TRIM 4
+param set-default GND_THR_CRUISE 0.3
+param set-default GND_THR_MAX 0.5
+param set-default GND_THR_MIN 0

-	param set MIS_LTRMIN_ALT 0.01
-	param set MIS_TAKEOFF_ALT 0.01
-	param set NAV_ACC_RAD 0.5
-	param set NAV_LOITER_RAD 2
+param set-default MIS_LTRMIN_ALT 0.01
+param set-default MIS_TAKEOFF_ALT 0.01
+param set-default NAV_ACC_RAD 0.5
+param set-default NAV_LOITER_RAD 2

-	param set CBRK_AIRSPD_CHK 162128
+param set-default CBRK_AIRSPD_CHK 162128

-	param set GND_MAX_ANG 0.6
-	param set GND_WHEEL_BASE 2.0
-
-fi
+param set-default GND_MAX_ANG 0.6
+param set-default GND_WHEEL_BASE 2.0

 set MAV_TYPE 10

@@ -10,32 +10,28 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set GND_L1_DIST 5
-	param set GND_SP_CTRL_MODE 1
-	param set GND_SPEED_D 3
-	param set GND_SPEED_I 0.001
-	param set GND_SPEED_IMAX 0.125
-	param set GND_SPEED_P 0.25
-	param set GND_SPEED_THR_SC 1
-	param set GND_SPEED_TRIM 15
-	param set GND_SPEED_MAX 25
-	param set GND_THR_CRUISE 0.3
-	param set GND_THR_MAX 0.5
-	param set GND_THR_MIN 0
+param set-default GND_L1_DIST 5
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_SPEED_D 3
+param set-default GND_SPEED_I 0.001
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_P 0.25
+param set-default GND_SPEED_THR_SC 1
+param set-default GND_SPEED_TRIM 15
+param set-default GND_SPEED_MAX 25
+param set-default GND_THR_CRUISE 0.3
+param set-default GND_THR_MAX 0.5
+param set-default GND_THR_MIN 0

-	param set MIS_LTRMIN_ALT 0.01
-	param set MIS_TAKEOFF_ALT 0.01
-	param set NAV_ACC_RAD 0.5
-	param set NAV_LOITER_RAD 2
+param set-default MIS_LTRMIN_ALT 0.01
+param set-default MIS_TAKEOFF_ALT 0.01
+param set-default NAV_ACC_RAD 0.5
+param set-default NAV_LOITER_RAD 2

-	param set CBRK_AIRSPD_CHK 162128
+param set-default CBRK_AIRSPD_CHK 162128

-	param set GND_MAX_ANG 0.6
-	param set GND_WHEEL_BASE 3.0
-
-fi
+param set-default GND_MAX_ANG 0.6
+param set-default GND_WHEEL_BASE 3.0

 set MAV_TYPE 10

@@ -5,32 +5,28 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set GND_L1_DIST 5
-	param set GND_L1_PERIOD 100
-	param set GND_SP_CTRL_MODE 1
-	param set GND_SPEED_D 0.001
-	param set GND_SPEED_I 8
-	param set GND_SPEED_IMAX 0.125
-	param set GND_SPEED_P 2
-	param set GND_SPEED_THR_SC 1
-	param set GND_SPEED_TRIM 1
-	param set GND_THR_CRUISE 0.85
-	param set GND_THR_MAX 1
-	param set GND_THR_MIN 0
+param set-default GND_L1_DIST 5
+param set-default GND_L1_PERIOD 100
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_SPEED_D 0.001
+param set-default GND_SPEED_I 8
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_P 2
+param set-default GND_SPEED_THR_SC 1
+param set-default GND_SPEED_TRIM 1
+param set-default GND_THR_CRUISE 0.85
+param set-default GND_THR_MAX 1
+param set-default GND_THR_MIN 0

-	param set MIS_LTRMIN_ALT 0.01
-	param set MIS_TAKEOFF_ALT 0.01
-	param set NAV_ACC_RAD 0.5
-	param set NAV_LOITER_RAD 2
+param set-default MIS_LTRMIN_ALT 0.01
+param set-default MIS_TAKEOFF_ALT 0.01
+param set-default NAV_ACC_RAD 0.5
+param set-default NAV_LOITER_RAD 2

-	param set CBRK_AIRSPD_CHK 162128
+param set-default CBRK_AIRSPD_CHK 162128

-	param set GND_MAX_ANG 0.6
-	param set GND_WHEEL_BASE 2.0
-
-fi
+param set-default GND_MAX_ANG 0.6
+param set-default GND_WHEEL_BASE 2.0

 set MAV_TYPE 11

@@ -12,52 +12,47 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	param set ASPD_STALL 10.0
+param set-default EKF2_ARSP_THR 8
+param set-default EKF2_FUSE_BETA 1
+param set-default ASPD_STALL 10.0

-	param set FW_P_RMAX_NEG 20.0
-	param set FW_P_RMAX_POS 60.0
-	param set FW_W_RMAX 10
-	param set FW_W_EN 1
+param set-default FW_P_RMAX_NEG 20.0
+param set-default FW_P_RMAX_POS 60.0
+param set-default FW_W_RMAX 10
+param set-default FW_W_EN 1

-	param set FW_PR_IMAX 0.4
-	param set FW_R_TC 0.4
-	param set FW_RR_FF 0.5
-	param set FW_RR_I 0.1
-	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.08
+param set-default FW_PR_IMAX 0.4
+param set-default FW_R_TC 0.4
+param set-default FW_RR_FF 0.5
+param set-default FW_RR_I 0.1
+param set-default FW_RR_IMAX 0.2
+param set-default FW_RR_P 0.08

-	param set MIS_LTRMIN_ALT 50
-	param set MIS_TAKEOFF_ALT 3
+param set-default MIS_LTRMIN_ALT 50
+param set-default MIS_TAKEOFF_ALT 3

-	param set NAV_ACC_RAD 20
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 100
+param set-default NAV_ACC_RAD 20
+param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 100

-	param set RWTO_TKOFF 1
+param set-default RWTO_TKOFF 1

-	param set FW_ARSP_SCALE_EN 0
+param set-default FW_ARSP_SCALE_EN 0

-	param set FW_AIRSPD_MAX 35
-	param set FW_AIRSPD_MIN 7
-	param set FW_AIRSPD_TRIM 15
+param set-default FW_AIRSPD_MAX 35
+param set-default FW_AIRSPD_MIN 7
+param set-default FW_AIRSPD_TRIM 15

-	param set FW_P_LIM_MAX 25
-	param set FW_P_LIM_MIN -5
-	param set FW_R_LIM 30
+param set-default FW_P_LIM_MAX 25
+param set-default FW_P_LIM_MIN -5
+param set-default FW_R_LIM 30

-	param set FW_MAN_P_MAX 30.0
-	param set FW_MAN_R_MAX 30.0
-
-	param set FW_THR_CRUISE 0.8
-	param set FW_THR_IDLE 0
-	param set COM_DISARM_PRFLT 0
-
-fi
+param set-default FW_MAN_P_MAX 30.0
+param set-default FW_MAN_R_MAX 30.0

+param set-default FW_THR_CRUISE 0.8
+param set-default FW_THR_IDLE 0
+param set-default COM_DISARM_PRFLT 0

 set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
 set MIXER custom
@@ -9,24 +9,21 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set MC_PITCHRATE_P 0.1
-	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCH_P 6.0
-	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.1
-	param set MC_ROLL_P 6.0
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_P_ACC 3
+param set-default MC_PITCHRATE_P 0.1
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCH_P 6.0
+param set-default MC_ROLLRATE_P 0.15
+param set-default MC_ROLLRATE_I 0.1
+param set-default MC_ROLL_P 6.0
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_P_ACC 3

-	param set RTL_DESCEND_ALT 10
+param set-default RTL_DESCEND_ALT 10

-	param set TRIG_INTERFACE 3
-	param set TRIG_MODE 4
-	param set MNT_MODE_IN 4
-	param set MNT_DO_STAB 2
-fi
+param set-default TRIG_INTERFACE 3
+param set-default TRIG_MODE 4
+param set-default MNT_MODE_IN 4
+param set-default MNT_DO_STAB 2

 set MAV_TYPE 13

@@ -7,27 +7,24 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set MC_PITCHRATE_P 0.0800
-	param set MC_PITCHRATE_I 0.0400
-	param set MC_PITCHRATE_D 0.0010
-	param set MC_PITCH_P 9.0
-	param set MC_ROLLRATE_P 0.0800
-	param set MC_ROLLRATE_I 0.0400
-	param set MC_ROLLRATE_D 0.0010
-	param set MC_ROLL_P 9.0
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_P_ACC 3
+param set-default MC_PITCHRATE_P 0.0800
+param set-default MC_PITCHRATE_I 0.0400
+param set-default MC_PITCHRATE_D 0.0010
+param set-default MC_PITCH_P 9.0
+param set-default MC_ROLLRATE_P 0.0800
+param set-default MC_ROLLRATE_I 0.0400
+param set-default MC_ROLLRATE_D 0.0010
+param set-default MC_ROLL_P 9.0
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_P_ACC 3

-	param set RTL_DESCEND_ALT 10
+param set-default RTL_DESCEND_ALT 10

-	param set TRIG_INTERFACE 3
-	param set TRIG_MODE 4
-	param set MNT_MODE_IN 4
-	param set MNT_MODE_OUT 2
-	param set MAV_PROTO_VER 2
-fi
+param set-default TRIG_INTERFACE 3
+param set-default TRIG_MODE 4
+param set-default MNT_MODE_IN 4
+param set-default MNT_MODE_OUT 2
+param set-default MAV_PROTO_VER 2

 set MAV_TYPE 13

@@ -8,66 +8,63 @@
 . ${R}etc/init.d/rc.mc_defaults
 . ${R}etc/init.d/rc.ctrlalloc

-if [ $AUTOCNF = yes ]
-then
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_P_ACC 3
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_P_ACC 3

-	param set RTL_DESCEND_ALT 10
-	param set RTL_LAND_DELAY 0
+param set-default RTL_DESCEND_ALT 10
+param set-default RTL_LAND_DELAY 0

-	param set TRIG_INTERFACE 3
-	param set TRIG_MODE 4
-	param set MNT_MODE_IN 0
-	param set MAV_PROTO_VER 2
+param set-default TRIG_INTERFACE 3
+param set-default TRIG_MODE 4
+param set-default MNT_MODE_IN 0
+param set-default MAV_PROTO_VER 2

-	param set MPC_USE_HTE 0
+param set-default MPC_USE_HTE 0

-	param set VM_MASS 2.66
-	param set VM_INERTIA_XX 0.06
-	param set VM_INERTIA_YY 0.06
-	param set VM_INERTIA_ZZ 0.10
+param set-default VM_MASS 2.66
+param set-default VM_INERTIA_XX 0.06
+param set-default VM_INERTIA_YY 0.06
+param set-default VM_INERTIA_ZZ 0.10

-	param set CA_AIRFRAME 0
-	param set CA_METHOD 1
-	param set CA_ACT0_MIN 0.0
-	param set CA_ACT1_MIN 0.0
-	param set CA_ACT2_MIN 0.0
-	param set CA_ACT3_MIN 0.0
-	param set CA_ACT4_MIN 0.0
-	param set CA_ACT5_MIN 0.0
-	param set CA_ACT0_MAX 1.0
-	param set CA_ACT1_MAX 1.0
-	param set CA_ACT2_MAX 1.0
-	param set CA_ACT3_MAX 1.0
-	param set CA_ACT4_MAX 1.0
-	param set CA_ACT5_MAX 1.0
+param set-default CA_AIRFRAME 0
+param set-default CA_METHOD 1
+param set-default CA_ACT0_MIN 0.0
+param set-default CA_ACT1_MIN 0.0
+param set-default CA_ACT2_MIN 0.0
+param set-default CA_ACT3_MIN 0.0
+param set-default CA_ACT4_MIN 0.0
+param set-default CA_ACT5_MIN 0.0
+param set-default CA_ACT0_MAX 1.0
+param set-default CA_ACT1_MAX 1.0
+param set-default CA_ACT2_MAX 1.0
+param set-default CA_ACT3_MAX 1.0
+param set-default CA_ACT4_MAX 1.0
+param set-default CA_ACT5_MAX 1.0

-	param set CA_MC_R0_PX 0.0
-	param set CA_MC_R0_PY 1.0
-	param set CA_MC_R0_CT 9.5
-	param set CA_MC_R0_KM -0.05
-	param set CA_MC_R1_PX 0.0
-	param set CA_MC_R1_PY -1.0
-	param set CA_MC_R1_CT 9.5
-	param set CA_MC_R1_KM 0.05
-	param set CA_MC_R2_PX 0.866025
-	param set CA_MC_R2_PY -0.5
-	param set CA_MC_R2_CT 9.5
-	param set CA_MC_R2_KM -0.05
-	param set CA_MC_R3_PX -0.866025
-	param set CA_MC_R3_PY 0.5
-	param set CA_MC_R3_CT 9.5
-	param set CA_MC_R3_KM 0.05
-	param set CA_MC_R4_PX 0.866025
-	param set CA_MC_R4_PY 0.5
-	param set CA_MC_R4_CT 9.5
-	param set CA_MC_R4_KM 0.05
-	param set CA_MC_R5_PX -0.866025
-	param set CA_MC_R5_PY -0.5
-	param set CA_MC_R5_CT 9.5
-	param set CA_MC_R5_KM -0.05
-fi
+param set-default CA_MC_R0_PX 0.0
+param set-default CA_MC_R0_PY 1.0
+param set-default CA_MC_R0_CT 9.5
+param set-default CA_MC_R0_KM -0.05
+param set-default CA_MC_R1_PX 0.0
+param set-default CA_MC_R1_PY -1.0
+param set-default CA_MC_R1_CT 9.5
+param set-default CA_MC_R1_KM 0.05
+param set-default CA_MC_R2_PX 0.866025
+param set-default CA_MC_R2_PY -0.5
+param set-default CA_MC_R2_CT 9.5
+param set-default CA_MC_R2_KM -0.05
+param set-default CA_MC_R3_PX -0.866025
+param set-default CA_MC_R3_PY 0.5
+param set-default CA_MC_R3_CT 9.5
+param set-default CA_MC_R3_KM 0.05
+param set-default CA_MC_R4_PX 0.866025
+param set-default CA_MC_R4_PY 0.5
+param set-default CA_MC_R4_CT 9.5
+param set-default CA_MC_R4_KM 0.05
+param set-default CA_MC_R5_PX -0.866025
+param set-default CA_MC_R5_PY -0.5
+param set-default CA_MC_R5_CT 9.5
+param set-default CA_MC_R5_KM -0.05

 set MAV_TYPE 13

@@ -34,6 +34,7 @@
 px4_add_romfs_files(
 	10016_iris
 	10017_iris_ctrlalloc
+	10018_iris_foggy_lidar
 	10020_if750a
 	10030_px4vision
 	1010_iris_opt_flow
@@ -0,0 +1,32 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+udp_offboard_port_local=$((14580+px4_instance))
+udp_offboard_port_remote=$((14540+px4_instance))
+[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
+udp_onboard_payload_port_local=$((14280+px4_instance))
+udp_onboard_payload_port_remote=$((14030+px4_instance))
+udp_onboard_gimbal_port_local=$((13030+px4_instance))
+udp_onboard_gimbal_port_remote=$((13280+px4_instance))
+udp_gcs_port_local=$((18570+px4_instance))
+
+# GCS link
+mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
+mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
+mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
+mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
+mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
+mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
+mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
+mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
+mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
+mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
+
+# API/Offboard link
+mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
+
+# Onboard link to camera
+mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
+
+# Onboard link to gimbal
+mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
@@ -0,0 +1,5 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+#param set MAV_SYS_ID $((px4_instance+1))
+#param set IMU_INTEG_RATE 250
@@ -0,0 +1,20 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+simulator_tcp_port=$((4560+px4_instance))
+
+# Check if PX4_SIM_HOSTNAME environment variable is empty
+# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
+# If both are empty use localhost for simulator
+if [ -z "${PX4_SIM_HOSTNAME}" ]; then
+  if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
+    echo "PX4 SIM HOST: localhost"
+    simulator start -c $simulator_tcp_port
+  else
+    echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
+    simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
+  fi
+else
+  echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
+  simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
+fi
@@ -5,7 +5,8 @@
 # shellcheck disable=SC1091
 . px4-alias.sh

-SCRIPT_DIR="$(CDPATH='' cd -- "$(dirname -- "$0")" && pwd)"
+#search path for sourcing px4-rc.*
+PATH="$PATH:${R}etc/init.d-posix"

 #
 # Main SITL startup script
@@ -21,6 +22,7 @@ fi

 # initialize script variables
 set AUX_MODE                    none
+set AUX_BANK2			none
 set IO_PRESENT                  no
 set MAV_TYPE                    none
 set MIXER                       none
@@ -44,9 +46,9 @@ else
 	# Find the matching Autostart ID (file name has the form: [0-9]+_${PX4_SIM_MODEL})
 	# TODO: unify with rc.autostart generation
 	# shellcheck disable=SC2012
-	REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
+	REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
 	if [ -z "$REQUESTED_AUTOSTART" ]; then
-		echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on $SCRIPT_DIR/airframes)"
+		echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
 		exit 1
 	else
 		echo "Info: found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
@@ -97,21 +99,12 @@ then
 	set AUTOCNF yes

 	# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
-	param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT_UUID
+	param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
 fi

 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
-simulator_tcp_port=$((4560+px4_instance))
-udp_offboard_port_local=$((14580+px4_instance))
-udp_offboard_port_remote=$((14540+px4_instance))
-[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
-udp_onboard_payload_port_local=$((14280+px4_instance))
-udp_onboard_payload_port_remote=$((14030+px4_instance))
-udp_onboard_gimbal_port_local=$((13030+px4_instance))
-udp_onboard_gimbal_port_remote=$((13280+px4_instance))
-udp_gcs_port_local=$((18570+px4_instance))

 if [ $AUTOCNF = yes ]
 then
@@ -153,6 +146,8 @@ param set-default SENS_IMU_MODE 0
 param set-default EKF2_MULTI_MAG 2
 param set-default SENS_MAG_MODE 0

+param set-default IMU_GYRO_FFT_EN 1
+
 # By default log from boot until first disarm.
 param set-default SDLOG_MODE 1
 # enable default, estimator replay and vision/avoidance logging profiles
@@ -174,6 +169,10 @@ if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
 	COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
 	echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
 	param set COM_OF_LOSS_T $COM_OF_LOSS_T_LONGER
+
+	COM_OBC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 5.0" | bc)
+	echo "COM_OBC_LOSS_T set to $COM_OBC_LOSS_T_LONGER"
+	param set COM_OBC_LOSS_T $COM_OBC_LOSS_T_LONGER
 fi

 # Autostart ID
@@ -209,11 +208,14 @@ fi
 # Simulator IMU data provided at 250 Hz
 param set IMU_INTEG_RATE 250

+#user defined params for instances can be in PATH
+. px4-rc.params
+
 dataman start
 # only start the simulator if not in replay mode, as both control the lockstep time
 if ! replay tryapplyparams
 then
-	simulator start -c $simulator_tcp_port
+  . px4-rc.simulator
 fi
 load_mon start
 battery_simulator start
@@ -235,38 +237,24 @@ then
 	camera_feedback start
 fi

+if param compare -s IMU_GYRO_FFT_EN 1
+then
+	gyro_fft start
+fi
+
+if param compare -s IMU_GYRO_CAL_EN 1
+then
+	gyro_calibration start
+fi
+
 # Configure vehicle type specific parameters.
 # Note: rc.vehicle_setup is the entry point for rc.interface,
 #       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
 #
 . ${R}etc/init.d/rc.vehicle_setup

-if [ -e etc/init.d-posix/rc.mavlink_override ]
-then
-	echo "Running non-default mavlink config rc.mavlink_override"
-	sh etc/init.d-posix/rc.mavlink_override
-else
-	# GCS link
-	mavlink start -x -u $udp_gcs_port_local -r 4000000 -f -p
-	mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
-	mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
-	mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
-	mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
-	mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
-	mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
-	mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
-	mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
-	mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
-
-	# API/Offboard link
-	mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote -p
-
-	# Onboard link to camera
-	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote -p
-
-	# Onboard link to gimbal
-	mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote -p
-fi
+#user defined mavlink streams for instances can be in PATH
+. px4-rc.mavlink

 # execute autostart post script if any
 [ -e "$autostart_file".post ] && . "$autostart_file".post
@@ -14,7 +14,7 @@
 . ${R}etc/init.d/rc.vtol_defaults


-param set-default PWM_AUX_DISARMED 1000
+param set-default PWM_AUX_DISARM 1000
 param set-default PWM_AUX_MAX 2000
 param set-default PWM_AUX_MIN 1000
 param set-default PWM_AUX_RATE 50
@@ -112,7 +112,7 @@ param set-default MPC_YAWRAUTO_MAX 20
 param set-default NAV_DLL_ACT 0
 param set-default NAV_LOITER_RAD 100

-param set-default PWM_AUX_DISARMED 950
+param set-default PWM_AUX_DISARM 950

 param set-default PWM_MAIN_DIS5 1500
 param set-default PWM_MAIN_DIS6 1500
@@ -26,48 +26,48 @@

 param set-default BAT_N_CELLS 6

-param set-default FW_AIRSPD_MAX   30
-param set-default FW_AIRSPD_MIN   19
-param set-default FW_AIRSPD_TRIM  23
+param set-default FW_AIRSPD_MAX 30
+param set-default FW_AIRSPD_MIN 19
+param set-default FW_AIRSPD_TRIM 23
 param set-default FW_L1_R_SLEW_MAX 40
 param set-default FW_LND_EARLYCFG 1
-param set-default FW_MAN_P_MAX	30
-param set-default FW_PR_I	0.1
-param set-default FW_PSP_OFF	3
+param set-default FW_MAN_P_MAX 30
+param set-default FW_PR_I 0.1
+param set-default FW_PSP_OFF 3
 param set-default FW_P_LIM_MAX 18
 param set-default FW_P_LIM_MIN -25
-param set-default FW_RLL_TO_YAW_FF	0.1
-param set-default FW_RR_I	0.1
-param set-default FW_RR_P	0.08
+param set-default FW_RLL_TO_YAW_FF 0.1
+param set-default FW_RR_I 0.1
+param set-default FW_RR_P 0.08
 param set-default FW_R_LIM 45
-param set-default FW_R_RMAX	50
+param set-default FW_R_RMAX 50
 param set-default FW_THR_CRUISE 0.65
 param set-default FW_THR_MIN 0.3
 param set-default FW_THR_SLEW_MAX 0.6
 param set-default FW_T_HRATE_FF 0
-param set-default FW_T_SINK_MAX	15
-param set-default FW_T_SINK_MIN	3
-param set-default FW_YR_I	0.1
-param set-default FW_YR_P	0.15
+param set-default FW_T_SINK_MAX 15
+param set-default FW_T_SINK_MIN 3
+param set-default FW_YR_I 0.1
+param set-default FW_YR_P 0.15

 param set-default IMU_GYRO_CUTOFF 40

 param set-default IMU_DGYRO_CUTOFF 15
-param set-default MC_PITCHRATE_I	0.2
+param set-default MC_PITCHRATE_I 0.2
 param set-default MC_PITCHRATE_MAX 60
-param set-default MC_ROLLRATE_I	0.2
+param set-default MC_ROLLRATE_I 0.2
 param set-default MC_ROLLRATE_MAX 60
 param set-default MC_YAWRATE_I 0.15
 param set-default MC_YAWRATE_MAX 40
 param set-default MC_YAWRATE_P 0.3

-param set-default MIS_TAKEOFF_ALT	30
+param set-default MIS_TAKEOFF_ALT 30

-param set-default MPC_ACC_DOWN_MAX	2
-param set-default MPC_ACC_HOR_MAX	2
-param set-default MPC_ACC_UP_MAX	3
+param set-default MPC_ACC_DOWN_MAX 2
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_ACC_UP_MAX 3
 param set-default MC_AIRMODE 1
-param set-default MPC_JERK_AUTO	4
+param set-default MPC_JERK_AUTO 4
 param set-default MPC_LAND_SPEED 1
 param set-default MPC_MAN_TILT_MAX 25
 param set-default MPC_MAN_Y_MAX 40
@@ -76,7 +76,7 @@ param set-default MPC_SPOOLUP_TIME 1.5
 param set-default MPC_THR_HOVER 0.45
 param set-default MPC_TILTMAX_AIR 25
 param set-default MPC_TKO_RAMP_T 1.8
-param set-default MPC_TKO_SPEED	1
+param set-default MPC_TKO_SPEED 1
 param set-default MPC_VEL_MANUAL 3
 param set-default MPC_XY_CRUISE 3
 param set-default MPC_XY_VEL_MAX 3.5
@@ -84,7 +84,7 @@ param set-default MPC_YAWRAUTO_MAX 40
 param set-default MPC_Z_VEL_MAX_DN 1.5
 param set-default MPC_Z_VEL_MAX_UP 2

-param set-default NAV_ACC_RAD	3
+param set-default NAV_ACC_RAD 3

 param set-default PWM_MAIN_DIS3 1000
 param set-default PWM_MAIN_MIN3 1120
@@ -111,4 +111,6 @@ set MAV_TYPE 22
 set MIXER babyshark
 set MIXER_AUX pass

+# Mark outputs for the alternate rate
+# or D-Shot
 set PWM_OUT 5678
@@ -1,57 +0,0 @@
-#!/bin/sh
-#
-# @name Generic Quadplane VTOL (PWM14)
-#
-# @type Standard VTOL
-# @class VTOL
-#
-# @maintainer
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 Aileron 1
-# @output MAIN6 Aileron 2
-# @output MAIN7 Elevator
-# @output MAIN8 Rudder
-# @output MAIN9 Pusher motor
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-
-param set-default PWM_MAIN_RATE 400
-
-param set-default PWM_MAIN_MIN1 1100
-param set-default PWM_MAIN_MIN2 1100
-param set-default PWM_MAIN_MIN3 1100
-param set-default PWM_MAIN_MIN4 1100
-
-param set-default PWM_MAIN_MAX1 1900
-param set-default PWM_MAIN_MAX2 1900
-param set-default PWM_MAIN_MAX3 1900
-param set-default PWM_MAIN_MAX4 1900
-
-param set-default PWM_MAIN_DIS1 900
-param set-default PWM_MAIN_DIS2 900
-param set-default PWM_MAIN_DIS3 900
-param set-default PWM_MAIN_DIS4 900
-param set-default PWM_MAIN_DIS5 1500
-param set-default PWM_MAIN_DIS6 1500
-param set-default PWM_MAIN_DIS7 1500
-param set-default PWM_MAIN_DIS8 1500
-param set-default PWM_MAIN_DIS9 900
-
-param set-default VT_TYPE 2
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-set MAV_TYPE 22
-
-set MIXER quad_x_vtol_AAERT
-set MIXER_AUX none
-
-set PWM_OUT 1234
@@ -0,0 +1,41 @@
+#!/bin/sh
+#
+# @name Generic Quadplane VTOL Tiltrotor
+#
+# @type VTOL Tiltrotor
+# @class VTOL
+#
+# @maintainer
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output AUX1 Motor tilt front left
+# @output AUX2 Motor tilt front right
+# @output AUX3 Motor tilt rear left
+# @output AUX4 Motor tilt rear right
+# @output AUX5 Aileron left
+# @output AUX6 Aileron right
+# @output AUX7 Elevator
+# @output AUX8 Rudder
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+
+param set-default PWM_MAIN_RATE 400
+
+param set-default VT_IDLE_PWM_MC 1100
+param set-default VT_TYPE 1
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 24
+set MAV_TYPE 21
+
+set MIXER quad_x
+set MIXER_AUX vtol_TTTTAAER
+
+set PWM_OUT 1234
@@ -31,7 +31,7 @@ set VEHICLE_TYPE mc
 param set-default NAV_ACC_RAD 2

 param set-default PWM_AUX_RATE 400
-param set-default PWM_AUX_DISARMED 900
+param set-default PWM_AUX_DISARM 900
 param set-default PWM_AUX_MIN 1075
 param set-default PWM_AUX_MAX 1950

@@ -33,7 +33,7 @@ param set-default MC_YAW_P 4

 param set-default NAV_ACC_RAD 2

-param set-default PWM_AUX_DISARMED 950
+param set-default PWM_AUX_DISARM 950
 param set-default PWM_AUX_RATE 50
 param set-default PWM_MAIN_MIN 1100
 param set-default PWM_MAIN_MAX 1900
@@ -16,8 +16,6 @@
 set MIXER quad_x
 set PWM_OUT 1234

-set PARAM_DEFAULTS_VER 2
-

 param set-default BAT_N_CELLS 4

@@ -18,6 +18,7 @@
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
 # @board bitcraze_crazyflie exclude
+# @board cuav_x7pro exclude
 #

 set VEHICLE_TYPE mc
@@ -111,10 +112,12 @@ param set-default NAV_RCL_ACT 6
 # TELEM1 ttyS1 - Wifi module
 param set-default MAV_0_CONFIG 101
 param set-default MAV_0_RATE 0
-param set-default MAV_0_MODE 2	# onboard
+# onboard
+param set-default MAV_0_MODE 2
 param set-default SER_TEL1_BAUD 921600

 # TELEM2 ttyS2 - Sub 1-Ghz
 param set-default MAV_1_CONFIG 102
-param set-default MAV_1_MODE 0	# normal
+# normal
+param set-default MAV_1_MODE 0
 param set-default SER_TEL2_BAUD 57600
@@ -15,6 +15,8 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board bitcraze_crazyflie exclude
+# @board cuav_x7pro exclude
 #
 # @maintainer Hyon Lim <lim@uvify.com>
 #
@@ -119,12 +121,14 @@ param set-default NAV_RCL_ACT 6
 # TELEM1 ttyS1 - Wifi module
 param set-default MAV_0_CONFIG 101
 param set-default MAV_0_RATE 0
-param set-default MAV_0_MODE 2	# onboard
+# onboard
+param set-default MAV_0_MODE 2
 param set-default SER_TEL1_BAUD 921600

 # TELEM2 ttyS2 - Sub 1-Ghz
 param set-default MAV_1_CONFIG 102
-param set-default MAV_1_MODE 0	# normal
+# normal
+param set-default MAV_1_MODE 0
 param set-default SER_TEL2_BAUD 57600

 # DSHOT
@@ -7,8 +7,6 @@
 # @type Rover
 # @class Rover
 #
-# @board px4_fmu-v2 exclude
-#
 # @output MAIN0 Speed of left wheels
 # @output MAIN1 Speed of right wheels
 #
@@ -122,7 +122,7 @@ param set-default BAT_V_DIV 10.133

 # TELEM1 ttyS1
 param set-default MAV_0_CONFIG 101
-param set-default MAV_0_MODE 0	# onboard
+param set-default MAV_0_MODE 0
 param set-default MAV_0_FORWARD 1
 param set-default SER_TEL1_BAUD 57600

@@ -137,7 +137,7 @@ px4_add_romfs_files(
 	13012_convergence
 	13013_deltaquad
 	13014_vtol_babyshark
-	13015_generic_vtol_standard
+	13030_generic_vtol_quad_tiltrotor
 	13050_generic_vtol_octo
 	13200_generic_vtol_tailsitter

@@ -16,6 +16,8 @@ param set-default COM_POS_FS_EPV 30
 param set-default COM_POS_FS_GAIN 0
 param set-default COM_POS_FS_PROB 1
 param set-default COM_VEL_FS_EVH 5
+# Disable preflight disarm to not interfere with external launching
+param set-default COM_DISARM_PRFLT -1

 param set-default EKF2_ARSP_THR 8
 param set-default EKF2_FUSE_BETA 1
@@ -30,9 +30,9 @@ then
 fi

 # USE_IO is set to 'no' for all boards w/o px4io driver or SYS_USE_IO disabled
-if [ $USE_IO = no ]
+if [ $USE_IO = no -a $AUX_BANK2 = none ]
 then
-	set MIXER_AUX none
+	set AUX_MODE none
 fi

 #
@@ -147,6 +147,7 @@ then
 	if mixer load ${OUTPUT_DEV} ${MIXER_FILE}
 	then
 		echo "INFO  [init] Mixer: ${MIXER_FILE} on ${OUTPUT_DEV}"
+
 	else
 		echo "ERROR  [init] Failed loading mixer: ${MIXER_FILE}"
 		tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
@@ -178,6 +179,7 @@ then

 	if [ $MIXER_AUX_FILE != none ]
 	then
+		# Start the output module
 		if $OUTPUT_CMD mode_${AUX_MODE}
 		then
 			# Append aux mixer to main device.
@@ -199,6 +201,7 @@ then
 					echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
 				fi
 			else
+				echo "INFO  [init] setting PWM_AUX_OUT none"
 				set PWM_AUX_OUT none
 			fi
 		else
@@ -223,6 +226,36 @@ then
 	fi
 fi

+if [ $MIXER_AUX != none -a $AUX_MODE = none -a -e $OUTPUT_AUX_DEV ]
+then
+	#
+	# Load aux mixer.
+	#
+	if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix ]
+	then
+		set MIXER_AUX_FILE ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix
+	else
+
+		if [ -f /etc/mixers/${MIXER_AUX}.aux.mix ]
+		then
+			set MIXER_AUX_FILE /etc/mixers/${MIXER_AUX}.aux.mix
+		fi
+	fi
+
+	if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
+	then
+		echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
+
+		# Set PWM_AUX output frequency.
+		if [ $PWM_AUX_RATE != none ]
+		then
+			pwm rate -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
+		fi
+	else
+		echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
+	fi
+fi
+
 if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
 then
 	if [ $PWM_OUT != none ]
@@ -108,11 +108,18 @@ then
 	vl53l1x start -X
 fi

+# ADIS16448 spi external IMU
+if param compare -s SENS_EN_ADIS164X 1
+then
+	adis16448 -S start
+fi
+
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
+	icm20948_i2c_passthrough -X -q start
+
 	# compasses
-	ak09916 -X -R 6 -q start # external AK09916 (Here2) is rotated 270 degrees yaw
 	hmc5883 -T -X -q start
 	ist8308 -X -q start
 	ist8310 -X -q start
@@ -121,29 +128,31 @@ then
 	qmc5883l -X -q start
 	rm3100 -X -q start

+	# start last (wait for possible icm20948 passthrough mode)
+	ak09916 -X -q start
+
 	# differential pressure sensors
 	if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ]
 	then
-		if param compare CBRK_AIRSPD_CHK 0
+		# Always try to start the airspeed sensors
+		# even if their usage might be disabled
+		sdp3x_airspeed start -X -q
+		sdp3x_airspeed start -X -a 0x22 -q
+
+		# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
+		# detected as MS5525 because the chip manufacturer was so
+		# clever to assign the same I2C address and skip a WHO_AM_I
+		# register.
+		if [ $BOARD_FMUV3 = 21 ]
 		then
-			sdp3x_airspeed start -X -q
-			sdp3x_airspeed start -X -a 0x22 -q
-
-			# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
-			# detected as MS5525 because the chip manufacturer was so
-			# clever to assign the same I2C address and skip a WHO_AM_I
-			# register.
-			if [ $BOARD_FMUV3 = 21 ]
-			then
-				ms5525_airspeed start -X -b 2 -q
-			else
-				ms5525_airspeed start -X -q
-			fi
-
-			ms4525_airspeed start -X -q
-
-			ets_airspeed start -X -q
+			ms5525_airspeed start -X -b 2 -q
+		else
+			ms5525_airspeed start -X -q
 		fi
+
+		ms4525_airspeed start -X -q
+
+		ets_airspeed start -X -q
 	fi
 fi

@@ -23,6 +23,7 @@ param set-default MPC_XY_ERR_MAX 5
 param set-default MPC_XY_VEL_MAX 4
 param set-default MPC_Z_VEL_MAX_DN 1.5
 param set-default MPC_JERK_MAX 4.5
+param set-default MPC_YAW_MODE 4

 param set-default NAV_ACC_RAD 3

@@ -51,12 +51,6 @@ set STARTUP_TUNE 1
 set USE_IO no
 set VEHICLE_TYPE none

-# Airframe parameter versioning: airframe maintainers can set this in the
-# airframe startup script, and then increase it by one whenever an airframe
-# parameter is updated - it will ensure that these parameters will be updated
-# when the firmware is flashed.
-set PARAM_DEFAULTS_VER 1
-
 #
 # Mount the procfs.
 #
@@ -171,12 +165,8 @@ else
 	#
 	if param greater SYS_AUTOCONFIG 0
 	then
-		if param compare SYS_AUTOCONFIG 1
-		then
-			# Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID
-			param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT* SYS_PARAM_VER
-		fi
-
+		# Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID
+		param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
 		set AUTOCNF yes
 	fi

@@ -239,14 +229,6 @@ else
 	rgbled start -X -q
 	rgbled_ncp5623c start -X -q

-	if param greater -s LIGHT_EN_BLINKM 0
-	then
-		if blinkm start -X
-		then
-			blinkm systemstate
-		fi
-	fi
-
 	#
 	# Set parameters and env variables for selected AUTOSTART.
 	#
@@ -272,6 +254,34 @@ else
 		param set SYS_AUTOCONFIG 0
 	fi

+	#
+	# Check if UAVCAN is enabled, default to it for ESCs.
+	#
+	if param greater -s UAVCAN_ENABLE 0
+	then
+		# Start core UAVCAN module.
+		if uavcan start
+		then
+			if param greater UAVCAN_ENABLE 1
+			then
+				# Start UAVCAN firmware update server and dynamic node ID allocation server.
+				uavcan start fw
+				tune_control play -t 1
+				if param greater UAVCAN_ENABLE 2
+				then
+					set OUTPUT_MODE uavcan_esc
+				fi
+			fi
+		else
+			tune_control play error
+		fi
+	else
+		if param greater -s UAVCAN_V1_ENABLE 0
+		then
+			uavcan_v1 start
+		fi
+	fi
+
 	#
 	# Check if PX4IO present and update firmware if needed.
 	# Assumption IOFW set to firmware file and IO_PRESENT = no
@@ -303,6 +313,8 @@ else
 					else
 						tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 					fi
+				else
+					tune_control stop
 				fi
 			fi
 		fi
@@ -414,34 +426,6 @@ else
 		camera_feedback start
 	fi

-	#
-	# Check if UAVCAN is enabled, default to it for ESCs.
-	#
-	if param greater -s UAVCAN_ENABLE 0
-	then
-		# Start core UAVCAN module.
-		if uavcan start
-		then
-			if param greater UAVCAN_ENABLE 1
-			then
-				# Start UAVCAN firmware update server and dynamic node ID allocation server.
-				uavcan start fw
-				tune_control play -t 1
-				if param greater UAVCAN_ENABLE 2
-				then
-					set OUTPUT_MODE uavcan_esc
-				fi
-			fi
-		else
-			tune_control play error
-		fi
-	fi
-
-	if param greater -s UAVCAN_V1_ENABLE 0
-	then
-		uavcan_v1 start
-	fi
-
 	#
 	# Optional board mavlink streams: rc.board_mavlink
 	#
@@ -516,6 +500,11 @@ else
 		gyro_fft start
 	fi

+	if param compare -s IMU_GYRO_CAL_EN 1
+	then
+		gyro_calibration start
+	fi
+
 	#
 	# Optional board supplied extras: rc.board_extras
 	#
@@ -549,13 +538,20 @@ else
 		. ${R}etc/init.d/rc.autostart.post
 	fi

-	if ! param compare SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
+	#
+	# Bootloader upgrade
+	#
+	if param compare -s SYS_BL_UPDATE 1
 	then
-		echo "Switched to different parameter version. Resetting parameters."
-		param set SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
-		param set SYS_AUTOCONFIG 2
-		param save
-		reboot
+		if [ -f "/etc/extras/bootloader.bin" ]
+		then
+			param set SYS_BL_UPDATE 0
+			param save
+			echo "bootloader update..."
+			bl_update "/etc/extras/bootloader.bin"
+			echo "bootloader update done, rebooting"
+			reboot
+		fi
 	fi

 #
@@ -582,7 +578,6 @@ unset MIXER
 unset MIXER_AUX
 unset MIXER_FILE
 unset OUTPUT_MODE
-unset PARAM_DEFAULTS_VER
 unset PARAM_FILE
 unset PWM_AUX_OUT
 unset PWM_AUX_RATE
@@ -90,6 +90,7 @@ px4_add_romfs_files(
 	Viper.main.mix
 	vtol_AAERT.aux.mix
 	vtol_AAVVT.aux.mix
+	vtol_TTTTAAER.aux.mix
 	vtol_convergence.main.mix
 	vtol_delta.aux.mix
 	vtol_tailsitter_duo.main.mix
@@ -0,0 +1,39 @@
+# Generic quadplane tiltrotor servo mixer
+
+# Tilt mechanism servo mixer
+---------------------------
+# front left up:2000 down:1000
+M: 1
+S: 1 4      0 -20000  10000 -10000  10000
+
+# front right up:1000 down:2000
+M: 1
+S: 1 4      0  20000 -10000 -10000  10000
+
+# rear left up:2000 down:1000
+M: 1
+S: 1 4      0 -20000  10000 -10000  10000
+
+# rear right up:1000 down:2000
+M: 1
+S: 1 4      0  20000 -10000 -10000  10000
+
+
+# Aileron mixer
+# ---------------------------------
+M: 1
+S: 1 0  10000  10000      0 -10000  10000
+
+M: 1
+S: 1 0  10000  10000      0 -10000  10000
+
+
+# Elevator mixer
+# ------------
+M: 1
+S: 1 1  -10000  -10000    0 -10000  10000
+
+# Rudder mixer
+# ------------
+M: 1
+S: 1 2  10000  10000      0 -10000  10000
@@ -103,12 +103,6 @@ class TestHardwareMethods(unittest.TestCase):
    def test_bson(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))

-    def test_commander(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "commander"))
-
-    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"))

@@ -172,9 +166,6 @@ class TestHardwareMethods(unittest.TestCase):
    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_versioning(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "versioning"))

@@ -59,7 +59,7 @@ if [ ! -f $HOOK_FILE ] && [ "$CI" != "true" ]; then
 	fi
 fi

-${DIR}/files_to_check_code_style.sh | xargs -n 1 -P 8 -I % ${DIR}/check_code_style.sh %
+${DIR}/files_to_check_code_style.sh | xargs -P 8 -I % ${DIR}/check_code_style.sh %

 if [ $? -eq 0 ]; then
    echo "Format checks passed"
@@ -0,0 +1,13 @@
+custom_data_source: {
+  name: "bloaty_static_ram"
+  base_data_source: "sections"
+
+  rewrite: {
+    pattern: "^\\.bss"
+    replacement: "ram"
+  }
+  rewrite: {
+    pattern: "^\\.data"
+    replacement: "ram"
+  }
+}
@@ -2,10 +2,7 @@

 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:2021-02-04"
-	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
+	if [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
 		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
 		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"
 	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
@@ -30,7 +27,7 @@ fi

 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2020-09-14"
+	PX4_DOCKER_REPO="ghcr.io/px4/px4-dev:2021-05-06"
 fi

 # docker hygiene
@@ -67,4 +64,5 @@ docker run -it --rm -w "${SRC_DIR}" \
 	--publish 14556:14556/udp \
 	--volume=${CCACHE_DIR}:${CCACHE_DIR}:rw \
 	--volume=${SRC_DIR}:${SRC_DIR}:rw \
+	-v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=$DISPLAY -h $HOSTNAME
 	${PX4_DOCKER_REPO} /bin/bash -c "$1 $2 $3"
@@ -0,0 +1,96 @@
+#!/usr/bin/env python3
+""" Script to generate a JSON config with all build targets (for CI) """
+
+import argparse
+import os
+import sys
+import json
+import re
+
+source_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), '..')
+
+parser = argparse.ArgumentParser(description='Generate build targets')
+
+parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
+                    help='Verbose Output')
+parser.add_argument('-p', '--pretty', dest='pretty', action='store_true',
+                    help='Pretty output instead of a single line')
+
+args = parser.parse_args()
+verbose = args.verbose
+
+build_configs = []
+excluded_manufacturers = ['atlflight']
+excluded_platforms = ['qurt']
+excluded_labels = [
+    'stackcheck',
+    'nolockstep', 'replay', 'test',
+    'uavcanv1' # TODO: fix and enable
+    ]
+
+def process_target(cmake_file, target_name):
+    ret = None
+    is_board_def = False
+    platform = None
+    toolchain = None
+    for line in open(cmake_file, 'r'):
+        if 'px4_add_board' in line:
+            is_board_def = True
+        if not is_board_def:
+            continue
+
+        re_platform = re.search('PLATFORM\s+([^\s]+)', line)
+        if re_platform: platform = re_platform.group(1)
+
+        re_toolchain = re.search('TOOLCHAIN\s+([^\s]+)', line)
+        if re_toolchain: toolchain = re_toolchain.group(1)
+
+    if is_board_def:
+        assert platform, f"PLATFORM not found in {cmake_file}"
+
+        if platform not in excluded_platforms:
+            # get the container based on the platform and toolchain
+            container = platform
+            if platform == 'posix':
+                container = 'base-focal'
+                if toolchain:
+                    if toolchain.startswith('aarch64'):
+                        container = 'aarch64'
+                    elif toolchain == 'arm-linux-gnueabihf':
+                        container = 'armhf'
+                    else:
+                        if verbose: print(f'possibly unmatched toolchain: {toolchain}')
+            elif platform == 'nuttx':
+                container = 'nuttx-focal'
+
+            ret = {'target': target_name, 'container': container}
+    return ret
+
+for manufacturer in os.scandir(os.path.join(source_dir, 'boards')):
+    if not manufacturer.is_dir():
+        continue
+    if manufacturer.name in excluded_manufacturers:
+        if verbose: print(f'excluding manufacturer {manufacturer.name}')
+        continue
+
+    for board in os.scandir(manufacturer.path):
+        if not board.is_dir():
+            continue
+        for files in os.scandir(board.path):
+            if files.is_file() and files.name.endswith('.cmake'):
+                label = files.name[:-6]
+                target_name = manufacturer.name + '_' + board.name + '_' + label
+                if label in excluded_labels:
+                    if verbose: print(f'excluding label {label} ({target_name})')
+                    continue
+                target = process_target(files.path, target_name)
+                if target is not None:
+                    build_configs.append(target)
+
+
+github_action_config = { 'include': build_configs }
+extra_args = {}
+if args.pretty:
+    extra_args['indent'] = 2
+print(json.dumps(github_action_config, **extra_args))
+
@@ -1,4 +1,4 @@
-#! /usr/bin/env python
+#! /usr/bin/env python3

 from __future__ import print_function

@@ -7,6 +7,7 @@ import os
 import math
 import matplotlib.pyplot as plt
 import numpy as np
+import scipy as sp

 from pyulog import *

@@ -63,6 +64,9 @@ def resampleWithDeltaX(x,y):

    return resampledX,resampledY

+def median_filter(data):
+    return sp.signal.medfilt(data, 31)
+
 parser = argparse.ArgumentParser(description='Reads in IMU data from a static thermal calibration test and performs a curve fit of gyro, accel and baro bias vs temperature')
 parser.add_argument('filename', metavar='file.ulg', help='ULog input file')
 parser.add_argument('--no_resample', dest='noResample', action='store_const',
@@ -184,12 +188,16 @@ if num_gyros >= 1 and not math.isnan(sensor_gyro_0['temperature'][0]):
    temp_rel_resample = np.linspace(gyro_0_params['TC_G0_TMIN']-gyro_0_params['TC_G0_TREF'], gyro_0_params['TC_G0_TMAX']-gyro_0_params['TC_G0_TREF'], 100)
    temp_resample = temp_rel_resample + gyro_0_params['TC_G0_TREF']

+    sensor_gyro_0['x'] = median_filter(sensor_gyro_0['x'])
+    sensor_gyro_0['y'] = median_filter(sensor_gyro_0['y'])
+    sensor_gyro_0['z'] = median_filter(sensor_gyro_0['z'])
+
    # fit X axis
    if noResample:
-        coef_gyro_0_x = np.polyfit(temp_rel,sensor_gyro_0['x'],3)
+        coef_gyro_0_x = np.polyfit(temp_rel, sensor_gyro_0['x'], 3)
    else:
-        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_0['x'])
-        coef_gyro_0_x = np.polyfit(temp, sens ,3)
+        temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_0['x'])
+        coef_gyro_0_x = np.polyfit(temp, sens, 3)

    gyro_0_params['TC_G0_X3_0'] = coef_gyro_0_x[0]
    gyro_0_params['TC_G0_X2_0'] = coef_gyro_0_x[1]
@@ -200,10 +208,10 @@ if num_gyros >= 1 and not math.isnan(sensor_gyro_0['temperature'][0]):

    # fit Y axis
    if noResample:
-        coef_gyro_0_y = np.polyfit(temp_rel,sensor_gyro_0['y'],3)
+        coef_gyro_0_y = np.polyfit(temp_rel, sensor_gyro_0['y'], 3)
    else:
        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_0['y'])
-        coef_gyro_0_y = np.polyfit(temp, sens ,3)
+        coef_gyro_0_y = np.polyfit(temp, sens, 3)

    gyro_0_params['TC_G0_X3_1'] = coef_gyro_0_y[0]
    gyro_0_params['TC_G0_X2_1'] = coef_gyro_0_y[1]
@@ -214,9 +222,9 @@ if num_gyros >= 1 and not math.isnan(sensor_gyro_0['temperature'][0]):

    # fit Z axis
    if noResample:
-        coef_gyro_0_z = np.polyfit(temp_rel,sensor_gyro_0['z'],3)
+        coef_gyro_0_z = np.polyfit(temp_rel, sensor_gyro_0['z'],3)
    else:
-        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_0['z'])
+        temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_0['z'])
        coef_gyro_0_z = np.polyfit(temp, sens ,3)

    gyro_0_params['TC_G0_X3_2'] = coef_gyro_0_z[0]
@@ -292,6 +300,10 @@ if num_gyros >= 2 and not math.isnan(sensor_gyro_1['temperature'][0]):
    temp_rel_resample = np.linspace(gyro_1_params['TC_G1_TMIN']-gyro_1_params['TC_G1_TREF'], gyro_1_params['TC_G1_TMAX']-gyro_1_params['TC_G1_TREF'], 100)
    temp_resample = temp_rel_resample + gyro_1_params['TC_G1_TREF']

+    sensor_gyro_1['x'] = median_filter(sensor_gyro_1['x'])
+    sensor_gyro_1['y'] = median_filter(sensor_gyro_1['y'])
+    sensor_gyro_1['z'] = median_filter(sensor_gyro_1['z'])
+
    # fit X axis
    if noResample:
        coef_gyro_1_x = np.polyfit(temp_rel,sensor_gyro_1['x'],3)
@@ -400,6 +412,10 @@ if num_gyros >= 3 and not math.isnan(sensor_gyro_2['temperature'][0]):
    temp_rel_resample = np.linspace(gyro_2_params['TC_G2_TMIN']-gyro_2_params['TC_G2_TREF'], gyro_2_params['TC_G2_TMAX']-gyro_2_params['TC_G2_TREF'], 100)
    temp_resample = temp_rel_resample + gyro_2_params['TC_G2_TREF']

+    sensor_gyro_2['x'] = median_filter(sensor_gyro_2['x'])
+    sensor_gyro_2['y'] = median_filter(sensor_gyro_2['y'])
+    sensor_gyro_2['z'] = median_filter(sensor_gyro_2['z'])
+
    # fit X axis
    if noResample:
        coef_gyro_2_x = np.polyfit(temp_rel,sensor_gyro_2['x'],3)
@@ -416,10 +432,10 @@ if num_gyros >= 3 and not math.isnan(sensor_gyro_2['temperature'][0]):

    # fit Y axis
    if noResample:
-        coef_gyro_2_y = np.polyfit(temp_rel,sensor_gyro_2['y'],3)
+        coef_gyro_2_y = np.polyfit(temp_rel, sensor_gyro_2['y'], 3)
    else:
-        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_2['y'])
-        coef_gyro_2_y = np.polyfit(temp, sens ,3)
+        temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_2['y'])
+        coef_gyro_2_y = np.polyfit(temp, sens, 3)

    gyro_2_params['TC_G2_X3_1'] = coef_gyro_2_y[0]
    gyro_2_params['TC_G2_X2_1'] = coef_gyro_2_y[1]
@@ -430,10 +446,10 @@ if num_gyros >= 3 and not math.isnan(sensor_gyro_2['temperature'][0]):

    # fit Z axis
    if noResample:
-        coef_gyro_2_z = np.polyfit(temp_rel,sensor_gyro_2['z'],3)
+        coef_gyro_2_z = np.polyfit(temp_rel,sensor_gyro_2['z'], 3)
    else:
        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_2['z'])
-        coef_gyro_2_z = np.polyfit(temp, sens ,3)
+        coef_gyro_2_z = np.polyfit(temp, sens, 3)

    gyro_2_params['TC_G2_X3_2'] = coef_gyro_2_z[0]
    gyro_2_params['TC_G2_X2_2'] = coef_gyro_2_z[1]
@@ -508,8 +524,12 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
    temp_rel_resample = np.linspace(gyro_3_params['TC_G3_TMIN']-gyro_3_params['TC_G3_TREF'], gyro_3_params['TC_G3_TMAX']-gyro_3_params['TC_G3_TREF'], 100)
    temp_resample = temp_rel_resample + gyro_3_params['TC_G3_TREF']

+    sensor_gyro_3['x'] = median_filter(sensor_gyro_3['x'])
+    sensor_gyro_3['y'] = median_filter(sensor_gyro_3['y'])
+    sensor_gyro_3['z'] = median_filter(sensor_gyro_3['z'])
+
    # fit X axis
-    coef_gyro_3_x = np.polyfit(temp_rel,sensor_gyro_3['x'],3)
+    coef_gyro_3_x = np.polyfit(temp_rel,sensor_gyro_3['x'], 3)
    gyro_3_params['TC_G3_X3_0'] = coef_gyro_3_x[0]
    gyro_3_params['TC_G3_X2_0'] = coef_gyro_3_x[1]
    gyro_3_params['TC_G3_X1_0'] = coef_gyro_3_x[2]
@@ -518,7 +538,7 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
    gyro_3_x_resample = fit_coef_gyro_3_x(temp_rel_resample)

    # fit Y axis
-    coef_gyro_3_y = np.polyfit(temp_rel,sensor_gyro_3['y'],3)
+    coef_gyro_3_y = np.polyfit(temp_rel,sensor_gyro_3['y'], 3)
    gyro_3_params['TC_G3_X3_1'] = coef_gyro_3_y[0]
    gyro_3_params['TC_G3_X2_1'] = coef_gyro_3_y[1]
    gyro_3_params['TC_G3_X1_1'] = coef_gyro_3_y[2]
@@ -527,7 +547,7 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
    gyro_3_y_resample = fit_coef_gyro_3_y(temp_rel_resample)

    # fit Z axis
-    coef_gyro_3_z = np.polyfit(temp_rel,sensor_gyro_3['z'],3)
+    coef_gyro_3_z = np.polyfit(temp_rel,sensor_gyro_3['z'], 3)
    gyro_3_params['TC_G3_X3_2'] = coef_gyro_3_z[0]
    gyro_3_params['TC_G3_X2_2'] = coef_gyro_3_z[1]
    gyro_3_params['TC_G3_X1_2'] = coef_gyro_3_z[2]
@@ -540,8 +560,8 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):

    # draw plots
    plt.subplot(3,1,1)
-    plt.plot(sensor_gyro_3['temperature'],sensor_gyro_3['x'],'b')
-    plt.plot(temp_resample,gyro_3_x_resample,'r')
+    plt.plot(sensor_gyro_3['temperature'],sensor_gyro_3['x'], 'b')
+    plt.plot(temp_resample,gyro_3_x_resample, 'r')
    plt.title('Gyro 2 ({}) Bias vs Temperature'.format(gyro_3_params['TC_G3_ID']))
    plt.ylabel('X bias (rad/s)')
    plt.xlabel('temperature (degC)')
@@ -601,13 +621,17 @@ if num_accels >= 1 and not math.isnan(sensor_accel_0['temperature'][0]):
    temp_rel_resample = np.linspace(accel_0_params['TC_A0_TMIN']-accel_0_params['TC_A0_TREF'], accel_0_params['TC_A0_TMAX']-accel_0_params['TC_A0_TREF'], 100)
    temp_resample = temp_rel_resample + accel_0_params['TC_A0_TREF']

+    sensor_accel_0['x'] = median_filter(sensor_accel_0['x'])
+    sensor_accel_0['y'] = median_filter(sensor_accel_0['y'])
+    sensor_accel_0['z'] = median_filter(sensor_accel_0['z'])
+
    # fit X axis
    correction_x = sensor_accel_0['x'] - np.median(sensor_accel_0['x'])
    if noResample:
-        coef_accel_0_x = np.polyfit(temp_rel,correction_x,3)
+        coef_accel_0_x = np.polyfit(temp_rel,correction_x, 3)
    else:
        temp, sens = resampleWithDeltaX(temp_rel,correction_x)
-        coef_accel_0_x = np.polyfit(temp, sens ,3)
+        coef_accel_0_x = np.polyfit(temp, sens, 3)

    accel_0_params['TC_A0_X3_0'] = coef_accel_0_x[0]
    accel_0_params['TC_A0_X2_0'] = coef_accel_0_x[1]
@@ -617,12 +641,12 @@ if num_accels >= 1 and not math.isnan(sensor_accel_0['temperature'][0]):
    correction_x_resample = fit_coef_accel_0_x(temp_rel_resample)

    # fit Y axis
-    correction_y = sensor_accel_0['y']-np.median(sensor_accel_0['y'])
+    correction_y = sensor_accel_0['y'] - np.median(sensor_accel_0['y'])
    if noResample:
-        coef_accel_0_y = np.polyfit(temp_rel,correction_y,3)
+        coef_accel_0_y = np.polyfit(temp_rel, correction_y, 3)
    else:
        temp, sens = resampleWithDeltaX(temp_rel,correction_y)
-        coef_accel_0_y = np.polyfit(temp, sens ,3)
+        coef_accel_0_y = np.polyfit(temp, sens, 3)

    accel_0_params['TC_A0_X3_1'] = coef_accel_0_y[0]
    accel_0_params['TC_A0_X2_1'] = coef_accel_0_y[1]
@@ -632,12 +656,12 @@ if num_accels >= 1 and not math.isnan(sensor_accel_0['temperature'][0]):
    correction_y_resample = fit_coef_accel_0_y(temp_rel_resample)

    # fit Z axis
-    correction_z = sensor_accel_0['z']-np.median(sensor_accel_0['z'])
+    correction_z = sensor_accel_0['z'] - np.median(sensor_accel_0['z'])
    if noResample:
-        coef_accel_0_z = np.polyfit(temp_rel,correction_z,3)
+        coef_accel_0_z = np.polyfit(temp_rel,correction_z, 3)
    else:
        temp, sens = resampleWithDeltaX(temp_rel,correction_z)
-        coef_accel_0_z = np.polyfit(temp, sens ,3)
+        coef_accel_0_z = np.polyfit(temp, sens, 3)

    accel_0_params['TC_A0_X3_2'] = coef_accel_0_z[0]
    accel_0_params['TC_A0_X2_2'] = coef_accel_0_z[1]
@@ -712,13 +736,17 @@ if num_accels >= 2 and not math.isnan(sensor_accel_1['temperature'][0]):
    temp_rel_resample = np.linspace(accel_1_params['TC_A1_TMIN']-accel_1_params['TC_A1_TREF'], accel_1_params['TC_A1_TMAX']-accel_1_params['TC_A1_TREF'], 100)
    temp_resample = temp_rel_resample + accel_1_params['TC_A1_TREF']

+    sensor_accel_1['x'] = median_filter(sensor_accel_1['x'])
+    sensor_accel_1['y'] = median_filter(sensor_accel_1['y'])
+    sensor_accel_1['z'] = median_filter(sensor_accel_1['z'])
+
    # fit X axis
-    correction_x = sensor_accel_1['x']-np.median(sensor_accel_1['x'])
+    correction_x = sensor_accel_1['x'] - np.median(sensor_accel_1['x'])
    if noResample:
-        coef_accel_1_x = np.polyfit(temp_rel,correction_x,3)
+        coef_accel_1_x = np.polyfit(temp_rel, correction_x, 3)
    else:
-        temp, sens = resampleWithDeltaX(temp_rel,correction_x)
-        coef_accel_1_x = np.polyfit(temp, sens ,3)
+        temp, sens = resampleWithDeltaX(temp_rel, correction_x)
+        coef_accel_1_x = np.polyfit(temp, sens, 3)

    accel_1_params['TC_A1_X3_0'] = coef_accel_1_x[0]
    accel_1_params['TC_A1_X2_0'] = coef_accel_1_x[1]
@@ -728,7 +756,7 @@ if num_accels >= 2 and not math.isnan(sensor_accel_1['temperature'][0]):
    correction_x_resample = fit_coef_accel_1_x(temp_rel_resample)

    # fit Y axis
-    correction_y = sensor_accel_1['y']-np.median(sensor_accel_1['y'])
+    correction_y = sensor_accel_1['y'] - np.median(sensor_accel_1['y'])
    if noResample:
        coef_accel_1_y = np.polyfit(temp_rel,correction_y,3)
    else:
@@ -743,12 +771,12 @@ if num_accels >= 2 and not math.isnan(sensor_accel_1['temperature'][0]):
    correction_y_resample = fit_coef_accel_1_y(temp_rel_resample)

    # fit Z axis
-    correction_z = (sensor_accel_1['z'])-np.median(sensor_accel_1['z'])
+    correction_z = sensor_accel_1['z'] - np.median(sensor_accel_1['z'])
    if noResample:
-        coef_accel_1_z = np.polyfit(temp_rel,correction_z,3)
+        coef_accel_1_z = np.polyfit(temp_rel,correction_z, 3)
    else:
        temp, sens = resampleWithDeltaX(temp_rel,correction_z)
-        coef_accel_1_z = np.polyfit(temp, sens ,3)
+        coef_accel_1_z = np.polyfit(temp, sens, 3)

    accel_1_params['TC_A1_X3_2'] = coef_accel_1_z[0]
    accel_1_params['TC_A1_X2_2'] = coef_accel_1_z[1]
@@ -824,13 +852,17 @@ if num_accels >= 3 and not math.isnan(sensor_accel_2['temperature'][0]):
    temp_rel_resample = np.linspace(accel_2_params['TC_A2_TMIN']-accel_2_params['TC_A2_TREF'], accel_2_params['TC_A2_TMAX']-accel_2_params['TC_A2_TREF'], 100)
    temp_resample = temp_rel_resample + accel_2_params['TC_A2_TREF']

+    sensor_accel_2['x'] = median_filter(sensor_accel_2['x'])
+    sensor_accel_2['y'] = median_filter(sensor_accel_2['y'])
+    sensor_accel_2['z'] = median_filter(sensor_accel_2['z'])
+
    # fit X axis
-    correction_x = sensor_accel_2['x']-np.median(sensor_accel_2['x'])
+    correction_x = sensor_accel_2['x'] - np.median(sensor_accel_2['x'])
    if noResample:
-        coef_accel_2_x = np.polyfit(temp_rel,correction_x,3)
+        coef_accel_2_x = np.polyfit(temp_rel,correction_x, 3)
    else:
-        temp, sens = resampleWithDeltaX(temp_rel,correction_x)
-        coef_accel_2_x = np.polyfit(temp, sens ,3)
+        temp, sens = resampleWithDeltaX(temp_rel, correction_x)
+        coef_accel_2_x = np.polyfit(temp, sens, 3)

    accel_2_params['TC_A2_X3_0'] = coef_accel_2_x[0]
    accel_2_params['TC_A2_X2_0'] = coef_accel_2_x[1]
@@ -840,7 +872,7 @@ if num_accels >= 3 and not math.isnan(sensor_accel_2['temperature'][0]):
    correction_x_resample = fit_coef_accel_2_x(temp_rel_resample)

    # fit Y axis
-    correction_y = sensor_accel_2['y']-np.median(sensor_accel_2['y'])
+    correction_y = sensor_accel_2['y'] - np.median(sensor_accel_2['y'])
    if noResample:
        coef_accel_2_y = np.polyfit(temp_rel,correction_y,3)
    else:
@@ -855,7 +887,7 @@ if num_accels >= 3 and not math.isnan(sensor_accel_2['temperature'][0]):
    correction_y_resample = fit_coef_accel_2_y(temp_rel_resample)

    # fit Z axis
-    correction_z = sensor_accel_2['z']-np.median(sensor_accel_2['z'])
+    correction_z = sensor_accel_2['z'] - np.median(sensor_accel_2['z'])
    if noResample:
        coef_accel_2_z = np.polyfit(temp_rel,correction_z,3)
    else:
@@ -935,9 +967,13 @@ if num_accels >= 4 and not math.isnan(sensor_accel_3['temperature'][0]):
    temp_rel_resample = np.linspace(accel_3_params['TC_A3_TMIN']-accel_3_params['TC_A3_TREF'], accel_3_params['TC_A3_TMAX']-accel_3_params['TC_A3_TREF'], 100)
    temp_resample = temp_rel_resample + accel_3_params['TC_A3_TREF']

+    sensor_accel_3['x'] = median_filter(sensor_accel_3['x'])
+    sensor_accel_3['y'] = median_filter(sensor_accel_3['y'])
+    sensor_accel_3['z'] = median_filter(sensor_accel_3['z'])
+
    # fit X axis
-    correction_x = sensor_accel_3['x']-np.median(sensor_accel_3['x'])
-    coef_accel_3_x = np.polyfit(temp_rel,correction_x,3)
+    correction_x = sensor_accel_3['x'] - np.median(sensor_accel_3['x'])
+    coef_accel_3_x = np.polyfit(temp_rel, correction_x, 3)
    accel_3_params['TC_A3_X3_0'] = coef_accel_3_x[0]
    accel_3_params['TC_A3_X2_0'] = coef_accel_3_x[1]
    accel_3_params['TC_A3_X1_0'] = coef_accel_3_x[2]
@@ -946,8 +982,8 @@ if num_accels >= 4 and not math.isnan(sensor_accel_3['temperature'][0]):
    correction_x_resample = fit_coef_accel_3_x(temp_rel_resample)

    # fit Y axis
-    correction_y = sensor_accel_3['y']-np.median(sensor_accel_3['y'])
-    coef_accel_3_y = np.polyfit(temp_rel,correction_y,3)
+    correction_y = sensor_accel_3['y'] - np.median(sensor_accel_3['y'])
+    coef_accel_3_y = np.polyfit(temp_rel, correction_y, 3)
    accel_3_params['TC_A3_X3_1'] = coef_accel_3_y[0]
    accel_3_params['TC_A3_X2_1'] = coef_accel_3_y[1]
    accel_3_params['TC_A3_X1_1'] = coef_accel_3_y[2]
@@ -956,8 +992,8 @@ if num_accels >= 4 and not math.isnan(sensor_accel_3['temperature'][0]):
    correction_y_resample = fit_coef_accel_3_y(temp_rel_resample)

    # fit Z axis
-    correction_z = sensor_accel_3['z']-np.median(sensor_accel_3['z'])
-    coef_accel_3_z = np.polyfit(temp_rel,correction_z,3)
+    correction_z = sensor_accel_3['z'] - np.median(sensor_accel_3['z'])
+    coef_accel_3_z = np.polyfit(temp_rel, correction_z, 3)
    accel_3_params['TC_A3_X3_2'] = coef_accel_3_z[0]
    accel_3_params['TC_A3_X2_2'] = coef_accel_3_z[1]
    accel_3_params['TC_A3_X1_2'] = coef_accel_3_z[2]
@@ -1024,8 +1060,10 @@ temp_rel = sensor_baro_0['temperature'] - baro_0_params['TC_B0_TREF']
 temp_rel_resample = np.linspace(baro_0_params['TC_B0_TMIN']-baro_0_params['TC_B0_TREF'], baro_0_params['TC_B0_TMAX']-baro_0_params['TC_B0_TREF'], 100)
 temp_resample = temp_rel_resample + baro_0_params['TC_B0_TREF']

+sensor_baro_0['pressure'] = median_filter(sensor_baro_0['pressure'])
+
 # fit data
-median_pressure = np.median(sensor_baro_0['pressure']);
+median_pressure = np.median(sensor_baro_0['pressure'])
 if noResample:
    coef_baro_0_x = np.polyfit(temp_rel,100*(sensor_baro_0['pressure']-median_pressure),5) # convert from hPa to Pa
 else:
@@ -1081,8 +1119,10 @@ if num_baros >= 2:
    temp_rel_resample = np.linspace(baro_1_params['TC_B1_TMIN']-baro_1_params['TC_B1_TREF'], baro_1_params['TC_B1_TMAX']-baro_1_params['TC_B1_TREF'], 100)
    temp_resample = temp_rel_resample + baro_1_params['TC_B1_TREF']

+    sensor_baro_1['pressure'] = median_filter(sensor_baro_1['pressure'])
+
    # fit data
-    median_pressure = np.median(sensor_baro_1['pressure']);
+    median_pressure = np.median(sensor_baro_1['pressure'])
    if noResample:
        coef_baro_1_x = np.polyfit(temp_rel,100*(sensor_baro_1['pressure']-median_pressure),5) # convert from hPa to Pa
    else:
@@ -1099,7 +1139,7 @@ if num_baros >= 2:
    baro_1_x_resample = fit_coef_baro_1_x(temp_rel_resample)

    # baro 2 vs temperature
-    plt.figure(9,figsize=(20,13))
+    plt.figure(10,figsize=(20,13))

    # draw plots
    plt.plot(sensor_baro_1['temperature'],100*sensor_baro_1['pressure']-100*median_pressure,'b')
@@ -1139,8 +1179,10 @@ if num_baros >= 3:
    temp_rel_resample = np.linspace(baro_2_params['TC_B2_TMIN']-baro_2_params['TC_B2_TREF'], baro_2_params['TC_B2_TMAX']-baro_2_params['TC_B2_TREF'], 100)
    temp_resample = temp_rel_resample + baro_2_params['TC_B2_TREF']

+    sensor_baro_2['pressure'] = median_filter(sensor_baro_2['pressure'])
+
    # fit data
-    median_pressure = np.median(sensor_baro_2['pressure']);
+    median_pressure = np.median(sensor_baro_2['pressure'])
    if noResample:
        coef_baro_2_x = np.polyfit(temp_rel,100*(sensor_baro_2['pressure']-median_pressure),5) # convert from hPa to Pa
    else:
@@ -1157,7 +1199,7 @@ if num_baros >= 3:
    baro_2_x_resample = fit_coef_baro_2_x(temp_rel_resample)

    # baro 2 vs temperature
-    plt.figure(10,figsize=(20,13))
+    plt.figure(11,figsize=(20,13))

    # draw plots
    plt.plot(sensor_baro_2['temperature'],100*sensor_baro_2['pressure']-100*median_pressure,'b')
@@ -1197,6 +1239,8 @@ if num_baros >= 4:
    temp_rel_resample = np.linspace(baro_3_params['TC_B3_TMIN']-baro_3_params['TC_B3_TREF'], baro_3_params['TC_B3_TMAX']-baro_3_params['TC_B3_TREF'], 100)
    temp_resample = temp_rel_resample + baro_3_params['TC_B3_TREF']

+    sensor_baro_3['pressure'] = median_filter(sensor_baro_3['pressure'])
+
    # fit data
    median_pressure = np.median(sensor_baro_3['pressure'])
    coef_baro_3_x = np.polyfit(temp_rel,100*(sensor_baro_3['pressure']-median_pressure),5) # convert from hPa to Pa
@@ -1210,7 +1254,7 @@ if num_baros >= 4:
    baro_3_x_resample = fit_coef_baro_3_x(temp_rel_resample)

    # baro 3 vs temperature
-    plt.figure(11,figsize=(20,13))
+    plt.figure(12,figsize=(20,13))

    # draw plots
    plt.plot(sensor_baro_3['temperature'],100*sensor_baro_3['pressure']-100*median_pressure,'b')
@@ -65,7 +65,7 @@ def get_version():

    if os.path.isdir(os.path.join(px4_dir, '.git')):
        # If inside a clone PX4 Firmware repository, get version from "git describe"
-        cmd = 'git describe --abbrev=0 --tags'
+        cmd = 'git describe --exclude ext/* --abbrev=0 --tags'
        try:
            version = subprocess.check_output(
                cmd, cwd=px4_dir, shell=True).decode().strip()
@@ -98,6 +98,8 @@ class ParameterGroup(object):
            return "Boat"
        elif (self.name == "Balloon"):
            return "Balloon"
+        elif (self.name == "Vectored 6 DOF UUV"):
+            return "Vectored6DofUUV"
        return "AirframeUnknown"

    def GetParams(self):
@@ -99,13 +99,13 @@ if args.summary != None:
 if args.description != None:
 	desc['description']	= str(args.description)
 if args.git_identity != None:
-	cmd = "git --git-dir '{:}/.git' describe --always --tags".format(args.git_identity)
+	cmd = "git --git-dir '{:}/.git' describe --exclude ext/* --always --tags".format(args.git_identity)
 	p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout
-	desc['git_identity']	= str(p.read().strip())
+	desc['git_identity']	= p.read().strip().decode('utf-8')
 	p.close()
 	cmd = "git --git-dir '{:}/.git' rev-parse --verify HEAD".format(args.git_identity)
 	p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout
-	desc['git_hash']	= str(p.read().strip())
+	desc['git_hash']	= p.read().strip().decode('utf-8')
 	p.close()
 if args.parameter_xml != None:
 	f = open(args.parameter_xml, "rb")
@@ -61,6 +61,8 @@ def main():
                        help="Board architecture for this run")
    args = parser.parse_args()

+    err_count = 0
+
    # go through temp folder
    for (root, dirs, files) in os.walk(args.folder):
        for file in files:
@@ -90,8 +92,17 @@ def main():
            # read file line by line
            pruned_content = ""
            board_excluded = False
+
            with io.open(file_path, "r", newline=None) as f:
                for line in f:
+                    # abort if spurious tabs are found
+                    if re.search(r"[a-zA-Z0-9]+\t.+", line):
+                        file_local = re.sub(args.folder, '', file_path)
+                        print("ERROR: Spurious TAB character in file " + file_local)
+                        print("Line: " + line)
+                        err_count += 1
+
+                    # find excluded boards
                    if re.search(r'\b{0} exclude\b'.format(args.board), line):
                        board_excluded = True
                    # handle mixer files differently than startup files
@@ -116,6 +127,9 @@ def main():
            else:
                os.remove(file_path)

+    if (err_count > 0):
+        exit(1)
+

 if __name__ == '__main__':
    main()
@@ -190,7 +190,6 @@ if rc_serial_output_dir is None and serial_params_output_file is None:
 serial_commands = []
 ethernet_configuration = []
 additional_params = ""
-additional_ethernet_params = ""

 if ethernet_supported:
    ethernet_configuration.append({
@@ -211,7 +210,7 @@ def parse_yaml_serial_config(yaml_config):
        ret.append(serial_config)
    return ret

-def parse_yaml_parameters_config(yaml_config):
+def parse_yaml_parameters_config(yaml_config, ethernet_supported):
    """ parse the parameters section from the yaml config file """
    if 'parameters' not in yaml_config:
        return ''
@@ -224,79 +223,7 @@ def parse_yaml_parameters_config(yaml_config):
        param_group = parameters_section.get('group', None)
        for param_name in definitions:
            param = definitions[param_name]
-            if 'ethernet' in param:
-                continue
-            num_instances = param.get('num_instances', 1)
-            instance_start = param.get('instance_start', 0) # offset
-
-            # get the type and extract all tags
-            tags = '@group {:}'.format(param_group)
-            if param['type'] == 'enum':
-                param_type = 'INT32'
-                for key in param['values']:
-                    tags += '\n * @value {:} {:}'.format(key, param['values'][key])
-            elif param['type'] == 'boolean':
-                param_type = 'INT32'
-                tags += '\n * @boolean'
-            elif param['type'] == 'int32':
-                param_type = 'INT32'
-            elif param['type'] == 'float':
-                param_type = 'FLOAT'
-            else:
-                raise Exception("unknown param type {:}".format(param['type']))
-
-            for tag in ['decimal', 'increment', 'category', 'volatile', 'bit',
-                        'min', 'max', 'unit', 'reboot_required']:
-                if tag in param:
-                    tags += '\n * @{:} {:}'.format(tag, param[tag])
-
-            for i in range(num_instances):
-                # default value
-                default_value = 0
-                if 'default' in param:
-                    # default can be a list of num_instances or a single value
-                    if type(param['default']) == list:
-                        assert len(param['default']) == num_instances
-                        default_value = param['default'][i]
-                    else:
-                        default_value = param['default']
-
-                if type(default_value) == bool:
-                    default_value = int(default_value)
-
-                # output the existing C-style format
-                ret += '''
-/**
- * {short_descr}
- *
- * {long_descr}
- *
- * {tags}
- */
-PARAM_DEFINE_{param_type}({name}, {default_value});
-'''.format(short_descr=param['description']['short'].replace("\n", "\n * "),
-           long_descr=param['description']['long'].replace("\n", "\n * "),
-           tags=tags,
-           param_type=param_type,
-           name=param_name,
-           default_value=default_value,
-          ).replace('${i}', str(i+instance_start))
-    return ret
-
-def parse_yaml_ethernet_parameters_config(yaml_config):
-    """ parse the parameters section from the yaml config file """
-    if 'parameters' not in yaml_config:
-        return ''
-    parameters_section_list = yaml_config['parameters']
-    for parameters_section in parameters_section_list:
-        if 'definitions' not in parameters_section:
-            return ''
-        definitions = parameters_section['definitions']
-        ret = ''
-        param_group = parameters_section.get('group', None)
-        for param_name in definitions:
-            param = definitions[param_name]
-            if 'ethernet' not in param:
+            if param.get('requires_ethernet', False) and not ethernet_supported:
                continue
            num_instances = param.get('num_instances', 1)
            instance_start = param.get('instance_start', 0) # offset
@@ -362,9 +289,8 @@ for yaml_file in args.config_files:
            serial_commands.extend(parse_yaml_serial_config(yaml_config))

            # TODO: additional params should be parsed in a separate script
-            additional_params += parse_yaml_parameters_config(yaml_config)
-            if ethernet_supported:
-                additional_ethernet_params += parse_yaml_ethernet_parameters_config(yaml_config)
+            additional_params += parse_yaml_parameters_config(
+                yaml_config, ethernet_supported)

        except yaml.YAMLError as exc:
            print(exc)
@@ -429,7 +355,7 @@ for serial_command in serial_commands:
            'default_port': default_port,
            'param_group': port_config['group'],
            'description_extended': port_config.get('description_extended', ''),
-			'ethernet_config': serial_command.get('ethernet', 'none')
+			'supports_networking': serial_command.get('supports_networking', False)
            })

 if verbose:
@@ -473,6 +399,5 @@ if serial_params_output_file is not None:
        fid.write(template.render(serial_devices=serial_devices,
            ethernet_configuration=ethernet_configuration,
            commands=commands, serial_ports=serial_ports,
-            additional_definitions=additional_params,
-            additional_ethernet_definitions=additional_ethernet_params))
+            additional_definitions=additional_params))

@@ -17,9 +17,9 @@ if param compare "$PRT" {{ serial_device.index }}; then
 fi

 {% endfor %}
+
 {% for config in ethernet_configuration -%}
 if param compare "$PRT" {{ config.index }}; then
 	set SERIAL_DEV ethernet
 fi
-
 {% endfor %}
--- a/Show More
+++ b/Show More